{"schema":"dvidia.piper-task-episode/v1","profile":"piper-rigid-block-task-v0.1","scope":"Authored PiPER rigid-block contact pilot with privileged native state. Pinned upstream servos/inertias/collision proxies/gravity compensation, synthetic commands and uncalibrated contact. No learned skill, camera sensing, shoe manipulation or physical robot qualification.","physical_robot_ready":false,"seed":642103,"control":"placement","config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.29887658316658083,-0.03267382625423828,0.082],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.06,"table_center_xy_m":[0.38,0.0],"table_half_size_xy_m":[0.17,0.22],"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_m_s":0.05,"tool_orientation_wxyz":[0.0,0.0,1.0,0.0],"carry_orientation_wxyz":[0.25881904510252074,0.0,0.9659258262890683,0.0]},"timestep_seconds":0.001,"valid":true,"success":true,"reason":"success","error":null,"warnings":[],"simulated_seconds":20.00000000000146,"trajectory":[{"t_seconds":0.0,"qpos":[4.0334640640550966e-20,1.57,-1.3485,-2.8570211225703475e-18,-1.3639173671722966e-16,9.796621571764114e-18,0.035,-0.035,0.29887665332292535,-0.03267397609451849,0.07989224451748383,1.0,-1.0014292669330757e-13,-4.68880261912489e-14,1.1165517680820335e-18],"qvel":[4.7609470839522355e-20,-5.921924483962385e-18,1.5209740326249663e-16,-3.523927728174252e-18,-2.0622825375710477e-16,1.8570424905271132e-17,5.614049097623689e-20,5.803866755970268e-20,7.174353833177417e-14,-1.5322894610960587e-13,2.361644667558442e-09,7.67078762356848e-12,3.5917722739725224e-12,-2.218472845377544e-27],"joint_position_rad":[4.0334640640550966e-20,1.57,-1.3485,-2.8570211225703475e-18,-1.3639173671722966e-16,9.796621571764114e-18],"joint_velocity_rad_s":[4.7609470839522355e-20,-5.921924483962385e-18,1.5209740326249663e-16,-3.523927728174252e-18,-2.0622825375710477e-16,1.8570424905271132e-17],"gripper_joint_position_m":[0.035,-0.035],"tcp_position_m":[0.4890696662845219,0.0014141975654808877,0.3665849431043091],"tcp_quaternion_wxyz":[0.6580840948238629,2.7730466224793136e-07,0.7529444362872891,-1.9485471114950535e-06],"object_position_m":[0.29887665332292535,-0.03267397609451849,0.07989224451748383],"object_quaternion_wxyz":[1.0,-1.0014292669330757e-13,-4.68880261912489e-14,1.1165517680820335e-18],"object_linear_velocity_m_s":[7.174353833177417e-14,-1.5322894610960587e-13,2.361644667558442e-09],"object_angular_velocity_rad_s":[7.67078762356848e-12,3.5917722739725224e-12,-2.263465905573878e-27],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999913741364},{"geom_ids":[1,90],"normal_force_n":0.09809999913734402},{"geom_ids":[1,90],"normal_force_n":0.09809999913749293},{"geom_ids":[1,90],"normal_force_n":0.09809999913756254}],"native_actuator_controls":[0.0,1.57,-1.3485,0.0,0.0,0.0,0.035],"actuator_force_native":[-3.4648186054416893e-18,0.0,0.0,1.3190048354368516e-16,1.6732597478079537e-15,-1.2582185307554784e-16,0.0],"issued_joint_targets_rad":[-0.003094973973392756,1.5377832679345593,-1.3126403416720034,-0.00019273713670553603,0.046240616280947215,-0.00022120652388035064],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.0,"joint_targets_rad":[-0.003094973973392756,1.5377832679345593,-1.3126403416720034,-0.00019273713670553603,0.046240616280947215,-0.00022120652388035064],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.02000000000000001,"qpos":[-6.346862100637346e-05,1.5689027022759738,-1.3470361211679507,5.228103278644433e-07,0.00010233954258762024,7.818497319729283e-06,0.03499889099946645,-0.03499999182329464,0.29887665332292646,-0.03267397609452061,0.0798922445501823,1.0,-4.72247162616897e-14,-2.21103120336642e-14,1.1165517680693102e-18],"qvel":[-0.005386160954527966,-0.1526036278245978,0.20337975384305573,0.0003776576476892541,0.01263011690529893,0.001074898302640473,-2.410105096215953e-05,2.009032862052301e-06,3.383155006274915e-14,-7.225855684750517e-14,1.1221232820263698e-09,3.6174342898293312e-12,1.6937532484440932e-12,-3.132012300806805e-28],"joint_position_rad":[-6.346862100637346e-05,1.5689027022759738,-1.3470361211679507,5.228103278644433e-07,0.00010233954258762024,7.818497319729283e-06],"joint_velocity_rad_s":[-0.005386160954527966,-0.1526036278245978,0.20337975384305573,0.0003776576476892541,0.01263011690529893,0.001074898302640473],"gripper_joint_position_m":[0.03499889099946645,-0.03499999182329464],"tcp_position_m":[0.4887409409671456,0.0013831799552091145,0.366425811718624],"tcp_quaternion_wxyz":[0.6579075408380926,2.7318721649186133e-05,0.7530987097046244,-2.0082103192961966e-05],"object_position_m":[0.29887665332292646,-0.03267397609452061,0.0798922445501823],"object_quaternion_wxyz":[1.0,-4.72247162616897e-14,-2.21103120336642e-14,1.1165517680693102e-18],"object_linear_velocity_m_s":[3.383155006274915e-14,-7.225855684750517e-14,1.1221232820263698e-09],"object_angular_velocity_rad_s":[3.6174342898293312e-12,1.6937532484440932e-12,-3.220325614497878e-28],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999959014683},{"geom_ids":[1,90],"normal_force_n":0.09809999959011392},{"geom_ids":[1,90],"normal_force_n":0.09809999959018417},{"geom_ids":[1,90],"normal_force_n":0.09809999959021698}],"native_actuator_controls":[-0.003094973973392756,1.539999999999999,-1.318499999999999,-0.00019273713670553603,0.03000000000000001,-0.00022120652388035064,0.035],"actuator_force_native":[-0.2155896234182708,-1.5491980429549983,1.2659909242208727,-0.00961868611978229,0.2800314292161755,-0.003902597665961509,0.00016486527615278135],"issued_joint_targets_rad":[-0.0031613757685959917,1.536723529752629,-1.3112365512103281,-0.0001550746071351566,0.04636527489057309,-0.0002546963766568969],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.02000000000000001,"joint_targets_rad":[-0.0031613757685959917,1.536723529752629,-1.3112365512103281,-0.0001550746071351566,0.04636527489057309,-0.0002546963766568969],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.04000000000000003,"qpos":[-0.00018934480557996768,1.5636867526795677,-1.3401810522926034,8.898714136517594e-06,0.0006957621932300326,2.8748134166758815e-05,0.03499903831584185,-0.03499953577082458,0.29887665332292673,-0.0326739760945216,0.07989224456577375,1.0,-2.2141468336673833e-14,-1.0361896286501248e-14,1.1165517680835529e-18],"qvel":[-0.0064916953333760755,-0.31378465274329564,0.4012571107153185,4.666718109245231e-05,0.05958930893421192,0.0004563038209093351,1.2471027498234138e-05,3.4310984897418065e-05,1.5941944624698654e-14,-3.415130158317484e-14,5.591284035317207e-10,1.8268681296082595e-12,8.596747358680662e-13,1.2103059040908369e-26],"joint_position_rad":[-0.00018934480557996768,1.5636867526795677,-1.3401810522926034,8.898714136517594e-06,0.0006957621932300326,2.8748134166758815e-05],"joint_velocity_rad_s":[-0.0064916953333760755,-0.31378465274329564,0.4012571107153185,4.666718109245231e-05,0.05958930893421192,0.0004563038209093351],"gripper_joint_position_m":[0.03499903831584185,-0.03499953577082458],"tcp_position_m":[0.48717773105712914,0.0013219664454582922,0.36569008914817175],"tcp_quaternion_wxyz":[0.6570664671855551,8.584042378224385e-05,0.753832639019154,-5.177965870804856e-05],"object_position_m":[0.29887665332292673,-0.0326739760945216,0.07989224456577375],"object_quaternion_wxyz":[1.0,-2.2141468336673833e-14,-1.0361896286501248e-14,1.1165517680835529e-18],"object_linear_velocity_m_s":[1.5941944624698654e-14,-3.415130158317484e-14,5.591284035317207e-10],"object_angular_velocity_rad_s":[1.8268681296082595e-12,8.596747358680662e-13,1.1893773329016523e-26],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999977729224},{"geom_ids":[1,90],"normal_force_n":0.09809999977727489},{"geom_ids":[1,90],"normal_force_n":0.09809999977731186},{"geom_ids":[1,90],"normal_force_n":0.09809999977732921}],"native_actuator_controls":[-0.0031613757685959917,1.536723529752629,-1.3112365512103281,-0.0001550746071351566,0.04636527489057309,-0.0002546963766568969,0.035],"actuator_force_native":[-0.20530400037440155,-0.5881345704386121,0.3092745330054356,-0.00679226875632923,0.36731116357211274,-0.00351890083960056,-2.388777116490992e-05],"issued_joint_targets_rad":[-0.0033078079030494046,1.5316882519290924,-1.3046666699036624,7.478952833662722e-05,0.047062259202289,-0.00046987197760942236],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.04000000000000003,"joint_targets_rad":[-0.0033078079030494046,1.5316882519290924,-1.3046666699036624,7.478952833662722e-05,0.047062259202289,-0.00046987197760942236],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.060000000000000046,"qpos":[-0.0003193618686895335,1.556826177406882,-1.3316111226511884,1.2850084063459113e-05,0.002300147800676989,2.731276257556659e-05,0.034999165568576206,-0.03499892906174081,0.29887665332292596,-0.032673976094520295,0.07989224457377588,1.0,5.859281022726092e-14,3.066379535976257e-14,1.1165517857015344e-18],"qvel":[-0.006329884466413406,-0.34828958056898973,0.4182857844790583,0.00011809987325919785,0.11827333158407421,-0.0005479528990648223,-8.632118107482778e-08,1.9907017460095653e-05,-1.6128949956272996e-13,3.114379198819141e-13,2.861354711053904e-10,2.5023593399314104e-11,1.2854042965779721e-11,6.594117186897246e-24],"joint_position_rad":[-0.0003193618686895335,1.556826177406882,-1.3316111226511884,1.2850084063459113e-05,0.002300147800676989,2.731276257556659e-05],"joint_velocity_rad_s":[-0.006329884466413406,-0.34828958056898973,0.4182857844790583,0.00011809987325919785,0.11827333158407421,-0.0005479528990648223],"gripper_joint_position_m":[0.034999165568576206,-0.03499892906174081],"tcp_position_m":[0.48511244089206074,0.0012593030588078785,0.3647443260345819],"tcp_quaternion_wxyz":[0.6558165585688105,0.00013599181285066153,0.7549202701443305,-9.347940799546013e-05],"object_position_m":[0.29887665332292596,-0.032673976094520295,0.07989224457377588],"object_quaternion_wxyz":[1.0,5.859281022726092e-14,3.066379535976257e-14,1.1165517857015344e-18],"object_linear_velocity_m_s":[-1.6128949956272996e-13,3.114379198819141e-13,2.861354711053904e-10],"object_angular_velocity_rad_s":[2.5023593399314104e-11,1.2854042965779721e-11,6.5657894928662786e-24],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999985693471},{"geom_ids":[1,90],"normal_force_n":0.09809999985680126},{"geom_ids":[1,90],"normal_force_n":0.09809999985706234},{"geom_ids":[1,90],"normal_force_n":0.09809999985719584}],"native_actuator_controls":[-0.0033078079030494046,1.5316882519290924,-1.3046666699036624,7.478952833662722e-05,0.047062259202289,-0.00046987197760942236,0.035],"actuator_force_native":[-0.20742626041672269,-0.26958613537820497,0.06412729740678458,0.001887078404630735,0.27021111664000885,-0.004149918053252656,3.380886285730966e-05],"issued_joint_targets_rad":[-0.0034673170005791237,1.5250809332621524,-1.2964772981018104,0.0006930088882095178,0.04879279441445537,-0.0011028004307988293],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.060000000000000046,"joint_targets_rad":[-0.0034673170005791237,1.5250809332621524,-1.2964772981018104,0.0006930088882095178,0.04879279441445537,-0.0011028004307988293],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.08000000000000006,"qpos":[-0.0004465302264040137,1.549623120606018,-1.3229774742633662,3.84127094687138e-05,0.004501441790742627,7.322316711176464e-06,0.03499917292577927,-0.03499874018413229,0.29887665332284796,-0.03267397609436911,0.0798922445776557,1.0,5.133028581335312e-12,2.6450554218602403e-12,1.1165538378426968e-18],"qvel":[-0.006240441617106011,-0.3567103532858978,0.416798829290583,0.0017140578994604076,0.1285093208614786,-0.0013886395034809983,-6.073932193109927e-07,-1.0120111846259539e-06,-4.671693207041924e-12,9.065956252113368e-12,1.1508042181367749e-10,4.081261726857744e-10,2.1027482739466337e-10,2.041378862679869e-22],"joint_position_rad":[-0.0004465302264040137,1.549623120606018,-1.3229774742633662,3.84127094687138e-05,0.004501441790742627,7.322316711176464e-06],"joint_velocity_rad_s":[-0.006240441617106011,-0.3567103532858978,0.416798829290583,0.0017140578994604076,0.1285093208614786,-0.0013886395034809983],"gripper_joint_position_m":[0.03499917292577927,-0.03499874018413229],"tcp_position_m":[0.48293967738099786,0.0011986270730741583,0.36379701330049263],"tcp_quaternion_wxyz":[0.6544445791810142,0.00018635216803013381,0.7561099393341754,-0.00013301700891566622],"object_position_m":[0.29887665332284796,-0.03267397609436911,0.0798922445776557],"object_quaternion_wxyz":[1.0,5.133028581335312e-12,2.6450554218602403e-12,1.1165538378426968e-18],"object_linear_velocity_m_s":[-4.671693207041924e-12,9.065956252113368e-12,1.1508042181367749e-10],"object_angular_velocity_rad_s":[4.081261726857744e-10,2.1027482739466337e-10,2.0379859244114741e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999993250677},{"geom_ids":[1,90],"normal_force_n":0.09809999992660459},{"geom_ids":[1,90],"normal_force_n":0.09809999993806008},{"geom_ids":[1,90],"normal_force_n":0.09809999994396217}],"native_actuator_controls":[-0.0034673170005791237,1.5250809332621524,-1.2964772981018104,0.0006930088882095178,0.04879279441445537,-0.0011028004307988293,0.035],"actuator_force_native":[-0.21046073384847874,-0.1798232210797579,0.03601994647155493,0.017613557652330122,0.2501495449449096,-0.00901826821987856,3.611993492613763e-05],"issued_joint_targets_rad":[-0.0036285959695416324,1.5181537200976805,-1.2882404250816228,0.001572814248453967,0.05111399772758753,-0.0019956646950458354],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.08000000000000006,"joint_targets_rad":[-0.0036285959695416324,1.5181537200976805,-1.2882404250816228,0.001572814248453967,0.05111399772758753,-0.0019956646950458354],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.10000000000000007,"qpos":[-0.0005730132142453856,1.5423385709793778,-1.314437000000846,0.00010861234701344685,0.0067955787335776206,-3.129828611843052e-05,0.034999220285357735,-0.034998872486739996,0.2988766533226889,-0.032673976094060524,0.07989224457904713,1.0,1.1357883627866272e-11,5.852378291695074e-12,1.1165577454235497e-18],"qvel":[-0.006246530184439125,-0.3583656161156571,0.4108653172318153,0.0042186870445400275,0.1295455085365999,-0.0023744886245570225,2.5581890769320514e-06,-1.1724729021039401e-05,-9.081243755142559e-12,1.7624214390296072e-11,4.062031984058246e-11,4.4258296793042506e-10,2.2803944192877098e-10,3.8455759395239534e-22],"joint_position_rad":[-0.0005730132142453856,1.5423385709793778,-1.314437000000846,0.00010861234701344685,0.0067955787335776206,-3.129828611843052e-05],"joint_velocity_rad_s":[-0.006246530184439125,-0.3583656161156571,0.4108653172318153,0.0042186870445400275,0.1295455085365999,-0.0023744886245570225],"gripper_joint_position_m":[0.034999220285357735,-0.034998872486739996],"tcp_position_m":[0.48074417831850136,0.0011389356493907946,0.3628981146413303],"tcp_quaternion_wxyz":[0.6531014237186742,0.0002463103698465114,0.7572703895763546,-0.0001635197809414736],"object_position_m":[0.2988766533226889,-0.032673976094060524,0.07989224457904713],"object_quaternion_wxyz":[1.0,1.1357883627866272e-11,5.852378291695074e-12,1.1165577454235497e-18],"object_linear_velocity_m_s":[-9.081243755142559e-12,1.7624214390296072e-11,4.062031984058246e-11],"object_angular_velocity_rad_s":[4.4258296793042506e-10,2.2803944192877098e-10,3.8432257435350067e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997246549},{"geom_ids":[1,90],"normal_force_n":0.09809999996326159},{"geom_ids":[1,90],"normal_force_n":0.09809999998112454},{"geom_ids":[1,90],"normal_force_n":0.0980999999903284}],"native_actuator_controls":[-0.0036285959695416324,1.5181537200976805,-1.2882404250816228,0.001572814248453967,0.05111399772758753,-0.0019956646950458354,0.035],"actuator_force_native":[-0.21321396950150412,-0.1429599899574896,0.04139940737877623,0.03747464083492068,0.24886592713519928,-0.016081931152438514,1.8397640306089258e-05],"issued_joint_targets_rad":[-0.0037930288292036016,1.5111496656869385,-1.2800904360789782,0.002542578330407777,0.05351731748456606,-0.0029542561807794437],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.10000000000000007,"joint_targets_rad":[-0.0037930288292036016,1.5111496656869385,-1.2800904360789782,0.002542578330407777,0.05351731748456606,-0.0029542561807794437],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.12000000000000009,"qpos":[-0.0007001780807698258,1.535047129332249,-1.3060272213915274,0.00023275550201296062,0.009086420642527125,-9.062668886487517e-05,0.03499931997228382,-0.034999119717313835,0.2988766533224887,-0.032673976093671724,0.07989224457952712,1.0,1.431928956773942e-11,7.37823713651273e-12,1.1165619196224105e-18],"qvel":[-0.006298546348390731,-0.3579493394627063,0.404308372473541,0.006967111813142951,0.12852683164534928,-0.00343792051966214,4.483838766311951e-06,-1.3568099236606982e-05,-1.3797849403674596e-11,2.677814022123837e-11,1.4419030091631932e-11,7.052727795021071e-10,3.633984044873526e-10,7.165515676484982e-22],"joint_position_rad":[-0.0007001780807698258,1.535047129332249,-1.3060272213915274,0.00023275550201296062,0.009086420642527125,-9.062668886487517e-05],"joint_velocity_rad_s":[-0.006298546348390731,-0.3579493394627063,0.404308372473541,0.006967111813142951,0.12852683164534928,-0.00343792051966214],"gripper_joint_position_m":[0.03499931997228382,-0.034999119717313835],"tcp_position_m":[0.4785489530698117,0.00107964457475006,0.3620487202996411],"tcp_quaternion_wxyz":[0.651809635595114,0.00031902759080500723,0.7583825312333247,-0.0001829942526862575],"object_position_m":[0.2988766533224887,-0.032673976093671724,0.07989224457952712],"object_quaternion_wxyz":[1.0,1.431928956773942e-11,7.37823713651273e-12,1.1165619196224105e-18],"object_linear_velocity_m_s":[-1.3797849403674596e-11,2.677814022123837e-11,1.4419030091631932e-11],"object_angular_velocity_rad_s":[7.052727795021071e-10,3.633984044873526e-10,7.164259060782932e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998743897},{"geom_ids":[1,90],"normal_force_n":0.09809999997850183},{"geom_ids":[1,90],"normal_force_n":0.09809999999584684},{"geom_ids":[1,90],"normal_force_n":0.09810000000478407}],"native_actuator_controls":[-0.0037930288292036016,1.5111496656869385,-1.2800904360789782,0.002542578330407777,0.05351731748456606,-0.0029542561807794437,0.035],"actuator_force_native":[-0.2159353281327484,-0.1220503943113016,0.05340096263623195,0.0575573540700779,0.25151872095236544,-0.023479414139652474,4.781914815898958e-06],"issued_joint_targets_rad":[-0.003961815171482636,1.5041392600455354,-1.2720606505420364,0.0035721016424232997,0.05590655765466684,-0.00394146318677731],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.12000000000000009,"joint_targets_rad":[-0.003961815171482636,1.5041392600455354,-1.2720606505420364,0.0035721016424232997,0.05590655765466684,-0.00394146318677731],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.1400000000000001,"qpos":[-0.000828647365026492,1.5277745391595208,-1.2977490708522648,0.0004130568121811236,0.01135508995869716,-0.00017155764561389383,0.034999437560006,-0.034999357597043375,0.2988766533222695,-0.03267397609324617,0.07989224457969374,1.0,1.452715603068623e-11,7.485318324971933e-12,1.1165659738789281e-18],"qvel":[-0.00637146409917295,-0.3566782820130744,0.39795428246969305,0.009760576234932504,0.12726385965575562,-0.00452779846797995,4.695848818125493e-06,-1.1496355543887186e-05,-1.9264434495263413e-11,3.738768564862329e-11,5.148806613889953e-12,1.2828814195053236e-09,6.610142339701331e-10,1.3465978678045405e-21],"joint_position_rad":[-0.000828647365026492,1.5277745391595208,-1.2977490708522648,0.0004130568121811236,0.01135508995869716,-0.00017155764561389383],"joint_velocity_rad_s":[-0.00637146409917295,-0.3566782820130744,0.39795428246969305,0.009760576234932504,0.12726385965575562,-0.00452779846797995],"gripper_joint_position_m":[0.034999437560006,-0.034999357597043375],"tcp_position_m":[0.4763613163041199,0.0010205371388971054,0.36124084237523135],"tcp_quaternion_wxyz":[0.6505672017342462,0.0004051590434138362,0.7594485600364909,-0.000191134306380948],"object_position_m":[0.2988766533222695,-0.03267397609324617,0.07989224457969374],"object_quaternion_wxyz":[1.0,1.452715603068623e-11,7.485318324971933e-12,1.1165659738789281e-18],"object_linear_velocity_m_s":[-1.9264434495263413e-11,3.738768564862329e-11,5.148806613889953e-12],"object_angular_velocity_rad_s":[1.2828814195053236e-09,6.610142339701331e-10,1.3463601022034456e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999398061},{"geom_ids":[1,90],"normal_force_n":0.09809999998761193},{"geom_ids":[1,90],"normal_force_n":0.09809999999997228},{"geom_ids":[1,90],"normal_force_n":0.09810000000634092}],"native_actuator_controls":[-0.003961815171482636,1.5041392600455354,-1.2720606505420364,0.0035721016424232997,0.05590655765466684,-0.00394146318677731,0.035],"actuator_force_native":[-0.21879610402062674,-0.10743091905344215,0.06530221246981682,0.07755891203502452,0.2546188874760633,-0.030907357709664234,-9.816443304888622e-07],"issued_joint_targets_rad":[-0.004135539768452568,1.497147171344993,-1.2641517137437799,0.004654030790044297,0.05826363694339176,-0.004948754372668252],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.1400000000000001,"joint_targets_rad":[-0.004135539768452568,1.497147171344993,-1.2641517137437799,0.004654030790044297,0.05826363694339176,-0.004948754372668252],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.16000000000000011,"qpos":[-0.000958728057014126,1.5205333929816574,-1.2895961836903298,0.0006497119964955087,0.013601468699580465,-0.00027437570649809287,0.03499954720585014,-0.03499954478495525,0.2988766533220248,-0.0326739760927712,0.07989224457975237,1.0,1.4597846877190092e-11,7.521716584381503e-12,1.1165710719690557e-18],"qvel":[-0.0064561263960625165,-0.3549118728615234,0.3919557109202798,0.012546881932392033,0.1261442547113214,-0.005625098021219113,4.039928056613097e-06,-8.65622320740536e-06,-9.101240654395774e-12,1.766331899144412e-11,1.612209210070668e-12,-5.433875185229284e-10,-2.799880063275021e-10,1.446968061787188e-22],"joint_position_rad":[-0.000958728057014126,1.5205333929816574,-1.2895961836903298,0.0006497119964955087,0.013601468699580465,-0.00027437570649809287],"joint_velocity_rad_s":[-0.0064561263960625165,-0.3549118728615234,0.3919557109202798,0.012546881932392033,0.1261442547113214,-0.005625098021219113],"gripper_joint_position_m":[0.03499954720585014,-0.03499954478495525],"tcp_position_m":[0.4741844422200952,0.0009615489222321215,0.3604656792678952],"tcp_quaternion_wxyz":[0.6493671786021057,0.0005047121208646574,0.7604748367172339,-0.00018798912879995207],"object_position_m":[0.2988766533220248,-0.0326739760927712,0.07989224457975237],"object_quaternion_wxyz":[1.0,1.4597846877190092e-11,7.521716584381503e-12,1.1165710719690557e-18],"object_linear_velocity_m_s":[-9.101240654395774e-12,1.766331899144412e-11,1.612209210070668e-12],"object_angular_velocity_rad_s":[-5.433875185229284e-10,-2.799880063275021e-10,1.4466653818115026e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999838623},{"geom_ids":[1,90],"normal_force_n":0.09809999999679564},{"geom_ids":[1,90],"normal_force_n":0.09809999999988259},{"geom_ids":[1,90],"normal_force_n":0.09810000000147306}],"native_actuator_controls":[-0.004135539768452568,1.497147171344993,-1.2641517137437799,0.004654030790044297,0.05826363694339176,-0.004948754372668252,0.035],"actuator_force_native":[-0.22186430493476272,-0.09633836662551687,0.07577904112260114,0.09743834207999139,0.25740530037113085,-0.03830613962987292,-2.0878742885699353e-06],"issued_joint_targets_rad":[-0.004314524410790378,1.4901856828852673,-1.2563578182692614,0.005786518990718313,0.06058930608508033,-0.0059744629115533405],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.16000000000000011,"joint_targets_rad":[-0.004314524410790378,1.4901856828852673,-1.2563578182692614,0.005786518990718313,0.06058930608508033,-0.0059744629115533405],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.18000000000000013,"qpos":[-0.0010906189943245635,1.513331920490674,-1.2815613050024883,0.000942411160660383,0.0158291394295306,-0.0003991545840007516,0.03499963921092772,-0.034999681258736516,0.29887665332175256,-0.03267397609224284,0.07989224457977288,1.0,1.5963836321757797e-11,8.225520994697202e-12,1.1165783071818603e-18],"qvel":[-0.006549588751106093,-0.352790335581386,0.3863079293810661,0.015314051931696462,0.12522565884831852,-0.006723897065440566,3.189948370823102e-06,-6.267524046710323e-06,-1.0242524398244047e-11,1.9878365625274413e-11,5.702426969994663e-13,-4.697653847233645e-10,-2.420522933066238e-10,2.608229643702384e-22],"joint_position_rad":[-0.0010906189943245635,1.513331920490674,-1.2815613050024883,0.000942411160660383,0.0158291394295306,-0.0003991545840007516],"joint_velocity_rad_s":[-0.006549588751106093,-0.352790335581386,0.3863079293810661,0.015314051931696462,0.12522565884831852,-0.006723897065440566],"gripper_joint_position_m":[0.03499963921092772,-0.034999681258736516],"tcp_position_m":[0.47202022351159734,0.0009026666906006787,0.3597154210022309],"tcp_quaternion_wxyz":[0.6482024886992296,0.000617543651814947,0.7614677420113042,-0.00017366683387320028],"object_position_m":[0.29887665332175256,-0.03267397609224284,0.07989224457977288],"object_quaternion_wxyz":[1.0,1.5963836321757797e-11,8.225520994697202e-12,1.1165783071818603e-18],"object_linear_velocity_m_s":[-1.0242524398244047e-11,1.9878365625274413e-11,5.702426969994663e-13],"object_angular_velocity_rad_s":[-4.697653847233645e-10,-2.420522933066238e-10,2.607866503122181e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999833399},{"geom_ids":[1,90],"normal_force_n":0.098099999995453},{"geom_ids":[1,90],"normal_force_n":0.09810000000104456},{"geom_ids":[1,90],"normal_force_n":0.09810000000392566}],"native_actuator_controls":[-0.004314524410790378,1.4901856828852673,-1.2563578182692614,0.005786518990718313,0.06058930608508033,-0.0059744629115533405,0.035],"actuator_force_native":[-0.2251644895617347,-0.08774733052561601,0.08473929175281114,0.1171940535438349,0.25976317828301954,-0.04566723767736504,-1.5181789627671805e-06],"issued_joint_targets_rad":[-0.004499001632073904,1.4832629134698994,-1.248672381326949,0.006968868654072082,0.06288793239947776,-0.00701834824923318],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.18000000000000013,"joint_targets_rad":[-0.004499001632073904,1.4832629134698994,-1.248672381326949,0.006968868654072082,0.06288793239947776,-0.00701834824923318],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.20000000000000015,"qpos":[-0.001224485562687453,1.5061763356187439,-1.2736377315129026,0.0012907362130590474,0.018041914689085878,-0.0005459014060280956,0.034999713293302155,-0.03499977943283327,0.2988766533214827,-0.0326739760917192,0.07989224457977999,1.0,1.6819139258900892e-11,8.666211705914907e-12,1.1165864925169478e-18],"qvel":[-0.006650981101492927,-0.35039120665320656,0.38097446238372173,0.018059896259926652,0.1244908365484545,-0.007822267173578843,2.446354702508881e-06,-4.547163356578012e-06,-1.1434811699139162e-11,2.2192355070906574e-11,2.034874597084497e-13,-3.0199225694386573e-10,-1.5560493188045825e-10,4.816969089153192e-22],"joint_position_rad":[-0.001224485562687453,1.5061763356187439,-1.2736377315129026,0.0012907362130590474,0.018041914689085878,-0.0005459014060280956],"joint_velocity_rad_s":[-0.006650981101492927,-0.35039120665320656,0.38097446238372173,0.018059896259926652,0.1244908365484545,-0.007822267173578843],"gripper_joint_position_m":[0.034999713293302155,-0.03499977943283327],"tcp_position_m":[0.4698700222314684,0.0008438927016388162,0.3589834860887587],"tcp_quaternion_wxyz":[0.6470669015240081,0.0007434830665795477,0.7624328496327812,-0.00014827638487015357],"object_position_m":[0.2988766533214827,-0.0326739760917192,0.07989224457977999],"object_quaternion_wxyz":[1.0,1.6819139258900892e-11,8.666211705914907e-12,1.1165864925169478e-18],"object_linear_velocity_m_s":[-1.1434811699139162e-11,2.2192355070906574e-11,2.034874597084497e-13],"object_angular_velocity_rad_s":[-3.0199225694386573e-10,-1.5560493188045825e-10,4.816725360220732e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999781022},{"geom_ids":[1,90],"normal_force_n":0.09809999999339448},{"geom_ids":[1,90],"normal_force_n":0.09810000000196466},{"geom_ids":[1,90],"normal_force_n":0.09810000000638046}],"native_actuator_controls":[-0.004499001632073904,1.4832629134698994,-1.248672381326949,0.006968868654072082,0.06288793239947776,-0.00701834824923318,0.035],"actuator_force_native":[-0.22870638004345145,-0.08111773864152383,0.0923557029576898,0.1368258163408881,0.2617239222812371,-0.05299106767168259,-7.635055985222294e-07],"issued_joint_targets_rad":[-0.004689175744700683,1.4763850255830415,-1.2410893267391214,0.008200538035126858,0.06516400962063885,-0.008080358247459578],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.20000000000000015,"joint_targets_rad":[-0.004689175744700683,1.4763850255830415,-1.2410893267391214,0.008200538035126858,0.06516400962063885,-0.008080358247459578],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.22000000000000017,"qpos":[-0.001360483723019594,1.4990715757863824,-1.2658195425450818,0.001694251661173479,0.020243095798751984,-0.0007145979021478834,0.03499977251678849,-0.03499985167051675,0.298876653321219,-0.032673976091207375,0.07989224457978246,1.0,1.711279624665375e-11,8.817517783510838e-12,1.116595417662573e-18],"qvel":[-0.006760075435878889,-0.34776914471177006,0.37591661371997553,0.02078417780221066,0.12390933879495694,-0.008919303257380539,1.8826236237376005e-06,-3.365158200591585e-06,-1.2991881462607933e-11,2.521427632300037e-11,7.349422131265172e-14,-1.724153352801363e-11,-8.883716007037104e-12,8.708544540341704e-22],"joint_position_rad":[-0.001360483723019594,1.4990715757863824,-1.2658195425450818,0.001694251661173479,0.020243095798751984,-0.0007145979021478834],"joint_velocity_rad_s":[-0.006760075435878889,-0.34776914471177006,0.37591661371997553,0.02078417780221066,0.12390933879495694,-0.008919303257380539],"gripper_joint_position_m":[0.03499977251678849,-0.03499985167051675],"tcp_position_m":[0.4677348949502942,0.0007852335007652282,0.35826441332359527],"tcp_quaternion_wxyz":[0.6459551309529362,0.0008823600337432032,0.7633748605438497,-0.00011191963336454001],"object_position_m":[0.298876653321219,-0.032673976091207375,0.07989224457978246],"object_quaternion_wxyz":[1.0,1.711279624665375e-11,8.817517783510838e-12,1.116595417662573e-18],"object_linear_velocity_m_s":[-1.2991881462607933e-11,2.521427632300037e-11,7.349422131265172e-14],"object_angular_velocity_rad_s":[-1.724153352801363e-11,-8.883716007037104e-12,8.708590671475627e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999723693},{"geom_ids":[1,90],"normal_force_n":0.09809999999145039},{"geom_ids":[1,90],"normal_force_n":0.09810000000268092},{"geom_ids":[1,90],"normal_force_n":0.0981000000084674}],"native_actuator_controls":[-0.004689175744700683,1.4763850255830415,-1.2410893267391214,0.008200538035126858,0.06516400962063885,-0.008080358247459578,0.035],"actuator_force_native":[-0.2324949845550927,-0.07607829270841648,0.09883419587694675,0.1563305659470819,0.2633451300264333,-0.060278648567046136,-3.1378965825723526e-07],"issued_joint_targets_rad":[-0.004885240920408466,1.4695569290347643,-1.2336032890480326,0.00948091429409903,0.06742142569803258,-0.009160355084143675],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.22000000000000017,"joint_targets_rad":[-0.004885240920408466,1.4695569290347643,-1.2336032890480326,0.00948091429409903,0.06742142569803258,-0.009160355084143675],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.24000000000000019,"qpos":[-0.0014987670144646743,1.4920216723317408,-1.2581016454287175,0.002152517042203361,0.022435326197936915,-0.0009052116862640845,0.03499982028936594,-0.034999906944705714,0.29887665332095015,-0.03267397609068579,0.07989224457978335,1.0,1.768670937300615e-11,9.113235530667448e-12,1.1166061746243327e-18],"qvel":[-0.006876835881776649,-0.34496553049114514,0.3710972058608251,0.02348671296448311,0.1234470144900796,-0.010014298093575402,1.4820739573832297e-06,-2.5410206281309676e-06,-1.5606202275375845e-11,3.028807511621238e-11,2.6140433754827237e-14,3.981368200652386e-10,2.0514439527845214e-10,1.5839368374031306e-21],"joint_position_rad":[-0.0014987670144646743,1.4920216723317408,-1.2581016454287175,0.002152517042203361,0.022435326197936915,-0.0009052116862640845],"joint_velocity_rad_s":[-0.006876835881776649,-0.34496553049114514,0.3710972058608251,0.02348671296448311,0.1234470144900796,-0.010014298093575402],"gripper_joint_position_m":[0.03499982028936594,-0.034999906944705714],"tcp_position_m":[0.46561569983159334,0.0007266967187406578,0.35755372548063974],"tcp_quaternion_wxyz":[0.644862775181268,0.0010340075441955588,0.7642976696475243,-6.469371194436978e-05],"object_position_m":[0.29887665332095015,-0.03267397609068579,0.07989224457978335],"object_quaternion_wxyz":[1.0,1.768670937300615e-11,9.113235530667448e-12,1.1166061746243327e-18],"object_linear_velocity_m_s":[-1.5606202275375845e-11,3.028807511621238e-11,2.6140433754827237e-14],"object_angular_velocity_rad_s":[3.981368200652386e-10,2.0514439527845214e-10,1.5839662056143173e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999651758},{"geom_ids":[1,90],"normal_force_n":0.09809999998914574},{"geom_ids":[1,90],"normal_force_n":0.09810000000345294},{"geom_ids":[1,90],"normal_force_n":0.09810000001082465}],"native_actuator_controls":[-0.004885240920408466,1.4695569290347643,-1.2336032890480326,0.00948091429409903,0.06742142569803258,-0.009160355084143675,0.035],"actuator_force_native":[-0.23653373306662015,-0.07235181130238288,0.10438248115066528,0.17570232525341117,0.2646904732658372,-0.0675299868384328,-2.2194442439449347e-07],"issued_joint_targets_rad":[-0.005087384124352456,1.462782638619659,-1.2262096574987713,0.010809249278610628,0.06966332747766388,-0.010258050205129975],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.24000000000000019,"joint_targets_rad":[-0.005087384124352456,1.462782638619659,-1.2262096574987713,0.010809249278610628,0.06966332747766388,-0.010258050205129975],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2600000000000002,"qpos":[-0.00163948778943137,1.4850301381699358,-1.2504800350901297,0.0026650780106751287,0.02462037898004259,-0.0011177028185083884,0.03499985937472226,-0.03499995105243528,0.2988766533206893,-0.03267397609017961,0.07989224457978367,1.0,1.688221899333026e-11,8.698720455065573e-12,1.1166167961364492e-18],"qvel":[-0.007001293619668768,-0.34200866244653627,0.36647346403165537,0.026166923488310054,0.1230545535841891,-0.01110650632779837,1.208755767837549e-06,-1.935914868988115e-06,-1.9722177158435063e-11,3.82762002428674e-11,9.339983834687053e-15,1.029853278322976e-09,5.30643620327282e-10,2.9178268509392694e-21],"joint_position_rad":[-0.00163948778943137,1.4850301381699358,-1.2504800350901297,0.0026650780106751287,0.02462037898004259,-0.0011177028185083884],"joint_velocity_rad_s":[-0.007001293619668768,-0.34200866244653627,0.36647346403165537,0.026166923488310054,0.1230545535841891,-0.01110650632779837],"gripper_joint_position_m":[0.03499985937472226,-0.03499995105243528],"tcp_position_m":[0.4635132189374851,0.000668290222198016,0.35684790184601034],"tcp_quaternion_wxyz":[0.6437863559722218,0.0011982566307080476,0.765204346563846,-6.697226121093136e-06],"object_position_m":[0.2988766533206893,-0.03267397609017961,0.07989224457978367],"object_quaternion_wxyz":[1.0,1.688221899333026e-11,8.698720455065573e-12,1.1166167961364492e-18],"object_linear_velocity_m_s":[-1.9722177158435063e-11,3.82762002428674e-11,9.339983834687053e-15],"object_angular_velocity_rad_s":[1.029853278322976e-09,5.30643620327282e-10,2.917898906767996e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999700213},{"geom_ids":[1,90],"normal_force_n":0.0980999999906407},{"geom_ids":[1,90],"normal_force_n":0.0981000000029868},{"geom_ids":[1,90],"normal_force_n":0.09810000000934822}],"native_actuator_controls":[-0.005087384124352456,1.462782638619659,-1.2262096574987713,0.010809249278610628,0.06966332747766388,-0.010258050205129975,0.035],"actuator_force_native":[-0.24082523869534303,-0.06975665178946144,0.10926288715039334,0.19493223327586967,0.2658476545999293,-0.07474371437451831,-4.1876772960414144e-07],"issued_joint_targets_rad":[-0.00529577883140666,1.4560656474453193,-1.2189048254393364,0.012184554917464783,0.07189191232066598,-0.011372912847164431],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.2600000000000002,"joint_targets_rad":[-0.00529577883140666,1.4560656474453193,-1.2189048254393364,0.012184554917464783,0.07189191232066598,-0.011372912847164431],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2800000000000002,"qpos":[-0.001782800951703427,1.4780995744074612,-1.242950873120808,0.0032314671884804747,0.026799609057792592,-0.0013520023796183367,0.03499989185772482,-0.0349999874107288,0.2988766533204307,-0.03267397608967748,0.07989224457978372,1.0,1.5482158158140324e-11,7.977332542131948e-12,1.1166278412111584e-18],"qvel":[-0.007133476497387627,-0.33893692788301444,0.3620307540121189,0.02882364146957032,0.12272990148982357,-0.01219486470784706,1.027127900250323e-06,-1.4558752391339976e-06,-9.73253584752337e-12,1.8888606543578853e-11,3.3989028741616834e-15,-6.273470279376069e-10,-3.232463414487966e-10,3.151639637972613e-22],"joint_position_rad":[-0.001782800951703427,1.4780995744074612,-1.242950873120808,0.0032314671884804747,0.026799609057792592,-0.0013520023796183367],"joint_velocity_rad_s":[-0.007133476497387627,-0.33893692788301444,0.3620307540121189,0.02882364146957032,0.12272990148982357,-0.01219486470784706],"gripper_joint_position_m":[0.03499989185772482,-0.0349999874107288],"tcp_position_m":[0.46142801213753765,0.0006100207173091454,0.35614403584970944],"tcp_quaternion_wxyz":[0.6427229499865431,0.001374946523328965,0.7660974580571874,6.197555233799849e-05],"object_position_m":[0.2988766533204307,-0.03267397608967748,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5482158158140324e-11,7.977332542131948e-12,1.1166278412111584e-18],"object_linear_velocity_m_s":[-9.73253584752337e-12,1.8888606543578853e-11,3.3989028741616834e-15],"object_angular_velocity_rad_s":[-6.273470279376069e-10,-3.232463414487966e-10,3.1517372144912686e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999996131},{"geom_ids":[1,90],"normal_force_n":0.09809999999879276},{"geom_ids":[1,90],"normal_force_n":0.09810000000038516},{"geom_ids":[1,90],"normal_force_n":0.09810000000120565}],"native_actuator_controls":[-0.00529577883140666,1.4560656474453193,-1.2189048254393364,0.012184554917464783,0.07189191232066598,-0.011372912847164431,0.035],"actuator_force_native":[-0.2453708478893205,-0.06802951755628328,0.11353004445713566,0.21400530181152078,0.2668281803939985,-0.08191680761369036,-8.099484938295376e-07],"issued_joint_targets_rad":[-0.005510595258509348,1.449408554694094,-1.2116853173081157,0.013605779389904024,0.07410890687718036,-0.012504329072230798],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.2800000000000002,"joint_targets_rad":[-0.005510595258509348,1.449408554694094,-1.2116853173081157,0.013605779389904024,0.07410890687718036,-0.012504329072230798],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3000000000000002,"qpos":[-0.0019288610963004397,1.4712319750334444,-1.2355106700455543,0.0038511878929288978,0.02897421425573288,-0.0016080227031386146,0.03499990526570304,-0.03499999910925716,0.2988766533201395,-0.03267397608911243,0.07989224457978372,1.0,1.6639652192361685e-11,8.573768574090723e-12,1.1166456250944599e-18],"qvel":[-0.007273362113512573,-0.33577548138254876,0.3577512333614826,0.031455292994676885,0.12246112357504606,-0.013278471516454405,3.0133213890165655e-07,-2.8823198367823244e-07,-1.0637071721449987e-11,2.064404346121148e-11,2.713340156455649e-15,-5.433651974725442e-10,-2.799740046400611e-10,5.700690579556581e-22],"joint_position_rad":[-0.0019288610963004397,1.4712319750334444,-1.2355106700455543,0.0038511878929288978,0.02897421425573288,-0.0016080227031386146],"joint_velocity_rad_s":[-0.007273362113512573,-0.33577548138254876,0.3577512333614826,0.031455292994676885,0.12246112357504606,-0.013278471516454405],"gripper_joint_position_m":[0.03499990526570304,-0.03499999910925716],"tcp_position_m":[0.4593604938576536,0.0005518950741941669,0.3554397141395437],"tcp_quaternion_wxyz":[0.6416700457371335,0.0015639135850469988,0.7669791956976336,0.00014122682056997413],"object_position_m":[0.2988766533201395,-0.03267397608911243,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6639652192361685e-11,8.573768574090723e-12,1.1166456250944599e-18],"object_linear_velocity_m_s":[-1.0637071721449987e-11,2.064404346121148e-11,2.713340156455649e-15],"object_angular_velocity_rad_s":[-5.433651974725442e-10,-2.799740046400611e-10,5.701038464185107e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999889997},{"geom_ids":[1,90],"normal_force_n":0.09809999999656158},{"geom_ids":[1,90],"normal_force_n":0.09810000000109977},{"geom_ids":[1,90],"normal_force_n":0.09810000000343805}],"native_actuator_controls":[-0.005510595258509348,1.449408554694094,-1.2116853173081157,0.013605779389904024,0.07410890687718036,-0.012504329072230798,0.035],"actuator_force_native":[-0.25017192240914976,-0.06699622023528207,0.11727205218767267,0.23290719490562062,0.2676552408519057,-0.0890453564162402,2.2827111840761916e-06],"issued_joint_targets_rad":[-0.005731999057716065,1.442813365965411,-1.2045479743178817,0.015071884344908696,0.07631583587040414,-0.013651705234266924],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.3000000000000002,"joint_targets_rad":[-0.005731999057716065,1.442813365965411,-1.2045479743178817,0.015071884344908696,0.07631583587040414,-0.013651705234266924],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.32000000000000023,"qpos":[-0.002077822638983689,1.4644289041543814,-1.2281562863182955,0.00452371260724503,0.031145143646834746,-0.0018856585720177458,0.03499989065330654,-0.03499997621753955,0.2988766533198541,-0.03267397608855874,0.07989224457978372,1.0,1.746633835424179e-11,8.999753200148839e-12,1.116665650447794e-18],"qvel":[-0.007420942082433203,-0.332543253273048,0.3536184123744734,0.034060371250712186,0.12223557796363708,-0.014356467590108016,-2.2434474810872054e-07,4.958045802424887e-07,-1.1682326225399105e-11,2.2672565612406655e-11,2.5995422964315704e-15,-3.805834677419366e-10,-1.9609906734113886e-10,1.0393767069637006e-21],"joint_position_rad":[-0.002077822638983689,1.4644289041543814,-1.2281562863182955,0.00452371260724503,0.031145143646834746,-0.0018856585720177458],"joint_velocity_rad_s":[-0.007420942082433203,-0.332543253273048,0.3536184123744734,0.034060371250712186,0.12223557796363708,-0.014356467590108016],"gripper_joint_position_m":[0.03499989065330654,-0.03499997621753955],"tcp_position_m":[0.4573109822688115,0.0004939201090875171,0.35473294803782374],"tcp_quaternion_wxyz":[0.6406255140737867,0.0017649904997887617,0.7678514063192902,0.00023095393527947845],"object_position_m":[0.2988766533198541,-0.03267397608855874,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.746633835424179e-11,8.999753200148839e-12,1.116665650447794e-18],"object_linear_velocity_m_s":[-1.1682326225399105e-11,2.2672565612406655e-11,2.5995422964315704e-15],"object_angular_velocity_rad_s":[-3.805834677419366e-10,-1.9609906734113886e-10,1.0394259481690186e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999980973},{"geom_ids":[1,90],"normal_force_n":0.09809999999405224},{"geom_ids":[1,90],"normal_force_n":0.09810000000190267},{"geom_ids":[1,90],"normal_force_n":0.09810000000594774}],"native_actuator_controls":[-0.005731999057716065,1.442813365965411,-1.2045479743178817,0.015071884344908696,0.07631583587040414,-0.013651705234266924,0.035],"actuator_force_native":[-0.2552294030864241,-0.06652678875239815,0.12057289816074501,0.25162501325298564,0.2683535552902383,-0.09612576523732974,5.495591478998918e-06],"issued_joint_targets_rad":[-0.005960149571996736,1.4362816634688722,-1.197489954810935,0.016581803742168277,0.07851393677079986,-0.0148144293736047],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.32000000000000023,"joint_targets_rad":[-0.005960149571996736,1.4362816634688722,-1.197489954810935,0.016581803742168277,0.07851393677079986,-0.0148144293736047],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.34000000000000025,"qpos":[-0.0022298410178413874,1.4576916223229224,-1.2208848125648495,0.0052543327482975095,0.03331321188930983,-0.002184509211819448,0.03499990385597873,-0.03499999625539296,0.2988766533195762,-0.032673976088019814,0.07989224457978372,1.0,1.783802919519836e-11,9.191299919060145e-12,1.1166877361958022e-18],"qvel":[-0.00757624590270609,-0.3292536312079304,0.34961643248767854,0.03673278287445403,0.12204225120421304,-0.015443160679662622,9.255942787143591e-07,-5.820083507543803e-07,-1.3095681957621336e-11,2.5415450373684963e-11,2.573174499596724e-15,-1.1138988687081919e-10,-5.73931521879231e-11,1.890206702459662e-21],"joint_position_rad":[-0.0022298410178413874,1.4576916223229224,-1.2208848125648495,0.0052543327482975095,0.03331321188930983,-0.002184509211819448],"joint_velocity_rad_s":[-0.00757624590270609,-0.3292536312079304,0.34961643248767854,0.03673278287445403,0.12204225120421304,-0.015443160679662622],"gripper_joint_position_m":[0.03499990385597873,-0.03499999625539296],"tcp_position_m":[0.4552797229941354,0.0004361430917325317,0.35402204071125576],"tcp_quaternion_wxyz":[0.6395874716238771,0.0019802986173697943,0.7687157040254193,0.0003330823705857117],"object_position_m":[0.2988766533195762,-0.032673976088019814,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.783802919519836e-11,9.191299919060145e-12,1.1166877361958022e-18],"object_linear_velocity_m_s":[-1.3095681957621336e-11,2.5415450373684963e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[-1.1138988687081919e-10,-5.73931521879231e-11,1.8902809701541502e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999734961},{"geom_ids":[1,90],"normal_force_n":0.09809999999171497},{"geom_ids":[1,90],"normal_force_n":0.0981000000026504},{"geom_ids":[1,90],"normal_force_n":0.09810000000828506}],"native_actuator_controls":[-0.005960149571996736,1.4362816634688722,-1.197489954810935,0.016581803742168277,0.07851393677079986,-0.0148144293736047,0.035],"actuator_force_native":[-0.2605434548188974,-0.06652855228436749,0.123506457874754,0.2694349253825606,0.26894387200858083,-0.10313446059835857,-7.8221054278238e-07],"issued_joint_targets_rad":[-0.006195333893127524,1.429814731078203,-1.1905086507507658,0.01814015420694355,0.08070433299079272,-0.015991806385644482],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.34000000000000025,"joint_targets_rad":[-0.006195333893127524,1.429814731078203,-1.1905086507507658,0.01814015420694355,0.08070433299079272,-0.015991806385644482],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.36000000000000026,"qpos":[-0.002385077171144858,1.451021274029168,-1.2136932530623783,0.006075561443034479,0.0354794415809161,-0.0025029969810123924,0.034999884812543465,-0.03499997860611594,0.29887665331930846,-0.03267397608750027,0.07989224457978372,1.0,1.754640430348194e-11,9.041060924700791e-12,1.1167111976918056e-18],"qvel":[-0.0077398056899324495,-0.3259103342851515,0.3457255144758424,0.0399983783444128,0.12187309968958814,-0.01661094056002313,-8.321091033782422e-08,2.198161749509767e-06,-1.5253146511267825e-11,2.9602464100830306e-11,2.573174499596724e-15,3.0410710597550777e-10,1.566987910495668e-10,3.459848483018615e-21],"joint_position_rad":[-0.002385077171144858,1.451021274029168,-1.2136932530623783,0.006075561443034479,0.0354794415809161,-0.0025029969810123924],"joint_velocity_rad_s":[-0.0077398056899324495,-0.3259103342851515,0.3457255144758424,0.0399983783444128,0.12187309968958814,-0.01661094056002313],"gripper_joint_position_m":[0.034999884812543465,-0.03499997860611594],"tcp_position_m":[0.45326690952024223,0.0003788234135830898,0.3533053136622758],"tcp_quaternion_wxyz":[0.6385539520307657,0.002222569536202701,0.7695737130853519,0.0004589755675197243],"object_position_m":[0.29887665331930846,-0.03267397608750027,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.754640430348194e-11,9.041060924700791e-12,1.1167111976918056e-18],"object_linear_velocity_m_s":[-1.5253146511267825e-11,2.9602464100830306e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[3.0410710597550777e-10,1.566987910495668e-10,3.459947420745676e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999693507},{"geom_ids":[1,90],"normal_force_n":0.0980999999904192},{"geom_ids":[1,90],"normal_force_n":0.09810000000306499},{"geom_ids":[1,90],"normal_force_n":0.09810000000958075}],"native_actuator_controls":[-0.006195333893127524,1.429814731078203,-1.1905086507507658,0.01814015420694355,0.08070433299079272,-0.015991806385644482,0.035],"actuator_force_native":[-0.26612150930895107,-0.06697176465144139,0.12614061254978992,0.2825918188342989,0.26943926456438394,-0.10997168320628621,5.023552813288035e-06],"issued_joint_targets_rad":[-0.006438466131450018,1.4234137432842833,-1.1836014901986331,0.01977809808956716,0.08288857432902647,-0.01718293070312893],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.36000000000000026,"joint_targets_rad":[-0.006438466131450018,1.4234137432842833,-1.1836014901986331,0.01977809808956716,0.08288857432902647,-0.01718293070312893],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3800000000000003,"qpos":[-0.0025437092843295962,1.4444187222932476,-1.2065793938807905,0.006996601395341067,0.037644161857727954,-0.002841855980917027,0.034999888575203586,-0.034999986154137054,0.2988766533190547,-0.03267397608700766,0.07989224457978372,1.0,1.6283707912167092e-11,8.390448714257547e-12,1.1167342540238744e-18],"qvel":[-0.007912758673109052,-0.3225298004160687,0.34193665459566375,0.043558021781938114,0.12171624044034753,-0.01781465200100434,1.0681778309906381e-06,2.9775303668717906e-06,-1.8789064026611295e-11,3.6464779282870155e-11,2.5745622783775058e-15,9.217344168950593e-10,4.749388866599168e-10,6.293038245852505e-21],"joint_position_rad":[-0.0025437092843295962,1.4444187222932476,-1.2065793938807905,0.006996601395341067,0.037644161857727954,-0.002841855980917027],"joint_velocity_rad_s":[-0.007912758673109052,-0.3225298004160687,0.34193665459566375,0.043558021781938114,0.12171624044034753,-0.01781465200100434],"gripper_joint_position_m":[0.034999888575203586,-0.034999986154137054],"tcp_position_m":[0.45127271719710726,0.0003220873340292101,0.3525816928272189],"tcp_quaternion_wxyz":[0.6375236541999473,0.0024949249253248705,0.7704264998811489,0.0006115276318796217],"object_position_m":[0.2988766533190547,-0.03267397608700766,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6283707912167092e-11,8.390448714257547e-12,1.1167342540238744e-18],"object_linear_velocity_m_s":[-1.8789064026611295e-11,3.6464779282870155e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[9.217344168950593e-10,4.749388866599168e-10,6.293039752604178e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999735919},{"geom_ids":[1,90],"normal_force_n":0.09809999999174487},{"geom_ids":[1,90],"normal_force_n":0.09810000000264074},{"geom_ids":[1,90],"normal_force_n":0.09810000000825518}],"native_actuator_controls":[-0.006438466131450018,1.4234137432842833,-1.1836014901986331,0.01977809808956716,0.08288857432902647,-0.01718293070312893,0.035],"actuator_force_native":[-0.27201675440408857,-0.06774931863681388,0.1285490215942673,0.29346975885935306,0.2698697640524639,-0.11668876922061251,-8.838972982427862e-07],"issued_joint_targets_rad":[-0.006689954585831801,1.4170795862023922,-1.1767665164491068,0.02150396424344475,0.08506727740836717,-0.018388234568297076],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.3800000000000003,"joint_targets_rad":[-0.006689954585831801,1.4170795862023922,-1.1767665164491068,0.02150396424344475,0.08506727740836717,-0.018388234568297076],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4000000000000003,"qpos":[-0.0027059293367258444,1.4378845731914955,-1.1995410487835305,0.008029423369675213,0.039807689593811715,-0.0032005494604365665,0.03499987992489354,-0.03499997842145395,0.2988766533188078,-0.032673976086528375,0.07989224457978372,1.0,1.4701713852757407e-11,7.575300337239913e-12,1.1167581283987203e-18],"qvel":[-0.00809571096483733,-0.31911950690285024,0.33825939112235837,0.04829703858978015,0.121587800663189,-0.01895799371893694,9.923677622759737e-07,4.698622281199973e-06,-9.27693884534081e-12,1.8004160918828838e-11,2.5745622783775058e-15,-6.045485464387073e-10,-3.1150360014675013e-10,6.810004027223455e-22],"joint_position_rad":[-0.0027059293367258444,1.4378845731914955,-1.1995410487835305,0.008029423369675213,0.039807689593811715,-0.0032005494604365665],"joint_velocity_rad_s":[-0.00809571096483733,-0.31911950690285024,0.33825939112235837,0.04829703858978015,0.121587800663189,-0.01895799371893694],"gripper_joint_position_m":[0.03499987992489354,-0.03499997842145395],"tcp_position_m":[0.44929725114537933,0.0002660959757725034,0.35185024440163676],"tcp_quaternion_wxyz":[0.6364953802370176,0.0028020024738302377,0.7712750143390903,0.0007949687460437582],"object_position_m":[0.2988766533188078,-0.032673976086528375,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4701713852757407e-11,7.575300337239913e-12,1.1167581283987203e-18],"object_linear_velocity_m_s":[-9.27693884534081e-12,1.8004160918828838e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[-6.045485464387073e-10,-3.1150360014675013e-10,6.810004312298599e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999972382},{"geom_ids":[1,90],"normal_force_n":0.0980999999991366},{"geom_ids":[1,90],"normal_force_n":0.09810000000027623},{"geom_ids":[1,90],"normal_force_n":0.09810000000086334}],"native_actuator_controls":[-0.006689954585831801,1.4170795862023922,-1.1767665164491068,0.02150396424344475,0.08506727740836717,-0.018388234568297076,0.035],"actuator_force_native":[-0.2782434651042898,-0.06880142461400851,0.13066563114210794,0.29749644200188075,0.2702141771507711,-0.1234398605001997,-1.5883455284360082e-07],"issued_joint_targets_rad":[-0.006950281591550624,1.410812894875131,-1.1700017995804957,0.023328901658087563,0.08724105289326267,-0.019607169003137758],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.4000000000000003,"joint_targets_rad":[-0.006950281591550624,1.410812894875131,-1.1700017995804957,0.023328901658087563,0.08724105289326267,-0.019607169003137758],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4200000000000003,"qpos":[-0.00287194837072686,1.431419268389656,-1.192576429621561,0.009177906455944112,0.041970180709764236,-0.0035796504625585494,0.03499988458489549,-0.03499998272631018,0.2988766533185334,-0.032673976085995975,0.07989224457978372,1.0,1.5639522306728222e-11,8.058551986366862e-12,1.1167968488729098e-18],"qvel":[-0.008289181567256988,-0.31569059658987153,0.334686063295621,0.053846828581384114,0.12147424584166068,-0.020022063556610417,1.7801900287612107e-06,5.008476130583157e-06,-1.0016218486647816e-11,1.9438844624001422e-11,2.5731744995967248e-15,-5.162610617638159e-10,-2.6601197750531966e-10,1.2449220894021367e-21],"joint_position_rad":[-0.00287194837072686,1.431419268389656,-1.192576429621561,0.009177906455944112,0.041970180709764236,-0.0035796504625585494],"joint_velocity_rad_s":[-0.008289181567256988,-0.31569059658987153,0.334686063295621,0.053846828581384114,0.12147424584166068,-0.020022063556610417],"gripper_joint_position_m":[0.03499988458489549,-0.03499998272631018],"tcp_position_m":[0.4473405930516559,0.00021095298328086524,0.3511103155788293],"tcp_quaternion_wxyz":[0.6354682033088767,0.0031449935688556818,0.7721199715849384,0.001010484296747346],"object_position_m":[0.2988766533185334,-0.032673976085995975,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5639522306728222e-11,8.058551986366862e-12,1.1167968488729098e-18],"object_linear_velocity_m_s":[-1.0016218486647816e-11,1.9438844624001422e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[-5.162610617638159e-10,-2.6601197750531966e-10,1.2449547868207984e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999901964},{"geom_ids":[1,90],"normal_force_n":0.09809999999693547},{"geom_ids":[1,90],"normal_force_n":0.09810000000098047},{"geom_ids":[1,90],"normal_force_n":0.09810000000306447}],"native_actuator_controls":[-0.006950281591550624,1.410812894875131,-1.1700017995804957,0.023328901658087563,0.08724105289326267,-0.019607169003137758,0.035],"actuator_force_native":[-0.28482074982961614,-0.07005689821264127,0.1325400868071398,0.29680566517881746,0.27049735307249334,-0.13024209007087648,-4.2843459633346015e-06],"issued_joint_targets_rad":[-0.007219764941395821,1.404614140404396,-1.1633057430378417,0.0252561992074971,0.08941025785508804,-0.020840003563602202],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.4200000000000003,"joint_targets_rad":[-0.007219764941395821,1.404614140404396,-1.1633057430378417,0.0252561992074971,0.08941025785508804,-0.020840003563602202],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.44000000000000034,"qpos":[-0.0030444495059701177,1.4250230232809218,-1.1856839220561968,0.010441597074069999,0.044131957955179366,-0.003979549422069609,0.034999856054029915,-0.03500000118399287,0.2988766533182485,-0.03267397608544293,0.07989224457978372,1.0,1.7209901479329354e-11,8.867740617991865e-12,1.1168462317022647e-18],"qvel":[-0.008567821265746694,-0.3122517009242857,0.33119297390055763,0.0592861084699108,0.12135780958778822,-0.02109259401291793,2.919195266563082e-06,6.513872718923692e-06,-1.1322577878393173e-11,2.1974088800899256e-11,2.5690111632543807e-15,-3.97328775870714e-10,-2.0473038817625817e-10,2.2707356389245248e-21],"joint_position_rad":[-0.0030444495059701177,1.4250230232809218,-1.1856839220561968,0.010441597074069999,0.044131957955179366,-0.003979549422069609],"joint_velocity_rad_s":[-0.008567821265746694,-0.3122517009242857,0.33119297390055763,0.0592861084699108,0.12135780958778822,-0.02109259401291793],"gripper_joint_position_m":[0.034999856054029915,-0.03500000118399287],"tcp_position_m":[0.44540276448836813,0.00015562932215077184,0.3503613947666616],"tcp_quaternion_wxyz":[0.6344412819373552,0.003524498159243163,0.7729620025610323,0.0012570931746611535],"object_position_m":[0.2988766533182485,-0.03267397608544293,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7209901479329354e-11,8.867740617991865e-12,1.1168462317022647e-18],"object_linear_velocity_m_s":[-1.1322577878393173e-11,2.1974088800899256e-11,2.5690111632543807e-15],"object_angular_velocity_rad_s":[-3.97328775870714e-10,-2.0473038817625817e-10,2.2707730672194417e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999809318},{"geom_ids":[1,90],"normal_force_n":0.09809999999403908},{"geom_ids":[1,90],"normal_force_n":0.09810000000190681},{"geom_ids":[1,90],"normal_force_n":0.09810000000596093}],"native_actuator_controls":[-0.007219764941395821,1.404614140404396,-1.1633057430378417,0.0252561992074971,0.08941025785508804,-0.020840003563602202,0.035],"actuator_force_native":[-0.29118612850532277,-0.07145212550062752,0.13428945196561415,0.29615354298753005,0.27074628461740435,-0.13696565039594905,-8.83813752938778e-06],"issued_joint_targets_rad":[-0.007500986628034292,1.3984835733809007,-1.156676858590493,0.027285135895482183,0.09157532882449626,-0.02208697337974671],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.44000000000000034,"joint_targets_rad":[-0.007500986628034292,1.3984835733809007,-1.156676858590493,0.027285135895482183,0.09157532882449626,-0.02208697337974671],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.46000000000000035,"qpos":[-0.0032279485169641868,1.4186958986354972,-1.1788619865750158,0.01181854519634138,0.04629347126938122,-0.004400187983838775,0.03499970317012712,-0.034999959102363906,0.2988766533179657,-0.032673976084894106,0.07989224457978372,1.0,1.809745503603842e-11,9.32507841510547e-12,1.116901222607208e-18],"qvel":[-0.009124895776708074,-0.3088107925435645,0.32777977561047084,0.06462253279431948,0.1212429425105169,-0.02215789845727683,2.6133958321371185e-06,1.0456933437818191e-05,-1.2894133114526014e-11,2.5024020112020943e-11,2.5703989420351617e-15,-1.7093760062889192e-10,-8.807874042830987e-11,4.148604187325193e-21],"joint_position_rad":[-0.0032279485169641868,1.4186958986354972,-1.1788619865750158,0.01181854519634138,0.04629347126938122,-0.004400187983838775],"joint_velocity_rad_s":[-0.009124895776708074,-0.3088107925435645,0.32777977561047084,0.06462253279431948,0.1212429425105169,-0.02215789845727683],"gripper_joint_position_m":[0.03499970317012712,-0.034999959102363906],"tcp_position_m":[0.44348374008088465,9.828852013640972e-05,0.3496030444668622],"tcp_quaternion_wxyz":[0.6334138112169693,0.003941446653854357,0.7738016923160647,0.0015328818162234441],"object_position_m":[0.2988766533179657,-0.032673976084894106,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.809745503603842e-11,9.32507841510547e-12,1.116901222607208e-18],"object_linear_velocity_m_s":[-1.2894133114526014e-11,2.5024020112020943e-11,2.5703989420351617e-15],"object_angular_velocity_rad_s":[-1.7093760062889192e-10,-8.807874042830987e-11,4.148615158169517e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999731864},{"geom_ids":[1,90],"normal_force_n":0.098099999991618},{"geom_ids":[1,90],"normal_force_n":0.09810000000268135},{"geom_ids":[1,90],"normal_force_n":0.09810000000838211}],"native_actuator_controls":[-0.007500986628034292,1.3984835733809007,-1.156676858590493,0.027285135895482183,0.09157532882449626,-0.02208697337974671,0.035],"actuator_force_native":[-0.2962185700020681,-0.07293205764989352,0.1359113607094713,0.2955509639940347,0.270954161785375,-0.1436310062731641,-1.193784245456797e-06],"issued_joint_targets_rad":[-0.007798240205120667,1.3924212932117244,-1.1501136898355786,0.029413711191580427,0.09373677645872419,-0.02334806727385925],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.46000000000000035,"joint_targets_rad":[-0.007798240205120667,1.3924212932117244,-1.1501136898355786,0.029413711191580427,0.09373677645872419,-0.02334806727385925],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.48000000000000037,"qpos":[-0.003428235828374142,1.4124379183966747,-1.1721090694760263,0.013306792623722603,0.04845471334862094,-0.004841418993513254,0.03499956867119254,-0.03500004542210658,0.298876653317689,-0.032673976084356945,0.07989224457978372,1.0,1.8186863449732285e-11,9.371137161445796e-12,1.1169603200556005e-18],"qvel":[-0.010150252673032054,-0.30537249894214397,0.32444115589627515,0.06987994786211815,0.12113753247635732,-0.023213355632959225,3.309923875876832e-06,5.559011354503127e-06,-1.502947171399605e-11,2.916818283082986e-11,2.571786720815943e-15,2.046625329695658e-10,1.0545473713761358e-10,7.559568289327395e-21],"joint_position_rad":[-0.003428235828374142,1.4124379183966747,-1.1721090694760263,0.013306792623722603,0.04845471334862094,-0.004841418993513254],"joint_velocity_rad_s":[-0.010150252673032054,-0.30537249894214397,0.32444115589627515,0.06987994786211815,0.12113753247635732,-0.023213355632959225],"gripper_joint_position_m":[0.03499956867119254,-0.03500004542210658],"tcp_position_m":[0.4415834939840236,3.656028518296458e-05,0.348834930033825],"tcp_quaternion_wxyz":[0.6323851706418573,0.004397305835292872,0.7746394583028046,0.0018355636731379288],"object_position_m":[0.298876653317689,-0.032673976084356945,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8186863449732285e-11,9.371137161445796e-12,1.1169603200556005e-18],"object_linear_velocity_m_s":[-1.502947171399605e-11,2.916818283082986e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[2.046625329695658e-10,1.0545473713761358e-10,7.559508761692328e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999680727},{"geom_ids":[1,90],"normal_force_n":0.09809999999001968},{"geom_ids":[1,90],"normal_force_n":0.09810000000319276},{"geom_ids":[1,90],"normal_force_n":0.09810000000998033}],"native_actuator_controls":[-0.007798240205120667,1.3924212932117244,-1.1501136898355786,0.029413711191580427,0.09373677645872419,-0.02334806727385925,0.035],"actuator_force_native":[-0.29884908677456173,-0.07446752008532087,0.13742459175445276,0.29487700340372225,0.2711143323864965,-0.15024644935402115,7.035329192550677e-07],"issued_joint_targets_rad":[-0.008117016815534443,1.3864273511695882,-1.1436147248576052,0.03163985385922078,0.09589462245554321,-0.024623157068980134],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.48000000000000037,"joint_targets_rad":[-0.008117016815534443,1.3864273511695882,-1.1436147248576052,0.03163985385922078,0.09589462245554321,-0.024623157068980134],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5000000000000003,"qpos":[-0.00365278138111078,1.4062491088004931,-1.1654237188585725,0.014904272040513231,0.050615548255562866,-0.005303100834513345,0.03499929742097129,-0.03500001048079349,0.29887665331742347,-0.03267397608384139,0.07989224457978372,1.0,1.7262092673210444e-11,8.894606963512239e-12,1.117019972273287e-18],"qvel":[-0.011470350153306249,-0.3019307817971064,0.3211714493041481,0.07503784434088222,0.12102026361314501,-0.024260651340046596,1.0523393073496798e-06,9.353821729028113e-06,-1.8334396643408824e-11,3.5582348282758554e-11,2.571786720815943e-15,7.800123489850719e-10,4.0190880834456833e-10,1.382881096969267e-20],"joint_position_rad":[-0.00365278138111078,1.4062491088004931,-1.1654237188585725,0.014904272040513231,0.050615548255562866,-0.005303100834513345],"joint_velocity_rad_s":[-0.011470350153306249,-0.3019307817971064,0.3211714493041481,0.07503784434088222,0.12102026361314501,-0.024260651340046596],"gripper_joint_position_m":[0.03499929742097129,-0.03500001048079349],"tcp_position_m":[0.439702002423812,-3.262710924291601e-05,0.3480567869283129],"tcp_quaternion_wxyz":[0.6313548300426484,0.004894164393817077,0.7754756283937619,0.0021622913783353463],"object_position_m":[0.29887665331742347,-0.03267397608384139,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7262092673210444e-11,8.894606963512239e-12,1.117019972273287e-18],"object_linear_velocity_m_s":[-1.8334396643408824e-11,3.5582348282758554e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[7.800123489850719e-10,4.0190880834456833e-10,1.382857861952338e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999699123},{"geom_ids":[1,90],"normal_force_n":0.098099999990595},{"geom_ids":[1,90],"normal_force_n":0.09810000000300878},{"geom_ids":[1,90],"normal_force_n":0.09810000000940501}],"native_actuator_controls":[-0.008117016815534443,1.3864273511695882,-1.1436147248576052,0.03163985385922078,0.09589462245554321,-0.024623157068980134,0.035],"actuator_force_native":[-0.2997870839873618,-0.07608670148687224,0.13886227355664005,0.2942340510438909,0.2712603465800859,-0.156809585334598,2.2841464611733642e-05],"issued_joint_targets_rad":[-0.008464392117523898,1.3805017941241244,-1.1371785098206473,0.03396142520387852,0.09804871963068826,-0.025912197011579676],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5000000000000003,"joint_targets_rad":[-0.008464392117523898,1.3805017941241244,-1.1371785098206473,0.03396142520387852,0.09804871963068826,-0.025912197011579676],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5200000000000004,"qpos":[-0.003906377970455012,1.400129854504682,-1.1588047283652223,0.016608904091938412,0.052775499414235205,-0.0057850769405919465,0.03499901587090041,-0.034999951558679326,0.29887665331717617,-0.03267397608336131,0.07989224457978372,1.0,1.495461129288392e-11,7.705613305138357e-12,1.1170724518925235e-18],"qvel":[-0.012981478836846784,-0.2984739913136086,0.3179655872203229,0.08009693251901764,0.12087850281115055,-0.025299490786003385,3.1808613079563284e-06,1.0688885730140433e-05,-9.422978863491148e-12,1.8287566000460687e-11,2.567623384473599e-15,-6.388973428843345e-10,-3.292037002718249e-10,1.500022725517254e-21],"joint_position_rad":[-0.003906377970455012,1.400129854504682,-1.1588047283652223,0.016608904091938412,0.052775499414235205,-0.0057850769405919465],"joint_velocity_rad_s":[-0.012981478836846784,-0.2984739913136086,0.3179655872203229,0.08009693251901764,0.12087850281115055,-0.025299490786003385],"gripper_joint_position_m":[0.03499901587090041,-0.034999951558679326],"tcp_position_m":[0.4378393417626307,-0.00011112528217937454,0.34726837439270014],"tcp_quaternion_wxyz":[0.6303223468644455,0.005433090979691722,0.7763104501979738,0.0025110713098102358],"object_position_m":[0.29887665331717617,-0.03267397608336131,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.495461129288392e-11,7.705613305138357e-12,1.1170724518925235e-18],"object_linear_velocity_m_s":[-9.422978863491148e-12,1.8287566000460687e-11,2.567623384473599e-15],"object_angular_velocity_rad_s":[-6.388973428843345e-10,-3.292037002718249e-10,1.4999877099229842e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000001011461},{"geom_ids":[1,90],"normal_force_n":0.09810000003161856},{"geom_ids":[1,90],"normal_force_n":0.09809999998988538},{"geom_ids":[1,90],"normal_force_n":0.09809999996838145}],"native_actuator_controls":[-0.008464392117523898,1.3805017941241244,-1.1371785098206473,0.03396142520387852,0.09804871963068826,-0.025912197011579676,0.035],"actuator_force_native":[-0.2997337375812769,-0.07787487387656711,0.1402695474643849,0.29361618188251604,0.2714144479478048,-0.16332196453087222,2.3460857444090877e-05],"issued_joint_targets_rad":[-0.0088448620233218,1.3746450076608903,-1.1308038484779859,0.036376181564658265,0.10019861096101945,-0.02721495920637651],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5200000000000004,"joint_targets_rad":[-0.0088448620233218,1.3746450076608903,-1.1308038484779859,0.036376181564658265,0.10019861096101945,-0.02721495920637651],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5400000000000004,"qpos":[-0.004192220911907682,1.3940803301889884,-1.1522507494616543,0.018418601969662086,0.05493415829882336,-0.006287190418514014,0.03499891000573646,-0.03500007577246773,0.2988766533168901,-0.03267397608280606,0.07989224457978372,1.0,1.599399496962482e-11,8.241183086047432e-12,1.1171682039010547e-18],"qvel":[-0.014623515155555518,-0.2950115522043858,0.31482634983199614,0.08505661161987604,0.12072053804337421,-0.02632987297430754,9.48632119745191e-06,8.443668143507575e-06,-1.0179994210805135e-11,1.975672414951961e-11,2.5690111632543803e-15,-5.631518005942783e-10,-2.9017335373593603e-10,2.7344346980981e-21],"joint_position_rad":[-0.004192220911907682,1.3940803301889884,-1.1522507494616543,0.018418601969662086,0.05493415829882336,-0.006287190418514014],"joint_velocity_rad_s":[-0.014623515155555518,-0.2950115522043858,0.31482634983199614,0.08505661161987604,0.12072053804337421,-0.02632987297430754],"gripper_joint_position_m":[0.03499891000573646,-0.03500007577246773],"tcp_position_m":[0.4359955208283419,-0.00020006106205926644,0.346469464465403],"tcp_quaternion_wxyz":[0.629287278230076,0.006014543294344443,0.7771441629032608,0.0028804152710830535],"object_position_m":[0.2988766533168901,-0.03267397608280606,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.599399496962482e-11,8.241183086047432e-12,1.1171682039010547e-18],"object_linear_velocity_m_s":[-1.0179994210805135e-11,1.975672414951961e-11,2.5690111632543803e-15],"object_angular_velocity_rad_s":[-5.631518005942783e-10,-2.9017335373593603e-10,2.734446566024097e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999916691},{"geom_ids":[1,90],"normal_force_n":0.0980999999973956},{"geom_ids":[1,90],"normal_force_n":0.0981000000008331},{"geom_ids":[1,90],"normal_force_n":0.09810000000260444}],"native_actuator_controls":[-0.0088448620233218,1.3746450076608903,-1.1308038484779859,0.036376181564658265,0.10019861096101945,-0.02721495920637651,0.035],"actuator_force_native":[-0.29909371313535177,-0.0797680412259183,0.14162032953349524,0.293020125700467,0.2715637195568996,-0.16978287841716364,-3.831835445611276e-06],"issued_joint_targets_rad":[-0.009261389543500583,1.3688571757787955,-1.1244894223669828,0.038881927407003705,0.10234391792689879,-0.02853122764001088],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5400000000000004,"joint_targets_rad":[-0.009261389543500583,1.3688571757787955,-1.1244894223669828,0.038881927407003705,0.10234391792689879,-0.02853122764001088],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5600000000000004,"qpos":[-0.004512564753333137,1.3881005832240605,-1.145760419585572,0.020331271264970953,0.057091205699945954,-0.006809283507222752,0.03499870745774353,-0.034999994248547696,0.29887665331661095,-0.032673976082264106,0.07989224457978372,1.0,1.680707027615341e-11,8.660106408348434e-12,1.1172767936878363e-18],"qvel":[-0.01636124929381055,-0.291547917561676,0.31175340549159625,0.08991655399990778,0.12054819491753359,-0.027351730454107777,8.226290289493712e-06,1.560081593934153e-05,-1.1084048067092638e-11,2.1511332747090218e-11,2.5731744995967248e-15,-4.213351277596167e-10,-2.1710065433691587e-10,4.992217496402374e-21],"joint_position_rad":[-0.004512564753333137,1.3881005832240605,-1.145760419585572,0.020331271264970953,0.057091205699945954,-0.006809283507222752],"joint_velocity_rad_s":[-0.01636124929381055,-0.291547917561676,0.31175340549159625,0.08991655399990778,0.12054819491753359,-0.027351730454107777],"gripper_joint_position_m":[0.03499870745774353,-0.034999994248547696],"tcp_position_m":[0.43417050668778756,-0.0003001370227377404,0.3456598584541186],"tcp_quaternion_wxyz":[0.6282491906044555,0.006638620283753731,0.7779769893846734,0.0032691303942850446],"object_position_m":[0.29887665331661095,-0.032673976082264106,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.680707027615341e-11,8.660106408348434e-12,1.1172767936878363e-18],"object_linear_velocity_m_s":[-1.1084048067092638e-11,2.1511332747090218e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[-4.213351277596167e-10,-2.1710065433691587e-10,4.992179667470231e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999837947},{"geom_ids":[1,90],"normal_force_n":0.09809999999493456},{"geom_ids":[1,90],"normal_force_n":0.09810000000162054},{"geom_ids":[1,90],"normal_force_n":0.09810000000506545}],"native_actuator_controls":[-0.009261389543500583,1.3688571757787955,-1.1244894223669828,0.038881927407003705,0.10234391792689879,-0.02853122764001088,0.035],"actuator_force_native":[-0.298099736744343,-0.08173300781282933,0.14291275002915427,0.2924434756817711,0.27170482989322786,-0.17619184564671964,1.0570238811569155e-05],"issued_joint_targets_rad":[-0.009716034312994138,1.3631383606789929,-1.1182339072797607,0.04147652161720828,0.10448435271587035,-0.029860821505324944],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5600000000000004,"joint_targets_rad":[-0.009716034312994138,1.3631383606789929,-1.1182339072797607,0.04147652161720828,0.10448435271587035,-0.029860821505324944],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5800000000000004,"qpos":[-0.004869123952010604,1.3821905952858158,-1.139332395023709,0.022344815984124695,0.059246337277786075,-0.0073511969802861656,0.03499858452451548,-0.03499997267578568,0.2988766533163394,-0.03267397608173716,0.07989224457978372,1.0,1.7255879402792965e-11,8.891341053523422e-12,1.1173977672519104e-18],"qvel":[-0.018173770262946892,-0.2880856206895557,0.30874557571677863,0.09467672685447699,0.12036139900037902,-0.028365013852172525,1.1993806783940734e-05,1.565414832656812e-05,-1.2307328510395156e-11,2.3885465369290972e-11,2.5717867208159434e-15,-1.869691438943985e-10,-9.634019977166063e-11,9.12874071763271e-21],"joint_position_rad":[-0.004869123952010604,1.3821905952858158,-1.139332395023709,0.022344815984124695,0.059246337277786075,-0.0073511969802861656],"joint_velocity_rad_s":[-0.018173770262946892,-0.2880856206895557,0.30874557571677863,0.09467672685447699,0.12036139900037902,-0.028365013852172525],"gripper_joint_position_m":[0.03499858452451548,-0.03499997267578568],"tcp_position_m":[0.43236424409873264,-0.0004118140375768446,0.3448393895585271],"tcp_quaternion_wxyz":[0.62720767792831,0.00730521905911648,0.7788091217546151,0.0036761928786660947],"object_position_m":[0.2988766533163394,-0.03267397608173716,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7255879402792965e-11,8.891341053523422e-12,1.1173977672519104e-18],"object_linear_velocity_m_s":[-1.2307328510395156e-11,2.3885465369290972e-11,2.5717867208159434e-15],"object_angular_velocity_rad_s":[-1.869691438943985e-10,-9.634019977166063e-11,9.128683829531981e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999761156},{"geom_ids":[1,90],"normal_force_n":0.09809999999253373},{"geom_ids":[1,90],"normal_force_n":0.09810000000238846},{"geom_ids":[1,90],"normal_force_n":0.09810000000746627}],"native_actuator_controls":[-0.009716034312994138,1.3631383606789929,-1.1182339072797607,0.04147652161720828,0.10448435271587035,-0.029860821505324944,0.035],"actuator_force_native":[-0.29688397756394813,-0.08375066509806572,0.14415114093198156,0.29188459105095843,0.2718380558802742,-0.182548724472129,-3.3500145388831726e-06],"issued_joint_targets_rad":[-0.010210334633317046,1.3574885602143822,-1.1120359982947945,0.04415785937001531,0.10661963981460404,-0.031203581040950418],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5800000000000004,"joint_targets_rad":[-0.010210334633317046,1.3574885602143822,-1.1120359982947945,0.04415785937001531,0.10661963981460404,-0.031203581040950418],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6000000000000004,"qpos":[-0.00526327602718211,1.3763503079473554,-1.132965358867249,0.024457142678939336,0.06139924213311788,-0.00791277086725633,0.03499853636162886,-0.03500000746683532,0.2988766533160772,-0.03267397608122842,0.07989224457978372,1.0,1.7140480400418606e-11,8.831868557407895e-12,1.11752799519521e-18],"qvel":[-0.020048210972832936,-0.28462633934689646,0.3058015729448465,0.09933725179785573,0.12015954000650782,-0.02936969943837508,1.5290498410422798e-05,1.6166003806042325e-05,-1.4155715695540519e-11,2.7472756057139974e-11,2.567623384473599e-15,1.7664380224702677e-10,9.101735657892652e-11,1.6674841171907674e-20],"joint_position_rad":[-0.00526327602718211,1.3763503079473554,-1.132965358867249,0.024457142678939336,0.06139924213311788,-0.00791277086725633],"joint_velocity_rad_s":[-0.020048210972832936,-0.28462633934689646,0.3058015729448465,0.09933725179785573,0.12015954000650782,-0.02936969943837508],"gripper_joint_position_m":[0.03499853636162886,-0.03500000746683532],"tcp_position_m":[0.4305766630619176,-0.0005354040844540626,0.3440079192995071],"tcp_quaternion_wxyz":[0.6261623634675861,0.008014114491217866,0.7796407204198412,0.004100683947725018],"object_position_m":[0.2988766533160772,-0.03267397608122842,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7140480400418606e-11,8.831868557407895e-12,1.11752799519521e-18],"object_linear_velocity_m_s":[-1.4155715695540519e-11,2.7472756057139974e-11,2.567623384473599e-15],"object_angular_velocity_rad_s":[1.7664380224702677e-10,9.101735657892652e-11,1.667481391913269e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999708828},{"geom_ids":[1,90],"normal_force_n":0.09809999999089822},{"geom_ids":[1,90],"normal_force_n":0.09810000000291169},{"geom_ids":[1,90],"normal_force_n":0.09810000000910185}],"native_actuator_controls":[-0.010210334633317046,1.3574885602143822,-1.1120359982947945,0.04415785937001531,0.10661963981460404,-0.031203581040950418,0.035],"actuator_force_native":[-0.29552363362663026,-0.08580812190335507,0.145340981072124,0.2913424086537604,0.2719646668050998,-0.18885355257937825,-1.790695720638169e-05],"issued_joint_targets_rad":[-0.01074550163965369,1.3519077318736157,-1.105894414601175,0.04692386771503335,0.10874949283954792,-0.0325593651925841],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6000000000000004,"joint_targets_rad":[-0.01074550163965369,1.3519077318736157,-1.105894414601175,0.04692386771503335,0.10874949283954792,-0.0325593651925841],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6200000000000004,"qpos":[-0.0056961916781085266,1.3705796350823933,-1.1266580203312972,0.02666616321093222,0.06354959729687372,-0.008493844892157478,0.03499841276316236,-0.03499990412082759,0.29887665331581353,-0.03267397608071658,0.07989224457978372,1.0,1.722264200220204e-11,8.874196203617542e-12,1.1176817286231243e-18],"qvel":[-0.02197649053708049,-0.2811712729914671,0.30292020998174557,0.10389838455766554,0.11994189305276942,-0.030365787665856646,1.4695985388178305e-05,2.090334253129733e-05,-1.7343100409906155e-11,3.365872774035248e-11,2.5731744995967248e-15,7.009964128857199e-10,3.6119640092176705e-10,3.043224225810982e-20],"joint_position_rad":[-0.0056961916781085266,1.3705796350823933,-1.1266580203312972,0.02666616321093222,0.06354959729687372,-0.008493844892157478],"joint_velocity_rad_s":[-0.02197649053708049,-0.2811712729914671,0.30292020998174557,0.10389838455766554,0.11994189305276942,-0.030365787665856646],"gripper_joint_position_m":[0.03499841276316236,-0.03499990412082759],"tcp_position_m":[0.4288076821372635,-0.0006711293775145222,0.3431653326417139],"tcp_quaternion_wxyz":[0.6251128972411409,0.00876501036566932,0.7804719167352648,0.004541748964655849],"object_position_m":[0.29887665331581353,-0.03267397608071658,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.722264200220204e-11,8.874196203617542e-12,1.1176817286231243e-18],"object_linear_velocity_m_s":[-1.7343100409906155e-11,3.365872774035248e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[7.009964128857199e-10,3.6119640092176705e-10,3.043219545726874e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999660646},{"geom_ids":[1,90],"normal_force_n":0.09809999998939205},{"geom_ids":[1,90],"normal_force_n":0.09810000000339356},{"geom_ids":[1,90],"normal_force_n":0.09810000001060795}],"native_actuator_controls":[-0.01074550163965369,1.3519077318736157,-1.105894414601175,0.04692386771503335,0.10874949283954792,-0.0325593651925841,0.035],"actuator_force_native":[-0.29406234423821065,-0.08789589174487844,0.14648740850104502,0.2908162573757176,0.2720861158475878,-0.19510652150548125,-9.990453434971514e-06],"issued_joint_targets_rad":[-0.011322543786146496,1.3463958044477375,-1.0998078972278769,0.049772504236252374,0.11087360795783693,-0.03392805151090744],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6200000000000004,"joint_targets_rad":[-0.011322543786146496,1.3463958044477375,-1.0998078972278769,0.049772504236252374,0.11087360795783693,-0.03392805151090744],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6400000000000005,"qpos":[-0.006168914607926122,1.3648784703950636,-1.1204091117554706,0.028969797315163567,0.06569706688217823,-0.009094258892031469,0.0349984913896528,-0.035000057658718275,0.2988766533155615,-0.032673976080227526,0.07989224457978372,1.0,1.5731747386569987e-11,8.105983512080979e-12,1.1178232849979793e-18],"qvel":[-0.0239530402830104,-0.27772129847020666,0.3001004481987954,0.10836052188747108,0.1197077348445761,-0.03135330836618483,2.2452643002575306e-05,1.500712196118309e-05,-2.260317216123971e-11,4.3867472246950126e-11,2.5731744995967248e-15,1.4753023420624805e-09,7.601595285351424e-10,5.55510596640846e-20],"joint_position_rad":[-0.006168914607926122,1.3648784703950636,-1.1204091117554706,0.028969797315163567,0.06569706688217823,-0.009094258892031469],"joint_velocity_rad_s":[-0.0239530402830104,-0.27772129847020666,0.3001004481987954,0.10836052188747108,0.1197077348445761,-0.03135330836618483],"gripper_joint_position_m":[0.0349984913896528,-0.035000057658718275],"tcp_position_m":[0.42705721025952376,-0.0008191585325579863,0.34231153331259323],"tcp_quaternion_wxyz":[0.6240589525920801,0.009557571124536875,0.7813028163239142,0.004998572615776394],"object_position_m":[0.2988766533155615,-0.032673976080227526,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5731747386569987e-11,8.105983512080979e-12,1.1178232849979793e-18],"object_linear_velocity_m_s":[-2.260317216123971e-11,4.3867472246950126e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[1.4753023420624805e-09,7.601595285351424e-10,5.555078209671676e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999783636},{"geom_ids":[1,90],"normal_force_n":0.09809999999323674},{"geom_ids":[1,90],"normal_force_n":0.0981000000021636},{"geom_ids":[1,90],"normal_force_n":0.09810000000676336}],"native_actuator_controls":[-0.011322543786146496,1.3463958044477375,-1.0998078972278769,0.049772504236252374,0.11087360795783693,-0.03392805151090744,0.035],"actuator_force_native":[-0.292525132842578,-0.09000678343504376,0.1475949212135248,0.2903056674061968,0.2722038084897229,-0.2013079636394825,-5.191880112476177e-05],"issued_joint_targets_rad":[-0.01194234323953036,1.3409526851503937,-1.0937752052632623,0.052701756371909575,0.11299166245868827,-0.03530953555683328],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6400000000000005,"joint_targets_rad":[-0.01194234323953036,1.3409526851503937,-1.0937752052632623,0.052701756371909575,0.11299166245868827,-0.03530953555683328],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6600000000000005,"qpos":[-0.006682378744115418,1.359246692852819,-1.114217385801334,0.03136597587082379,0.06784130254540398,-0.009713853570679911,0.034998371287928265,-0.034999909551019025,0.29887665331528207,-0.032673976079685155,0.07989224457978372,1.0,1.6075730636411442e-11,8.283196499023818e-12,1.1180340061041838e-18],"qvel":[-0.02597371271751765,-0.27427709981211384,0.29734143532174734,0.11272417460472313,0.11945639834298694,-0.03233231138921857,1.688458645849772e-05,2.5819710314605706e-05,-1.015479978303563e-11,1.9708063961633896e-11,2.5731744995967248e-15,-5.897993321067489e-10,-3.039016552797614e-10,6.017450217708432e-21],"joint_position_rad":[-0.006682378744115418,1.359246692852819,-1.114217385801334,0.03136597587082379,0.06784130254540398,-0.009713853570679911],"joint_velocity_rad_s":[-0.02597371271751765,-0.27427709981211384,0.29734143532174734,0.11272417460472313,0.11945639834298694,-0.03233231138921857],"gripper_joint_position_m":[0.034998371287928265,-0.034999909551019025],"tcp_position_m":[0.42532514801654353,-0.0009796151904130877,0.3414464399196262],"tcp_quaternion_wxyz":[0.6230002230140508,0.01039142943649031,0.7821335022405297,0.005470373997561237],"object_position_m":[0.29887665331528207,-0.032673976079685155,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6075730636411442e-11,8.283196499023818e-12,1.1180340061041838e-18],"object_linear_velocity_m_s":[-1.015479978303563e-11,1.9708063961633896e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[-5.897993321067489e-10,-3.039016552797614e-10,6.01741544290083e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999924474},{"geom_ids":[1,90],"normal_force_n":0.0980999999976388},{"geom_ids":[1,90],"normal_force_n":0.09810000000075528},{"geom_ids":[1,90],"normal_force_n":0.09810000000236126}],"native_actuator_controls":[-0.01194234323953036,1.3409526851503937,-1.0937752052632623,0.052701756371909575,0.11299166245868827,-0.03530953555683328,0.035],"actuator_force_native":[-0.29092859604560717,-0.09213511713346634,0.1486672664370019,0.28981034701981545,0.27231900161836253,-0.2074583527777058,-1.9274449422956863e-05],"issued_joint_targets_rad":[-0.012605672578378462,1.3355782648232195,-1.0877951132242085,0.055709641287650435,0.11510331546452782,-0.036703728856582976],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6600000000000005,"joint_targets_rad":[-0.012605672578378462,1.3355782648232195,-1.0877951132242085,0.055709641287650435,0.11510331546452782,-0.036703728856582976],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6800000000000005,"qpos":[-0.007237459562989802,1.3536842401498836,-1.1080817358819617,0.03385258111501204,0.06998186157367428,-0.010352474236436376,0.034998456030604266,-0.03500004071687038,0.29887665331499325,-0.03267397607912471,0.07989224457978372,1.0,1.7133632489918817e-11,8.828278799117817e-12,1.1183038243846337e-18],"qvel":[-0.02803528333760479,-0.2708374807653149,0.2946389983648755,0.11699066806348676,0.11918087031888443,-0.033302630962957824,2.5081644037610076e-05,1.8731878064051384e-05,-1.1146714645224843e-11,2.1633168124544155e-11,2.5662356056928176e-15,-4.719808243868563e-10,-2.4319359837500687e-10,1.0992493318222412e-20],"joint_position_rad":[-0.007237459562989802,1.3536842401498836,-1.1080817358819617,0.03385258111501204,0.06998186157367428,-0.010352474236436376],"joint_velocity_rad_s":[-0.02803528333760479,-0.2708374807653149,0.2946389983648755,0.11699066806348676,0.11918087031888443,-0.033302630962957824],"gripper_joint_position_m":[0.034998456030604266,-0.03500004071687038],"tcp_position_m":[0.4236114156279938,-0.0011526025704398151,0.3405700263864442],"tcp_quaternion_wxyz":[0.621936473053251,0.011266182953676172,0.782963995522386,0.005956368302751337],"object_position_m":[0.29887665331499325,-0.03267397607912471,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7133632489918817e-11,8.828278799117817e-12,1.1183038243846337e-18],"object_linear_velocity_m_s":[-1.1146714645224843e-11,2.1633168124544155e-11,2.5662356056928176e-15],"object_angular_velocity_rad_s":[-4.719808243868563e-10,-2.4319359837500687e-10,1.0992470452355107e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999848062},{"geom_ids":[1,90],"normal_force_n":0.09809999999525042},{"geom_ids":[1,90],"normal_force_n":0.09810000000151944},{"geom_ids":[1,90],"normal_force_n":0.0981000000047496}],"native_actuator_controls":[-0.012605672578378462,1.3355782648232195,-1.0877951132242085,0.055709641287650435,0.11510331546452782,-0.036703728856582976,0.035],"actuator_force_native":[-0.2892806245430689,-0.09429062230655916,0.14973482079588507,0.28932906658810187,0.2724432334302087,-0.21355859975702923,-6.364944435843789e-05],"issued_joint_targets_rad":[-0.013313238372302229,1.3302724873124547,-1.081866525870495,0.05879411890140388,0.11720812390015818,-0.0381105312180398],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6800000000000005,"joint_targets_rad":[-0.013313238372302229,1.3302724873124547,-1.081866525870495,0.05879411890140388,0.11720812390015818,-0.0381105312180398],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7000000000000005,"qpos":[-0.007834943780314782,1.3481910878352052,-1.1020011913419376,0.03642707427300283,0.07211815260656602,-0.011009977133955804,0.034998328799524636,-0.034999862673059524,0.2988766533147107,-0.03267397607857634,0.07989224457978372,1.0,1.7782083564473242e-11,9.162386676470032e-12,1.1186058129644075e-18],"qvel":[-0.030134931709271152,-0.2674022517759245,0.2919892474821364,0.12116430311254169,0.1188744789447422,-0.034262625854850674,1.9117722415379396e-05,2.9670596716541632e-05,-1.2364992218533689e-11,2.3997606023095295e-11,2.5745622783775058e-15,-2.60928223690616e-10,-1.3444666479403083e-10,2.007361742258858e-20],"joint_position_rad":[-0.007834943780314782,1.3481910878352052,-1.1020011913419376,0.03642707427300283,0.07211815260656602,-0.011009977133955804],"joint_velocity_rad_s":[-0.030134931709271152,-0.2674022517759245,0.2919892474821364,0.12116430311254169,0.1188744789447422,-0.034262625854850674],"gripper_joint_position_m":[0.034998328799524636,-0.034999862673059524],"tcp_position_m":[0.4219159511632318,-0.0013381978372829124,0.3396823392858273],"tcp_quaternion_wxyz":[0.6208675672155247,0.012181243157753282,0.78379423697257,0.006455647418675651],"object_position_m":[0.2988766533147107,-0.03267397607857634,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7782083564473242e-11,9.162386676470032e-12,1.1186058129644075e-18],"object_linear_velocity_m_s":[-1.2364992218533689e-11,2.3997606023095295e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[-2.60928223690616e-10,-1.3444666479403083e-10,2.0073584326440008e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999976837},{"geom_ids":[1,90],"normal_force_n":0.09809999999275956},{"geom_ids":[1,90],"normal_force_n":0.09810000000231639},{"geom_ids":[1,90],"normal_force_n":0.0981000000072404}],"native_actuator_controls":[-0.013313238372302229,1.3302724873124547,-1.081866525870495,0.05879411890140388,0.11720812390015818,-0.0381105312180398,0.035],"actuator_force_native":[-0.2875889088126399,-0.09647678294042805,0.15082700030473006,0.28886026957333355,0.2725879945188082,-0.21961160205856395,-2.8740593062126507e-05],"issued_joint_targets_rad":[-0.014065640733908466,1.3250353284788974,-1.0759884723905557,0.06195271481007479,0.1193054854817403,-0.0395298069345693],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7000000000000005,"joint_targets_rad":[-0.014065640733908466,1.3250353284788974,-1.0759884723905557,0.06195271481007479,0.1193054854817403,-0.0395298069345693],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7200000000000005,"qpos":[-0.008475594418767107,1.3427670837387102,-1.0959746302428832,0.039087453700509145,0.07424963630026063,-0.011686193432973536,0.03499847538852154,-0.035000065554325235,0.2988766533144366,-0.032673976078044314,0.07989224457978372,1.0,1.786687219834989e-11,9.206057132872775e-12,1.118934009734484e-18],"qvel":[-0.03226993282801762,-0.2639753304372532,0.2893953914283363,0.125241005960473,0.11854404057596256,-0.03521413483405498,3.0637611150985855e-05,1.8157681069138944e-05,-1.4108412263839407e-11,2.7381246011612264e-11,2.5773378359390685e-15,7.625188394874186e-11,3.9287691913858684e-11,3.665292559932987e-20],"joint_position_rad":[-0.008475594418767107,1.3427670837387102,-1.0959746302428832,0.039087453700509145,0.07424963630026063,-0.011686193432973536],"joint_velocity_rad_s":[-0.03226993282801762,-0.2639753304372532,0.2893953914283363,0.125241005960473,0.11854404057596256,-0.03521413483405498],"gripper_joint_position_m":[0.03499847538852154,-0.035000065554325235],"tcp_position_m":[0.4202386469043353,-0.0015364646755942103,0.33878339706117494],"tcp_quaternion_wxyz":[0.6197933420336321,0.013136227816668889,0.7846241818200702,0.00696749544065546],"object_position_m":[0.2988766533144366,-0.032673976078044314,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.786687219834989e-11,9.206057132872775e-12,1.118934009734484e-18],"object_linear_velocity_m_s":[-1.4108412263839407e-11,2.7381246011612264e-11,2.5773378359390685e-15],"object_angular_velocity_rad_s":[7.625188394874186e-11,3.9287691913858684e-11,3.665286353987338e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999705739},{"geom_ids":[1,90],"normal_force_n":0.09809999999080135},{"geom_ids":[1,90],"normal_force_n":0.09810000000294263},{"geom_ids":[1,90],"normal_force_n":0.09810000000919868}],"native_actuator_controls":[-0.014065640733908466,1.3250353284788974,-1.0759884723905557,0.06195271481007479,0.1193054854817403,-0.0395298069345693,0.035],"actuator_force_native":[-0.2858540410712206,-0.0986637685987688,0.1519156710445202,0.2884054145802608,0.27274243095085304,-0.22561493276487518,-9.220359661665789e-05],"issued_joint_targets_rad":[-0.014863467801123242,1.3198666399491268,-1.0701598331214928,0.06518351194943549,0.12139484805837075,-0.04096144840681412],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7200000000000005,"joint_targets_rad":[-0.014863467801123242,1.3198666399491268,-1.0701598331214928,0.06518351194943549,0.12139484805837075,-0.04096144840681412],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7400000000000005,"qpos":[-0.009160093402333019,1.337412035452036,-1.0900008934649819,0.04183171324246022,0.07637585351329895,-0.012380965505945567,0.0349983551623687,-0.034999879468538074,0.29887665331417407,-0.03267397607753478,0.07989224457978372,1.0,1.7137876284789858e-11,8.830412501962761e-12,1.119272052706918e-18],"qvel":[-0.03443729870359633,-0.2605576581535238,0.28685862043987753,0.1292214288597198,0.11819161601868626,-0.03615733807722437,2.1329446366520245e-05,3.366655332809419e-05,-1.6871980323127193e-11,3.274482128739694e-11,2.5703989420351613e-15,5.866769274132591e-10,3.0228498898541253e-10,6.693353966433368e-20],"joint_position_rad":[-0.009160093402333019,1.337412035452036,-1.0900008934649819,0.04183171324246022,0.07637585351329895,-0.012380965505945567],"joint_velocity_rad_s":[-0.03443729870359633,-0.2605576581535238,0.28685862043987753,0.1292214288597198,0.11819161601868626,-0.03615733807722437],"gripper_joint_position_m":[0.0349983551623687,-0.034999879468538074],"tcp_position_m":[0.41857937432245823,-0.0017474368404833585,0.3378731977597986],"tcp_quaternion_wxyz":[0.6187136063382914,0.014130723869146159,0.7854538036714531,0.007491213042359514],"object_position_m":[0.29887665331417407,-0.03267397607753478,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7137876284789858e-11,8.830412501962761e-12,1.119272052706918e-18],"object_linear_velocity_m_s":[-1.6871980323127193e-11,3.274482128739694e-11,2.5703989420351613e-15],"object_angular_velocity_rad_s":[5.866769274132591e-10,3.0228498898541253e-10,6.693338660340952e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999698137},{"geom_ids":[1,90],"normal_force_n":0.09809999999056424},{"geom_ids":[1,90],"normal_force_n":0.09810000000301865},{"geom_ids":[1,90],"normal_force_n":0.09810000000943578}],"native_actuator_controls":[-0.014863467801123242,1.3198666399491268,-1.0701598331214928,0.06518351194943549,0.12139484805837075,-0.04096144840681412,0.035],"actuator_force_native":[-0.2840834583852362,-0.10084334946512286,0.15299172527973326,0.28796480398041213,0.27290252142268856,-0.23156882189284897,-4.0853726580358796e-05],"issued_joint_targets_rad":[-0.01570722839749193,1.314766234049343,-1.0643794504724449,0.06848462177264744,0.12347573488638895,-0.04240538870058173],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7400000000000005,"joint_targets_rad":[-0.01570722839749193,1.314766234049343,-1.0643794504724449,0.06848462177264744,0.12347573488638895,-0.04240538870058173],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7600000000000006,"qpos":[-0.009889094307396672,1.3321257426936715,-1.0840788065620137,0.04465786197752057,0.07849636958897148,-0.013094138118661896,0.03499847904763345,-0.03500003920441386,0.2988766533139284,-0.03267397607705788,0.07989224457978372,1.0,1.5229564948300717e-11,7.847123603750357e-12,1.1195834647375204e-18],"qvel":[-0.03663463828668523,-0.25714928504202617,0.2843794256566083,0.13310639371299898,0.11781781190722157,-0.03709236410767207,3.177237740469175e-05,2.3374343185989785e-05,-2.148477372737848e-11,4.1697421037344555e-11,2.5703989420351613e-15,1.3361291309585432e-09,6.884409980220449e-10,1.2225690352851523e-19],"joint_position_rad":[-0.009889094307396672,1.3321257426936715,-1.0840788065620137,0.04465786197752057,0.07849636958897148,-0.013094138118661896],"joint_velocity_rad_s":[-0.03663463828668523,-0.25714928504202617,0.2843794256566083,0.13310639371299898,0.11781781190722157,-0.03709236410767207],"gripper_joint_position_m":[0.03499847904763345,-0.03500003920441386],"tcp_position_m":[0.41693799513061996,-0.001971141002458681,0.33695172670194423],"tcp_quaternion_wxyz":[0.6176281590002451,0.015164319179027594,0.7862830801903783,0.008026109900554069],"object_position_m":[0.2988766533139284,-0.03267397607705788,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5229564948300717e-11,7.847123603750357e-12,1.1195834647375204e-18],"object_linear_velocity_m_s":[-2.148477372737848e-11,4.1697421037344555e-11,2.5703989420351613e-15],"object_angular_velocity_rad_s":[1.3361291309585432e-09,6.884409980220449e-10,1.2225667643100815e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999813103},{"geom_ids":[1,90],"normal_force_n":0.09809999999415775},{"geom_ids":[1,90],"normal_force_n":0.098100000001869},{"geom_ids":[1,90],"normal_force_n":0.09810000000584229}],"native_actuator_controls":[-0.01570722839749193,1.314766234049343,-1.0643794504724449,0.06848462177264744,0.12347573488638895,-0.04240538870058173,0.035],"actuator_force_native":[-0.28227753577419445,-0.10301426633614597,0.15405135888246946,0.28753842324007994,0.27306693511334224,-0.2374739596576902,-9.802379236134584e-05],"issued_joint_targets_rad":[-0.016597400725691124,1.3097339137274142,-1.058646148198034,0.0718541849857588,0.12554768853952353,-0.04386157619109965],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7600000000000006,"joint_targets_rad":[-0.016597400725691124,1.3097339137274142,-1.058646148198034,0.0718541849857588,0.12554768853952353,-0.04386157619109965],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7800000000000006,"qpos":[-0.010663171117924886,1.3269080072650454,-1.0782071894435066,0.047563928764241405,0.08061075708668834,-0.01382555883830617,0.03499833431481408,-0.034999814524216584,0.298876653313662,-0.032673976076540726,0.07989224457978372,1.0,1.5265507602397603e-11,7.86561970812037e-12,1.1200471623934624e-18],"qvel":[-0.0388590644706852,-0.25375010686414606,0.28195812402624065,0.13689680319439398,0.1174227646085494,-0.03801934399987555,2.3269338642629404e-05,3.759527368489294e-05,-9.677345523982625e-12,1.878167814298461e-11,2.5759500571582867e-15,-5.70210569326289e-10,-2.9380414401496057e-10,1.3242813115531225e-20],"joint_position_rad":[-0.010663171117924886,1.3269080072650454,-1.0782071894435066,0.047563928764241405,0.08061075708668834,-0.01382555883830617],"joint_velocity_rad_s":[-0.0388590644706852,-0.25375010686414606,0.28195812402624065,0.13689680319439398,0.1174227646085494,-0.03801934399987555],"gripper_joint_position_m":[0.03499833431481408,-0.034999814524216584],"tcp_position_m":[0.4153143650393039,-0.00220757582213179,0.33601896026706396],"tcp_quaternion_wxyz":[0.6165367953554313,0.016236584038685668,0.7871119884284687,0.008571521673032951],"object_position_m":[0.298876653313662,-0.032673976076540726,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5265507602397603e-11,7.86561970812037e-12,1.1200471623934624e-18],"object_linear_velocity_m_s":[-9.677345523982625e-12,1.878167814298461e-11,2.5759500571582867e-15],"object_angular_velocity_rad_s":[-5.70210569326289e-10,-2.9380414401496057e-10,1.3242793311121415e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999938121},{"geom_ids":[1,90],"normal_force_n":0.09809999999806553},{"geom_ids":[1,90],"normal_force_n":0.09810000000061882},{"geom_ids":[1,90],"normal_force_n":0.09810000000193451}],"native_actuator_controls":[-0.016597400725691124,1.3097339137274142,-1.058646148198034,0.0718541849857588,0.12554768853952353,-0.04386157619109965,0.035],"actuator_force_native":[-0.2804430462678731,-0.1051769486897598,0.155092679506609,0.28712623288872585,0.2732351676155276,-0.24333115752812148,-4.971928577623963e-05],"issued_joint_targets_rad":[-0.017534383281719933,1.3047694818547388,-1.0529587415405746,0.07529036821885643,0.12761025473482365,-0.045329965761159795],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7800000000000006,"joint_targets_rad":[-0.017534383281719933,1.3047694818547388,-1.0529587415405746,0.07529036821885643,0.12761025473482365,-0.045329965761159795],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8000000000000006,"qpos":[-0.011482872215978388,1.3217586334702716,-1.072384856033273,0.05054796121663957,0.0827185897902779,-0.014575077415929855,0.03499851133881801,-0.03500004440090203,0.2988766533133898,-0.03267397607601243,0.07989224457978372,1.0,1.610550160963649e-11,8.298418012030422e-12,1.1206404733566284e-18],"qvel":[-0.04110824012209666,-0.25035996463809734,0.2795949653712425,0.14059363580502884,0.11700640792393253,-0.0389384141786476,3.750360266243358e-05,2.2451166371317963e-05,-1.0495148929332856e-11,2.0368898913640826e-11,2.5787256147198495e-15,-4.501174937638261e-10,-2.3192509032187613e-10,2.417550603407001e-20],"joint_position_rad":[-0.011482872215978388,1.3217586334702716,-1.072384856033273,0.05054796121663957,0.0827185897902779,-0.014575077415929855],"joint_velocity_rad_s":[-0.04110824012209666,-0.25035996463809734,0.2795949653712425,0.14059363580502884,0.11700640792393253,-0.0389384141786476],"gripper_joint_position_m":[0.03499851133881801,-0.03500004440090203],"tcp_position_m":[0.41370833406972785,-0.002456735040711307,0.3350748668121378],"tcp_quaternion_wxyz":[0.6154393094260527,0.017347092299946187,0.7879405031170623,0.009126792949923189],"object_position_m":[0.2988766533133898,-0.03267397607601243,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.610550160963649e-11,8.298418012030422e-12,1.1206404733566284e-18],"object_linear_velocity_m_s":[-1.0495148929332856e-11,2.0368898913640826e-11,2.5787256147198495e-15],"object_angular_velocity_rad_s":[-4.501174937638261e-10,-2.3192509032187613e-10,2.4175492438641333e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999863014},{"geom_ids":[1,90],"normal_force_n":0.09809999999571824},{"geom_ids":[1,90],"normal_force_n":0.09810000000136986},{"geom_ids":[1,90],"normal_force_n":0.09810000000428176}],"native_actuator_controls":[-0.017534383281719933,1.3047694818547388,-1.0529587415405746,0.07529036821885643,0.12761025473482365,-0.045329965761159795,0.035],"actuator_force_native":[-0.2785796846488404,-0.10733230605214317,0.15611433255965323,0.2867281010635301,0.27340703755955875,-0.24914126218432803,-0.00012797156603250315],"issued_joint_targets_rad":[-0.01851854575153406,1.2998727414333875,-1.0473160359067533,0.07879135860813519,0.1296629752814783,-0.04681051499383884],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8000000000000006,"joint_targets_rad":[-0.01851854575153406,1.2998727414333875,-1.0473160359067533,0.07879135860813519,0.1296629752814783,-0.04681051499383884],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8200000000000006,"qpos":[-0.012348663149601468,1.3166774288328218,-1.0666106172564032,0.053608028572513546,0.08481944003530698,-0.015342546642984047,0.034998373788468665,-0.03499981840179887,0.2988766533131082,-0.0326739760754658,0.07989224457978372,1.0,1.754265274447717e-11,9.038903767545817e-12,1.1213922924943095e-18],"qvel":[-0.04337925250281736,-0.2469787915966968,0.2772902164054257,0.14419784879997408,0.11656860265631991,-0.03984971197532859,2.5611618383395088e-05,4.145384296143472e-05,-1.194531778599988e-11,2.3183401832446648e-11,2.575950057158287e-15,-2.8460073655318685e-10,-1.4664198069770426e-10,4.4123776257888884e-20],"joint_position_rad":[-0.012348663149601468,1.3166774288328218,-1.0666106172564032,0.053608028572513546,0.08481944003530698,-0.015342546642984047],"joint_velocity_rad_s":[-0.04337925250281736,-0.2469787915966968,0.2772902164054257,0.14419784879997408,0.11656860265631991,-0.03984971197532859],"gripper_joint_position_m":[0.034998373788468665,-0.03499981840179887],"tcp_position_m":[0.4121197472344799,-0.0027185841104142576,0.3341194083113777],"tcp_quaternion_wxyz":[0.6143354955677514,0.01849539958107428,0.7887685958963518,0.009691295453116587],"object_position_m":[0.2988766533131082,-0.0326739760754658,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.754265274447717e-11,9.038903767545817e-12,1.1213922924943095e-18],"object_linear_velocity_m_s":[-1.194531778599988e-11,2.3183401832446648e-11,2.575950057158287e-15],"object_angular_velocity_rad_s":[-2.8460073655318685e-10,-1.4664198069770426e-10,4.4123754907358415e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999765352},{"geom_ids":[1,90],"normal_force_n":0.09809999999266479},{"geom_ids":[1,90],"normal_force_n":0.09810000000234657},{"geom_ids":[1,90],"normal_force_n":0.09810000000733514}],"native_actuator_controls":[-0.01851854575153406,1.2998727414333875,-1.0473160359067533,0.07879135860813519,0.1296629752814783,-0.04681051499383884,0.035],"actuator_force_native":[-0.27669434564052064,-0.10948103397126374,0.15711542594486616,0.2863439574249953,0.27358244847723334,-0.25490511554555506,-6.300963066330212e-05],"issued_joint_targets_rad":[-0.019550174745222235,1.2950434963188788,-1.0417168309577203,0.08235536376194456,0.13170538653971298,-0.04830318064325076],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8200000000000006,"joint_targets_rad":[-0.019550174745222235,1.2950434963188788,-1.0417168309577203,0.08235536376194456,0.13170538653971298,-0.04830318064325076],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8400000000000006,"qpos":[-0.013260990249278327,1.3116642018029991,-1.0608832777828232,0.05674221875353159,0.0869128770814317,-0.016127821444316032,0.03499855571572695,-0.03500004690203163,0.29887665331282925,-0.03267397607492454,0.07989224457978372,1.0,1.8186990369220094e-11,9.37090940870918e-12,1.1222165365141287e-18],"qvel":[-0.04566993357976364,-0.24360651496229935,0.2750441438283431,0.14771043051070465,0.11610912216696861,-0.04075336899177152,4.024073073960488e-05,2.5713611086388596e-05,-1.3819052813422015e-11,2.681989954053221e-11,2.5745622783775058e-15,5.748132387868196e-12,2.96294711864956e-12,8.05382075592894e-20],"joint_position_rad":[-0.013260990249278327,1.3116642018029991,-1.0608832777828232,0.05674221875353159,0.0869128770814317,-0.016127821444316032],"joint_velocity_rad_s":[-0.04566993357976364,-0.24360651496229935,0.2750441438283431,0.14771043051070465,0.11610912216696861,-0.04075336899177152],"gripper_joint_position_m":[0.03499855571572695,-0.03500004690203163],"tcp_position_m":[0.41054844382840233,-0.0029930870477775495,0.333152540161136],"tcp_quaternion_wxyz":[0.6132251489569667,0.01968106761649211,0.7895962349210568,0.010264407565568253],"object_position_m":[0.29887665331282925,-0.03267397607492454,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8186990369220094e-11,9.37090940870918e-12,1.1222165365141287e-18],"object_linear_velocity_m_s":[-1.3819052813422015e-11,2.681989954053221e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[5.748132387868196e-12,2.96294711864956e-12,8.053825128496021e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999696169},{"geom_ids":[1,90],"normal_force_n":0.09809999999050241},{"geom_ids":[1,90],"normal_force_n":0.0981000000030384},{"geom_ids":[1,90],"normal_force_n":0.09810000000949755}],"native_actuator_controls":[-0.019550174745222235,1.2950434963188788,-1.0417168309577203,0.08235536376194456,0.13170538653971298,-0.04830318064325076,0.035],"actuator_force_native":[-0.2747850917766945,-0.11162386391812618,0.1580950268665191,0.2859736477829955,0.27376141133235987,-0.26062353850169,-0.0001434322827760237],"issued_joint_targets_rad":[-0.020629533798758905,1.290281548888239,-1.0361599163074213,0.08598060596499961,0.13373701644359767,-0.04980791623418877],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8400000000000006,"joint_targets_rad":[-0.020629533798758905,1.290281548888239,-1.0361599163074213,0.08598060596499961,0.13373701644359767,-0.04980791623418877],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8600000000000007,"qpos":[-0.014220216015270088,1.306718756263286,-1.0552016616433895,0.05994864664244018,0.0889985459184599,-0.016931242964640363,0.03499839984043963,-0.034999789499216775,0.2988766533125575,-0.03267397607439731,0.07989224457978372,1.0,1.7879703909576313e-11,9.212574794721156e-12,1.1230799304595906e-18],"qvel":[-0.04797720857220606,-0.24024361801302754,0.27285762229381566,0.15113146649098994,0.11562829908348345,-0.04165826245370716,2.753185469537414e-05,4.571550647343562e-05,-1.650540542946508e-11,3.203360567749e-11,2.5690111632543803e-15,4.712960177378412e-10,2.4283492015828584e-10,1.470763931937076e-19],"joint_position_rad":[-0.014220216015270088,1.306718756263286,-1.0552016616433895,0.05994864664244018,0.0889985459184599,-0.016931242964640363],"joint_velocity_rad_s":[-0.04797720857220606,-0.24024361801302754,0.27285762229381566,0.15113146649098994,0.11562829908348345,-0.04165826245370716],"gripper_joint_position_m":[0.03499839984043963,-0.034999789499216775],"tcp_position_m":[0.4089942542251011,-0.003280178968448598,0.3321742090421598],"tcp_quaternion_wxyz":[0.6121080489754736,0.020903449365219328,0.7904234053310216,0.010845390218284031],"object_position_m":[0.2988766533125575,-0.03267397607439731,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7879703909576313e-11,9.212574794721156e-12,1.1230799304595906e-18],"object_linear_velocity_m_s":[-1.650540542946508e-11,3.203360567749e-11,2.5690111632543803e-15],"object_angular_velocity_rad_s":[4.712960177378412e-10,2.4283492015828584e-10,1.4707632650865094e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999673348},{"geom_ids":[1,90],"normal_force_n":0.0980999999897897},{"geom_ids":[1,90],"normal_force_n":0.0981000000032665},{"geom_ids":[1,90],"normal_force_n":0.09810000001021034}],"native_actuator_controls":[-0.020629533798758905,1.290281548888239,-1.0361599163074213,0.08598060596499961,0.13373701644359767,-0.04980791623418877,0.035],"actuator_force_native":[-0.27285937981807495,-0.11375849993861209,0.1590515154083647,0.285621040447428,0.2739422566261527,-0.2662793390149234,-7.365289106187056e-05],"issued_joint_targets_rad":[-0.021756805337096747,1.2855866969421832,-1.03064410113378,0.0896652892509494,0.13575746657140692,-0.05132508629262583],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8600000000000007,"joint_targets_rad":[-0.021756805337096747,1.2855866969421832,-1.03064410113378,0.0896652892509494,0.13575746657140692,-0.05132508629262583],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8800000000000007,"qpos":[-0.015226700095037423,1.3018408709544842,-1.0495646681755257,0.06322550429049553,0.0910760287941989,-0.017759665181275634,0.03499858304008788,-0.035000017000816536,0.29887665331229946,-0.0326739760738966,0.07989224457978372,1.0,1.6352472482993544e-11,8.425648676674383e-12,1.1239052078896007e-18],"qvel":[-0.050298458146727856,-0.23689190352788253,0.2707320955138846,0.15445026331247577,0.11512521579051224,-0.04268566464391154,4.311028674450298e-05,2.879616782626633e-05,-2.0786919740475094e-11,4.034331028510529e-11,2.5676233844735985e-15,1.1723187823413681e-09,6.040328881977596e-10,2.6848987931731126e-19],"joint_position_rad":[-0.015226700095037423,1.3018408709544842,-1.0495646681755257,0.06322550429049553,0.0910760287941989,-0.017759665181275634],"joint_velocity_rad_s":[-0.050298458146727856,-0.23689190352788253,0.2707320955138846,0.15445026331247577,0.11512521579051224,-0.04268566464391154],"gripper_joint_position_m":[0.03499858304008788,-0.035000017000816536],"tcp_position_m":[0.40745700680935926,-0.0035798004076348948,0.3311844151235882],"tcp_quaternion_wxyz":[0.6109840794294251,0.02215935451824782,0.7912501106725877,0.011431537592546965],"object_position_m":[0.29887665331229946,-0.0326739760738966,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6352472482993544e-11,8.425648676674383e-12,1.1239052078896007e-18],"object_linear_velocity_m_s":[-2.0786919740475094e-11,4.034331028510529e-11,2.5676233844735985e-15],"object_angular_velocity_rad_s":[1.1723187823413681e-09,6.040328881977596e-10,2.6848964928931507e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999755044},{"geom_ids":[1,90],"normal_force_n":0.0980999999923435},{"geom_ids":[1,90],"normal_force_n":0.09810000000244956},{"geom_ids":[1,90],"normal_force_n":0.09810000000765648}],"native_actuator_controls":[-0.021756805337096747,1.2855866969421832,-1.03064410113378,0.0896652892509494,0.13575746657140692,-0.05132508629262583,0.035],"actuator_force_native":[-0.2709161286311066,-0.11587440334466237,0.1599848857702426,0.28534008185577564,0.2741265540863118,-0.27162571414763464,-0.00015887303723749469],"issued_joint_targets_rad":[-0.022932162739648564,1.2809587156831508,-1.025168287387485,0.09340691864605423,0.13776630672722673,-0.052860410269006675],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8800000000000007,"joint_targets_rad":[-0.022932162739648564,1.2809587156831508,-1.025168287387485,0.09340691864605423,0.13776630672722673,-0.052860410269006675],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9000000000000007,"qpos":[-0.016280700589133272,1.2970303176101692,-1.0439711171761934,0.06657080625737029,0.09314482083446352,-0.018619225886635844,0.03499851181971927,-0.03499986858208141,0.2988766533120338,-0.03267397607338119,0.07989224457978372,1.0,1.5553308729746944e-11,8.013855617929776e-12,1.124923639343346e-18],"qvel":[-0.052630290677760636,-0.23355079603801174,0.268667940129626,0.15766369508837746,0.11460112547866116,-0.04382196867875245,3.1961120006421204e-05,4.738862939266306e-05,-9.823536059273807e-12,1.906553122660369e-11,2.5703989420351613e-15,-6.095435655922068e-10,-3.1406847979236054e-10,2.908824612724715e-20],"joint_position_rad":[-0.016280700589133272,1.2970303176101692,-1.0439711171761934,0.06657080625737029,0.09314482083446352,-0.018619225886635844],"joint_velocity_rad_s":[-0.052630290677760636,-0.23355079603801174,0.268667940129626,0.15766369508837746,0.11460112547866116,-0.04382196867875245],"gripper_joint_position_m":[0.03499851181971927,-0.03499986858208141],"tcp_position_m":[0.4059365224599145,-0.0038918625535453505,0.33018313823771445],"tcp_quaternion_wxyz":[0.6098531365950599,0.02344576876070729,0.7920763593840182,0.012020341814857963],"object_position_m":[0.2988766533120338,-0.03267397607338119,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5553308729746944e-11,8.013855617929776e-12,1.124923639343346e-18],"object_linear_velocity_m_s":[-9.823536059273807e-12,1.906553122660369e-11,2.5703989420351613e-15],"object_angular_velocity_rad_s":[-6.095435655922068e-10,-3.1406847979236054e-10,2.9088226325249514e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999952136},{"geom_ids":[1,90],"normal_force_n":0.09809999999850395},{"geom_ids":[1,90],"normal_force_n":0.09810000000047865},{"geom_ids":[1,90],"normal_force_n":0.098100000001496}],"native_actuator_controls":[-0.022932162739648564,1.2809587156831508,-1.025168287387485,0.09340691864605423,0.13776630672722673,-0.052860410269006675,0.035],"actuator_force_native":[-0.26896551865242024,-0.11797417397140464,0.16088668244853466,0.28512602010547017,0.27431317070964045,-0.2766788908055796,-0.00010027838880266593],"issued_joint_targets_rad":[-0.024155665364671557,1.2763973700384734,-1.0197312992179997,0.09720285317880938,0.13976302269797944,-0.05441894233513864],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9000000000000007,"joint_targets_rad":[-0.024155665364671557,1.2763973700384734,-1.0197312992179997,0.09720285317880938,0.13976302269797944,-0.05441894233513864],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9200000000000007,"qpos":[-0.017382442154332135,1.292286883404954,-1.038419790016309,0.06998244173581117,0.09520446739491699,-0.019513653458522805,0.034998652835858166,-0.0350000190518273,0.2988766533117499,-0.032673976072830124,0.07989224457978372,1.0,1.6507673705280247e-11,8.505608680099244e-12,1.1263922209614309e-18],"qvel":[-0.05497040155522281,-0.23021924955360956,0.2666654547470402,0.16077250238130836,0.11405711555704766,-0.04500725698097471,4.244529821829823e-05,3.7609092829307445e-05,-1.0649736746477493e-11,2.0668996186103644e-11,2.56901116325438e-15,-5.037380481990704e-10,-2.59551193455797e-10,5.3112526924348715e-20],"joint_position_rad":[-0.017382442154332135,1.292286883404954,-1.038419790016309,0.06998244173581117,0.09520446739491699,-0.019513653458522805],"joint_velocity_rad_s":[-0.05497040155522281,-0.23021924955360956,0.2666654547470402,0.16077250238130836,0.11405711555704766,-0.04500725698097471],"gripper_joint_position_m":[0.034998652835858166,-0.0350000190518273],"tcp_position_m":[0.40443261463964775,-0.004216273170744397,0.3291703195450601],"tcp_quaternion_wxyz":[0.6087150707709008,0.024760571249278295,0.7929021783871197,0.012610005422172176],"object_position_m":[0.2988766533117499,-0.032673976072830124,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6507673705280247e-11,8.505608680099244e-12,1.1263922209614309e-18],"object_linear_velocity_m_s":[-1.0649736746477493e-11,2.0668996186103644e-11,2.56901116325438e-15],"object_angular_velocity_rad_s":[-5.037380481990704e-10,-2.59551193455797e-10,5.3112551532096514e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999877064},{"geom_ids":[1,90],"normal_force_n":0.0980999999961569},{"geom_ids":[1,90],"normal_force_n":0.09810000000122944},{"geom_ids":[1,90],"normal_force_n":0.09810000000384302}],"native_actuator_controls":[-0.024155665364671557,1.2763973700384734,-1.0197312992179997,0.09720285317880938,0.13976302269797944,-0.05441894233513864,0.035],"actuator_force_native":[-0.26700584905103986,-0.1200648215503719,0.16175199012954522,0.28495394581338696,0.2744998796950531,-0.2815420032946963,-0.00015833992541813835],"issued_joint_targets_rad":[-0.025427330118761617,1.2719024376336807,-1.0143319174165715,0.10105058723132557,0.14174714044614237,-0.056003714815323014],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9200000000000007,"joint_targets_rad":[-0.025427330118761617,1.2719024376336807,-1.0143319174165715,0.10105058723132557,0.14174714044614237,-0.056003714815323014],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9400000000000007,"qpos":[-0.018532070633281682,1.2876104016622703,-1.0329095027342334,0.07345830974711465,0.09725448722200287,-0.020447064091309818,0.034998532433099735,-0.03499980031946954,0.29887665331147306,-0.03267397607229297,0.07989224457978372,1.0,1.716713480744081e-11,8.845394205284733e-12,1.1280443175858401e-18],"qvel":[-0.05731557162287562,-0.22689614789339246,0.26472397735369874,0.16377022030999308,0.11349095402226549,-0.046280035265634054,3.342270051425139e-05,5.244955794242274e-05,-1.1693865717740165e-11,2.269545471967603e-11,2.5690111632543795e-15,-3.189753559172728e-10,-1.6435302848530128e-10,9.696563016463747e-20],"joint_position_rad":[-0.018532070633281682,1.2876104016622703,-1.0329095027342334,0.07345830974711465,0.09725448722200287,-0.020447064091309818],"joint_velocity_rad_s":[-0.05731557162287562,-0.22689614789339246,0.26472397735369874,0.16377022030999308,0.11349095402226549,-0.046280035265634054],"gripper_joint_position_m":[0.034998532433099735,-0.03499980031946954],"tcp_position_m":[0.4029451053886922,-0.004552917339583477,0.3281458985016604],"tcp_quaternion_wxyz":[0.6075697473701662,0.02610146152999404,0.7937276054154943,0.013198643412741441],"object_position_m":[0.29887665331147306,-0.03267397607229297,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.716713480744081e-11,8.845394205284733e-12,1.1280443175858401e-18],"object_linear_velocity_m_s":[-1.1693865717740165e-11,2.269545471967603e-11,2.5690111632543795e-15],"object_angular_velocity_rad_s":[-3.189753559172728e-10,-1.6435302848530128e-10,9.696561450231938e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999797105},{"geom_ids":[1,90],"normal_force_n":0.09809999999365768},{"geom_ids":[1,90],"normal_force_n":0.09810000000202888},{"geom_ids":[1,90],"normal_force_n":0.09810000000634239}],"native_actuator_controls":[-0.025427330118761617,1.2719024376336807,-1.0143319174165715,0.10105058723132557,0.14174714044614237,-0.056003714815323014,0.035],"actuator_force_native":[-0.2650429007240165,-0.1221563828201937,0.16258693864445206,0.28483999781847125,0.27469010120799675,-0.28614645434168084,-0.00010841082656054546],"issued_joint_targets_rad":[-0.026747089529624034,1.267473738562607,-1.0089689604851069,0.1049475493815459,0.14371816676854016,-0.057618041442460924],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9400000000000007,"joint_targets_rad":[-0.026747089529624034,1.267473738562607,-1.0089689604851069,0.1049475493815459,0.14371816676854016,-0.057618041442460924],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9600000000000007,"qpos":[-0.01972968031368123,1.2830010674295684,-1.0274391912462355,0.0769961807012565,0.09929431434500105,-0.021420979462147435,0.03499872323202049,-0.035000016359685526,0.2988766533112047,-0.03267397607177217,0.07989224457978372,1.0,1.7366522716104134e-11,8.948111892251984e-12,1.1298560298550482e-18],"qvel":[-0.05966297711599253,-0.223568530648174,0.262841896617408,0.16665932400227154,0.11289582178812027,-0.04758133412925261,4.856200087096043e-05,3.7200811621354816e-05,-1.3188976960059457e-11,2.559722417327426e-11,2.5676233844735985e-15,-2.406701159064427e-11,-1.2402155484907595e-11,1.7703875938494564e-19],"joint_position_rad":[-0.01972968031368123,1.2830010674295684,-1.0274391912462355,0.0769961807012565,0.09929431434500105,-0.021420979462147435],"joint_velocity_rad_s":[-0.05966297711599253,-0.223568530648174,0.262841896617408,0.16665932400227154,0.11289582178812027,-0.04758133412925261],"gripper_joint_position_m":[0.03499872323202049,-0.035000016359685526],"tcp_position_m":[0.4014738992556608,-0.0049016743617450054,0.3271097365151296],"tcp_quaternion_wxyz":[0.6064169590479526,0.02746710756150716,0.7945527043329891,0.013785130335669011],"object_position_m":[0.2988766533112047,-0.03267397607177217,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7366522716104134e-11,8.948111892251984e-12,1.1298560298550482e-18],"object_linear_velocity_m_s":[-1.3188976960059457e-11,2.559722417327426e-11,2.5676233844735985e-15],"object_angular_velocity_rad_s":[-2.406701159064427e-11,-1.2402155484907595e-11,1.7703870338028147e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999728491},{"geom_ids":[1,90],"normal_force_n":0.0980999999915128},{"geom_ids":[1,90],"normal_force_n":0.09810000000271513},{"geom_ids":[1,90],"normal_force_n":0.09810000000848726}],"native_actuator_controls":[-0.026747089529624034,1.267473738562607,-1.0089689604851069,0.1049475493815459,0.14371816676854016,-0.057618041442460924,0.035],"actuator_force_native":[-0.2630778516954617,-0.12434365611603937,0.16340897780325747,0.2847581272002184,0.2748947915532105,-0.29059861860925595,-0.00019173928517424166],"issued_joint_targets_rad":[-0.02811481317172344,1.2631114306095668,-1.0036413529648307,0.10889130930705718,0.14567552263538694,-0.05926305095689925],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9600000000000007,"joint_targets_rad":[-0.02811481317172344,1.2631114306095668,-1.0036413529648307,0.10889130930705718,0.14567552263538694,-0.05926305095689925],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9800000000000008,"qpos":[-0.02097529553065613,1.2784588717683345,-1.022007646041008,0.08059385917823642,0.10132341355518949,-0.022438332782738348,0.03499861045065448,-0.03499980001671007,0.2988766533109471,-0.03267397607127218,0.07989224457978372,1.0,1.686809969560705e-11,8.691297309056111e-12,1.1317537056594028e-18],"qvel":[-0.062009725966983155,-0.22024429584582084,0.26102198173140984,0.16943387364912987,0.11227831329008128,-0.04895593932828647,3.588850389667887e-05,5.664186038816586e-05,-1.5542383818416916e-11,3.016468687271066e-11,2.5690111632543795e-15,4.241476095003299e-10,2.1854334120708633e-10,3.232536767522851e-19],"joint_position_rad":[-0.02097529553065613,1.2784588717683345,-1.022007646041008,0.08059385917823642,0.10132341355518949,-0.022438332782738348],"joint_velocity_rad_s":[-0.062009725966983155,-0.22024429584582084,0.26102198173140984,0.16943387364912987,0.11227831329008128,-0.04895593932828647],"gripper_joint_position_m":[0.03499861045065448,-0.03499980001671007],"tcp_position_m":[0.400018840740327,-0.0052624034511443455,0.32606170214625435],"tcp_quaternion_wxyz":[0.6052565229054181,0.02885560547496721,0.7953775566739893,0.014367945310019843],"object_position_m":[0.2988766533109471,-0.03267397607127218,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.686809969560705e-11,8.691297309056111e-12,1.1317537056594028e-18],"object_linear_velocity_m_s":[-1.5542383818416916e-11,3.016468687271066e-11,2.5690111632543795e-15],"object_angular_velocity_rad_s":[4.241476095003299e-10,2.1854334120708633e-10,3.232537125326839e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999702429},{"geom_ids":[1,90],"normal_force_n":0.09809999999069809},{"geom_ids":[1,90],"normal_force_n":0.09810000000297575},{"geom_ids":[1,90],"normal_force_n":0.09810000000930191}],"native_actuator_controls":[-0.02811481317172344,1.2631114306095668,-1.0036413529648307,0.10889130930705718,0.14567552263538694,-0.05926305095689925,0.035],"actuator_force_native":[-0.2611127814504688,-0.12657381347230512,0.1641935374371286,0.28472863690718064,0.27510362086685247,-0.29481327274917934,-0.0001238605456623798],"issued_joint_targets_rad":[-0.029530299784754407,1.2588154770938746,-0.9983478862862376,0.11287930038902852,0.14761866627009546,-0.06094102528175385],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9800000000000008,"joint_targets_rad":[-0.029530299784754407,1.2588154770938746,-0.9983478862862376,0.11287930038902852,0.14761866627009546,-0.06094102528175385],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0000000000000007,"qpos":[-0.022268916652104277,1.2739837030423624,-1.0166136411669007,0.08424910236794146,0.10334131018757536,-0.023503441680775467,0.034998770596455855,-0.034999984570874096,0.29887665331069074,-0.032673976070774574,0.07989224457978372,1.0,1.639660770237179e-11,8.448361622029758e-12,1.1339143255869538e-18],"qvel":[-0.06435288397631743,-0.21692692378182934,0.2592645081316637,0.17208660280631607,0.11163922975040182,-0.050460589020453014,4.991547015905377e-05,4.19065750383219e-05,-1.955308796308257e-11,3.794870357924212e-11,2.5731744995967236e-15,1.0737282015929145e-09,5.53238357501624e-10,5.901756415163871e-19],"joint_position_rad":[-0.022268916652104277,1.2739837030423624,-1.0166136411669007,0.08424910236794146,0.10334131018757536,-0.023503441680775467],"joint_velocity_rad_s":[-0.06435288397631743,-0.21692692378182934,0.2592645081316637,0.17208660280631607,0.11163922975040182,-0.050460589020453014],"gripper_joint_position_m":[0.034998770596455855,-0.034999984570874096],"tcp_position_m":[0.39857974322912393,-0.00563496387304194,0.3250016816241515],"tcp_quaternion_wxyz":[0.6040882820111454,0.030264474790585496,0.7962022681341933,0.014945143707545124],"object_position_m":[0.29887665331069074,-0.032673976070774574,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.639660770237179e-11,8.448361622029758e-12,1.1339143255869538e-18],"object_linear_velocity_m_s":[-1.955308796308257e-11,3.794870357924212e-11,2.5731744995967236e-15],"object_angular_velocity_rad_s":[1.0737282015929145e-09,5.53238357501624e-10,5.901756178824472e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999969908},{"geom_ids":[1,90],"normal_force_n":0.09809999999059403},{"geom_ids":[1,90],"normal_force_n":0.09810000000300916},{"geom_ids":[1,90],"normal_force_n":0.09810000000940604}],"native_actuator_controls":[-0.029530299784754407,1.2588154770938746,-0.9983478862862376,0.11287930038902852,0.14761866627009546,-0.06094102528175385,0.035],"actuator_force_native":[-0.2591462307304231,-0.12882345696986874,0.16493784979471116,0.28477490681190165,0.27531471619959835,-0.29868495247910426,-0.00020040120902931058],"issued_joint_targets_rad":[-0.03099331690803885,1.2545857450488285,-0.9930873461279762,0.116908732853727,0.14954712532212505,-0.06265536279239062],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0000000000000007,"joint_targets_rad":[-0.03099331690803885,1.2545857450488285,-0.9930873461279762,0.116908732853727,0.14954712532212505,-0.06265536279239062],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0199999999999985,"qpos":[-0.023610527675956724,1.26957540269469,-1.0112561775364148,0.08796059099130611,0.10534734752679234,-0.02463470688629803,0.034998751401490155,-0.034999904754211004,0.29887665331043556,-0.03267397607027936,0.07989224457978372,1.0,1.5273325036174705e-11,7.869587314650262e-12,1.1361529980405375e-18],"qvel":[-0.06669650405718922,-0.213619989034978,0.25753997859849526,0.17467302961068754,0.11094858158194307,-0.05397644221312459,4.073156314264381e-05,5.805516613922605e-05,-9.583992357465762e-12,1.860064685654221e-11,2.574562278377505e-15,-6.099478342145604e-10,-3.1427590124591155e-10,6.393917652362412e-20],"joint_position_rad":[-0.023610527675956724,1.26957540269469,-1.0112561775364148,0.08796059099130611,0.10534734752679234,-0.02463470688629803],"joint_velocity_rad_s":[-0.06669650405718922,-0.213619989034978,0.25753997859849526,0.17467302961068754,0.11094858158194307,-0.05397644221312459],"gripper_joint_position_m":[0.034998751401490155,-0.034999904754211004],"tcp_position_m":[0.3971564344227628,-0.006019201938913118,0.3239297186575463],"tcp_quaternion_wxyz":[0.6029123722016808,0.03168595249757587,0.7970270291169262,0.015510858052016789],"object_position_m":[0.29887665331043556,-0.03267397607027936,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5273325036174705e-11,7.869587314650262e-12,1.1361529980405375e-18],"object_linear_velocity_m_s":[-9.583992357465762e-12,1.860064685654221e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[-6.099478342145604e-10,-3.1427590124591155e-10,6.393917601955963e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999954488},{"geom_ids":[1,90],"normal_force_n":0.09809999999857771},{"geom_ids":[1,90],"normal_force_n":0.09810000000045503},{"geom_ids":[1,90],"normal_force_n":0.09810000000142237}],"native_actuator_controls":[-0.03099331690803885,1.2545857450488285,-0.9930873461279762,0.116908732853727,0.14954712532212505,-0.06265536279239062,0.035],"actuator_force_native":[-0.25714061828062373,-0.1310726664940205,0.16580661968261268,0.28456052644339813,0.2755749055804124,-0.29924189574123894,-0.0001537138753193723],"issued_joint_targets_rad":[-0.03250360415888076,1.2504220674480047,-0.9878588163711988,0.120975925931042,0.1514603707933267,-0.06442092948781138],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0199999999999985,"joint_targets_rad":[-0.03250360415888076,1.2504220674480047,-0.9878588163711988,0.120975925931042,0.1514603707933267,-0.06442092948781138],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0399999999999963,"qpos":[-0.024999873768802763,1.2652337078699163,-1.0059340199944649,0.09172475485126423,0.10734100284847121,-0.025843483227474828,0.03499883123978716,-0.03499996771726796,0.29887665331014523,-0.032673976069715956,0.07989224457978372,1.0,1.6616896552198016e-11,8.561867514391138e-12,1.1397865930787855e-18],"qvel":[-0.0690273389803635,-0.21032429148036902,0.2558793067090928,0.17712751587626227,0.11024261244499237,-0.05777090024314157,4.743803449432185e-05,5.2595996015320195e-05,-1.0605197616389144e-11,2.058260044112435e-11,2.5731744995967236e-15,-5.356636852707268e-10,-2.7600096972710315e-10,1.1673425098922195e-19],"joint_position_rad":[-0.024999873768802763,1.2652337078699163,-1.0059340199944649,0.09172475485126423,0.10734100284847121,-0.025843483227474828],"joint_velocity_rad_s":[-0.0690273389803635,-0.21032429148036902,0.2558793067090928,0.17712751587626227,0.11024261244499237,-0.05777090024314157],"gripper_joint_position_m":[0.03499883123978716,-0.03499996771726796],"tcp_position_m":[0.3957486897569218,-0.006414925250155902,0.3228457521163877],"tcp_quaternion_wxyz":[0.6017287985946,0.03311414729989634,0.7978520919336304,0.016060684531797268],"object_position_m":[0.29887665331014523,-0.032673976069715956,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6616896552198016e-11,8.561867514391138e-12,1.1397865930787855e-18],"object_linear_velocity_m_s":[-1.0605197616389144e-11,2.058260044112435e-11,2.5731744995967236e-15],"object_angular_velocity_rad_s":[-5.356636852707268e-10,-2.7600096972710315e-10,1.1673425487581568e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999884018},{"geom_ids":[1,90],"normal_force_n":0.09809999999637455},{"geom_ids":[1,90],"normal_force_n":0.09810000000115986},{"geom_ids":[1,90],"normal_force_n":0.09810000000362547}],"native_actuator_controls":[-0.03250360415888076,1.2504220674480047,-0.9878588163711988,0.120975925931042,0.1514603707933267,-0.06442092948781138,0.035],"actuator_force_native":[-0.25516173630442207,-0.13330977635106933,0.16661975631581072,0.2844092638097999,0.27582976078106625,-0.2991181122386531,-0.00019043976395805018],"issued_joint_targets_rad":[-0.034060615827282606,1.2463241761171935,-0.982661137813007,0.12507584140558636,0.15335796915704536,-0.06624669711008224],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0399999999999963,"joint_targets_rad":[-0.034060615827282606,1.2463241761171935,-0.982661137813007,0.12507584140558636,0.15335796915704536,-0.06624669711008224],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.059999999999994,"qpos":[-0.026436367591734594,1.2609584254013149,-1.0006458269299763,0.09553848757991754,0.10932200808845305,-0.027129407969927258,0.03499882782531948,-0.03499989970717977,0.29887665330985913,-0.03267397606916069,0.07989224457978372,1.0,1.7545234188109756e-11,9.040189202552513e-12,1.1438929388656055e-18],"qvel":[-0.07133324357851883,-0.2070365443654082,0.25428294871919377,0.17944175763712727,0.10952662823136045,-0.06146613562533957,4.388148404947655e-05,6.061025000114966e-05,-1.1725980364481492e-11,2.2757823871921184e-11,2.5773378359390677e-15,-3.7761558589580767e-10,-1.945668154470773e-10,2.131328783215614e-19],"joint_position_rad":[-0.026436367591734594,1.2609584254013149,-1.0006458269299763,0.09553848757991754,0.10932200808845305,-0.027129407969927258],"joint_velocity_rad_s":[-0.07133324357851883,-0.2070365443654082,0.25428294871919377,0.17944175763712727,0.10952662823136045,-0.06146613562533957],"gripper_joint_position_m":[0.03499882782531948,-0.03499989970717977],"tcp_position_m":[0.39435627324572264,-0.006821807748419102,0.3217495897589677],"tcp_quaternion_wxyz":[0.6005373053106673,0.0345478716723501,0.7986776745888984,0.016594023212690413],"object_position_m":[0.29887665330985913,-0.03267397606916069,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7545234188109756e-11,9.040189202552513e-12,1.1438929388656055e-18],"object_linear_velocity_m_s":[-1.1725980364481492e-11,2.2757823871921184e-11,2.5773378359390677e-15],"object_angular_velocity_rad_s":[-3.7761558589580767e-10,-1.945668154470773e-10,2.1313287032171563e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999804984},{"geom_ids":[1,90],"normal_force_n":0.09809999999390413},{"geom_ids":[1,90],"normal_force_n":0.09810000000195021},{"geom_ids":[1,90],"normal_force_n":0.09810000000609578}],"native_actuator_controls":[-0.034060615827282606,1.2463241761171935,-0.982661137813007,0.12507584140558636,0.15335796915704536,-0.06624669711008224,0.035],"actuator_force_native":[-0.2532736409512464,-0.13555722090266897,0.16736038576156886,0.2842853648411161,0.27606966833888236,-0.2989736879635405,-0.00017252043302651288],"issued_joint_targets_rad":[-0.03566352550695581,1.2422918619189678,-0.9774930030112046,0.12920536562595322,0.1552396645282518,-0.06813210669769572],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.059999999999994,"joint_targets_rad":[-0.03566352550695581,1.2422918619189678,-0.9774930030112046,0.12920536562595322,0.1552396645282518,-0.06813210669769572],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0799999999999919,"qpos":[-0.02791955290370653,1.256749396994714,-0.995390318178852,0.09939886364506971,0.1112901047270772,-0.028490326275571513,0.034998907321703625,-0.03499994864098454,0.29887665330957974,-0.03267397606861844,0.07989224457978372,1.0,1.796782477021184e-11,9.257925200006333e-12,1.1484312565605694e-18],"qvel":[-0.07361732078376111,-0.20375615617180298,0.2527483408494363,0.1816165010259664,0.10879644546251349,-0.06505743102827313,4.9140590601105755e-05,5.6619189711146967e-05,-1.3188186233303086e-11,2.559569251295424e-11,2.5759500571582867e-15,-1.0916814712935332e-10,-5.624939458813612e-11,3.8914308179800166e-19],"joint_position_rad":[-0.02791955290370653,1.256749396994714,-0.995390318178852,0.09939886364506971,0.1112901047270772,-0.028490326275571513],"joint_velocity_rad_s":[-0.07361732078376111,-0.20375615617180298,0.2527483408494363,0.1816165010259664,0.10879644546251349,-0.06505743102827313],"gripper_joint_position_m":[0.034998907321703625,-0.03499994864098454],"tcp_position_m":[0.39297895410606376,-0.007239584157603967,0.3206410474886294],"tcp_quaternion_wxyz":[0.599337626768883,0.035986779924004585,0.7995039589367633,0.017110828565164295],"object_position_m":[0.29887665330957974,-0.03267397606861844,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.796782477021184e-11,9.257925200006333e-12,1.1484312565605694e-18],"object_linear_velocity_m_s":[-1.3188186233303086e-11,2.559569251295424e-11,2.5759500571582867e-15],"object_angular_velocity_rad_s":[-1.0916814712935332e-10,-5.624939458813612e-11,3.891430643479151e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999730826},{"geom_ids":[1,90],"normal_force_n":0.09809999999158595},{"geom_ids":[1,90],"normal_force_n":0.09810000000269183},{"geom_ids":[1,90],"normal_force_n":0.098100000008414}],"native_actuator_controls":[-0.03566352550695581,1.2422918619189678,-0.9774930030112046,0.12920536562595322,0.1552396645282518,-0.06813210669769572,0.035],"actuator_force_native":[-0.2514312043411371,-0.137822025200677,0.16804350916461885,0.2841775741055077,0.2763009298179757,-0.2988316576788323,-0.00020199582115054682],"issued_joint_targets_rad":[-0.037311632844400214,1.2383249454728102,-0.9723531512575171,0.13336177221513146,0.15710518834368337,-0.07007513385202443],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0799999999999919,"joint_targets_rad":[-0.037311632844400214,1.2383249454728102,-0.9723531512575171,0.13336177221513146,0.15710518834368337,-0.07007513385202443],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0999999999999897,"qpos":[-0.02944898188893217,1.2526064628176716,-0.9901662534367313,0.10330298259555512,0.11324496951212323,-0.029924078561346712,0.03499888523917203,-0.034999850893574,0.29887665330930985,-0.03267397606809473,0.07989224457978372,1.0,1.769652709273199e-11,9.118129645182491e-12,1.153253317780126e-18],"qvel":[-0.07587895854625074,-0.20048366125436484,0.2512739989087479,0.1836531295814102,0.10804966060225354,-0.06854532691541346,4.513973738349893e-05,6.472654349999066e-05,-1.5384481944510972e-11,2.985830373030045e-11,2.575950057158287e-15,3.0868371589778355e-10,1.5904808051266965e-10,7.105099582102598e-19],"joint_position_rad":[-0.02944898188893217,1.2526064628176716,-0.9901662534367313,0.10330298259555512,0.11324496951212323,-0.029924078561346712],"joint_velocity_rad_s":[-0.07587895854625074,-0.20048366125436484,0.2512739989087479,0.1836531295814102,0.10804966060225354,-0.06854532691541346],"gripper_joint_position_m":[0.03499888523917203,-0.034999850893574],"tcp_position_m":[0.3916165027538076,-0.007668005578184692,0.3195199684376187],"tcp_quaternion_wxyz":[0.5981295362874012,0.03743055182703466,0.8003310955292618,0.01761105162882639],"object_position_m":[0.29887665330930985,-0.03267397606809473,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.769652709273199e-11,9.118129645182491e-12,1.153253317780126e-18],"object_linear_velocity_m_s":[-1.5384481944510972e-11,2.985830373030045e-11,2.575950057158287e-15],"object_angular_velocity_rad_s":[3.0868371589778355e-10,1.5904808051266965e-10,7.105099192601134e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999689724},{"geom_ids":[1,90],"normal_force_n":0.09809999999030097},{"geom_ids":[1,90],"normal_force_n":0.09810000000310283},{"geom_ids":[1,90],"normal_force_n":0.09810000000969898}],"native_actuator_controls":[-0.037311632844400214,1.2383249454728102,-0.9723531512575171,0.13336177221513146,0.15710518834368337,-0.07007513385202443,0.035],"actuator_force_native":[-0.24961728370618985,-0.14010308131709337,0.16867817979338895,0.2840859368760027,0.27652769741222105,-0.2986925625336571,-0.00018110825379857864],"issued_joint_targets_rad":[-0.03900423914933646,1.2344232428996023,-0.9672403583382592,0.13754234439979718,0.15895420161799453,-0.07207373210937415],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0999999999999897,"joint_targets_rad":[-0.03900423914933646,1.2344232428996023,-0.9672403583382592,0.13754234439979718,0.15895420161799453,-0.07207373210937415],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1199999999999875,"qpos":[-0.031024190525989266,1.2485294487504737,-0.984972415721302,0.10724796978784917,0.11518624120469786,-0.031428516144309616,0.03499900094496551,-0.0349999507044173,0.29887665330905366,-0.03267397606759775,0.07989224457978372,1.0,1.6432650712129376e-11,8.466907894211322e-12,1.1580023149326682e-18],"qvel":[-0.0781162889127341,-0.1972198513338247,0.24985892316390004,0.1855529302356825,0.10728479506396219,-0.07193038449517881,5.313856499780894e-05,5.7002674749980696e-05,-1.8963549798102983e-11,3.680466756001716e-11,2.5731744995967248e-15,9.314975315979176e-10,4.799505565613501e-10,1.297195767194346e-18],"joint_position_rad":[-0.031024190525989266,1.2485294487504737,-0.984972415721302,0.10724796978784917,0.11518624120469786,-0.031428516144309616],"joint_velocity_rad_s":[-0.0781162889127341,-0.1972198513338247,0.24985892316390004,0.1855529302356825,0.10728479506396219,-0.07193038449517881],"gripper_joint_position_m":[0.03499900094496551,-0.0349999507044173],"tcp_position_m":[0.39026868584310925,-0.00810682902716641,0.318386214910215],"tcp_quaternion_wxyz":[0.5969128337395457,0.03887887629311123,0.801159213744447,0.018094643616000303],"object_position_m":[0.29887665330905366,-0.03267397606759775,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6432650712129376e-11,8.466907894211322e-12,1.1580023149326682e-18],"object_linear_velocity_m_s":[-1.8963549798102983e-11,3.680466756001716e-11,2.5731744995967248e-15],"object_angular_velocity_rad_s":[9.314975315979176e-10,4.799505565613501e-10,1.2971956792970258e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999732932},{"geom_ids":[1,90],"normal_force_n":0.09809999999165198},{"geom_ids":[1,90],"normal_force_n":0.09810000000267073},{"geom_ids":[1,90],"normal_force_n":0.09810000000834795}],"native_actuator_controls":[-0.03900423914933646,1.2344232428996023,-0.9672403583382592,0.13754234439979718,0.15895420161799453,-0.07207373210937415,0.035],"actuator_force_native":[-0.24782244530410535,-0.14239721140059203,0.16926997482393347,0.2840103332995074,0.27675241153702346,-0.2985565829078772,-0.0002257306236093104],"issued_joint_targets_rad":[-0.04074062540019375,1.2305865542356405,-0.9621534215613617,0.14174437827784858,0.16078632229221418,-0.07412584997697688],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1199999999999875,"joint_targets_rad":[-0.04074062540019375,1.2305865542356405,-0.9621534215613617,0.14174437827784858,0.16078632229221418,-0.07412584997697688],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1399999999999852,"qpos":[-0.03264464864358004,1.2445181643896843,-0.9798076067648085,0.11123097662562215,0.1171135343592176,-0.03300150098039234,0.03499898079361434,-0.03499985090789397,0.29887665330880453,-0.03267397606711401,0.07989224457978372,1.0,1.484050324674596e-11,7.646546562256788e-12,1.162922887326296e-18],"qvel":[-0.08032623620345768,-0.19396558362160615,0.24850234776202768,0.18731709923221326,0.10650087697462302,-0.07521309219777232,4.6603694130957954e-05,6.85416001243301e-05,-9.363405206649303e-12,1.8172597492587154e-11,2.5690111632543807e-15,-6.100882895497453e-10,-3.143475177949889e-10,1.4054007635069787e-19],"joint_position_rad":[-0.03264464864358004,1.2445181643896843,-0.9798076067648085,0.11123097662562215,0.1171135343592176,-0.03300150098039234],"joint_velocity_rad_s":[-0.08032623620345768,-0.19396558362160615,0.24850234776202768,0.18731709923221326,0.10650087697462302,-0.07521309219777232],"gripper_joint_position_m":[0.03499898079361434,-0.03499985090789397],"tcp_position_m":[0.3889352653614059,-0.0085557975909005,0.317239664103373],"tcp_quaternion_wxyz":[0.5956873384083828,0.04033143112967073,0.8019884279663858,0.018561571349825],"object_position_m":[0.29887665330880453,-0.03267397606711401,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.484050324674596e-11,7.646546562256788e-12,1.162922887326296e-18],"object_linear_velocity_m_s":[-9.363405206649303e-12,1.8172597492587154e-11,2.5690111632543807e-15],"object_angular_velocity_rad_s":[-6.100882895497453e-10,-3.143475177949889e-10,1.405400626600712e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999971936},{"geom_ids":[1,90],"normal_force_n":0.09809999999912271},{"geom_ids":[1,90],"normal_force_n":0.09810000000028067},{"geom_ids":[1,90],"normal_force_n":0.09810000000087729}],"native_actuator_controls":[-0.04074062540019375,1.2305865542356405,-0.9621534215613617,0.14174437827784858,0.16078632229221418,-0.07412584997697688,0.035],"actuator_force_native":[-0.246046959511808,-0.14470089421548948,0.169823077465594,0.28395056992799184,0.27697656386803104,-0.298423851669187,-0.00019225021522828456],"issued_joint_targets_rad":[-0.04252000624141857,1.2268146618770923,-0.9570911568334021,0.14596518672419861,0.16260114065121326,-0.07622943333695002],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1399999999999852,"joint_targets_rad":[-0.04252000624141857,1.2268146618770923,-0.9570911568334021,0.14596518672419861,0.16260114065121326,-0.07622943333695002],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.159999999999983,"qpos":[-0.034309780643247814,1.2405724027629945,-0.9746706403420066,0.11524917716884031,0.11902644508236802,-0.034640904197621745,0.03499908148618131,-0.034999927655806125,0.29887665330852753,-0.03267397606657653,0.07989224457978372,1.0,1.5789948259862573e-11,8.135743917658231e-12,1.1709097650249201e-18],"qvel":[-0.0825059201627642,-0.19072162283777283,0.2472036857435469,0.18894680256433255,0.10569713211067726,-0.07839391546409324,5.4414575004536563e-05,6.083288391500566e-05,-1.0111806877377094e-11,1.9625113362554594e-11,2.5745622783775058e-15,-5.21130065272145e-10,-2.6851115765122415e-10,2.565886321535247e-19],"joint_position_rad":[-0.034309780643247814,1.2405724027629945,-0.9746706403420066,0.11524917716884031,0.11902644508236802,-0.034640904197621745],"joint_velocity_rad_s":[-0.0825059201627642,-0.19072162283777283,0.2472036857435469,0.18894680256433255,0.10569713211067726,-0.07839391546409324],"gripper_joint_position_m":[0.03499908148618131,-0.034999927655806125],"tcp_position_m":[0.38761599780582545,-0.009014648580583888,0.31608020383782803],"tcp_quaternion_wxyz":[0.5944528841118633,0.04178789038347578,0.8028188412420328,0.019011810413152516],"object_position_m":[0.29887665330852753,-0.03267397606657653,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5789948259862573e-11,8.135743917658231e-12,1.1709097650249201e-18],"object_linear_velocity_m_s":[-1.0111806877377094e-11,1.9625113362554594e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[-5.21130065272145e-10,-2.6851115765122415e-10,2.565886390982008e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999990092},{"geom_ids":[1,90],"normal_force_n":0.09809999999690293},{"geom_ids":[1,90],"normal_force_n":0.09810000000099078},{"geom_ids":[1,90],"normal_force_n":0.09810000000309708}],"native_actuator_controls":[-0.04252000624141857,1.2268146618770923,-0.9570911568334021,0.14596518672419861,0.16260114065121326,-0.07622943333695002,0.035],"actuator_force_native":[-0.24428844703983987,-0.14701115668330544,0.17034025197062874,0.2839063693926702,0.2772012575224365,-0.2982944181971429,-0.000235332322275017],"issued_joint_targets_rad":[-0.04434154950602849,1.2231073303285398,-0.9520523917975133,0.15020209506267423,0.16439822465724568,-0.07838242339624729],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.159999999999983,"joint_targets_rad":[-0.04434154950602849,1.2231073303285398,-0.9520523917975133,0.15020209506267423,0.16439822465724568,-0.07838242339624729],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1799999999999808,"qpos":[-0.03601892826202996,1.2366919422972298,-0.9695603426268771,0.11929976908502864,0.12092455571707526,-0.03634460527907045,0.03499911733911917,-0.03499990281958529,0.2988766533082576,-0.03267397606605268,0.07989224457978372,1.0,1.6499047479817624e-11,8.501118349180127e-12,1.1799354046151434e-18],"qvel":[-0.08465165319674231,-0.18748871411209467,0.24596241755610945,0.1904431181008412,0.10487300515227292,-0.0814732254215596,5.0481152005009965e-05,6.902096918214044e-05,-1.1042886708983345e-11,2.143213722816406e-11,2.5648478269120358e-15,-3.629018150849283e-10,-1.8698402089947256e-10,4.684575476491482e-19],"joint_position_rad":[-0.03601892826202996,1.2366919422972298,-0.9695603426268771,0.11929976908502864,0.12092455571707526,-0.03634460527907045],"joint_velocity_rad_s":[-0.08465165319674231,-0.18748871411209467,0.24596241755610945,0.1904431181008412,0.10487300515227292,-0.0814732254215596],"gripper_joint_position_m":[0.03499911733911917,-0.03499990281958529],"tcp_position_m":[0.3863106349076188,-0.009483099043624066,0.31490773084971274],"tcp_quaternion_wxyz":[0.5932093161029031,0.043247909686476994,0.8036505482436547,0.01944535687893965],"object_position_m":[0.2988766533082576,-0.03267397606605268,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6499047479817624e-11,8.501118349180127e-12,1.1799354046151434e-18],"object_linear_velocity_m_s":[-1.1042886708983345e-11,2.143213722816406e-11,2.5648478269120358e-15],"object_angular_velocity_rad_s":[-3.629018150849283e-10,-1.8698402089947256e-10,4.684575737299115e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999823209},{"geom_ids":[1,90],"normal_force_n":0.0980999999944739},{"geom_ids":[1,90],"normal_force_n":0.09810000000176795},{"geom_ids":[1,90],"normal_force_n":0.09810000000552614}],"native_actuator_controls":[-0.04434154950602849,1.2231073303285398,-0.9520523917975133,0.15020209506267423,0.16439822465724568,-0.07838242339624729,0.035],"actuator_force_native":[-0.2425514335361707,-0.14932538693471997,0.17082397856856346,0.28387744860161757,0.27742718167329494,-0.29816834303942896,-0.00021709932479185845],"issued_joint_targets_rad":[-0.04620434188247308,1.2194643082198284,-0.9470359673407223,0.1544524440874376,0.16617712610469687,-0.08058275718974939],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1799999999999808,"joint_targets_rad":[-0.04620434188247308,1.2194643082198284,-0.9470359673407223,0.1544524440874376,0.16617712610469687,-0.08058275718974939],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1999999999999786,"qpos":[-0.03777137508055341,1.2328765471644973,-0.9644755479409073,0.12337997038126904,0.12280743661435906,-0.038110490277441345,0.03499916829791565,-0.034999902689586374,0.29887665330797947,-0.032673976065513026,0.07989224457978372,1.0,1.775435892674601e-11,9.147935898139111e-12,1.1912758465664327e-18],"qvel":[-0.08676030902848052,-0.18426751730540802,0.24477813334780024,0.19180708239991082,0.10402799445222634,-0.08445135092626542,5.310129072229749e-05,6.802424110383398e-05,-1.2693320660293994e-11,2.4635261383345048e-11,2.5676233844735985e-15,-1.4139454276381309e-10,-7.285236719996454e-11,8.55283351344739e-19],"joint_position_rad":[-0.03777137508055341,1.2328765471644973,-0.9644755479409073,0.12337997038126904,0.12280743661435906,-0.038110490277441345],"joint_velocity_rad_s":[-0.08676030902848052,-0.18426751730540802,0.24477813334780024,0.19180708239991082,0.10402799445222634,-0.08445135092626542],"gripper_joint_position_m":[0.03499916829791565,-0.034999902689586374],"tcp_position_m":[0.385018923289493,-0.009960855460999583,0.31372214821600647],"tcp_quaternion_wxyz":[0.5919564885040747,0.04471113530526042,0.8044836370863717,0.019862219360470494],"object_position_m":[0.29887665330797947,-0.032673976065513026,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.775435892674601e-11,9.147935898139111e-12,1.1912758465664327e-18],"object_linear_velocity_m_s":[-1.2693320660293994e-11,2.4635261383345048e-11,2.5676233844735985e-15],"object_angular_velocity_rad_s":[-1.4139454276381309e-10,-7.285236719996454e-11,8.552833936199765e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999972397},{"geom_ids":[1,90],"normal_force_n":0.09809999999137198},{"geom_ids":[1,90],"normal_force_n":0.09810000000276031},{"geom_ids":[1,90],"normal_force_n":0.098100000008628}],"native_actuator_controls":[-0.04620434188247308,1.2194643082198284,-0.9470359673407223,0.1544524440874376,0.16617712610469687,-0.08058275718974939,0.035],"actuator_force_native":[-0.24083579901117114,-0.1516415290464721,0.17127578127579568,0.2838635362471891,0.27765490322503883,-0.2980456427336823,-0.0002322383702373365],"issued_joint_targets_rad":[-0.04810741181805879,1.2158853285752407,-0.9420407329285584,0.15871358518705883,0.1679373818423906,-0.08282836457395756],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1999999999999786,"joint_targets_rad":[-0.04810741181805879,1.2158853285752407,-0.9420407329285584,0.15871358518705883,0.1679373818423906,-0.08282836457395756],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2199999999999764,"qpos":[-0.03956632902255664,1.2291259689361747,-0.9594150991883658,0.12748701941476664,0.12467464809695418,-0.03993645063451751,0.03499923051383193,-0.034999915469976495,0.2988766533077051,-0.03267397606498058,0.07989224457978372,1.0,1.8089146773243086e-11,9.320453130468876e-12,1.2034725812904547e-18],"qvel":[-0.08882826352269384,-0.18105866297303166,0.24365043914298398,0.19303965979445317,0.10316170823051701,-0.08732853400823098,5.3991219741404155e-05,6.950703135784797e-05,-1.4978705476327712e-11,2.90706661247621e-11,2.5703989420351617e-15,2.2522209913904847e-10,1.1604770271334875e-10,1.5615404791012223e-18],"joint_position_rad":[-0.03956632902255664,1.2291259689361747,-0.9594150991883658,0.12748701941476664,0.12467464809695418,-0.03993645063451751],"joint_velocity_rad_s":[-0.08882826352269384,-0.18105866297303166,0.24365043914298398,0.19303965979445317,0.10316170823051701,-0.08732853400823098],"gripper_joint_position_m":[0.03499923051383193,-0.034999915469976495],"tcp_position_m":[0.3837406051139951,-0.010447607044263183,0.31252336438738193],"tcp_quaternion_wxyz":[0.5906942626123984,0.046177197212553686,0.805318190981915,0.020262424534197337],"object_position_m":[0.2988766533077051,-0.03267397606498058,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8089146773243086e-11,9.320453130468876e-12,1.2034725812904547e-18],"object_linear_velocity_m_s":[-1.4978705476327712e-11,2.90706661247621e-11,2.5703989420351617e-15],"object_angular_velocity_rad_s":[2.2522209913904847e-10,1.1604770271334875e-10,1.5615405429174385e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999671215},{"geom_ids":[1,90],"normal_force_n":0.09809999998972263},{"geom_ids":[1,90],"normal_force_n":0.09810000000328789},{"geom_ids":[1,90],"normal_force_n":0.09810000001027738}],"native_actuator_controls":[-0.04810741181805879,1.2158853285752407,-0.9420407329285584,0.15871358518705883,0.1679373818423906,-0.08282836457395756,0.035],"actuator_force_native":[-0.2391453060267028,-0.1539579140095526,0.1716971050696543,0.28386433191942206,0.27788477510858867,-0.29792633838205407,-0.00023917665198380789],"issued_joint_targets_rad":[-0.05004971347793264,1.2123701104342495,-0.9370655476394815,0.16298288125517882,0.16967851659282454,-0.08511716756279483],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2199999999999764,"joint_targets_rad":[-0.05004971347793264,1.2123701104342495,-0.9370655476394815,0.16298288125517882,0.16967851659282454,-0.08511716756279483],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2399999999999742,"qpos":[-0.041402928550670355,1.2254399469121307,-0.954377846294252,0.1316181729103419,0.12652574161457897,-0.04182038148104747,0.03499928592443767,-0.034999916330697586,0.2988766533074399,-0.03267397606446561,0.07989224457978372,1.0,1.7292238214012135e-11,8.909851915108428e-12,1.2157814755868176e-18],"qvel":[-0.09085214147015287,-0.17786274933428453,0.24257899392021748,0.19414175266044573,0.10227379910328623,-0.09010494803516302,5.444781541988628e-05,7.14390153528479e-05,-1.840650310279011e-11,3.572331593397269e-11,2.571786720815943e-15,7.974953448050057e-10,4.109116462446555e-10,2.8510367260478925e-18],"joint_position_rad":[-0.041402928550670355,1.2254399469121307,-0.954377846294252,0.1316181729103419,0.12652574161457897,-0.04182038148104747],"joint_velocity_rad_s":[-0.09085214147015287,-0.17786274933428453,0.24257899392021748,0.19414175266044573,0.10227379910328623,-0.09010494803516302],"gripper_joint_position_m":[0.03499928592443767,-0.034999916330697586],"tcp_position_m":[0.3824754181328258,-0.010943028263745772,0.31131129199939667],"tcp_quaternion_wxyz":[0.5894225054860185,0.047645711173918914,0.806154289386278,0.020646015049422126],"object_position_m":[0.2988766533074399,-0.03267397606446561,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7292238214012135e-11,8.909851915108428e-12,1.2157814755868176e-18],"object_linear_velocity_m_s":[-1.840650310279011e-11,3.572331593397269e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[7.974953448050057e-10,4.109116462446555e-10,2.8510367593410394e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999969194},{"geom_ids":[1,90],"normal_force_n":0.0980999999903702},{"geom_ids":[1,90],"normal_force_n":0.09810000000308063},{"geom_ids":[1,90],"normal_force_n":0.09810000000962985}],"native_actuator_controls":[-0.05004971347793264,1.2123701104342495,-0.9370655476394815,0.16298288125517882,0.16967851659282454,-0.08511716756279483,0.035],"actuator_force_native":[-0.23748208683021899,-0.1562731715590786,0.17208892278055998,0.2838795704912487,0.2781170511275264,-0.2978104387647291,-0.00024367605460628994],"issued_joint_targets_rad":[-0.052030132648733414,1.2089183591440213,-0.9321092786002381,0.16725770425111086,0.17140004413620058,-0.08744707820072238],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2399999999999742,"joint_targets_rad":[-0.052030132648733414,1.2089183591440213,-0.9321092786002381,0.16725770425111086,0.17140004413620058,-0.08744707820072238],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.259999999999972,"qpos":[-0.043280246516987426,1.2218182028391251,-0.9493626684640933,0.13577070545840378,0.12836038441694556,-0.043760177521447244,0.03499933154115602,-0.034999902802133595,0.2988766533071917,-0.03267397606398374,0.07989224457978372,1.0,1.503294949394322e-11,7.745753460800682e-12,1.2265961263412523e-18],"qvel":[-0.09282840239376146,-0.17468077468419357,0.24156421362764244,0.19511418913773393,0.10136472283240142,-0.09278069258978289,5.487397793218865e-05,7.32642281296175e-05,-9.462697106006772e-12,1.836519199363733e-11,2.5773378359390685e-15,-6.40133000942539e-10,-3.2982949130712966e-10,3.0888606639001763e-19],"joint_position_rad":[-0.043280246516987426,1.2218182028391251,-0.9493626684640933,0.13577070545840378,0.12836038441694556,-0.043760177521447244],"joint_velocity_rad_s":[-0.09282840239376146,-0.17468077468419357,0.24156421362764244,0.19511418913773393,0.10136472283240142,-0.09278069258978289],"gripper_joint_position_m":[0.03499933154115602,-0.034999902802133595],"tcp_position_m":[0.38122308897285323,-0.011446776579206386,0.31008583503288034],"tcp_quaternion_wxyz":[0.5881410507184451,0.04911627784280012,0.8069920366641172,0.021013054784396377],"object_position_m":[0.2988766533071917,-0.03267397606398374,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.503294949394322e-11,7.745753460800682e-12,1.2265961263412523e-18],"object_linear_velocity_m_s":[-9.462697106006772e-12,1.836519199363733e-11,2.5773378359390685e-15],"object_angular_velocity_rad_s":[-6.40133000942539e-10,-3.2982949130712966e-10,3.088860710359983e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000001021209},{"geom_ids":[1,90],"normal_force_n":0.09810000003192197},{"geom_ids":[1,90],"normal_force_n":0.09809999998978784},{"geom_ids":[1,90],"normal_force_n":0.09809999996807793}],"native_actuator_controls":[-0.052030132648733414,1.2089183591440213,-0.9321092786002381,0.16725770425111086,0.17140004413620058,-0.08744707820072238,0.035],"actuator_force_native":[-0.23584887857087233,-0.15858362218732225,0.17245012097019696,0.28390900601961366,0.27834951294394816,-0.2976979679080771,-0.0002476315359016823],"issued_joint_targets_rad":[-0.05404749602694187,1.2055297644018697,-0.9271708245924271,0.17153544784974536,0.17310159067288297,-0.08981601049465879],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.259999999999972,"joint_targets_rad":[-0.05404749602694187,1.2055297644018697,-0.9271708245924271,0.17153544784974536,0.17310159067288297,-0.08981601049465879],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2799999999999698,"qpos":[-0.04519728649294812,1.2182604414017166,-0.9443684508925373,0.1399419091605724,0.13017829946977857,-0.04575373537964557,0.03499936867762648,-0.034999877743876806,0.2988766533069036,-0.03267397606342452,0.07989224457978372,1.0,1.6117592374280268e-11,8.304613095635585e-12,1.246341126014607e-18],"qvel":[-0.09475354426535429,-0.17151346883832924,0.2406063580996801,0.19595782303839906,0.10043504438551726,-0.09535592891388363,5.5365838182412565e-05,7.488425002011797e-05,-1.0253534748406233e-11,1.990006250342804e-11,2.5717867208159426e-15,-5.662040379464331e-10,-2.9173774719636765e-10,5.639550902693094e-19],"joint_position_rad":[-0.04519728649294812,1.2182604414017166,-0.9443684508925373,0.1399419091605724,0.13017829946977857,-0.04575373537964557],"joint_velocity_rad_s":[-0.09475354426535429,-0.17151346883832924,0.2406063580996801,0.19595782303839906,0.10043504438551726,-0.09535592891388363],"gripper_joint_position_m":[0.03499936867762648,-0.034999877743876806],"tcp_position_m":[0.3799833350659891,-0.011958492325829703,0.3088468900922196],"tcp_quaternion_wxyz":[0.586849712629134,0.05058848128522338,0.8078315516136774,0.02136362716852621],"object_position_m":[0.2988766533069036,-0.03267397606342452,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6117592374280268e-11,8.304613095635585e-12,1.246341126014607e-18],"object_linear_velocity_m_s":[-1.0253534748406233e-11,1.990006250342804e-11,2.5717867208159426e-15],"object_angular_velocity_rad_s":[-5.662040379464331e-10,-2.9173774719636765e-10,5.63955081026969e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999991474},{"geom_ids":[1,90],"normal_force_n":0.09809999999733496},{"geom_ids":[1,90],"normal_force_n":0.09810000000085266},{"geom_ids":[1,90],"normal_force_n":0.09810000000266508}],"native_actuator_controls":[-0.05404749602694187,1.2055297644018697,-0.9271708245924271,0.17153544784974536,0.17310159067288297,-0.08981601049465879,0.035],"actuator_force_native":[-0.2342490413927285,-0.1608868157961041,0.1727783135104204,0.2839524323749236,0.2785803454527682,-0.2975888577793069,-0.0002515762959711676],"issued_joint_targets_rad":[-0.05610056570128601,1.2022039992820022,-0.9222490924621416,0.1758135194637108,0.17478283583504073,-0.09222187402472223],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2799999999999698,"joint_targets_rad":[-0.05610056570128601,1.2022039992820022,-0.9222490924621416,0.1758135194637108,0.17478283583504073,-0.09222187402472223],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2999999999999676,"qpos":[-0.0471529760817979,1.214766364468183,-0.9393940455620239,0.1441290919341938,0.13197904440863206,-0.04779895782004272,0.03499939938460269,-0.034999844440228446,0.298876653306622,-0.03267397606287797,0.07989224457978372,1.0,1.6955635845182382e-11,8.736405544374561e-12,1.2687435125894387e-18],"qvel":[-0.096624349765757,-0.16836068789995112,0.23970435859606692,0.19667349948995344,0.09948394615041782,-0.09783077200980793,5.592621044307676e-05,7.631930828822581e-05,-1.1179583785903307e-11,2.169736238444784e-11,2.5759500571582867e-15,-4.242723228264597e-10,-2.1860714360039508e-10,1.0296489957882106e-18],"joint_position_rad":[-0.0471529760817979,1.214766364468183,-0.9393940455620239,0.1441290919341938,0.13197904440863206,-0.04779895782004272],"joint_velocity_rad_s":[-0.096624349765757,-0.16836068789995112,0.23970435859606692,0.19667349948995344,0.09948394615041782,-0.09783077200980793],"gripper_joint_position_m":[0.03499939938460269,-0.034999844440228446],"tcp_position_m":[0.37875587815373774,-0.012477803213780031,0.3075943671281432],"tcp_quaternion_wxyz":[0.585548353300109,0.05206189009777814,0.8086729189989901,0.021697825343355886],"object_position_m":[0.298876653306622,-0.03267397606287797,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6955635845182382e-11,8.736405544374561e-12,1.2687435125894387e-18],"object_linear_velocity_m_s":[-1.1179583785903307e-11,2.169736238444784e-11,2.5759500571582867e-15],"object_angular_velocity_rad_s":[-4.242723228264597e-10,-2.1860714360039508e-10,1.0296489796950545e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999835793},{"geom_ids":[1,90],"normal_force_n":0.09809999999486757},{"geom_ids":[1,90],"normal_force_n":0.09810000000164203},{"geom_ids":[1,90],"normal_force_n":0.09810000000513253}],"native_actuator_controls":[-0.05610056570128601,1.2022039992820022,-0.9222490924621416,0.1758135194637108,0.17478283583504073,-0.09222187402472223,0.035],"actuator_force_native":[-0.2326854207302631,-0.1631857753947088,0.17307445501025143,0.28400960373091344,0.27881199503846,-0.2974830040320833,-0.00025560643632283053],"issued_joint_targets_rad":[-0.058188023168799216,1.1989407281979223,-0.9173429558339705,0.18008931528825278,0.17644329486190521,-0.0946625495061025],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2999999999999676,"joint_targets_rad":[-0.058188023168799216,1.1989407281979223,-0.9173429558339705,0.18008931528825278,0.17644329486190521,-0.0946625495061025],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3199999999999654,"qpos":[-0.04914617752334402,1.2113356707141092,-0.9344383197184899,0.14832957530974822,0.13376216083199075,-0.04989374500620911,0.03499948505811772,-0.03499988667407701,0.298876653306348,-0.032673976062346226,0.07989224457978372,1.0,1.7417008223914723e-11,8.974124136118257e-12,1.2936693763749948e-18],"qvel":[-0.09843757224566034,-0.1652228189581916,0.23885768513365152,0.1972618775722977,0.09851074903907044,-0.10020505239477273,5.939035614691561e-05,7.400523296225556e-05,-1.2421230200548723e-11,2.410717107358505e-11,2.57872561471985e-15,-1.8823228104434947e-10,-9.698699744232307e-11,1.879889887282679e-18],"joint_position_rad":[-0.04914617752334402,1.2113356707141092,-0.9344383197184899,0.14832957530974822,0.13376216083199075,-0.04989374500620911],"joint_velocity_rad_s":[-0.09843757224566034,-0.1652228189581916,0.23885768513365152,0.1972618775722977,0.09851074903907044,-0.10020505239477273],"gripper_joint_position_m":[0.03499948505811772,-0.03499988667407701],"tcp_position_m":[0.37754043925640696,-0.013004324347879423,0.306328181639744],"tcp_quaternion_wxyz":[0.5842368421829706,0.05353605969307351,0.8095162191074518,0.022015756870626818],"object_position_m":[0.298876653306348,-0.032673976062346226,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7417008223914723e-11,8.974124136118257e-12,1.2936693763749948e-18],"object_linear_velocity_m_s":[-1.2421230200548723e-11,2.410717107358505e-11,2.57872561471985e-15],"object_angular_velocity_rad_s":[-1.8823228104434947e-10,-9.698699744232307e-11,1.879889880331581e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999758534},{"geom_ids":[1,90],"normal_force_n":0.09809999999245225},{"geom_ids":[1,90],"normal_force_n":0.09810000000241464},{"geom_ids":[1,90],"normal_force_n":0.09810000000754776}],"native_actuator_controls":[-0.058188023168799216,1.1989407281979223,-0.9173429558339705,0.18008931528825278,0.17644329486190521,-0.0946625495061025,0.035],"actuator_force_native":[-0.23115979040811396,-0.16548130650400594,0.1733406850932795,0.28408021127869443,0.27904521674053906,-0.29738046640677496,-0.0002763541054433549],"issued_joint_targets_rad":[-0.060308485388950256,1.195739610167503,-0.9124513046347971,0.18436023368661622,0.1780824659380312,-0.09713589876242273],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3199999999999654,"joint_targets_rad":[-0.060308485388950256,1.195739610167503,-0.9124513046347971,0.18436023368661622,0.1780824659380312,-0.09713589876242273],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3399999999999632,"qpos":[-0.051175684842467574,1.2079680461671496,-0.9295001630494882,0.1525406931267251,0.13552724634731178,-0.052035990704475586,0.03499952898637004,-0.034999863928301914,0.29887665330608343,-0.032673976061832706,0.07989224457978372,1.0,1.7304380109266784e-11,8.916069243284895e-12,1.320477310289116e-18],"qvel":[-0.10018981917286811,-0.16210066273278806,0.23806629338853552,0.19772352151128522,0.09751560235881995,-0.10247852076163849,5.717184493706098e-05,7.918924111340164e-05,-1.429069043529674e-11,2.7735519371056496e-11,2.573174499596724e-15,1.7863605220999765e-10,9.203901644458409e-11,3.4322038317984234e-18],"joint_position_rad":[-0.051175684842467574,1.2079680461671496,-0.9295001630494882,0.1525406931267251,0.13552724634731178,-0.052035990704475586],"joint_velocity_rad_s":[-0.10018981917286811,-0.16210066273278806,0.23806629338853552,0.19772352151128522,0.09751560235881995,-0.10247852076163849],"gripper_joint_position_m":[0.03499952898637004,-0.034999863928301914],"tcp_position_m":[0.3763367331779486,-0.01353765466678243,0.3050482471840029],"tcp_quaternion_wxyz":[0.58291503355185,0.05501052950148745,0.810361544204653,0.022317548643646837],"object_position_m":[0.29887665330608343,-0.032673976061832706,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7304380109266784e-11,8.916069243284895e-12,1.320477310289116e-18],"object_linear_velocity_m_s":[-1.429069043529674e-11,2.7735519371056496e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[1.7863605220999765e-10,9.203901644458409e-11,3.432203725227601e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999705848},{"geom_ids":[1,90],"normal_force_n":0.0980999999908051},{"geom_ids":[1,90],"normal_force_n":0.0981000000029415},{"geom_ids":[1,90],"normal_force_n":0.09810000000919489}],"native_actuator_controls":[-0.060308485388950256,1.195739610167503,-0.9124513046347971,0.18436023368661622,0.1780824659380312,-0.09713589876242273,0.035],"actuator_force_native":[-0.22967494785427434,-0.16777156630777768,0.17357720623260775,0.2841640148392184,0.27927879236896436,-0.29728129943701376,-0.0002670186794868634],"issued_joint_targets_rad":[-0.06246050571032911,1.1926002916873348,-0.9075730533222369,0.1886236820190219,0.17969990153262694,-0.09963977074370992],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3399999999999632,"joint_targets_rad":[-0.06246050571032911,1.1926002916873348,-0.9075730533222369,0.1886236820190219,0.17969990153262694,-0.09963977074370992],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.359999999999961,"qpos":[-0.053240234093641446,1.204663159023951,-0.9245784854886298,0.15675979007189125,0.13727399326718023,-0.05422358131002878,0.03499960100172299,-0.03499988204687803,0.29887665330581725,-0.03267397606131595,0.07989224457978372,1.0,1.738919283198037e-11,8.95975430966508e-12,1.3521284668338143e-18],"qvel":[-0.10187783659025909,-0.15899515262594963,0.2373305078009493,0.19805897593901026,0.09649924061907347,-0.10465092910943785,6.002581008833469e-05,7.733445148066758e-05,-1.751062544381847e-11,3.398480860060961e-11,2.5690111632543803e-15,7.079700351612588e-10,3.647795699456983e-10,6.2663930542614896e-18],"joint_position_rad":[-0.053240234093641446,1.204663159023951,-0.9245784854886298,0.15675979007189125,0.13727399326718023,-0.05422358131002878],"joint_velocity_rad_s":[-0.10187783659025909,-0.15899515262594963,0.2373305078009493,0.19805897593901026,0.09649924061907347,-0.10465092910943785],"gripper_joint_position_m":[0.03499960100172299,-0.03499988204687803],"tcp_position_m":[0.37514446482100366,-0.01407737906017389,0.303754468716975],"tcp_quaternion_wxyz":[0.5815827519779281,0.05648482514923144,0.8112090087509037,0.022603346013737285],"object_position_m":[0.29887665330581725,-0.03267397606131595,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.738919283198037e-11,8.95975430966508e-12,1.3521284668338143e-18],"object_linear_velocity_m_s":[-1.751062544381847e-11,3.398480860060961e-11,2.5690111632543803e-15],"object_angular_velocity_rad_s":[7.079700351612588e-10,3.647795699456983e-10,6.266393023680095e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999657254},{"geom_ids":[1,90],"normal_force_n":0.09809999998928651},{"geom_ids":[1,90],"normal_force_n":0.09810000000342753},{"geom_ids":[1,90],"normal_force_n":0.09810000001071341}],"native_actuator_controls":[-0.06246050571032911,1.1926002916873348,-0.9075730533222369,0.1886236820190219,0.17969990153262694,-0.09963977074370992,0.035],"actuator_force_native":[-0.22823254638371715,-0.17005362379956068,0.17378203430668293,0.284260798190175,0.2795102217258567,-0.2971855006726545,-0.00028416911936113287],"issued_joint_targets_rad":[-0.06464258546791593,1.1895224028155673,-0.902707138989064,0.1928770776640661,0.18129524640702055,-0.10217200434930655],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.359999999999961,"joint_targets_rad":[-0.06464258546791593,1.1895224028155673,-0.902707138989064,0.1928770776640661,0.18129524640702055,-0.10217200434930655],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3799999999999588,"qpos":[-0.05533848200863789,1.2014206697069876,-0.9196721674221352,0.16098422098377574,0.13900195646565602,-0.05645440130532546,0.03499962686710087,-0.03499983278102495,0.2988766533055627,-0.032673976060822146,0.07989224457978372,1.0,1.5884600734586186e-11,8.184513845261805e-12,1.3812793643875268e-18],"qvel":[-0.10349836222934573,-0.1559063300624966,0.23664941053027336,0.19826878049714244,0.09546091141624392,-0.10672205375953447,5.7729837359150445e-05,8.228113762248911e-05,-2.2822621222985442e-11,4.42943417537517e-11,2.567623384473599e-15,1.48974691257571e-09,7.675929279606421e-10,1.1440885710400938e-17],"joint_position_rad":[-0.05533848200863789,1.2014206697069876,-0.9196721674221352,0.16098422098377574,0.13900195646565602,-0.05645440130532546],"joint_velocity_rad_s":[-0.10349836222934573,-0.1559063300624966,0.23664941053027336,0.19826878049714244,0.09546091141624392,-0.10672205375953447],"gripper_joint_position_m":[0.03499962686710087,-0.03499983278102495],"tcp_position_m":[0.3739633420809405,-0.014623068295916409,0.30244676218128524],"tcp_quaternion_wxyz":[0.58023986126,0.057958454555034365,0.8120587003707859,0.022873305460251146],"object_position_m":[0.2988766533055627,-0.032673976060822146,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5884600734586186e-11,8.184513845261805e-12,1.3812793643875268e-18],"object_linear_velocity_m_s":[-2.2822621222985442e-11,4.42943417537517e-11,2.567623384473599e-15],"object_angular_velocity_rad_s":[1.48974691257571e-09,7.675929279606421e-10,1.1440885816311809e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999781492},{"geom_ids":[1,90],"normal_force_n":0.09809999999316979},{"geom_ids":[1,90],"normal_force_n":0.09810000000218508},{"geom_ids":[1,90],"normal_force_n":0.0981000000068302}],"native_actuator_controls":[-0.06464258546791593,1.1895224028155673,-0.902707138989064,0.1928770776640661,0.18129524640702055,-0.10217200434930655,0.035],"actuator_force_native":[-0.22683646559551374,-0.1723297010011322,0.17395522199433344,0.28437036472590105,0.27974153228927934,-0.29709294980050927,-0.00027372387083035576],"issued_joint_targets_rad":[-0.06685314414173293,1.1865055607458221,-0.8978524701153999,0.1971178275154279,0.18286800965225236,-0.10473040796061914],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3799999999999588,"joint_targets_rad":[-0.06685314414173293,1.1865055607458221,-0.8978524701153999,0.1971178275154279,0.18286800965225236,-0.10473040796061914],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3999999999999566,"qpos":[-0.05746902736856384,1.1982402330408968,-0.9147801029479198,0.16521134829020862,0.14071067740635274,-0.05872632599382948,0.034999730770246734,-0.03499989512650739,0.2988766533052805,-0.032673976060274494,0.07989224457978372,1.0,1.6232283649734194e-11,8.363666600537609e-12,1.4246772130257328e-18],"qvel":[-0.10504841119388347,-0.15283464668323996,0.2360224731710272,0.19835334683952488,0.09440006070879707,-0.1086914181494249,6.330656816691516e-05,7.665699911710577e-05,-1.0253388151993565e-11,1.9899874707741547e-11,2.564847826912036e-15,-5.95531063240642e-10,-3.068465860792021e-10,1.239519363274556e-18],"joint_position_rad":[-0.05746902736856384,1.1982402330408968,-0.9147801029479198,0.16521134829020862,0.14071067740635274,-0.05872632599382948],"joint_velocity_rad_s":[-0.10504841119388347,-0.15283464668323996,0.2360224731710272,0.19835334683952488,0.09440006070879707,-0.1086914181494249],"gripper_joint_position_m":[0.034999730770246734,-0.03499989512650739],"tcp_position_m":[0.3727930721401899,-0.015174283255144569,0.30112504855411376],"tcp_quaternion_wxyz":[0.5788862311456071,0.059430914091412594,0.812910703691067,0.02312759530923479],"object_position_m":[0.2988766533052805,-0.032673976060274494,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6232283649734194e-11,8.363666600537609e-12,1.4246772130257328e-18],"object_linear_velocity_m_s":[-1.0253388151993565e-11,1.9899874707741547e-11,2.564847826912036e-15],"object_angular_velocity_rad_s":[-5.95531063240642e-10,-3.068465860792021e-10,1.2395193681565924e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999923723},{"geom_ids":[1,90],"normal_force_n":0.09809999999761533},{"geom_ids":[1,90],"normal_force_n":0.09810000000076277},{"geom_ids":[1,90],"normal_force_n":0.09810000000238472}],"native_actuator_controls":[-0.06685314414173293,1.1865055607458221,-0.8978524701153999,0.1971178275154279,0.18286800965225236,-0.10473040796061914,0.035],"actuator_force_native":[-0.22548728588411038,-0.17460055018977982,0.1740982607464474,0.2844924348111464,0.27997323139580077,-0.29700369244375935,-0.0003057636507037831],"issued_joint_targets_rad":[-0.06909054425253312,1.1835493748930697,-0.8930079701810542,0.20134333509475819,0.18441768662100166,-0.10731276477261498],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3999999999999566,"joint_targets_rad":[-0.06909054425253312,1.1835493748930697,-0.8930079701810542,0.20134333509475819,0.18441768662100166,-0.10731276477261498],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4199999999999544,"qpos":[-0.05963038512040742,1.1951217892957504,-0.9099013230511596,0.1694385463020869,0.14239963508034326,-0.061037212881530564,0.034999764704357506,-0.03499985169531904,0.29887665330498886,-0.032673976059708586,0.07989224457978372,1.0,1.7300642360306207e-11,8.914138210058097e-12,1.4802139261979766e-18],"qvel":[-0.10652437512514973,-0.1497716024190135,0.2354486293653084,0.19831313044958473,0.09331117667158695,-0.11055794830615254,5.856043459986224e-05,8.485171457179024e-05,-1.1255095206431128e-11,2.184399523647966e-11,2.571786720815943e-15,-4.765756003694134e-10,-2.4555505976082646e-10,2.2630522657251904e-18],"joint_position_rad":[-0.05963038512040742,1.1951217892957504,-0.9099013230511596,0.1694385463020869,0.14239963508034326,-0.061037212881530564],"joint_velocity_rad_s":[-0.10652437512514973,-0.1497716024190135,0.2354486293653084,0.19831313044958473,0.09331117667158695,-0.11055794830615254],"gripper_joint_position_m":[0.034999764704357506,-0.03499985169531904],"tcp_position_m":[0.3716334287884659,-0.015730570867020264,0.29978921055131336],"tcp_quaternion_wxyz":[0.5775216881224828,0.060901688986345105,0.8137651351748885,0.023366403244046718],"object_position_m":[0.29887665330498886,-0.032673976059708586,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7300642360306207e-11,8.914138210058097e-12,1.4802139261979766e-18],"object_linear_velocity_m_s":[-1.1255095206431128e-11,2.184399523647966e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[-4.765756003694134e-10,-2.4555505976082646e-10,2.2630522667262876e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999846564},{"geom_ids":[1,90],"normal_force_n":0.09809999999520407},{"geom_ids":[1,90],"normal_force_n":0.0981000000015344},{"geom_ids":[1,90],"normal_force_n":0.09810000000479595}],"native_actuator_controls":[-0.06909054425253312,1.1835493748930697,-0.8930079701810542,0.20134333509475819,0.18441768662100166,-0.10731276477261498,0.035],"actuator_force_native":[-0.22419085494430746,-0.17693514011939726,0.17422508278188786,0.284625899458927,0.2802137503992037,-0.29691859645161534,-0.00028339034729940593],"issued_joint_targets_rad":[-0.07135306562757249,1.1806537162451196,-0.8881726972020798,0.20555099179140277,0.1859437274839547,-0.1099168140348463],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4199999999999544,"joint_targets_rad":[-0.07135306562757249,1.1806537162451196,-0.8881726972020798,0.20555099179140277,0.1859437274839547,-0.1099168140348463],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4399999999999522,"qpos":[-0.06182102303128527,1.1920652034164425,-0.9050347775888833,0.17366318910249587,0.14406829754322403,-0.06338490482554776,0.034999806159772905,-0.03499982571046192,0.2988766533047036,-0.032673976059154855,0.07989224457978372,1.0,1.7955474246417515e-11,9.251539121682535e-12,1.5423713589791131e-18],"qvel":[-0.10792379363624507,-0.14671961758771276,0.23492892337662966,0.19814817159916276,0.09219743509102611,-0.1123212405905778,6.1014236126895816e-05,8.290526377930318e-05,-1.248530431527214e-11,2.4231593090692407e-11,2.5745622783775058e-15,-2.634693646643221e-10,-1.3575257488481075e-10,4.1317723857250555e-18],"joint_position_rad":[-0.06182102303128527,1.1920652034164425,-0.9050347775888833,0.17366318910249587,0.14406829754322403,-0.06338490482554776],"joint_velocity_rad_s":[-0.10792379363624507,-0.14671961758771276,0.23492892337662966,0.19814817159916276,0.09219743509102611,-0.1123212405905778],"gripper_joint_position_m":[0.034999806159772905,-0.03499982571046192],"tcp_position_m":[0.3704841627407358,-0.016291471698047667,0.2984391197038548],"tcp_quaternion_wxyz":[0.5761460529063808,0.062370257125632315,0.8146221162214626,0.023589923894461805],"object_position_m":[0.2988766533047036,-0.032673976059154855,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7955474246417515e-11,9.251539121682535e-12,1.5423713589791131e-18],"object_linear_velocity_m_s":[-1.248530431527214e-11,2.4231593090692407e-11,2.5745622783775058e-15],"object_angular_velocity_rad_s":[-2.634693646643221e-10,-1.3575257488481075e-10,4.131772376269711e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999976611},{"geom_ids":[1,90],"normal_force_n":0.09809999999268888},{"geom_ids":[1,90],"normal_force_n":0.09810000000233891},{"geom_ids":[1,90],"normal_force_n":0.09810000000731112}],"native_actuator_controls":[-0.07135306562757249,1.1806537162451196,-0.8881726972020798,0.20555099179140277,0.1859437274839547,-0.1099168140348463,0.035],"actuator_force_native":[-0.22294443952175147,-0.17932088576726812,0.17432181406113045,0.2847712495604622,0.28045814677076764,-0.2968372312071187,-0.0002973175715506038],"issued_joint_targets_rad":[-0.07363894312906076,1.1778183812679017,-0.8833456309231944,0.20973818521557017,0.18744556990232564,-0.11254027301505032],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4399999999999522,"joint_targets_rad":[-0.07363894312906076,1.1778183812679017,-0.8833456309231944,0.20973818521557017,0.18744556990232564,-0.11254027301505032],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.45999999999995,"qpos":[-0.06403934767451012,1.189070192825919,-0.9001793571192709,0.17788265022566238,0.1457161884876833,-0.06576723520625101,0.0349999121708029,-0.03499988768824397,0.29887665330442686,-0.032673976058617646,0.07989224457978372,1.0,1.8041120555535175e-11,9.29566477218224e-12,1.609923055849066e-18],"qvel":[-0.10924351825176533,-0.14368345242686462,0.234463793984159,0.19785851503703725,0.09106190769353581,-0.11398084450300548,6.439718415862437e-05,8.009128145808492e-05,-1.4245749193075399e-11,2.7648285497865074e-11,2.5676233844735985e-15,7.699802007789176e-11,3.967288230498007e-11,7.543581776799096e-18],"joint_position_rad":[-0.06403934767451012,1.189070192825919,-0.9001793571192709,0.17788265022566238,0.1457161884876833,-0.06576723520625101],"joint_velocity_rad_s":[-0.10924351825176533,-0.14368345242686462,0.234463793984159,0.19785851503703725,0.09106190769353581,-0.11398084450300548],"gripper_joint_position_m":[0.0349999121708029,-0.03499988768824397],"tcp_position_m":[0.36934498704706137,-0.016856511014313794,0.2970746595289777],"tcp_quaternion_wxyz":[0.5747591516547126,0.06383607589177914,0.8154817660737355,0.023798365598408793],"object_position_m":[0.29887665330442686,-0.032673976058617646,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8041120555535175e-11,9.29566477218224e-12,1.609923055849066e-18],"object_linear_velocity_m_s":[-1.4245749193075399e-11,2.7648285497865074e-11,2.5676233844735985e-15],"object_angular_velocity_rad_s":[7.699802007789176e-11,3.967288230498007e-11,7.543581767738463e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999702859},{"geom_ids":[1,90],"normal_force_n":0.09809999999071169},{"geom_ids":[1,90],"normal_force_n":0.09810000000297135},{"geom_ids":[1,90],"normal_force_n":0.09810000000928835}],"native_actuator_controls":[-0.07363894312906076,1.1778183812679017,-0.8833456309231944,0.20973818521557017,0.18744556990232564,-0.11254027301505032,0.035],"actuator_force_native":[-0.22175004510522456,-0.18172766250705763,0.1743791257653129,0.284928824411125,0.2807009526061195,-0.29675911133348487,-0.00031847275290886046],"issued_joint_targets_rad":[-0.07594635627683731,1.1750430272450312,-0.8785256962349371,0.21390230588548695,0.1889227007859926,-0.115180847981221],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.45999999999995,"joint_targets_rad":[-0.07594635627683731,1.1750430272450312,-0.8785256962349371,0.21390230588548695,0.1889227007859926,-0.115180847981221],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4799999999999478,"qpos":[-0.06628369295652597,1.186136413494727,-0.8953339335307081,0.18209430450044112,0.1473427325234365,-0.06818202718362791,0.03499992550035924,-0.034999811407374924,0.2988766533041617,-0.032673976058103134,0.07989224457978372,1.0,1.7305008270634908e-11,8.91638704612699e-12,1.6794880306653196e-18],"qvel":[-0.11048058634805397,-0.14066516597908257,0.2340519466830233,0.19744431615897134,0.08990450638017447,-0.11553604493776405,5.898360846001592e-05,8.891490678310945e-05,-1.7036255076036952e-11,3.306411169850495e-11,2.574562278377505e-15,5.923939917738742e-10,3.0523147524584257e-10,1.3772628763972973e-17],"joint_position_rad":[-0.06628369295652597,1.186136413494727,-0.8953339335307081,0.18209430450044112,0.1473427325234365,-0.06818202718362791],"joint_velocity_rad_s":[-0.11048058634805397,-0.14066516597908257,0.2340519466830233,0.19744431615897134,0.08990450638017447,-0.11553604493776405],"gripper_joint_position_m":[0.03499992550035924,-0.034999811407374924],"tcp_position_m":[0.3682156075296585,-0.01742520161808999,0.2956957415923995],"tcp_quaternion_wxyz":[0.5733608598403752,0.06529858377367763,0.8163441712428443,0.023991945275267254],"object_position_m":[0.2988766533041617,-0.032673976058103134,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7305008270634908e-11,8.91638704612699e-12,1.6794880306653196e-18],"object_linear_velocity_m_s":[-1.7036255076036952e-11,3.306411169850495e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[5.923939917738742e-10,3.0523147524584257e-10,1.3772628802151235e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999695196},{"geom_ids":[1,90],"normal_force_n":0.09809999999047224},{"geom_ids":[1,90],"normal_force_n":0.09810000000304807},{"geom_ids":[1,90],"normal_force_n":0.09810000000952777}],"native_actuator_controls":[-0.07594635627683731,1.1750430272450312,-0.8785256962349371,0.21390230588548695,0.1889227007859926,-0.115180847981221,0.035],"actuator_force_native":[-0.22061013388463735,-0.18414507008023406,0.17439925024655167,0.28509847460697557,0.28094292305529955,-0.2966841405692847,-0.000291938056669494],"issued_joint_targets_rad":[-0.07827341087707279,1.1723272489132526,-0.8737118013356604,0.21804073220106818,0.19037450780975657,-0.11783621226535373],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4799999999999478,"joint_targets_rad":[-0.07827341087707279,1.1723272489132526,-0.8737118013356604,0.21804073220106818,0.19037450780975657,-0.11783621226535373],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4999999999999456,"qpos":[-0.06855234533123089,1.1832634795706494,-0.8904974200155368,0.18629552760010787,0.14894745371751414,-0.07062708279442641,0.034999991026339064,-0.03499981837453754,0.2988766533039136,-0.032673976057621595,0.07989224457978372,1.0,1.537807168530598e-11,7.923537715346597e-12,1.7435575079468184e-18],"qvel":[-0.11163204428169506,-0.13766669594636613,0.2336930381039281,0.1969056617551274,0.08872491590113667,-0.11698591835158471,6.407774000408036e-05,8.295630094265099e-05,-2.1694007924815556e-11,4.2104001823846756e-11,2.5745622783775046e-15,1.3491556190716197e-09,6.951474743005506e-10,2.5145362578155444e-17],"joint_position_rad":[-0.06855234533123089,1.1832634795706494,-0.8904974200155368,0.18629552760010787,0.14894745371751414,-0.07062708279442641],"joint_velocity_rad_s":[-0.11163204428169506,-0.13766669594636613,0.2336930381039281,0.1969056617551274,0.08872491590113667,-0.11698591835158471],"gripper_joint_position_m":[0.034999991026339064,-0.03499981837453754],"tcp_position_m":[0.3670957186267424,-0.017997045466393337,0.29430228612286247],"tcp_quaternion_wxyz":[0.5719510385649412,0.06675720701977131,0.8172094300703662,0.024170895710995143],"object_position_m":[0.2988766533039136,-0.032673976057621595,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.537807168530598e-11,7.923537715346597e-12,1.7435575079468184e-18],"object_linear_velocity_m_s":[-2.1694007924815556e-11,4.2104001823846756e-11,2.5745622783775046e-15],"object_angular_velocity_rad_s":[1.3491556190716197e-09,6.951474743005506e-10,2.514536246267558e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999811271},{"geom_ids":[1,90],"normal_force_n":0.09809999999410075},{"geom_ids":[1,90],"normal_force_n":0.09810000000188729},{"geom_ids":[1,90],"normal_force_n":0.09810000000589926}],"native_actuator_controls":[-0.07827341087707279,1.1723272489132526,-0.8737118013356604,0.21804073220106818,0.19037450780975657,-0.11783621226535373,0.035],"actuator_force_native":[-0.2195250222588765,-0.18656497285991236,0.17438430387046822,0.2852798752627752,0.281183167070719,-0.29661241718189624,-0.0003200297535828067],"issued_joint_targets_rad":[-0.08061817119475112,1.1696706019668555,-0.8689028982354752,0.22215084224514303,0.19180047558483598,-0.12050401373881653],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4999999999999456,"joint_targets_rad":[-0.08061817119475112,1.1696706019668555,-0.8689028982354752,0.22215084224514303,0.19180047558483598,-0.12050401373881653],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5199999999999434,"qpos":[-0.07084351836408552,1.1804509725592658,-0.8856687442418815,0.1904836968514528,0.15052988152114374,-0.07310018462638193,0.035000089823874266,-0.034999870375948726,0.2988766533036445,-0.03267397605709941,0.07989224457978372,1.0,1.5414358267658172e-11,7.942222637924096e-12,1.8389397905305025e-18],"qvel":[-0.11269454843199646,-0.1346894484845749,0.23338636115403338,0.19624260013986555,0.08752307641251043,-0.11832955965908579,5.475733166824588e-05,9.295771245954423e-05,-9.771591055076399e-12,1.8964814932228196e-11,2.5731744995967232e-15,-5.757707102700151e-10,-2.966651762301833e-10,2.7242901001665006e-18],"joint_position_rad":[-0.07084351836408552,1.1804509725592658,-0.8856687442418815,0.1904836968514528,0.15052988152114374,-0.07310018462638193],"joint_velocity_rad_s":[-0.11269454843199646,-0.1346894484845749,0.23338636115403338,0.19624260013986555,0.08752307641251043,-0.11832955965908579],"gripper_joint_position_m":[0.035000089823874266,-0.034999870375948726],"tcp_position_m":[0.3659850095670796,-0.018571527717441187,0.2928942248810072],"tcp_quaternion_wxyz":[0.5705295575760985,0.06821135203730574,0.8180776371622758,0.024335467126232246],"object_position_m":[0.2988766533036445,-0.03267397605709941,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5414358267658172e-11,7.942222637924096e-12,1.8389397905305025e-18],"object_linear_velocity_m_s":[-9.771591055076399e-12,1.8964814932228196e-11,2.5731744995967232e-15],"object_angular_velocity_rad_s":[-5.757707102700151e-10,-2.966651762301833e-10,2.724290091881321e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999993751},{"geom_ids":[1,90],"normal_force_n":0.09809999999804671},{"geom_ids":[1,90],"normal_force_n":0.09810000000062492},{"geom_ids":[1,90],"normal_force_n":0.09810000000195335}],"native_actuator_controls":[-0.08061817119475112,1.1696706019668555,-0.8689028982354752,0.22215084224514303,0.19180047558483598,-0.12050401373881653,0.035],"actuator_force_native":[-0.2184994842932655,-0.18898240496994845,0.17433587474234002,0.2854728150482817,0.2814213260181566,-0.29654395163571723,-0.00027737961331175676],"issued_joint_targets_rad":[-0.08297863321448072,1.1670726091805292,-0.8640979561174588,0.2262300110065821,0.1932000950283119,-0.12318187046803422],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5199999999999434,"joint_targets_rad":[-0.08297863321448072,1.1670726091805292,-0.8640979561174588,0.2262300110065821,0.1932000950283119,-0.12318187046803422],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5399999999999412,"qpos":[-0.07315536544877066,1.1776984486546465,-0.8808468474918595,0.19465618925339215,0.15208953995335506,-0.07559909482899223,0.035000093970347354,-0.03499981175725356,0.2988766533033697,-0.032673976056565954,0.07989224457978372,1.0,1.626249327033143e-11,8.37921186209221e-12,1.9610018236662573e-18],"qvel":[-0.11366521271101375,-0.1317345601213813,0.23313119281245942,0.19545519341060924,0.08629877437309212,-0.11956595643660116,5.2898979451655415e-05,9.690290348635748e-05,-1.0597333448729104e-11,2.0567450479838195e-11,2.574562278377504e-15,-4.545071936990983e-10,-2.3418432026654336e-10,4.9738694981881325e-18],"joint_position_rad":[-0.07315536544877066,1.1776984486546465,-0.8808468474918595,0.19465618925339215,0.15208953995335506,-0.07559909482899223],"joint_velocity_rad_s":[-0.11366521271101375,-0.1317345601213813,0.23313119281245942,0.19545519341060924,0.08629877437309212,-0.11956595643660116],"gripper_joint_position_m":[0.035000093970347354,-0.03499981175725356],"tcp_position_m":[0.3648831664331245,-0.019148121888037942,0.29147150008044853],"tcp_quaternion_wxyz":[0.569096296414385,0.06966041025485517,0.8189488825698138,0.02448592224544351],"object_position_m":[0.2988766533033697,-0.032673976056565954,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.626249327033143e-11,8.37921186209221e-12,1.9610018236662573e-18],"object_linear_velocity_m_s":[-1.0597333448729104e-11,2.0567450479838195e-11,2.574562278377504e-15],"object_angular_velocity_rad_s":[-4.545071936990983e-10,-2.3418432026654336e-10,4.973869480461128e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999861674},{"geom_ids":[1,90],"normal_force_n":0.09809999999567665},{"geom_ids":[1,90],"normal_force_n":0.09810000000138328},{"geom_ids":[1,90],"normal_force_n":0.09810000000432338}],"native_actuator_controls":[-0.08297863321448072,1.1670726091805292,-0.8640979561174588,0.2262300110065821,0.1932000950283119,-0.12318187046803422,0.035],"actuator_force_native":[-0.2175353577017365,-0.19139435732246568,0.17425534588976177,0.2856769030745525,0.28165738918993033,-0.2964788217355181,-0.0002682537111524663],"issued_joint_targets_rad":[-0.08535273589743997,1.1645327668403174,-0.8592959600249412,0.23027560597281455,0.1945728529502787,-0.12586736716720007],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5399999999999412,"joint_targets_rad":[-0.08535273589743997,1.1645327668403174,-0.8592959600249412,0.23027560597281455,0.1945728529502787,-0.12586736716720007],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.559999999999939,"qpos":[-0.07548598298179425,1.175005442478536,-0.8760306850055668,0.19881038043942534,0.15362594633411691,-0.07812155355198934,0.03500010717427289,-0.03499976552697208,0.2988766533030852,-0.03267397605601398,0.07989224457978372,1.0,1.7713574123826777e-11,9.126882368051939e-12,2.115725438182682e-18],"qvel":[-0.11454130397553051,-0.12880304815330587,0.23292681822336916,0.19454340577619456,0.08505178140378207,-0.1206940644987198,5.471797232717323e-05,9.524759044750995e-05,-1.2061586719621276e-11,2.3409282011605676e-11,2.5731744995967224e-15,-2.8737793663839917e-10,-1.4807060887904598e-10,9.08106808419554e-18],"joint_position_rad":[-0.07548598298179425,1.175005442478536,-0.8760306850055668,0.19881038043942534,0.15362594633411691,-0.07812155355198934],"joint_velocity_rad_s":[-0.11454130397553051,-0.12880304815330587,0.23292681822336916,0.19454340577619456,0.08505178140378207,-0.1206940644987198],"gripper_joint_position_m":[0.03500010717427289,-0.03499976552697208],"tcp_position_m":[0.3637898731870388,-0.019726291025636875,0.2900340633504857],"tcp_quaternion_wxyz":[0.5676511435415549,0.0711037592650124,0.8198232525467443,0.02462253516649085],"object_position_m":[0.2988766533030852,-0.03267397605601398,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7713574123826777e-11,9.126882368051939e-12,2.115725438182682e-18],"object_linear_velocity_m_s":[-1.2061586719621276e-11,2.3409282011605676e-11,2.5731744995967224e-15],"object_angular_velocity_rad_s":[-2.8737793663839917e-10,-1.4807060887904598e-10,9.081068094029405e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999763054},{"geom_ids":[1,90],"normal_force_n":0.09809999999259358},{"geom_ids":[1,90],"normal_force_n":0.09810000000236949},{"geom_ids":[1,90],"normal_force_n":0.09810000000740646}],"native_actuator_controls":[-0.08535273589743997,1.1645327668403174,-0.8592959600249412,0.23027560597281455,0.1945728529502787,-0.12586736716720007,0.035],"actuator_force_native":[-0.21663371337400505,-0.19379881029097135,0.17414390733320317,0.2858919924545962,0.28189139405594466,-0.2964170394040275,-0.0002778768325513159],"issued_joint_targets_rad":[-0.08773836426209151,1.1620505480859749,-0.8544959111651069,0.23428498582149643,0.1959182313499376,-0.1285580533911092],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.559999999999939,"joint_targets_rad":[-0.08773836426209151,1.1620505480859749,-0.8544959111651069,0.23428498582149643,0.1959182313499376,-0.1285580533911092],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5799999999999368,"qpos":[-0.07783340637907848,1.1723714687083628,-0.8712192265531616,0.20294364414408014,0.15513861232153334,-0.08066527732357824,0.035000132426508845,-0.03499974453568208,0.29887665330280366,-0.032673976055467444,0.07989224457978372,1.0,1.8364180606705783e-11,9.462101913026095e-12,2.285393905499581e-18],"qvel":[-0.11531989471267368,-0.1258958893082145,0.2327724975825842,0.19350715817595404,0.08378195875642026,-0.1217127493649032,4.7077484588307574e-05,0.00010264612361372413,-1.3953534662999088e-11,2.708121052774008e-11,2.5676233844735966e-15,5.804672834961048e-12,2.9903146334570383e-12,1.6579735591987362e-17],"joint_position_rad":[-0.07783340637907848,1.1723714687083628,-0.8712192265531616,0.20294364414408014,0.15513861232153334,-0.08066527732357824],"joint_velocity_rad_s":[-0.11531989471267368,-0.1258958893082145,0.2327724975825842,0.19350715817595404,0.08378195875642026,-0.1217127493649032],"gripper_joint_position_m":[0.035000132426508845,-0.03499974453568208],"tcp_position_m":[0.3627048123185586,-0.020305486129344085,0.28858187515683326],"tcp_quaternion_wxyz":[0.5661939954141317,0.07254076109611432,0.8207008304998,0.02474559260791009],"object_position_m":[0.29887665330280366,-0.032673976055467444,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8364180606705783e-11,9.462101913026095e-12,2.285393905499581e-18],"object_linear_velocity_m_s":[-1.3953534662999088e-11,2.708121052774008e-11,2.5676233844735966e-15],"object_angular_velocity_rad_s":[5.804672834961048e-12,2.9903146334570375e-12,1.6579735572531488e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999693195},{"geom_ids":[1,90],"normal_force_n":0.09809999999041008},{"geom_ids":[1,90],"normal_force_n":0.09810000000306804},{"geom_ids":[1,90],"normal_force_n":0.09810000000959002}],"native_actuator_controls":[-0.08773836426209151,1.1620505480859749,-0.8544959111651069,0.23428498582149643,0.1959182313499376,-0.1285580533911092,0.035],"actuator_force_native":[-0.21579715707767377,-0.1961942032499735,0.17400274313145303,0.28611787621688123,0.28212325214941214,-0.2963586366279549,-0.00024068448329517267],"issued_joint_targets_rad":[-0.09013334620500252,1.1596254043672025,-0.8496968277211862,0.23825550104528287,0.197235709277798,-0.13125144309782866],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5799999999999368,"joint_targets_rad":[-0.09013334620500252,1.1596254043672025,-0.8496968277211862,0.23825550104528287,0.197235709277798,-0.13125144309782866],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5999999999999346,"qpos":[-0.08019562123687526,1.1697960163467522,-0.8664114901676916,0.20705335204594744,0.15662721583788478,-0.08322795378964941,0.03500010542212839,-0.034999667082882234,0.29887665330252927,-0.032673976054935085,0.07989224457978372,1.0,1.805393844822571e-11,9.30222834076366e-12,2.4631037945915896e-18],"qvel":[-0.1159978694628856,-0.12301467092453448,0.23266838225012199,0.19234635722444093,0.08249086021516912,-0.12262072504079385,5.529324114798346e-05,9.600489475494399e-05,-1.666604493809142e-11,3.23458334761126e-11,2.571786720815941e-15,4.758965638895272e-10,2.4519961394261097e-10,3.0270430618308444e-17],"joint_position_rad":[-0.08019562123687526,1.1697960163467522,-0.8664114901676916,0.20705335204594744,0.15662721583788478,-0.08322795378964941],"joint_velocity_rad_s":[-0.1159978694628856,-0.12301467092453448,0.23266838225012199,0.19234635722444093,0.08249086021516912,-0.12262072504079385],"gripper_joint_position_m":[0.03500010542212839,-0.034999667082882234],"tcp_position_m":[0.3616276552094349,-0.020885141913400556,0.28711488887101094],"tcp_quaternion_wxyz":[0.5647247029897279,0.07397076077286899,0.8215817337674112,0.02485540431337439],"object_position_m":[0.29887665330252927,-0.032673976054935085,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.805393844822571e-11,9.30222834076366e-12,2.4631037945915896e-18],"object_linear_velocity_m_s":[-1.666604493809142e-11,3.23458334761126e-11,2.571786720815941e-15],"object_angular_velocity_rad_s":[4.758965638895272e-10,2.4519961394261097e-10,3.027043045877597e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999670165},{"geom_ids":[1,90],"normal_force_n":0.09809999998969006},{"geom_ids":[1,90],"normal_force_n":0.09810000000329838},{"geom_ids":[1,90],"normal_force_n":0.09810000001030998}],"native_actuator_controls":[-0.09013334620500252,1.1596254043672025,-0.8496968277211862,0.23825550104528287,0.197235709277798,-0.13125144309782866,0.035],"actuator_force_native":[-0.21502865013575168,-0.198575603741304,0.17383108446982476,0.28635417385121364,0.2823486440763785,-0.29630380552060176,-0.0002806830908754776],"issued_joint_targets_rad":[-0.09253547131416659,1.1572567648121528,-0.8448977796185364,0.24218450489974558,0.19852493207979022,-0.13394502613970352],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5999999999999346,"joint_targets_rad":[-0.09253547131416659,1.1572567648121528,-0.8448977796185364,0.24218450489974558,0.19852493207979022,-0.13394502613970352],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6199999999999324,"qpos":[-0.08257056686856869,1.1672785419928593,-0.8616065370359526,0.2111368737814419,0.15809166627712493,-0.08580724228981622,0.035000133074376875,-0.03499963195729021,0.2988766533022687,-0.03267397605442948,0.07989224457978372,1.0,1.6511864416444344e-11,8.507661162166733e-12,2.6329686133626537e-18],"qvel":[-0.1165722705354961,-0.12016114013975646,0.23261529330189834,0.19106086333390163,0.08118125828905715,-0.12341688170734016,4.7215111914413474e-05,0.00010454725166545299,-2.0989332548792792e-11,4.073665794923717e-11,2.571786720815941e-15,1.18375736347331e-09,6.099213716483499e-10,5.526635358186602e-17],"joint_position_rad":[-0.08257056686856869,1.1672785419928593,-0.8616065370359526,0.2111368737814419,0.15809166627712493,-0.08580724228981622],"joint_velocity_rad_s":[-0.1165722705354961,-0.12016114013975646,0.23261529330189834,0.19106086333390163,0.08118125828905715,-0.12341688170734016],"gripper_joint_position_m":[0.035000133074376875,-0.03499963195729021],"tcp_position_m":[0.36055805577208133,-0.02146467368532395,0.28563303871399126],"tcp_quaternion_wxyz":[0.5632430459022076,0.07539308380333824,0.8224661309059907,0.02495230790841236],"object_position_m":[0.2988766533022687,-0.03267397605442948,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6511864416444344e-11,8.507661162166733e-12,2.6329686133626537e-18],"object_linear_velocity_m_s":[-2.0989332548792792e-11,4.073665794923717e-11,2.571786720815941e-15],"object_angular_velocity_rad_s":[1.18375736347331e-09,6.099213716483499e-10,5.5266353446759415e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999752668},{"geom_ids":[1,90],"normal_force_n":0.09809999999226879},{"geom_ids":[1,90],"normal_force_n":0.09810000000247335},{"geom_ids":[1,90],"normal_force_n":0.09810000000773127}],"native_actuator_controls":[-0.09253547131416659,1.1572567648121528,-0.8448977796185364,0.24218450489974558,0.19852493207979022,-0.13394502613970352,0.035],"actuator_force_native":[-0.21433100297035246,-0.2009364737577357,0.17362412688379436,0.28660092806263826,0.28256077059306706,-0.2962525159378626,-0.00024139853464699712],"issued_joint_targets_rad":[-0.09494249824430158,1.1549440318740547,-0.8400978840112693,0.24606935815878503,0.19978577573151013,-0.13663627660557642],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6199999999999324,"joint_targets_rad":[-0.09494249824430158,1.1549440318740547,-0.8400978840112693,0.24606935815878503,0.19978577573151013,-0.13663627660557642],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6399999999999302,"qpos":[-0.08495610247504921,1.1648184914857609,-0.8568033467222207,0.2151915753772073,0.15953154152828294,-0.08840078868215223,0.035000100591195814,-0.03499952876356715,0.29887665330200053,-0.03267397605390905,0.07989224457978372,1.0,1.5704947819109974e-11,8.091887675162499e-12,2.8426070736073957e-18],"qvel":[-0.11704073949582015,-0.11733474527738205,0.2326113322291332,0.18965067936833835,0.07985106281296045,-0.12410027721271366,5.5191245789018133e-05,9.770473438887423e-05,-9.919183189104679e-12,1.9251406289836922e-11,2.5690111632543783e-15,-6.154849669675832e-10,-3.1712571205094996e-10,5.987658038454886e-18],"joint_position_rad":[-0.08495610247504921,1.1648184914857609,-0.8568033467222207,0.2151915753772073,0.15953154152828294,-0.08840078868215223],"joint_velocity_rad_s":[-0.11704073949582015,-0.11733474527738205,0.2326113322291332,0.18965067936833835,0.07985106281296045,-0.12410027721271366],"gripper_joint_position_m":[0.035000100591195814,-0.03499952876356715],"tcp_position_m":[0.3594956820839027,-0.02204349163686057,0.2841362844639796],"tcp_quaternion_wxyz":[0.5617489005760854,0.07680704036925413,0.8233541268833491,0.025036633069018377],"object_position_m":[0.29887665330200053,-0.03267397605390905,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5704947819109974e-11,8.091887675162499e-12,2.8426070736073957e-18],"object_linear_velocity_m_s":[-9.919183189104679e-12,1.9251406289836922e-11,2.5690111632543783e-15],"object_angular_velocity_rad_s":[-6.154849669675832e-10,-3.1712571205094996e-10,5.987658023372075e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999995166},{"geom_ids":[1,90],"normal_force_n":0.09809999999848941},{"geom_ids":[1,90],"normal_force_n":0.0981000000004834},{"geom_ids":[1,90],"normal_force_n":0.09810000000151062}],"native_actuator_controls":[-0.09494249824430158,1.1549440318740547,-0.8400978840112693,0.24606935815878503,0.19978577573151013,-0.13663627660557642,0.035],"actuator_force_native":[-0.21370796406108816,-0.20328304254958596,0.1733803557304583,0.28685791442141806,0.28276574781283115,-0.2962044634151715,-0.00027997987677763625],"issued_joint_targets_rad":[-0.09735209765033155,1.1526865854978647,-0.835296177642061,0.24990739393295136,0.2010177954553168,-0.13932261621109465],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6399999999999302,"joint_targets_rad":[-0.09735209765033155,1.1526865854978647,-0.835296177642061,0.24990739393295136,0.2010177954553168,-0.13932261621109465],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.659999999999928,"qpos":[-0.08735004072847921,1.162415309486459,-0.8520009308147094,0.21921481851007932,0.16094639384395434,-0.09100621164383892,0.03500012088829578,-0.03499947246061096,0.29887665330171387,-0.03267397605335263,0.07989224457978372,1.0,1.6668669213947473e-11,8.588437932347726e-12,3.144888464916518e-18],"qvel":[-0.11740111816648056,-0.11453602934500043,0.23265530822392985,0.1881155823437288,0.07849935986929961,-0.12466954893280745,4.6903353138228323e-05,0.00010587152280936,-1.0753444624149783e-11,2.087056847948591e-11,2.566235605692816e-15,-5.086488177378371e-10,-2.62078755950066e-10,1.093197570473602e-17],"joint_position_rad":[-0.08735004072847921,1.162415309486459,-0.8520009308147094,0.21921481851007932,0.16094639384395434,-0.09100621164383892],"joint_velocity_rad_s":[-0.11740111816648056,-0.11453602934500043,0.23265530822392985,0.1881155823437288,0.07849935986929961,-0.12466954893280745],"gripper_joint_position_m":[0.03500012088829578,-0.03499947246061096],"tcp_position_m":[0.35844020780006736,-0.022620999826276807,0.2826245997456696],"tcp_quaternion_wxyz":[0.5602421592218235,0.07821192991576838,0.8242458185599933,0.02510871632891394],"object_position_m":[0.29887665330171387,-0.03267397605335263,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6668669213947473e-11,8.588437932347726e-12,3.144888464916518e-18],"object_linear_velocity_m_s":[-1.0753444624149783e-11,2.087056847948591e-11,2.566235605692816e-15],"object_angular_velocity_rad_s":[-5.086488177378371e-10,-2.62078755950066e-10,1.0931975694155158e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999875851},{"geom_ids":[1,90],"normal_force_n":0.0980999999961195},{"geom_ids":[1,90],"normal_force_n":0.0981000000012415},{"geom_ids":[1,90],"normal_force_n":0.09810000000388053}],"native_actuator_controls":[-0.09735209765033155,1.1526865854978647,-0.835296177642061,0.24990739393295136,0.2010177954553168,-0.13932261621109465,0.035],"actuator_force_native":[-0.2131589629157844,-0.20561777236254386,0.17310371269222458,0.28712510519623713,0.2829649763096753,-0.2961597222733461,-0.0002393522975223661],"issued_joint_targets_rad":[-0.09976189603246013,1.150483800198052,-0.8304917309942342,0.2536959299797932,0.20222052623266792,-0.1420014222498729],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.659999999999928,"joint_targets_rad":[-0.09976189603246013,1.150483800198052,-0.8304917309942342,0.2536959299797932,0.20222052623266792,-0.1420014222498729],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6799999999999258,"qpos":[-0.08975014591623433,1.1600684252602134,-0.8471983222631021,0.22320395903115625,0.1623357628710016,-0.09362109894749283,0.03500008103901917,-0.03499935388034242,0.2988766533014343,-0.03267397605281024,0.07989224457978372,1.0,1.7334610624227457e-11,8.931537375324794e-12,3.484951704203856e-18],"qvel":[-0.11765092356454394,-0.11176589398230946,0.23274620685010156,0.1864553508611807,0.07712587130351545,-0.12512316880904517,5.495215047190472e-05,9.848514375924807e-05,-1.1807753561199534e-11,2.291685849572929e-11,2.566235605692815e-15,-3.220847366308586e-10,-1.6595326072767942e-10,1.995904934527257e-17],"joint_position_rad":[-0.08975014591623433,1.1600684252602134,-0.8471983222631021,0.22320395903115625,0.1623357628710016,-0.09362109894749283],"joint_velocity_rad_s":[-0.11765092356454394,-0.11176589398230946,0.23274620685010156,0.1864553508611807,0.07712587130351545,-0.12512316880904517],"gripper_joint_position_m":[0.03500008103901917,-0.03499935388034242],"tcp_position_m":[0.3573913080652497,-0.02319659456797299,0.28109796992327307],"tcp_quaternion_wxyz":[0.5587227260332134,0.07960704024926543,0.8251412975306163,0.02516890276229067],"object_position_m":[0.2988766533014343,-0.03267397605281024,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7334610624227457e-11,8.931537375324794e-12,3.484951704203856e-18],"object_linear_velocity_m_s":[-1.1807753561199534e-11,2.291685849572929e-11,2.566235605692815e-15],"object_angular_velocity_rad_s":[-3.220847366308586e-10,-1.6595326072767942e-10,1.9959049298685978e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999795124},{"geom_ids":[1,90],"normal_force_n":0.09809999999359577},{"geom_ids":[1,90],"normal_force_n":0.09810000000204887},{"geom_ids":[1,90],"normal_force_n":0.09810000000640419}],"native_actuator_controls":[-0.09976189603246013,1.150483800198052,-0.8304917309942342,0.2536959299797932,0.20222052623266792,-0.1420014222498729,0.035],"actuator_force_native":[-0.21268539147534415,-0.20794053506136834,0.17279626725893138,0.28740208363957365,0.2831588266613898,-0.29611847981023276,-0.00027800231312613555],"issued_joint_targets_rad":[-0.10216947522762666,1.148335032056305,-0.8256836381638168,0.25743227038220123,0.20339349569179338,-0.14467002753693836],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6799999999999258,"joint_targets_rad":[-0.10216947522762666,1.148335032056305,-0.8256836381638168,0.25743227038220123,0.20339349569179338,-0.14467002753693836],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6999999999999236,"qpos":[-0.0921541334508745,1.1577772482955626,-0.8423945727816865,0.227156345301753,0.1636991832175493,-0.09624300651637577,0.03500011649005099,-0.03499930727360209,0.2988766533011633,-0.032673976052284344,0.07989224457978372,1.0,1.753597594261097e-11,9.035247635235387e-12,3.857863054845169e-18],"qvel":[-0.11778791732177857,-0.10902536476182129,0.23288311915451923,0.18466962820921698,0.07573052894789613,-0.1254596483171288,5.624023830611098e-05,9.711836140611723e-05,-1.3317408721103197e-11,2.584699241585509e-11,2.5676233844735966e-15,-2.429923762749162e-11,-1.2523910297311194e-11,3.644033181442595e-17],"joint_position_rad":[-0.0921541334508745,1.1577772482955626,-0.8423945727816865,0.227156345301753,0.1636991832175493,-0.09624300651637577],"joint_velocity_rad_s":[-0.11778791732177857,-0.10902536476182129,0.23288311915451923,0.18466962820921698,0.07573052894789613,-0.1254596483171288],"gripper_joint_position_m":[0.03500011649005099,-0.03499930727360209],"tcp_position_m":[0.356348658269995,-0.02376966373270777,0.2795563910809225],"tcp_quaternion_wxyz":[0.5571905149366871,0.08099164619340227,0.8260406519534181,0.025217546110673637],"object_position_m":[0.2988766533011633,-0.032673976052284344,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.753597594261097e-11,9.035247635235387e-12,3.857863054845169e-18],"object_linear_velocity_m_s":[-1.3317408721103197e-11,2.584699241585509e-11,2.5676233844735966e-15],"object_angular_velocity_rad_s":[-2.429923762749162e-11,-1.2523910297311196e-11,3.644033167570521e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999972582},{"geom_ids":[1,90],"normal_force_n":0.09809999999143006},{"geom_ids":[1,90],"normal_force_n":0.09810000000274183},{"geom_ids":[1,90],"normal_force_n":0.09810000000856997}],"native_actuator_controls":[-0.10216947522762666,1.148335032056305,-0.8256836381638168,0.25743227038220123,0.20339349569179338,-0.14467002753693836,0.035],"actuator_force_native":[-0.2122877555312801,-0.21025047533149177,0.17245917365697494,0.2876888621718443,0.28334733132059653,-0.2960807377299328,-0.00028586079357006966],"issued_joint_targets_rad":[-0.1045723727285571,1.1462396146818863,-0.8208710145432844,0.2611137050521041,0.2045362321076283,-0.1473257208068574],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6999999999999236,"joint_targets_rad":[-0.1045723727285571,1.1462396146818863,-0.8208710145432844,0.2611137050521041,0.2045362321076283,-0.1473257208068574],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7199999999999214,"qpos":[-0.09455967032171655,1.1555411668694548,-0.8375887519916266,0.23106931737774336,0.16503618770142905,-0.09886945709085011,0.035000139507726846,-0.03499924953605224,0.2988766533009032,-0.032673976051779484,0.07989224457978372,1.0,1.7032711738990292e-11,8.775926091400908e-12,4.2484483823898315e-18],"qvel":[-0.11780975520709701,-0.10631550845280269,0.23306513351550942,0.18275804868864895,0.07431341316084612,-0.12567738092878225,4.622432850600409e-05,0.00010650592420712297,-1.56937149388507e-11,3.0459078920140044e-11,2.5662356056928148e-15,4.28289883954765e-10,2.2067065846152581e-10,6.653080358340579e-17],"joint_position_rad":[-0.09455967032171655,1.1555411668694548,-0.8375887519916266,0.23106931737774336,0.16503618770142905,-0.09886945709085011],"joint_velocity_rad_s":[-0.11780975520709701,-0.10631550845280269,0.23306513351550942,0.18275804868864895,0.07431341316084612,-0.12567738092878225],"gripper_joint_position_m":[0.035000139507726846,-0.03499924953605224],"tcp_position_m":[0.35531193376689674,-0.02433958661033989,0.277999869559833],"tcp_quaternion_wxyz":[0.5556454486186395,0.0823650092772823,0.8269439673936553,0.025255008758367177],"object_position_m":[0.2988766533009032,-0.032673976051779484,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7032711738990292e-11,8.775926091400908e-12,4.2484483823898315e-18],"object_linear_velocity_m_s":[-1.56937149388507e-11,3.0459078920140044e-11,2.5662356056928148e-15],"object_angular_velocity_rad_s":[4.28289883954765e-10,2.2067065846152581e-10,6.653080354210088e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999699519},{"geom_ids":[1,90],"normal_force_n":0.09809999999060738},{"geom_ids":[1,90],"normal_force_n":0.09810000000300484},{"geom_ids":[1,90],"normal_force_n":0.09810000000939262}],"native_actuator_controls":[-0.1045723727285571,1.1462396146818863,-0.8208710145432844,0.2611137050521041,0.2045362321076283,-0.1473257208068574,0.035],"actuator_force_native":[-0.21196741651175977,-0.21254663274146424,0.17209332828983293,0.28798526353118525,0.28353032432072367,-0.2960465657668998,-0.00023670195160363505],"issued_joint_targets_rad":[-0.10696808263748916,1.144196857749402,-0.8160529961015828,0.26473750934968837,0.20564826825931853,-0.14996574597252882],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7199999999999214,"joint_targets_rad":[-0.10696808263748916,1.144196857749402,-0.8160529961015828,0.26473750934968837,0.20564826825931853,-0.14996574597252882],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7399999999999192,"qpos":[-0.09696441946654522,1.1533595257501994,-0.8327800914939952,0.23494020989770328,0.16634700914094502,-0.10149792368977684,0.03500008794983587,-0.034999115656302454,0.2988766533006442,-0.032673976051277025,0.07989224457978372,1.0,1.655663929778003e-11,8.53062828438537e-12,4.6931387546454625e-18],"qvel":[-0.11771289706711349,-0.10364007362611988,0.23329454074859293,0.18072026421261697,0.07288302953069614,-0.12577437465079344,5.402430613694922e-05,9.896231078630018e-05,-1.974351966425075e-11,3.831914299990598e-11,2.570398942035159e-15,1.084213769831503e-09,5.586280731833858e-10,1.214681591084449e-16],"joint_position_rad":[-0.09696441946654522,1.1533595257501994,-0.8327800914939952,0.23494020989770328,0.16634700914094502,-0.10149792368977684],"joint_velocity_rad_s":[-0.11771289706711349,-0.10364007362611988,0.23329454074859293,0.18072026421261697,0.07288302953069614,-0.12577437465079344],"gripper_joint_position_m":[0.03500008794983587,-0.034999115656302454],"tcp_position_m":[0.35428076936654446,-0.024905711386207407,0.27642836134915066],"tcp_quaternion_wxyz":[0.5540872422189306,0.08372636829765061,0.8278514711073114,0.025281713695207132],"object_position_m":[0.2988766533006442,-0.032673976051277025,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.655663929778003e-11,8.53062828438537e-12,4.6931387546454625e-18],"object_linear_velocity_m_s":[-1.974351966425075e-11,3.831914299990598e-11,2.570398942035159e-15],"object_angular_velocity_rad_s":[1.084213769831503e-09,5.586280731833858e-10,1.2146815906616105e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999696138},{"geom_ids":[1,90],"normal_force_n":0.09809999999050215},{"geom_ids":[1,90],"normal_force_n":0.0981000000030386},{"geom_ids":[1,90],"normal_force_n":0.09810000000949784}],"native_actuator_controls":[-0.10696808263748916,1.144196857749402,-0.8160529961015828,0.26473750934968837,0.20564826825931853,-0.14996574597252882,0.035],"actuator_force_native":[-0.21172856833994835,-0.2148130719331931,0.17169492765003724,0.2882906570163186,0.283688046887691,-0.2960166608513295,-0.00027363952411940673],"issued_joint_targets_rad":[-0.10935413083323275,1.1422060470701136,-0.811228886375714,0.2683009858064181,0.20672982871222892,-0.1525873499723916],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7399999999999192,"joint_targets_rad":[-0.10935413083323275,1.1422060470701136,-0.811228886375714,0.2683009858064181,0.20672982871222892,-0.1525873499723916],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.759999999999917,"qpos":[-0.09936593947145891,1.1512316432845935,-0.8279676508050743,0.23876634805832442,0.1676313207476741,-0.10412586760041798,0.03500011160152083,-0.03499905384807348,0.29887665330038665,-0.032673976050776966,0.07989224457978372,1.0,1.5422413668683806e-11,7.9462265963062e-12,5.1538963762232236e-18],"qvel":[-0.1174957936486887,-0.10099778101199806,0.23356919612205934,0.17855597884979676,0.07143517464275433,-0.12574990139298767,5.5207221251839646e-05,9.726139971579397e-05,-9.677325671842308e-12,1.8782208944686485e-11,2.567623384473596e-15,-6.159010635045263e-10,-3.173363396625418e-10,1.3160070083715857e-17],"joint_position_rad":[-0.09936593947145891,1.1512316432845935,-0.8279676508050743,0.23876634805832442,0.1676313207476741,-0.10412586760041798],"joint_velocity_rad_s":[-0.1174957936486887,-0.10099778101199806,0.23356919612205934,0.17855597884979676,0.07143517464275433,-0.12574990139298767],"gripper_joint_position_m":[0.03500011160152083,-0.03499905384807348],"tcp_position_m":[0.3532548205373559,-0.025467384412421166,0.27484185653741366],"tcp_quaternion_wxyz":[0.5525157698552294,0.08507494336700125,0.8287632872676698,0.02529805821936424],"object_position_m":[0.29887665330038665,-0.032673976050776966,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5422413668683806e-11,7.9462265963062e-12,5.1538963762232236e-18],"object_linear_velocity_m_s":[-9.677325671842308e-12,1.8782208944686485e-11,2.567623384473596e-15],"object_angular_velocity_rad_s":[-6.159010635045263e-10,-3.173363396625418e-10,1.316007007793412e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999954047},{"geom_ids":[1,90],"normal_force_n":0.09809999999856385},{"geom_ids":[1,90],"normal_force_n":0.09810000000045964},{"geom_ids":[1,90],"normal_force_n":0.09810000000143612}],"native_actuator_controls":[-0.10935413083323275,1.1422060470701136,-0.811228886375714,0.2683009858064181,0.20672982871222892,-0.1525873499723916,0.035],"actuator_force_native":[-0.2115763406984641,-0.21705879209839907,0.17125517373852972,0.28860561567476317,0.2838323176814168,-0.29598997163025453,-0.0002805001670922458],"issued_joint_targets_rad":[-0.11172792586537886,1.1402664232536412,-0.8063978188273745,0.2718014015585001,0.20778059853285114,-0.15518771986275853],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.759999999999917,"joint_targets_rad":[-0.11172792586537886,1.1402664232536412,-0.8063978188273745,0.2718014015585001,0.20778059853285114,-0.15518771986275853],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7799999999999148,"qpos":[-0.10176175454622677,1.1491568465468187,-0.8231505272369222,0.2425450488684156,0.1688887322189553,-0.10675071887712077,0.035000124048336724,-0.03499898265736174,0.29887665330009355,-0.03267397605020807,0.07989224457978372,1.0,1.6779055631984457e-11,8.645226690111905e-12,5.901785280870274e-18],"qvel":[-0.11715682151421213,-0.09838891757522693,0.23388735638041352,0.1762648400192639,0.06996840581985088,-0.1256022051083701,4.5049573994276116e-05,0.00010633200704085803,-1.0708450179616778e-11,2.078345785942341e-11,2.567623384473596e-15,-5.408927957567217e-10,-2.7868893687449586e-10,2.4026866098560415e-17],"joint_position_rad":[-0.10176175454622677,1.1491568465468187,-0.8231505272369222,0.2425450488684156,0.1688887322189553,-0.10675071887712077],"joint_velocity_rad_s":[-0.11715682151421213,-0.09838891757522693,0.23388735638041352,0.1762648400192639,0.06996840581985088,-0.1256022051083701],"gripper_joint_position_m":[0.035000124048336724,-0.03499898265736174],"tcp_position_m":[0.3522337544897736,-0.026023951761175293,0.27324036573423194],"tcp_quaternion_wxyz":[0.5509309359597008,0.08640994719719966,0.8296795225901509,0.025304438790923763],"object_position_m":[0.29887665330009355,-0.03267397605020807,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6779055631984457e-11,8.645226690111905e-12,5.901785280870274e-18],"object_linear_velocity_m_s":[-1.0708450179616778e-11,2.078345785942341e-11,2.567623384473596e-15],"object_angular_velocity_rad_s":[-5.408927957567217e-10,-2.7868893687449586e-10,2.4026866105877473e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999882883},{"geom_ids":[1,90],"normal_force_n":0.09809999999633923},{"geom_ids":[1,90],"normal_force_n":0.09810000000117121},{"geom_ids":[1,90],"normal_force_n":0.09810000000366081}],"native_actuator_controls":[-0.11172792586537886,1.1402664232536412,-0.8063978188273745,0.2718014015585001,0.20778059853285114,-0.15518771986275853,0.035],"actuator_force_native":[-0.2115095979611059,-0.21928927557806333,0.17077989086175194,0.28892990750706105,0.283966054409182,-0.2959667021938224,-0.00023020980344012898],"issued_joint_targets_rad":[-0.11408684286320131,1.138377227727164,-0.8015589659964144,0.2752359985827029,0.2088002097509997,-0.1577639870570021],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7799999999999148,"joint_targets_rad":[-0.11408684286320131,1.138377227727164,-0.8015589659964144,0.2752359985827029,0.2088002097509997,-0.1577639870570021],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7999999999999126,"qpos":[-0.10414935335216365,1.1471344480181687,-0.8183278483673089,0.24627361906311881,0.17011883659082747,-0.10936986896300145,0.035000062928166084,-0.034998837454123466,0.29887665329980473,-0.03267397604964739,0.07989224457978372,1.0,1.7716406278302637e-11,9.12817611750888e-12,6.746958157891632e-18],"qvel":[-0.11669415814657798,-0.09581448453631904,0.23424766136636893,0.1738463924205641,0.06848238463017596,-0.1253294044625282,5.2828142130672374e-05,9.835718925051075e-05,-1.184010374946634e-11,2.2979852644214393e-11,2.570398942035159e-15,-3.8130203152139345e-10,-1.9646191023990333e-10,4.386697605781323e-17],"joint_position_rad":[-0.10414935335216365,1.1471344480181687,-0.8183278483673089,0.24627361906311881,0.17011883659082747,-0.10936986896300145],"joint_velocity_rad_s":[-0.11669415814657798,-0.09581448453631904,0.23424766136636893,0.1738463924205641,0.06848238463017596,-0.1253294044625282],"gripper_joint_position_m":[0.035000062928166084,-0.034998837454123466],"tcp_position_m":[0.3512172425081498,-0.026574755901481048,0.27162391617727444],"tcp_quaternion_wxyz":[0.5493326628667772,0.08773058391226225,0.8306002748574342,0.02530125611237613],"object_position_m":[0.29887665329980473,-0.03267397604964739,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7716406278302637e-11,9.12817611750888e-12,6.746958157891632e-18],"object_linear_velocity_m_s":[-1.184010374946634e-11,2.2979852644214393e-11,2.570398942035159e-15],"object_angular_velocity_rad_s":[-3.8130203152139345e-10,-1.9646191023990333e-10,4.386697604396857e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999803078},{"geom_ids":[1,90],"normal_force_n":0.09809999999384478},{"geom_ids":[1,90],"normal_force_n":0.09810000000196924},{"geom_ids":[1,90],"normal_force_n":0.09810000000615526}],"native_actuator_controls":[-0.11408684286320131,1.138377227727164,-0.8015589659964144,0.2752359985827029,0.2088002097509997,-0.1577639870570021,0.035],"actuator_force_native":[-0.21152837015012516,-0.2215052005987843,0.17027228283971851,0.28926321868054394,0.28409015465645826,-0.29594707424621425,-0.0002666578372967354],"issued_joint_targets_rad":[-0.11642822538295013,1.1365376823202338,-0.7967115327888247,0.2786019976398448,0.2097882870060085,-0.1603132277628253],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7999999999999126,"joint_targets_rad":[-0.11642822538295013,1.1365376823202338,-0.7967115327888247,0.2786019976398448,0.2097882870060085,-0.1603132277628253],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8199999999999104,"qpos":[-0.10652622046109256,1.1451637245146655,-0.8134988663618723,0.24994935534970908,0.1713216914566953,-0.11198065972597561,0.0350000791450415,-0.03499876663236877,0.2988766532995227,-0.032673976049099863,0.07989224457978372,1.0,1.814312481974121e-11,9.348005612894175e-12,7.681000893912174e-18],"qvel":[-0.11610536094296424,-0.09327755171104439,0.23465073844711143,0.17130008116404938,0.066984079819155,-0.12492935266706853,5.393221406536155e-05,9.630034831869967e-05,-1.3316501300782326e-11,2.5845421655473213e-11,2.5662356056928144e-15,-1.1023253402670207e-10,-5.679835564357259e-11,8.009015695351241e-17],"joint_position_rad":[-0.10652622046109256,1.1451637245146655,-0.8134988663618723,0.24994935534970908,0.1713216914566953,-0.11198065972597561],"joint_velocity_rad_s":[-0.11610536094296424,-0.09327755171104439,0.23465073844711143,0.17130008116404938,0.066984079819155,-0.12492935266706853],"gripper_joint_position_m":[0.0350000791450415,-0.03499876663236877],"tcp_position_m":[0.3502049304796322,-0.0271191187097055,0.26999251098807825],"tcp_quaternion_wxyz":[0.547720743140758,0.08903604063865622,0.8315257301269993,0.025288952874500843],"object_position_m":[0.2988766532995227,-0.032673976049099863,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.814312481974121e-11,9.348005612894175e-12,7.681000893912174e-18],"object_linear_velocity_m_s":[-1.3316501300782326e-11,2.5845421655473213e-11,2.5662356056928144e-15],"object_angular_velocity_rad_s":[-1.1023253402670207e-10,-5.679835564357259e-11,8.009015686289402e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999728188},{"geom_ids":[1,90],"normal_force_n":0.09809999999150393},{"geom_ids":[1,90],"normal_force_n":0.09810000000271811},{"geom_ids":[1,90],"normal_force_n":0.09810000000849609}],"native_actuator_controls":[-0.11642822538295013,1.1365376823202338,-0.7967115327888247,0.2786019976398448,0.2097882870060085,-0.1603132277628253,0.035],"actuator_force_native":[-0.2116335890337826,-0.22369561699930784,0.16973299360824967,0.2896052857851803,0.28418983576439927,-0.295931651367894,-0.00027282687198670885],"issued_joint_targets_rad":[-0.11874943815147193,1.1347469843824847,-0.791854852590398,0.2818966247227723,0.21074491794269942,-0.16283249657242174],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8199999999999104,"joint_targets_rad":[-0.11874943815147193,1.1347469843824847,-0.791854852590398,0.2818966247227723,0.21074491794269942,-0.16283249657242174],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8399999999999082,"qpos":[-0.10888978504881466,1.1432439114588364,-0.808662802112681,0.25356954336095017,0.17249734305030134,-0.11458039985340954,0.035000106174955956,-0.034998707138364366,0.2988766532992501,-0.03267397604857108,0.07989224457978372,1.0,1.7869166152898112e-11,9.206826883649232e-12,8.67340985094488e-18],"qvel":[-0.1153882730909492,-0.0907792104288495,0.2350963388632564,0.16862542967277622,0.06547491207564879,-0.1244005545898614,5.346783203547083e-05,9.56637762332429e-05,-1.553411470028271e-11,3.014957099698853e-11,2.564847826912033e-15,3.116923869400753e-10,1.605923061266653e-10,1.462245127170072e-16],"joint_position_rad":[-0.10888978504881466,1.1432439114588364,-0.808662802112681,0.25356954336095017,0.17249734305030134,-0.11458039985340954],"joint_velocity_rad_s":[-0.1153882730909492,-0.0907792104288495,0.2350963388632564,0.16862542967277622,0.06547491207564879,-0.1244005545898614],"gripper_joint_position_m":[0.035000106174955956,-0.034998707138364366],"tcp_position_m":[0.3491964572711831,-0.027656348118072265,0.26834615198761824],"tcp_quaternion_wxyz":[0.5460949708130952,0.09032548390150993,0.8324560762358278,0.025267982678727957],"object_position_m":[0.2988766532992501,-0.03267397604857108,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7869166152898112e-11,9.206826883649232e-12,8.67340985094488e-18],"object_linear_velocity_m_s":[-1.553411470028271e-11,3.014957099698853e-11,2.564847826912033e-15],"object_angular_velocity_rad_s":[3.116923869400753e-10,1.605923061266653e-10,1.4622451262251428e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999686686},{"geom_ids":[1,90],"normal_force_n":0.09809999999020652},{"geom_ids":[1,90],"normal_force_n":0.09810000000313314},{"geom_ids":[1,90],"normal_force_n":0.09810000000979355}],"native_actuator_controls":[-0.11874943815147193,1.1347469843824847,-0.791854852590398,0.2818966247227723,0.21074491794269942,-0.16283249657242174,0.035],"actuator_force_native":[-0.21183088275783746,-0.22585811396389488,0.16915426746635376,0.28995610610900613,0.2842633808105073,-0.29592013530533,-0.00027158615841549327],"issued_joint_targets_rad":[-0.12104780036036569,1.1330042870694226,-0.7869882311443928,0.2851170955503967,0.21167018948331584,-0.16531881298598577],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8399999999999082,"joint_targets_rad":[-0.12104780036036569,1.1330042870694226,-0.7869882311443928,0.2851170955503967,0.21167018948331584,-0.16531881298598577],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.859999999999906,"qpos":[-0.11123744158938836,1.14137421510918,-0.8038188992687947,0.25713145882498684,0.1736459906980489,-0.11716636178891668,0.03500010842028036,-0.03499862353585655,0.2988766532989916,-0.03267397604806925,0.07989224457978372,1.0,1.6592971148491237e-11,8.549270830668984e-12,9.650773911582323e-18],"qvel":[-0.1145406661522066,-0.08832049441252854,0.2355851264180458,0.16582192658613662,0.06395369119151068,-0.12374154792935411,4.28360142394028e-05,0.00010462989348328617,-1.9148084104488152e-11,3.716386662960364e-11,2.5703989420351585e-15,9.40596960429427e-10,4.846252686564054e-10,2.669700403920798e-16],"joint_position_rad":[-0.11123744158938836,1.14137421510918,-0.8038188992687947,0.25713145882498684,0.1736459906980489,-0.11716636178891668],"joint_velocity_rad_s":[-0.1145406661522066,-0.08832049441252854,0.2355851264180458,0.16582192658613662,0.06395369119151068,-0.12374154792935411],"gripper_joint_position_m":[0.03500010842028036,-0.03499862353585655],"tcp_position_m":[0.34819144987134765,-0.028185736036788693,0.2666848288249865],"tcp_quaternion_wxyz":[0.5444550921510577,0.09159806040453229,0.8333915345683452,0.02523882070798544],"object_position_m":[0.2988766532989916,-0.03267397604806925,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6592971148491237e-11,8.549270830668984e-12,9.650773911582323e-18],"object_linear_velocity_m_s":[-1.9148084104488152e-11,3.716386662960364e-11,2.5703989420351585e-15],"object_angular_velocity_rad_s":[9.40596960429427e-10,4.846252686564054e-10,2.6697004030196666e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999973032},{"geom_ids":[1,90],"normal_force_n":0.09809999999157061},{"geom_ids":[1,90],"normal_force_n":0.09810000000269677},{"geom_ids":[1,90],"normal_force_n":0.09810000000842943}],"native_actuator_controls":[-0.12104780036036569,1.1330042870694226,-0.7869882311443928,0.2851170955503967,0.21167018948331584,-0.16531881298598577,0.035],"actuator_force_native":[-0.21212537091715156,-0.22799177111795643,0.1685278178619214,0.2903158360857123,0.2843114510654037,-0.2959121900766597,-0.00021851688241136813],"issued_joint_targets_rad":[-0.12332061248641152,1.1313087150554069,-0.7821110003123417,0.28826062147100406,0.21256434971054416,-0.16776916955986912],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.859999999999906,"joint_targets_rad":[-0.12332061248641152,1.1313087150554069,-0.7821110003123417,0.28826062147100406,0.21256434971054416,-0.16776916955986912],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8799999999999037,"qpos":[-0.11356655324032885,1.1395538270323784,-0.7989664176425165,0.2606323678266133,0.17476787072558855,-0.11973578527546042,0.03500004670093445,-0.03499847409112037,0.2988766532987401,-0.03267397604758078,0.07989224457978372,1.0,1.4985327769503094e-11,7.720947846470103e-12,1.0663454892654311e-17],"qvel":[-0.11356100195290954,-0.08590238476203484,0.23611607029366724,0.16288921867803383,0.062423918627719,-0.12295056790785037,6.159689720204719e-05,8.557035733595951e-05,-9.45451057635681e-12,1.834993671254577e-11,2.57178672081594e-15,-6.160403117602469e-10,-3.174051889247909e-10,2.8924025187776776e-17],"joint_position_rad":[-0.11356655324032885,1.1395538270323784,-0.7989664176425165,0.2606323678266133,0.17476787072558855,-0.11973578527546042],"joint_velocity_rad_s":[-0.11356100195290954,-0.08590238476203484,0.23611607029366724,0.16288921867803383,0.062423918627719,-0.12295056790785037],"gripper_joint_position_m":[0.03500004670093445,-0.03499847409112037],"tcp_position_m":[0.3471895336532657,-0.028706566230054208,0.26500853301705507],"tcp_quaternion_wxyz":[0.5428008445449468,0.09285290219809136,0.834332333868581,0.02520195183096653],"object_position_m":[0.2988766532987401,-0.03267397604758078,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4985327769503094e-11,7.720947846470103e-12,1.0663454892654311e-17],"object_linear_velocity_m_s":[-9.45451057635681e-12,1.834993671254577e-11,2.57178672081594e-15],"object_angular_velocity_rad_s":[-6.160403117602469e-10,-3.174051889247909e-10,2.8924025176430066e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999971655},{"geom_ids":[1,90],"normal_force_n":0.09809999999911416},{"geom_ids":[1,90],"normal_force_n":0.09810000000028346},{"geom_ids":[1,90],"normal_force_n":0.09810000000088585}],"native_actuator_controls":[-0.12332061248641152,1.1313087150554069,-0.7821110003123417,0.28826062147100406,0.21256434971054416,-0.16776916955986912,0.035],"actuator_force_native":[-0.21251972992206447,-0.23009703434755124,0.16785303494565085,0.2906840523854619,0.2843289119079775,-0.29590799098231146,-0.000309852523388221],"issued_joint_targets_rad":[-0.12556515328602316,1.1296593735365572,-0.7772225103542594,0.29132439878823607,0.2134276954315985,-0.17018052005810508],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8799999999999037,"joint_targets_rad":[-0.12556515328602316,1.1296593735365572,-0.7772225103542594,0.29132439878823607,0.2134276954315985,-0.17018052005810508],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8999999999999015,"qpos":[-0.1158744825208711,1.1377819181620876,-0.7941047052272794,0.2640695273652935,0.1758635423543182,-0.1222858696847196,0.03500013409506804,-0.03499847118957466,0.2988766532984605,-0.032673976047038054,0.07989224457978372,1.0,1.5944050255098786e-11,8.214902254449693e-12,1.2307212789133567e-17],"qvel":[-0.1124480842331279,-0.08352727451152706,0.23668849024174646,0.1598268175127538,0.060896232689428835,-0.12202559298513282,4.3089859105067475e-05,0.00010131742170163637,-1.0210190411157462e-11,1.9816640418120876e-11,2.578725614719847e-15,-5.262153773883232e-10,-2.71124089207984e-10,5.280782091564207e-17],"joint_position_rad":[-0.1158744825208711,1.1377819181620876,-0.7941047052272794,0.2640695273652935,0.1758635423543182,-0.1222858696847196],"joint_velocity_rad_s":[-0.1124480842331279,-0.08352727451152706,0.23668849024174646,0.1598268175127538,0.060896232689428835,-0.12202559298513282],"gripper_joint_position_m":[0.03500013409506804,-0.03499847118957466],"tcp_position_m":[0.34619031715577026,-0.029218107481277136,0.2633172391950904],"tcp_quaternion_wxyz":[0.5411318729432537,0.0940891259115476,0.8352787635995966,0.025157892392969613],"object_position_m":[0.2988766532984605,-0.032673976047038054,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5944050255098786e-11,8.214902254449693e-12,1.2307212789133567e-17],"object_linear_velocity_m_s":[-1.0210190411157462e-11,1.9816640418120876e-11,2.578725614719847e-15],"object_angular_velocity_rad_s":[-5.262153773883232e-10,-2.71124089207984e-10,5.280782089921474e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999899952},{"geom_ids":[1,90],"normal_force_n":0.09809999999687277},{"geom_ids":[1,90],"normal_force_n":0.09810000000100046},{"geom_ids":[1,90],"normal_force_n":0.09810000000312723}],"native_actuator_controls":[-0.12556515328602316,1.1296593735365572,-0.7772225103542594,0.29132439878823607,0.2134276954315985,-0.17018052005810508,0.035],"actuator_force_native":[-0.213013240046525,-0.23216719748478454,0.16713313863286317,0.2910607693539351,0.2842971817386599,-0.2959081142561555,-0.00022081309824661943],"issued_joint_targets_rad":[-0.1277787213572328,1.1280553512460845,-0.7723222020167807,0.294305620746382,0.21426085096397784,-0.1725497945494223],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8999999999999015,"joint_targets_rad":[-0.1277787213572328,1.1280553512460845,-0.7723222020167807,0.294305620746382,0.21426085096397784,-0.1725497945494223],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9199999999998993,"qpos":[-0.11815849645525864,1.1360576382886158,-0.7892329367571247,0.26744004880722994,0.17693288979395577,-0.12481379694925569,0.03500006872742634,-0.034998319212066295,0.29887665329818786,-0.032673976046509075,0.07989224457978372,1.0,1.6660111470018845e-11,8.583830847072308e-12,1.4164790182215534e-17],"qvel":[-0.11120144020995658,-0.08119336435002245,0.2373003385674384,0.15663521902403146,0.059359522166295885,-0.12096640917591221,4.873634139101682e-05,9.44376129522044e-05,-1.115033130056971e-11,2.1641353571299836e-11,2.569011163254377e-15,-3.664422184727349e-10,-1.8880333441244963e-10,9.64137912188296e-17],"joint_position_rad":[-0.11815849645525864,1.1360576382886158,-0.7892329367571247,0.26744004880722994,0.17693288979395577,-0.12481379694925569],"joint_velocity_rad_s":[-0.11120144020995658,-0.08119336435002245,0.2373003385674384,0.15663521902403146,0.059359522166295885,-0.12096640917591221],"gripper_joint_position_m":[0.03500006872742634,-0.034998319212066295],"tcp_position_m":[0.3451934398547877,-0.029719644817067837,0.2616109734256371],"tcp_quaternion_wxyz":[0.5394480267780736,0.09530578975298387,0.8362309896297303,0.025107067285619046],"object_position_m":[0.29887665329818786,-0.032673976046509075,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6660111470018845e-11,8.583830847072308e-12,1.4164790182215534e-17],"object_linear_velocity_m_s":[-1.115033130056971e-11,2.1641353571299836e-11,2.569011163254377e-15],"object_angular_velocity_rad_s":[-3.664422184727349e-10,-1.8880333441244963e-10,9.641379120567235e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999821468},{"geom_ids":[1,90],"normal_force_n":0.09809999999441998},{"geom_ids":[1,90],"normal_force_n":0.0981000000017853},{"geom_ids":[1,90],"normal_force_n":0.09810000000557999}],"native_actuator_controls":[-0.1277787213572328,1.1280553512460845,-0.7723222020167807,0.294305620746382,0.21426085096397784,-0.1725497945494223,0.035],"actuator_force_native":[-0.21361079110815062,-0.23421614165239646,0.16635708639032742,0.2914467824459237,0.28424032845077707,-0.29591036223779765,-0.0002464308040084351],"issued_joint_targets_rad":[-0.12995849819651614,1.1264956881466779,-0.7674093463304447,0.29720129752581226,0.21506379902074269,-0.17487383033213527],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9199999999998993,"joint_targets_rad":[-0.12995849819651614,1.1264956881466779,-0.7674093463304447,0.29720129752581226,0.21506379902074269,-0.17487383033213527],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9399999999998971,"qpos":[-0.120415886546343,1.1343801380201783,-0.7843504447986622,0.27074069399575446,0.17797610307675796,-0.12731670204474835,0.03500006404682505,-0.03499822486981791,0.29887665329790725,-0.03267397604596417,0.07989224457978372,1.0,1.7927681291556918e-11,9.236918021031002e-12,1.6498772593826203e-17],"qvel":[-0.10982123926259903,-0.07890294164043604,0.23795005455515017,0.15331616789945846,0.057820811814544654,-0.11977214669422859,4.916808321283581e-05,9.192629802301423e-05,-1.2816784242951543e-11,2.487574866433706e-11,2.5690111632543767e-15,-1.4277488124910785e-10,-7.356263707173072e-11,1.760267738020559e-16],"joint_position_rad":[-0.120415886546343,1.1343801380201783,-0.7843504447986622,0.27074069399575446,0.17797610307675796,-0.12731670204474835],"joint_velocity_rad_s":[-0.10982123926259903,-0.07890294164043604,0.23795005455515017,0.15331616789945846,0.057820811814544654,-0.11977214669422859],"gripper_joint_position_m":[0.03500006404682505,-0.03499822486981791],"tcp_position_m":[0.34419853483930685,-0.03021047228542687,0.2598897674233156],"tcp_quaternion_wxyz":[0.5377490890036204,0.09650182360496125,0.837189239271768,0.025049809664979043],"object_position_m":[0.29887665329790725,-0.03267397604596417,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7927681291556918e-11,9.236918021031002e-12,1.6498772593826203e-17],"object_linear_velocity_m_s":[-1.2816784242951543e-11,2.487574866433706e-11,2.5690111632543767e-15],"object_angular_velocity_rad_s":[-1.4277488124910785e-10,-7.356263707173072e-11,1.7602677378677826e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999721272},{"geom_ids":[1,90],"normal_force_n":0.09809999999128775},{"geom_ids":[1,90],"normal_force_n":0.09810000000278728},{"geom_ids":[1,90],"normal_force_n":0.09810000000871223}],"native_actuator_controls":[-0.12995849819651614,1.1264956881466779,-0.7674093463304447,0.29720129752581226,0.21506379902074269,-0.17487383033213527,0.035],"actuator_force_native":[-0.21430273570085845,-0.23624128167786296,0.1655376046816528,0.29184330170502015,0.2841457417180304,-0.2959130628325266,-0.00024840228906586326],"issued_joint_targets_rad":[-0.13210169139510647,1.124979425919599,-0.7624833778369753,0.3000080664204616,0.21583683953695448,-0.17714937485038137],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9399999999998971,"joint_targets_rad":[-0.13210169139510647,1.124979425919599,-0.7624833778369753,0.3000080664204616,0.21583683953695448,-0.17714937485038137],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.959999999999895,"qpos":[-0.12264395321935277,1.132748526633075,-0.7794566113006967,0.27396866389931107,0.17899364129134643,-0.12979167034685285,0.03500006901360338,-0.03499814107222324,0.2988766532976302,-0.03267397604542653,0.07989224457978372,1.0,1.826575092996946e-11,9.411090310292512e-12,1.900897342279353e-17],"qvel":[-0.10830523090565021,-0.07665842583369586,0.23863682350077334,0.14986558156164295,0.05628663229438495,-0.11843793552787059,4.8381221636542584e-05,9.044658513562616e-05,-1.5124351570679255e-11,2.9354487032673595e-11,2.570398942035158e-15,2.2742263979213696e-10,1.171737385907224e-10,3.2137915954404245e-16],"joint_position_rad":[-0.12264395321935277,1.132748526633075,-0.7794566113006967,0.27396866389931107,0.17899364129134643,-0.12979167034685285],"joint_velocity_rad_s":[-0.10830523090565021,-0.07665842583369586,0.23863682350077334,0.14986558156164295,0.05628663229438495,-0.11843793552787059],"gripper_joint_position_m":[0.03500006901360338,-0.03499814107222324],"tcp_position_m":[0.3432052178792301,-0.030689858867781097,0.25815364146691305],"tcp_quaternion_wxyz":[0.536034767357605,0.09767631452736379,0.8381537651603811,0.024986630659341362],"object_position_m":[0.2988766532976302,-0.03267397604542653,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.826575092996946e-11,9.411090310292512e-12,1.900897342279353e-17],"object_linear_velocity_m_s":[-1.5124351570679255e-11,2.9354487032673595e-11,2.570398942035158e-15],"object_angular_velocity_rad_s":[2.2742263979213696e-10,1.171737385907224e-10,3.213791594866883e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999667993},{"geom_ids":[1,90],"normal_force_n":0.09809999998962238},{"geom_ids":[1,90],"normal_force_n":0.09810000000332013},{"geom_ids":[1,90],"normal_force_n":0.09810000001037764}],"native_actuator_controls":[-0.13210169139510647,1.124979425919599,-0.7624833778369753,0.3000080664204616,0.21583683953695448,-0.17714937485038137,0.035],"actuator_force_native":[-0.21509289953204558,-0.23823592790959935,0.16467455959384125,0.2922481930378069,0.2840020340145033,-0.29592014174347936,-0.0002446666523174823],"issued_joint_targets_rad":[-0.13420555106488913,1.1235055649149654,-0.7575437764378097,0.3027230184190247,0.21658054404516236,-0.1793731850923252],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.959999999999895,"joint_targets_rad":[-0.13420555106488913,1.1235055649149654,-0.7575437764378097,0.3027230184190247,0.21658054404516236,-0.1793731850923252],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9799999999998927,"qpos":[-0.12483990682799975,1.1311620835891416,-0.7745507700373803,0.27712113744326133,0.179985451251303,-0.1322357487948032,0.03500007194794143,-0.03499805645304802,0.2988766532973623,-0.032673976044906516,0.07989224457978372,1.0,1.7461081406343775e-11,8.99648563621609e-12,2.1542233606499576e-17],"qvel":[-0.10665248697207344,-0.07445381731466047,0.239359283564632,0.14628274113782053,0.054743750047753045,-0.11696227226564103,4.7287676131217003e-05,8.911362201837681e-05,-1.8585462415931823e-11,3.607216301358975e-11,2.5690111632543767e-15,8.052872522229776e-10,4.1490584412094923e-10,5.867599182717906e-16],"joint_position_rad":[-0.12483990682799975,1.1311620835891416,-0.7745507700373803,0.27712113744326133,0.179985451251303,-0.1322357487948032],"joint_velocity_rad_s":[-0.10665248697207344,-0.07445381731466047,0.239359283564632,0.14628274113782053,0.054743750047753045,-0.11696227226564103],"gripper_joint_position_m":[0.03500007194794143,-0.03499805645304802],"tcp_position_m":[0.3422131660348967,-0.03115708399281182,0.2564026274358908],"tcp_quaternion_wxyz":[0.5343048808518279,0.09882834273262756,0.8391247498673181,0.024918008161713186],"object_position_m":[0.2988766532973623,-0.032673976044906516,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7461081406343775e-11,8.99648563621609e-12,2.1542233606499576e-17],"object_linear_velocity_m_s":[-1.8585462415931823e-11,3.607216301358975e-11,2.5690111632543767e-15],"object_angular_velocity_rad_s":[8.052872522229776e-10,4.149058441209493e-10,5.867599181708356e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999968892},{"geom_ids":[1,90],"normal_force_n":0.09809999999027624},{"geom_ids":[1,90],"normal_force_n":0.09810000000311082},{"geom_ids":[1,90],"normal_force_n":0.09810000000972377}],"native_actuator_controls":[-0.13420555106488913,1.1235055649149654,-0.7575437764378097,0.3027230184190247,0.21658054404516236,-0.1793731850923252,0.035],"actuator_force_native":[-0.21598910409078442,-0.24025240736079922,0.1637630701424868,0.2926615333414322,0.2838353028669638,-0.29593095457675855,-0.00023931629831297485],"issued_joint_targets_rad":[-0.1362672304439562,1.122073224962035,-0.7525899720958887,0.30534318075286077,0.2172950239627235,-0.18154192091988688],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9799999999998927,"joint_targets_rad":[-0.1362672304439562,1.122073224962035,-0.7525899720958887,0.30534318075286077,0.2172950239627235,-0.18154192091988688],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9999999999998905,"qpos":[-0.12700104656238645,1.1296200554309672,-0.7696324999820899,0.28019527454691184,0.18095239371146507,-0.13464591852708346,0.03500007104006152,-0.034997967867469296,0.2988766532971116,-0.03267397604441995,0.07989224457978372,1.0,1.517974856168683e-11,7.821063199507372e-12,2.37679538461323e-17],"qvel":[-0.10486261506940166,-0.07229456653914254,0.24011582042516252,0.1425668359525815,0.0532208799554234,-0.11534149232724666,4.60941557455963e-05,8.774791058591132e-05,-9.554701811086618e-12,1.8544529235913334e-11,2.570398942035158e-15,-6.463834801825622e-10,-3.330366788424839e-10,6.35706523958287e-17],"joint_position_rad":[-0.12700104656238645,1.1296200554309672,-0.7696324999820899,0.28019527454691184,0.18095239371146507,-0.13464591852708346],"joint_velocity_rad_s":[-0.10486261506940166,-0.07229456653914254,0.24011582042516252,0.1425668359525815,0.0532208799554234,-0.11534149232724666],"gripper_joint_position_m":[0.03500007104006152,-0.034997967867469296],"tcp_position_m":[0.341222007411523,-0.03161140531035017,0.2546367071671904],"tcp_quaternion_wxyz":[0.5325589876328107,0.09995697918410071,0.8401025402879839,0.024844492459726007],"object_position_m":[0.2988766532971116,-0.03267397604441995,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.517974856168683e-11,7.821063199507372e-12,2.37679538461323e-17],"object_linear_velocity_m_s":[-9.554701811086618e-12,1.8544529235913334e-11,2.570398942035158e-15],"object_angular_velocity_rad_s":[-6.463834801825622e-10,-3.3303667884248395e-10,6.357065238183465e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000103124},{"geom_ids":[1,90],"normal_force_n":0.09810000003223326},{"geom_ids":[1,90],"normal_force_n":0.09809999998968762},{"geom_ids":[1,90],"normal_force_n":0.0980999999677666}],"native_actuator_controls":[-0.1362672304439562,1.122073224962035,-0.7525899720958887,0.30534318075286077,0.2172950239627235,-0.18154192091988688,0.035],"actuator_force_native":[-0.2169816351785716,-0.2422736048188625,0.1628231287702846,0.2930820684750497,0.2835949825794488,-0.29594778543716416,-0.00023331238118862174],"issued_joint_targets_rad":[-0.138284010938888,1.120681509952191,-0.7476216404092401,0.3078655790673953,0.21798129775632522,-0.1836522288538362],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9999999999998905,"joint_targets_rad":[-0.138284010938888,1.120681509952191,-0.7476216404092401,0.3078655790673953,0.21798129775632522,-0.1836522288538362],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0199999999998886,"qpos":[-0.12912455333104983,1.1281214935817676,-0.7647010593604958,0.2831882088095172,0.18189456986268746,-0.13701913826777468,0.03500006599609256,-0.03499787519428519,0.2988766532968206,-0.03267397604385525,0.07989224457978372,1.0,1.6275004081318196e-11,8.385349589112497e-12,2.783155340154057e-17],"qvel":[-0.10293462804076105,-0.07018252750937656,0.24090795509492735,0.138716555372643,0.05169762102400295,-0.11357547864760867,4.484908076652579e-05,8.623869812752005e-05,-1.0353218990374163e-11,2.0094411448163062e-11,2.567623384473595e-15,-5.717332289232743e-10,-2.9457401825208684e-10,1.160637464357316e-16],"joint_position_rad":[-0.12912455333104983,1.1281214935817676,-0.7647010593604958,0.2831882088095172,0.18189456986268746,-0.13701913826777468],"joint_velocity_rad_s":[-0.10293462804076105,-0.07018252750937656,0.24090795509492735,0.138716555372643,0.05169762102400295,-0.11357547864760867],"gripper_joint_position_m":[0.03500006599609256,-0.03499787519428519],"tcp_position_m":[0.3402313670192255,-0.03205208775908975,0.25285592589424816],"tcp_quaternion_wxyz":[0.5307968978068535,0.10106127477421566,0.8410873252783222,0.024766575778438226],"object_position_m":[0.2988766532968206,-0.03267397604385525,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6275004081318196e-11,8.385349589112497e-12,2.783155340154057e-17],"object_linear_velocity_m_s":[-1.0353218990374163e-11,2.0094411448163062e-11,2.567623384473595e-15],"object_angular_velocity_rad_s":[-5.717332289232743e-10,-2.945740182520869e-10,1.1606374641502546e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999913907},{"geom_ids":[1,90],"normal_force_n":0.09809999999730891},{"geom_ids":[1,90],"normal_force_n":0.0981000000008609},{"geom_ids":[1,90],"normal_force_n":0.09810000000269117}],"native_actuator_controls":[-0.138284010938888,1.120681509952191,-0.7476216404092401,0.3078655790673953,0.21798129775632522,-0.1836522288538362,0.035],"actuator_force_native":[-0.21808346842324688,-0.2442860528192483,0.1618137406258242,0.29351203345191124,0.2833208474003732,-0.29596768788920236,-0.00022688524753489148],"issued_joint_targets_rad":[-0.14025304147020873,1.119329309459012,-0.7426381425589488,0.3102871981095844,0.21863965602244093,-0.18570068599044237],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0199999999998886,"joint_targets_rad":[-0.14025304147020873,1.119329309459012,-0.7426381425589488,0.3102871981095844,0.21863965602244093,-0.18570068599044237],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0399999999998863,"qpos":[-0.13120769337633365,1.1266654070808273,-0.7597559637672961,0.2860970534241272,0.1828127935296124,-0.13935231331222744,0.035000057611404164,-0.03499777854843412,0.29887665329653623,-0.03267397604330338,0.07989224457978372,1.0,1.7121232466525903e-11,8.821337122646549e-12,3.244198321273821e-17],"qvel":[-0.10086923234214713,-0.06812333819962473,0.24173069310749346,0.13473120943068756,0.05020246810164263,-0.11166042623814172,4.3562348149411834e-05,8.461056273343485e-05,-1.1288266437778177e-11,2.190926715035894e-11,2.5690111632543763e-15,-4.284158101018113e-10,-2.2073242090280733e-10,2.1190245447567648e-16],"joint_position_rad":[-0.13120769337633365,1.1266654070808273,-0.7597559637672961,0.2860970534241272,0.1828127935296124,-0.13935231331222744],"joint_velocity_rad_s":[-0.10086923234214713,-0.06812333819962473,0.24173069310749346,0.13473120943068756,0.05020246810164263,-0.11166042623814172],"gripper_joint_position_m":[0.035000057611404164,-0.03499777854843412],"tcp_position_m":[0.3392408385085115,-0.03247838553443865,0.2510603246303356],"tcp_quaternion_wxyz":[0.5290182531345073,0.10214027072613097,0.8420793986058334,0.02468480079207896],"object_position_m":[0.29887665329653623,-0.03267397604330338,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7121232466525903e-11,8.821337122646549e-12,3.244198321273821e-17],"object_linear_velocity_m_s":[-1.1288266437778177e-11,2.190926715035894e-11,2.5690111632543763e-15],"object_angular_velocity_rad_s":[-4.284158101018113e-10,-2.2073242090280736e-10,2.1190245445407328e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999834193},{"geom_ids":[1,90],"normal_force_n":0.09809999999481743},{"geom_ids":[1,90],"normal_force_n":0.09810000000165807},{"geom_ids":[1,90],"normal_force_n":0.09810000000518258}],"native_actuator_controls":[-0.14025304147020873,1.119329309459012,-0.7426381425589488,0.3102871981095844,0.21863965602244093,-0.18570068599044237,0.035],"actuator_force_native":[-0.2192816857992721,-0.24627111874710295,0.16077223113032346,0.2939497402648499,0.2829649227758213,-0.2959930874249368,-0.00022011619691353346],"issued_joint_targets_rad":[-0.14217158383708206,1.118015481942741,-0.7376390971952037,0.3126050009308305,0.21927110016127138,-0.18768383810703435],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0399999999998863,"joint_targets_rad":[-0.14217158383708206,1.118015481942741,-0.7376390971952037,0.3126050009308305,0.21927110016127138,-0.18768383810703435],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.059999999999884,"qpos":[-0.13324764645468037,1.1252507140935253,-0.7547965663588795,0.28891889863664294,0.18370740219170198,-0.1416423105188179,0.03500004619628008,-0.034997678668914706,0.29887665329625956,-0.03267397604276646,0.07989224457978372,1.0,1.7587093377176807e-11,9.061336037296625e-12,3.757173605259615e-17],"qvel":[-0.09866497586583522,-0.06611767314284057,0.24258576411518512,0.13060952214178081,0.04871530271272961,-0.10959549132268144,4.222850089034248e-05,8.281624606708872e-05,-1.2541940909302184e-11,2.4342583136386976e-11,2.5690111632543756e-15,-1.9007185426464462e-10,-9.793192564553869e-11,3.868813535379316e-16],"joint_position_rad":[-0.13324764645468037,1.1252507140935253,-0.7547965663588795,0.28891889863664294,0.18370740219170198,-0.1416423105188179],"joint_velocity_rad_s":[-0.09866497586583522,-0.06611767314284057,0.24258576411518512,0.13060952214178081,0.04871530271272961,-0.10959549132268144],"gripper_joint_position_m":[0.03500004619628008,-0.034997678668914706],"tcp_position_m":[0.3382500245055822,-0.032889557006204106,0.2492499892390266],"tcp_quaternion_wxyz":[0.5272228554039907,0.1031929930468453,0.843078954100562,0.024599676388096698],"object_position_m":[0.29887665329625956,-0.03267397604276646,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7587093377176807e-11,9.061336037296625e-12,3.757173605259615e-17],"object_linear_velocity_m_s":[-1.2541940909302184e-11,2.4342583136386976e-11,2.5690111632543756e-15],"object_angular_velocity_rad_s":[-1.9007185426464462e-10,-9.793192564553871e-11,3.868813534719752e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999756164},{"geom_ids":[1,90],"normal_force_n":0.0980999999923787},{"geom_ids":[1,90],"normal_force_n":0.09810000000243832},{"geom_ids":[1,90],"normal_force_n":0.09810000000762138}],"native_actuator_controls":[-0.14217158383708206,1.118015481942741,-0.7376390971952037,0.3126050009308305,0.21927110016127138,-0.18768383810703435,0.035],"actuator_force_native":[-0.22059011126295935,-0.24823020634852355,0.1596687125181404,0.29439648105859817,0.2825640256265993,-0.29602203889814227,-0.00021299035565491842],"issued_joint_targets_rad":[-0.14403681002238547,1.116738770220351,-0.7326239644698571,0.31481591215431765,0.21987619167885716,-0.18959815742371572],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.059999999999884,"joint_targets_rad":[-0.14403681002238547,1.116738770220351,-0.7326239644698571,0.31481591215431765,0.21987619167885716,-0.18959815742371572],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.079999999999882,"qpos":[-0.1352416672512219,1.1238763091664083,-0.7498224416539978,0.29165081188808784,0.18457931750234313,-0.14388594212755812,0.03500004294671476,-0.03499758585212978,0.29887665329599233,-0.03267397604224793,0.07989224457978372,1.0,1.747331819066654e-11,9.002709687406928e-12,4.308880553378841e-17],"qvel":[-0.09632357403437339,-0.06417009546362841,0.24346644079934932,0.1263507176633421,0.04726867630243316,-0.10737677688156473,5.124433549733909e-05,7.101004179191777e-05,-1.442955866777968e-11,2.8006267190873305e-11,2.5690111632543756e-15,1.8037421880679284e-10,9.293343562047873e-11,7.063469367006812e-16],"joint_position_rad":[-0.1352416672512219,1.1238763091664083,-0.7498224416539978,0.29165081188808784,0.18457931750234313,-0.14388594212755812],"joint_velocity_rad_s":[-0.09632357403437339,-0.06417009546362841,0.24346644079934932,0.1263507176633421,0.04726867630243316,-0.10737677688156473],"gripper_joint_position_m":[0.03500004294671476,-0.03499758585212978],"tcp_position_m":[0.3372585053166811,-0.03328485386703124,0.24742500322435998],"tcp_quaternion_wxyz":[0.5254103682563279,0.10421846043995832,0.8440862701286549,0.024511752539756796],"object_position_m":[0.29887665329599233,-0.03267397604224793,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.747331819066654e-11,9.002709687406928e-12,4.308880553378841e-17],"object_linear_velocity_m_s":[-1.442955866777968e-11,2.8006267190873305e-11,2.5690111632543756e-15],"object_angular_velocity_rad_s":[1.8037421880679284e-10,9.293343562047872e-11,7.063469366982095e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999702969},{"geom_ids":[1,90],"normal_force_n":0.0980999999907155},{"geom_ids":[1,90],"normal_force_n":0.09810000000297031},{"geom_ids":[1,90],"normal_force_n":0.09810000000928451}],"native_actuator_controls":[-0.14403681002238547,1.116738770220351,-0.7326239644698571,0.31481591215431765,0.21987619167885716,-0.18959815742371572,0.035],"actuator_force_native":[-0.22199355152121925,-0.25015263836642987,0.15854597073450805,0.29485042233248215,0.2820657273114904,-0.29605698763922894,-0.00025793954607689074],"issued_joint_targets_rad":[-0.14584599097510698,1.115497894711344,-0.7275924253261431,0.31691682638962704,0.22045608377493836,-0.19144007474306235],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.079999999999882,"joint_targets_rad":[-0.14584599097510698,1.115497894711344,-0.7275924253261431,0.31691682638962704,0.22045608377493836,-0.19144007474306235],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0999999999998797,"qpos":[-0.13718692998208018,1.1225410016973931,-0.7448330050004868,0.2942898346806606,0.1854290059843533,-0.14607997785960164,0.035000103687131516,-0.034997557550472166,0.2988766532957379,-0.032673976041753997,0.07989224457978372,1.0,1.6495070802627522e-11,8.49868428342178e-12,4.8656526234094606e-17],"qvel":[-0.09384332832545508,-0.06228124577554902,0.24437634459895588,0.12195323452896724,0.04583642284377622,-0.10500353523142605,3.2029602018908385e-05,8.568889125203152e-05,-1.749450298840111e-11,3.3955085596078406e-11,2.578725614719846e-15,7.342096264267304e-10,3.7828146476223533e-10,1.2896024802647035e-15],"joint_position_rad":[-0.13718692998208018,1.1225410016973931,-0.7448330050004868,0.2942898346806606,0.1854290059843533,-0.14607997785960164],"joint_velocity_rad_s":[-0.09384332832545508,-0.06228124577554902,0.24437634459895588,0.12195323452896724,0.04583642284377622,-0.10500353523142605],"gripper_joint_position_m":[0.035000103687131516,-0.034997557550472166],"tcp_position_m":[0.3362658701971422,-0.03366353384376363,0.24558549032175486],"tcp_quaternion_wxyz":[0.5235806065223091,0.10521567830099512,0.8451015309924353,0.0244215443335346],"object_position_m":[0.2988766532957379,-0.032673976041753997,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6495070802627522e-11,8.49868428342178e-12,4.8656526234094606e-17],"object_linear_velocity_m_s":[-1.749450298840111e-11,3.3955085596078406e-11,2.578725614719846e-15],"object_angular_velocity_rad_s":[7.342096264267304e-10,3.7828146476223533e-10,1.289602480192167e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999717486},{"geom_ids":[1,90],"normal_force_n":0.0980999999911696},{"geom_ids":[1,90],"normal_force_n":0.09810000000282514},{"geom_ids":[1,90],"normal_force_n":0.09810000000883042}],"native_actuator_controls":[-0.14584599097510698,1.115497894711344,-0.7275924253261431,0.31691682638962704,0.22045608377493836,-0.19144007474306235,0.035],"actuator_force_native":[-0.22350823781486895,-0.2520423300061765,0.15736465095271512,0.2953134957138204,0.28151614364018607,-0.29609566598746806,-0.00016429549535512677],"issued_joint_targets_rad":[-0.147596315854199,1.1142914611434676,-0.7225440053150082,0.31890459581221325,0.2210115166493108,-0.19320594388040718],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0999999999998797,"joint_targets_rad":[-0.147596315854199,1.1142914611434676,-0.7225440053150082,0.31890459581221325,0.2210115166493108,-0.19320594388040718],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1199999999998775,"qpos":[-0.13908069391530645,1.1212435822102436,-0.739827892722288,0.2968329815874642,0.1862574952773602,-0.1482211324869113,0.035000022017184704,-0.03499738813536041,0.29887665329548824,-0.032673976041269336,0.07989224457978372,1.0,1.5329309458007998e-11,7.898044628110396e-12,5.4655680498891344e-17],"qvel":[-0.09122737690859363,-0.060455597021692474,0.24530583329443048,0.11741628007176019,0.044460956148436044,-0.10247142009209294,4.6255248842828854e-05,6.884869648139127e-05,-2.2656917853447148e-11,4.397484735659195e-11,2.574562278377502e-15,1.5402102573398106e-09,7.935517138926642e-10,2.354486458775903e-15],"joint_position_rad":[-0.13908069391530645,1.1212435822102436,-0.739827892722288,0.2968329815874642,0.1862574952773602,-0.1482211324869113],"joint_velocity_rad_s":[-0.09122737690859363,-0.060455597021692474,0.24530583329443048,0.11741628007176019,0.044460956148436044,-0.10247142009209294],"gripper_joint_position_m":[0.035000022017184704,-0.03499738813536041],"tcp_position_m":[0.33527168865699436,-0.034024852782996294,0.2437315748800848],"tcp_quaternion_wxyz":[0.5217332551219706,0.10618364785203006,0.8461249989587042,0.024329602664277868],"object_position_m":[0.29887665329548824,-0.032673976041269336,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5329309458007998e-11,7.898044628110396e-12,5.4655680498891344e-17],"object_linear_velocity_m_s":[-2.2656917853447148e-11,4.397484735659195e-11,2.574562278377502e-15],"object_angular_velocity_rad_s":[1.5402102573398106e-09,7.935517138926643e-10,2.3544864586767907e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999782046},{"geom_ids":[1,90],"normal_force_n":0.09809999999318757},{"geom_ids":[1,90],"normal_force_n":0.09810000000217962},{"geom_ids":[1,90],"normal_force_n":0.09810000000681239}],"native_actuator_controls":[-0.147596315854199,1.1142914611434676,-0.7225440053150082,0.31890459581221325,0.2210115166493108,-0.19320594388040718,0.035],"actuator_force_native":[-0.2251128705684362,-0.2538917002336092,0.15618182611023457,0.2957831686311607,0.2808487794968515,-0.29614098379681963,-0.00023215693160216766],"issued_joint_targets_rad":[-0.14928508083701233,1.1131180510268124,-0.717478449622578,0.32077603084582734,0.221543804907362,-0.19489206883800128],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1199999999998775,"joint_targets_rad":[-0.14928508083701233,1.1131180510268124,-0.717478449622578,0.32077603084582734,0.221543804907362,-0.19489206883800128],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1399999999998753,"qpos":[-0.140920154644325,1.1199827452981048,-0.7348066122484113,0.2992772375822015,0.1870655177272307,-0.15030607006700003,0.035000078411055506,-0.034997353011919696,0.2988766532952098,-0.032673976040729115,0.07989224457978372,1.0,1.599423158946858e-11,8.2406177148008e-12,6.358680754492936e-17],"qvel":[-0.08847398794501533,-0.05869472039950014,0.24625953228158184,0.11273802835439074,0.043117336813670984,-0.09977950595590485,3.746572427569604e-05,7.314438974282336e-05,-1.0086816923287753e-11,1.957751762952095e-11,2.574562278377502e-15,-5.756501394736791e-10,-2.965894369772399e-10,2.550894449801417e-16],"joint_position_rad":[-0.140920154644325,1.1199827452981048,-0.7348066122484113,0.2992772375822015,0.1870655177272307,-0.15030607006700003],"joint_velocity_rad_s":[-0.08847398794501533,-0.05869472039950014,0.24625953228158184,0.11273802835439074,0.043117336813670984,-0.09977950595590485],"gripper_joint_position_m":[0.035000078411055506,-0.034997353011919696],"tcp_position_m":[0.33427552866302507,-0.03436806818698908,0.24186340950840188],"tcp_quaternion_wxyz":[0.519868103000451,0.10712135598979226,0.8471568713967615,0.024236456400863457],"object_position_m":[0.2988766532952098,-0.032673976040729115,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.599423158946858e-11,8.2406177148008e-12,6.358680754492936e-17],"object_linear_velocity_m_s":[-1.0086816923287753e-11,1.957751762952095e-11,2.574562278377502e-15],"object_angular_velocity_rad_s":[-5.756501394736791e-10,-2.9658943697723993e-10,2.550894449653314e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999916094},{"geom_ids":[1,90],"normal_force_n":0.09809999999737741},{"geom_ids":[1,90],"normal_force_n":0.0981000000008391},{"geom_ids":[1,90],"normal_force_n":0.09810000000262264}],"native_actuator_controls":[-0.14928508083701233,1.1131180510268124,-0.717478449622578,0.32077603084582734,0.221543804907362,-0.19489206883800128,0.035],"actuator_force_native":[-0.22682415568990777,-0.2557019397058866,0.1549553486587527,0.2962615887730813,0.28010686658080663,-0.29619072877615515,-0.0001904650635986549],"issued_joint_targets_rad":[-0.1509095253406923,1.1119761211252555,-0.7123953782851501,0.32252790488294564,0.22205401109066222,-0.19649468545501117],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1399999999998753,"joint_targets_rad":[-0.1509095253406923,1.1119761211252555,-0.7123953782851501,0.32252790488294564,0.22205401109066222,-0.19649468545501117],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.159999999999873,"qpos":[-0.14270255218775468,1.1187571552308224,-0.7297687727967068,0.30161955548740066,0.18785396584327663,-0.1523314065254505,0.03500006184346512,-0.03499724840982127,0.29887665329491947,-0.03267397604016554,0.07989224457978372,1.0,1.726498032044338e-11,8.895333750446858e-12,7.501606462343158e-17],"qvel":[-0.08558598799133282,-0.0570018191139385,0.24723037058254732,0.10791728919195753,0.041829130677538566,-0.09692430242807086,3.429315430755046e-05,7.228828962190176e-05,-1.1215059328181934e-11,2.1767344475926464e-11,2.577337835939065e-15,-4.669257098809342e-10,-2.4057140536322316e-10,4.657276080017593e-16],"joint_position_rad":[-0.14270255218775468,1.1187571552308224,-0.7297687727967068,0.30161955548740066,0.18785396584327663,-0.1523314065254505],"joint_velocity_rad_s":[-0.08558598799133282,-0.0570018191139385,0.24723037058254732,0.10791728919195753,0.041829130677538566,-0.09692430242807086],"gripper_joint_position_m":[0.03500006184346512,-0.03499724840982127],"tcp_position_m":[0.3332769558064357,-0.03469244892297728,0.23998117152913961],"tcp_quaternion_wxyz":[0.5179849282794979,0.10802778813831007,0.8481973498903601,0.024142632503486167],"object_position_m":[0.29887665329491947,-0.03267397604016554,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.726498032044338e-11,8.895333750446858e-12,7.501606462343158e-17],"object_linear_velocity_m_s":[-1.1215059328181934e-11,2.1767344475926464e-11,2.577337835939065e-15],"object_angular_velocity_rad_s":[-4.669257098809342e-10,-2.405714053632232e-10,4.65727608000653e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999839689},{"geom_ids":[1,90],"normal_force_n":0.09809999999498974},{"geom_ids":[1,90],"normal_force_n":0.09810000000160307},{"geom_ids":[1,90],"normal_force_n":0.09810000000501032}],"native_actuator_controls":[-0.1509095253406923,1.1119761211252555,-0.7123953782851501,0.32252790488294564,0.22205401109066222,-0.19649468545501117,0.035],"actuator_force_native":[-0.228627912278343,-0.2574736328756586,0.15371970801179913,0.2967475298620119,0.2792567564575481,-0.29624633565350034,-0.00017393951014255116],"issued_joint_targets_rad":[-0.15246694209316575,1.1108640723630592,-0.7072945126314341,0.32415692500157656,0.22254339172012697,-0.19800995081377906],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.159999999999873,"joint_targets_rad":[-0.15246694209316575,1.1108640723630592,-0.7072945126314341,0.32415692500157656,0.22254339172012697,-0.19800995081377906],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.179999999999871,"qpos":[-0.14442513594704218,1.1175653964268315,-0.724714007600021,0.30385685336082763,0.1886238393703226,-0.15429369665569315,0.035000039220735774,-0.03499713649944484,0.29887665329463364,-0.03267397603961065,0.07989224457978372,1.0,1.8029330762140373e-11,9.289165608545293e-12,8.780777224308092e-17],"qvel":[-0.08256486289046475,-0.05538030570740735,0.24821520008870526,0.10295234922385954,0.04060663272337015,-0.09390312832230022,4.1855544392846244e-05,6.1014767960319e-05,-1.2528913323368772e-11,2.4317352240585765e-11,2.574562278377502e-15,-2.586694785394224e-10,-1.3327165223137882e-10,8.502988620084129e-16],"joint_position_rad":[-0.14442513594704218,1.1175653964268315,-0.724714007600021,0.30385685336082763,0.1886238393703226,-0.15429369665569315],"joint_velocity_rad_s":[-0.08256486289046475,-0.05538030570740735,0.24821520008870526,0.10295234922385954,0.04060663272337015,-0.09390312832230022],"gripper_joint_position_m":[0.035000039220735774,-0.03499713649944484],"tcp_position_m":[0.3322755220391973,-0.0349972651228845,0.23808505547310693],"tcp_quaternion_wxyz":[0.5160835077764041,0.10890192173821571,0.849246634554259,0.024048661941804227],"object_position_m":[0.29887665329463364,-0.03267397603961065,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8029330762140373e-11,9.289165608545293e-12,8.780777224308092e-17],"object_linear_velocity_m_s":[-1.2528913323368772e-11,2.4317352240585765e-11,2.574562278377502e-15],"object_angular_velocity_rad_s":[-2.586694785394224e-10,-1.332716522313789e-10,8.502988620582624e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999760632},{"geom_ids":[1,90],"normal_force_n":0.09809999999251813},{"geom_ids":[1,90],"normal_force_n":0.09810000000239373},{"geom_ids":[1,90],"normal_force_n":0.09810000000748187}],"native_actuator_controls":[-0.15246694209316575,1.1108640723630592,-0.7072945126314341,0.32415692500157656,0.22254339172012697,-0.19800995081377906,0.035],"actuator_force_native":[-0.23052017723756002,-0.2592043965647548,0.15248359704342818,0.2972411195106588,0.2782855744129886,-0.2963078490974087,-0.0002108465513950275],"issued_joint_targets_rad":[-0.15395464911445608,1.1097802007529483,-0.7021755995090866,0.3256597524944796,0.2230133482588067,-0.19943395504698874],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.179999999999871,"joint_targets_rad":[-0.15395464911445608,1.1097802007529483,-0.7021755995090866,0.3256597524944796,0.2230133482588067,-0.19943395504698874],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1999999999998687,"qpos":[-0.1460850855158178,1.1164059498307537,-0.7196420655729827,0.3059860124510473,0.18937683282890766,-0.15618896403887433,0.0350000751902527,-0.03499708183265506,0.2988766532943552,-0.032673976039070345,0.07989224457978372,1.0,1.8167959143985253e-11,9.360617227090578e-12,1.0170957592440158e-16],"qvel":[-0.07940509830412014,-0.053835675872336515,0.2492201092823445,0.0978422289587463,0.03944184812137575,-0.09071332620046828,2.4075501868496382e-05,7.339507412606832e-05,-1.4345202986374691e-11,2.7842497312070686e-11,2.5759500571582836e-15,8.139888617869922e-11,4.1941479688747666e-11,1.552431554728574e-15],"joint_position_rad":[-0.1460850855158178,1.1164059498307537,-0.7196420655729827,0.3059860124510473,0.18937683282890766,-0.15618896403887433],"joint_velocity_rad_s":[-0.07940509830412014,-0.053835675872336515,0.2492201092823445,0.0978422289587463,0.03944184812137575,-0.09071332620046828],"gripper_joint_position_m":[0.0350000751902527,-0.03499708183265506],"tcp_position_m":[0.3312707284382599,-0.035281719280121485,0.2361752170759538],"tcp_quaternion_wxyz":[0.5141634184976107,0.10974285540455997,0.8503050210666707,0.023955289923384505],"object_position_m":[0.2988766532943552,-0.032673976039070345,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8167959143985253e-11,9.360617227090578e-12,1.0170957592440158e-16],"object_linear_velocity_m_s":[-1.4345202986374691e-11,2.7842497312070686e-11,2.5759500571582836e-15],"object_angular_velocity_rad_s":[8.139888617869923e-11,4.194147968874763e-11,1.5524315548231204e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999698234},{"geom_ids":[1,90],"normal_force_n":0.09809999999056777},{"geom_ids":[1,90],"normal_force_n":0.09810000000301766},{"geom_ids":[1,90],"normal_force_n":0.09810000000943223}],"native_actuator_controls":[-0.15395464911445608,1.1097802007529483,-0.7021755995090866,0.3256597524944796,0.2230133482588067,-0.19943395504698874,0.035],"actuator_force_native":[-0.2325395963704615,-0.26088154686276255,0.1512167386999721,0.29773845694356105,0.2772023821169267,-0.29637992078044184,-0.0001233851194504254],"issued_joint_targets_rad":[-0.15536997715119163,1.108722692291997,-0.6970384954263855,0.3270331996272648,0.2234659924589667,-0.20076252165498232],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1999999999998687,"joint_targets_rad":[-0.15536997715119163,1.108722692291997,-0.6970384954263855,0.3270331996272648,0.2234659924589667,-0.20076252165498232],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2199999999998665,"qpos":[-0.14767909232103052,1.1152772336822818,-0.7145527006564546,0.3080030031162673,0.19011451257681675,-0.15801354553907965,0.034999983746635065,-0.0349968967337523,0.2988766532940882,-0.032673976038551863,0.07989224457978372,1.0,1.7450229178353864e-11,8.99083268139463e-12,1.1602573573379352e-16],"qvel":[-0.07610475255347547,-0.05237085223741249,0.25022882237224536,0.092594094434214,0.03839618460646335,-0.08735843589172503,3.6177455288790775e-05,5.7123435136544874e-05,-1.7182527118820337e-11,3.334943533244241e-11,2.570398942035158e-15,5.999382459434621e-10,3.0910454953467673e-10,2.8343493401211333e-15],"joint_position_rad":[-0.14767909232103052,1.1152772336822818,-0.7145527006564546,0.3080030031162673,0.19011451257681675,-0.15801354553907965],"joint_velocity_rad_s":[-0.07610475255347547,-0.05237085223741249,0.25022882237224536,0.092594094434214,0.03839618460646335,-0.08735843589172503],"gripper_joint_position_m":[0.034999983746635065,-0.0349968967337523],"tcp_position_m":[0.3302620915370128,-0.0355449003815313,0.234251846727487],"tcp_quaternion_wxyz":[0.5122243068285269,0.11054899787158157,0.8513728541124164,0.023862980620657753],"object_position_m":[0.2988766532940882,-0.032673976038551863,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7450229178353864e-11,8.99083268139463e-12,1.1602573573379352e-16],"object_linear_velocity_m_s":[-1.7182527118820337e-11,3.334943533244241e-11,2.570398942035158e-15],"object_angular_velocity_rad_s":[5.99938245943462e-10,3.091045495346768e-10,2.834349340122815e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999691325},{"geom_ids":[1,90],"normal_force_n":0.09809999999035202},{"geom_ids":[1,90],"normal_force_n":0.09810000000308673},{"geom_ids":[1,90],"normal_force_n":0.09810000000964801}],"native_actuator_controls":[-0.15536997715119163,1.108722692291997,-0.6970384954263855,0.3270331996272648,0.2234659924589667,-0.20076252165498232,0.035],"actuator_force_native":[-0.2347470236455127,-0.26250905003570324,0.14999230654429851,0.29823738826882895,0.27592052191180416,-0.29645210732143945,-0.000180237141846451],"issued_joint_targets_rad":[-0.1567098845491566,1.1076896366527273,-0.6918831086143241,0.3282733829210128,0.22390345716677165,-0.20199193820799904],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2199999999998665,"joint_targets_rad":[-0.1567098845491566,1.1076896366527273,-0.6918831086143241,0.3282733829210128,0.22390345716677165,-0.20199193820799904],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2399999999998643,"qpos":[-0.14920426426459832,1.1141775636025817,-0.7094455371299765,0.309904692404884,0.1908382067620555,-0.159763901179768,0.03500002510919219,-0.034996843226028945,0.298876653293838,-0.03267397603806614,0.07989224457978372,1.0,1.5516811131979203e-11,7.994684057226422e-12,1.2921094996312328e-16],"qvel":[-0.07267171602149233,-0.0509886323938456,0.2512493896592923,0.08720097006706112,0.03743088377327954,-0.08383508169681238,3.6591907678464734e-05,5.1059951587253934e-05,-2.189523877578843e-11,4.2496207497813245e-11,2.5703989420351585e-15,1.3631372323612772e-09,7.023277183597324e-10,5.174783208634063e-15],"joint_position_rad":[-0.14920426426459832,1.1141775636025817,-0.7094455371299765,0.309904692404884,0.1908382067620555,-0.159763901179768],"joint_velocity_rad_s":[-0.07267171602149233,-0.0509886323938456,0.2512493896592923,0.08720097006706112,0.03743088377327954,-0.08383508169681238],"gripper_joint_position_m":[0.03500002510919219,-0.034996843226028945],"tcp_position_m":[0.32924911360369663,-0.03578602441455866,0.2323151663735758],"tcp_quaternion_wxyz":[0.5102659215985149,0.11131921182924939,0.8524503500505226,0.023772316497872092],"object_position_m":[0.298876653293838,-0.03267397603806614,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5516811131979203e-11,7.994684057226422e-12,1.2921094996312328e-16],"object_linear_velocity_m_s":[-2.189523877578843e-11,4.2496207497813245e-11,2.5703989420351585e-15],"object_angular_velocity_rad_s":[1.363137232361277e-09,7.023277183597325e-10,5.174783208704182e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999808992},{"geom_ids":[1,90],"normal_force_n":0.0980999999940295},{"geom_ids":[1,90],"normal_force_n":0.09810000000191008},{"geom_ids":[1,90],"normal_force_n":0.09810000000597048}],"native_actuator_controls":[-0.1567098845491566,1.1076896366527273,-0.6918831086143241,0.3282733829210128,0.22390345716677165,-0.20199193820799904,0.035],"actuator_force_native":[-0.23709104265719994,-0.2640909940191136,0.14874733295572895,0.29874277030984864,0.274506178387242,-0.296527747737092,-0.000183963906079887],"issued_joint_targets_rad":[-0.15797169254169907,1.106678958740405,-0.6867091880091278,0.3293770954840292,0.22432765001507798,-0.2031184360178174],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2399999999998643,"joint_targets_rad":[-0.15797169254169907,1.106678958740405,-0.6867091880091278,0.3293770954840292,0.22432765001507798,-0.2031184360178174],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.259999999999862,"qpos":[-0.1506578769443247,1.1131052044515228,-0.7043202091301215,0.311687938403292,0.1915489783531081,-0.1614364626310144,0.03500005975394021,-0.03499679173311042,0.2988766532935663,-0.03267397603753909,0.07989224457978372,1.0,1.555927328267497e-11,8.016569487039247e-12,1.488401342643532e-16],"qvel":[-0.06911398647586267,-0.049692220939606256,0.2522764413707326,0.08166202487653863,0.036550983647976265,-0.08014141947296577,1.8648820203594613e-05,6.24585996351859e-05,-9.862200916749827e-12,1.91414392237163e-11,2.5676233844735958e-15,-5.809794450716595e-10,-2.9933644061715277e-10,5.606450618168558e-16],"joint_position_rad":[-0.1506578769443247,1.1131052044515228,-0.7043202091301215,0.311687938403292,0.1915489783531081,-0.1614364626310144],"joint_velocity_rad_s":[-0.06911398647586267,-0.049692220939606256,0.2522764413707326,0.08166202487653863,0.036550983647976265,-0.08014141947296577],"gripper_joint_position_m":[0.03500005975394021,-0.03499679173311042],"tcp_position_m":[0.3282313128804111,-0.036004391104189584,0.23036546518935208],"tcp_quaternion_wxyz":[0.5082881493192873,0.11205243647483759,0.8535376304113518,0.023683796431349286],"object_position_m":[0.2988766532935663,-0.03267397603753909,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.555927328267497e-11,8.016569487039247e-12,1.488401342643532e-16],"object_linear_velocity_m_s":[-9.862200916749827e-12,1.91414392237163e-11,2.5676233844735958e-15],"object_angular_velocity_rad_s":[-5.809794450716594e-10,-2.993364406171529e-10,5.606450618260736e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999936704},{"geom_ids":[1,90],"normal_force_n":0.09809999999802174},{"geom_ids":[1,90],"normal_force_n":0.0981000000006329},{"geom_ids":[1,90],"normal_force_n":0.09810000000197835}],"native_actuator_controls":[-0.15797169254169907,1.106678958740405,-0.6867091880091278,0.3293770954840292,0.22432765001507798,-0.2031184360178174,0.035],"actuator_force_native":[-0.23953531541063633,-0.26563855219140464,0.14749948282582892,0.299256158846795,0.2729602411477341,-0.29660760465858127,-9.563425862624264e-05],"issued_joint_targets_rad":[-0.1591528529512118,1.1056884583577384,-0.681516486038129,0.3303409673776652,0.22474028037935562,-0.20413804372332733],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.259999999999862,"joint_targets_rad":[-0.1591528529512118,1.1056884583577384,-0.681516486038129,0.3303409673776652,0.22474028037935562,-0.20413804372332733],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.27999999999986,"qpos":[-0.15203732615423396,1.112058323954469,-0.6991764391701601,0.3133495639584595,0.19224801212833387,-0.16302760593220977,0.03499996636187228,-0.034996617761880545,0.2988766532932887,-0.03267397603700054,0.07989224457978372,1.0,1.6418429269464916e-11,8.459240287397328e-12,1.7395988234417445e-16],"qvel":[-0.06544209988720341,-0.048486347030020784,0.253293328792186,0.07597564114493748,0.03580798818451715,-0.0762743780555498,2.9151213697676307e-05,4.7107892707201585e-05,-1.0698167143409666e-11,2.0763933729796174e-11,2.5717867208159403e-15,-4.587451961629361e-10,-2.3635817154477635e-10,1.0235974918140757e-15],"joint_position_rad":[-0.15203732615423396,1.112058323954469,-0.6991764391701601,0.3133495639584595,0.19224801212833387,-0.16302760593220977],"joint_velocity_rad_s":[-0.06544209988720341,-0.048486347030020784,0.253293328792186,0.07597564114493748,0.03580798818451715,-0.0762743780555498],"gripper_joint_position_m":[0.03499996636187228,-0.034996617761880545],"tcp_position_m":[0.32720819858043376,-0.03619934102940934,0.22840308002933546],"tcp_quaternion_wxyz":[0.5062909079088974,0.11274764344588732,0.8546347904088738,0.023597891621151387],"object_position_m":[0.2988766532932887,-0.03267397603700054,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6418429269464916e-11,8.459240287397328e-12,1.7395988234417445e-16],"object_linear_velocity_m_s":[-1.0698167143409666e-11,2.0763933729796174e-11,2.5717867208159403e-15],"object_angular_velocity_rad_s":[-4.58745196162936e-10,-2.3635817154477656e-10,1.0235974918259223e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999986025},{"geom_ids":[1,90],"normal_force_n":0.0980999999956315},{"geom_ids":[1,90],"normal_force_n":0.09810000000139757},{"geom_ids":[1,90],"normal_force_n":0.09810000000436846}],"native_actuator_controls":[-0.1591528529512118,1.1056884583577384,-0.681516486038129,0.3303409673776652,0.22474028037935562,-0.20413804372332733,0.035],"actuator_force_native":[-0.24203164432221058,-0.26715751258834075,0.14632960660156158,0.29977793104354156,0.27121070023344185,-0.2966928108278508,-0.00014441054337943626],"issued_joint_targets_rad":[-0.160250937438171,1.1047157761264246,-0.6763048411899457,0.33116151300553387,0.22514324637112176,-0.20504665491575189],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.27999999999986,"joint_targets_rad":[-0.160250937438171,1.1047157761264246,-0.6763048411899457,0.33116151300553387,0.22514324637112176,-0.20504665491575189],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2999999999998577,"qpos":[-0.15334006401059927,1.111034933062866,-0.6940139732407088,0.31488634812240346,0.19293665157305642,-0.16453363750082364,0.03499999344174925,-0.03499656408296568,0.29887665329301866,-0.03267397603647651,0.07989224457978372,1.0,1.6962421381189484e-11,8.739527141516436e-12,2.0207431921751618e-16],"qvel":[-0.06165159002891258,-0.04737920200207165,0.25431519571181127,0.07013936119169784,0.035149950311363726,-0.07223199333950237,2.9266957928066856e-05,4.1040960758380764e-05,-1.1800866897213174e-11,2.290413536751957e-11,2.570398942035159e-15,-2.5293586736887854e-10,-1.3031955268166483e-10,1.868842647910619e-15],"joint_position_rad":[-0.15334006401059927,1.111034933062866,-0.6940139732407088,0.31488634812240346,0.19293665157305642,-0.16453363750082364],"joint_velocity_rad_s":[-0.06165159002891258,-0.04737920200207165,0.25431519571181127,0.07013936119169784,0.035149950311363726,-0.07223199333950237],"gripper_joint_position_m":[0.03499999344174925,-0.03499656408296568],"tcp_position_m":[0.3261792540236274,-0.03637022988447524,0.22642838041559304],"tcp_quaternion_wxyz":[0.5042741287251475,0.11340381103364273,0.8557419122359226,0.023515067177137833],"object_position_m":[0.29887665329301866,-0.03267397603647651,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6962421381189484e-11,8.739527141516436e-12,2.0207431921751618e-16],"object_linear_velocity_m_s":[-1.1800866897213174e-11,2.290413536751957e-11,2.570398942035159e-15],"object_angular_velocity_rad_s":[-2.5293586736887843e-10,-1.3031955268166499e-10,1.8688426479200413e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999782279},{"geom_ids":[1,90],"normal_force_n":0.09809999999319471},{"geom_ids":[1,90],"normal_force_n":0.09810000000217727},{"geom_ids":[1,90],"normal_force_n":0.0981000000068053}],"native_actuator_controls":[-0.160250937438171,1.1047157761264246,-0.6763048411899457,0.33116151300553387,0.22514324637112176,-0.20504665491575189,0.035],"actuator_force_native":[-0.24461192406117505,-0.2686365449049646,0.14515458550199156,0.3003097893667288,0.2693410225136079,-0.2967821841400289,-0.00014607245961029136],"issued_joint_targets_rad":[-0.16126359773970397,1.1037583333460879,-0.6710741169397595,0.33183518059725703,0.2255386827182156,-0.20584008156042102],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2999999999998577,"joint_targets_rad":[-0.16126359773970397,1.1037583333460879,-0.6710741169397595,0.33183518059725703,0.2255386827182156,-0.20584008156042102],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3199999999998555,"qpos":[-0.154563577501283,1.1100329150128527,-0.6888325238785122,0.31629501721394077,0.19361592625392518,-0.16595081655164834,0.03500002975965743,-0.03499652530307497,0.29887665329274204,-0.03267397603593951,0.07989224457978372,1.0,1.7987763418046844e-11,9.26783103304622e-12,2.3699134498067186e-16],"qvel":[-0.05775375711084099,-0.04637576435907993,0.25532335405151196,0.06415071040994594,0.03462915658057918,-0.06801119790963504,1.952062887869363e-05,4.445483647218829e-05,-1.3747251593368521e-11,2.6681779828585525e-11,2.577337835939066e-15,3.84650338340223e-11,1.9819860835763305e-11,3.4120366837926314e-15],"joint_position_rad":[-0.154563577501283,1.1100329150128527,-0.6888325238785122,0.31629501721394077,0.19361592625392518,-0.16595081655164834],"joint_velocity_rad_s":[-0.05775375711084099,-0.04637576435907993,0.25532335405151196,0.06415071040994594,0.03462915658057918,-0.06801119790963504],"gripper_joint_position_m":[0.03500002975965743,-0.03499652530307497],"tcp_position_m":[0.3251439750811358,-0.03651645889754216,0.22444181590130086],"tcp_quaternion_wxyz":[0.5022379150255752,0.11401993182162427,0.8568589725895432,0.02343571955259133],"object_position_m":[0.29887665329274204,-0.03267397603593951,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7987763418046844e-11,9.26783103304622e-12,2.3699134498067186e-16],"object_linear_velocity_m_s":[-1.3747251593368521e-11,2.6681779828585525e-11,2.577337835939066e-15],"object_angular_velocity_rad_s":[3.846503383402236e-11,1.9819860835763202e-11,3.412036683847698e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999685705},{"geom_ids":[1,90],"normal_force_n":0.09809999999017603},{"geom_ids":[1,90],"normal_force_n":0.09810000000314298},{"geom_ids":[1,90],"normal_force_n":0.09810000000982395}],"native_actuator_controls":[-0.16126359773970397,1.1037583333460879,-0.6710741169397595,0.33183518059725703,0.2255386827182156,-0.20584008156042102,0.035],"actuator_force_native":[-0.24723283351947245,-0.27008771154578426,0.14405578484265646,0.30085298328292076,0.26728382977203524,-0.29687585322327426,-9.8793530690644e-05],"issued_joint_targets_rad":[-0.1621885182597532,1.1028133207775834,-0.665824146408381,0.3323582663366964,0.22592852729232987,-0.20651397059344984],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3199999999998555,"joint_targets_rad":[-0.1621885182597532,1.1028133207775834,-0.665824146408381,0.3323582663366964,0.22592852729232987,-0.20651397059344984],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3399999999998533,"qpos":[-0.15570543190614472,1.1090499723373515,-0.683631883365471,0.3175722365834042,0.19428714787544787,-0.16727531643207846,0.03499999823844846,-0.03499642229922981,0.29887665329247043,-0.0326739760354125,0.07989224457978372,1.0,1.7933629425214647e-11,9.23994850645041e-12,2.735632143059336e-16],"qvel":[-0.05374943672594418,-0.045485517380653644,0.2563207910943533,0.058006463126504745,0.034235530980040785,-0.0636087039848389,2.309680352897446e-05,3.5365701321395805e-05,-1.6617000649487525e-11,3.225160404401954e-11,2.5773378359390665e-15,5.003125439044379e-10,2.5777666068944317e-10,6.229509561815442e-15],"joint_position_rad":[-0.15570543190614472,1.1090499723373515,-0.683631883365471,0.3175722365834042,0.19428714787544787,-0.16727531643207846],"joint_velocity_rad_s":[-0.05374943672594418,-0.045485517380653644,0.2563207910943533,0.058006463126504745,0.034235530980040785,-0.0636087039848389],"gripper_joint_position_m":[0.03499999823844846,-0.03499642229922981],"tcp_position_m":[0.3241018285059598,-0.03663744536719671,0.22244387761342166],"tcp_quaternion_wxyz":[0.5001823683408865,0.11459500546824195,0.8579859451532028,0.023360244908855642],"object_position_m":[0.29887665329247043,-0.0326739760354125,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7933629425214647e-11,9.23994850645041e-12,2.735632143059336e-16],"object_linear_velocity_m_s":[-1.6617000649487525e-11,3.225160404401954e-11,2.5773378359390665e-15],"object_angular_velocity_rad_s":[5.003125439044379e-10,2.577766606894432e-10,6.229509561833371e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999660285},{"geom_ids":[1,90],"normal_force_n":0.09809999998938185},{"geom_ids":[1,90],"normal_force_n":0.09810000000339707},{"geom_ids":[1,90],"normal_force_n":0.09810000001061822}],"native_actuator_controls":[-0.1621885182597532,1.1028133207775834,-0.665824146408381,0.3323582663366964,0.22592852729232987,-0.20651397059344984,0.035],"actuator_force_native":[-0.24989972465895782,-0.2715045378781724,0.14301500109543497,0.301408874499165,0.26506049769875895,-0.2969734856364552,-0.00011541355558319921],"issued_joint_targets_rad":[-0.16302349310364628,1.1018776614116181,-0.6605548451896004,0.3327269710271254,0.2263151052102971,-0.20706386366444898],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3399999999998533,"joint_targets_rad":[-0.16302349310364628,1.1018776614116181,-0.6605548451896004,0.3327269710271254,0.2263151052102971,-0.20706386366444898],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.359999999999851,"qpos":[-0.15676323462596092,1.108083611658657,-0.6784118281626081,0.3187146015743764,0.19495153159994436,-0.16850323752924223,0.03500001927403387,-0.034996372222869096,0.29887665329221036,-0.03267397603490795,0.07989224457978372,1.0,1.652329369735407e-11,8.513303859061309e-12,3.085204832865606e-16],"qvel":[-0.04963794530806672,-0.044718907750490686,0.2573151545855861,0.051703321484600426,0.033939618450711063,-0.05902107014867121,2.1688743038988383e-05,3.067161701045172e-05,-2.1078123497674012e-11,4.091009117186798e-11,2.575950057158285e-15,1.2058900049884573e-09,6.213115829661234e-10,1.1373459305960942e-14],"joint_position_rad":[-0.15676323462596092,1.108083611658657,-0.6784118281626081,0.3187146015743764,0.19495153159994436,-0.16850323752924223],"joint_velocity_rad_s":[-0.04963794530806672,-0.044718907750490686,0.2573151545855861,0.051703321484600426,0.033939618450711063,-0.05902107014867121],"gripper_joint_position_m":[0.03500001927403387,-0.034996372222869096],"tcp_position_m":[0.3230522721407698,-0.036732639407624335,0.2204351269760489],"tcp_quaternion_wxyz":[0.498107710449295,0.11512803896746304,0.8591227305678174,0.02328899431416453],"object_position_m":[0.29887665329221036,-0.03267397603490795,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.652329369735407e-11,8.513303859061309e-12,3.085204832865606e-16],"object_linear_velocity_m_s":[-2.1078123497674012e-11,4.091009117186798e-11,2.575950057158285e-15],"object_angular_velocity_rad_s":[1.205890004988457e-09,6.213115829661237e-10,1.1373459305972401e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999745661},{"geom_ids":[1,90],"normal_force_n":0.09809999999205032},{"geom_ids":[1,90],"normal_force_n":0.09810000000254344},{"geom_ids":[1,90],"normal_force_n":0.09810000000794959}],"native_actuator_controls":[-0.16302349310364628,1.1018776614116181,-0.6605548451896004,0.3327269710271254,0.2263151052102971,-0.20706386366444898,0.035],"actuator_force_native":[-0.25263095167449556,-0.272881481010657,0.1419828649126913,0.3019781706869562,0.2627263084274607,-0.2970746561290607,-0.00010921467654978478],"issued_joint_targets_rad":[-0.16376637808738598,1.100947959352543,-0.6552661189540195,0.3329373483532402,0.22670078950645228,-0.20748514781426378],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.359999999999851,"joint_targets_rad":[-0.16376637808738598,1.100947959352543,-0.6552661189540195,0.3329373483532402,0.22670078950645228,-0.20748514781426378],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.379999999999849,"qpos":[-0.15773471907046785,1.1071311317324226,-0.6731720371686833,0.319720127659295,0.1956099982477897,-0.16963100377798104,0.03500002034057331,-0.0349963162891193,0.29887665329194124,-0.03267397603438558,0.07989224457978372,1.0,1.578470435443751e-11,8.13276168581704e-12,3.516627272145452e-16],"qvel":[-0.04544184514364403,-0.04408696193453196,0.2583451136323221,0.04575705988066739,0.033667052784264094,-0.05437349386541503,5.057186154465627e-06,3.720273317572108e-05,-9.959302217377263e-12,1.93298002997523e-11,2.5731744995967224e-15,-6.160794237616615e-10,-3.17422700665375e-10,1.232222125433902e-15],"joint_position_rad":[-0.15773471907046785,1.1071311317324226,-0.6731720371686833,0.319720127659295,0.1956099982477897,-0.16963100377798104],"joint_velocity_rad_s":[-0.04544184514364403,-0.04408696193453196,0.2583451136323221,0.04575705988066739,0.033667052784264094,-0.05437349386541503],"gripper_joint_position_m":[0.03500002034057331,-0.0349963162891193],"tcp_position_m":[0.3219947733389221,-0.03680151041235396,0.21841621739222816],"tcp_quaternion_wxyz":[0.49601436205871613,0.11561848545948536,0.8602690444285968,0.02322261073714079],"object_position_m":[0.29887665329194124,-0.03267397603438558,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.578470435443751e-11,8.13276168581704e-12,3.516627272145452e-16],"object_linear_velocity_m_s":[-9.959302217377263e-12,1.93298002997523e-11,2.5731744995967224e-15],"object_angular_velocity_rad_s":[-6.160794237616613e-10,-3.1742270066537546e-10,1.2322221254411972e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999948836},{"geom_ids":[1,90],"normal_force_n":0.09809999999840077},{"geom_ids":[1,90],"normal_force_n":0.09810000000051164},{"geom_ids":[1,90],"normal_force_n":0.09810000000159923}],"native_actuator_controls":[-0.16376637808738598,1.100947959352543,-0.6552661189540195,0.3329373483532402,0.22670078950645228,-0.20748514781426378,0.035],"actuator_force_native":[-0.2553234956352295,-0.2742189807177198,0.14074788901149304,0.29990352835447354,0.2604073334102299,-0.2969811995647047,-2.6099553704694856e-05],"issued_joint_targets_rad":[-0.16441522286458818,1.10002044162888,-0.6499577568207776,0.33298679597116115,0.2270878153829391,-0.2077735468081655],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.379999999999849,"joint_targets_rad":[-0.16441522286458818,1.10002044162888,-0.6499577568207776,0.33298679597116115,0.2270878153829391,-0.2077735468081655],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3999999999998467,"qpos":[-0.1586183130886197,1.1061896872440184,-0.6679116028604417,0.3206022116691105,0.19626291020251097,-0.17065711080898993,0.03499989561170787,-0.03499621481015458,0.29887665329165264,-0.03267397603382532,0.07989224457978372,1.0,1.679573177719135e-11,8.653673283899787e-12,4.138699923819689e-16],"qvel":[-0.041206139029704054,-0.043590910931043635,0.2594489435948003,0.04150620240377544,0.03341316843976221,-0.04970644409068868,1.1402205187800487e-05,1.665819975058061e-05,-1.0830193613860825e-11,2.102009228508913e-11,2.5690111632543783e-15,-5.10957373238689e-10,-2.632609754535527e-10,2.2497183190382446e-15],"joint_position_rad":[-0.1586183130886197,1.1061896872440184,-0.6679116028604417,0.3206022116691105,0.19626291020251097,-0.17065711080898993],"joint_velocity_rad_s":[-0.041206139029704054,-0.043590910931043635,0.2594489435948003,0.04150620240377544,0.03341316843976221,-0.04970644409068868],"gripper_joint_position_m":[0.03499989561170787,-0.03499621481015458],"tcp_position_m":[0.32092889121886414,-0.036843217556028554,0.21638789777246745],"tcp_quaternion_wxyz":[0.4939030383002404,0.11607102284740779,0.8614236158352139,0.023165933918879784],"object_position_m":[0.29887665329165264,-0.03267397603382532,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.679573177719135e-11,8.653673283899787e-12,4.138699923819689e-16],"object_linear_velocity_m_s":[-1.0830193613860825e-11,2.102009228508913e-11,2.5690111632543783e-15],"object_angular_velocity_rad_s":[-5.109573732386888e-10,-2.632609754535532e-10,2.2497183190331225e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999873424},{"geom_ids":[1,90],"normal_force_n":0.09809999999604344},{"geom_ids":[1,90],"normal_force_n":0.0981000000012658},{"geom_ids":[1,90],"normal_force_n":0.09810000000395655}],"native_actuator_controls":[-0.16441522286458818,1.10002044162888,-0.6499577568207776,0.33298679597116115,0.2270878153829391,-0.2077735468081655,0.035],"actuator_force_native":[-0.2577220869289576,-0.2755850945558649,0.1390629651991233,0.2878523600631482,0.2581292991446378,-0.2966046938557225,-5.2835494253500315e-05],"issued_joint_targets_rad":[-0.16496952027847375,1.0990908383427636,-0.6446286292884504,0.33288909325202815,0.22747778097327717,-0.2079291255896342],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3999999999998467,"joint_targets_rad":[-0.16496952027847375,1.0990908383427636,-0.6446286292884504,0.33288909325202815,0.22747778097327717,-0.2079291255896342],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4199999999998445,"qpos":[-0.15941289057465965,1.105256395405625,-0.6626297511483217,0.3213957382651055,0.1969105321538871,-0.17160244471020764,0.034999882147331934,-0.03499630045052876,0.29887665329137103,-0.0326739760332784,0.07989224457978372,1.0,1.748658642603438e-11,9.009615850096615e-12,4.838521819331738e-16],"qvel":[-0.03684463739626453,-0.0432484632280288,0.26054600495862174,0.03802101624473777,0.033169188240230366,-0.04596207913367011,1.2682413022807273e-05,8.119894272266881e-06,-1.190900577032784e-11,2.311395530467692e-11,2.571786720815941e-15,-3.2394760220130733e-10,-1.6690775364366298e-10,4.107404161009568e-15],"joint_position_rad":[-0.15941289057465965,1.105256395405625,-0.6626297511483217,0.3213957382651055,0.1969105321538871,-0.17160244471020764],"joint_velocity_rad_s":[-0.03684463739626453,-0.0432484632280288,0.26054600495862174,0.03802101624473777,0.033169188240230366,-0.04596207913367011],"gripper_joint_position_m":[0.034999882147331934,-0.03499630045052876],"tcp_position_m":[0.31985445122600165,-0.036856275784448736,0.21435129054814553],"tcp_quaternion_wxyz":[0.4917751619422619,0.11648896454903243,0.8625849196380261,0.023125043740856464],"object_position_m":[0.29887665329137103,-0.0326739760332784,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.748658642603438e-11,9.009615850096615e-12,4.838521819331738e-16],"object_linear_velocity_m_s":[-1.190900577032784e-11,2.311395530467692e-11,2.571786720815941e-15],"object_angular_velocity_rad_s":[-3.239476022013071e-10,-1.6690775364366344e-10,4.107404161002752e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999792508},{"geom_ids":[1,90],"normal_force_n":0.09809999999351436},{"geom_ids":[1,90],"normal_force_n":0.09810000000207489},{"geom_ids":[1,90],"normal_force_n":0.09810000000648567}],"native_actuator_controls":[-0.16496952027847375,1.0990908383427636,-0.6446286292884504,0.33288909325202815,0.22747778097327717,-0.2079291255896342,0.035],"actuator_force_native":[-0.2603071893238056,-0.27700224888877756,0.1373597239965889,0.2696291182532189,0.25591870583355547,-0.29432369009376047,-5.869795839119618e-05],"issued_joint_targets_rad":[-0.16543074776309327,1.0981545798763,-0.6392778477721485,0.3326798294310079,0.22787307970186327,-0.20797531122569324],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4199999999998445,"joint_targets_rad":[-0.16543074776309327,1.0981545798763,-0.6392778477721485,0.3326798294310079,0.22787307970186327,-0.20797531122569324],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4399999999998423,"qpos":[-0.16011684160190642,1.1043277485689542,-0.6573265373408695,0.322123532573059,0.19755307473314535,-0.17250236852593326,0.03499990893080538,-0.03499643782708879,0.2988766532910977,-0.03267397603274776,0.07989224457978372,1.0,1.7698702483772443e-11,9.118913718130506e-12,5.605939376944956e-16],"qvel":[-0.03238629661188827,-0.043094814257868166,0.26160186743824726,0.03488446922707849,0.03293183967208482,-0.044486204149561476,1.2640065989180299e-05,6.5534862804419515e-06,-1.344033634546758e-11,2.6086038374234957e-11,2.566235605692815e-15,-2.3933098530895703e-11,-1.233003139576801e-11,7.499083279015403e-15],"joint_position_rad":[-0.16011684160190642,1.1043277485689542,-0.6573265373408695,0.322123532573059,0.19755307473314535,-0.17250236852593326],"joint_velocity_rad_s":[-0.03238629661188827,-0.043094814257868166,0.26160186743824726,0.03488446922707849,0.03293183967208482,-0.044486204149561476],"gripper_joint_position_m":[0.03499990893080538,-0.03499643782708879],"tcp_position_m":[0.3187712836548128,-0.036839514947557384,0.21230791541594252],"tcp_quaternion_wxyz":[0.48963283594898316,0.11686457697099228,0.8637527470641788,0.023098669854165234],"object_position_m":[0.2988766532910977,-0.03267397603274776,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7698702483772443e-11,9.118913718130506e-12,5.605939376944956e-16],"object_linear_velocity_m_s":[-1.344033634546758e-11,2.6086038374234957e-11,2.566235605692815e-15],"object_angular_velocity_rad_s":[-2.3933098530895555e-11,-1.2330031395768302e-11,7.499083279052009e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999722856},{"geom_ids":[1,90],"normal_force_n":0.09809999999133731},{"geom_ids":[1,90],"normal_force_n":0.09810000000277154},{"geom_ids":[1,90],"normal_force_n":0.09810000000866269}],"native_actuator_controls":[-0.16543074776309327,1.0981545798763,-0.6392778477721485,0.3326798294310079,0.22787307970186327,-0.20797531122569324,0.035],"actuator_force_native":[-0.26318100983550785,-0.27837942412300265,0.13588582830644924,0.24782952818256376,0.2538022901790522,-0.28800012077325765,-5.955756216091679e-05],"issued_joint_targets_rad":[-0.16579986252126006,1.0972065456657272,-0.63390611201787,0.33238096125889643,0.22827743226876826,-0.20794653943520633],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4399999999998423,"joint_targets_rad":[-0.16579986252126006,1.0972065456657272,-0.63390611201787,0.33238096125889643,0.22827743226876826,-0.20794653943520633],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.45999999999984,"qpos":[-0.1607283544483836,1.1033994097632471,-0.6520021294409869,0.32278768772708005,0.19819085114174187,-0.17337692989102907,0.03499994674947643,-0.03499653838962612,0.2988766532908352,-0.03267397603223814,0.07989224457978372,1.0,1.719472446602386e-11,8.85925857931545e-12,6.409728391353397e-16],"qvel":[-0.027858232839512383,-0.04316334462705701,0.26266141249435776,0.03173300636256354,0.0327141164447174,-0.043316517802404864,1.1106053065058251e-05,7.098681551380985e-06,-1.5843132912873234e-11,3.074953071860963e-11,2.5731744995967224e-15,4.327457408428766e-10,2.2296594779920299e-10,1.3691436407747347e-14],"joint_position_rad":[-0.1607283544483836,1.1033994097632471,-0.6520021294409869,0.32278768772708005,0.19819085114174187,-0.17337692989102907],"joint_velocity_rad_s":[-0.027858232839512383,-0.04316334462705701,0.26266141249435776,0.03173300636256354,0.0327141164447174,-0.043316517802404864],"gripper_joint_position_m":[0.03499994674947643,-0.03499653838962612],"tcp_position_m":[0.3176789611950284,-0.03679247090026778,0.2102592974050008],"tcp_quaternion_wxyz":[0.48747807384455644,0.11718875537557072,0.8649272281161632,0.023082746751992515],"object_position_m":[0.2988766532908352,-0.03267397603223814,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.719472446602386e-11,8.85925857931545e-12,6.409728391353397e-16],"object_linear_velocity_m_s":[-1.5843132912873234e-11,3.074953071860963e-11,2.5731744995967224e-15],"object_angular_velocity_rad_s":[4.3274574084287655e-10,2.2296594779920306e-10,1.3691436407810589e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999696435},{"geom_ids":[1,90],"normal_force_n":0.09809999999051147},{"geom_ids":[1,90],"normal_force_n":0.09810000000303569},{"geom_ids":[1,90],"normal_force_n":0.0981000000094885}],"native_actuator_controls":[-0.16579986252126006,1.0972065456657272,-0.63390611201787,0.33238096125889643,0.22827743226876826,-0.20794653943520633,0.035],"actuator_force_native":[-0.266429481632553,-0.27961240466629533,0.13437433137756472,0.22506590945983618,0.2517946366031878,-0.2807213187381654,-5.340024438238444e-05],"issued_joint_targets_rad":[-0.16607679566644326,1.0962406500988668,-0.6285143409145436,0.33199401960764485,0.22869476474670536,-0.20786145871987732],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.45999999999984,"joint_targets_rad":[-0.16607679566644326,1.0962406500988668,-0.6285143409145436,0.33199401960764485,0.22869476474670536,-0.20786145871987732],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.479999999999838,"qpos":[-0.16124656060184667,1.1024666151514442,-0.6466563914795035,0.32338720098766793,0.19882432289626012,-0.17422825486601146,0.03499997456979637,-0.03499659259028947,0.2988766532905878,-0.032673976031758,0.07989224457978372,1.0,1.5637071686746802e-11,8.056714579576475e-12,7.178034092798849e-16],"qvel":[-0.0233090530082594,-0.043469592212337545,0.26372268893139383,0.02851492247176755,0.03252033784426222,-0.04215702923988425,8.974692740738604e-06,7.109622254625928e-06,-1.9830859328900617e-11,3.848918694161946e-11,2.5773378359390665e-15,1.1064464272922365e-09,5.700766836057068e-10,2.4997224365320575e-14],"joint_position_rad":[-0.16124656060184667,1.1024666151514442,-0.6466563914795035,0.32338720098766793,0.19882432289626012,-0.17422825486601146],"joint_velocity_rad_s":[-0.0233090530082594,-0.043469592212337545,0.26372268893139383,0.02851492247176755,0.03252033784426222,-0.04215702923988425],"gripper_joint_position_m":[0.03499997456979637,-0.03499659259028947],"tcp_position_m":[0.31657690962119184,-0.03671508512205233,0.20820688598734655],"tcp_quaternion_wxyz":[0.48531265052717976,0.11745933262984913,0.8661076232753334,0.023076423483443485],"object_position_m":[0.2988766532905878,-0.032673976031758,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5637071686746802e-11,8.056714579576475e-12,7.178034092798849e-16],"object_linear_velocity_m_s":[-1.9830859328900617e-11,3.848918694161946e-11,2.5773378359390665e-15],"object_angular_velocity_rad_s":[1.1064464272922361e-09,5.700766836057075e-10,2.4997224365334387e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999770926},{"geom_ids":[1,90],"normal_force_n":0.09809999999283987},{"geom_ids":[1,90],"normal_force_n":0.09810000000229076},{"geom_ids":[1,90],"normal_force_n":0.09810000000716015}],"native_actuator_controls":[-0.16607679566644326,1.0962406500988668,-0.6285143409145436,0.33199401960764485,0.22869476474670536,-0.20786145871987732,0.035],"actuator_force_native":[-0.2698735401264294,-0.2807292431444921,0.13275060053982202,0.2016981324402387,0.2499239117380596,-0.2730964946788321,-4.385625555847206e-05],"issued_joint_targets_rad":[-0.1662621590243915,1.0952498423094708,-0.6231026786619069,0.33151873252149083,0.22912868859479976,-0.20772303675650722],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.479999999999838,"joint_targets_rad":[-0.1662621590243915,1.0952498423094708,-0.6231026786619069,0.33151873252149083,0.22912868859479976,-0.20772303675650722],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4999999999998357,"qpos":[-0.1616714080742693,1.1015241753419056,-0.6412892512825713,0.32392065389320573,0.19945401418546296,-0.1750560060185616,0.034999988330311975,-0.03499661781163948,0.2988766532903344,-0.03267397603126615,0.07989224457978372,1.0,1.4825692732028618e-11,7.63866772603858e-12,8.126238277591725e-16],"qvel":[-0.018771022389554193,-0.044038343747484755,0.2647826232791083,0.025224863165274433,0.0323529916080629,-0.04096775313540573,6.905683905218281e-06,6.167308667448924e-06,-9.371073434635309e-12,1.8188073116764605e-11,2.5703989420351597e-15,-5.827639891822091e-10,-3.002583823016422e-10,2.708243822487963e-15],"joint_position_rad":[-0.1616714080742693,1.1015241753419056,-0.6412892512825713,0.32392065389320573,0.19945401418546296,-0.1750560060185616],"joint_velocity_rad_s":[-0.018771022389554193,-0.044038343747484755,0.2647826232791083,0.025224863165274433,0.0323529916080629,-0.04096775313540573],"gripper_joint_position_m":[0.034999988330311975,-0.03499661781163948],"tcp_position_m":[0.3154645175033923,-0.03660757818569128,0.20615225819485722],"tcp_quaternion_wxyz":[0.48313851339054786,0.11767536804160253,0.8672929371316421,0.02307912122709076],"object_position_m":[0.2988766532903344,-0.03267397603126615,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4825692732028618e-11,7.63866772603858e-12,8.126238277591725e-16],"object_linear_velocity_m_s":[-9.371073434635309e-12,1.8188073116764605e-11,2.5703989420351597e-15],"object_angular_velocity_rad_s":[-5.827639891822086e-10,-3.002583823016432e-10,2.7082438224918827e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999956208},{"geom_ids":[1,90],"normal_force_n":0.0980999999986312},{"geom_ids":[1,90],"normal_force_n":0.09810000000043792},{"geom_ids":[1,90],"normal_force_n":0.09810000000136883}],"native_actuator_controls":[-0.1662621590243915,1.0952498423094708,-0.6231026786619069,0.33151873252149083,0.22912868859479976,-0.20772303675650722,0.035],"actuator_force_native":[-0.27340496406200643,-0.28175492385736334,0.13101269325760256,0.177798829305031,0.24821725668127348,-0.26521867767634744,-3.4061632004922515e-05],"issued_joint_targets_rad":[-0.16635730866817303,1.094226114323248,-0.6176712754555045,0.330953988666131,0.2295832534212198,-0.2075314766306156],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4999999999998357,"joint_targets_rad":[-0.16635730866817303,1.094226114323248,-0.6176712754555045,0.330953988666131,0.2295832534212198,-0.2075314766306156],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5199999999998335,"qpos":[-0.16200340669666416,1.1005662789330009,-0.6359006667187328,0.3243865909637255,0.20008051147340786,-0.17585952029656807,0.03499999148879958,-0.034996630535350126,0.29887665329004537,-0.03267397603070498,0.07989224457978372,1.0,1.652055971089313e-11,8.511924213792333e-12,9.66534173837384e-16],"qvel":[-0.014267884770223635,-0.04490326882616435,0.26584003303163917,0.0218627426843044,0.03221545328272908,-0.03974379440015452,5.0702194135983764e-06,4.574953154391473e-06,-1.0532872782668534e-11,2.04429643712305e-11,2.5703989420351597e-15,-5.19191734699947e-10,-2.675040326469351e-10,4.944560582815579e-15],"joint_position_rad":[-0.16200340669666416,1.1005662789330009,-0.6359006667187328,0.3243865909637255,0.20008051147340786,-0.17585952029656807],"joint_velocity_rad_s":[-0.014267884770223635,-0.04490326882616435,0.26584003303163917,0.0218627426843044,0.03221545328272908,-0.03974379440015452],"gripper_joint_position_m":[0.03499999148879958,-0.034996630535350126],"tcp_position_m":[0.3143411330562681,-0.036470348900739594,0.20409716867199174],"tcp_quaternion_wxyz":[0.4809578823551934,0.11783625327027145,0.8684819951218987,0.023090191959326066],"object_position_m":[0.29887665329004537,-0.03267397603070498,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.652055971089313e-11,8.511924213792333e-12,9.66534173837384e-16],"object_linear_velocity_m_s":[-1.0532872782668534e-11,2.04429643712305e-11,2.5703989420351597e-15],"object_angular_velocity_rad_s":[-5.191917346999464e-10,-2.6750403264693626e-10,4.944560582824288e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999875006},{"geom_ids":[1,90],"normal_force_n":0.09809999999609284},{"geom_ids":[1,90],"normal_force_n":0.09810000000124994},{"geom_ids":[1,90],"normal_force_n":0.09810000000390719}],"native_actuator_controls":[-0.16635730866817303,1.094226114323248,-0.6176712754555045,0.330953988666131,0.2295832534212198,-0.2075314766306156,0.035],"actuator_force_native":[-0.27697273386959154,-0.28269682464942036,0.12915113590007365,0.15338219467469827,0.24670423955402576,-0.25710387174024363,-2.50106490509161e-05],"issued_joint_targets_rad":[-0.1663642623533377,1.093160218411694,-0.6122203356251904,0.33029823731656743,0.2300632159068961,-0.20728630957481567],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5199999999998335,"joint_targets_rad":[-0.1663642623533377,1.093160218411694,-0.6122203356251904,0.33029823731656743,0.2300632159068961,-0.20728630957481567],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5399999999998313,"qpos":[-0.1622437986275157,1.099586302787117,-0.6304905898089967,0.3247835554461856,0.20070450766222114,-0.1766380976868014,0.03499998574124294,-0.034996643840756056,0.298876653289758,-0.03267397603014716,0.07989224457978372,1.0,1.767031496356595e-11,9.104318338432714e-12,1.1404649441868817e-15],"qvel":[-0.009957372427874431,-0.046112237942620246,0.2668967977298261,0.018430672366765214,0.03212271436904022,-0.03848457808109163,2.1976748541826595e-06,9.79053068297202e-07,-1.179629249100808e-11,2.289508868956045e-11,2.5703989420351597e-15,-3.69822411425584e-10,-1.9054439043654447e-10,9.02752583984949e-15],"joint_position_rad":[-0.1622437986275157,1.099586302787117,-0.6304905898089967,0.3247835554461856,0.20070450766222114,-0.1766380976868014],"joint_velocity_rad_s":[-0.009957372427874431,-0.046112237942620246,0.2668967977298261,0.018430672366765214,0.03212271436904022,-0.03848457808109163],"gripper_joint_position_m":[0.03499998574124294,-0.034996643840756056],"tcp_position_m":[0.31320603949744047,-0.03630401767568776,0.2020435833814452],"tcp_quaternion_wxyz":[0.47877330662216644,0.11794166829642198,0.8696734248712543,0.02310882554862172],"object_position_m":[0.298876653289758,-0.03267397603014716,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.767031496356595e-11,9.104318338432714e-12,1.1404649441868817e-15],"object_linear_velocity_m_s":[-1.179629249100808e-11,2.289508868956045e-11,2.5703989420351597e-15],"object_angular_velocity_rad_s":[-3.6982241142558344e-10,-1.9054439043654564e-10,9.027525839852628e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999795552},{"geom_ids":[1,90],"normal_force_n":0.0980999999936096},{"geom_ids":[1,90],"normal_force_n":0.0981000000020445},{"geom_ids":[1,90],"normal_force_n":0.09810000000639042}],"native_actuator_controls":[-0.1663642623533377,1.093160218411694,-0.6122203356251904,0.33029823731656743,0.2300632159068961,-0.20728630957481567,0.035],"actuator_force_native":[-0.27985023592638747,-0.28352556032074006,0.12713634605537294,0.12843391298144802,0.24540301089318906,-0.24875525175850544,-1.0418023988378877e-05],"issued_joint_targets_rad":[-0.16628577608047368,1.0920413203034187,-0.6067501092798557,0.32954901847779833,0.2305742410187904,-0.20698611312419318],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5399999999998313,"joint_targets_rad":[-0.16628577608047368,1.0920413203034187,-0.6067501092798557,0.32954901847779833,0.2305742410187904,-0.20698611312419318],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.559999999999829,"qpos":[-0.1624229032114706,1.0985757404998029,-0.6250585185745804,0.3251103657056685,0.20132819223990064,-0.17739102783813795,0.03499988070917517,-0.034996937172307105,0.2988766532894754,-0.0326739760295988,0.07989224457978372,1.0,1.821122869519565e-11,9.383008030574433e-12,1.332684043057413e-15],"qvel":[-0.008211462635008318,-0.04777215613228444,0.26798685127542793,0.014942030296051229,0.03215676341893327,-0.03719094204458174,-2.10116216226732e-06,-2.1478153481511666e-05,-1.336287598135265e-11,2.593564946018755e-11,2.574562278377504e-15,-1.0342944764938351e-10,-5.3290694722266437e-11,1.648195776286397e-14],"joint_position_rad":[-0.1624229032114706,1.0985757404998029,-0.6250585185745804,0.3251103657056685,0.20132819223990064,-0.17739102783813795],"joint_velocity_rad_s":[-0.008211462635008318,-0.04777215613228444,0.26798685127542793,0.014942030296051229,0.03215676341893327,-0.03719094204458174],"gripper_joint_position_m":[0.03499988070917517,-0.034996937172307105],"tcp_position_m":[0.3120571384942243,-0.03611811584464409,0.19999359727185018],"tcp_quaternion_wxyz":[0.4765876918195298,0.11800391564542459,0.8708641477517286,0.023127560596300084],"object_position_m":[0.2988766532894754,-0.0326739760295988,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.821122869519565e-11,9.383008030574433e-12,1.332684043057413e-15],"object_linear_velocity_m_s":[-1.336287598135265e-11,2.593564946018755e-11,2.574562278377504e-15],"object_angular_velocity_rad_s":[-1.0342944764938306e-10,-5.3290694722267316e-11,1.648195776284459e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999722147},{"geom_ids":[1,90],"normal_force_n":0.09809999999131487},{"geom_ids":[1,90],"normal_force_n":0.09810000000277855},{"geom_ids":[1,90],"normal_force_n":0.09810000000868514}],"native_actuator_controls":[-0.16628577608047368,1.0920413203034187,-0.6067501092798557,0.32954901847779833,0.2305742410187904,-0.20698611312419318,0.035],"actuator_force_native":[-0.26797251634520514,-0.28389283504931484,0.1247384872008297,0.10283595940493839,0.24422534266049745,-0.24016443979367974,1.5277443804695423e-05],"issued_joint_targets_rad":[-0.16612919363653297,1.0908559805191838,-0.6012600445195445,0.32863645581422696,0.23111654411918456,-0.2065514567593109],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.559999999999829,"joint_targets_rad":[-0.16612919363653297,1.0908559805191838,-0.6012600445195445,0.32863645581422696,0.23111654411918456,-0.2065514567593109],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.579999999999827,"qpos":[-0.16257942749921145,1.0975255866501028,-0.6196040357221643,0.3253628816205247,0.2019523935908188,-0.1781166999410518,0.0349998343610032,-0.03499751519437313,0.2988766532892016,-0.032673976029067145,0.07989224457978372,1.0,1.7990502062345226e-11,9.269284143119883e-12,1.5369150354038483e-15],"qvel":[-0.007390912453339979,-0.049845832095051605,0.26906755946979644,0.011174164156806221,0.03216447963235967,-0.03578846902276909,3.7565708913895053e-06,-2.694095404483986e-05,-1.5643508590872705e-11,3.036205249889591e-11,2.5745622783775046e-15,3.186479769606248e-10,1.6417816943342113e-10,3.009203514722467e-14],"joint_position_rad":[-0.16257942749921145,1.0975255866501028,-0.6196040357221643,0.3253628816205247,0.2019523935908188,-0.1781166999410518],"joint_velocity_rad_s":[-0.007390912453339979,-0.049845832095051605,0.26906755946979644,0.011174164156806221,0.03216447963235967,-0.03578846902276909],"gripper_joint_position_m":[0.0349998343610032,-0.03499751519437313],"tcp_position_m":[0.31089218739673724,-0.035924881587044516,0.19794964727380368],"tcp_quaternion_wxyz":[0.47440482586167937,0.11803834054197457,0.8720503020281004,0.023136164201210174],"object_position_m":[0.2988766532892016,-0.032673976029067145,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7990502062345226e-11,9.269284143119883e-12,1.5369150354038483e-15],"object_linear_velocity_m_s":[-1.5643508590872705e-11,3.036205249889591e-11,2.5745622783775046e-15],"object_angular_velocity_rad_s":[3.1864797696062485e-10,1.6417816943342102e-10,3.009203514724278e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999968178},{"geom_ids":[1,90],"normal_force_n":0.09809999999005341},{"geom_ids":[1,90],"normal_force_n":0.09810000000318223},{"geom_ids":[1,90],"normal_force_n":0.09810000000994663}],"native_actuator_controls":[-0.16612919363653297,1.0908559805191838,-0.6012600445195445,0.32863645581422696,0.23111654411918456,-0.2065514567593109,0.035],"actuator_force_native":[-0.24702672871902287,-0.28433932999827505,0.12218149886059848,0.07507214696405917,0.2433947858351182,-0.23066486464843705,-1.2157294584813627e-05],"issued_joint_targets_rad":[-0.16589086400724296,1.0895887725456155,-0.5957503887397935,0.32743075893580253,0.23168565600697041,-0.20583546979918407],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.579999999999827,"joint_targets_rad":[-0.16589086400724296,1.0895887725456155,-0.5957503887397935,0.32743075893580253,0.23168565600697041,-0.20583546979918407],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5999999999998247,"qpos":[-0.16272006386626015,1.096426346276782,-0.6141274333527771,0.32553052614058525,0.20257673150174188,-0.17881094196644867,0.034999897848283085,-0.034998000612229484,0.298876653288941,-0.032673976028561556,0.07989224457978372,1.0,1.6729325976326306e-11,8.619488048620856e-12,1.738049576903516e-15],"qvel":[-0.0066097617551861545,-0.052422028762566665,0.2701254390604127,0.006773331645478779,0.032170272374835926,-0.03411977231359456,6.446145454673795e-06,-1.765246106711182e-05,-1.931383970212389e-11,3.748570543013225e-11,2.5773378359390677e-15,9.516505596848511e-10,4.903207803144781e-10,5.4940338856435134e-14],"joint_position_rad":[-0.16272006386626015,1.096426346276782,-0.6141274333527771,0.32553052614058525,0.20257673150174188,-0.17881094196644867],"joint_velocity_rad_s":[-0.0066097617551861545,-0.052422028762566665,0.2701254390604127,0.006773331645478779,0.032170272374835926,-0.03411977231359456],"gripper_joint_position_m":[0.034999897848283085,-0.034998000612229484],"tcp_position_m":[0.3097103264078694,-0.035726837356716536,0.19591468687421446],"tcp_quaternion_wxyz":[0.4722290454326128,0.11804507005612945,0.8732296770131283,0.023130526772955493],"object_position_m":[0.298876653288941,-0.032673976028561556,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6729325976326306e-11,8.619488048620856e-12,1.738049576903516e-15],"object_linear_velocity_m_s":[-1.931383970212389e-11,3.748570543013225e-11,2.5773378359390677e-15],"object_angular_velocity_rad_s":[9.516505596848505e-10,4.903207803144796e-10,5.4940338856426217e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999726739},{"geom_ids":[1,90],"normal_force_n":0.09809999999145863},{"geom_ids":[1,90],"normal_force_n":0.09810000000273264},{"geom_ids":[1,90],"normal_force_n":0.09810000000854135}],"native_actuator_controls":[-0.16589086400724296,1.0895887725456155,-0.5957503887397935,0.32743075893580253,0.23168565600697041,-0.20583546979918407,0.035],"actuator_force_native":[-0.22061520250269417,-0.2848957546804911,0.11953637373662929,0.04214265358129765,0.2428338364900311,-0.21906561985696227,-2.814465859657389e-05],"issued_joint_targets_rad":[-0.16554753544372175,1.0882219184237603,-0.5902239119828526,0.3258241864986238,0.23228363780522998,-0.20472055848204773],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5999999999998247,"joint_targets_rad":[-0.16554753544372175,1.0882219184237603,-0.5902239119828526,0.3258241864986238,0.23228363780522998,-0.20472055848204773],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6199999999998225,"qpos":[-0.16284318399174774,1.0952662404087725,-0.6086290529458257,0.32559664217492423,0.203201542899339,-0.17946660802336076,0.03499998986119954,-0.0349982246130244,0.29887665328868707,-0.03267397602806889,0.07989224457978372,1.0,1.5119237961704295e-11,7.789917905133616e-12,1.9464513620914498e-15],"qvel":[-0.005686753085024367,-0.055617092643218624,0.27115619928061657,0.0014433880945582992,0.032204175130137964,-0.03204406496100101,5.1395922193627695e-06,-5.444655682541994e-06,-9.537035359170744e-12,1.8510171098074105e-11,2.574562278377505e-15,-6.21127386691382e-10,-3.200248282893685e-10,5.9523361199104926e-15],"joint_position_rad":[-0.16284318399174774,1.0952662404087725,-0.6086290529458257,0.32559664217492423,0.203201542899339,-0.17946660802336076],"joint_velocity_rad_s":[-0.005686753085024367,-0.055617092643218624,0.27115619928061657,0.0014433880945582992,0.032204175130137964,-0.03204406496100101],"gripper_joint_position_m":[0.03499998986119954,-0.0349982246130244],"tcp_position_m":[0.30851077306165886,-0.03552407504483853,0.19389214695070622],"tcp_quaternion_wxyz":[0.4700652028534513,0.11801942493132678,0.8744004627864185,0.023107381593766085],"object_position_m":[0.29887665328868707,-0.03267397602806889,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5119237961704295e-11,7.789917905133616e-12,1.9464513620914498e-15],"object_linear_velocity_m_s":[-9.537035359170744e-12,1.8510171098074105e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[-6.211273866913807e-10,-3.2002482828937106e-10,5.95233611991013e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999970954},{"geom_ids":[1,90],"normal_force_n":0.09809999999909207},{"geom_ids":[1,90],"normal_force_n":0.09810000000029045},{"geom_ids":[1,90],"normal_force_n":0.09810000000090793}],"native_actuator_controls":[-0.16554753544372175,1.0882219184237603,-0.5902239119828526,0.3258241864986238,0.23228363780522998,-0.20472055848204773,0.035],"actuator_force_native":[-0.1879143507327985,-0.2854602955848975,0.11663028063475878,0.0018848324751914447,0.24251468636370266,-0.2044734071453682,-2.529240907822583e-05],"issued_joint_targets_rad":[-0.16506065908239317,1.0867333059196822,-0.5846853126274166,0.32367791235573806,0.23291550230885508,-0.20305643531015072],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6199999999998225,"joint_targets_rad":[-0.16506065908239317,1.0867333059196822,-0.5846853126274166,0.32367791235573806,0.23291550230885508,-0.20305643531015072],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6399999999998203,"qpos":[-0.16294476072389402,1.094030978985843,-0.6031094698644536,0.32553851749065493,0.2038276138865766,-0.18007356186901716,0.035000028926700635,-0.03499815585301562,0.29887665328840474,-0.03267397602752114,0.07989224457978372,1.0,1.609361114902123e-11,8.29195026948564e-12,2.2847245061452605e-15],"qvel":[-0.004533366570020745,-0.059555903756032924,0.272135745331406,-0.0051688707926228344,0.032282945645697426,-0.029401039432382186,-6.864269639769602e-06,1.319437612216051e-05,-1.0305048829031922e-11,2.00007807348368e-11,2.573174499596724e-15,-5.309057339375868e-10,-2.735395760524503e-10,1.0867456845494504e-14],"joint_position_rad":[-0.16294476072389402,1.094030978985843,-0.6031094698644536,0.32553851749065493,0.2038276138865766,-0.18007356186901716],"joint_velocity_rad_s":[-0.004533366570020745,-0.059555903756032924,0.272135745331406,-0.0051688707926228344,0.032282945645697426,-0.029401039432382186],"gripper_joint_position_m":[0.035000028926700635,-0.03499815585301562],"tcp_position_m":[0.307292669699865,-0.035316156741854794,0.19188611244388493],"tcp_quaternion_wxyz":[0.46791902867533564,0.11795449249393333,0.8755607490798576,0.023062848365879494],"object_position_m":[0.29887665328840474,-0.03267397602752114,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.609361114902123e-11,8.29195026948564e-12,2.2847245061452605e-15],"object_linear_velocity_m_s":[-1.0305048829031922e-11,2.00007807348368e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[-5.309057339375854e-10,-2.735395760524531e-10,1.0867456845503249e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999898773},{"geom_ids":[1,90],"normal_force_n":0.09809999999683577},{"geom_ids":[1,90],"normal_force_n":0.09810000000101236},{"geom_ids":[1,90],"normal_force_n":0.0981000000031642}],"native_actuator_controls":[-0.16506065908239317,1.0867333059196822,-0.5846853126274166,0.32367791235573806,0.23291550230885508,-0.20305643531015072,0.035],"actuator_force_native":[-0.1466050358298272,-0.28603432651269145,0.11325385230592389,-0.04857985143356025,0.24245446575423824,-0.18572717526276228,3.3164280173636485e-05],"issued_joint_targets_rad":[-0.16445155046811244,1.0852513532775299,-0.5796017187179531,0.3206567440406757,0.23389705823421933,-0.20051779178218962],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6399999999998203,"joint_targets_rad":[-0.16445155046811244,1.0852513532775299,-0.5796017187179531,0.3206567440406757,0.23389705823421933,-0.20051779178218962],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.659999999999818,"qpos":[-0.16302007031799853,1.0927353951779906,-0.5976070084921237,0.3253180294263494,0.20446532838382545,-0.18061770945740846,0.034999987011584306,-0.034997755247928995,0.29887665328812957,-0.03267397602698712,0.07989224457978372,1.0,1.6819616185343876e-11,8.666021429569388e-12,2.6669999870329515e-15],"qvel":[-0.0031439991003497903,-0.061782790336686016,0.26964353378097095,-0.014006339860544378,0.03312278036437115,-0.025923872885677948,-3.6487572464778323e-06,1.9054129653272013e-05,-1.1256727064811596e-11,2.1847838232269285e-11,2.577337835939068e-15,-3.698054919412789e-10,-1.905354683686631e-10,1.984123937997291e-14],"joint_position_rad":[-0.16302007031799853,1.0927353951779906,-0.5976070084921237,0.3253180294263494,0.20446532838382545,-0.18061770945740846],"joint_velocity_rad_s":[-0.0031439991003497903,-0.061782790336686016,0.26964353378097095,-0.014006339860544378,0.03312278036437115,-0.025923872885677948],"gripper_joint_position_m":[0.034999987011584306,-0.034997755247928995],"tcp_position_m":[0.3060633893447137,-0.035103800052814736,0.1899054343875697],"tcp_quaternion_wxyz":[0.46579573903169386,0.11783792664436657,0.8767097523028116,0.02299049284416485],"object_position_m":[0.29887665328812957,-0.03267397602698712,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6819616185343876e-11,8.666021429569388e-12,2.6669999870329515e-15],"object_linear_velocity_m_s":[-1.1256727064811596e-11,2.1847838232269285e-11,2.577337835939068e-15],"object_angular_velocity_rad_s":[-3.698054919412775e-10,-1.9053546836866573e-10,1.984123937999065e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999819642},{"geom_ids":[1,90],"normal_force_n":0.09809999999436249},{"geom_ids":[1,90],"normal_force_n":0.09810000000180359},{"geom_ids":[1,90],"normal_force_n":0.09810000000563752}],"native_actuator_controls":[-0.16445155046811244,1.0852513532775299,-0.5796017187179531,0.3206567440406757,0.23389705823421933,-0.20051779178218962,0.035],"actuator_force_native":[-0.0987984165073641,-0.28980940035343394,0.09220551302879443,-0.1164197161242253,0.2446331279573819,-0.1601150139192946,1.876332286032678e-05],"issued_joint_targets_rad":[-0.16535410197998063,1.0867865890066037,-0.5836503000431756,0.3146971978860351,0.24103479005949466,-0.19566660084218612],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.659999999999818,"joint_targets_rad":[-0.16535410197998063,1.0867865890066037,-0.5836503000431756,0.3146971978860351,0.24103479005949466,-0.19566660084218612],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.679999999999816,"qpos":[-0.16309657565677355,1.0920558516215166,-0.5932449705573489,0.324771446137979,0.2063104594500247,-0.18108297372268342,0.034999837781855545,-0.0349935734231744,0.2988766532878624,-0.032673976026468744,0.07989224457978372,1.0,1.7143808710145635e-11,8.833073972094667e-12,3.0894713083803323e-15],"qvel":[-0.003940324161185324,-0.01712794191532183,0.18402284123844728,-0.03225940993630904,0.11548661710454122,-0.020930009931948292,-4.80160485052621e-05,0.000189875561459468,-1.2587366509716468e-11,2.4430391517950204e-11,2.571786720815943e-15,-1.0910539067171469e-10,-5.6213336780775126e-11,3.6225098103221073e-14],"joint_position_rad":[-0.16309657565677355,1.0920558516215166,-0.5932449705573489,0.324771446137979,0.2063104594500247,-0.18108297372268342],"joint_velocity_rad_s":[-0.003940324161185324,-0.01712794191532183,0.18402284123844728,-0.03225940993630904,0.11548661710454122,-0.020930009931948292],"gripper_joint_position_m":[0.034999837781855545,-0.0349935734231744],"tcp_position_m":[0.3049589902289158,-0.034844887066270744,0.18800891696797886],"tcp_quaternion_wxyz":[0.4633869688904495,0.11754058606406532,0.87802505211771,0.022994250236324815],"object_position_m":[0.2988766532878624,-0.032673976026468744,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7143808710145635e-11,8.833073972094667e-12,3.0894713083803323e-15],"object_linear_velocity_m_s":[-1.2587366509716468e-11,2.4430391517950204e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[-1.091053906717137e-10,-5.621333678077704e-11,3.622509810327166e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999746802},{"geom_ids":[1,90],"normal_force_n":0.09809999999208537},{"geom_ids":[1,90],"normal_force_n":0.09810000000253206},{"geom_ids":[1,90],"normal_force_n":0.09810000000791456}],"native_actuator_controls":[-0.16535410197998063,1.0867865890066037,-0.5836503000431756,0.3146971978860351,0.24103479005949466,-0.19566660084218612,0.035],"actuator_force_native":[-0.16090048505064125,-0.3359012996164239,-0.15254056505837355,-0.2416728803962087,0.1740133804378874,-0.11444125629710444,0.00024656896830466124],"issued_joint_targets_rad":[-0.16653215189542767,1.0885158764394571,-0.5882650190393761,0.3094176093224566,0.24930443626390109,-0.19190234315514723],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.679999999999816,"joint_targets_rad":[-0.16653215189542767,1.0885158764394571,-0.5882650190393761,0.3094176093224566,0.24930443626390109,-0.19190234315514723],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6999999999998137,"qpos":[-0.1632073294626584,1.091898312622193,-0.5906502394183061,0.323574841759875,0.20971348876497198,-0.1814682726047373,0.03499980434272501,-0.03498774969958418,0.29887665328759033,-0.032673976025940805,0.07989224457978372,1.0,1.785662690862588e-11,9.200364060127262e-12,3.606054606916857e-15],"qvel":[-0.005807807964510552,-0.003461579380751791,0.09558136352730057,-0.060483785054782926,0.1839604468502412,-0.015932601337353806,-8.739863395726893e-05,0.0001693503079510269,-1.4918270389820956e-11,2.8954277527638487e-11,2.575950057158287e-15,2.632195173723225e-10,1.3562239377787987e-10,6.613783658122986e-14],"joint_position_rad":[-0.1632073294626584,1.091898312622193,-0.5906502394183061,0.323574841759875,0.20971348876497198,-0.1814682726047373],"joint_velocity_rad_s":[-0.005807807964510552,-0.003461579380751791,0.09558136352730057,-0.060483785054782926,0.1839604468502412,-0.015932601337353806],"gripper_joint_position_m":[0.03499980434272501,-0.03498774969958418],"tcp_position_m":[0.30405480578156147,-0.03455312401632454,0.18642272223879852],"tcp_quaternion_wxyz":[0.46085778909983083,0.11690008496915816,0.8794403334969074,0.023003655776143214],"object_position_m":[0.29887665328759033,-0.032673976025940805,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.785662690862588e-11,9.200364060127262e-12,3.606054606916857e-15],"object_linear_velocity_m_s":[-1.4918270389820956e-11,2.8954277527638487e-11,2.575950057158287e-15],"object_angular_velocity_rad_s":[2.632195173723228e-10,1.356223937778794e-10,6.613783658131605e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999661308},{"geom_ids":[1,90],"normal_force_n":0.09809999998941342},{"geom_ids":[1,90],"normal_force_n":0.0981000000033869},{"geom_ids":[1,90],"normal_force_n":0.0981000000105866}],"native_actuator_controls":[-0.16653215189542767,1.0885158764394571,-0.5882650190393761,0.3094176093224566,0.24930443626390109,-0.19190234315514723,0.035],"actuator_force_native":[-0.2369467547989892,-0.2532869977151222,-0.28708918732210265,-0.26387037222282217,0.11996880471392934,-0.08044180349806851,0.00044481946078600565],"issued_joint_targets_rad":[-0.1678842746521435,1.090343160693704,-0.5931692619891022,0.30527004667361834,0.2581864504719203,-0.1899240271005703],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6999999999998137,"joint_targets_rad":[-0.1678842746521435,1.090343160693704,-0.5931692619891022,0.30527004667361834,0.2581864504719203,-0.1899240271005703],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7199999999998115,"qpos":[-0.16342179927633368,1.091911071860749,-0.5897569778965104,0.3219051193151652,0.21418045819901876,-0.181771173356165,0.034998896218306264,-0.034984597389318,0.2988766532873255,-0.032673976025426744,0.07989224457978372,1.0,1.731546968888555e-11,8.921559219694888e-12,4.127382405673823e-15],"qvel":[-0.010163953493780315,0.0021247809313290093,0.016304258816605608,-0.08042374069054152,0.21941443149987014,-0.012417285743734293,-9.817830557058215e-05,-8.652893599402381e-07,-1.854298425547272e-11,3.598922303207377e-11,2.566235605692818e-15,8.339610168082537e-10,4.2969082367567985e-10,1.2075097760678245e-13],"joint_position_rad":[-0.16342179927633368,1.091911071860749,-0.5897569778965104,0.3219051193151652,0.21418045819901876,-0.181771173356165],"joint_velocity_rad_s":[-0.010163953493780315,0.0021247809313290093,0.016304258816605608,-0.08042374069054152,0.21941443149987014,-0.012417285743734293],"gripper_joint_position_m":[0.034998896218306264,-0.034984597389318],"tcp_position_m":[0.3033697569254263,-0.034280842941586634,0.18530847800357436],"tcp_quaternion_wxyz":[0.4585461139189844,0.11602970980201181,0.8807634548290659,0.022984875258013928],"object_position_m":[0.2988766532873255,-0.032673976025426744,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.731546968888555e-11,8.921559219694888e-12,4.127382405673823e-15],"object_linear_velocity_m_s":[-1.854298425547272e-11,3.598922303207377e-11,2.566235605692818e-15],"object_angular_velocity_rad_s":[8.339610168082523e-10,4.2969082367568254e-10,1.2075097760691412e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999967907},{"geom_ids":[1,90],"normal_force_n":0.09809999998996795},{"geom_ids":[1,90],"normal_force_n":0.0981000000032094},{"geom_ids":[1,90],"normal_force_n":0.098100000010032}],"native_actuator_controls":[-0.1678842746521435,1.090343160693704,-0.5931692619891022,0.30527004667361834,0.2581864504719203,-0.1899240271005703,0.035],"actuator_force_native":[-0.30617826259588377,-0.13605679802023474,-0.35450402149037075,-0.2632842022091655,0.11093827547921009,-0.06290260882845167,0.0005350427956025694],"issued_joint_targets_rad":[-0.16917354883530022,1.0920430348047045,-0.5977084684976688,0.3024130472879103,0.26643659925230634,-0.1895594203087526],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7199999999998115,"joint_targets_rad":[-0.16917354883530022,1.0920430348047045,-0.5977084684976688,0.3024130472879103,0.26643659925230634,-0.1895594203087526],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7399999999998093,"qpos":[-0.16374802276420314,1.0919714249428774,-0.589754581974388,0.3200950423801704,0.21836192283070738,-0.182008400148083,0.03499724302126239,-0.03498773849510205,0.29887665328707574,-0.032673976024941785,0.07989224457978372,1.0,1.516762962550678e-11,7.814926667181275e-12,4.585419696246113e-15],"qvel":[-0.019384697476854403,0.0031920732408500714,-0.0099438722276716,-0.08591438719285588,0.19446650827577772,-0.010242247825962914,-5.4627917752275845e-05,-0.00028174150450013976,-9.529450414617331e-12,1.8495275288269507e-11,2.5717867208159434e-15,-6.412670119390006e-10,-3.3040397125549207e-10,1.3082385391321253e-14],"joint_position_rad":[-0.16374802276420314,1.0919714249428774,-0.589754581974388,0.3200950423801704,0.21836192283070738,-0.182008400148083],"joint_velocity_rad_s":[-0.019384697476854403,0.0031920732408500714,-0.0099438722276716,-0.08591438719285588,0.19446650827577772,-0.010242247825962914],"gripper_joint_position_m":[0.03499724302126239,-0.03498773849510205],"tcp_position_m":[0.30288603895864674,-0.034104131897564845,0.18459111491869912],"tcp_quaternion_wxyz":[0.4567234742610345,0.11515935572935072,0.8818273380074211,0.022859063622046445],"object_position_m":[0.29887665328707574,-0.032673976024941785,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.516762962550678e-11,7.814926667181275e-12,4.585419696246113e-15],"object_linear_velocity_m_s":[-9.529450414617331e-12,1.8495275288269507e-11,2.5717867208159434e-15],"object_angular_velocity_rad_s":[-6.412670119389974e-10,-3.3040397125549837e-10,1.3082385391340473e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000104034},{"geom_ids":[1,90],"normal_force_n":0.09810000003251801},{"geom_ids":[1,90],"normal_force_n":0.09809999998959659},{"geom_ids":[1,90],"normal_force_n":0.09809999996748199}],"native_actuator_controls":[-0.16917354883530022,1.0920430348047045,-0.5977084684976688,0.3024130472879103,0.26643659925230634,-0.1895594203087526,0.035],"actuator_force_native":[-0.3371185983034941,-0.010231577258082325,-0.5865915607241092,-0.2777078677261233,0.1890470018023227,-0.06014682986775166,0.0003834187382658616],"issued_joint_targets_rad":[-0.170103508227975,1.0934087471314358,-0.6013200771091657,0.2998779111648863,0.27294061949014187,-0.1893519779768999],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7399999999998093,"joint_targets_rad":[-0.170103508227975,1.0934087471314358,-0.6013200771091657,0.2998779111648863,0.27294061949014187,-0.1893519779768999],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.759999999999807,"qpos":[-0.16431787424803684,1.0920771969853944,-0.5905541728707443,0.3181604906013393,0.22276643688115158,-0.18222196034524785,0.03499764055194005,-0.0349920662049876,0.2988766532867837,-0.032673976024374954,0.07989224457978372,1.0,1.6354888284567254e-11,8.426634995682149e-12,5.42168129002255e-15],"qvel":[-0.02970434953362664,0.005914319493771878,-0.05346943019605278,-0.09132536642884156,0.2109842002177969,-0.009458996702021117,1.7574319771182476e-05,-0.00022400294794269992,-1.0393887624886224e-11,2.017304354321575e-11,2.5676233844735993e-15,-5.715184494185971e-10,-2.944673835339649e-10,2.3885169393305633e-14],"joint_position_rad":[-0.16431787424803684,1.0920771969853944,-0.5905541728707443,0.3181604906013393,0.22276643688115158,-0.18222196034524785],"joint_velocity_rad_s":[-0.02970434953362664,0.005914319493771878,-0.05346943019605278,-0.09132536642884156,0.2109842002177969,-0.009458996702021117],"gripper_joint_position_m":[0.03499764055194005,-0.0349920662049876],"tcp_position_m":[0.30252831315447287,-0.034017296773008354,0.18415193580601008],"tcp_quaternion_wxyz":[0.45513949329550263,0.11431304554644434,0.8827610468706278,0.022660613153279493],"object_position_m":[0.2988766532867837,-0.032673976024374954,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6354888284567254e-11,8.426634995682149e-12,5.42168129002255e-15],"object_linear_velocity_m_s":[-1.0393887624886224e-11,2.017304354321575e-11,2.5676233844735993e-15],"object_angular_velocity_rad_s":[-5.715184494185935e-10,-2.944673835339719e-10,2.3885169393298044e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999910543},{"geom_ids":[1,90],"normal_force_n":0.0980999999972039},{"geom_ids":[1,90],"normal_force_n":0.09810000000089458},{"geom_ids":[1,90],"normal_force_n":0.09810000000279613}],"native_actuator_controls":[-0.170103508227975,1.0934087471314358,-0.6013200771091657,0.2998779111648863,0.27294061949014187,-0.1893519779768999,0.035],"actuator_force_native":[-0.31432897072691723,0.07695241421444621,-0.5939251880934435,-0.2746763453139103,0.18526552576320743,-0.05711168126348887,6.506323542154746e-06],"issued_joint_targets_rad":[-0.17080621431188642,1.0946191450955123,-0.6044801643915227,0.29722928567560936,0.2785557490264738,-0.18890662073787245],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.759999999999807,"joint_targets_rad":[-0.17080621431188642,1.0946191450955123,-0.6044801643915227,0.29722928567560936,0.2785557490264738,-0.18890662073787245],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.779999999999805,"qpos":[-0.16499610005487364,1.0922583966254598,-0.5921404481919726,0.31612098676039097,0.22727729742370384,-0.18241884226330113,0.034998562081596796,-0.03499467540512159,0.2988766532864973,-0.03267397602381937,0.07989224457978372,1.0,1.7250044652823665e-11,8.887855404140603e-12,6.37048206242979e-15],"qvel":[-0.03247966829046809,0.008689291120390316,-0.08866359915723318,-0.09604221100389809,0.20987517291715083,-0.008537494342838549,1.3516009600900796e-05,-0.00013906147161907412,-1.1368590774262405e-11,2.2064796199716047e-11,2.5690111632543803e-15,-4.2974802478008517e-10,-2.214216189525617e-10,4.360834624218856e-14],"joint_position_rad":[-0.16499610005487364,1.0922583966254598,-0.5921404481919726,0.31612098676039097,0.22727729742370384,-0.18241884226330113],"joint_velocity_rad_s":[-0.03247966829046809,0.008689291120390316,-0.08866359915723318,-0.09604221100389809,0.20987517291715083,-0.008537494342838549],"gripper_joint_position_m":[0.034998562081596796,-0.03499467540512159],"tcp_position_m":[0.3023134603242134,-0.03398877470037584,0.18399377472128287],"tcp_quaternion_wxyz":[0.45382268413504745,0.11344467788431936,0.8835571044224131,0.022408026438423222],"object_position_m":[0.2988766532864973,-0.03267397602381937,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7250044652823665e-11,8.887855404140603e-12,6.37048206242979e-15],"object_linear_velocity_m_s":[-1.1368590774262405e-11,2.2064796199716047e-11,2.5690111632543803e-15],"object_angular_velocity_rad_s":[-4.2974802478008155e-10,-2.2142161895256867e-10,4.3608346242199544e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999831258},{"geom_ids":[1,90],"normal_force_n":0.09809999999472588},{"geom_ids":[1,90],"normal_force_n":0.09810000000168737},{"geom_ids":[1,90],"normal_force_n":0.09810000000527422}],"native_actuator_controls":[-0.17080621431188642,1.0946191450955123,-0.6044801643915227,0.29722928567560936,0.2785557490264738,-0.18890662073787245,0.035],"actuator_force_native":[-0.3024107991086833,0.1454134220022496,-0.5438593001778429,-0.2754569883717739,0.19797175665197342,-0.052071543231455575,-1.0063311876251646e-05],"issued_joint_targets_rad":[-0.17132563607981197,1.0956535403847028,-0.607144719999778,0.29490421431325703,0.283239338059611,-0.18872850305804145],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.779999999999805,"joint_targets_rad":[-0.17132563607981197,1.0956535403847028,-0.607144719999778,0.29490421431325703,0.283239338059611,-0.18872850305804145],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7999999999998026,"qpos":[-0.16567132065474185,1.092512851258704,-0.5943062457317749,0.3140430627230703,0.2315905702069165,-0.18259682621926523,0.034999130926269745,-0.034996222973965804,0.2988766532862182,-0.032673976023278026,0.07989224457978372,1.0,1.7740224959845424e-11,9.140429950006066e-12,7.426156260220855e-15],"qvel":[-0.03110710085394865,0.011531159400561455,-0.11260458125020457,-0.09734403807852124,0.19647090010768684,-0.007746325456580214,-1.9417696158345403e-06,-0.00010364486126497703,-1.2649839402908098e-11,2.4551465142998904e-11,2.5731744995967244e-15,-1.905548564084094e-10,-9.81800317646267e-11,7.961799622838553e-14],"joint_position_rad":[-0.16567132065474185,1.092512851258704,-0.5943062457317749,0.3140430627230703,0.2315905702069165,-0.18259682621926523],"joint_velocity_rad_s":[-0.03110710085394865,0.011531159400561455,-0.11260458125020457,-0.09734403807852124,0.19647090010768684,-0.007746325456580214],"gripper_joint_position_m":[0.034999130926269745,-0.034996222973965804],"tcp_position_m":[0.3022380036464793,-0.03400083782711102,0.1840816019600788],"tcp_quaternion_wxyz":[0.45281116862841847,0.1125576285367413,0.8841968310511882,0.022108590696546117],"object_position_m":[0.2988766532862182,-0.032673976023278026,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7740224959845424e-11,9.140429950006066e-12,7.426156260220855e-15],"object_linear_velocity_m_s":[-1.2649839402908098e-11,2.4551465142998904e-11,2.5731744995967244e-15],"object_angular_velocity_rad_s":[-1.905548564084065e-10,-9.818003176463236e-11,7.961799622842047e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999753134},{"geom_ids":[1,90],"normal_force_n":0.09809999999228385},{"geom_ids":[1,90],"normal_force_n":0.09810000000246859},{"geom_ids":[1,90],"normal_force_n":0.09810000000771625}],"native_actuator_controls":[-0.17132563607981197,1.0956535403847028,-0.607144719999778,0.29490421431325703,0.283239338059611,-0.18872850305804145,0.035],"actuator_force_native":[-0.29680972973586606,0.19359933307710264,-0.46405503518922586,-0.2788337459999255,0.22178132836541486,-0.04969728020289188,4.447179728961359e-05],"issued_joint_targets_rad":[-0.17167008791631727,1.0964754667233345,-0.6092385577794531,0.29304421620192295,0.28687910799910515,-0.18894210035641468],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7999999999998026,"joint_targets_rad":[-0.17167008791631727,1.0964754667233345,-0.6092385577794531,0.29304421620192295,0.28687910799910515,-0.18894210035641468],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8199999999998004,"qpos":[-0.16628343371810236,1.092801727644264,-0.5967972308653424,0.3120048062950824,0.23550276681493226,-0.18276145268556682,0.03499940677034466,-0.03499753351540542,0.29887665328594865,-0.03267397602275483,0.07989224457978372,1.0,1.7634825826706707e-11,9.086137890523342e-12,8.561536253431627e-15],"qvel":[-0.027515407652696982,0.012671504813382507,-0.12405829879381748,-0.09500155754314882,0.17571467407617755,-0.007377805019798671,-7.25062600304904e-06,-9.572747094142414e-05,-1.4563377303418686e-11,2.826532196790598e-11,2.5787256147198502e-15,1.82781422628008e-10,9.417718693945768e-11,1.4536191509590008e-13],"joint_position_rad":[-0.16628343371810236,1.092801727644264,-0.5967972308653424,0.3120048062950824,0.23550276681493226,-0.18276145268556682],"joint_velocity_rad_s":[-0.027515407652696982,0.012671504813382507,-0.12405829879381748,-0.09500155754314882,0.17571467407617755,-0.007377805019798671],"gripper_joint_position_m":[0.03499940677034466,-0.03499753351540542],"tcp_position_m":[0.30227433816449223,-0.034039777953311826,0.18435657266277178],"tcp_quaternion_wxyz":[0.45209694410058,0.11167350346361558,0.8846825653887257,0.0217747619114894],"object_position_m":[0.29887665328594865,-0.03267397602275483,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7634825826706707e-11,9.086137890523342e-12,8.561536253431627e-15],"object_linear_velocity_m_s":[-1.4563377303418686e-11,2.826532196790598e-11,2.5787256147198502e-15],"object_angular_velocity_rad_s":[1.8278142262800904e-10,9.417718693945568e-11,1.4536191509594224e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999969975},{"geom_ids":[1,90],"normal_force_n":0.0980999999906149},{"geom_ids":[1,90],"normal_force_n":0.09810000000300252},{"geom_ids":[1,90],"normal_force_n":0.0981000000093851}],"native_actuator_controls":[-0.17167008791631727,1.0964754667233345,-0.6092385577794531,0.29304421620192295,0.28687910799910515,-0.18894210035641468,0.035],"actuator_force_native":[-0.29335529759370793,0.230541602258711,-0.37501465915977406,-0.2834158160106348,0.2501914007274624,-0.05073976917878076,5.998231622905692e-05],"issued_joint_targets_rad":[-0.1718622011745648,1.0970804841679498,-0.6107696763079475,0.2916439799322041,0.2895072013711142,-0.18950826634387166],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8199999999998004,"joint_targets_rad":[-0.1718622011745648,1.0970804841679498,-0.6107696763079475,0.2916439799322041,0.2895072013711142,-0.18950826634387166],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8399999999997982,"qpos":[-0.16680172596495416,1.09307531738598,-0.5993671968447215,0.3100711313862896,0.23891050022675545,-0.18292191545744407,0.03499958843482582,-0.034998870379677305,0.29887665328569185,-0.03267397602225628,0.07989224457978372,1.0,1.665158311861149e-11,8.579538391442653e-12,9.707344470167195e-15],"qvel":[-0.022818037136719937,0.011500467583483998,-0.12398762228235484,-0.0897835190233368,0.15185086224606847,-0.007490543712488195,-5.035117508902695e-06,-9.049313436724644e-05,-1.7661940764347384e-11,3.4279143614882705e-11,2.5787256147198506e-15,7.416706212301805e-10,3.82137586844839e-10,2.6539445374814437e-13],"joint_position_rad":[-0.16680172596495416,1.09307531738598,-0.5993671968447215,0.3100711313862896,0.23891050022675545,-0.18292191545744407],"joint_velocity_rad_s":[-0.022818037136719937,0.011500467583483998,-0.12398762228235484,-0.0897835190233368,0.15185086224606847,-0.007490543712488195],"gripper_joint_position_m":[0.03499958843482582,-0.034998870379677305],"tcp_position_m":[0.3023838007762271,-0.034092632050051974,0.18475051011922497],"tcp_quaternion_wxyz":[0.4516381737396604,0.11081367306573134,0.8850335584648483,0.02142172434313755],"object_position_m":[0.29887665328569185,-0.03267397602225628,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.665158311861149e-11,8.579538391442653e-12,9.707344470167195e-15],"object_linear_velocity_m_s":[-1.7661940764347384e-11,3.4279143614882705e-11,2.5787256147198506e-15],"object_angular_velocity_rad_s":[7.416706212301776e-10,3.8213758684484456e-10,2.653944537481528e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999714572},{"geom_ids":[1,90],"normal_force_n":0.09809999999107856},{"geom_ids":[1,90],"normal_force_n":0.09810000000285424},{"geom_ids":[1,90],"normal_force_n":0.0981000000089214}],"native_actuator_controls":[-0.1718622011745648,1.0970804841679498,-0.6107696763079475,0.2916439799322041,0.2895072013711142,-0.18950826634387166,0.035],"actuator_force_native":[-0.2907478310852518,0.2629110046401735,-0.29226024564631103,-0.2881684630467358,0.2781907180744847,-0.05462769329554362,4.163819451186157e-05],"issued_joint_targets_rad":[-0.17193618169014,1.0974913474436294,-0.6118103313843652,0.29063927415915747,0.29126610154947596,-0.19033952205413107],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8399999999997982,"joint_targets_rad":[-0.17193618169014,1.0974913474436294,-0.6118103313843652,0.29063927415915747,0.29126610154947596,-0.19033952205413107],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.859999999999796,"qpos":[-0.1672138532208186,1.0932981056871702,-0.6018118550853234,0.3082876045915148,0.24179146964516088,-0.1830872547300654,0.03499976029349473,-0.035000169924639106,0.29887665328545354,-0.032673976021793776,0.07989224457978372,1.0,1.4390842263275486e-11,7.414718475310549e-12,1.0714049039489458e-14],"qvel":[-0.017733922778008403,0.009623668012187617,-0.11520876223990072,-0.0826812793922582,0.12833315780859245,-0.008021802163863568,-5.588042153303794e-06,-7.456738496146228e-05,-9.073969893701486e-12,1.7611198340232448e-11,2.573174499596725e-15,-6.162235447887889e-10,-3.175022424840121e-10,2.875331888427308e-14],"joint_position_rad":[-0.1672138532208186,1.0932981056871702,-0.6018118550853234,0.3082876045915148,0.24179146964516088,-0.1830872547300654],"joint_velocity_rad_s":[-0.017733922778008403,0.009623668012187617,-0.11520876223990072,-0.0826812793922582,0.12833315780859245,-0.008021802163863568],"gripper_joint_position_m":[0.03499976029349473,-0.035000169924639106],"tcp_position_m":[0.3025272996659004,-0.03414740348973378,0.18519496365291577],"tcp_quaternion_wxyz":[0.4513706982003523,0.10999455182881973,0.8852807055594379,0.021065700517374726],"object_position_m":[0.29887665328545354,-0.032673976021793776,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4390842263275486e-11,7.414718475310549e-12,1.0714049039489458e-14],"object_linear_velocity_m_s":[-9.073969893701486e-12,1.7611198340232448e-11,2.573174499596725e-15],"object_angular_velocity_rad_s":[-6.162235447887816e-10,-3.175022424840261e-10,2.875331888427191e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000097051},{"geom_ids":[1,90],"normal_force_n":0.09810000003033562},{"geom_ids":[1,90],"normal_force_n":0.09809999999029491},{"geom_ids":[1,90],"normal_force_n":0.09809999996966437}],"native_actuator_controls":[-0.17193618169014,1.0974913474436294,-0.6118103313843652,0.29063927415915747,0.29126610154947596,-0.19033952205413107,0.035],"actuator_force_native":[-0.289116663655669,0.2873410004557968,-0.22383429272384348,-0.29252682033300204,0.302246582330262,-0.06048996999486134,3.7528470977488126e-05],"issued_joint_targets_rad":[-0.17193253538867695,1.0977510994648425,-0.6124768757647238,0.28994132410041606,0.29237168887477316,-0.19133835639631255],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.859999999999796,"joint_targets_rad":[-0.17193253538867695,1.0977510994648425,-0.6124768757647238,0.28994132410041606,0.29237168887477316,-0.19133835639631255],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.879999999999794,"qpos":[-0.1675203623836434,1.093478979186477,-0.6039975193956629,0.3066760187802342,0.2441886144809576,-0.18326486917343435,0.03499970951947421,-0.0350010310855741,0.2988766532851786,-0.03267397602126009,0.07989224457978372,1.0,1.536558742679348e-11,7.916944300718155e-12,1.2552038653950999e-14],"qvel":[-0.01283623626101592,0.00843902965244782,-0.1007791463407985,-0.07464274428619454,0.10728626581927232,-0.008850243335124124,-1.8668794196294407e-05,-4.0094367160269994e-05,-9.782711036033366e-12,1.8986756045090315e-11,2.5703989420351624e-15,-5.418573813758175e-10,-2.791858224488164e-10,5.2496321652996234e-14],"joint_position_rad":[-0.1675203623836434,1.093478979186477,-0.6039975193956629,0.3066760187802342,0.2441886144809576,-0.18326486917343435],"joint_velocity_rad_s":[-0.01283623626101592,0.00843902965244782,-0.1007791463407985,-0.07464274428619454,0.10728626581927232,-0.008850243335124124],"gripper_joint_position_m":[0.03499970951947421,-0.0350010310855741],"tcp_position_m":[0.30267471420041936,-0.03419450757069476,0.18562610685830372],"tcp_quaternion_wxyz":[0.45121382458659326,0.10922527177236428,0.8854640263222424,0.020721549107039192],"object_position_m":[0.2988766532851786,-0.03267397602126009,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.536558742679348e-11,7.916944300718155e-12,1.2552038653950999e-14],"object_linear_velocity_m_s":[-9.782711036033366e-12,1.8986756045090315e-11,2.5703989420351624e-15],"object_angular_velocity_rad_s":[-5.418573813758096e-10,-2.791858224488316e-10,5.249632165299732e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999920795},{"geom_ids":[1,90],"normal_force_n":0.0980999999975245},{"geom_ids":[1,90],"normal_force_n":0.09810000000079207},{"geom_ids":[1,90],"normal_force_n":0.0981000000024755}],"native_actuator_controls":[-0.17193253538867695,1.0977510994648425,-0.6124768757647238,0.28994132410041606,0.29237168887477316,-0.19133835639631255,0.035],"actuator_force_native":[-0.288792659097604,0.2995744740070023,-0.17445277782087487,-0.2961740657617522,0.32090134520924707,-0.06745950722609595,0.00010496319201314108],"issued_joint_targets_rad":[-0.17189417486166714,1.0979189487362357,-0.612919679933938,0.28943819620221584,0.29309447563373,-0.1924014126208289],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.879999999999794,"joint_targets_rad":[-0.17189417486166714,1.0979189487362357,-0.612919679933938,0.28943819620221584,0.29309447563373,-0.1924014126208289],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8999999999997916,"qpos":[-0.16773663737373823,1.0936430130359285,-0.6058530579744877,0.3052379909199863,0.24619175985699304,-0.18345972499669527,0.03499940421997581,-0.03500139328316507,0.29887665328489244,-0.03267397602070473,0.07989224457978372,1.0,1.6984901060374605e-11,8.751279327997381e-12,1.4904132653391755e-14],"qvel":[-0.009340201307881997,0.00788623692651398,-0.08366980816239124,-0.06654282442599183,0.09112104936009842,-0.009835987211158206,-3.2173239615873874e-05,-1.4298190089129756e-05,-1.1031531204564016e-11,2.1410524524308395e-11,2.5690111632543815e-15,-4.432642018439927e-10,-2.283866919662769e-10,9.584477234840502e-14],"joint_position_rad":[-0.16773663737373823,1.0936430130359285,-0.6058530579744877,0.3052379909199863,0.24619175985699304,-0.18345972499669527],"joint_velocity_rad_s":[-0.009340201307881997,0.00788623692651398,-0.08366980816239124,-0.06654282442599183,0.09112104936009842,-0.009835987211158206],"gripper_joint_position_m":[0.03499940421997581,-0.03500139328316507],"tcp_position_m":[0.302803478752155,-0.03422836688310524,0.1859929357162563],"tcp_quaternion_wxyz":[0.45108715207827954,0.10851039831518063,0.8856239038767959,0.02040038159966065],"object_position_m":[0.29887665328489244,-0.03267397602070473,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6984901060374605e-11,8.751279327997381e-12,1.4904132653391755e-14],"object_linear_velocity_m_s":[-1.1031531204564016e-11,2.1410524524308395e-11,2.5690111632543815e-15],"object_angular_velocity_rad_s":[-4.4326420184398424e-10,-2.2838669196629337e-10,9.584477234841198e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999831663},{"geom_ids":[1,90],"normal_force_n":0.09809999999473801},{"geom_ids":[1,90],"normal_force_n":0.09810000000168345},{"geom_ids":[1,90],"normal_force_n":0.09810000000526194}],"native_actuator_controls":[-0.17189417486166714,1.0979189487362357,-0.612919679933938,0.28943819620221584,0.29309447563373,-0.1924014126208289,0.035],"actuator_force_native":[-0.2859019924949031,0.3026436713920191,-0.1469807159440748,-0.29927766658085986,0.3323455837272218,-0.07466289542459892,0.00018469739904691806],"issued_joint_targets_rad":[-0.17185766390730806,1.098056652368185,-0.6132906648024675,0.28900597337106615,0.2937021115844203,-0.19342100982718852],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8999999999997916,"joint_targets_rad":[-0.17185766390730806,1.098056652368185,-0.6132906648024675,0.28900597337106615,0.2937021115844203,-0.19342100982718852],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9199999999997894,"qpos":[-0.16791082373244967,1.0937989736433062,-0.6073612762475749,0.3039564591148861,0.24793149946831686,-0.18367421959024238,0.034998805497971686,-0.03500133275545306,0.2988766532846082,-0.03267397602015319,0.07989224457978372,1.0,1.7971344086159408e-11,9.259538041537875e-12,1.7536618418557782e-14],"qvel":[-0.008289037140917976,0.007618730579236402,-0.06654845658162692,-0.0594282019434349,0.08078398471678054,-0.010867962707620651,-3.9295916540137096e-05,2.488338554796708e-06,-1.2482184010123536e-11,2.4226009652621376e-11,2.5662356056928183e-15,-2.450805639384418e-10,-1.2627492993025046e-10,1.7498836557318735e-13],"joint_position_rad":[-0.16791082373244967,1.0937989736433062,-0.6073612762475749,0.3039564591148861,0.24793149946831686,-0.18367421959024238],"joint_velocity_rad_s":[-0.008289037140917976,0.007618730579236402,-0.06654845658162692,-0.0594282019434349,0.08078398471678054,-0.010867962707620651],"gripper_joint_position_m":[0.034998805497971686,-0.03500133275545306],"tcp_position_m":[0.3028947866533024,-0.03425275239958586,0.18626462523986065],"tcp_quaternion_wxyz":[0.4509239921430294,0.10785778339973896,0.8857934662967873,0.020104400906524194],"object_position_m":[0.2988766532846082,-0.03267397602015319,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7971344086159408e-11,9.259538041537875e-12,1.7536618418557782e-14],"object_linear_velocity_m_s":[-1.2482184010123536e-11,2.4226009652621376e-11,2.5662356056928183e-15],"object_angular_velocity_rad_s":[-2.450805639384341e-10,-1.2627492993026535e-10,1.7498836557319252e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999752464},{"geom_ids":[1,90],"normal_force_n":0.09809999999226265},{"geom_ids":[1,90],"normal_force_n":0.09810000000247536},{"geom_ids":[1,90],"normal_force_n":0.09810000000773733}],"native_actuator_controls":[-0.17185766390730806,1.098056652368185,-0.6132906648024675,0.28900597337106615,0.2937021115844203,-0.19342100982718852,0.035],"actuator_force_native":[-0.27430202828408135,0.3025206450941198,-0.14160880148327237,-0.30087842003562315,0.336530144085863,-0.08116595830803042,0.0002442596638334571],"issued_joint_targets_rad":[-0.1718386190768554,1.0982162961152688,-0.6137160118110071,0.28846427876928094,0.29440787157467063,-0.19422381299040417],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9199999999997894,"joint_targets_rad":[-0.1718386190768554,1.0982162961152688,-0.6137160118110071,0.28846427876928094,0.29440787157467063,-0.19422381299040417],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9399999999997872,"qpos":[-0.16807222206384076,1.0939529838522564,-0.6085514722278136,0.3027871047349022,0.24952920976514673,-0.18390772245969336,0.034998361333057254,-0.03500105024644094,0.2988766532843298,-0.032673976019612416,0.07989224457978372,1.0,1.8228569771498464e-11,9.392059153743877e-12,2.0397559556224708e-14],"qvel":[-0.007837119430799152,0.007639779778700834,-0.05169492178564595,-0.05442130149436188,0.07581496504830751,-0.011719600925953496,-2.447939127537606e-05,5.366149858508921e-06,-1.4396094907765584e-11,2.7940656890778287e-11,2.571786720815944e-15,9.060331658801984e-11,4.668104218411025e-11,3.1948485778162946e-13],"joint_position_rad":[-0.16807222206384076,1.0939529838522564,-0.6085514722278136,0.3027871047349022,0.24952920976514673,-0.18390772245969336],"joint_velocity_rad_s":[-0.007837119430799152,0.007639779778700834,-0.05169492178564595,-0.05442130149436188,0.07581496504830751,-0.011719600925953496],"gripper_joint_position_m":[0.034998361333057254,-0.03500105024644094],"tcp_position_m":[0.3029400324332219,-0.03426953388010416,0.1864312109165243],"tcp_quaternion_wxyz":[0.4506824743003994,0.10725633959024818,0.8859955866858847,0.019829406176334587],"object_position_m":[0.2988766532843298,-0.032673976019612416,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8228569771498464e-11,9.392059153743877e-12,2.0397559556224708e-14],"object_linear_velocity_m_s":[-1.4396094907765584e-11,2.7940656890778287e-11,2.571786720815944e-15],"object_angular_velocity_rad_s":[9.060331658802393e-11,4.66810421841023e-11,3.194848577815833e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999691674},{"geom_ids":[1,90],"normal_force_n":0.09809999999036251},{"geom_ids":[1,90],"normal_force_n":0.09810000000308329},{"geom_ids":[1,90],"normal_force_n":0.09810000000963746}],"native_actuator_controls":[-0.1718386190768554,1.0982162961152688,-0.6137160118110071,0.28846427876928094,0.29440787157467063,-0.19422381299040417,0.035],"actuator_force_native":[-0.26212616388717613,0.3028660821475029,-0.15468855772724766,-0.300806531153043,0.3350641705227777,-0.08558150391817776,0.0001879436340868068],"issued_joint_targets_rad":[-0.17184611765283883,1.0984322243679845,-0.61427821174003,0.2877129794071833,0.2953507299358549,-0.19474448156089508],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9399999999997872,"joint_targets_rad":[-0.17184611765283883,1.0984322243679845,-0.61427821174003,0.2877129794071833,0.2953507299358549,-0.19474448156089508],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.959999999999785,"qpos":[-0.16822667232428828,1.0941110396123568,-0.6094902721283049,0.3016787900171536,0.2510955590371333,-0.1841555382804008,0.03499830723585607,-0.035000700187540736,0.2988766532840613,-0.03267397601909134,0.07989224457978372,1.0,1.7563654933683804e-11,9.049478174039943e-12,2.3343773924968448e-14],"qvel":[-0.00751461936023802,0.007937532786912387,-0.04066416485791519,-0.05176930750068505,0.07571255970196797,-0.012255301485494393,-8.701766149829448e-06,1.876332791603928e-06,-1.730528976570986e-11,3.3586868004096e-11,2.5676233844735993e-15,6.099792625898004e-10,3.142886097488657e-10,5.832987603259886e-13],"joint_position_rad":[-0.16822667232428828,1.0941110396123568,-0.6094902721283049,0.3016787900171536,0.2510955590371333,-0.1841555382804008],"joint_velocity_rad_s":[-0.00751461936023802,0.007937532786912387,-0.04066416485791519,-0.05176930750068505,0.07571255970196797,-0.012255301485494393],"gripper_joint_position_m":[0.03499830723585607,-0.035000700187540736],"tcp_position_m":[0.3029397275176189,-0.03427611025299711,0.1864996569449687],"tcp_quaternion_wxyz":[0.45034140446547033,0.10668277852361757,0.8862439366393727,0.01957265849331499],"object_position_m":[0.2988766532840613,-0.03267397601909134,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7563654933683804e-11,9.049478174039943e-12,2.3343773924968448e-14],"object_linear_velocity_m_s":[-1.730528976570986e-11,3.3586868004096e-11,2.5676233844735993e-15],"object_angular_velocity_rad_s":[6.099792625897962e-10,3.142886097488737e-10,5.83298760326114e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999686334},{"geom_ids":[1,90],"normal_force_n":0.09809999999019565},{"geom_ids":[1,90],"normal_force_n":0.09810000000313668},{"geom_ids":[1,90],"normal_force_n":0.09810000000980436}],"native_actuator_controls":[-0.17184611765283883,1.0984322243679845,-0.61427821174003,0.2877129794071833,0.2953507299358549,-0.19474448156089508,0.035],"actuator_force_native":[-0.2519825294828557,0.3060071165156586,-0.17971434464843128,-0.29978588689538554,0.328982869434264,-0.0875064805767014,0.00011121939650649004],"issued_joint_targets_rad":[-0.1718923948289015,1.0987236356881174,-0.6150226531541407,0.28676599632027755,0.29661123715318916,-0.19504652836303027],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.959999999999785,"joint_targets_rad":[-0.1718923948289015,1.0987236356881174,-0.6150226531541407,0.28676599632027755,0.29661123715318916,-0.19504652836303027],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.979999999999783,"qpos":[-0.16837603147399136,1.0942787047111164,-0.6102631408300091,0.30059075800222407,0.252719078546752,-0.1844116305189017,0.034998476362829066,-0.03500024955232859,0.29887665328380936,-0.03267397601860209,0.07989224457978372,1.0,1.5640857022823643e-11,8.05879189703979e-12,2.605724271763399e-14],"qvel":[-0.007267723218734384,0.008478463668508887,-0.03404853964870835,-0.050940206711620487,0.07925751925916977,-0.012499872948848275,-3.3165947827589166e-06,-5.221709866153192e-07,-2.2086838612680955e-11,4.2867048693314e-11,2.560684490569692e-15,1.3784671164118937e-09,7.102441780006409e-10,1.0649508429570291e-12],"joint_position_rad":[-0.16837603147399136,1.0942787047111164,-0.6102631408300091,0.30059075800222407,0.252719078546752,-0.1844116305189017],"joint_velocity_rad_s":[-0.007267723218734384,0.008478463668508887,-0.03404853964870835,-0.050940206711620487,0.07925751925916977,-0.012499872948848275],"gripper_joint_position_m":[0.034998476362829066,-0.03500024955232859],"tcp_position_m":[0.30290068639540896,-0.034270740787644006,0.18648848648888539],"tcp_quaternion_wxyz":[0.44989768443663763,0.10611690320481798,0.8865424624374948,0.01933232236525845],"object_position_m":[0.29887665328380936,-0.03267397601860209,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5640857022823643e-11,8.05879189703979e-12,2.605724271763399e-14],"object_linear_velocity_m_s":[-2.2086838612680955e-11,4.2867048693314e-11,2.560684490569692e-15],"object_angular_velocity_rad_s":[1.3784671164118738e-09,7.102441780006795e-10,1.064950842957125e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999806096},{"geom_ids":[1,90],"normal_force_n":0.09809999999393886},{"geom_ids":[1,90],"normal_force_n":0.09810000000193908},{"geom_ids":[1,90],"normal_force_n":0.0981000000060612}],"native_actuator_controls":[-0.1718923948289015,1.0987236356881174,-0.6150226531541407,0.28676599632027755,0.29661123715318916,-0.19504652836303027,0.035],"actuator_force_native":[-0.24497045229913894,0.3132021598175214,-0.21051828768698755,-0.29828943371975747,0.32003530717561635,-0.08759916901801357,7.752846075126385e-05],"issued_joint_targets_rad":[-0.1719846152714442,1.0990953303619104,-0.61595970578052,0.28567921358168497,0.2982100793868909,-0.19522344608060202],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.979999999999783,"joint_targets_rad":[-0.1719846152714442,1.0990953303619104,-0.61595970578052,0.28567921358168497,0.2982100793868909,-0.19522344608060202],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9999999999997806,"qpos":[-0.1685216626242966,1.0944826917364208,-0.6109644731051709,0.29949816421969006,0.254455088568915,-0.18467103395046874,0.034998687908676655,-0.03499978030416887,0.2988766532835356,-0.032673976018070504,0.07989224457978372,1.0,1.5697981207400694e-11,8.088234152340053e-12,3.009685490740231e-14],"qvel":[-0.007105288712187694,0.010168969676542555,-0.03181434375062027,-0.051196384615779564,0.08463031361597415,-0.012545260869275645,-4.5431925120823205e-06,-5.394701899955128e-06,-9.948310026758284e-12,1.9308096982802103e-11,2.571786720815943e-15,-5.856593300796861e-10,-3.017549429869969e-10,1.1537864680403752e-13],"joint_position_rad":[-0.1685216626242966,1.0944826917364208,-0.6109644731051709,0.29949816421969006,0.254455088568915,-0.18467103395046874],"joint_velocity_rad_s":[-0.007105288712187694,0.010168969676542555,-0.03181434375062027,-0.051196384615779564,0.08463031361597415,-0.012545260869275645],"gripper_joint_position_m":[0.034998687908676655,-0.03499978030416887],"tcp_position_m":[0.30283667081113325,-0.03425407763796706,0.1864190032840733],"tcp_quaternion_wxyz":[0.4493572227564341,0.10554616646911963,0.886889512842496,0.01910720048300325],"object_position_m":[0.2988766532835356,-0.032673976018070504,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5697981207400694e-11,8.088234152340053e-12,3.009685490740231e-14],"object_linear_velocity_m_s":[-9.948310026758284e-12,1.9308096982802103e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[-5.85659330079666e-10,-3.017549429870358e-10,1.1537864680405026e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999935629},{"geom_ids":[1,90],"normal_force_n":0.09809999999798777},{"geom_ids":[1,90],"normal_force_n":0.09810000000064374},{"geom_ids":[1,90],"normal_force_n":0.09810000000201222}],"native_actuator_controls":[-0.1719846152714442,1.0990953303619104,-0.61595970578052,0.28567921358168497,0.2982100793868909,-0.19522344608060202,0.035],"actuator_force_native":[-0.24150976821086978,0.31816624165647056,-0.24054689527481798,-0.2967761024413065,0.31060443775579794,-0.0867062299974195,7.519961549418142e-05],"issued_joint_targets_rad":[-0.172124554123075,1.0995444338061449,-0.6170811872830232,0.28450648171455706,0.3001345649038343,-0.19534960063901183],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9999999999997806,"joint_targets_rad":[-0.172124554123075,1.0995444338061449,-0.6170811872830232,0.28450648171455706,0.3001345649038343,-0.19534960063901183],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0199999999997784,"qpos":[-0.16866519125827206,1.0947572887126127,-0.6116793936868592,0.2983889882306467,0.25632671335879736,-0.1849306232464189,0.03499887332229014,-0.03499941809181469,0.2988766532832555,-0.03267397601752702,0.07989224457978372,1.0,1.657230278332791e-11,8.53871667717971e-12,3.526637215054155e-14],"qvel":[-0.007024316433815637,0.014437836714167911,-0.03381479440170989,-0.051930497213537805,0.09066422318574095,-0.01247901510074963,-8.670274641750141e-06,-1.5240495009338024e-05,-1.0797764482985072e-11,2.09567612939427e-11,2.566235605692817e-15,-4.627489608991624e-10,-2.384271502368758e-10,2.1065110800587018e-13],"joint_position_rad":[-0.16866519125827206,1.0947572887126127,-0.6116793936868592,0.2983889882306467,0.25632671335879736,-0.1849306232464189],"joint_velocity_rad_s":[-0.007024316433815637,0.014437836714167911,-0.03381479440170989,-0.051930497213537805,0.09066422318574095,-0.01247901510074963],"gripper_joint_position_m":[0.03499887332229014,-0.03499941809181469],"tcp_position_m":[0.3027638050947842,-0.03422865524708211,0.18631175265088096],"tcp_quaternion_wxyz":[0.44873242351214443,0.10496462463295134,0.8872793199552627,0.01889571497212328],"object_position_m":[0.2988766532832555,-0.03267397601752702,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.657230278332791e-11,8.53871667717971e-12,3.526637215054155e-14],"object_linear_velocity_m_s":[-1.0797764482985072e-11,2.09567612939427e-11,2.566235605692817e-15],"object_angular_velocity_rad_s":[-4.6274896089914196e-10,-2.384271502369154e-10,2.1065110800586086e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999858657},{"geom_ids":[1,90],"normal_force_n":0.09809999999558187},{"geom_ids":[1,90],"normal_force_n":0.09810000000141353},{"geom_ids":[1,90],"normal_force_n":0.09810000000441807}],"native_actuator_controls":[-0.172124554123075,1.0995444338061449,-0.6170811872830232,0.28450648171455706,0.3001345649038343,-0.19534960063901183,0.035],"actuator_force_native":[-0.24162744701515848,0.31078242391173205,-0.2630695156845704,-0.2956477745758974,0.3020821806717575,-0.08547125127480482,8.841848160345833e-05],"issued_joint_targets_rad":[-0.17230844322194705,1.1000623997143275,-0.6183652313904132,0.2832883650807701,0.3023465349677192,-0.19547209115562014],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.0199999999997784,"joint_targets_rad":[-0.17230844322194705,1.1000623997143275,-0.6183652313904132,0.2832883650807701,0.3023465349677192,-0.19547209115562014],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.039999999999776,"qpos":[-0.1688085775658781,1.095127834708336,-0.612469750307512,0.2972596377548325,0.258331035931775,-0.1851888288663207,0.03499902595618114,-0.03499920375022052,0.2988766532829829,-0.03267397601699803,0.07989224457978372,1.0,1.7124772673092642e-11,8.823378214805037e-12,4.105216361255951e-14],"qvel":[-0.00705052104087268,0.019127239978119354,-0.03826096357557467,-0.05282258407924887,0.09644512984414952,-0.01237193927144183,-1.0869453954767877e-05,-2.4065925352675897e-05,-1.1913762620413412e-11,2.3122716639450917e-11,2.5731744995967244e-15,-2.5518218605042436e-10,-1.3147975308486103e-10,3.845970835257025e-13],"joint_position_rad":[-0.1688085775658781,1.095127834708336,-0.612469750307512,0.2972596377548325,0.258331035931775,-0.1851888288663207],"joint_velocity_rad_s":[-0.00705052104087268,0.019127239978119354,-0.03826096357557467,-0.05282258407924887,0.09644512984414952,-0.01237193927144183],"gripper_joint_position_m":[0.03499902595618114,-0.03499920375022052],"tcp_position_m":[0.3026960541771659,-0.034197938646616785,0.18618475605880705],"tcp_quaternion_wxyz":[0.448040615521592,0.10437097876833377,0.8877030973203832,0.018695364178617193],"object_position_m":[0.2988766532829829,-0.03267397601699803,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7124772673092642e-11,8.823378214805037e-12,4.105216361255951e-14],"object_linear_velocity_m_s":[-1.1913762620413412e-11,2.3122716639450917e-11,2.5731744995967244e-15],"object_angular_velocity_rad_s":[-2.551821860504068e-10,-1.3147975308489518e-10,3.845970835257186e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999978006},{"geom_ids":[1,90],"normal_force_n":0.09809999999312499},{"geom_ids":[1,90],"normal_force_n":0.09810000000219944},{"geom_ids":[1,90],"normal_force_n":0.09810000000687501}],"native_actuator_controls":[-0.17230844322194705,1.1000623997143275,-0.6183652313904132,0.2832883650807701,0.3023465349677192,-0.19547209115562014,0.035],"actuator_force_native":[-0.24473664728115274,0.29912900058873504,-0.28033366875422416,-0.2947379865662523,0.29548729559321796,-0.08427471398583153,9.330902252835394e-05],"issued_joint_targets_rad":[-0.17252772213659853,1.1006363137079611,-0.6197795437827351,0.2820511646337399,0.3047882351652872,-0.19561406160970934],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.039999999999776,"joint_targets_rad":[-0.17252772213659853,1.1006363137079611,-0.6197795437827351,0.2820511646337399,0.3047882351652872,-0.19561406160970934],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.059999999999774,"qpos":[-0.16895368937122873,1.0955903704814625,-0.6133709875615815,0.2961109849329127,0.2604573417880333,-0.18544514952913657,0.03499916692539109,-0.034999106295611045,0.29887665328271923,-0.03267397601648622,0.07989224457978372,1.0,1.717234897605622e-11,8.847905935067257e-12,4.734003905769624e-14],"qvel":[-0.00716355308492499,0.023260003080152056,-0.044081771524584014,-0.05366298009844768,0.10172932038781778,-0.012262955072234693,-1.2191560439689627e-05,-3.021873560355286e-05,-1.356009716190735e-11,2.6317943383380473e-11,2.5731744995967244e-15,7.082563701251593e-11,3.649392941268603e-11,7.021741993843125e-13],"joint_position_rad":[-0.16895368937122873,1.0955903704814625,-0.6133709875615815,0.2961109849329127,0.2604573417880333,-0.18544514952913657],"joint_velocity_rad_s":[-0.00716355308492499,0.023260003080152056,-0.044081771524584014,-0.05366298009844768,0.10172932038781778,-0.012262955072234693],"gripper_joint_position_m":[0.03499916692539109,-0.034999106295611045],"tcp_position_m":[0.30264126937698943,-0.0341645733296168,0.18605544271488153],"tcp_quaternion_wxyz":[0.4473038814603741,0.1037653634346327,0.8881495366430772,0.018503716990090686],"object_position_m":[0.29887665328271923,-0.03267397601648622,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.717234897605622e-11,8.847905935067257e-12,4.734003905769624e-14],"object_linear_velocity_m_s":[-1.356009716190735e-11,2.6317943383380473e-11,2.5731744995967244e-15],"object_angular_velocity_rad_s":[7.08256370125249e-11,3.649392941266862e-11,7.021741993843683e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999971881},{"geom_ids":[1,90],"normal_force_n":0.09809999999121083},{"geom_ids":[1,90],"normal_force_n":0.09810000000281185},{"geom_ids":[1,90],"normal_force_n":0.09810000000878925}],"native_actuator_controls":[-0.17252772213659853,1.1006363137079611,-0.6197795437827351,0.2820511646337399,0.3047882351652872,-0.19561406160970934,0.035],"actuator_force_native":[-0.25010485580495967,0.2873754427191386,-0.29227564006937,-0.29407791147467144,0.290714953190812,-0.08329468819737551,9.428078655493444e-05],"issued_joint_targets_rad":[-0.17277250600455651,1.101249313573634,-0.6212823244378,0.2808287050690443,0.3073857609558312,-0.19580222416817272],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.059999999999774,"joint_targets_rad":[-0.17277250600455651,1.101249313573634,-0.6212823244378,0.2808287050690443,0.3073857609558312,-0.19580222416817272],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.079999999999772,"qpos":[-0.16910187912413827,1.0961275740892744,-0.6143985607717961,0.2949488809824531,0.2626879601812583,-0.18569974865307726,0.03499929560229985,-0.0349991006469075,0.29887665328245266,-0.03267397601596896,0.07989224457978372,1.0,1.7488842562164665e-11,9.010989800103316e-12,5.4866306170362597e-14],"qvel":[-0.007336904687664356,0.026409653086107238,-0.050367401571641095,-0.054219139781526544,0.10616522295588297,-0.012186970483409106,-1.3158983571744423e-05,-3.4720822397114025e-05,-1.6415118361211746e-11,3.185900887933253e-11,2.5759500571582867e-15,5.396020673016566e-10,2.7802727251999603e-10,1.28199692743204e-12],"joint_position_rad":[-0.16910187912413827,1.0961275740892744,-0.6143985607717961,0.2949488809824531,0.2626879601812583,-0.18569974865307726],"joint_velocity_rad_s":[-0.007336904687664356,0.026409653086107238,-0.050367401571641095,-0.054219139781526544,0.10616522295588297,-0.012186970483409106],"gripper_joint_position_m":[0.03499929560229985,-0.0349991006469075],"tcp_position_m":[0.30260340547451514,-0.034130531273120754,0.1859382975146291],"tcp_quaternion_wxyz":[0.4465444757810208,0.10314991967992976,0.8886070758666819,0.01831911403814334],"object_position_m":[0.29887665328245266,-0.03267397601596896,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7488842562164665e-11,9.010989800103316e-12,5.4866306170362597e-14],"object_linear_velocity_m_s":[-1.6415118361211746e-11,3.185900887933253e-11,2.5759500571582867e-15],"object_angular_velocity_rad_s":[5.396020673016492e-10,2.780272725200104e-10,1.281996927432093e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999654849},{"geom_ids":[1,90],"normal_force_n":0.09809999998921148},{"geom_ids":[1,90],"normal_force_n":0.0981000000034515},{"geom_ids":[1,90],"normal_force_n":0.09810000001078854}],"native_actuator_controls":[-0.17277250600455651,1.101249313573634,-0.6212823244378,0.2808287050690443,0.3073857609558312,-0.19580222416817272,0.035],"actuator_force_native":[-0.2569656269951377,0.2776908933182227,-0.2988640854221032,-0.29371133762871793,0.2877301733119051,-0.08274429942584094,9.397082586470873e-05],"issued_joint_targets_rad":[-0.1730334693990229,1.1018841257424787,-0.6228309783200007,0.2796543088109543,0.31006424759032436,-0.1960590853121945],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.079999999999772,"joint_targets_rad":[-0.1730334693990229,1.1018841257424787,-0.6228309783200007,0.2796543088109543,0.31006424759032436,-0.1960590853121945],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0999999999997696,"qpos":[-0.16925400373348665,1.0967170942447286,-0.6155511920332352,0.29378333488420605,0.2649986107514876,-0.1859534382114675,0.03499940961809887,-0.03499918059237691,0.2988766532821961,-0.032673976015471,0.07989224457978372,1.0,1.6348212530964307e-11,8.423293580195457e-12,6.206032151092514e-14],"qvel":[-0.007547126584208721,0.028463795646142764,-0.05637123948238521,-0.05430326193347454,0.10948598516884869,-0.0121751800609164,-1.3611592455220473e-05,-3.82049213036567e-05,-2.1046933492796813e-11,4.0848626399828265e-11,2.577337835939068e-15,1.2395513464202937e-09,6.386695632422573e-10,2.3406026405778727e-12],"joint_position_rad":[-0.16925400373348665,1.0967170942447286,-0.6155511920332352,0.29378333488420605,0.2649986107514876,-0.1859534382114675],"joint_velocity_rad_s":[-0.007547126584208721,0.028463795646142764,-0.05637123948238521,-0.05430326193347454,0.10948598516884869,-0.0121751800609164],"gripper_joint_position_m":[0.03499940961809887,-0.03499918059237691],"tcp_position_m":[0.3025836429203603,-0.034097307197067925,0.18584359783674895],"tcp_quaternion_wxyz":[0.4457824023970863,0.10252870375251631,0.8890651457136917,0.018140598033242028],"object_position_m":[0.2988766532821961,-0.032673976015471,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6348212530964307e-11,8.423293580195457e-12,6.206032151092514e-14],"object_linear_velocity_m_s":[-2.1046933492796813e-11,4.0848626399828265e-11,2.577337835939068e-15],"object_angular_velocity_rad_s":[1.239551346420254e-09,6.386695632423346e-10,2.3406026405778743e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999736209},{"geom_ids":[1,90],"normal_force_n":0.09809999999175428},{"geom_ids":[1,90],"normal_force_n":0.09810000000263788},{"geom_ids":[1,90],"normal_force_n":0.09810000000824569}],"native_actuator_controls":[-0.1730334693990229,1.1018841257424787,-0.6228309783200007,0.2796543088109543,0.31006424759032436,-0.1960590853121945,0.035],"actuator_force_native":[-0.2646216203218561,0.2710435415892931,-0.3005267055293146,-0.29364473326269547,0.28642739063509426,-0.08279370091589522,9.167323832115493e-05],"issued_joint_targets_rad":[-0.1733023508478688,1.102524920850548,-0.6243867602608543,0.2785541801712187,0.3127557614780085,-0.19639729470981857],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.0999999999997696,"joint_targets_rad":[-0.1733023508478688,1.102524920850548,-0.6243867602608543,0.2785541801712187,0.3127557614780085,-0.19639729470981857],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1199999999997674,"qpos":[-0.16941050101160532,1.0973367219405137,-0.6168155314273015,0.29262674431067714,0.26736217809879037,-0.18620757476301653,0.034999510690814424,-0.03499934090211507,0.29887665328192775,-0.0326739760149503,0.07989224457978372,1.0,1.5767329090925438e-11,8.123998158082494e-12,7.093878453479662e-14],"qvel":[-0.007774382785593226,0.02948994998819335,-0.061542511067170014,-0.05380869399409245,0.11155207748305113,-0.012248429409412412,-1.3513855845308683e-05,-4.0708181560634546e-05,-9.93030092493885e-12,1.9273064949254544e-11,2.573174499596724e-15,-6.099313868320739e-10,-3.142627393232191e-10,2.5358508034998354e-13],"joint_position_rad":[-0.16941050101160532,1.0973367219405137,-0.6168155314273015,0.29262674431067714,0.26736217809879037,-0.18620757476301653],"joint_velocity_rad_s":[-0.007774382785593226,0.02948994998819335,-0.061542511067170014,-0.05380869399409245,0.11155207748305113,-0.012248429409412412],"gripper_joint_position_m":[0.034999510690814424,-0.03499934090211507],"tcp_position_m":[0.30258117834905407,-0.03406592495751021,0.18577712830609483],"tcp_quaternion_wxyz":[0.44503353301786736,0.10190692171626382,0.8895151986135357,0.017967894464084807],"object_position_m":[0.29887665328192775,-0.0326739760149503,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5767329090925438e-11,8.123998158082494e-12,7.093878453479662e-14],"object_linear_velocity_m_s":[-9.93030092493885e-12,1.9273064949254544e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[-6.099313868320252e-10,-3.1426273932331364e-10,2.535850803499784e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999943614},{"geom_ids":[1,90],"normal_force_n":0.09809999999823747},{"geom_ids":[1,90],"normal_force_n":0.09810000000056383},{"geom_ids":[1,90],"normal_force_n":0.09810000000176257}],"native_actuator_controls":[-0.1733023508478688,1.102524920850548,-0.6243867602608543,0.2785541801712187,0.3127557614780085,-0.19639729470981857,0.035],"actuator_force_native":[-0.27247607297311127,0.26760616286179584,-0.2979857513483708,-0.2938590956078766,0.28660771756760495,-0.08352455535390191,8.714164664969104e-05],"issued_joint_targets_rad":[-0.17357268471243895,1.103158834037703,-0.6259185119441689,0.27754544120364094,0.31540582876908674,-0.19681965904725296],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.1199999999997674,"joint_targets_rad":[-0.17357268471243895,1.103158834037703,-0.6259185119441689,0.27754544120364094,0.31540582876908674,-0.19681965904725296],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.139999999999765,"qpos":[-0.16957267403992546,1.097966855861645,-0.6181696137494138,0.2914921790510911,0.26975141802609137,-0.18646383811483647,0.0349996022216951,-0.03499957702525419,0.29887665328163804,-0.03267397601438814,0.07989224457978372,1.0,1.687510133068566e-11,8.694768494501954e-12,8.374079824031472e-14],"qvel":[-0.008027255082294765,0.029653865008660397,-0.06551809564782907,-0.05271844000378098,0.11236608350963266,-0.012416172833648872,-1.2629654890251629e-05,-4.172409291763279e-05,-1.087134369453983e-11,2.1099470038187298e-11,2.5662356056928168e-15,-5.09751645364928e-10,-2.6264560915956827e-10,4.629835276792705e-13],"joint_position_rad":[-0.16957267403992546,1.097966855861645,-0.6181696137494138,0.2914921790510911,0.26975141802609137,-0.18646383811483647],"joint_velocity_rad_s":[-0.008027255082294765,0.029653865008660397,-0.06551809564782907,-0.05271844000378098,0.11236608350963266,-0.012416172833648872],"gripper_joint_position_m":[0.0349996022216951,-0.03499957702525419],"tcp_position_m":[0.302593681380299,-0.03403733184739468,0.18574039647865032],"tcp_quaternion_wxyz":[0.44430885354398314,0.10129076398687471,0.88995109350604,0.01780098201758186],"object_position_m":[0.29887665328163804,-0.03267397601438814,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.687510133068566e-11,8.694768494501954e-12,8.374079824031472e-14],"object_linear_velocity_m_s":[-1.087134369453983e-11,2.1099470038187298e-11,2.5662356056928168e-15],"object_angular_velocity_rad_s":[-5.09751645364876e-10,-2.6264560915966924e-10,4.629835276792731e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999869494},{"geom_ids":[1,90],"normal_force_n":0.09809999999592084},{"geom_ids":[1,90],"normal_force_n":0.09810000000130498},{"geom_ids":[1,90],"normal_force_n":0.09810000000407922}],"native_actuator_controls":[-0.17357268471243895,1.103158834037703,-0.6259185119441689,0.27754544120364094,0.31540582876908674,-0.19681965904725296,0.035],"actuator_force_native":[-0.27986457838960455,0.26708892904133563,-0.29232137734125985,-0.2942773138791015,0.2879949821655048,-0.08493395007369164,7.905940664754141e-05],"issued_joint_targets_rad":[-0.173839198982565,1.103776568149675,-0.6274041324447805,0.27663116193631876,0.31797555443796677,-0.1973147464106297],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.139999999999765,"joint_targets_rad":[-0.173839198982565,1.103776568149675,-0.6274041324447805,0.27663116193631876,0.31797555443796677,-0.1973147464106297],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.159999999999763,"qpos":[-0.1697428908926858,1.0985919427740318,-0.6195866609949976,0.29039114839883506,0.2721416970190156,-0.18672396277685369,0.034999689184601425,-0.03499987432251625,0.2988766532813544,-0.032673976013837695,0.07989224457978372,1.0,1.761626516866671e-11,9.076656953673107e-12,9.814289469646069e-14],"qvel":[-0.008323967620442631,0.029171392187258272,-0.06812440113695062,-0.051121870189843606,0.11205811244421708,-0.012671481824307707,-1.0863449596769795e-05,-4.050221717647807e-05,-1.1993311680657277e-11,2.327699977092815e-11,2.5759500571582863e-15,-3.24059650837252e-10,-1.669690038782809e-10,8.452903376587836e-13],"joint_position_rad":[-0.1697428908926858,1.0985919427740318,-0.6195866609949976,0.29039114839883506,0.2721416970190156,-0.18672396277685369],"joint_velocity_rad_s":[-0.008323967620442631,0.029171392187258272,-0.06812440113695062,-0.051121870189843606,0.11205811244421708,-0.012671481824307707],"gripper_joint_position_m":[0.034999689184601425,-0.03499987432251625],"tcp_position_m":[0.30261777969501813,-0.03401250046740606,0.18573128386518617],"tcp_quaternion_wxyz":[0.44361427743792664,0.10068653202950263,0.8903692694236089,0.017639704849201812],"object_position_m":[0.2988766532813544,-0.032673976013837695,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.761626516866671e-11,9.076656953673107e-12,9.814289469646069e-14],"object_linear_velocity_m_s":[-1.1993311680657277e-11,2.327699977092815e-11,2.5759500571582863e-15],"object_angular_velocity_rad_s":[-3.240596508372039e-10,-1.669690038783743e-10,8.452903376587996e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999789086},{"geom_ids":[1,90],"normal_force_n":0.09809999999340684},{"geom_ids":[1,90],"normal_force_n":0.0981000000021092},{"geom_ids":[1,90],"normal_force_n":0.09810000000659315}],"native_actuator_controls":[-0.173839198982565,1.103776568149675,-0.6274041324447805,0.27663116193631876,0.31797555443796677,-0.1973147464106297,0.035],"actuator_force_native":[-0.2860848090881234,0.26891306911515755,-0.28477571029789317,-0.2947901075514352,0.2902514055231862,-0.08690061360129886,6.67498639270736e-05],"issued_joint_targets_rad":[-0.1740975358854968,1.1043726457211942,-0.6288310953761926,0.27580002210771626,0.3204423327147461,-0.19785821592414654],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.159999999999763,"joint_targets_rad":[-0.1740975358854968,1.1043726457211942,-0.6288310953761926,0.27580002210771626,0.3204423327147461,-0.19785821592414654],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.179999999999761,"qpos":[-0.1699224460650415,1.0992011495907292,-0.6210385965858612,0.2893315722059249,0.2745125457619338,-0.18698940332998792,0.0349997421140802,-0.03500014494358995,0.2988766532810788,-0.032673976013302755,0.07989224457978372,1.0,1.7851704258738118e-11,9.197973002909807e-12,1.1393609314569242e-13],"qvel":[-0.008643006626793591,0.028274033611557513,-0.06936994858612784,-0.049188053282287626,0.11088340223132992,-0.012989666531796106,-1.897483865252711e-05,-2.260216221345107e-05,-1.35560046704968e-11,2.6309903297080566e-11,2.5759500571582863e-15,-2.2696358098652857e-11,-1.169339318590902e-11,1.5432864286657213e-12],"joint_position_rad":[-0.1699224460650415,1.0992011495907292,-0.6210385965858612,0.2893315722059249,0.2745125457619338,-0.18698940332998792],"joint_velocity_rad_s":[-0.008643006626793591,0.028274033611557513,-0.06936994858612784,-0.049188053282287626,0.11088340223132992,-0.012989666531796106],"gripper_joint_position_m":[0.0349997421140802,-0.03500014494358995],"tcp_position_m":[0.3026496567424263,-0.03399189975147996,0.1857449993680316],"tcp_quaternion_wxyz":[0.4429511603027133,0.10009887711178476,0.8907686575221347,0.017483797174919106],"object_position_m":[0.2988766532810788,-0.032673976013302755,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7851704258738118e-11,9.197973002909807e-12,1.1393609314569242e-13],"object_linear_velocity_m_s":[-1.35560046704968e-11,2.6309903297080566e-11,2.5759500571582863e-15],"object_angular_velocity_rad_s":[-2.2696358098621802e-11,-1.1693393185969293e-11,1.5432864286657484e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999971945},{"geom_ids":[1,90],"normal_force_n":0.0980999999912304},{"geom_ids":[1,90],"normal_force_n":0.09810000000280551},{"geom_ids":[1,90],"normal_force_n":0.09810000000876962}],"native_actuator_controls":[-0.1740975358854968,1.1043726457211942,-0.6288310953761926,0.27580002210771626,0.3204423327147461,-0.19785821592414654,0.035],"actuator_force_native":[-0.2907921525024566,0.27234952237941457,-0.2765501602958764,-0.2953217375169075,0.2929727661811281,-0.08920362614389199,0.0001051896300550137],"issued_joint_targets_rad":[-0.17434504658054836,1.1049452271576254,-0.6301957882405919,0.2750347015895578,0.32279914540714894,-0.19842420827563798],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.179999999999761,"joint_targets_rad":[-0.17434504658054836,1.1049452271576254,-0.6301957882405919,0.2750347015895578,0.32279914540714894,-0.19842420827563798],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1999999999997586,"qpos":[-0.17011126416457029,1.0997884992419686,-0.6224997169162706,0.2883173663288755,0.27684986278875556,-0.18726109504576816,0.03499964315462801,-0.03500019322821467,0.2988766532808139,-0.03267397601278859,0.07989224457978372,1.0,1.7353013598443978e-11,8.941041723600846e-12,1.304778294207543e-13],"qvel":[-0.008961139793721554,0.02717918755982136,-0.06940996952832036,-0.04709725570436556,0.10914687951867776,-0.013340366162542664,-1.8869697515533368e-05,-1.6320438701293425e-05,-1.5990337322403656e-11,3.103444554978945e-11,2.577337835939068e-15,4.37661991341224e-10,2.2550559643268827e-10,2.817658588203634e-12],"joint_position_rad":[-0.17011126416457029,1.0997884992419686,-0.6224997169162706,0.2883173663288755,0.27684986278875556,-0.18726109504576816],"joint_velocity_rad_s":[-0.008961139793721554,0.02717918755982136,-0.06940996952832036,-0.04709725570436556,0.10914687951867776,-0.013340366162542664],"gripper_joint_position_m":[0.03499964315462801,-0.03500019322821467],"tcp_position_m":[0.3026855351333311,-0.033975395692229175,0.1857751788256173],"tcp_quaternion_wxyz":[0.4423169060606017,0.0995303579802795,0.8911503956063987,0.01733305696791872],"object_position_m":[0.2988766532808139,-0.03267397601278859,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7353013598443978e-11,8.941041723600846e-12,1.304778294207543e-13],"object_linear_velocity_m_s":[-1.5990337322403656e-11,3.103444554978945e-11,2.577337835939068e-15],"object_angular_velocity_rad_s":[4.3766199134121555e-10,2.255055964327047e-10,2.817658588203729e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999969313},{"geom_ids":[1,90],"normal_force_n":0.09809999999040796},{"geom_ids":[1,90],"normal_force_n":0.09810000000306873},{"geom_ids":[1,90],"normal_force_n":0.09810000000959208}],"native_actuator_controls":[-0.17434504658054836,1.1049452271576254,-0.6301957882405919,0.2750347015895578,0.32279914540714894,-0.19842420827563798,0.035],"actuator_force_native":[-0.29389689430963806,0.2766422954534278,-0.2686358583041013,-0.29582031105088014,0.29577250690591717,-0.09162058305488419,0.00010862230245756166],"issued_joint_targets_rad":[-0.1745810685342528,1.1054957768543596,-0.6315024754748456,0.2743167046390174,0.3250529183030133,-0.19899069283622495],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.1999999999997586,"joint_targets_rad":[-0.1745810685342528,1.1054957768543596,-0.6315024754748456,0.2743167046390174,0.3250529183030133,-0.19899069283622495],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2199999999997564,"qpos":[-0.17030835574854258,1.1003522544561384,-0.6239487974525746,0.2873487792080323,0.2791460816900801,-0.1875394327272377,0.034999536556753794,-0.03500020940812673,0.29887665328056423,-0.032673976012303985,0.07989224457978372,1.0,1.5785039356681266e-11,8.13316288962208e-12,1.4628932529447788e-13],"qvel":[-0.009260499149713447,0.026073410092380924,-0.06850257665735247,-0.04507236998406461,0.10716826375506035,-0.013704115249763074,-1.4744532109643814e-05,-1.5134241638730217e-05,-2.0020915090930702e-11,3.8857050895857385e-11,2.57872561471985e-15,1.1175556140280407e-09,5.758163742528001e-10,5.144342280164496e-12],"joint_position_rad":[-0.17030835574854258,1.1003522544561384,-0.6239487974525746,0.2873487792080323,0.2791460816900801,-0.1875394327272377],"joint_velocity_rad_s":[-0.009260499149713447,0.026073410092380924,-0.06850257665735247,-0.04507236998406461,0.10716826375506035,-0.013704115249763074],"gripper_joint_position_m":[0.034999536556753794,-0.03500020940812673],"tcp_position_m":[0.30272202126518666,-0.033962441115163694,0.18581490783584653],"tcp_quaternion_wxyz":[0.44170611226072676,0.09898165711388106,0.8915172117680084,0.01718729379222508],"object_position_m":[0.29887665328056423,-0.032673976012303985,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5785039356681266e-11,8.13316288962208e-12,1.4628932529447788e-13],"object_linear_velocity_m_s":[-2.0020915090930702e-11,3.8857050895857385e-11,2.57872561471985e-15],"object_angular_velocity_rad_s":[1.1175556140279559e-09,5.758163742529646e-10,5.1443422801645405e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999768527},{"geom_ids":[1,90],"normal_force_n":0.09809999999276461},{"geom_ids":[1,90],"normal_force_n":0.09810000000231475},{"geom_ids":[1,90],"normal_force_n":0.09810000000723539}],"native_actuator_controls":[-0.1745810685342528,1.1054957768543596,-0.6315024754748456,0.2743167046390174,0.3250529183030133,-0.19899069283622495,0.035],"actuator_force_native":[-0.2955145271082511,0.28111474139579684,-0.2617813584949147,-0.295921132840272,0.2983159704967413,-0.09395642821522787,9.226039039655909e-05],"issued_joint_targets_rad":[-0.1748064145174977,1.1060282107983286,-0.6327611077833587,0.27362795056217626,0.32722060323679153,-0.1995402806650917],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.2199999999997564,"joint_targets_rad":[-0.1748064145174977,1.1060282107983286,-0.6327611077833587,0.27362795056217626,0.32722060323679153,-0.1995402806650917],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.239999999999754,"qpos":[-0.17051207502364407,1.1008941131199477,-0.6253704994470323,0.2864219747687084,0.28139974601714435,-0.18782444483160274,0.03499946516342078,-0.03500021329170201,0.2988766532803085,-0.032673976011807444,0.07989224457978372,1.0,1.4968050607539267e-11,7.7122180828423e-12,1.6580303987326342e-13],"qvel":[-0.009517094535650509,0.02510133593333111,-0.0669662378375239,-0.04348206580944896,0.10523686431113673,-0.014081257543460053,-1.0846569426548103e-05,-1.2114688172861703e-05,-9.460961942768894e-12,1.8362053983113064e-11,2.5731744995967244e-15,-5.882833891005241e-10,-3.031100570304198e-10,5.573478764690542e-13],"joint_position_rad":[-0.17051207502364407,1.1008941131199477,-0.6253704994470323,0.2864219747687084,0.28139974601714435,-0.18782444483160274],"joint_velocity_rad_s":[-0.009517094535650509,0.02510133593333111,-0.0669662378375239,-0.04348206580944896,0.10523686431113673,-0.014081257543460053],"gripper_joint_position_m":[0.03499946516342078,-0.03500021329170201],"tcp_position_m":[0.3027563623746112,-0.03395226495673808,0.18585759715150876],"tcp_quaternion_wxyz":[0.4411117228208391,0.0984513970938122,0.891872864060614,0.017045960008902735],"object_position_m":[0.2988766532803085,-0.032673976011807444,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4968050607539267e-11,7.7122180828423e-12,1.6580303987326342e-13],"object_linear_velocity_m_s":[-9.460961942768894e-12,1.8362053983113064e-11,2.5731744995967244e-15],"object_angular_velocity_rad_s":[-5.88283389100415e-10,-3.0311005703063156e-10,5.573478764690605e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999955708},{"geom_ids":[1,90],"normal_force_n":0.09809999999861549},{"geom_ids":[1,90],"normal_force_n":0.09810000000044292},{"geom_ids":[1,90],"normal_force_n":0.0981000000013845}],"native_actuator_controls":[-0.1748064145174977,1.1060282107983286,-0.6327611077833587,0.27362795056217626,0.32722060323679153,-0.1995402806650917,0.035],"actuator_force_native":[-0.2959616868300383,0.28522113460381604,-0.2564174777184931,-0.2943506392140396,0.30035327572976644,-0.09603647201969934,7.562631030166855e-05],"issued_joint_targets_rad":[-0.1750226586842749,1.1065480134168,-0.633985162615305,0.2729510495781194,0.32932525808966845,-0.2000605548650791],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.239999999999754,"joint_targets_rad":[-0.1750226586842749,1.1065480134168,-0.633985162615305,0.2729510495781194,0.32932525808966845,-0.2000605548650791],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.259999999999752,"qpos":[-0.1707203409472987,1.1014182445789016,-0.6267557705485698,0.2855296762871085,0.2836142879899447,-0.1881157423762534,0.034999431255109605,-0.03500018952905434,0.29887665328003554,-0.032673976011277764,0.07989224457978372,1.0,1.5859458828989538e-11,8.171521080749578e-12,1.9394002472612973e-13],"qvel":[-0.009671913699697174,0.024363732732137267,-0.06509404326567517,-0.04226946841247895,0.10353033712969115,-0.014423780782794335,-7.73720131327251e-06,-8.948655279808344e-06,-1.0234754791503209e-11,1.986382983061391e-11,2.571786720815943e-15,-4.849561707120599e-10,-2.498713192341837e-10,1.017570761608583e-12],"joint_position_rad":[-0.1707203409472987,1.1014182445789016,-0.6267557705485698,0.2855296762871085,0.2836142879899447,-0.1881157423762534],"joint_velocity_rad_s":[-0.009671913699697174,0.024363732732137267,-0.06509404326567517,-0.04226946841247895,0.10353033712969115,-0.014423780782794335],"gripper_joint_position_m":[0.034999431255109605,-0.03500018952905434],"tcp_position_m":[0.3027866038442743,-0.03394401830803646,0.18589763965293568],"tcp_quaternion_wxyz":[0.44052617317868764,0.09793651106718575,0.8922215232144929,0.016908106261141576],"object_position_m":[0.29887665328003554,-0.032673976011277764,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5859458828989538e-11,8.171521080749578e-12,1.9394002472612973e-13],"object_linear_velocity_m_s":[-1.0234754791503209e-11,1.986382983061391e-11,2.571786720815943e-15],"object_angular_velocity_rad_s":[-4.849561707119463e-10,-2.4987131923440404e-10,1.0175707616085943e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999882847},{"geom_ids":[1,90],"normal_force_n":0.09809999999633796},{"geom_ids":[1,90],"normal_force_n":0.09810000000117154},{"geom_ids":[1,90],"normal_force_n":0.09810000000366208}],"native_actuator_controls":[-0.1750226586842749,1.1065480134168,-0.633985162615305,0.2729510495781194,0.32932525808966845,-0.2000605548650791,0.035],"actuator_force_native":[-0.29582585045961096,0.28856284337118154,-0.2528811490104417,-0.2917977262971707,0.3018141953027005,-0.09781245371406544,6.143580218243017e-05],"issued_joint_targets_rad":[-0.17523162564425826,1.1070613038324937,-0.6351894092339516,0.27227029798431035,0.3313921198720423,-0.2005440344891513],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.259999999999752,"joint_targets_rad":[-0.17523162564425826,1.1070613038324937,-0.6351894092339516,0.27227029798431035,0.3313921198720423,-0.2005440344891513],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.27999999999975,"qpos":[-0.17093071041500557,1.1019303443602912,-0.6281015680427489,0.28466438193467686,0.2857969117099285,-0.1884124853495827,0.034999431043857804,-0.03500014384649116,0.29887665327975266,-0.03267397601072858,0.07989224457978372,1.0,1.736668761709616e-11,8.948127263997903e-12,2.2973445939163224e-13],"qvel":[-0.009722117699768962,0.02391376577140065,-0.06316531598683346,-0.04134122328065455,0.10219943165396404,-0.014708314936529713,-5.583175692065876e-06,-6.813097563119105e-06,-1.1605158702864447e-11,2.2523501595702243e-11,2.573174499596724e-15,-3.4399780030357676e-10,-1.7724308544698642e-10,1.8578380360471144e-12],"joint_position_rad":[-0.17093071041500557,1.1019303443602912,-0.6281015680427489,0.28466438193467686,0.2857969117099285,-0.1884124853495827],"joint_velocity_rad_s":[-0.009722117699768962,0.02391376577140065,-0.06316531598683346,-0.04134122328065455,0.10219943165396404,-0.014708314936529713],"gripper_joint_position_m":[0.034999431043857804,-0.03500014384649116],"tcp_position_m":[0.3028116486887775,-0.03393669983201242,0.18593081281919877],"tcp_quaternion_wxyz":[0.4399422562767333,0.09743350893505956,0.8925671853723132,0.016773254761247847],"object_position_m":[0.29887665327975266,-0.03267397601072858,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.736668761709616e-11,8.948127263997903e-12,2.2973445939163224e-13],"object_linear_velocity_m_s":[-1.1605158702864447e-11,2.2523501595702243e-11,2.573174499596724e-15],"object_angular_velocity_rad_s":[-3.439978003034621e-10,-1.77243085447209e-10,1.8578380360471358e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999787465},{"geom_ids":[1,90],"normal_force_n":0.09809999999335633},{"geom_ids":[1,90],"normal_force_n":0.09810000000212547},{"geom_ids":[1,90],"normal_force_n":0.0981000000066436}],"native_actuator_controls":[-0.17523162564425826,1.1070613038324937,-0.6351894092339516,0.27227029798431035,0.3313921198720423,-0.2005440344891513,0.035],"actuator_force_native":[-0.2954626298413725,0.2909079289191965,-0.251200715362053,-0.2890572416113866,0.302652934140192,-0.09925301899089178,5.067412414838657e-05],"issued_joint_targets_rad":[-0.17543590052983282,1.1075740989696337,-0.6363880809987774,0.27157669094234627,0.3334458143456219,-0.20099041419797714],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.27999999999975,"joint_targets_rad":[-0.17543590052983282,1.1075740989696337,-0.6363880809987774,0.27157669094234627,0.3334458143456219,-0.20099041419797714],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2999999999997476,"qpos":[-0.1711412441045218,1.102436672792737,-0.6294100024977,0.2838196066681173,0.28795724224162683,-0.188713677768441,0.03499945504914911,-0.03500008849479907,0.2988766532794721,-0.03267397601018413,0.07989224457978372,1.0,1.8139207060751026e-11,9.346164879236849e-12,2.6929284750315687e-13],"qvel":[-0.009700667290202254,0.023761144911366775,-0.061411988808604025,-0.040634328127662024,0.10132704800803805,-0.014933251857461399,-4.465540137386778e-06,-5.5993865222240726e-06,-1.3313701763828655e-11,2.5839482055643955e-11,2.5648478269120354e-15,-8.737649876931249e-11,-4.502066951652173e-11,3.3919631958474663e-12],"joint_position_rad":[-0.1711412441045218,1.102436672792737,-0.6294100024977,0.2838196066681173,0.28795724224162683,-0.188713677768441],"joint_velocity_rad_s":[-0.009700667290202254,0.023761144911366775,-0.061411988808604025,-0.040634328127662024,0.10132704800803805,-0.014933251857461399],"gripper_joint_position_m":[0.03499945504914911,-0.03500008849479907],"tcp_position_m":[0.3028311712618431,-0.03392941819886207,0.18595445558527046],"tcp_quaternion_wxyz":[0.4393537958213414,0.09693925307246963,0.892913259086588,0.016641365884389754],"object_position_m":[0.2988766532794721,-0.03267397601018413,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8139207060751026e-11,9.346164879236849e-12,2.6929284750315687e-13],"object_linear_velocity_m_s":[-1.3313701763828655e-11,2.5839482055643955e-11,2.5648478269120354e-15],"object_angular_velocity_rad_s":[-8.737649876922483e-11,-4.5020669516691844e-11,3.3919631958474583e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999971338},{"geom_ids":[1,90],"normal_force_n":0.09809999999104083},{"geom_ids":[1,90],"normal_force_n":0.09810000000286627},{"geom_ids":[1,90],"normal_force_n":0.09810000000895926}],"native_actuator_controls":[-0.17543590052983282,1.1075740989696337,-0.6363880809987774,0.27157669094234627,0.3334458143456219,-0.20099041419797714,0.035],"actuator_force_native":[-0.2950691775738701,0.29218836959489636,-0.2511863360431832,-0.2865449883925315,0.30289514902789394,-0.10036748650916949,4.412573472278858e-05],"issued_joint_targets_rad":[-0.17563824837142317,1.10809168523747,-0.6375934586257858,0.27086634856508296,0.33550775641450986,-0.20140339775538188],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.2999999999997476,"joint_targets_rad":[-0.17563824837142317,1.10809168523747,-0.6375934586257858,0.27086634856508296,0.33550775641450986,-0.20140339775538188],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3199999999997454,"qpos":[-0.17135091621368553,1.1029432535656958,-0.6306870725330349,0.2829901301097208,0.2901057272735508,-0.18901836519778675,0.034999489647313774,-0.03500002976850881,0.29887665327919805,-0.03267397600965237,0.07989224457978372,1.0,1.8041082703497182e-11,9.295602667594837e-12,3.113231637870028e-13],"qvel":[-0.009650518222998995,0.023881435200973973,-0.060001357580907896,-0.0401030096048524,0.1009257517724987,-0.015105580451165735,-4.2395695405181284e-06,-4.906545107625028e-06,-1.5700719164310168e-11,3.047226196107489e-11,2.5662356056928168e-15,3.307190233253485e-10,1.7040120246120697e-10,6.192872152313814e-12],"joint_position_rad":[-0.17135091621368553,1.1029432535656958,-0.6306870725330349,0.2829901301097208,0.2901057272735508,-0.18901836519778675],"joint_velocity_rad_s":[-0.009650518222998995,0.023881435200973973,-0.060001357580907896,-0.0401030096048524,0.1009257517724987,-0.015105580451165735],"gripper_joint_position_m":[0.034999489647313774,-0.03500002976850881],"tcp_position_m":[0.3028454897421519,-0.03392157397377083,0.18596745285718008],"tcp_quaternion_wxyz":[0.43875613994956286,0.09645124385004843,0.8932623028690219,0.016512585789934735],"object_position_m":[0.29887665327919805,-0.03267397600965237,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8041082703497182e-11,9.295602667594837e-12,3.113231637870028e-13],"object_linear_velocity_m_s":[-1.5700719164310168e-11,3.047226196107489e-11,2.5662356056928168e-15],"object_angular_velocity_rad_s":[3.3071902332535757e-10,1.7040120246118944e-10,6.192872152313793e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999674829},{"geom_ids":[1,90],"normal_force_n":0.0980999999898357},{"geom_ids":[1,90],"normal_force_n":0.09810000000325175},{"geom_ids":[1,90],"normal_force_n":0.09810000001016432}],"native_actuator_controls":[-0.17563824837142317,1.10809168523747,-0.6375934586257858,0.27086634856508296,0.33550775641450986,-0.20140339775538188,0.035],"actuator_force_native":[-0.29473398150401664,0.2924673577370669,-0.25250409951553365,-0.2844362137612535,0.30263166375084305,-0.10119195489920241,4.1611955151621416e-05],"issued_joint_targets_rad":[-0.17584100446050757,1.1086181453663932,-0.6388148634520648,0.27013842541435185,0.33759424051298514,-0.20178801684204672],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3199999999997454,"joint_targets_rad":[-0.17584100446050757,1.1086181453663932,-0.6388148634520648,0.27013842541435185,0.33759424051298514,-0.20178801684204672],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.339999999999743,"qpos":[-0.17155951541294007,1.103455268851745,-0.6319412339535426,0.28217168711108803,0.2922521846852125,-0.18932572453665325,0.034999532130768195,-0.034999981365368034,0.29887665327893626,-0.03267397600914447,0.07989224457978372,1.0,1.6831573158061945e-11,8.672403217097092e-12,3.527161999397545e-13],"qvel":[-0.00960015070908174,0.024225679732073246,-0.059029711318956374,-0.03971662716867396,0.10094677575272512,-0.015233717692689233,-1.812883024168317e-06,-8.406672633095615e-06,-1.9453971519321246e-11,3.7756674246746956e-11,2.5662356056928168e-15,9.65421181544118e-10,4.974286952731187e-10,1.130660246007945e-11],"joint_position_rad":[-0.17155951541294007,1.103455268851745,-0.6319412339535426,0.28217168711108803,0.2922521846852125,-0.18932572453665325],"joint_velocity_rad_s":[-0.00960015070908174,0.024225679732073246,-0.059029711318956374,-0.03971662716867396,0.10094677575272512,-0.015233717692689233],"gripper_joint_position_m":[0.034999532130768195,-0.034999981365368034],"tcp_position_m":[0.3028554111408598,-0.03391290163949348,0.18597006022721896],"tcp_quaternion_wxyz":[0.4381464093772199,0.09596753000415764,0.8936159265243893,0.01638697643582397],"object_position_m":[0.29887665327893626,-0.03267397600914447,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6831573158061945e-11,8.672403217097092e-12,3.527161999397545e-13],"object_linear_velocity_m_s":[-1.9453971519321246e-11,3.7756674246746956e-11,2.5662356056928168e-15],"object_angular_velocity_rad_s":[9.65421181543963e-10,4.974286952734192e-10,1.1306602460079421e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999721938},{"geom_ids":[1,90],"normal_force_n":0.09809999999130807},{"geom_ids":[1,90],"normal_force_n":0.09810000000278069},{"geom_ids":[1,90],"normal_force_n":0.09810000000869189}],"native_actuator_controls":[-0.17584100446050757,1.1086181453663932,-0.6388148634520648,0.27013842541435185,0.33759424051298514,-0.20178801684204672,0.035],"actuator_force_native":[-0.29451837025998984,0.29190172251151125,-0.254741803286997,-0.2827473320260765,0.30200039464863915,-0.10177234651490075,2.7779184393228462e-05],"issued_joint_targets_rad":[-0.17604569875694237,1.109156109203316,-0.6400581763052409,0.2693936677224734,0.3397155176061338,-0.20214936012326457],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.339999999999743,"joint_targets_rad":[-0.17604569875694237,1.109156109203316,-0.6400581763052409,0.2693936677224734,0.3397155176061338,-0.20214936012326457],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.359999999999741,"qpos":[-0.17176734751170747,1.1039766586899433,-0.6331819841973125,0.2813609315527966,0.2944047818820132,-0.18963505592336044,0.03499961220551677,-0.034999991342479164,0.29887665327868057,-0.032673976008648305,0.07989224457978372,1.0,1.5237400828343437e-11,7.851008697528132e-12,3.956048392299161e-13],"qvel":[-0.009568283533162395,0.024729568439138393,-0.05852631960576134,-0.039445289267499205,0.10130473464426014,-0.015325550722882459,-1.211287483876802e-06,-9.522889853692207e-06,-9.607370556802664e-12,1.86461835738626e-11,2.570398942035161e-15,-6.24983628966184e-10,-3.2202039306889826e-10,1.224977910620596e-12],"joint_position_rad":[-0.17176734751170747,1.1039766586899433,-0.6331819841973125,0.2813609315527966,0.2944047818820132,-0.18963505592336044],"joint_velocity_rad_s":[-0.009568283533162395,0.024729568439138393,-0.05852631960576134,-0.039445289267499205,0.10130473464426014,-0.015325550722882459],"gripper_joint_position_m":[0.03499961220551677,-0.034999991342479164],"tcp_position_m":[0.3028620546460244,-0.0339034049323934,0.18596360912187665],"tcp_quaternion_wxyz":[0.43752348126768514,0.09548666148050258,0.893974813958554,0.016264465145895603],"object_position_m":[0.29887665327868057,-0.032673976008648305,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5237400828343437e-11,7.851008697528132e-12,3.956048392299161e-13],"object_linear_velocity_m_s":[-9.607370556802664e-12,1.86461835738626e-11,2.570398942035161e-15],"object_angular_velocity_rad_s":[-6.2498362896591e-10,-3.220203930694301e-10,1.2249779106205922e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999969658},{"geom_ids":[1,90],"normal_force_n":0.09809999999905156},{"geom_ids":[1,90],"normal_force_n":0.09810000000030343},{"geom_ids":[1,90],"normal_force_n":0.0981000000009485}],"native_actuator_controls":[-0.17604569875694237,1.109156109203316,-0.6400581763052409,0.2693936677224734,0.3397155176061338,-0.20214936012326457,0.035],"actuator_force_native":[-0.29442668195298083,0.29070819887412824,-0.25746377060546166,-0.28146410687543266,0.3011502552748153,-0.10215471591471736,2.1568216748590885e-05],"issued_joint_targets_rad":[-0.17625304462275526,1.109706735878928,-0.6413258605364965,0.2686340854615341,0.3418758603649265,-0.20249236488204564],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.359999999999741,"joint_targets_rad":[-0.17625304462275526,1.109706735878928,-0.6413258605364965,0.2686340854615341,0.3418758603649265,-0.20249236488204564],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3799999999997388,"qpos":[-0.1719749229917568,1.1045099192668182,-0.6344186046405218,0.280555236366825,0.29656940115273367,-0.18994578664816306,0.034999691331585626,-0.03500000795892658,0.2988766532783959,-0.03267397600809586,0.07989224457978372,1.0,1.62365581480548e-11,8.365829061475847e-12,4.652208148716812e-13],"qvel":[-0.009557544831017515,0.025323313926158417,-0.05846276550896299,-0.039264950264685454,0.1018919191381918,-0.015388119763793284,-2.7356994855192113e-06,-7.856050662631563e-06,-1.0394730100047271e-11,2.0174287389984177e-11,2.571786720815942e-15,-5.350248735190397e-10,-2.756693458208231e-10,2.2365022497954066e-12],"joint_position_rad":[-0.1719749229917568,1.1045099192668182,-0.6344186046405218,0.280555236366825,0.29656940115273367,-0.18994578664816306],"joint_velocity_rad_s":[-0.009557544831017515,0.025323313926158417,-0.05846276550896299,-0.039264950264685454,0.1018919191381918,-0.015388119763793284],"gripper_joint_position_m":[0.034999691331585626,-0.03500000795892658],"tcp_position_m":[0.30286667266164025,-0.03389327379673755,0.18595015212461946],"tcp_quaternion_wxyz":[0.43688778399643224,0.09500755241686014,0.8943388478749004,0.016144793595461594],"object_position_m":[0.2988766532783959,-0.03267397600809586,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.62365581480548e-11,8.365829061475847e-12,4.652208148716812e-13],"object_linear_velocity_m_s":[-1.0394730100047271e-11,2.0174287389984177e-11,2.571786720815942e-15],"object_angular_velocity_rad_s":[-5.350248735187457e-10,-2.756693458213935e-10,2.236502249795417e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999897281},{"geom_ids":[1,90],"normal_force_n":0.09809999999678927},{"geom_ids":[1,90],"normal_force_n":0.0981000000010271},{"geom_ids":[1,90],"normal_force_n":0.09810000000321079}],"native_actuator_controls":[-0.17625304462275526,1.109706735878928,-0.6413258605364965,0.2686340854615341,0.3418758603649265,-0.20249236488204564,0.035],"actuator_force_native":[-0.2944620063247907,0.28912875933799853,-0.2602666441331607,-0.2805212848882075,0.300226713414641,-0.10238360269313573,2.60252340027467e-05],"issued_joint_targets_rad":[-0.1764630071298835,1.110269863416845,-0.6426173612165793,0.26786249725462785,0.3440742749071684,-0.20282169938150027],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3799999999997388,"joint_targets_rad":[-0.1764630071298835,1.110269863416845,-0.6426173612165793,0.26786249725462785,0.3440742749071684,-0.20282169938150027],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3999999999997366,"qpos":[-0.17218272718906885,1.1050560976823869,-0.6356591751551439,0.27975278046431384,0.29874944996918434,-0.19025744723758659,0.034999736961958496,-0.0349999916678738,0.2988766532781182,-0.032673976007556955,0.07989224457978372,1.0,1.6976911313562405e-11,8.74728584670673e-12,5.438917947249258e-13],"qvel":[-0.009565787729514514,0.025940010600258592,-0.05876779841679412,-0.039149000449183576,0.10259888105670702,-0.015428097052395102,-2.733365531037525e-06,-8.641850821211403e-06,-1.1361405279318713e-11,2.2050446741004232e-11,2.5690111632543787e-15,-3.729083303392695e-10,-1.921400350012441e-10,4.083257174085313e-12],"joint_position_rad":[-0.17218272718906885,1.1050560976823869,-0.6356591751551439,0.27975278046431384,0.29874944996918434,-0.19025744723758659],"joint_velocity_rad_s":[-0.009565787729514514,0.025940010600258592,-0.05876779841679412,-0.039149000449183576,0.10259888105670702,-0.015428097052395102],"gripper_joint_position_m":[0.034999736961958496,-0.0349999916678738],"tcp_position_m":[0.3028704886724707,-0.033882787017333854,0.1859320944055298],"tcp_quaternion_wxyz":[0.4362409434323001,0.09452947266326565,0.8947072894804361,0.016027608114535293],"object_position_m":[0.2988766532781182,-0.032673976007556955,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6976911313562405e-11,8.74728584670673e-12,5.438917947249258e-13],"object_linear_velocity_m_s":[-1.1361405279318713e-11,2.2050446741004232e-11,2.5690111632543787e-15],"object_angular_velocity_rad_s":[-3.72908330338989e-10,-1.9214003500178839e-10,4.083257174085296e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999817642},{"geom_ids":[1,90],"normal_force_n":0.09809999999429983},{"geom_ids":[1,90],"normal_force_n":0.09810000000182366},{"geom_ids":[1,90],"normal_force_n":0.09810000000570007}],"native_actuator_controls":[-0.1764630071298835,1.110269863416845,-0.6426173612165793,0.26786249725462785,0.3440742749071684,-0.20282169938150027,0.035],"actuator_force_native":[-0.2945934566175996,0.28740120575537276,-0.26281589283085793,-0.27986632614152285,0.29934992779478,-0.10250037586054406,2.418834931550151e-05],"issued_joint_targets_rad":[-0.1766750360558788,1.1108442879797051,-0.6439297738624074,0.2670824699616596,0.3463057154125128,-0.2031418127987868],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3999999999997366,"joint_targets_rad":[-0.1766750360558788,1.1108442879797051,-0.6439297738624074,0.2670824699616596,0.3463057154125128,-0.2031418127987868],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4199999999997344,"qpos":[-0.17239110787539594,1.1056149433136098,-0.6369099198738796,0.27895236012044355,0.3009459816479054,-0.19056968087983817,0.03499979145466596,-0.035000003069156654,0.29887665327784857,-0.032673976007033645,0.07989224457978372,1.0,1.730767560295406e-11,8.917708185742295e-12,6.308343726698117e-13],"qvel":[-0.009587130577450762,0.02652258561824214,-0.0593433804710262,-0.03907559569480005,0.10332515771577233,-0.015451605445322581,-2.650918147091302e-06,-9.286397663897516e-06,-1.2707728557252643e-11,2.4663424199408635e-11,2.5717867208159414e-15,-1.0993475937778678e-10,-5.6643631841192225e-11,7.454944767054815e-12],"joint_position_rad":[-0.17239110787539594,1.1056149433136098,-0.6369099198738796,0.27895236012044355,0.3009459816479054,-0.19056968087983817],"joint_velocity_rad_s":[-0.009587130577450762,0.02652258561824214,-0.0593433804710262,-0.03907559569480005,0.10332515771577233,-0.015451605445322581],"gripper_joint_position_m":[0.03499979145466596,-0.035000003069156654],"tcp_position_m":[0.3028745657174453,-0.03387225504357501,0.18591185916852365],"tcp_quaternion_wxyz":[0.43558536634588185,0.09405195249324023,0.8950789978642227,0.015912461780360654],"object_position_m":[0.29887665327784857,-0.032673976007033645,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.730767560295406e-11,8.917708185742295e-12,6.308343726698117e-13],"object_linear_velocity_m_s":[-1.2707728557252643e-11,2.4663424199408635e-11,2.5717867208159414e-15],"object_angular_velocity_rad_s":[-1.0993475937758236e-10,-5.664363184158898e-11,7.454944767054809e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999744218},{"geom_ids":[1,90],"normal_force_n":0.0980999999920046},{"geom_ids":[1,90],"normal_force_n":0.09810000000255786},{"geom_ids":[1,90],"normal_force_n":0.0981000000079954}],"native_actuator_controls":[-0.1766750360558788,1.1108442879797051,-0.6439297738624074,0.2670824699616596,0.3463057154125128,-0.2031418127987868,0.035],"actuator_force_native":[-0.2947786015513767,0.28573464519642755,-0.2648714167270967,-0.2794176278773577,0.2986096010724153,-0.10254391102150229,2.1596404097046218e-05],"issued_joint_targets_rad":[-0.17688820824916393,1.111428102174446,-0.6452586466717593,0.26629767420118516,0.348562469790492,-0.20345659308775868],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4199999999997344,"joint_targets_rad":[-0.17688820824916393,1.111428102174446,-0.6452586466717593,0.26629767420118516,0.348562469790492,-0.20345659308775868],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.439999999999732,"qpos":[-0.17260021701984643,1.1061851794931221,-0.6381748827416733,0.2781533104551714,0.3031580475597718,-0.19088223136471164,0.03499982924311724,-0.0350000031271746,0.298876653277589,-0.03267397600652972,0.07989224457978372,1.0,1.7011150284643194e-11,8.764921391988699e-12,7.23210312723514e-13],"qvel":[-0.009613814987073864,0.02702857010819898,-0.06008091731841864,-0.03902546805061752,0.10398846854061866,-0.015464088263482015,-3.205549314312486e-06,-8.997850163691791e-06,-1.4786610122959935e-11,2.8698184445986244e-11,2.5648478269120342e-15,2.93651618478248e-10,1.5130227366515756e-10,1.3610979658335713e-11],"joint_position_rad":[-0.17260021701984643,1.1061851794931221,-0.6381748827416733,0.2781533104551714,0.3031580475597718,-0.19088223136471164],"joint_velocity_rad_s":[-0.009613814987073864,0.02702857010819898,-0.06008091731841864,-0.03902546805061752,0.10398846854061866,-0.015464088263482015],"gripper_joint_position_m":[0.03499982924311724,-0.0350000031271746],"tcp_position_m":[0.30287972026322535,-0.03386196821490401,0.1858916165664854],"tcp_quaternion_wxyz":[0.43492382082078335,0.09357474056006286,0.8954526417878395,0.01579887106559948],"object_position_m":[0.298876653277589,-0.03267397600652972,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7011150284643194e-11,8.764921391988699e-12,7.23210312723514e-13],"object_linear_velocity_m_s":[-1.4786610122959935e-11,2.8698184445986244e-11,2.5648478269120342e-15],"object_angular_velocity_rad_s":[2.9365161847826777e-10,1.5130227366511923e-10,1.3610979658335698e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999970355},{"geom_ids":[1,90],"normal_force_n":0.09809999999073364},{"geom_ids":[1,90],"normal_force_n":0.09810000000296451},{"geom_ids":[1,90],"normal_force_n":0.09810000000926637}],"native_actuator_controls":[-0.17688820824916393,1.111428102174446,-0.6452586466717593,0.26629767420118516,0.348562469790492,-0.20345659308775868,0.035],"actuator_force_native":[-0.2949702234100311,0.2842909639649065,-0.26629652781478086,-0.2790981099063625,0.2980615194962737,-0.10254748483524745,2.2858021882177226e-05],"issued_joint_targets_rad":[-0.17710141454470393,1.1120190428656072,-0.6465987844097295,0.2655115141670297,0.350835560046861,-0.20376918590561097],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.439999999999732,"joint_targets_rad":[-0.17710141454470393,1.1120190428656072,-0.6465987844097295,0.2655115141670297,0.350835560046861,-0.20376918590561097],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.45999999999973,"qpos":[-0.1728100003892713,1.1067648406839654,-0.6394559129375649,0.27735540752872995,0.30538320465961416,-0.19119493141628022,0.034999857618819255,-0.035000004166488914,0.29887665327732904,-0.03267397600602528,0.07989224457978372,1.0,1.6831538947498502e-11,8.67237616616757e-12,8.304978114790227e-13],"qvel":[-0.009638212052109013,0.027432075900906253,-0.06087558243191666,-0.03898280852634481,0.1045305223667715,-0.015470170998132204,-3.472237886980726e-06,-9.051301424885942e-06,-1.835058624777966e-11,3.561521677380892e-11,2.567623384473597e-15,8.771577695584894e-10,4.5195210687768675e-10,2.4850084814075283e-11],"joint_position_rad":[-0.1728100003892713,1.1067648406839654,-0.6394559129375649,0.27735540752872995,0.30538320465961416,-0.19119493141628022],"joint_velocity_rad_s":[-0.009638212052109013,0.027432075900906253,-0.06087558243191666,-0.03898280852634481,0.1045305223667715,-0.015470170998132204],"gripper_joint_position_m":[0.034999857618819255,-0.035000004166488914],"tcp_position_m":[0.30288648086130276,-0.033852160567973535,0.18587309438035754],"tcp_quaternion_wxyz":[0.4342590582708902,0.0930977574517802,0.8958268893581496,0.015686368924350314],"object_position_m":[0.29887665327732904,-0.03267397600602528,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6831538947498502e-11,8.67237616616757e-12,8.304978114790227e-13],"object_linear_velocity_m_s":[-1.835058624777966e-11,3.561521677380892e-11,2.567623384473597e-15],"object_angular_velocity_rad_s":[8.771577695581698e-10,4.519521068783072e-10,2.48500848140753e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999675419},{"geom_ids":[1,90],"normal_force_n":0.09809999998985429},{"geom_ids":[1,90],"normal_force_n":0.09810000000324581},{"geom_ids":[1,90],"normal_force_n":0.0981000000101457}],"native_actuator_controls":[-0.17710141454470393,1.1120190428656072,-0.6465987844097295,0.2655115141670297,0.350835560046861,-0.20376918590561097,0.035],"actuator_force_native":[-0.29512207217406683,0.283175795026807,-0.26705180561359043,-0.27884169183628416,0.2977277703223109,-0.1025372883961091,2.3056436665003233e-05],"issued_joint_targets_rad":[-0.1773135276682657,1.1126148113213434,-0.6479449760769085,0.2647268482344378,0.3531160037375613,-0.2040818976321037],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.45999999999973,"joint_targets_rad":[-0.1773135276682657,1.1126148113213434,-0.6479449760769085,0.2647268482344378,0.3531160037375613,-0.2040818976321037],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4799999999997278,"qpos":[-0.1730202120644163,1.107351621719855,-0.6407528972936132,0.27655875353777754,0.30761808312330996,-0.19150768843777285,0.03499987938995394,-0.03500000793461102,0.2988766532770829,-0.03267397600554759,0.07989224457978372,1.0,1.4957986432307568e-11,7.707038040980755e-12,9.247600999340839e-13],"qvel":[-0.00965271930976356,0.027723533344641848,-0.06163719445722681,-0.03893595416326199,0.10491817715269909,-0.015473517620142855,-4.757306452737736e-06,-7.5214425436161e-06,-9.378346536060164e-12,1.820169827318519e-11,2.567623384473597e-15,-6.239135300584731e-10,-3.2146868628546107e-10,2.6923030217341826e-12],"joint_position_rad":[-0.1730202120644163,1.107351621719855,-0.6407528972936132,0.27655875353777754,0.30761808312330996,-0.19150768843777285],"joint_velocity_rad_s":[-0.00965271930976356,0.027723533344641848,-0.06163719445722681,-0.03893595416326199,0.10491817715269909,-0.015473517620142855],"gripper_joint_position_m":[0.03499987938995394,-0.03500000793461102],"tcp_position_m":[0.3028950877045148,-0.033842986956601304,0.18585747598498364],"tcp_quaternion_wxyz":[0.4335935136839743,0.09262104219128814,0.8962005584067054,0.015574548022146223],"object_position_m":[0.2988766532770829,-0.03267397600554759,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4957986432307568e-11,7.707038040980755e-12,9.247600999340839e-13],"object_linear_velocity_m_s":[-9.378346536060164e-12,1.820169827318519e-11,2.567623384473597e-15],"object_angular_velocity_rad_s":[-6.239135300578371e-10,-3.2146868628669553e-10,2.6923030217341846e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000001045814},{"geom_ids":[1,90],"normal_force_n":0.09810000003268977},{"geom_ids":[1,90],"normal_force_n":0.09809999998954205},{"geom_ids":[1,90],"normal_force_n":0.09809999996731039}],"native_actuator_controls":[-0.1773135276682657,1.1126148113213434,-0.6479449760769085,0.2647268482344378,0.3531160037375613,-0.2040818976321037,0.035],"actuator_force_native":[-0.2952016517591325,0.28243750139587576,-0.2671803303774922,-0.2785964413172799,0.2976019404134651,-0.10253181551309387,2.8610934106110264e-05],"issued_joint_targets_rad":[-0.17752353930114922,1.1132133340183648,-0.6492925764973929,0.26394584068507815,0.355395818712187,-0.20439621925461204],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4799999999997278,"joint_targets_rad":[-0.17752353930114922,1.1132133340183648,-0.6492925764973929,0.26394584068507815,0.355395818712187,-0.20439621925461204],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4999999999997256,"qpos":[-0.17323044116335864,1.1079431975616556,-0.6420641652315603,0.27576366060671315,0.30985894207269427,-0.19182046798449834,0.034999888178882825,-0.035000006363665945,0.2988766532767917,-0.03267397600498241,0.07989224457978372,1.0,1.633112435884807e-11,8.414524213700241e-12,1.0968590436033579e-12],"qvel":[-0.009650254901571082,0.02790758531601398,-0.062297313719384385,-0.03887747338524415,0.105141941564629,-0.015476789106970937,-3.900305058235145e-06,-9.018592719616105e-06,-1.0360771746556177e-11,2.0108449850632668e-11,2.5759500571582855e-15,-5.641632632222618e-10,-2.906825679356598e-10,4.915460649985965e-12],"joint_position_rad":[-0.17323044116335864,1.1079431975616556,-0.6420641652315603,0.27576366060671315,0.30985894207269427,-0.19182046798449834],"joint_velocity_rad_s":[-0.009650254901571082,0.02790758531601398,-0.062297313719384385,-0.03887747338524415,0.105141941564629,-0.015476789106970937],"gripper_joint_position_m":[0.034999888178882825,-0.035000006363665945],"tcp_position_m":[0.30290552493643086,-0.03383451137483341,0.18584537933726852],"tcp_quaternion_wxyz":[0.43292910085325303,0.09214469669538332,0.8965727194481414,0.015463093050036968],"object_position_m":[0.2988766532767917,-0.03267397600498241,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.633112435884807e-11,8.414524213700241e-12,1.0968590436033579e-12],"object_linear_velocity_m_s":[-1.0360771746556177e-11,2.0108449850632668e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[-5.641632632215414e-10,-2.906825679370579e-10,4.915460649985949e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999904719},{"geom_ids":[1,90],"normal_force_n":0.09809999999702165},{"geom_ids":[1,90],"normal_force_n":0.09810000000095287},{"geom_ids":[1,90],"normal_force_n":0.09810000000297829}],"native_actuator_controls":[-0.17752353930114922,1.1132133340183648,-0.6492925764973929,0.26394584068507815,0.355395818712187,-0.20439621925461204,0.035],"actuator_force_native":[-0.2951965765153908,0.2820729899566601,-0.2667863326696889,-0.27832542993917997,0.2976558540479841,-0.10254232904068061,2.3974369978141397e-05],"issued_joint_targets_rad":[-0.1777306621245116,1.1138129481837655,-0.650637908686719,0.2631699544477558,0.35766871663015665,-0.20471296830488744],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4999999999997256,"joint_targets_rad":[-0.1777306621245116,1.1138129481837655,-0.650637908686719,0.2631699544477558,0.35766871663015665,-0.20471296830488744],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5199999999997234,"qpos":[-0.17344017367232908,1.1085374818170668,-0.6433869905375089,0.274970530862278,0.3121021726919867,-0.19213327821927503,0.03499990289085285,-0.03500001924090592,0.2988766532765047,-0.03267397600442523,0.07989224457978372,1.0,1.7327666688183334e-11,8.927980484983538e-12,1.2921182282103257e-12],"qvel":[-0.00962789315120333,0.02799961206950858,-0.06281263592253823,-0.03880385983751923,0.10521344754357646,-0.015481687771707768,-5.834261185516591e-06,-6.3232722537782184e-06,-1.1410220817438025e-11,2.214525922242323e-11,2.5731744995967236e-15,-4.2732559580294477e-10,-2.2017733203314765e-10,8.974417773373345e-12],"joint_position_rad":[-0.17344017367232908,1.1085374818170668,-0.6433869905375089,0.274970530862278,0.3121021726919867,-0.19213327821927503],"joint_velocity_rad_s":[-0.00962789315120333,0.02799961206950858,-0.06281263592253823,-0.03880385983751923,0.10521344754357646,-0.015481687771707768],"gripper_joint_position_m":[0.03499990289085285,-0.03500001924090592],"tcp_position_m":[0.302917572793162,-0.033826713743749806,0.18583690206009162],"tcp_quaternion_wxyz":[0.43226710074394264,0.09166884025065591,0.8969427517102546,0.015351791294909068],"object_position_m":[0.2988766532765047,-0.03267397600442523,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7327666688183334e-11,8.927980484983538e-12,1.2921182282103257e-12],"object_linear_velocity_m_s":[-1.1410220817438025e-11,2.214525922242323e-11,2.5731744995967236e-15],"object_angular_velocity_rad_s":[-4.273255958022155e-10,-2.2017733203456299e-10,8.974417773373336e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999826761},{"geom_ids":[1,90],"normal_force_n":0.09809999999458492},{"geom_ids":[1,90],"normal_force_n":0.09810000000173241},{"geom_ids":[1,90],"normal_force_n":0.0981000000054151}],"native_actuator_controls":[-0.1777306621245116,1.1138129481837655,-0.650637908686719,0.2631699544477558,0.35766871663015665,-0.20471296830488744,0.035],"actuator_force_native":[-0.29509961041858546,0.28203924898836874,-0.26601027232411667,-0.2780037573932912,0.2978452680663346,-0.10257436919856233,3.305567181355329e-05],"issued_joint_targets_rad":[-0.17793437398695824,1.114412509830745,-0.6519784878590295,0.2623999468597627,0.35993047783426624,-0.2050323918866455],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5199999999997234,"joint_targets_rad":[-0.17793437398695824,1.114412509830745,-0.6519784878590295,0.2623999468597627,0.35993047783426624,-0.2050323918866455],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.539999999999721,"qpos":[-0.17364887831336856,1.1091328067961048,-0.6447181096713904,0.27417967008715194,0.314344677821375,-0.19244615948355193,0.03499989893141687,-0.0350000105670032,0.29887665327622415,-0.032673976003880535,0.07989224457978372,1.0,1.786924936092506e-11,9.207027822366259e-12,1.5093709652285027e-12],"qvel":[-0.009586646263022195,0.028022002525329746,-0.06316446813400448,-0.038716950916783816,0.10515868870733536,-0.015488861075320411,-5.479058533576164e-06,-7.100067520917217e-06,-1.2738717082306866e-11,2.4723636999457782e-11,2.5703989420351605e-15,-1.8914949041721255e-10,-9.745834080962229e-11,1.6384998428233383e-11],"joint_position_rad":[-0.17364887831336856,1.1091328067961048,-0.6447181096713904,0.27417967008715194,0.314344677821375,-0.19244615948355193],"joint_velocity_rad_s":[-0.009586646263022195,0.028022002525329746,-0.06316446813400448,-0.038716950916783816,0.10515868870733536,-0.015488861075320411],"gripper_joint_position_m":[0.03499989893141687,-0.0350000105670032],"tcp_position_m":[0.3029308703799869,-0.033819518002609274,0.18583171508698465],"tcp_quaternion_wxyz":[0.4316081433201301,0.0911935509132962,0.8973103555782922,0.015240494202377447],"object_position_m":[0.29887665327622415,-0.032673976003880535,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.786924936092506e-11,9.207027822366259e-12,1.5093709652285027e-12],"object_linear_velocity_m_s":[-1.2738717082306866e-11,2.4723636999457782e-11,2.5703989420351605e-15],"object_angular_velocity_rad_s":[-1.8914949041661664e-10,-9.745834081077885e-11,1.6384998428233376e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999749215},{"geom_ids":[1,90],"normal_force_n":0.0980999999921612},{"geom_ids":[1,90],"normal_force_n":0.09810000000250783},{"geom_ids":[1,90],"normal_force_n":0.09810000000783883}],"native_actuator_controls":[-0.17793437398695824,1.114412509830745,-0.6519784878590295,0.2623999468597627,0.35993047783426624,-0.2050323918866455,0.035],"actuator_force_native":[-0.2949064225720637,0.28226623014455754,-0.2650079143410977,-0.27760417451165154,0.29811996706790955,-0.10262903241795507,3.1438035993369695e-05],"issued_joint_targets_rad":[-0.17813437538533244,1.1150114213527311,-0.6533130686332902,0.26163572470233465,0.36217900051342367,-0.20535413497454078],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.539999999999721,"joint_targets_rad":[-0.17813437538533244,1.1150114213527311,-0.6533130686332902,0.26163572470233465,0.36217900051342367,-0.20535413497454078],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.559999999999719,"qpos":[-0.17385606635521955,1.1097280284737654,-0.6460541827065844,0.2733914308784441,0.31658410055075675,-0.19275915318011394,0.03499990093444806,-0.035000013592783215,0.2988766532759523,-0.03267397600335319,0.07989224457978372,1.0,1.778562234225262e-11,9.163938406804135e-12,1.7430268927507474e-12],"qvel":[-0.009526989605985716,0.028000773688957294,-0.06335630295160416,-0.038616595493396765,0.10501231564264704,-0.015498595444870365,-5.458030238055532e-06,-7.325554948804696e-06,-1.4688492971975243e-11,2.8507823604634073e-11,2.5703989420351605e-15,1.8613888861796605e-10,9.590691978142657e-11,2.99148169112271e-11],"joint_position_rad":[-0.17385606635521955,1.1097280284737654,-0.6460541827065844,0.2733914308784441,0.31658410055075675,-0.19275915318011394],"joint_velocity_rad_s":[-0.009526989605985716,0.028000773688957294,-0.06335630295160416,-0.038616595493396765,0.10501231564264704,-0.015498595444870365],"gripper_joint_position_m":[0.03499990093444806,-0.035000013592783215],"tcp_position_m":[0.30294498672054193,-0.033812801921487536,0.18582918504231333],"tcp_quaternion_wxyz":[0.430952272703516,0.09071893096420204,0.8976755105012858,0.015129179179412361],"object_position_m":[0.2988766532759523,-0.03267397600335319,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.778562234225262e-11,9.163938406804135e-12,1.7430268927507474e-12],"object_linear_velocity_m_s":[-1.4688492971975243e-11,2.8507823604634073e-11,2.5703989420351605e-15],"object_angular_velocity_rad_s":[1.8613888861817998e-10,9.590691978101135e-11,2.99148169112271e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999696048},{"geom_ids":[1,90],"normal_force_n":0.09809999999049945},{"geom_ids":[1,90],"normal_force_n":0.0981000000030395},{"geom_ids":[1,90],"normal_force_n":0.09810000000950056}],"native_actuator_controls":[-0.17813437538533244,1.1150114213527311,-0.6533130686332902,0.26163572470233465,0.36217900051342367,-0.20535413497454078,0.035],"actuator_force_native":[-0.29462977437910176,0.2826675618724721,-0.2639293593784373,-0.27714526957739416,0.2984305261626985,-0.10270192477696294,3.125277326798681e-05],"issued_joint_targets_rad":[-0.17833062893773768,1.1156095864814646,-0.6546415172108493,0.26087679089110016,0.3644140993467521,-0.20567753187352691],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.559999999999719,"joint_targets_rad":[-0.17833062893773768,1.1156095864814646,-0.6546415172108493,0.26087679089110016,0.3644140993467521,-0.20567753187352691],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5799999999997167,"qpos":[-0.1740613574535875,1.110322549677746,-0.6473921954765708,0.272606078999287,0.31881897016787136,-0.19307230292691824,0.03499990271035322,-0.035000017784645794,0.298876653275693,-0.03267397600285023,0.07989224457978372,1.0,1.6803754727697657e-11,8.658034796723249e-12,1.9788282764240865e-12],"qvel":[-0.009456802156472325,0.027961232793990168,-0.06340873711330278,-0.038506260935823426,0.10481334333442534,-0.015510533648377012,-6.726917504453856e-06,-5.792546934879536e-06,-1.7825853708586715e-11,3.4596923539401824e-11,2.574562278377505e-15,7.496373788363225e-10,3.862454560816161e-10,5.461667552218541e-11],"joint_position_rad":[-0.1740613574535875,1.110322549677746,-0.6473921954765708,0.272606078999287,0.31881897016787136,-0.19307230292691824],"joint_velocity_rad_s":[-0.009456802156472325,0.027961232793990168,-0.06340873711330278,-0.038506260935823426,0.10481334333442534,-0.015510533648377012],"gripper_joint_position_m":[0.03499990271035322,-0.035000017784645794],"tcp_position_m":[0.3029594796732418,-0.03380642894544983,0.1858285054527452],"tcp_quaternion_wxyz":[0.4302990496371375,0.0902450636420525,0.8980384285392521,0.01501789720197397],"object_position_m":[0.298876653275693,-0.03267397600285023,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6803754727697657e-11,8.658034796723249e-12,1.9788282764240865e-12],"object_linear_velocity_m_s":[-1.7825853708586715e-11,3.4596923539401824e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[7.496373788357397e-10,3.8624545608274737e-10,5.461667552218538e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999711415},{"geom_ids":[1,90],"normal_force_n":0.09809999999097974},{"geom_ids":[1,90],"normal_force_n":0.09810000000288585},{"geom_ids":[1,90],"normal_force_n":0.09810000000902028}],"native_actuator_controls":[-0.17833062893773768,1.1156095864814646,-0.6546415172108493,0.26087679089110016,0.3644140993467521,-0.20567753187352691,0.035],"actuator_force_native":[-0.29425770794965267,0.28315678032753056,-0.26290205317575754,-0.27664021964835683,0.2987312767871697,-0.1027864889935215,3.7526173393587214e-05],"issued_joint_targets_rad":[-0.17852327571449814,1.1162073315014565,-0.6559646257553754,0.26012220920027096,0.3666371608790014,-0.20600162776973963],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5799999999997167,"joint_targets_rad":[-0.17852327571449814,1.1162073315014565,-0.6559646257553754,0.26012220920027096,0.3666371608790014,-0.20600162776973963],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5999999999997145,"qpos":[-0.17426449867141308,1.1109162781655335,-0.648729719363825,0.27182374771908197,0.321048645186698,-0.19338564305996234,0.03499989615466985,-0.0350000117024949,0.29887665327545254,-0.03267397600238343,0.07989224457978372,1.0,1.4526210097141537e-11,7.484540088549571e-12,2.1860023052256076e-12],"qvel":[-0.009378642432282402,0.027926184156162995,-0.06335371619342224,-0.03839096034368586,0.10459666362847071,-0.01552379897641595,-6.069476369195601e-06,-7.111769643200189e-06,-9.158646336277055e-12,1.7775360528931026e-11,2.5773378359390677e-15,-6.218633372841751e-10,-3.204115951100812e-10,5.9172658305359344e-12],"joint_position_rad":[-0.17426449867141308,1.1109162781655335,-0.648729719363825,0.27182374771908197,0.321048645186698,-0.19338564305996234],"joint_velocity_rad_s":[-0.009378642432282402,0.027926184156162995,-0.06335371619342224,-0.03839096034368586,0.10459666362847071,-0.01552379897641595],"gripper_joint_position_m":[0.03499989615466985,-0.0350000117024949],"tcp_position_m":[0.302973949812293,-0.03380027068899184,0.18582882296386563],"tcp_quaternion_wxyz":[0.4296477093130369,0.08977200018023886,0.8983994785307774,0.014906738118268956],"object_position_m":[0.29887665327545254,-0.03267397600238343,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4526210097141537e-11,7.484540088549571e-12,2.1860023052256076e-12],"object_linear_velocity_m_s":[-9.158646336277055e-12,1.7775360528931026e-11,2.5773378359390677e-15],"object_angular_velocity_rad_s":[-6.218633372826857e-10,-3.204115951129719e-10,5.917265830535924e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000979952},{"geom_ids":[1,90],"normal_force_n":0.09810000003063114},{"geom_ids":[1,90],"normal_force_n":0.09809999999020058},{"geom_ids":[1,90],"normal_force_n":0.09809999996936891}],"native_actuator_controls":[-0.17852327571449814,1.1162073315014565,-0.6559646257553754,0.26012220920027096,0.3666371608790014,-0.20600162776973963,0.035],"actuator_force_native":[-0.2938089512853921,0.2836533460930184,-0.26202393035692495,-0.2761067390340113,0.29899016148032764,-0.10287414863314903,3.450119505199467e-05],"issued_joint_targets_rad":[-0.17871255965111568,1.1168052753541773,-0.6572838161647098,0.25937073552513334,0.3688506259764286,-0.20632529374741712],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5999999999997145,"joint_targets_rad":[-0.17871255965111568,1.1168052753541773,-0.6572838161647098,0.25937073552513334,0.3688506259764286,-0.20632529374741712],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6199999999997123,"qpos":[-0.17446533941625889,1.1115095405536144,-0.6500650737069297,0.2710444281076205,0.3232732320508704,-0.19369918869713304,0.03499989760207686,-0.0350000164761829,0.2988766532751748,-0.032673976001844685,0.07989224457978372,1.0,1.5512920529359282e-11,7.992936121112916e-12,2.5642523742507604e-12],"qvel":[-0.009297376552621044,0.02791323574724726,-0.06322893618697095,-0.03827596795349732,0.10439323375442228,-0.015537119690014735,-7.3345269118039305e-06,-5.648407635133386e-06,-9.876248600854882e-12,1.916810746530935e-11,2.574562278377505e-15,-5.469613471780545e-10,-2.8181829413532476e-10,1.0803509883909372e-11],"joint_position_rad":[-0.17446533941625889,1.1115095405536144,-0.6500650737069297,0.2710444281076205,0.3232732320508704,-0.19369918869713304],"joint_velocity_rad_s":[-0.009297376552621044,0.02791323574724726,-0.06322893618697095,-0.03827596795349732,0.10439323375442228,-0.015537119690014735],"gripper_joint_position_m":[0.03499989760207686,-0.0350000164761829],"tcp_position_m":[0.3029880772528787,-0.03379421190903218,0.18582934173983034],"tcp_quaternion_wxyz":[0.42899730689068977,0.08929974308403003,0.8987591170151411,0.014795815213263891],"object_position_m":[0.2988766532751748,-0.032673976001844685,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5512920529359282e-11,7.992936121112916e-12,2.5642523742507604e-12],"object_linear_velocity_m_s":[-9.876248600854882e-12,1.916810746530935e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[-5.469613471764365e-10,-2.81818294138465e-10,1.0803509883909377e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999919942},{"geom_ids":[1,90],"normal_force_n":0.09809999999749784},{"geom_ids":[1,90],"normal_force_n":0.0981000000008006},{"geom_ids":[1,90],"normal_force_n":0.09810000000250219}],"native_actuator_controls":[-0.17871255965111568,1.1168052753541773,-0.6572838161647098,0.25937073552513334,0.3688506259764286,-0.20632529374741712,0.035],"actuator_force_native":[-0.29329073602543865,0.28409260530879976,-0.26135471568755264,-0.27556786353200025,0.2991840886239485,-0.10295537096781837,4.076855148471559e-05],"issued_joint_targets_rad":[-0.17889879336830303,1.1174042095583647,-0.6586008675276404,0.25862108689272184,0.37105753144085707,-0.2066474886680738],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6199999999997123,"joint_targets_rad":[-0.17889879336830303,1.1174042095583647,-0.6586008675276404,0.25862108689272184,0.37105753144085707,-0.2066474886680738],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.63999999999971,"qpos":[-0.17466385075326232,1.112102959722913,-0.6513973653199939,0.2702678654195307,0.32549342168669887,-0.1940129374325707,0.034999891587689645,-0.03500001035103551,0.29887665327490404,-0.032673976001319265,0.07989224457978372,1.0,1.629094331287348e-11,8.393808386437455e-12,2.9934031089917383e-12],"qvel":[-0.009217840754616962,0.027933991894398002,-0.06307190553068395,-0.03816833648056358,0.10422510444200893,-0.01554891624626304,-6.5667233650002e-06,-7.246375222003927e-06,-1.0744459687069253e-11,2.0853154610495212e-11,2.574562278377505e-15,-4.0884206429326573e-10,-2.1065320229351627e-10,1.97244226694076e-11],"joint_position_rad":[-0.17466385075326232,1.112102959722913,-0.6513973653199939,0.2702678654195307,0.32549342168669887,-0.1940129374325707],"joint_velocity_rad_s":[-0.009217840754616962,0.027933991894398002,-0.06307190553068395,-0.03816833648056358,0.10422510444200893,-0.01554891624626304],"gripper_joint_position_m":[0.034999891587689645,-0.03500001035103551],"tcp_position_m":[0.30300163848244976,-0.03378817624559819,0.1858294001291045],"tcp_quaternion_wxyz":[0.4283468570827558,0.0888282183053976,0.8991178246686935,0.0146851974127107],"object_position_m":[0.29887665327490404,-0.032673976001319265,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.629094331287348e-11,8.393808386437455e-12,2.9934031089917383e-12],"object_linear_velocity_m_s":[-1.0744459687069253e-11,2.0853154610495212e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[-4.0884206429167346e-10,-2.106532022966066e-10,1.9724422669407605e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999843332},{"geom_ids":[1,90],"normal_force_n":0.09809999999510284},{"geom_ids":[1,90],"normal_force_n":0.09810000000156663},{"geom_ids":[1,90],"normal_force_n":0.09810000000489724}],"native_actuator_controls":[-0.17889879336830303,1.1174042095583647,-0.6586008675276404,0.25862108689272184,0.37105753144085707,-0.2066474886680738,0.035],"actuator_force_native":[-0.2927062054301732,0.28443002736415224,-0.26092064895829026,-0.2750294586695361,0.2993034408785684,-0.10302213798563642,3.717010923920405e-05],"issued_joint_targets_rad":[-0.17908224545087773,1.118004976259076,-0.6599176537828124,0.25787180788011627,0.3732610373814059,-0.20696714960808826],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.63999999999971,"joint_targets_rad":[-0.17908224545087773,1.118004976259076,-0.6599176537828124,0.25787180788011627,0.3732610373814059,-0.20696714960808826],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.659999999999708,"qpos":[-0.17486005750361616,1.1126973319405329,-0.6527264199509861,0.2694937206923685,0.327710261670653,-0.1943268558199535,0.034999895224354864,-0.03500000798111956,0.2988766532746245,-0.03267397600077674,0.07989224457978372,1.0,1.7641973752627914e-11,9.089914425315826e-12,3.535156129131481e-12],"qvel":[-0.00913984943121012,0.02799444196737902,-0.06291668657746781,-0.03807179284164955,0.10410620087039445,-0.015557821359844586,-6.740251922193118e-06,-7.465900759366221e-06,-1.2284453359151757e-11,2.3842028642328163e-11,2.5745622783775054e-15,-2.1686128706922304e-10,-1.117366049716854e-10,3.601176473265509e-11],"joint_position_rad":[-0.17486005750361616,1.1126973319405329,-0.6527264199509861,0.2694937206923685,0.327710261670653,-0.1943268558199535],"joint_velocity_rad_s":[-0.00913984943121012,0.02799444196737902,-0.06291668657746781,-0.03807179284164955,0.10410620087039445,-0.015557821359844586],"gripper_joint_position_m":[0.034999895224354864,-0.03500000798111956],"tcp_position_m":[0.30301451732039203,-0.03378211002920367,0.18582851831096373],"tcp_quaternion_wxyz":[0.42769546168376193,0.08835731841147519,0.8994760403725327,0.014574948850562212],"object_position_m":[0.2988766532746245,-0.03267397600077674,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7641973752627914e-11,9.089914425315826e-12,3.535156129131481e-12],"object_linear_velocity_m_s":[-1.2284453359151757e-11,2.3842028642328163e-11,2.5745622783775054e-15],"object_angular_velocity_rad_s":[-2.1686128706777834e-10,-1.1173660497448933e-10,3.601176473265508e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999744483},{"geom_ids":[1,90],"normal_force_n":0.09809999999201284},{"geom_ids":[1,90],"normal_force_n":0.09810000000255516},{"geom_ids":[1,90],"normal_force_n":0.09810000000798719}],"native_actuator_controls":[-0.17908224545087773,1.118004976259076,-0.6599176537828124,0.25787180788011627,0.3732610373814059,-0.20696714960808826,0.035],"actuator_force_native":[-0.2920757886248744,0.28463933564655974,-0.2607152736587608,-0.2745175482818407,0.2993484558019377,-0.103066205841581,3.7892285416507576e-05],"issued_joint_targets_rad":[-0.17926317096220254,1.118608357761326,-0.6612358954874494,0.2571217338791152,0.37546403977015375,-0.20728353620913603],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.659999999999708,"joint_targets_rad":[-0.17926317096220254,1.118608357761326,-0.6612358954874494,0.2571217338791152,0.37546403977015375,-0.20728353620913603],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6799999999997057,"qpos":[-0.1750540190409433,1.1132935055638078,-0.6540526640759294,0.2687216774374486,0.3299249923689467,-0.1946408829003406,0.034999898674716444,-0.035000013289117615,0.29887665327434815,-0.03267397600024042,0.07989224457978372,1.0,1.8139894630830568e-11,9.346485864190732e-12,4.1239259078659996e-12],"qvel":[-0.009064882005980834,0.028094757304495413,-0.06279024505849659,-0.037987367888331784,0.10404269660906704,-0.015563011667199091,-8.365844763453176e-06,-5.78888441122014e-06,-1.4345563103469448e-11,2.7842203920181585e-11,2.5745622783775054e-15,1.0952315408288576e-10,5.643370661364607e-11,6.574870070411424e-11],"joint_position_rad":[-0.1750540190409433,1.1132935055638078,-0.6540526640759294,0.2687216774374486,0.3299249923689467,-0.1946408829003406],"joint_velocity_rad_s":[-0.009064882005980834,0.028094757304495413,-0.06279024505849659,-0.037987367888331784,0.10404269660906704,-0.015563011667199091],"gripper_joint_position_m":[0.034999898674716444,-0.035000013289117615],"tcp_position_m":[0.30302669595119897,-0.033775977120660064,0.1858264144491146],"tcp_quaternion_wxyz":[0.42704238545884554,0.08788693892597944,0.8998341216788733,0.014465146050079276],"object_position_m":[0.29887665327434815,-0.03267397600024042,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8139894630830568e-11,9.346485864190732e-12,4.1239259078659996e-12],"object_linear_velocity_m_s":[-1.4345563103469448e-11,2.7842203920181585e-11,2.5745622783775054e-15],"object_angular_velocity_rad_s":[1.0952315408364934e-10,5.643370661216405e-11,6.574870070411433e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098099999996824},{"geom_ids":[1,90],"normal_force_n":0.09809999999007245},{"geom_ids":[1,90],"normal_force_n":0.09810000000317605},{"geom_ids":[1,90],"normal_force_n":0.09810000000992757}],"native_actuator_controls":[-0.17926317096220254,1.118608357761326,-0.6612358954874494,0.2571217338791152,0.37546403977015375,-0.20728353620913603,0.035],"actuator_force_native":[-0.29140774367083466,0.2847143892789745,-0.260707287629117,-0.2740609028916783,0.2993264290984703,-0.1030820155871559,4.588223515966661e-05],"issued_joint_targets_rad":[-0.17944181588140512,1.1192150074093077,-0.6625570095684815,0.2563701738412398,0.3776689309809857,-0.20759632589816363],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6799999999997057,"joint_targets_rad":[-0.17944181588140512,1.1192150074093077,-0.6625570095684815,0.2563701738412398,0.3776689309809857,-0.20759632589816363],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6999999999997035,"qpos":[-0.17524584778084198,1.113892272528807,-0.6553769580824726,0.2679513941844265,0.3321388737943948,-0.19495494601954944,0.034999891734856264,-0.03500000441684026,0.29887665327408,-0.032673975999719676,0.07989224457978372,1.0,1.7601161883471485e-11,9.068924534853813e-12,4.730247110226357e-12],"qvel":[-0.00899489246421237,0.028230543672384822,-0.06271056735954739,-0.03791623676829114,0.1040324149466377,-0.015564005509302875,-5.679743154228541e-06,-1.0226986277085979e-05,-1.7371534287951795e-11,3.3715020001917193e-11,2.5717867208159422e-15,6.25480623886247e-10,3.222784402145064e-10,1.200412481620271e-10],"joint_position_rad":[-0.17524584778084198,1.113892272528807,-0.6553769580824726,0.2679513941844265,0.3321388737943948,-0.19495494601954944],"joint_velocity_rad_s":[-0.00899489246421237,0.028230543672384822,-0.06271056735954739,-0.03791623676829114,0.1040324149466377,-0.015564005509302875],"gripper_joint_position_m":[0.034999891734856264,-0.03500000441684026],"tcp_position_m":[0.30303823428324217,-0.03376977366522489,0.18582299595102342],"tcp_quaternion_wxyz":[0.4263871036202951,0.08741697374449219,0.9001923242442303,0.014355832940688597],"object_position_m":[0.29887665327408,-0.032673975999719676,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7601161883471485e-11,9.068924534853813e-12,4.730247110226357e-12],"object_linear_velocity_m_s":[-1.7371534287951795e-11,3.3715020001917193e-11,2.5717867208159422e-15],"object_angular_velocity_rad_s":[6.254806238853754e-10,3.22278440216198e-10,1.2004124816202718e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999679168},{"geom_ids":[1,90],"normal_force_n":0.09809999998997149},{"geom_ids":[1,90],"normal_force_n":0.09810000000320832},{"geom_ids":[1,90],"normal_force_n":0.09810000001002851}],"native_actuator_controls":[-0.17944181588140512,1.1192150074093077,-0.6625570095684815,0.2563701738412398,0.3776689309809857,-0.20759632589816363,0.035],"actuator_force_native":[-0.2907029857239891,0.28466607207813865,-0.2608512820829745,-0.27366762988601145,0.2992519494459529,-0.10306779052218773,3.272932152076358e-05],"issued_joint_targets_rad":[-0.17961834413679695,1.1198254014539832,-0.663882016974833,0.2556166677461115,0.3798774229116284,-0.20790537625859723],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6999999999997035,"joint_targets_rad":[-0.17961834413679695,1.1198254014539832,-0.663882016974833,0.2556166677461115,0.3798774229116284,-0.20790537625859723],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7199999999997013,"qpos":[-0.17543561290497817,1.1144942953995676,-0.656700406864371,0.26718251984784114,0.3343530008140407,-0.19526896519917394,0.03499990210865727,-0.03500001582683661,0.29887665327382695,-0.032673975999228465,0.07989224457978372,1.0,1.572799906732737e-11,8.103797161181667e-12,5.28867183461755e-12],"qvel":[-0.008926714170252441,0.028394665746332374,-0.06268749161747507,-0.037858529971010316,0.10406862881969234,-0.015560490366105172,-1.1117699313599296e-05,-2.892563013862225e-06,-2.2249899523839227e-11,4.3182812959620424e-11,2.564847826912035e-15,1.3967010074347604e-09,7.196547993123088e-10,2.1916492057163138e-10],"joint_position_rad":[-0.17543561290497817,1.1144942953995676,-0.656700406864371,0.26718251984784114,0.3343530008140407,-0.19526896519917394],"joint_velocity_rad_s":[-0.008926714170252441,0.028394665746332374,-0.06268749161747507,-0.037858529971010316,0.10406862881969234,-0.015560490366105172],"gripper_joint_position_m":[0.03499990210865727,-0.03500001582683661],"tcp_position_m":[0.3030492536500114,-0.03376350444142709,0.18581833370279854],"tcp_quaternion_wxyz":[0.4257293295271576,0.08694728967063264,0.9005507920590725,0.014247024989989553],"object_position_m":[0.29887665327382695,-0.032673975999228465,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.572799906732737e-11,8.103797161181667e-12,5.28867183461755e-12],"object_linear_velocity_m_s":[-2.2249899523839227e-11,4.3182812959620424e-11,2.564847826912035e-15],"object_angular_velocity_rad_s":[1.3967010074307004e-09,7.196547993201881e-10,2.1916492057163166e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999801884},{"geom_ids":[1,90],"normal_force_n":0.09809999999380703},{"geom_ids":[1,90],"normal_force_n":0.09810000000198116},{"geom_ids":[1,90],"normal_force_n":0.09810000000619296}],"native_actuator_controls":[-0.17961834413679695,1.1198254014539832,-0.663882016974833,0.2556166677461115,0.3798774229116284,-0.20790537625859723,0.035],"actuator_force_native":[-0.2899849276942401,0.284515155621591,-0.2610913507495809,-0.27334143421413337,0.2991412777463385,-0.10302337504507508,5.9504150277334134e-05],"issued_joint_targets_rad":[-0.17979286566100544,1.1204398141807346,-0.6652114924439143,0.2548611583085167,0.3820904824119546,-0.2082109385329289],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7199999999997013,"joint_targets_rad":[-0.17979286566100544,1.1204398141807346,-0.6652114924439143,0.2548611583085167,0.3820904824119546,-0.2082109385329289],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.739999999999699,"qpos":[-0.1756234433063451,1.1151000541144538,-0.6580241989305847,0.2664147348444905,0.33656828000217665,-0.19558285780325213,0.03499986904683017,-0.034999969370497784,0.2988766532735511,-0.03267397599869311,0.07989224457978372,1.0,1.5819534419278888e-11,8.150989562971698e-12,6.12001664265611e-12],"qvel":[-0.00886421476597915,0.02857769599946811,-0.06272139965235407,-0.037813220788709426,0.1041392292386033,-0.015552642560488284,-6.728422627825e-06,-1.001979879524138e-05,-1.0020786221640075e-11,1.944846283755452e-11,2.5662356056928164e-15,-5.890065856809028e-10,-3.0348377724574933e-10,2.3744728504553173e-11],"joint_position_rad":[-0.1756234433063451,1.1151000541144538,-0.6580241989305847,0.2664147348444905,0.33656828000217665,-0.19558285780325213],"joint_velocity_rad_s":[-0.00886421476597915,0.02857769599946811,-0.06272139965235407,-0.037813220788709426,0.1041392292386033,-0.015552642560488284],"gripper_joint_position_m":[0.03499986904683017,-0.034999969370497784],"tcp_position_m":[0.30305990156905416,-0.03375720677914514,0.1858126173887482],"tcp_quaternion_wxyz":[0.42506897880634725,0.08647779130505337,0.9009095692750815,0.014138700651626217],"object_position_m":[0.2988766532735511,-0.03267397599869311,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5819534419278888e-11,8.150989562971698e-12,6.12001664265611e-12],"object_linear_velocity_m_s":[-1.0020786221640075e-11,1.944846283755452e-11,2.5662356056928164e-15],"object_angular_velocity_rad_s":[-5.89006585676801e-10,-3.0348377725371007e-10,2.3744728504553202e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999933919},{"geom_ids":[1,90],"normal_force_n":0.09809999999793416},{"geom_ids":[1,90],"normal_force_n":0.09810000000066084},{"geom_ids":[1,90],"normal_force_n":0.09810000000206583}],"native_actuator_controls":[-0.17979286566100544,1.1204398141807346,-0.6652114924439143,0.2548611583085167,0.3820904824119546,-0.2082109385329289,0.035],"actuator_force_native":[-0.2892327145429334,0.28429232530513104,-0.26137648280460013,-0.2730769574954053,0.29901318023987455,-0.10295184345603525,3.8880239932481686e-05],"issued_joint_targets_rad":[-0.17996538535256917,1.1210583387132416,-0.6665456207929523,0.2541036280319076,0.3843084017388844,-0.20851318620587808],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.739999999999699,"joint_targets_rad":[-0.17996538535256917,1.1210583387132416,-0.6665456207929523,0.2541036280319076,0.3843084017388844,-0.20851318620587808],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.759999999999697,"qpos":[-0.17580938387850756,1.115709835141479,-0.659349440738675,0.26564774799827223,0.33878528048427775,-0.19589654499763964,0.0349998888448991,-0.034999995989417415,0.2988766532732687,-0.032673975998145,0.07989224457978372,1.0,1.6718815794539018e-11,8.614375103060911e-12,7.183898962027228e-12],"qvel":[-0.008802281485764186,0.028770687242673065,-0.06280757519778601,-0.03777890793621652,0.10423236167998849,-0.015540624232115748,-5.564982789456145e-06,-1.2021167572049509e-05,-1.0891286426888729e-11,2.1137861017967966e-11,2.5717867208159414e-15,-4.661229389536637e-10,-2.401686840521008e-10,4.33518025217038e-11],"joint_position_rad":[-0.17580938387850756,1.115709835141479,-0.659349440738675,0.26564774799827223,0.33878528048427775,-0.19589654499763964],"joint_velocity_rad_s":[-0.008802281485764186,0.028770687242673065,-0.06280757519778601,-0.03777890793621652,0.10423236167998849,-0.015540624232115748],"gripper_joint_position_m":[0.0349998888448991,-0.034999995989417415],"tcp_position_m":[0.3030703412350855,-0.03375091218076665,0.1858061146847123],"tcp_quaternion_wxyz":[0.42440616347572774,0.08600836630682752,0.9012686089874083,0.014030815476896672],"object_position_m":[0.2988766532732687,-0.032673975998145,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6718815794539018e-11,8.614375103060911e-12,7.183898962027228e-12],"object_linear_velocity_m_s":[-1.0891286426888729e-11,2.1137861017967966e-11,2.5717867208159414e-15],"object_angular_velocity_rad_s":[-4.66122938949466e-10,-2.4016868406024754e-10,4.3351802521703844e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999856749},{"geom_ids":[1,90],"normal_force_n":0.09809999999552188},{"geom_ids":[1,90],"normal_force_n":0.09810000000143262},{"geom_ids":[1,90],"normal_force_n":0.09810000000447805}],"native_actuator_controls":[-0.17996538535256917,1.1210583387132416,-0.6665456207929523,0.2541036280319076,0.3843084017388844,-0.20851318620587808,0.035],"actuator_force_native":[-0.2884687104961081,0.2840268495276632,-0.2616565283532566,-0.2728702589735015,0.29888267002608426,-0.10285547573421083,3.2271117983428965e-05],"issued_joint_targets_rad":[-0.18013586962596656,1.1216808955105662,-0.6678842154608007,0.2533443700828178,0.386530861272609,-0.20881258894921992],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.759999999999697,"joint_targets_rad":[-0.18013586962596656,1.1216808955105662,-0.6678842154608007,0.2533443700828178,0.386530861272609,-0.20881258894921992],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7799999999996947,"qpos":[-0.17599352663280662,1.11632373183328,-0.6606770681533763,0.26488132747822907,0.3410043300995022,-0.19620995290070026,0.0349999105630433,-0.035000021105268876,0.2988766532729936,-0.03267397599761119,0.07989224457978372,1.0,1.7284518255288763e-11,8.905869342836356e-12,8.374605285582597e-12],"qvel":[-0.008744030510907923,0.02896460937166179,-0.06293510969658105,-0.03775338874021317,0.10433447036426945,-0.015524971013925241,-1.090123030439049e-05,-4.832442439373944e-06,-1.2024365456866377e-11,2.3336900609418713e-11,2.5759500571582855e-15,-2.571285303884328e-10,-1.324849486239253e-10,7.914943666948884e-11],"joint_position_rad":[-0.17599352663280662,1.11632373183328,-0.6606770681533763,0.26488132747822907,0.3410043300995022,-0.19620995290070026],"joint_velocity_rad_s":[-0.008744030510907923,0.02896460937166179,-0.06293510969658105,-0.03775338874021317,0.10433447036426945,-0.015524971013925241],"gripper_joint_position_m":[0.0349999105630433,-0.035000021105268876],"tcp_position_m":[0.30308071843550133,-0.03374467337090625,0.18579912106289886],"tcp_quaternion_wxyz":[0.4237411126085569,0.08553895408319974,0.9016278048764677,0.01392330037227476],"object_position_m":[0.2988766532729936,-0.03267397599761119,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7284518255288763e-11,8.905869342836356e-12,8.374605285582597e-12],"object_linear_velocity_m_s":[-1.2024365456866377e-11,2.3336900609418713e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[-2.57128530384804e-10,-1.3248494863096813e-10,7.914943666948887e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999777651},{"geom_ids":[1,90],"normal_force_n":0.09809999999304976},{"geom_ids":[1,90],"normal_force_n":0.09810000000222349},{"geom_ids":[1,90],"normal_force_n":0.09810000000695027}],"native_actuator_controls":[-0.18013586962596656,1.1216808955105662,-0.6678842154608007,0.2533443700828178,0.386530861272609,-0.20881258894921992,0.035],"actuator_force_native":[-0.2876672868982535,0.2837500473246024,-0.26189623611104196,-0.2727113521153868,0.2987636061846639,-0.10273890396430896,5.8083629790095515e-05],"issued_joint_targets_rad":[-0.18030420470810032,1.122307292751751,-0.6692268575176162,0.25258357612850674,0.38875713560628733,-0.20910939403571976],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7799999999996947,"joint_targets_rad":[-0.18030420470810032,1.122307292751751,-0.6692268575176162,0.25258357612850674,0.38875713560628733,-0.20910939403571976],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7999999999996925,"qpos":[-0.17617588812903406,1.1169416770982767,-0.6620077588988372,0.2641152796209413,0.34322544134236027,-0.19652301667971153,0.0349998848888841,-0.03499998263305763,0.29887665327272744,-0.032673975997094554,0.07989224457978372,1.0,1.733632704235286e-11,8.932551452247961e-12,9.668645161448017e-12],"qvel":[-0.008685920030704463,0.029152763452107506,-0.06309160566464096,-0.037735229635379584,0.10443444165258739,-0.015506039396805924,-7.1746190871813576e-06,-1.1039605927764701e-05,-1.368973412588704e-11,2.656909790638211e-11,2.5690111632543787e-15,7.177599588869133e-11,3.6980841861337917e-11,1.4450701062187425e-10],"joint_position_rad":[-0.17617588812903406,1.1169416770982767,-0.6620077588988372,0.2641152796209413,0.34322544134236027,-0.19652301667971153],"joint_velocity_rad_s":[-0.008685920030704463,0.029152763452107506,-0.06309160566464096,-0.037735229635379584,0.10443444165258739,-0.015506039396805924],"gripper_joint_position_m":[0.0349998848888841,-0.03499998263305763],"tcp_position_m":[0.30309115917830226,-0.03373853097984,0.1857919255095492],"tcp_quaternion_wxyz":[0.42307414890592254,0.08506948982094613,0.9019870079524598,0.013816074482366577],"object_position_m":[0.29887665327272744,-0.032673975997094554,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.733632704235286e-11,8.932551452247961e-12,9.668645161448017e-12],"object_linear_velocity_m_s":[-1.368973412588704e-11,2.656909790638211e-11,2.5690111632543787e-15],"object_angular_velocity_rad_s":[7.177599589055785e-11,3.698084185771543e-11,1.445070106218742e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999971594},{"geom_ids":[1,90],"normal_force_n":0.0980999999911211},{"geom_ids":[1,90],"normal_force_n":0.09810000000284053},{"geom_ids":[1,90],"normal_force_n":0.098100000008879}],"native_actuator_controls":[-0.18030420470810032,1.122307292751751,-0.6692268575176162,0.25258357612850674,0.38875713560628733,-0.20910939403571976,0.035],"actuator_force_native":[-0.2868357261717769,0.283485435017397,-0.2620698611791141,-0.2725919915204855,0.2986652801603893,-0.10260471446487363,4.047754007197035e-05],"issued_joint_targets_rad":[-0.18047026040554398,1.1229372518008305,-0.6705729483521303,0.25182156300179875,0.39098620825328495,-0.20940396195337543],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7999999999996925,"joint_targets_rad":[-0.18047026040554398,1.1229372518008305,-0.6705729483521303,0.25182156300179875,0.39098620825328495,-0.20940396195337543],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8199999999996903,"qpos":[-0.17635649581910884,1.1175634793065372,-0.6633419231610981,0.2633494610759342,0.345448437528859,-0.1968356782573074,0.03499990392712222,-0.03500000840812109,0.2988766532724584,-0.03267397599657232,0.07989224457978372,1.0,1.7657718982627994e-11,9.098127658711305e-12,1.1217546061310018e-11],"qvel":[-0.008628626921463222,0.029329911250483322,-0.06326336455071944,-0.03772237064906222,0.10452333931867769,-0.015484319069629974,-6.1854369073557245e-06,-1.2860281404888072e-05,-1.6574028650537785e-11,3.2167038777762484e-11,2.5676233844735977e-15,5.449888930442781e-10,2.808021258480367e-10,2.6383416410389017e-10],"joint_position_rad":[-0.17635649581910884,1.1175634793065372,-0.6633419231610981,0.2633494610759342,0.345448437528859,-0.1968356782573074],"joint_velocity_rad_s":[-0.008628626921463222,0.029329911250483322,-0.06326336455071944,-0.03772237064906222,0.10452333931867769,-0.015484319069629974],"gripper_joint_position_m":[0.03499990392712222,-0.03500000840812109],"tcp_position_m":[0.30310175204066614,-0.033732529205865794,0.18578477665094317],"tcp_quaternion_wxyz":[0.4224056147891782,0.0845999444305527,0.9023460577551237,0.013709049956544166],"object_position_m":[0.2988766532724584,-0.03267397599657232,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7657718982627994e-11,9.098127658711305e-12,1.1217546061310018e-11],"object_linear_velocity_m_s":[-1.6574028650537785e-11,3.2167038777762484e-11,2.5676233844735977e-15],"object_angular_velocity_rad_s":[5.44988893042779e-10,2.8080212585094614e-10,2.6383416410389007e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999651428},{"geom_ids":[1,90],"normal_force_n":0.09809999998910422},{"geom_ids":[1,90],"normal_force_n":0.09810000000348575},{"geom_ids":[1,90],"normal_force_n":0.0981000000108958}],"native_actuator_controls":[-0.18047026040554398,1.1229372518008305,-0.6705729483521303,0.25182156300179875,0.39098620825328495,-0.20940396195337543,0.035],"actuator_force_native":[-0.2859580323074944,0.28325224329104515,-0.2621651925289754,-0.27250406972010666,0.29859269826624235,-0.10245635835623546,3.4770099648140373e-05],"issued_joint_targets_rad":[-0.18063387578449067,1.1235704681351855,-0.6719218437067506,0.25105852029450965,0.39321698030427016,-0.20969645769291803],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8199999999996903,"joint_targets_rad":[-0.18063387578449067,1.1235704681351855,-0.6719218437067506,0.25105852029450965,0.39321698030427016,-0.20969645769291803],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.839999999999688,"qpos":[-0.17653536178400495,1.1181888676202456,-0.6646797037922018,0.26258376008178236,0.34767297848637263,-0.19714788740044428,0.03499992088303077,-0.035000021845628344,0.2988766532721993,-0.032673975996069554,0.07989224457978372,1.0,1.6506825642312362e-11,8.505116078674962e-12,1.269806813890571e-11],"qvel":[-0.00857141848570369,0.029493262934823503,-0.06343790517608257,-0.037713629583958456,0.10459503568223921,-0.015460142547257867,-1.2095667983068366e-05,-4.624276296685323e-06,-2.1251671265360344e-11,4.1245536962384235e-11,2.5676233844735977e-15,1.2516876824137348e-09,6.449266389232324e-10,4.816929148593137e-10],"joint_position_rad":[-0.17653536178400495,1.1181888676202456,-0.6646797037922018,0.26258376008178236,0.34767297848637263,-0.19714788740044428],"joint_velocity_rad_s":[-0.00857141848570369,0.029493262934823503,-0.06343790517608257,-0.037713629583958456,0.10459503568223921,-0.015460142547257867],"gripper_joint_position_m":[0.03499992088303077,-0.035000021845628344],"tcp_position_m":[0.30311254855204695,-0.03372670740642901,0.18577786482680636],"tcp_quaternion_wxyz":[0.421735840129732,0.08413030608958927,0.9027047992760837,0.013602136275839205],"object_position_m":[0.2988766532721993,-0.032673975996069554,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6506825642312362e-11,8.505116078674962e-12,1.269806813890571e-11],"object_linear_velocity_m_s":[-2.1251671265360344e-11,4.1245536962384235e-11,2.5676233844735977e-15],"object_angular_velocity_rad_s":[1.2516876824055498e-09,6.44926638939118e-10,4.816929148593136e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999733603},{"geom_ids":[1,90],"normal_force_n":0.09809999999167306},{"geom_ids":[1,90],"normal_force_n":0.09810000000266393},{"geom_ids":[1,90],"normal_force_n":0.09810000000832703}],"native_actuator_controls":[-0.18063387578449067,1.1235704681351855,-0.6719218437067506,0.25105852029450965,0.39321698030427016,-0.20969645769291803,0.035],"actuator_force_native":[-0.28502402761033885,0.2830617265210691,-0.26218166728348535,-0.27244144357111644,0.29854746465561677,-0.10229548910385056,6.364301868466704e-05],"issued_joint_targets_rad":[-0.18079488041924907,1.1242066419000891,-0.6732729178109934,0.2502945336957447,0.39544838282762823,-0.20998691565631566],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.839999999999688,"joint_targets_rad":[-0.18079488041924907,1.1242066419000891,-0.6732729178109934,0.2502945336957447,0.39544838282762823,-0.20998691565631566],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.859999999999686,"qpos":[-0.1767124335150784,1.1188175401118392,-0.6660210150481815,0.2618180804380652,0.34989861886287765,-0.1974595985523615,0.03499988517218614,-0.034999972540819276,0.29887665327192836,-0.0326739759955438,0.07989224457978372,1.0,1.5920662617269114e-11,8.203084353996148e-12,1.4525244143069354e-11],"qvel":[-0.008512268769216466,0.029642136358830142,-0.06360510928639934,-0.03770850717132542,0.10464675301827016,-0.015433649689858478,-7.976479222818844e-06,-1.1835939314056216e-05,-1.002691482042395e-11,1.9460372652350906e-11,2.5676233844735977e-15,-6.158502511137291e-10,-3.1731581930819565e-10,5.218745159990344e-11],"joint_position_rad":[-0.1767124335150784,1.1188175401118392,-0.6660210150481815,0.2618180804380652,0.34989861886287765,-0.1974595985523615],"joint_velocity_rad_s":[-0.008512268769216466,0.029642136358830142,-0.06360510928639934,-0.03770850717132542,0.10464675301827016,-0.015433649689858478],"gripper_joint_position_m":[0.03499988517218614,-0.034999972540819276],"tcp_position_m":[0.3031235682146101,-0.033721083608531696,0.1857713138989765],"tcp_quaternion_wxyz":[0.4210651117856909,0.08366055118424764,0.9030630996390708,0.013495254081533235],"object_position_m":[0.29887665327192836,-0.0326739759955438,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5920662617269114e-11,8.203084353996148e-12,1.4525244143069354e-11],"object_linear_velocity_m_s":[-1.002691482042395e-11,1.9460372652350906e-11,2.5676233844735977e-15],"object_angular_velocity_rad_s":[-6.158502511036546e-10,-3.173158193277481e-10,5.2187451599903425e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999943055},{"geom_ids":[1,90],"normal_force_n":0.09809999999821989},{"geom_ids":[1,90],"normal_force_n":0.09810000000056948},{"geom_ids":[1,90],"normal_force_n":0.09810000000178017}],"native_actuator_controls":[-0.18079488041924907,1.1242066419000891,-0.6732729178109934,0.2502945336957447,0.39544838282762823,-0.20998691565631566,0.035],"actuator_force_native":[-0.2840344084875728,0.28291746126583917,-0.262126674592956,-0.2723993338361925,0.2985275101201008,-0.10212269650475392,4.447550866859551e-05],"issued_joint_targets_rad":[-0.18095313871598054,1.1248455096787642,-0.6746256264420827,0.2495297162663847,0.39767949650897594,-0.2102754302721074],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.859999999999686,"joint_targets_rad":[-0.18095313871598054,1.1248455096787642,-0.6746256264420827,0.2495297162663847,0.39767949650897594,-0.2102754302721074],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8799999999996837,"qpos":[-0.1768877639445473,1.1194491950700864,-0.6673656048772691,0.2610523480583071,0.3521249383306291,-0.19777076859687587,0.03499990041124618,-0.034999999938448455,0.2988766532716358,-0.032673975994976186,0.07989224457978372,1.0,1.7039402784406722e-11,8.779485442832567e-12,1.715987361304479e-11],"qvel":[-0.0084543861933646,0.029777168229387953,-0.06375688534513646,-0.03770612687872446,0.10467716707506605,-0.015405104924612074,-6.7191717063294065e-06,-1.397039466830059e-05,-1.0977245451903734e-11,2.1304852735180095e-11,2.5634600481312536e-15,-5.147076970256853e-10,-2.652020833767653e-10,9.528111554353565e-11],"joint_position_rad":[-0.1768877639445473,1.1194491950700864,-0.6673656048772691,0.2610523480583071,0.3521249383306291,-0.19777076859687587],"joint_velocity_rad_s":[-0.0084543861933646,0.029777168229387953,-0.06375688534513646,-0.03770612687872446,0.10467716707506605,-0.015405104924612074],"gripper_joint_position_m":[0.03499990041124618,-0.034999999938448455],"tcp_position_m":[0.30313479118639325,-0.033715698369674044,0.18576517710290652],"tcp_quaternion_wxyz":[0.4203936323843088,0.08319071665587845,0.9034208606456597,0.013388318164105557],"object_position_m":[0.2988766532716358,-0.032673975994976186,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7039402784406722e-11,8.779485442832567e-12,1.715987361304479e-11],"object_linear_velocity_m_s":[-1.0977245451903734e-11,2.1304852735180095e-11,2.5634600481312536e-15],"object_angular_velocity_rad_s":[-5.147076970149106e-10,-2.6520208339767697e-10,9.528111554353561e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999868228},{"geom_ids":[1,90],"normal_force_n":0.0980999999958809},{"geom_ids":[1,90],"normal_force_n":0.09810000000131769},{"geom_ids":[1,90],"normal_force_n":0.0981000000041192}],"native_actuator_controls":[-0.18095313871598054,1.1248455096787642,-0.6746256264420827,0.2495297162663847,0.39767949650897594,-0.2102754302721074,0.035],"actuator_force_native":[-0.2829580507478351,0.2828193275472728,-0.2620172984593978,-0.27237463728327427,0.2985298311708693,-0.10193895936539699,3.757940868442944e-05],"issued_joint_targets_rad":[-0.18110847042669642,1.1254868730458198,-0.6759795737429928,0.24876376794064245,0.3999096230335577,-0.21056159249722498],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8799999999996837,"joint_targets_rad":[-0.18110847042669642,1.1254868730458198,-0.6759795737429928,0.24876376794064245,0.3999096230335577,-0.21056159249722498],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8999999999996815,"qpos":[-0.17706129320147082,1.1200835733244856,-0.6687131038690974,0.26028646530686766,0.35435148715875064,-0.19808135517712497,0.03499991733622336,-0.035000024650993986,0.29887665327134955,-0.03267397599442039,0.07989224457978372,1.0,1.7787838308664142e-11,9.165097930320987e-12,2.0123797992943005e-11],"qvel":[-0.008393690076921409,0.029900970512724497,-0.0638897115352407,-0.037707333470818075,0.10468919266049775,-0.015374179758833824,-1.2734110064039192e-05,-5.7204598188367045e-06,-1.2110161639863682e-11,2.350368445945389e-11,2.5662356056928164e-15,-3.272133887541966e-10,-1.685958698477857e-10,1.739591763408545e-10],"joint_position_rad":[-0.17706129320147082,1.1200835733244856,-0.6687131038690974,0.26028646530686766,0.35435148715875064,-0.19808135517712497],"joint_velocity_rad_s":[-0.008393690076921409,0.029900970512724497,-0.0638897115352407,-0.037707333470818075,0.10468919266049775,-0.015374179758833824],"gripper_joint_position_m":[0.03499991733622336,-0.035000024650993986],"tcp_position_m":[0.3031461839956615,-0.033710557931062826,0.18575945145303313],"tcp_quaternion_wxyz":[0.41972154363596903,0.08272078832061507,0.9037780175989364,0.01328126094886021],"object_position_m":[0.29887665327134955,-0.03267397599442039,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7787838308664142e-11,9.165097930320987e-12,2.0123797992943005e-11],"object_linear_velocity_m_s":[-1.2110161639863682e-11,2.350368445945389e-11,2.5662356056928164e-15],"object_angular_velocity_rad_s":[-3.272133887442223e-10,-1.6859586986714396e-10,1.7395917634085448e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999787021},{"geom_ids":[1,90],"normal_force_n":0.0980999999933426},{"geom_ids":[1,90],"normal_force_n":0.09810000000212982},{"geom_ids":[1,90],"normal_force_n":0.0981000000066574}],"native_actuator_controls":[-0.18110847042669642,1.1254868730458198,-0.6759795737429928,0.24876376794064245,0.3999096230335577,-0.21056159249722498,0.035],"actuator_force_native":[-0.2818057276334418,0.28275912514311585,-0.2618690322354169,-0.2723712272949186,0.2985475697573241,-0.10174110356274912,6.697710138592328e-05],"issued_joint_targets_rad":[-0.18126076548217554,1.126130592460546,-0.6773344866117129,0.24799655319375058,0.40213829335397144,-0.21084526578777113],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8999999999996815,"joint_targets_rad":[-0.18126076548217554,1.126130592460546,-0.6773344866117129,0.24799655319375058,0.40213829335397144,-0.21084526578777113],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9199999999996793,"qpos":[-0.17723299558677763,1.1207204705624363,-0.6700631028245744,0.25952032920293516,0.3565779182239708,-0.19839131118954043,0.03499988095671131,-0.034999977732091694,0.29887665327107127,-0.03267397599388022,0.07989224457978372,1.0,1.802560331657353e-11,9.287611937869415e-12,2.3374008021378056e-11],"qvel":[-0.008331708098683109,0.030016274903923574,-0.06400174027478005,-0.03771253071518935,0.1046854227221279,-0.015340772341846309,-8.356167628143426e-06,-1.2814218805816376e-05,-1.3688121098376658e-11,2.6566199169226644e-11,2.5703989420351605e-15,-2.291488959601208e-11,-1.180581707280711e-11,3.176053982739435e-10],"joint_position_rad":[-0.17723299558677763,1.1207204705624363,-0.6700631028245744,0.25952032920293516,0.3565779182239708,-0.19839131118954043],"joint_velocity_rad_s":[-0.008331708098683109,0.030016274903923574,-0.06400174027478005,-0.03771253071518935,0.1046854227221279,-0.015340772341846309],"gripper_joint_position_m":[0.03499988095671131,-0.034999977732091694],"tcp_position_m":[0.3031576947572703,-0.03370567069244281,0.18575408544638367],"tcp_quaternion_wxyz":[0.41904889996725286,0.08225076696454879,0.9041345452243679,0.013174023755254088],"object_position_m":[0.29887665327107127,-0.03267397599388022,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.802560331657353e-11,9.287611937869415e-12,2.3374008021378056e-11],"object_linear_velocity_m_s":[-1.3688121098376658e-11,2.6566199169226644e-11,2.5703989420351605e-15],"object_angular_velocity_rad_s":[-2.2914889589560593e-11,-1.1805817085328394e-11,3.1760539827394355e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999716718},{"geom_ids":[1,90],"normal_force_n":0.09809999999114483},{"geom_ids":[1,90],"normal_force_n":0.09810000000283282},{"geom_ids":[1,90],"normal_force_n":0.09810000000885515}],"native_actuator_controls":[-0.18126076548217554,1.126130592460546,-0.6773344866117129,0.24799655319375058,0.40213829335397144,-0.21084526578777113,0.035],"actuator_force_native":[-0.28056305113841695,0.282728377329164,-0.26170200159717893,-0.2723883867914374,0.29857561721681414,-0.1015283874695374,4.6542569688501345e-05],"issued_joint_targets_rad":[-0.18140992257069274,1.1267766045896088,-0.67869025480032,0.24722777432240883,0.4043653034362244,-0.21112614333919072],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9199999999996793,"joint_targets_rad":[-0.18140992257069274,1.1267766045896088,-0.67869025480032,0.24722777432240883,0.4043653034362244,-0.21112614333919072],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.939999999999677,"qpos":[-0.1774028765953314,1.1213597481768844,-0.6714151982508747,0.25875381820473414,0.3588039758851218,-0.19870058635751386,0.034999896894843154,-0.0350000049492545,0.29887665327080365,-0.03267397599336105,0.07989224457978372,1.0,1.752209102879273e-11,9.02818046478935e-12,2.6778262955259564e-11],"qvel":[-0.00826878435467905,0.030126379569636506,-0.06409416740053922,-0.03772229299383582,0.10467010594053916,-0.015304652081942653,-7.105840824709936e-06,-1.4867237323050311e-05,-1.6146167057405095e-11,3.1336856406387223e-11,2.5773378359390677e-15,4.4193153045214104e-10,2.2770261550204258e-10,5.798680531884686e-10],"joint_position_rad":[-0.1774028765953314,1.1213597481768844,-0.6714151982508747,0.25875381820473414,0.3588039758851218,-0.19870058635751386],"joint_velocity_rad_s":[-0.00826878435467905,0.030126379569636506,-0.06409416740053922,-0.03772229299383582,0.10467010594053916,-0.015304652081942653],"gripper_joint_position_m":[0.034999896894843154,-0.0350000049492545],"tcp_position_m":[0.30316926411285705,-0.03370104987726418,0.18574899559687402],"tcp_quaternion_wxyz":[0.41837568833957267,0.08178066070155614,0.9044904489362598,0.013066549838760875],"object_position_m":[0.29887665327080365,-0.03267397599336105,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.752209102879273e-11,9.02818046478935e-12,2.6778262955259564e-11],"object_linear_velocity_m_s":[-1.6146167057405095e-11,3.1336856406387223e-11,2.5773378359390677e-15],"object_angular_velocity_rad_s":[4.4193153045041637e-10,2.277026155053899e-10,5.798680531884686e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999690133},{"geom_ids":[1,90],"normal_force_n":0.09809999999031441},{"geom_ids":[1,90],"normal_force_n":0.0981000000030987},{"geom_ids":[1,90],"normal_force_n":0.09810000000968559}],"native_actuator_controls":[-0.18140992257069274,1.1267766045896088,-0.67869025480032,0.24722777432240883,0.4043653034362244,-0.21112614333919072,0.035],"actuator_force_native":[-0.27921975625551276,0.2827166151697753,-0.261533686952923,-0.2724302903238325,0.2986081166002168,-0.10129859169385425,3.965341039768866e-05],"issued_joint_targets_rad":[-0.18155583987703303,1.127424905614717,-0.6800468946779265,0.24645698868779076,0.4065906518377742,-0.21140377501196497],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.939999999999677,"joint_targets_rad":[-0.18155583987703303,1.127424905614717,-0.6800468946779265,0.24645698868779076,0.4065906518377742,-0.21140377501196497],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.959999999999675,"qpos":[-0.17757085018853955,1.1220013399331064,-0.6727690358906026,0.25798677856010505,0.3610294749475971,-0.19900912487202715,0.03499991341420668,-0.035000027426016884,0.2988766532705516,-0.03267397599287174,0.07989224457978372,1.0,1.5938855567881718e-11,8.212416963791629e-12,3.003222979424752e-11],"qvel":[-0.008202296422365196,0.030234584358078596,-0.06417055332776314,-0.03773777898664335,0.10464864278242902,-0.015265359139525758,-1.3431685000892293e-05,-6.202065886279817e-06,-2.0215927370975606e-11,3.9235677811919573e-11,2.569011163254379e-15,1.1284446685095785e-09,5.814201551879035e-10,1.0586896915762475e-09],"joint_position_rad":[-0.17757085018853955,1.1220013399331064,-0.6727690358906026,0.25798677856010505,0.3610294749475971,-0.19900912487202715],"joint_velocity_rad_s":[-0.008202296422365196,0.030234584358078596,-0.06417055332776314,-0.03773777898664335,0.10464864278242902,-0.015265359139525758],"gripper_joint_position_m":[0.03499991341420668,-0.035000027426016884],"tcp_position_m":[0.3031808408208051,-0.03369668057584682,0.18574408489146882],"tcp_quaternion_wxyz":[0.41770185258243336,0.08131042520331287,0.9048457584376932,0.012958801633457882],"object_position_m":[0.2988766532705516,-0.03267397599287174,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5938855567881718e-11,8.212416963791629e-12,3.003222979424752e-11],"object_linear_velocity_m_s":[-2.0215927370975606e-11,3.9235677811919573e-11,2.569011163254379e-15],"object_angular_velocity_rad_s":[1.1284446684920446e-09,5.814201552219343e-10,1.0586896915762473e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999766275},{"geom_ids":[1,90],"normal_force_n":0.09809999999269411},{"geom_ids":[1,90],"normal_force_n":0.0981000000023373},{"geom_ids":[1,90],"normal_force_n":0.09810000000730593}],"native_actuator_controls":[-0.18155583987703303,1.127424905614717,-0.6800468946779265,0.24645698868779076,0.4065906518377742,-0.21140377501196497,0.035],"actuator_force_native":[-0.27778769296765304,0.28271233273845553,-0.26137593634709333,-0.2725026999593556,0.2986388047281281,-0.10104846269008938,7.062185673722965e-05],"issued_joint_targets_rad":[-0.18169848481653378,1.128075538305146,-0.6814045134883963,0.24568397063724812,0.40881451150606457,-0.21167803204734698],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.959999999999675,"joint_targets_rad":[-0.18169848481653378,1.128075538305146,-0.6814045134883963,0.24568397063724812,0.40881451150606457,-0.21167803204734698],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9799999999996727,"qpos":[-0.1777369723476987,1.1226452335417976,-0.6741243454933652,0.2572190493369231,0.3632543775474938,-0.1993168646750756,0.03499987376254079,-0.03499997556773541,0.29887665327029317,-0.03267397599237035,0.07989224457978372,1.0,1.5113904170074714e-11,7.787346365795186e-12,3.4048091707192266e-11],"qvel":[-0.008136182069282304,0.03034331684098076,-0.0642341455916662,-0.03775959410443532,0.10462314371246738,-0.015222812768125704,-8.813392117580126e-06,-1.3645787970639749e-05,-9.553127077928415e-12,1.8540976710010077e-11,2.5731744995967232e-15,-5.940157605876185e-10,-3.060636611359231e-10,1.1470033958836088e-10],"joint_position_rad":[-0.1777369723476987,1.1226452335417976,-0.6741243454933652,0.2572190493369231,0.3632543775474938,-0.1993168646750756],"joint_velocity_rad_s":[-0.008136182069282304,0.03034331684098076,-0.0642341455916662,-0.03775959410443532,0.10462314371246738,-0.015222812768125704],"gripper_joint_position_m":[0.03499987376254079,-0.03499997556773541],"tcp_position_m":[0.30319237044155256,-0.03369258432225303,0.1857392511608048],"tcp_quaternion_wxyz":[0.41702728637414666,0.08084007256891534,0.9052005213558137,0.012850728525286698],"object_position_m":[0.29887665327029317,-0.03267397599237035,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5113904170074714e-11,7.787346365795186e-12,3.4048091707192266e-11],"object_linear_velocity_m_s":[-9.553127077928415e-12,1.8540976710010077e-11,2.5731744995967232e-15],"object_angular_velocity_rad_s":[-5.940157605649903e-10,-3.0606366117984043e-10,1.1470033958836085e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999955275},{"geom_ids":[1,90],"normal_force_n":0.098099999998602},{"geom_ids":[1,90],"normal_force_n":0.09810000000044734},{"geom_ids":[1,90],"normal_force_n":0.09810000000139793}],"native_actuator_controls":[-0.18169848481653378,1.128075538305146,-0.6814045134883963,0.24568397063724812,0.40881451150606457,-0.21167803204734698,0.035],"actuator_force_native":[-0.27624008716039405,0.2827077968629652,-0.2612427116441509,-0.27260517746482194,0.29866662401700683,-0.10077745457052556,4.911645895644412e-05],"issued_joint_targets_rad":[-0.18183776172846278,1.1287285843557966,-0.6827633048250847,0.24490812935305997,0.4110371655299221,-0.21194832782705667],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9799999999996727,"joint_targets_rad":[-0.18183776172846278,1.1287285843557966,-0.6827633048250847,0.24490812935305997,0.4110371655299221,-0.21194832782705667],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9999999999996705,"qpos":[-0.17790120491436534,1.1232914721067995,-0.6754809436615303,0.25645042884468733,0.36547867473948364,-0.19962373828724578,0.03499988928161781,-0.035000001342506734,0.2988766532700178,-0.0326739759918355,0.07989224457978372,1.0,1.6014058319738382e-11,8.251135155177567e-12,3.9838649991464864e-11],"qvel":[-0.008067428411434235,0.0304549498817538,-0.06429041158273843,-0.03778899575823966,0.10459834438662816,-0.015176426959084555,-7.483064775582485e-06,-1.5795710786718786e-05,-1.0334474127924764e-11,2.005746235430695e-11,2.574562278377505e-15,-4.896811182632305e-10,-2.5230527570814676e-10,2.0941501978447929e-10],"joint_position_rad":[-0.17790120491436534,1.1232914721067995,-0.6754809436615303,0.25645042884468733,0.36547867473948364,-0.19962373828724578],"joint_velocity_rad_s":[-0.008067428411434235,0.0304549498817538,-0.06429041158273843,-0.03778899575823966,0.10459834438662816,-0.015176426959084555],"gripper_joint_position_m":[0.03499988928161781,-0.035000001342506734],"tcp_position_m":[0.3032038181230769,-0.03368875881328705,0.1857344051642823],"tcp_quaternion_wxyz":[0.4163518824711502,0.08036955802522545,0.9055547902697655,0.012742288846228777],"object_position_m":[0.2988766532700178,-0.0326739759918355,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6014058319738382e-11,8.251135155177567e-12,3.9838649991464864e-11],"object_linear_velocity_m_s":[-1.0334474127924764e-11,2.005746235430695e-11,2.574562278377505e-15],"object_angular_velocity_rad_s":[-4.896811182396717e-10,-2.523052757538704e-10,2.0941501978447929e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999881686},{"geom_ids":[1,90],"normal_force_n":0.09809999999630235},{"geom_ids":[1,90],"normal_force_n":0.09810000000118303},{"geom_ids":[1,90],"normal_force_n":0.09810000000369772}],"native_actuator_controls":[-0.18183776172846278,1.1287285843557966,-0.6827633048250847,0.24490812935305997,0.4110371655299221,-0.21194832782705667,0.035],"actuator_force_native":[-0.27458740307062435,0.28269423051098386,-0.2611368351706602,-0.2727470008738955,0.29868739132444233,-0.10048125495948224,4.184405916562994e-05],"issued_joint_targets_rad":[-0.18197362713503176,1.129384134298937,-0.6841234739203848,0.24412911809359494,0.413258937264433,-0.21221442309774827],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9999999999996705,"joint_targets_rad":[-0.18197362713503176,1.129384134298937,-0.6841234739203848,0.24412911809359494,0.413258937264433,-0.21221442309774827],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.019999999999677,"qpos":[-0.1780634769176881,1.1239401325629006,-0.6768387455097047,0.2556806999377533,0.36770242876033266,-0.1999296701429365,0.03499991201753518,-0.03500003166217505,0.29887665326973206,-0.032673975991280954,0.07989224457978372,1.0,1.7536008622394996e-11,9.035293910423149e-12,4.720506762084683e-11],"qvel":[-0.007995407312925432,0.030570639298480196,-0.06434386479611359,-0.037826538720987166,0.10457700704500798,-0.015125904908891576,-1.2089289254510984e-05,-9.531626063514032e-06,-1.1718205869092157e-11,2.2743095640353102e-11,2.5690111632543795e-15,-3.473503052564949e-10,-1.7897037774945441e-10,3.8233905652763087e-10],"joint_position_rad":[-0.1780634769176881,1.1239401325629006,-0.6768387455097047,0.2556806999377533,0.36770242876033266,-0.1999296701429365],"joint_velocity_rad_s":[-0.007995407312925432,0.030570639298480196,-0.06434386479611359,-0.037826538720987166,0.10457700704500798,-0.015125904908891576],"gripper_joint_position_m":[0.03499991201753518,-0.03500003166217505],"tcp_position_m":[0.30321516266125265,-0.03368519191842428,0.18572947585040253],"tcp_quaternion_wxyz":[0.415675530683073,0.07989881437263427,0.9059086204392459,0.012633450322652673],"object_position_m":[0.29887665326973206,-0.032673975991280954,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7536008622394996e-11,9.035293910423149e-12,4.720506762084683e-11],"object_linear_velocity_m_s":[-1.1718205869092157e-11,2.2743095640353102e-11,2.5690111632543795e-15],"object_angular_velocity_rad_s":[-3.473503052326892e-10,-1.789703777956572e-10,3.823390565276308e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999978538},{"geom_ids":[1,90],"normal_force_n":0.0980999999932916},{"geom_ids":[1,90],"normal_force_n":0.09810000000214622},{"geom_ids":[1,90],"normal_force_n":0.09810000000670842}],"native_actuator_controls":[-0.18197362713503176,1.129384134298937,-0.6841234739203848,0.24412911809359494,0.413258937264433,-0.21221442309774827,0.035],"actuator_force_native":[-0.27283498082286606,0.28266694239052015,-0.2610589488738384,-0.2729305801613968,0.2986995744734915,-0.10015867218478025,6.396574486533524e-05],"issued_joint_targets_rad":[-0.1821060673057993,1.130042286139911,-0.6854852362970169,0.24334672571902305,0.4154801777890574,-0.21247625411641516],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.019999999999677,"joint_targets_rad":[-0.1821060673057993,1.130042286139911,-0.6854852362970169,0.24334672571902305,0.4154801777890574,-0.21247625411641516],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.039999999999684,"qpos":[-0.17822407676112365,1.124591295400073,-0.6781977474330521,0.2549097243852937,0.369925819686335,-0.20023457726475272,0.034999890923606,-0.035000004278719674,0.2988766532694489,-0.03267397599073118,0.07989224457978372,1.0,1.8316015850037094e-11,9.437176401193087e-12,5.534604895999362e-11],"qvel":[-0.0079273317393828,0.030690798710551206,-0.06439680022121744,-0.037871667029774285,0.1045563167305672,-0.015071524676257936,-8.693619821021875e-06,-1.4941004975704463e-05,-1.3443344059383528e-11,2.609133152982316e-11,2.56901116325438e-15,-8.823200911673945e-11,-4.546158455368177e-11,6.980540109064393e-10],"joint_position_rad":[-0.17822407676112365,1.124591295400073,-0.6781977474330521,0.2549097243852937,0.369925819686335,-0.20023457726475272],"joint_velocity_rad_s":[-0.0079273317393828,0.030690798710551206,-0.06439680022121744,-0.037871667029774285,0.1045563167305672,-0.015071524676257936],"gripper_joint_position_m":[0.034999890923606,-0.035000004278719674],"tcp_position_m":[0.3032263738195664,-0.033681969609004804,0.18572440739708762],"tcp_quaternion_wxyz":[0.4149981097093713,0.07942795965595521,0.9062620558679134,0.012524146941150642],"object_position_m":[0.2988766532694489,-0.03267397599073118,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8316015850037094e-11,9.437176401193087e-12,5.534604895999362e-11],"object_linear_velocity_m_s":[-1.3443344059383528e-11,2.609133152982316e-11,2.56901116325438e-15],"object_angular_velocity_rad_s":[-8.823200909853189e-11,-4.5461584589019495e-11,6.980540109064393e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999710589},{"geom_ids":[1,90],"normal_force_n":0.0980999999909534},{"geom_ids":[1,90],"normal_force_n":0.09810000000289414},{"geom_ids":[1,90],"normal_force_n":0.09810000000904659}],"native_actuator_controls":[-0.1821060673057993,1.130042286139911,-0.6854852362970169,0.24334672571902305,0.4154801777890574,-0.21247625411641516,0.035],"actuator_force_native":[-0.27092258487713927,0.28262526563429446,-0.26101510801109384,-0.27316161150195484,0.29870910593137356,-0.09980948150223767,4.78311548650634e-05],"issued_joint_targets_rad":[-0.18223488005166735,1.13070312600329,-0.6868487988667534,0.2425599363424862,0.4177011439735552,-0.21273261434674087],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.039999999999684,"joint_targets_rad":[-0.18223488005166735,1.13070312600329,-0.6868487988667534,0.2425599363424862,0.4177011439735552,-0.21273261434674087],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.0599999999996905,"qpos":[-0.17838327687299046,1.125245053244969,-0.6795580049270636,0.25413726426365996,0.37214896997107483,-0.2005383699339653,0.03499990270617767,-0.03500002398088721,0.2988766532691722,-0.032673975990194254,0.07989224457978372,1.0,1.8216886868330252e-11,9.386091306038212e-12,6.399571886872435e-11],"qvel":[-0.007861503552265402,0.03081585949994655,-0.06445270844396414,-0.03792780432309399,0.10453601879058652,-0.015012094757135596,-1.235958169817599e-05,-9.624623936474311e-06,-1.5853534680147698e-11,3.076917173780761e-11,2.567623384473598e-15,3.339361114459948e-10,1.7205633893165558e-10,1.2744671974741819e-09],"joint_position_rad":[-0.17838327687299046,1.125245053244969,-0.6795580049270636,0.25413726426365996,0.37214896997107483,-0.2005383699339653],"joint_velocity_rad_s":[-0.007861503552265402,0.03081585949994655,-0.06445270844396414,-0.03792780432309399,0.10453601879058652,-0.015012094757135596],"gripper_joint_position_m":[0.03499990270617767,-0.03500002398088721],"tcp_position_m":[0.30323743969737477,-0.03367918697707681,0.1857191708544756],"tcp_quaternion_wxyz":[0.4143195400608682,0.07895707421494165,0.9066151250560145,0.01241427302882135],"object_position_m":[0.2988766532691722,-0.032673975990194254,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8216886868330252e-11,9.386091306038212e-12,6.399571886872435e-11],"object_linear_velocity_m_s":[-1.5853534680147698e-11,3.076917173780761e-11,2.567623384473598e-15],"object_angular_velocity_rad_s":[3.3393611144789764e-10,1.720563389279629e-10,1.2744671974741819e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999671656},{"geom_ids":[1,90],"normal_force_n":0.09809999998973679},{"geom_ids":[1,90],"normal_force_n":0.09810000000328352},{"geom_ids":[1,90],"normal_force_n":0.09810000001026314}],"native_actuator_controls":[-0.18223488005166735,1.13070312600329,-0.6868487988667534,0.2425599363424862,0.4177011439735552,-0.21273261434674087,0.035],"actuator_force_native":[-0.2688207365328239,0.2825665231659542,-0.2609999729553607,-0.2734540952314788,0.2987177118389237,-0.09942430199205221,6.568966138420507e-05],"issued_joint_targets_rad":[-0.18235981489233888,1.131366701760931,-0.6882142942279377,0.2417676663194688,0.41992195697754137,-0.21298229208610092],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.0599999999996905,"joint_targets_rad":[-0.18235981489233888,1.131366701760931,-0.6882142942279377,0.2417676663194688,0.41992195697754137,-0.21298229208610092],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.079999999999697,"qpos":[-0.1785411437393937,1.125901498425121,-0.6809196223583996,0.25336298252498274,0.3743719405180214,-0.20084093340920212,0.03499988098319997,-0.03499999627410768,0.298876653268908,-0.0326739759896814,0.07989224457978372,1.0,1.6995553141744233e-11,8.756811599260128e-12,7.251423408275343e-11],"qvel":[-0.007793898041925525,0.030945120739790163,-0.06451396956133466,-0.03799802319777194,0.10451642800226002,-0.014946065148391943,-8.659647763945364e-06,-1.5071182218457801e-05,-1.9643331013785298e-11,3.8124436950873345e-11,2.5676233844735977e-15,9.748175940506925e-10,5.022701318498102e-10,2.3268521178834727e-09],"joint_position_rad":[-0.1785411437393937,1.125901498425121,-0.6809196223583996,0.25336298252498274,0.3743719405180214,-0.20084093340920212],"joint_velocity_rad_s":[-0.007793898041925525,0.030945120739790163,-0.06451396956133466,-0.03799802319777194,0.10451642800226002,-0.014946065148391943],"gripper_joint_position_m":[0.03499988098319997,-0.03499999627410768],"tcp_position_m":[0.30324837085364453,-0.033676890553373716,0.18571376431241826],"tcp_quaternion_wxyz":[0.41363978545520186,0.07848612335971022,0.9069678465443323,0.01230372558517343],"object_position_m":[0.298876653268908,-0.0326739759896814,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6995553141744233e-11,8.756811599260128e-12,7.251423408275343e-11],"object_linear_velocity_m_s":[-1.9643331013785298e-11,3.8124436950873345e-11,2.5676233844735977e-15],"object_angular_velocity_rad_s":[9.748175940186008e-10,5.022701319120942e-10,2.3268521178834727e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999719221},{"geom_ids":[1,90],"normal_force_n":0.0980999999912235},{"geom_ids":[1,90],"normal_force_n":0.09810000000280779},{"geom_ids":[1,90],"normal_force_n":0.09810000000877654}],"native_actuator_controls":[-0.18235981489233888,1.131366701760931,-0.6882142942279377,0.2417676663194688,0.41992195697754137,-0.21298229208610092,0.035],"actuator_force_native":[-0.2665242020259875,0.28249066316585925,-0.2610039017563608,-0.27382253223169783,0.2987255225918095,-0.09899448904640007,4.805891082093616e-05],"issued_joint_targets_rad":[-0.18248070169837968,1.1320330344795688,-0.6895817917828234,0.24096929565646436,0.4221426732409244,-0.2132247400087466],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.079999999999697,"joint_targets_rad":[-0.18248070169837968,1.1320330344795688,-0.6895817917828234,0.24096929565646436,0.4221426732409244,-0.2132247400087466],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.099999999999704,"qpos":[-0.17869760115002983,1.1265607006212806,-0.6822827295909816,0.252586476556594,0.37659476267691216,-0.20114213326791788,0.03499989918141969,-0.03500002103135747,0.29887665326864976,-0.032673975989180384,0.07989224457978372,1.0,1.5385820580452707e-11,7.927422604824137e-12,8.134053855068557e-11],"qvel":[-0.007721244837649816,0.031077099682551925,-0.06458165541508923,-0.038083540305577965,0.10449819706128513,-0.014872548731586615,-1.0081229516518416e-05,-1.2840633799510508e-05,-9.700880842422296e-12,1.882781248915569e-11,2.569011163254379e-15,-6.310722899760098e-10,-3.2515470352066986e-10,2.520953417510656e-10],"joint_position_rad":[-0.17869760115002983,1.1265607006212806,-0.6822827295909816,0.252586476556594,0.37659476267691216,-0.20114213326791788],"joint_velocity_rad_s":[-0.007721244837649816,0.031077099682551925,-0.06458165541508923,-0.038083540305577965,0.10449819706128513,-0.014872548731586615],"gripper_joint_position_m":[0.03499989918141969,-0.03500002103135747],"tcp_position_m":[0.3032591887026871,-0.03367509179494283,0.18570820605061497],"tcp_quaternion_wxyz":[0.41295884019893525,0.0780149939389058,0.9073202313803855,0.012192405427405],"object_position_m":[0.29887665326864976,-0.032673975989180384,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5385820580452707e-11,7.927422604824137e-12,8.134053855068557e-11],"object_linear_velocity_m_s":[-9.700880842422296e-12,1.882781248915569e-11,2.569011163254379e-15],"object_angular_velocity_rad_s":[-6.310722899191164e-10,-3.2515470363109077e-10,2.520953417510656e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999969361},{"geom_ids":[1,90],"normal_force_n":0.09809999999904237},{"geom_ids":[1,90],"normal_force_n":0.0981000000003065},{"geom_ids":[1,90],"normal_force_n":0.09810000000095757}],"native_actuator_controls":[-0.18248070169837968,1.1320330344795688,-0.6895817917828234,0.24096929565646436,0.4221426732409244,-0.2132247400087466,0.035],"actuator_force_native":[-0.26404181967973805,0.2824012102503133,-0.2610166982718951,-0.27426953447729474,0.29873181004819527,-0.09851724431090769,5.443889079503883e-05],"issued_joint_targets_rad":[-0.18259742915716934,1.1327021261215393,-0.6909513157754893,0.24016453306023752,0.42436330336611766,-0.21345987558865487],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.099999999999704,"joint_targets_rad":[-0.18259742915716934,1.1327021261215393,-0.6909513157754893,0.24016453306023752,0.42436330336611766,-0.21345987558865487],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.119999999999711,"qpos":[-0.17885254479656923,1.1272226957121076,-0.683647456719963,0.25180735272214344,0.3788174581214831,-0.20144182599598867,0.034999900341432924,-0.0350000181355248,0.29887665326836244,-0.03267397598862254,0.07989224457978372,1.0,1.639468003936503e-11,8.447259134960637e-12,9.566721888436035e-11],"qvel":[-0.007643208263228058,0.031210170812067266,-0.06465526179389583,-0.03818404320661803,0.1044802952061013,-0.01479143037216739,-1.0573614143195522e-05,-1.2248196730456082e-05,-1.0495906219202177e-11,2.0370760774256006e-11,2.5648478269120346e-15,-5.402360192229704e-10,-2.7835215503484716e-10,4.6026284387927576e-10],"joint_position_rad":[-0.17885254479656923,1.1272226957121076,-0.683647456719963,0.25180735272214344,0.3788174581214831,-0.20144182599598867],"joint_velocity_rad_s":[-0.007643208263228058,0.031210170812067266,-0.06465526179389583,-0.03818404320661803,0.1044802952061013,-0.01479143037216739],"gripper_joint_position_m":[0.034999900341432924,-0.0350000181355248],"tcp_position_m":[0.30326991484708243,-0.03367379403805498,0.1857025262199791],"tcp_quaternion_wxyz":[0.4122767179980795,0.07754356717193919,0.907672281863324,0.012080220362612396],"object_position_m":[0.29887665326836244,-0.03267397598862254,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.639468003936503e-11,8.447259134960637e-12,9.566721888436035e-11],"object_linear_velocity_m_s":[-1.0495906219202177e-11,2.0370760774256006e-11,2.5648478269120346e-15],"object_angular_velocity_rad_s":[-5.402360191619361e-10,-2.783521551533046e-10,4.602628438792758e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999896288},{"geom_ids":[1,90],"normal_force_n":0.09809999999675793},{"geom_ids":[1,90],"normal_force_n":0.09810000000103718},{"geom_ids":[1,90],"normal_force_n":0.09810000000324205}],"native_actuator_controls":[-0.18259742915716934,1.1327021261215393,-0.6909513157754893,0.24016453306023752,0.42436330336611766,-0.21345987558865487,0.035],"actuator_force_native":[-0.26137470753186953,0.282303578694183,-0.2610324154726342,-0.27479257044314664,0.2987380096371939,-0.09799335036841095,5.685441339919883e-05],"issued_joint_targets_rad":[-0.18270990242740298,1.1333739622928711,-0.6923228548805548,0.23935319930387683,0.4265838086776476,-0.21368773272997293],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.119999999999711,"joint_targets_rad":[-0.18270990242740298,1.1333739622928711,-0.6923228548805548,0.23935319930387683,0.4265838086776476,-0.21368773272997293],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.139999999999717,"qpos":[-0.1790058669745977,1.1278874897473048,-0.6850139160604927,0.2510252381788516,0.3810400239935545,-0.20173986871305397,0.0349998986813746,-0.03500001098817069,0.298876653268082,-0.03267397598807837,0.07989224457978372,1.0,1.7142279982323276e-11,8.832475719431824e-12,1.1185751932030784e-10],"qvel":[-0.007559724648589031,0.03134304825272175,-0.06473377447932724,-0.03829871689999946,0.10446161917597988,-0.014702879968730851,-8.313026553518703e-06,-1.5685726376490606e-05,-1.147205273963359e-11,2.2265238621562103e-11,2.5676233844735973e-15,-3.765388021704624e-10,-1.9400883511703372e-10,8.403249250595164e-10],"joint_position_rad":[-0.1790058669745977,1.1278874897473048,-0.6850139160604927,0.2510252381788516,0.3810400239935545,-0.20173986871305397],"joint_velocity_rad_s":[-0.007559724648589031,0.03134304825272175,-0.06473377447932724,-0.03829871689999946,0.10446161917597988,-0.014702879968730851],"gripper_joint_position_m":[0.0349998986813746,-0.03500001098817069],"tcp_position_m":[0.30328056902026296,-0.03367299956140971,0.18569676089377235],"tcp_quaternion_wxyz":[0.4115934492413664,0.0770717311582592,0.9080239918443473,0.01196708121975437],"object_position_m":[0.298876653268082,-0.03267397598807837,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7142279982323276e-11,8.832475719431824e-12,1.1185751932030784e-10],"object_linear_velocity_m_s":[-1.147205273963359e-11,2.2265238621562103e-11,2.5676233844735973e-15],"object_angular_velocity_rad_s":[-3.7653880211221537e-10,-1.9400883523008126e-10,8.403249250595164e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999815865},{"geom_ids":[1,90],"normal_force_n":0.09809999999424426},{"geom_ids":[1,90],"normal_force_n":0.09810000000184135},{"geom_ids":[1,90],"normal_force_n":0.09810000000575578}],"native_actuator_controls":[-0.18270990242740298,1.1333739622928711,-0.6923228548805548,0.23935319930387683,0.4265838086776476,-0.21368773272997293,0.035],"actuator_force_native":[-0.2585242129814773,0.2822025623816842,-0.2610462332083259,-0.27538797049899166,0.2987454180769613,-0.09742432021609337,4.561787778389892e-05],"issued_joint_targets_rad":[-0.18281802842365613,1.1340485126748399,-0.6936963650235585,0.23853515547356222,0.4288040997270852,-0.21390836835064442],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.139999999999717,"joint_targets_rad":[-0.18281802842365613,1.1340485126748399,-0.6936963650235585,0.23853515547356222,0.4288040997270852,-0.21390836835064442],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.159999999999724,"qpos":[-0.17915745936509442,1.1285550655598882,-0.686382193647586,0.2502397836409674,0.38326243185899356,-0.20203612234791346,0.03499991529701947,-0.03500002751476008,0.29887665326780977,-0.03267397598754996,0.07989224457978372,1.0,1.7476286090636844e-11,9.004596894050632e-12,1.297501962185649e-10],"qvel":[-0.007470663331556267,0.03147476129125483,-0.06481587564697584,-0.03842658694487137,0.10444121690567969,-0.014607143618276959,-1.2337482099004173e-05,-1.001622699318482e-05,-1.2831548018959157e-11,2.49036946878148e-11,2.5717867208159414e-15,-1.1100437681394472e-10,-5.7192613904932664e-11,1.5342198991717146e-09],"joint_position_rad":[-0.17915745936509442,1.1285550655598882,-0.686382193647586,0.2502397836409674,0.38326243185899356,-0.20203612234791346],"joint_velocity_rad_s":[-0.007470663331556267,0.03147476129125483,-0.06481587564697584,-0.03842658694487137,0.10444121690567969,-0.014607143618276959],"gripper_joint_position_m":[0.03499991529701947,-0.03500002751476008],"tcp_position_m":[0.3032911679119701,-0.033672709998550605,0.1856909468698054],"tcp_quaternion_wxyz":[0.41090907481699185,0.07659938229137184,0.9083753494982231,0.01185290215960679],"object_position_m":[0.29887665326780977,-0.03267397598754996,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7476286090636844e-11,9.004596894050632e-12,1.297501962185649e-10],"object_linear_velocity_m_s":[-1.2831548018959157e-11,2.49036946878148e-11,2.5717867208159414e-15],"object_angular_velocity_rad_s":[-1.1100437677147315e-10,-5.7192613987363273e-11,1.5342198991717146e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999741732},{"geom_ids":[1,90],"normal_force_n":0.09809999999192663},{"geom_ids":[1,90],"normal_force_n":0.0981000000025827},{"geom_ids":[1,90],"normal_force_n":0.09810000000807338}],"native_actuator_controls":[-0.18281802842365613,1.1340485126748399,-0.6936963650235585,0.23853515547356222,0.4288040997270852,-0.21390836835064442,0.035],"actuator_force_native":[-0.2554922080271549,0.2821019627398442,-0.2610543318429208,-0.27605219197184816,0.29875485332239693,-0.09681174459989395,6.507552971646291e-05],"issued_joint_targets_rad":[-0.1829217157747573,1.1347257364081829,-0.6950717807707489,0.23771028776634343,0.43102405444975234,-0.21412184615205518],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.159999999999724,"joint_targets_rad":[-0.1829217157747573,1.1347257364081829,-0.6950717807707489,0.23771028776634343,0.43102405444975234,-0.21412184615205518],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.179999999999731,"qpos":[-0.1793072143410065,1.1292253888373207,-0.6877523454075866,0.24945064209259116,0.38548463001467975,-0.20233045355998272,0.03499989388956363,-0.03499999255924946,0.29887665326754753,-0.03267397598704115,0.07989224457978372,1.0,1.7176863801091747e-11,8.85033235619071e-12,1.487609358469733e-10],"qvel":[-0.0073763151770588585,0.03160462208139279,-0.06489989563124392,-0.03856741984721211,0.10441769536313064,-0.01450443596427002,-8.945906938666913e-06,-1.5352817528800487e-05,-1.4930693828901923e-11,2.897772721766629e-11,2.573174499596723e-15,2.965098422680888e-10,1.5277677766543116e-10,2.801099139345212e-09],"joint_position_rad":[-0.1793072143410065,1.1292253888373207,-0.6877523454075866,0.24945064209259116,0.38548463001467975,-0.20233045355998272],"joint_velocity_rad_s":[-0.0073763151770588585,0.03160462208139279,-0.06489989563124392,-0.03856741984721211,0.10441769536313064,-0.01450443596427002],"gripper_joint_position_m":[0.03499989388956363,-0.03499999255924946],"tcp_position_m":[0.3033017240227345,-0.0336729279960711,0.18568511753639844],"tcp_quaternion_wxyz":[0.4102236397740014,0.07612641785742204,0.9087263409734248,0.011737593271984228],"object_position_m":[0.29887665326754753,-0.03267397598704115,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7176863801091747e-11,8.85033235619071e-12,1.487609358469733e-10],"object_linear_velocity_m_s":[-1.4930693828901923e-11,2.897772721766629e-11,2.573174499596723e-15],"object_angular_velocity_rad_s":[2.9650984227221567e-10,1.5277677765742114e-10,2.801099139345212e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999700665},{"geom_ids":[1,90],"normal_force_n":0.09809999999064341},{"geom_ids":[1,90],"normal_force_n":0.09810000000299335},{"geom_ids":[1,90],"normal_force_n":0.09810000000935662}],"native_actuator_controls":[-0.1829217157747573,1.1347257364081829,-0.6950717807707489,0.23771028776634343,0.43102405444975234,-0.21412184615205518,0.035],"actuator_force_native":[-0.252278538814771,0.28200469526201744,-0.26105535089676835,-0.2767770738138484,0.2987677013060299,-0.09615727197431978,4.897395214831235e-05],"issued_joint_targets_rad":[-0.1830208664480651,1.1354055877269558,-0.6964490281425517,0.2368784630686379,0.43324353552153516,-0.21432820790822232],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.179999999999731,"joint_targets_rad":[-0.1830208664480651,1.1354055877269558,-0.6964490281425517,0.2368784630686379,0.43324353552153516,-0.21432820790822232],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.199999999999737,"qpos":[-0.17945502833626567,1.1298984118442752,-0.6891244044918869,0.24865724848603268,0.3877065485877284,-0.20262274468869088,0.03499991196499132,-0.03500001266606545,0.298876653267285,-0.0326739759865318,0.07989224457978372,1.0,1.699550509623124e-11,8.756887219051403e-12,1.7084044490486688e-10],"qvel":[-0.007276334415417694,0.03173214230519671,-0.06498420137779802,-0.03872535926527116,0.10438988104705306,-0.014394411953754285,-8.023436761543012e-06,-1.6847824455138745e-05,-1.852941624850815e-11,3.596220464611749e-11,2.5787256147198483e-15,8.857065690110444e-10,4.563562639901902e-10,5.11409893558864e-09],"joint_position_rad":[-0.17945502833626567,1.1298984118442752,-0.6891244044918869,0.24865724848603268,0.3877065485877284,-0.20262274468869088],"joint_velocity_rad_s":[-0.007276334415417694,0.03173214230519671,-0.06498420137779802,-0.03872535926527116,0.10438988104705306,-0.014394411953754285],"gripper_joint_position_m":[0.03499991196499132,-0.03500001266606545],"tcp_position_m":[0.3033122420288154,-0.033673674550859345,0.1856792995710803],"tcp_quaternion_wxyz":[0.40953718330477484,0.07565265653657856,0.9090769625666223,0.011620980182130052],"object_position_m":[0.298876653267285,-0.0326739759865318,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.699550509623124e-11,8.756887219051403e-12,1.7084044490486688e-10],"object_linear_velocity_m_s":[-1.852941624850815e-11,3.596220464611749e-11,2.5787256147198483e-15],"object_angular_velocity_rad_s":[8.857065689446834e-10,4.5635626411898577e-10,5.11409893558864e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999672261},{"geom_ids":[1,90],"normal_force_n":0.09809999998975538},{"geom_ids":[1,90],"normal_force_n":0.09810000000327745},{"geom_ids":[1,90],"normal_force_n":0.09810000001024453}],"native_actuator_controls":[-0.1830208664480651,1.1354055877269558,-0.6964490281425517,0.2368784630686379,0.43324353552153516,-0.21432820790822232,0.035],"actuator_force_native":[-0.2488853768668644,0.28191335908846327,-0.2610488851641932,-0.2775246203694337,0.29878504776748827,-0.09546301426468284,4.3638584155347715e-05],"issued_joint_targets_rad":[-0.18311528289663365,1.1360880239240647,-0.6978280529182463,0.23603917061849508,0.4354624016461259,-0.21452726956252222],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.199999999999737,"joint_targets_rad":[-0.18311528289663365,1.1360880239240647,-0.6978280529182463,0.23603917061849508,0.4354624016461259,-0.21452726956252222],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.219999999999744,"qpos":[-0.17960078936430904,1.13057408695016,-0.6904983663577581,0.24785926535891864,0.3899281047149853,-0.20291285741655019,0.034999932518783985,-0.035000033163777394,0.2988766532670365,-0.03267397598604946,0.07989224457978372,1.0,1.5103714980061045e-11,7.782142225513242e-12,1.9023943990948627e-10],"qvel":[-0.007170664534289694,0.03185748691273259,-0.06506783642061041,-0.03889532004411333,0.10435833956030578,-0.014277410930226822,-1.2474853141556618e-05,-1.0754011751926349e-05,-9.469737816202946e-12,1.8379026124836197e-11,2.577337835939067e-15,-6.299914519958174e-10,-3.2460145711296816e-10,5.540707137588081e-10],"joint_position_rad":[-0.17960078936430904,1.13057408695016,-0.6904983663577581,0.24785926535891864,0.3899281047149853,-0.20291285741655019],"joint_velocity_rad_s":[-0.007170664534289694,0.03185748691273259,-0.06506783642061041,-0.03889532004411333,0.10435833956030578,-0.014277410930226822],"gripper_joint_position_m":[0.034999932518783985,-0.035000033163777394],"tcp_position_m":[0.3033227256133709,-0.0336749515351875,0.18567351084799522],"tcp_quaternion_wxyz":[0.40884974235248367,0.07517800443469717,0.9094272029243399,0.011502973908328645],"object_position_m":[0.2988766532670365,-0.03267397598604946,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5103714980061045e-11,7.782142225513242e-12,1.9023943990948627e-10],"object_linear_velocity_m_s":[-9.469737816202946e-12,1.8379026124836197e-11,2.577337835939067e-15],"object_angular_velocity_rad_s":[-6.299914518636898e-10,-3.2460145736940367e-10,5.540707137588081e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000001055964},{"geom_ids":[1,90],"normal_force_n":0.09810000003300809},{"geom_ids":[1,90],"normal_force_n":0.0980999999894401},{"geom_ids":[1,90],"normal_force_n":0.09809999996699177}],"native_actuator_controls":[-0.18311528289663365,1.1360880239240647,-0.6978280529182463,0.23603917061849508,0.4354624016461259,-0.21452726956252222,0.035],"actuator_force_native":[-0.2453061599145201,0.28182752334871,-0.2610357427360057,-0.278327189396375,0.29880545997094643,-0.09472800506437995,6.507351434859032e-05],"issued_joint_targets_rad":[-0.18320486368453412,1.1367730048665312,-0.6992087942469026,0.23519225440515043,0.43768053712817506,-0.21471903333444006],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.219999999999744,"joint_targets_rad":[-0.18320486368453412,1.1367730048665312,-0.6992087942469026,0.23519225440515043,0.43768053712817506,-0.21471903333444006],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.239999999999751,"qpos":[-0.17974438683737548,1.1312523688824616,-0.6918742090215685,0.24705638966831117,0.3921492203524022,-0.20320066267873793,0.03499991047473118,-0.03499999677508296,0.29887665326674245,-0.03267397598547878,0.07989224457978372,1.0,1.6490214321606636e-11,8.496545916441133e-12,2.2565709418785413e-10],"qvel":[-0.007059562513522954,0.031980768476088495,-0.06514986338473851,-0.039076591484387836,0.10432285289804842,-0.01415377107768775,-9.311014642275883e-06,-1.59654288135691e-05,-1.0461763614399341e-11,2.030433740284862e-11,2.566235605692815e-15,-5.696596356766598e-10,-2.935151935327995e-10,1.0115928674928486e-09],"joint_position_rad":[-0.17974438683737548,1.1312523688824616,-0.6918742090215685,0.24705638966831117,0.3921492203524022,-0.20320066267873793],"joint_velocity_rad_s":[-0.007059562513522954,0.031980768476088495,-0.06514986338473851,-0.039076591484387836,0.10432285289804842,-0.01415377107768775],"gripper_joint_position_m":[0.03499991047473118,-0.03499999677508296],"tcp_position_m":[0.3033331751062809,-0.033676758204165456,0.1856677614245597],"tcp_quaternion_wxyz":[0.40816134408984933,0.07470237724651121,0.909777054031575,0.011383496041029948],"object_position_m":[0.29887665326674245,-0.03267397598547878,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6490214321606636e-11,8.496545916441133e-12,2.2565709418785413e-10],"object_linear_velocity_m_s":[-1.0461763614399341e-11,2.030433740284862e-11,2.566235605692815e-15],"object_angular_velocity_rad_s":[-5.696596355270021e-10,-2.9351519382325776e-10,1.0115928674928486e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999903794},{"geom_ids":[1,90],"normal_force_n":0.09809999999699265},{"geom_ids":[1,90],"normal_force_n":0.09810000000096208},{"geom_ids":[1,90],"normal_force_n":0.09810000000300738}],"native_actuator_controls":[-0.18320486368453412,1.1367730048665312,-0.6992087942469026,0.23519225440515043,0.43768053712817506,-0.21471903333444006,0.035],"actuator_force_native":[-0.24154033520507667,0.28174703634512355,-0.26101750110304067,-0.2791824531044895,0.2988288884106556,-0.09395304994048992,5.013608396442493e-05],"issued_joint_targets_rad":[-0.1832895211543448,1.137460499476134,-0.7005912083200538,0.23433759001955132,0.43989785896307565,-0.21490351645061523],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.239999999999751,"joint_targets_rad":[-0.1832895211543448,1.137460499476134,-0.7005912083200538,0.23433759001955132,0.43989785896307565,-0.21490351645061523],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.259999999999757,"qpos":[-0.1798857113748262,1.131933217143832,-0.6932518978945298,0.2462483376219369,0.39436982274494387,-0.20348603625235503,0.03499992596530749,-0.03500001442462503,0.29887665326645263,-0.03267397598491618,0.07989224457978372,1.0,1.749645460519642e-11,9.015019960730152e-12,2.6584096627376223e-10],"qvel":[-0.006942844053995453,0.03210226840739803,-0.06522989115054133,-0.039268327030669695,0.10428405950036407,-0.014023721486133317,-8.435971422608918e-06,-1.75154968527025e-05,-1.1521455484064213e-11,2.236097508783178e-11,2.5717867208159407e-15,-4.3148868336982715e-10,-2.2232341611087694e-10,1.8469125492664062e-09],"joint_position_rad":[-0.1798857113748262,1.131933217143832,-0.6932518978945298,0.2462483376219369,0.39436982274494387,-0.20348603625235503],"joint_velocity_rad_s":[-0.006942844053995453,0.03210226840739803,-0.06522989115054133,-0.039268327030669695,0.10428405950036407,-0.014023721486133317],"gripper_joint_position_m":[0.03499992596530749,-0.03500001442462503],"tcp_position_m":[0.3033435882440613,-0.03367909238287524,0.18566205439436853],"tcp_quaternion_wxyz":[0.4074720061522508,0.07422569673573706,0.9101265114354449,0.011262474359633515],"object_position_m":[0.29887665326645263,-0.03267397598491618,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.749645460519642e-11,9.015019960730152e-12,2.6584096627376223e-10],"object_linear_velocity_m_s":[-1.1521455484064213e-11,2.236097508783178e-11,2.5717867208159407e-15],"object_angular_velocity_rad_s":[-4.314886832183219e-10,-2.2232341640492052e-10,1.8469125492664062e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999825075},{"geom_ids":[1,90],"normal_force_n":0.09809999999453221},{"geom_ids":[1,90],"normal_force_n":0.0981000000017492},{"geom_ids":[1,90],"normal_force_n":0.0981000000054679}],"native_actuator_controls":[-0.1832895211543448,1.137460499476134,-0.7005912083200538,0.23433759001955132,0.43989785896307565,-0.21490351645061523,0.035],"actuator_force_native":[-0.2375905620915102,0.2816712445471694,-0.26099537828921626,-0.28008826894207495,0.2988542729307717,-0.093139219753402,4.5141244813695636e-05],"issued_joint_targets_rad":[-0.18336917546279438,1.1381504854761748,-0.7019752683764531,0.2334750637637513,0.44211431452545363,-0.2150807368553074],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.259999999999757,"joint_targets_rad":[-0.18336917546279438,1.1381504854761748,-0.7019752683764531,0.2334750637637513,0.44211431452545363,-0.2150807368553074],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.279999999999764,"qpos":[-0.18002465757488592,1.1326165940343333,-0.6946314034545735,0.24543455529772218,0.3965898513274096,-0.20376887361535964,0.034999944188886294,-0.03500003235222647,0.2988766532661693,-0.032673975984366166,0.07989224457978372,1.0,1.804332132625793e-11,9.296800544426694e-12,3.105510731590996e-10],"qvel":[-0.006820430217096169,0.03222215423309367,-0.06530739744001449,-0.039476976923692515,0.10424134375015358,-0.0138868144217164,-1.2819870539150324e-05,-1.1669587255784586e-05,-1.2862920220598106e-11,2.4964483712171356e-11,2.575950057158285e-15,-1.9099136942839447e-10,-9.84074651882071e-11,3.37199513548592e-09],"joint_position_rad":[-0.18002465757488592,1.1326165940343333,-0.6946314034545735,0.24543455529772218,0.3965898513274096,-0.20376887361535964],"joint_velocity_rad_s":[-0.006820430217096169,0.03222215423309367,-0.06530739744001449,-0.039476976923692515,0.10424134375015358,-0.0138868144217164],"gripper_joint_position_m":[0.034999944188886294,-0.03500003235222647],"tcp_position_m":[0.303353956487741,-0.033681973437872166,0.18565638677337687],"tcp_quaternion_wxyz":[0.40678172980789756,0.0737477846570417,0.9104755871705943,0.011139736039727904],"object_position_m":[0.2988766532661693,-0.032673975984366166,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.804332132625793e-11,9.296800544426694e-12,3.105510731590996e-10],"object_linear_velocity_m_s":[-1.2862920220598106e-11,2.4964483712171356e-11,2.575950057158285e-15],"object_angular_velocity_rad_s":[-1.9099136930457585e-10,-9.840746542851623e-11,3.37199513548592e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999746784},{"geom_ids":[1,90],"normal_force_n":0.0980999999920847},{"geom_ids":[1,90],"normal_force_n":0.09810000000253227},{"geom_ids":[1,90],"normal_force_n":0.09810000000791524}],"native_actuator_controls":[-0.18336917546279438,1.1381504854761748,-0.7019752683764531,0.2334750637637513,0.44211431452545363,-0.2150807368553074,0.035],"actuator_force_native":[-0.23345927994719595,0.2816005441818419,-0.2609722065502922,-0.2809947767403713,0.2988826163552103,-0.09228841076690308,6.63317972440236e-05],"issued_joint_targets_rad":[-0.1834436309190714,1.1388429541747394,-0.7033609900839785,0.23260411812742326,0.4443298774429656,-0.21525046220565253],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.279999999999764,"joint_targets_rad":[-0.1834436309190714,1.1388429541747394,-0.7033609900839785,0.23260411812742326,0.4443298774429656,-0.21525046220565253],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.299999999999771,"qpos":[-0.18016111141900862,1.1333024757197465,-0.6960126834696867,0.2446147304524434,0.3988092499926176,-0.20404904369184773,0.034999914720164504,-0.03499997236196189,0.2988766532658949,-0.03267397598383367,0.07989224457978372,1.0,1.7958893207768586e-11,9.253312390402485e-12,3.586370074475277e-10],"qvel":[-0.006692449176314081,0.03234121361351947,-0.06538276724487375,-0.03969645661706242,0.10419615498207092,-0.013743295353345392,-1.0141627104421004e-05,-1.641408979863322e-05,-1.483174943057625e-11,2.878555638179813e-11,2.5759500571582855e-15,1.8795403085273777e-10,9.684487917200528e-11,6.156413466924242e-09],"joint_position_rad":[-0.18016111141900862,1.1333024757197465,-0.6960126834696867,0.2446147304524434,0.3988092499926176,-0.20404904369184773],"joint_velocity_rad_s":[-0.006692449176314081,0.03234121361351947,-0.06538276724487375,-0.03969645661706242,0.10419615498207092,-0.013743295353345392],"gripper_joint_position_m":[0.034999914720164504,-0.03499997236196189],"tcp_position_m":[0.3033642743248368,-0.03368539986773267,0.1856507503516212],"tcp_quaternion_wxyz":[0.4060905123748526,0.07326855582111398,0.9108242859117099,0.011015202242434956],"object_position_m":[0.2988766532658949,-0.03267397598383367,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.7958893207768586e-11,9.253312390402485e-12,3.586370074475277e-10],"object_linear_velocity_m_s":[-1.483174943057625e-11,2.878555638179813e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[1.8795403089720788e-10,9.684487908569509e-11,6.156413466924242e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999693099},{"geom_ids":[1,90],"normal_force_n":0.09809999999040672},{"geom_ids":[1,90],"normal_force_n":0.098100000003069},{"geom_ids":[1,90],"normal_force_n":0.09810000000959332}],"native_actuator_controls":[-0.1834436309190714,1.1388429541747394,-0.7033609900839785,0.23260411812742326,0.4443298774429656,-0.21525046220565253,0.035],"actuator_force_native":[-0.22913931412345256,0.281532208331825,-0.2609506929189678,-0.2819422099154938,0.29891204203037347,-0.09139924210802963,5.41193289420594e-05],"issued_joint_targets_rad":[-0.18351279955182026,1.1395379020769822,-0.704748385461735,0.23172458542637023,0.4465445549887064,-0.21541267146862322],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.299999999999771,"joint_targets_rad":[-0.18351279955182026,1.1395379020769822,-0.704748385461735,0.23172458542637023,0.4465445549887064,-0.21541267146862322],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.319999999999777,"qpos":[-0.18029496364137565,1.1339908503140579,-0.6973957061975964,0.24378859425121602,0.4010279861171187,-0.20432642395008166,0.034999923969353745,-0.03499998715387854,0.2988766532656333,-0.03267397598332581,0.07989224457978372,1.0,1.6967486976982046e-11,8.742496738485761e-12,4.07164599207738e-10],"qvel":[-0.006558784928650807,0.032459896958471075,-0.06545658001714574,-0.03992561091010385,0.10414958920281397,-0.013593502522518622,-9.040296310780323e-06,-1.8696701262479935e-05,-1.799978596969707e-11,3.493408790178201e-11,2.5759500571582855e-15,7.569491098677367e-10,3.900179763281031e-10,1.1240056217421049e-08],"joint_position_rad":[-0.18029496364137565,1.1339908503140579,-0.6973957061975964,0.24378859425121602,0.4010279861171187,-0.20432642395008166],"joint_velocity_rad_s":[-0.006558784928650807,0.032459896958471075,-0.06545658001714574,-0.03992561091010385,0.10414958920281397,-0.013593502522518622],"gripper_joint_position_m":[0.034999923969353745,-0.03499998715387854],"tcp_position_m":[0.30337453676609544,-0.033689367586198886,0.18564513479774525],"tcp_quaternion_wxyz":[0.40539834199122693,0.07278793777420298,0.9111726149638545,0.010888809176119967],"object_position_m":[0.2988766532656333,-0.03267397598332581,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6967486976982046e-11,8.742496738485761e-12,4.07164599207738e-10],"object_linear_velocity_m_s":[-1.799978596969707e-11,3.493408790178201e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[7.56949109746666e-10,3.900179765630778e-10,1.1240056217421049e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999708609},{"geom_ids":[1,90],"normal_force_n":0.0980999999908917},{"geom_ids":[1,90],"normal_force_n":0.09810000000291394},{"geom_ids":[1,90],"normal_force_n":0.0981000000091083}],"native_actuator_controls":[-0.18351279955182026,1.1395379020769822,-0.704748385461735,0.23172458542637023,0.4465445549887064,-0.21541267146862322,0.035],"actuator_force_native":[-0.22463294819231372,0.2814646562415959,-0.2609314410453578,-0.28293229844331336,0.29894130491165516,-0.09047222140163758,4.824270740422243e-05],"issued_joint_targets_rad":[-0.18357661267892766,1.140235334995344,-0.7061374823856388,0.23083635261982852,0.4487583866165843,-0.21556737534204246],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.319999999999777,"joint_targets_rad":[-0.18357661267892766,1.140235334995344,-0.7061374823856388,0.23083635261982852,0.4487583866165843,-0.21556737534204246],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.339999999999784,"qpos":[-0.18042610606198972,1.1346817108176677,-0.6987804602918515,0.2429556700842389,0.4032460456590052,-0.20460091050315637,0.03499994696331934,-0.03500001899797636,0.2988766532653905,-0.03267397598285446,0.07989224457978372,1.0,1.4667773976175722e-11,7.55756896080368e-12,4.4980080982926814e-10],"qvel":[-0.006419457962153614,0.03257837428814026,-0.06552910619176613,-0.04017029509207213,0.10410125176246655,-0.013437182817165706,-8.917351810285937e-06,-1.93292559954808e-05,-9.248006714053694e-12,1.7948584386032332e-11,2.5787256147198483e-15,-6.27922652748428e-10,-3.2353735799706557e-10,1.217768059712968e-09],"joint_position_rad":[-0.18042610606198972,1.1346817108176677,-0.6987804602918515,0.2429556700842389,0.4032460456590052,-0.20460091050315637],"joint_velocity_rad_s":[-0.006419457962153614,0.03257837428814026,-0.06552910619176613,-0.04017029509207213,0.10410125176246655,-0.013437182817165706],"gripper_joint_position_m":[0.03499994696331934,-0.03500001899797636],"tcp_position_m":[0.30338473627740936,-0.03369388882220498,0.1856395294803294],"tcp_quaternion_wxyz":[0.4047051961867042,0.0723057780645684,0.9115205933474017,0.01076041549194955],"object_position_m":[0.2988766532653905,-0.03267397598285446,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4667773976175722e-11,7.55756896080368e-12,4.4980080982926814e-10],"object_linear_velocity_m_s":[-9.248006714053694e-12,1.7948584386032332e-11,2.5787256147198483e-15],"object_angular_velocity_rad_s":[-6.279226524389665e-10,-3.235373585976697e-10,1.217768059712968e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000989486},{"geom_ids":[1,90],"normal_force_n":0.0981000000309297},{"geom_ids":[1,90],"normal_force_n":0.0980999999901052},{"geom_ids":[1,90],"normal_force_n":0.09809999996907037}],"native_actuator_controls":[-0.18357661267892766,1.140235334995344,-0.7061374823856388,0.23083635261982852,0.4487583866165843,-0.21556737534204246,0.035],"actuator_force_native":[-0.21994323954426775,0.2813980627734054,-0.26091623654415486,-0.28392122311605483,0.298971531932092,-0.08950887416311204,4.670822627805826e-05],"issued_joint_targets_rad":[-0.18363491391325248,1.140935267985895,-0.7075283381270655,0.22993898172003369,0.4509714275407849,-0.21571441281481382],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.339999999999784,"joint_targets_rad":[-0.18363491391325248,1.140935267985895,-0.7075283381270655,0.22993898172003369,0.4509714275407849,-0.21571441281481382],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.359999999999791,"qpos":[-0.18055442675113023,1.1353750604089599,-0.7001669377821156,0.24211561641978488,0.40546341934298935,-0.204872381274549,0.0349999395654704,-0.0350000152929435,0.2988766532651102,-0.03267397598231044,0.07989224457978372,1.0,1.5664081567914968e-11,8.07090840245481e-12,5.276437593876956e-10],"qvel":[-0.006274442089797909,0.032697220627594815,-0.06560118431642617,-0.04042629758960311,0.10405243258469818,-0.013274410828307761,-1.0170454651200974e-05,-1.8574189803548233e-05,-9.972594610398637e-12,1.935488486793955e-11,2.5759500571582855e-15,-5.522914888035438e-10,-2.845682928149317e-10,2.2233367634507497e-09],"joint_position_rad":[-0.18055442675113023,1.1353750604089599,-0.7001669377821156,0.24211561641978488,0.40546341934298935,-0.204872381274549],"joint_velocity_rad_s":[-0.006274442089797909,0.032697220627594815,-0.06560118431642617,-0.04042629758960311,0.10405243258469818,-0.013274410828307761],"gripper_joint_position_m":[0.0349999395654704,-0.0350000152929435],"tcp_position_m":[0.30339486893170076,-0.03369896483117444,0.1856339239717845],"tcp_quaternion_wxyz":[0.4040110528875408,0.07182197796659413,0.9118682345385855,0.010629932509183091],"object_position_m":[0.2988766532651102,-0.03267397598231044,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5664081567914968e-11,8.07090840245481e-12,5.276437593876956e-10],"object_linear_velocity_m_s":[-9.972594610398637e-12,1.935488486793955e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[-5.522914884673537e-10,-2.8456829346741107e-10,2.2233367634507497e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999919167},{"geom_ids":[1,90],"normal_force_n":0.09809999999747342},{"geom_ids":[1,90],"normal_force_n":0.09810000000080828},{"geom_ids":[1,90],"normal_force_n":0.09810000000252665}],"native_actuator_controls":[-0.18363491391325248,1.140935267985895,-0.7075283381270655,0.22993898172003369,0.4509714275407849,-0.21571441281481382,0.035],"actuator_force_native":[-0.2150667625207916,0.2813305030168607,-0.2609061060138629,-0.28493390004203256,0.29900143310090854,-0.08850869916018667,5.326965444019116e-05],"issued_joint_targets_rad":[-0.18368760626702432,1.141637716670294,-0.7089210028017316,0.22903225431948787,0.4531837432370863,-0.21585373864140875],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.359999999999791,"joint_targets_rad":[-0.18368760626702432,1.141637716670294,-0.7089210028017316,0.22903225431948787,0.4531837432370863,-0.21585373864140875],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.379999999999797,"qpos":[-0.1806798151816453,1.1360709100147244,-0.7015551463707556,0.24126812851818255,0.4076801154684655,-0.20514071922729432,0.03499992047198485,-0.035000003511870915,0.29887665326483687,-0.03267397598177988,0.07989224457978372,1.0,1.6449662511441104e-11,8.47569124632109e-12,6.159622030305394e-10],"qvel":[-0.0061237950052948215,0.03281668676553581,-0.06567351431344678,-0.04069292759071708,0.10400369699114326,-0.013105429603049158,-1.049468374090178e-05,-1.9097582100733982e-05,-1.084927460740472e-11,2.105632551026881e-11,2.5773378359390665e-15,-4.128262393414797e-10,-2.127081751141363e-10,4.059251451415168e-09],"joint_position_rad":[-0.1806798151816453,1.1360709100147244,-0.7015551463707556,0.24126812851818255,0.4076801154684655,-0.20514071922729432],"joint_velocity_rad_s":[-0.0061237950052948215,0.03281668676553581,-0.06567351431344678,-0.04069292759071708,0.10400369699114326,-0.013105429603049158],"gripper_joint_position_m":[0.03499992047198485,-0.035000003511870915],"tcp_position_m":[0.3034049328181508,-0.033704594385714604,0.18562830983799944],"tcp_quaternion_wxyz":[0.4033158873346103,0.07133644920198991,0.9122155518618399,0.010497284417750068],"object_position_m":[0.29887665326483687,-0.03267397598177988,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6449662511441104e-11,8.47569124632109e-12,6.159622030305394e-10],"object_linear_velocity_m_s":[-1.084927460740472e-11,2.105632551026881e-11,2.5773378359390665e-15],"object_angular_velocity_rad_s":[-4.128262390106294e-10,-2.1270817575625364e-10,4.059251451415168e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999841809},{"geom_ids":[1,90],"normal_force_n":0.09809999999505506},{"geom_ids":[1,90],"normal_force_n":0.09810000000158195},{"geom_ids":[1,90],"normal_force_n":0.09810000000494494}],"native_actuator_controls":[-0.18368760626702432,1.141637716670294,-0.7089210028017316,0.22903225431948787,0.4531837432370863,-0.21585373864140875,0.035],"actuator_force_native":[-0.21000431180384638,0.2812610986178896,-0.2609009429108511,-0.2859703299942016,0.29903073219949317,-0.08747204973657041,5.565453931044573e-05],"issued_joint_targets_rad":[-0.18373460955096732,1.1423427000340165,-0.7103155304470556,0.2281160109332284,0.4553954115603104,-0.21598534624568128],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.379999999999797,"joint_targets_rad":[-0.18373460955096732,1.1423427000340165,-0.7103155304470556,0.2281160109332284,0.4553954115603104,-0.21598534624568128],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.399999999999804,"qpos":[-0.18080216286245906,1.1367692720092923,-0.7029451140954781,0.2404127423454193,0.40989615421372666,-0.2054058219568751,0.03499991423381816,-0.0349999893857802,0.29887665326457125,-0.03267397598126425,0.07989224457978372,1.0,1.688402568493314e-11,8.699527159416477e-12,7.142286957031849e-10],"qvel":[-0.005967426681256308,0.032936745088111036,-0.0657465106327916,-0.04097531235629273,0.10395467268663994,-0.012930086549338074,-1.0157922717669266e-05,-1.9535130439293225e-05,-1.2042229348778474e-11,2.3371529893682547e-11,2.5676233844735966e-15,-1.8321518142416242e-10,-9.439974080427718e-11,7.411168691315109e-09],"joint_position_rad":[-0.18080216286245906,1.1367692720092923,-0.7029451140954781,0.2404127423454193,0.40989615421372666,-0.2054058219568751],"joint_velocity_rad_s":[-0.005967426681256308,0.032936745088111036,-0.0657465106327916,-0.04097531235629273,0.10395467268663994,-0.012930086549338074],"gripper_joint_position_m":[0.03499991423381816,-0.0349999893857802],"tcp_position_m":[0.3034149250634113,-0.03371078984525523,0.1856226813219614],"tcp_quaternion_wxyz":[0.4026196706240523,0.07084904283679086,0.9125625655149493,0.010362334508417944],"object_position_m":[0.29887665326457125,-0.03267397598126425,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.688402568493314e-11,8.699527159416477e-12,7.142286957031849e-10],"object_linear_velocity_m_s":[-1.2042229348778474e-11,2.3371529893682547e-11,2.5676233844735966e-15],"object_angular_velocity_rad_s":[-1.832151811603691e-10,-9.4399741316253e-11,7.411168691315109e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999766511},{"geom_ids":[1,90],"normal_force_n":0.09809999999270143},{"geom_ids":[1,90],"normal_force_n":0.09810000000233494},{"geom_ids":[1,90],"normal_force_n":0.09810000000729853}],"native_actuator_controls":[-0.18373460955096732,1.1423427000340165,-0.7103155304470556,0.2281160109332284,0.4553954115603104,-0.21598534624568128,0.035],"actuator_force_native":[-0.20475860167437787,0.2811905165373787,-0.2609007549622433,-0.2869926947061714,0.2990605644358775,-0.08640011306405482,5.422026086221443e-05],"issued_joint_targets_rad":[-0.18377577315757937,1.1430502402509044,-0.7117119898578874,0.227189844317892,0.4576065093474103,-0.2161090958329431],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.399999999999804,"joint_targets_rad":[-0.18377577315757937,1.1430502402509044,-0.7117119898578874,0.227189844317892,0.4576065093474103,-0.2161090958329431],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.419999999999811,"qpos":[-0.18092135725515074,1.1374701641663314,-0.704336868565025,0.2395491839590866,0.4121115534591527,-0.2056675668482532,0.03499993368882136,-0.03500000525312966,0.29887665326431473,-0.03267397598076653,0.07989224457978372,1.0,1.676891313335976e-11,8.64023715453186e-12,8.199147589547568e-10],"qvel":[-0.005805399531815241,0.033057757953838945,-0.06582091084742256,-0.041266971479116905,0.10390659476963275,-0.012748567061568215,-9.89897438175432e-06,-2.0703678415892346e-05,-1.3848557387049216e-11,2.687717410233541e-11,2.571786720815941e-15,1.7264023995731504e-10,8.895557493349712e-11,1.3530922818795733e-08],"joint_position_rad":[-0.18092135725515074,1.1374701641663314,-0.704336868565025,0.2395491839590866,0.4121115534591527,-0.2056675668482532],"joint_velocity_rad_s":[-0.005805399531815241,0.033057757953838945,-0.06582091084742256,-0.041266971479116905,0.10390659476963275,-0.012748567061568215],"gripper_joint_position_m":[0.03499993368882136,-0.03500000525312966],"tcp_position_m":[0.30342484750036286,-0.033717548289669295,0.1856170349984614],"tcp_quaternion_wxyz":[0.4019223804737226,0.07035968323169597,0.9129092857736681,0.010225018243632181],"object_position_m":[0.29887665326431473,-0.03267397598076653,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.676891313335976e-11,8.64023715453186e-12,8.199147589547568e-10],"object_linear_velocity_m_s":[-1.3848557387049216e-11,2.687717410233541e-11,2.571786720815941e-15],"object_angular_velocity_rad_s":[1.7264024004526383e-10,8.895557476279994e-11,1.3530922818795733e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999971525},{"geom_ids":[1,90],"normal_force_n":0.09809999999109896},{"geom_ids":[1,90],"normal_force_n":0.09810000000284748},{"geom_ids":[1,90],"normal_force_n":0.09810000000890103}],"native_actuator_controls":[-0.18377577315757937,1.1430502402509044,-0.7117119898578874,0.227189844317892,0.4576065093474103,-0.2161090958329431,0.035],"actuator_force_native":[-0.19932627453521512,0.2811172969966407,-0.2609051491918848,-0.2880387282522001,0.2990896667281264,-0.08529243925454644,5.214731905445191e-05],"issued_joint_targets_rad":[-0.18381102921069292,1.14376035456335,-0.7131104287111447,0.2262536534924404,0.45981710955105515,-0.21622501233331926],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.419999999999811,"joint_targets_rad":[-0.18381102921069292,1.14376035456335,-0.7131104287111447,0.2262536534924404,0.45981710955105515,-0.21622501233331926],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.439999999999817,"qpos":[-0.1810372914371172,1.1381736029153902,-0.7057304593833894,0.23867699173203538,0.4143263480140692,-0.20592585585927511,0.0349999128267715,-0.034999971216697415,0.2988766532640705,-0.032673975980292536,0.07989224457978372,1.0,1.5827612915181172e-11,8.155237593766422e-12,9.265715169377367e-10],"qvel":[-0.005637739051435989,0.03317943060521369,-0.06589687999511172,-0.04157554616657915,0.10385859646122535,-0.012560872293505117,-1.1489346657463685e-05,-1.988381497377445e-05,-1.678700818964591e-11,3.2580083924183955e-11,2.5745622783775038e-15,7.042056518373842e-10,3.628451991494332e-10,2.470404801518871e-08],"joint_position_rad":[-0.1810372914371172,1.1381736029153902,-0.7057304593833894,0.23867699173203538,0.4143263480140692,-0.20592585585927511],"joint_velocity_rad_s":[-0.005637739051435989,0.03317943060521369,-0.06589687999511172,-0.04157554616657915,0.10385859646122535,-0.012560872293505117],"gripper_joint_position_m":[0.0349999128267715,-0.034999971216697415],"tcp_position_m":[0.30343469973104853,-0.033724883499672266,0.1856113703018658],"tcp_quaternion_wxyz":[0.4012239889568682,0.06986822125420673,0.9132557315094397,0.010085197542450498],"object_position_m":[0.2988766532640705,-0.032673975980292536,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5827612915181172e-11,8.155237593766422e-12,9.265715169377367e-10],"object_linear_velocity_m_s":[-1.678700818964591e-11,3.2580083924183955e-11,2.5745622783775038e-15],"object_angular_velocity_rad_s":[7.042056515679149e-10,3.628451996724148e-10,2.470404801518871e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999729076},{"geom_ids":[1,90],"normal_force_n":0.09809999999153114},{"geom_ids":[1,90],"normal_force_n":0.09810000000270926},{"geom_ids":[1,90],"normal_force_n":0.09810000000846883}],"native_actuator_controls":[-0.18381102921069292,1.14376035456335,-0.7131104287111447,0.2262536534924404,0.45981710955105515,-0.21622501233331926,0.035],"actuator_force_native":[-0.193710326628878,0.28104297881070295,-0.2609131462448673,-0.2890557987509048,0.2991197206780214,-0.08415025630018391,6.0933662427320456e-05],"issued_joint_targets_rad":[-0.18384022517455073,1.1444730646386778,-0.7145109136789412,0.2253070388169571,0.46202728595893017,-0.21633296103699498],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.439999999999817,"joint_targets_rad":[-0.18384022517455073,1.1444730646386778,-0.7145109136789412,0.2253070388169571,0.46202728595893017,-0.21633296103699498],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.459999999999824,"qpos":[-0.1811498542969361,1.138879606099967,-0.7071259313541602,0.23779584244263421,0.4165405630388204,-0.20618057177084692,0.03499991575785004,-0.03499997997490774,0.2988766532638439,-0.03267397597985294,0.07989224457978372,1.0,1.3676258802725602e-11,7.046746001750525e-12,1.020279855455545e-09],"qvel":[-0.005464396328322508,0.033301987080978014,-0.0659748598464177,-0.04189562822957433,0.10381156916587492,-0.012367047155032116,-1.1050568647759254e-05,-2.1863104214175755e-05,-8.624153771156296e-12,1.6737679032772162e-11,2.5745622783775038e-15,-5.857251327620266e-10,-3.017972073220748e-10,2.6764812868848155e-09],"joint_position_rad":[-0.1811498542969361,1.138879606099967,-0.7071259313541602,0.23779584244263421,0.4165405630388204,-0.20618057177084692],"joint_velocity_rad_s":[-0.005464396328322508,0.033301987080978014,-0.0659748598464177,-0.04189562822957433,0.10381156916587492,-0.012367047155032116],"gripper_joint_position_m":[0.03499991575785004,-0.03499997997490774],"tcp_position_m":[0.3034444848041798,-0.03373279822341744,0.18560568853490217],"tcp_quaternion_wxyz":[0.40052447552390147,0.0693745631913517,0.9136019130219054,0.009942786884347953],"object_position_m":[0.2988766532638439,-0.03267397597985294,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3676258802725602e-11,7.046746001750525e-12,1.020279855455545e-09],"object_linear_velocity_m_s":[-8.624153771156296e-12,1.6737679032772162e-11,2.5745622783775038e-15],"object_angular_velocity_rad_s":[-5.857251321084704e-10,-3.017972085904904e-10,2.6764812868848155e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000922081},{"geom_ids":[1,90],"normal_force_n":0.09810000002882313},{"geom_ids":[1,90],"normal_force_n":0.09809999999077919},{"geom_ids":[1,90],"normal_force_n":0.09809999997117688}],"native_actuator_controls":[-0.18384022517455073,1.1444730646386778,-0.7145109136789412,0.2253070388169571,0.46202728595893017,-0.21633296103699498,0.035],"actuator_force_native":[-0.18790768856755768,0.28096674769197705,-0.26092428675038093,-0.290074003879214,0.2991498754522848,-0.08297332192893236,5.862252923716227e-05],"issued_joint_targets_rad":[-0.18386326764566835,1.145188385896536,-0.715913490839767,0.22434982376372822,0.4642371010607642,-0.2164329226609107],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.459999999999824,"joint_targets_rad":[-0.18386326764566835,1.145188385896536,-0.715913490839767,0.22434982376372822,0.4642371010607642,-0.2164329226609107],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.479999999999831,"qpos":[-0.1812589352922463,1.139588190582316,-0.7085233396996078,0.236905364600651,0.41875423449753835,-0.20643160995215298,0.03499991610058557,-0.03499998562939376,0.29887665326358265,-0.03267397597934582,0.07989224457978372,1.0,1.4600820007395817e-11,7.52314232659584e-12,1.1913676174477834e-09],"qvel":[-0.0052853517060568785,0.033425229921455024,-0.06605493578232309,-0.0422300106099026,0.10376519131348427,-0.012167264871557544,-1.1772140323273409e-05,-2.179858424311156e-05,-9.296334398714379e-12,1.804221093249525e-11,2.5745622783775038e-15,-5.149464416375982e-10,-2.6532830044694857e-10,4.8865789297187175e-09],"joint_position_rad":[-0.1812589352922463,1.139588190582316,-0.7085233396996078,0.236905364600651,0.41875423449753835,-0.20643160995215298],"joint_velocity_rad_s":[-0.0052853517060568785,0.033425229921455024,-0.06605493578232309,-0.0422300106099026,0.10376519131348427,-0.012167264871557544],"gripper_joint_position_m":[0.03499991610058557,-0.03499998562939376],"tcp_position_m":[0.3034542052225036,-0.03374129942822708,0.18559999286484719],"tcp_quaternion_wxyz":[0.3998238175909365,0.06887859325032436,0.9139478430056761,0.009797680548901766],"object_position_m":[0.29887665326358265,-0.03267397597934582,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4600820007395817e-11,7.52314232659584e-12,1.1913676174477834e-09],"object_linear_velocity_m_s":[-9.296334398714379e-12,1.804221093249525e-11,2.5745622783775038e-15],"object_angular_velocity_rad_s":[-5.149464409318662e-10,-2.653283018166257e-10,4.8865789297187175e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098099999999248},{"geom_ids":[1,90],"normal_force_n":0.09809999999764957},{"geom_ids":[1,90],"normal_force_n":0.09810000000075203},{"geom_ids":[1,90],"normal_force_n":0.09810000000235045}],"native_actuator_controls":[-0.18386326764566835,1.145188385896536,-0.715913490839767,0.22434982376372822,0.4642371010607642,-0.2164329226609107,0.035],"actuator_force_native":[-0.18191982974348164,0.28088947553032995,-0.260937412301125,-0.2910715804273991,0.2991808786620318,-0.0817622297802405,6.221667819383825e-05],"issued_joint_targets_rad":[-0.18388004170858038,1.1459063358418375,-0.7173182125497065,0.2233817588681692,0.46644662030423223,-0.2165248458398298],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.479999999999831,"joint_targets_rad":[-0.18388004170858038,1.1459063358418375,-0.7173182125497065,0.2233817588681692,0.46644662030423223,-0.2165248458398298],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.4999999999998375,"qpos":[-0.1813644254418256,1.1402993709448723,-0.7099227425077856,0.23600513893263889,0.4209673972612908,-0.20667886857428855,0.03499991092232546,-0.03499998017496959,0.29887665326332785,-0.03267397597885131,0.07989224457978372,1.0,1.5331073829058522e-11,7.899435023250569e-12,1.385479032893097e-09],"qvel":[-0.005100657060027082,0.033549030016832244,-0.06613719044631242,-0.04258208555129228,0.10371927881122193,-0.011961592616398578,-1.2388699095966904e-05,-2.2000194693340906e-05,-1.0111879068664869e-11,1.9624946655652694e-11,2.574562278377504e-15,-3.848379125730378e-10,-1.9828901588241195e-10,8.921659182568738e-09],"joint_position_rad":[-0.1813644254418256,1.1402993709448723,-0.7099227425077856,0.23600513893263889,0.4209673972612908,-0.20667886857428855],"joint_velocity_rad_s":[-0.005100657060027082,0.033549030016832244,-0.06613719044631242,-0.04258208555129228,0.10371927881122193,-0.011961592616398578],"gripper_joint_position_m":[0.03499991092232546,-0.03499998017496959],"tcp_position_m":[0.30346386286484706,-0.03375039921461248,0.18559428748321694],"tcp_quaternion_wxyz":[0.39912199283684613,0.06838017957490397,0.9142935349973456,0.009649753225149342],"object_position_m":[0.29887665326332785,-0.03267397597885131,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5331073829058522e-11,7.899435023250569e-12,1.385479032893097e-09],"object_linear_velocity_m_s":[-1.0111879068664869e-11,1.9624946655652694e-11,2.574562278377504e-15],"object_angular_velocity_rad_s":[-3.8483791188263514e-10,-1.982890172223389e-10,8.921659182568738e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999852646},{"geom_ids":[1,90],"normal_force_n":0.0980999999953937},{"geom_ids":[1,90],"normal_force_n":0.09810000000147358},{"geom_ids":[1,90],"normal_force_n":0.09810000000460631}],"native_actuator_controls":[-0.18388004170858038,1.1459063358418375,-0.7173182125497065,0.2233817588681692,0.46644662030423223,-0.2165248458398298,0.035],"actuator_force_native":[-0.17574601604024664,0.28081204167307305,-0.26095165112210594,-0.29202477482232503,0.29921331221258196,-0.08051738373081463,6.550660246151807e-05],"issued_joint_targets_rad":[-0.18389040770758355,1.1466269311673054,-0.7187251320842066,0.22240251602141398,0.4686559026967797,-0.21660862932077687],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.4999999999998375,"joint_targets_rad":[-0.18389040770758355,1.1466269311673054,-0.7187251320842066,0.22240251602141398,0.4686559026967797,-0.21660862932077687],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.519999999999844,"qpos":[-0.18146621336458768,1.1410131615016432,-0.7113241954282395,0.23509478390624625,0.42318008386611977,-0.2069222400828975,0.03499991046455493,-0.03499997405522705,0.2988766532630804,-0.03267397597837074,0.07989224457978372,1.0,1.5735035212298662e-11,8.107582679098108e-12,1.6014548341242813e-09],"qvel":[-0.004910248592199635,0.03367341352798549,-0.06622170889341122,-0.042950983206770536,0.10367411828329286,-0.01175010475907173,-1.2471132486248836e-05,-2.2666487497868936e-05,-1.1222914184971991e-11,2.1781207769087466e-11,2.5690111632543783e-15,-1.707944387538067e-10,-8.800299619057232e-11,1.6288696554176113e-08],"joint_position_rad":[-0.18146621336458768,1.1410131615016432,-0.7113241954282395,0.23509478390624625,0.42318008386611977,-0.2069222400828975],"joint_velocity_rad_s":[-0.004910248592199635,0.03367341352798549,-0.06622170889341122,-0.042950983206770536,0.10367411828329286,-0.01175010475907173],"gripper_joint_position_m":[0.03499991046455493,-0.03499997405522705],"tcp_position_m":[0.3034734602214872,-0.03376010667731628,0.18558857680543642],"tcp_quaternion_wxyz":[0.39841898039168056,0.06787920566301654,0.9146390001102106,0.009498893599018192],"object_position_m":[0.2988766532630804,-0.03267397597837074,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5735035212298662e-11,8.107582679098108e-12,1.6014548341242813e-09],"object_linear_velocity_m_s":[-1.1222914184971991e-11,2.1781207769087466e-11,2.5690111632543783e-15],"object_angular_velocity_rad_s":[-1.7079443820781714e-10,-8.800299725021791e-11,1.6288696554176113e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999782443},{"geom_ids":[1,90],"normal_force_n":0.0980999999931993},{"geom_ids":[1,90],"normal_force_n":0.09810000000217556},{"geom_ids":[1,90],"normal_force_n":0.09810000000680072}],"native_actuator_controls":[-0.18389040770758355,1.1466269311673054,-0.7187251320842066,0.22240251602141398,0.4686559026967797,-0.21660862932077687,0.035],"actuator_force_native":[-0.16938430447867248,0.28073450561304014,-0.2609663880103099,-0.29293579935943725,0.2992470108816594,-0.07923873524018576,6.593708023427958e-05],"issued_joint_targets_rad":[-0.18389424166255008,1.1473501874541245,-0.7201342978910905,0.2214118290985305,0.4708650057661494,-0.21668420304573538],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.519999999999844,"joint_targets_rad":[-0.18389424166255008,1.1473501874541245,-0.7201342978910905,0.2214118290985305,0.4708650057661494,-0.21668420304573538],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.539999999999851,"qpos":[-0.18156418795409468,1.141729576262363,-0.7127277561344734,0.23417390348283582,0.4253923315905683,-0.2071616213163417,0.034999908977260824,-0.03499996491198957,0.2988766532628413,-0.032673975977906895,0.07989224457978372,1.0,1.562737853813604e-11,8.052124445863763e-12,1.833737792941491e-09],"qvel":[-0.004714177432998202,0.03379829298280296,-0.0663085534492269,-0.04333964492391859,0.10362972202331079,-0.011533042812787303,-1.313375164598384e-05,-2.3097464588920804e-05,-1.2905928441721097e-11,2.5047519798363232e-11,2.574562278377504e-15,1.6085827357232782e-10,8.288504782176859e-11,2.9739046763990308e-08],"joint_position_rad":[-0.18156418795409468,1.141729576262363,-0.7127277561344734,0.23417390348283582,0.4253923315905683,-0.2071616213163417],"joint_velocity_rad_s":[-0.004714177432998202,0.03379829298280296,-0.0663085534492269,-0.04333964492391859,0.10362972202331079,-0.011533042812787303],"gripper_joint_position_m":[0.034999908977260824,-0.03499996491198957],"tcp_position_m":[0.30348299911513504,-0.03377043257365813,0.18558286515996747],"tcp_quaternion_wxyz":[0.39771475737541107,0.06737554876808004,0.9149842503975553,0.009344983597723606],"object_position_m":[0.2988766532628413,-0.032673975977906895,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.562737853813604e-11,8.052124445863763e-12,1.833737792941491e-09],"object_linear_velocity_m_s":[-1.2905928441721097e-11,2.5047519798363232e-11,2.574562278377504e-15],"object_angular_velocity_rad_s":[1.6085827374727394e-10,8.28850474822257e-11,2.9739046763990308e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999734657},{"geom_ids":[1,90],"normal_force_n":0.0980999999917055},{"geom_ids":[1,90],"normal_force_n":0.09810000000265344},{"geom_ids":[1,90],"normal_force_n":0.09810000000829452}],"native_actuator_controls":[-0.18389424166255008,1.1473501874541245,-0.7201342978910905,0.2214118290985305,0.4708650057661494,-0.21668420304573538,0.035],"actuator_force_native":[-0.16283340951144076,0.2806574304269134,-0.2609805732832342,-0.29378475075261967,0.2992821587208452,-0.07792625307475598,6.930966779705727e-05],"issued_joint_targets_rad":[-0.18389141183756888,1.148076122250679,-0.7215457625883965,0.2204094080470497,0.47307399163981795,-0.2167514836406327],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.539999999999851,"joint_targets_rad":[-0.18389141183756888,1.148076122250679,-0.7215457625883965,0.2204094080470497,0.47307399163981795,-0.2167514836406327],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.5599999999998575,"qpos":[-0.18165823743587156,1.1424486291012366,-0.7141334819238402,0.23324209452121358,0.427604179458005,-0.20739690942612118,0.034999904976150596,-0.03499995373946516,0.2988766532626251,-0.032673975977487175,0.07989224457978372,1.0,1.3890127810612287e-11,7.1570002610399625e-12,2.032513148371676e-09],"qvel":[-0.004512462399059589,0.033923643054905445,-0.06639786066187386,-0.04375113697658336,0.10358630209122192,-0.011310686748727407,-1.361620432122719e-05,-2.3752870702377916e-05,-1.5526260462113364e-11,3.0132980899358394e-11,2.5759500571582855e-15,6.686356435371132e-10,3.4452058808983804e-10,5.4295989575405666e-08],"joint_position_rad":[-0.18165823743587156,1.1424486291012366,-0.7141334819238402,0.23324209452121358,0.427604179458005,-0.20739690942612118],"joint_velocity_rad_s":[-0.004512462399059589,0.033923643054905445,-0.06639786066187386,-0.04375113697658336,0.10358630209122192,-0.011310686748727407],"gripper_joint_position_m":[0.034999904976150596,-0.03499995373946516],"tcp_position_m":[0.3034924808159747,-0.033781388586016856,0.18557715638399566],"tcp_quaternion_wxyz":[0.39700929936452106,0.06686908410535448,0.915329298269002,0.009187901794175213],"object_position_m":[0.2988766532626251,-0.032673975977487175,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3890127810612287e-11,7.1570002610399625e-12,2.032513148371676e-09],"object_linear_velocity_m_s":[-1.5526260462113364e-11,3.0132980899358394e-11,2.5759500571582855e-15],"object_angular_velocity_rad_s":[6.686356429138208e-10,3.4452058929950304e-10,5.4295989575405666e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999804096},{"geom_ids":[1,90],"normal_force_n":0.09809999999387627},{"geom_ids":[1,90],"normal_force_n":0.09810000000195898},{"geom_ids":[1,90],"normal_force_n":0.09810000000612384}],"native_actuator_controls":[-0.18389141183756888,1.148076122250679,-0.7215457625883965,0.2204094080470497,0.47307399163981795,-0.2167514836406327,0.035],"actuator_force_native":[-0.15609164014048815,0.28058123668085955,-0.260993149855139,-0.2945517740836401,0.29931866868129653,-0.07657971202202418,7.188197558227749e-05],"issued_joint_targets_rad":[-0.1838817820562367,1.1488047545848499,-0.7229595815321035,0.21939495152589364,0.4752829259896325,-0.21681037889374938],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.5599999999998575,"joint_targets_rad":[-0.1838817820562367,1.1488047545848499,-0.7229595815321035,0.21939495152589364,0.4752829259896325,-0.21681037889374938],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.579999999999864,"qpos":[-0.18174824960291933,1.1431703346014472,-0.7155414316664227,0.2322989286135037,0.42981567133757975,-0.20762800403120013,0.034999900968052104,-0.034999942867392435,0.2988766532624198,-0.03267397597708836,0.07989224457978372,1.0,1.2161203255108506e-11,6.266160701277474e-12,2.238470770121139e-09],"qvel":[-0.004305222128733735,0.03404942849956443,-0.06649001883070069,-0.044192675271013164,0.10354427682785354,-0.011083677145831918,-1.4029099948359363e-05,-2.443497967270351e-05,-7.718199058479263e-12,1.4979284562865966e-11,2.573174499596723e-15,-5.147146081669689e-10,-2.652106230181264e-10,5.8825258271951705e-09],"joint_position_rad":[-0.18174824960291933,1.1431703346014472,-0.7155414316664227,0.2322989286135037,0.42981567133757975,-0.20762800403120013],"joint_velocity_rad_s":[-0.004305222128733735,0.03404942849956443,-0.06649001883070069,-0.044192675271013164,0.10354427682785354,-0.011083677145831918],"gripper_joint_position_m":[0.034999900968052104,-0.034999942867392435],"tcp_position_m":[0.3035019056555581,-0.03379298877588616,0.18557145352144885],"tcp_quaternion_wxyz":[0.39630257864794005,0.06635967771159104,0.9156741578062931,0.009027516643183131],"object_position_m":[0.2988766532624198,-0.03267397597708836,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.2161203255108506e-11,6.266160701277474e-12,2.238470770121139e-09],"object_linear_velocity_m_s":[-7.718199058479263e-12,1.4979284562865966e-11,2.573174499596723e-15],"object_angular_velocity_rad_s":[-5.147146069059147e-10,-2.6521062546555074e-10,5.8825258271951705e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999990869},{"geom_ids":[1,90],"normal_force_n":0.09809999999971442},{"geom_ids":[1,90],"normal_force_n":0.09810000000009139},{"geom_ids":[1,90],"normal_force_n":0.09810000000028556}],"native_actuator_controls":[-0.1838817820562367,1.1488047545848499,-0.7229595815321035,0.21939495152589364,0.4752829259896325,-0.21681037889374938,0.035],"actuator_force_native":[-0.149156485621722,0.2805064561743791,-0.26100189510096783,-0.29519570714933785,0.2993561312787474,-0.07519823290674443,7.410677765773421e-05],"issued_joint_targets_rad":[-0.18386520398221395,1.1495361065866332,-0.7243758168895387,0.21836811908385223,0.47749188186908303,-0.21686077349968416],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.579999999999864,"joint_targets_rad":[-0.18386520398221395,1.1495361065866332,-0.7243758168895387,0.21836811908385223,0.47749188186908303,-0.21686077349968416],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.599999999999871,"qpos":[-0.1818341095569903,1.1438947091764897,-0.7169516615612617,0.23134400858505358,0.43202685102534527,-0.207854799034854,0.034999900695947384,-0.03499993578794341,0.29887665326219715,-0.032673975976656174,0.07989224457978372,1.0,1.2641331905118184e-11,6.513557582336788e-12,2.572776784761905e-09],"qvel":[-0.004092538634802652,0.03417581156825765,-0.06658550140127466,-0.044666893393809116,0.1035045974839876,-0.010852566194962705,-1.4127684046125021e-05,-2.534163652502951e-05,-8.125596647404696e-12,1.576993570540662e-11,2.573174499596723e-15,-4.2758494576285097e-10,-2.203165162506418e-10,1.074000661952142e-08],"joint_position_rad":[-0.1818341095569903,1.1438947091764897,-0.7169516615612617,0.23134400858505358,0.43202685102534527,-0.207854799034854],"joint_velocity_rad_s":[-0.004092538634802652,0.03417581156825765,-0.06658550140127466,-0.044666893393809116,0.1035045974839876,-0.010852566194962705],"gripper_joint_position_m":[0.034999900695947384,-0.03499993578794341],"tcp_position_m":[0.30351127423595564,-0.03380524446473084,0.18556575868223002],"tcp_quaternion_wxyz":[0.3955945666399147,0.0658472086084313,0.9160188418537516,0.008863708725323114],"object_position_m":[0.29887665326219715,-0.032673975976656174,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.2641331905118184e-11,6.513557582336788e-12,2.572776784761905e-09],"object_linear_velocity_m_s":[-8.125596647404696e-12,1.576993570540662e-11,2.573174499596723e-15],"object_angular_velocity_rad_s":[-4.275849444892892e-10,-2.2031651872233903e-10,1.074000661952142e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999930259},{"geom_ids":[1,90],"normal_force_n":0.09809999999781978},{"geom_ids":[1,90],"normal_force_n":0.0981000000006975},{"geom_ids":[1,90],"normal_force_n":0.09810000000218017}],"native_actuator_controls":[-0.18386520398221395,1.1495361065866332,-0.7243758168895387,0.21836811908385223,0.47749188186908303,-0.21686077349968416,0.035],"actuator_force_native":[-0.142024860843879,0.2804327349701907,-0.2610049192557824,-0.2957011130790086,0.2993934122113968,-0.07378089535585763,7.461058233548812e-05],"issued_joint_targets_rad":[-0.1838415431157816,1.1502702015929296,-0.7257945305907892,0.2173286220653799,0.47970093745183184,-0.21690257791356296],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.599999999999871,"joint_targets_rad":[-0.1838415431157816,1.1502702015929296,-0.7257945305907892,0.2173286220653799,0.47970093745183184,-0.21690257791356296],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.6199999999998775,"qpos":[-0.1819157014346647,1.1446217720344671,-0.7183642291995431,0.230376962471157,0.4342377693577379,-0.20807718906259778,0.03499989980698967,-0.03499992827258697,0.2988766532619947,-0.03267397597626367,0.07989224457978372,1.0,1.2431196562834851e-11,6.405299654289613e-12,2.9068680741707065e-09],"qvel":[-0.0038747369681853164,0.0343029335400573,-0.06668535413249266,-0.04518267898832436,0.10346889699283722,-0.01061876056039729,-1.4755769797268652e-05,-2.555352471346734e-05,-8.487815186762042e-12,1.647287693811787e-11,2.575950057158286e-15,-2.676164115250538e-10,-1.378909529084083e-10,1.9608539952615732e-08],"joint_position_rad":[-0.1819157014346647,1.1446217720344671,-0.7183642291995431,0.230376962471157,0.4342377693577379,-0.20807718906259778],"joint_velocity_rad_s":[-0.0038747369681853164,0.0343029335400573,-0.06668535413249266,-0.04518267898832436,0.10346889699283722,-0.01061876056039729],"gripper_joint_position_m":[0.03499989980698967,-0.03499992827258697],"tcp_position_m":[0.303520587176762,-0.03381816486395677,0.18556007320619083],"tcp_quaternion_wxyz":[0.3948852319448368,0.0653315641071788,0.9163633632523848,0.008696367745212196],"object_position_m":[0.2988766532619947,-0.03267397597626367,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.2431196562834851e-11,6.405299654289613e-12,2.9068680741707065e-09],"object_linear_velocity_m_s":[-8.487815186762042e-12,1.647287693811787e-11,2.575950057158286e-15],"object_angular_velocity_rad_s":[-2.67616410472195e-10,-1.3789095495177474e-10,1.9608539952615732e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999878799},{"geom_ids":[1,90],"normal_force_n":0.09809999999621093},{"geom_ids":[1,90],"normal_force_n":0.09810000000121205},{"geom_ids":[1,90],"normal_force_n":0.0981000000037891}],"native_actuator_controls":[-0.1838415431157816,1.1502702015929296,-0.7257945305907892,0.2173286220653799,0.47970093745183184,-0.21690257791356296,0.035],"actuator_force_native":[-0.13469364964842434,0.2803596969767028,-0.2609973406372248,-0.2960202212894636,0.299428335451684,-0.0723257476690562,7.778656939971818e-05],"issued_joint_targets_rad":[-0.18381067657855013,1.1510070662342318,-0.7272157885961683,0.21627621206012893,0.48191018185195883,-0.21693572613354048],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.6199999999998775,"joint_targets_rad":[-0.18381067657855013,1.1510070662342318,-0.7272157885961683,0.21627621206012893,0.48191018185195883,-0.21693572613354048],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.639999999999884,"qpos":[-0.18199290753345115,1.145351544717171,-0.7197791901496604,0.2293974717253363,0.4364484780434447,-0.20829506431306868,0.03499989969567975,-0.034999921616577744,0.29887665326181384,-0.03267397597591275,0.07989224457978372,1.0,1.1584134841908822e-11,5.968853134773038e-12,3.2274541716672833e-09],"qvel":[-0.003652008055951438,0.03443110016954638,-0.06679063458869923,-0.04574402092687609,0.10343920382722516,-0.01038320124176998,-1.4750076694628498e-05,-2.615511285642029e-05,-9.062993993487512e-12,1.7589130268683258e-11,2.573174499596723e-15,-2.3703207327728073e-11,-1.221231146608808e-11,3.580024217647412e-08],"joint_position_rad":[-0.18199290753345115,1.145351544717171,-0.7197791901496604,0.2293974717253363,0.4364484780434447,-0.20829506431306868],"joint_velocity_rad_s":[-0.003652008055951438,0.03443110016954638,-0.06679063458869923,-0.04574402092687609,0.10343920382722516,-0.01038320124176998],"gripper_joint_position_m":[0.03499989969567975,-0.034999921616577744],"tcp_position_m":[0.3035298459024625,-0.0338317546917819,0.1855543979451475],"tcp_quaternion_wxyz":[0.3941745431424829,0.06481265153336478,0.9167077327238143,0.008525403450466897],"object_position_m":[0.29887665326181384,-0.03267397597591275,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.1584134841908822e-11,5.968853134773038e-12,3.2274541716672833e-09],"object_linear_velocity_m_s":[-9.062993993487512e-12,1.7589130268683258e-11,2.573174499596723e-15],"object_angular_velocity_rad_s":[-2.3703206821525943e-11,-1.2212312448519774e-11,3.580024217647412e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999848859},{"geom_ids":[1,90],"normal_force_n":0.09809999999527541},{"geom_ids":[1,90],"normal_force_n":0.09810000000151144},{"geom_ids":[1,90],"normal_force_n":0.0981000000047246}],"native_actuator_controls":[-0.18381067657855013,1.1510070662342318,-0.7272157885961683,0.21627621206012893,0.48191018185195883,-0.21693572613354048,0.035],"actuator_force_native":[-0.1271614833281589,0.2802862205171408,-0.2609747027771334,-0.2961302819739142,0.29945823234430335,-0.07083181634206293,7.776255628333395e-05],"issued_joint_targets_rad":[-0.18377250551664778,1.1517467278583466,-0.7286396543183196,0.2152107247275535,0.4841197088514384,-0.21696019723844268],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.639999999999884,"joint_targets_rad":[-0.18377250551664778,1.1517467278583466,-0.7286396543183196,0.2152107247275535,0.4841197088514384,-0.21696019723844268],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.659999999999891,"qpos":[-0.18206560886450132,1.1460840514243764,-0.7211965989334514,0.22840529249863878,0.43865903257920413,-0.20850831221982163,0.034999897429549585,-0.034999913802028666,0.2988766532616558,-0.032673975975605986,0.07989224457978372,1.0,1.0068252740840099e-11,5.187781385290323e-12,3.5096476200851056e-09],"qvel":[-0.0034249305950515294,0.034560658253095795,-0.0669022923917768,-0.04635036827401159,0.10341773458748277,-0.010147674405946978,-1.5167762718843508e-05,-2.5970387361373138e-05,-1.02633361215883e-11,1.991871459527309e-11,2.5815011722814114e-15,3.2001374946215897e-10,1.6489060041782924e-10,6.53622013924535e-08],"joint_position_rad":[-0.18206560886450132,1.1460840514243764,-0.7211965989334514,0.22840529249863878,0.43865903257920413,-0.20850831221982163],"joint_velocity_rad_s":[-0.0034249305950515294,0.034560658253095795,-0.0669022923917768,-0.04635036827401159,0.10341773458748277,-0.010147674405946978],"gripper_joint_position_m":[0.034999897429549585,-0.034999913802028666],"tcp_position_m":[0.30353905295489486,-0.033846012275136735,0.18554873357372292],"tcp_quaternion_wxyz":[0.39346246895052145,0.06429040453063227,0.917051958358825,0.008350753432553511],"object_position_m":[0.2988766532616558,-0.032673975975605986,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.0068252740840099e-11,5.187781385290323e-12,3.5096476200851056e-09],"object_linear_velocity_m_s":[-1.02633361215883e-11,1.991871459527309e-11,2.5815011722814114e-15],"object_angular_velocity_rad_s":[3.2001374898291275e-10,1.6489060134793392e-10,6.53622013924535e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999871798},{"geom_ids":[1,90],"normal_force_n":0.09809999999599221},{"geom_ids":[1,90],"normal_force_n":0.09810000000128212},{"geom_ids":[1,90],"normal_force_n":0.0981000000040077}],"native_actuator_controls":[-0.18377250551664778,1.1517467278583466,-0.7286396543183196,0.2152107247275535,0.4841197088514384,-0.21696019723844268,0.035],"actuator_force_native":[-0.1194270791964609,0.2802108234521512,-0.2609329688305735,-0.2960308694733538,0.29948016084111906,-0.06929733857728992,7.9941631610847e-05],"issued_joint_targets_rad":[-0.18372696545096556,1.1524892147570323,-0.7300661877490473,0.21413211167133753,0.4863296187504818,-0.2169760358304876],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.659999999999891,"joint_targets_rad":[-0.18372696545096556,1.1524892147570323,-0.7300661877490473,0.21413211167133753,0.4863296187504818,-0.2169760358304876],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.679999999999898,"qpos":[-0.18213369033609597,1.1468193182242594,-0.722616509764171,0.22740025928494204,0.4408694939972138,-0.20871682881813308,0.03499989997039653,-0.03499991122116616,0.29887665326151636,-0.03267397597533532,0.07989224457978372,1.0,8.285961477628357e-12,4.269434272601457e-12,3.757582019227599e-09],"qvel":[-0.0031919750474434096,0.0346915887407948,-0.06701648224522697,-0.04695924997872422,0.10339942412720643,-0.009906551823085271,-1.474901504668884e-05,-2.6653231466291033e-05,-5.2886596952936045e-12,1.0264036940003216e-11,2.575950057158286e-15,-3.7159646735223573e-10,-1.9146957371111437e-10,7.081459257669918e-09],"joint_position_rad":[-0.18213369033609597,1.1468193182242594,-0.722616509764171,0.22740025928494204,0.4408694939972138,-0.20871682881813308],"joint_velocity_rad_s":[-0.0031919750474434096,0.0346915887407948,-0.06701648224522697,-0.04695924997872422,0.10339942412720643,-0.009906551823085271],"gripper_joint_position_m":[0.03499989997039653,-0.03499991122116616],"tcp_position_m":[0.3035482117913963,-0.03386093055794846,0.18554308095704597],"tcp_quaternion_wxyz":[0.3927489785091033,0.06376478111400152,0.9173960457456909,0.00817238152006363],"object_position_m":[0.29887665326151636,-0.03267397597533532,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.285961477628357e-12,4.269434272601457e-12,3.757582019227599e-09],"object_linear_velocity_m_s":[-5.2886596952936045e-12,1.0264036940003216e-11,2.575950057158286e-15],"object_angular_velocity_rad_s":[-3.7159646585284287e-10,-1.9146957662107618e-10,7.081459257669918e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000000102},{"geom_ids":[1,90],"normal_force_n":0.0981000000003185},{"geom_ids":[1,90],"normal_force_n":0.09809999999989802},{"geom_ids":[1,90],"normal_force_n":0.09809999999968153}],"native_actuator_controls":[-0.18372696545096556,1.1524892147570323,-0.7300661877490473,0.21413211167133753,0.4863296187504818,-0.2169760358304876,0.035],"actuator_force_native":[-0.1115021339523512,0.2801337789178575,-0.2608918275639738,-0.29592965465055876,0.2995021113418703,-0.06773224238891729,7.77462593724021e-05],"issued_joint_targets_rad":[-0.18367402525768062,1.1532345559537602,-0.7314954451851132,0.21304043346205565,0.4885400172561075,-0.2169833492879315],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.679999999999898,"joint_targets_rad":[-0.18367402525768062,1.1532345559537602,-0.7314954451851132,0.21304043346205565,0.4885400172561075,-0.2169833492879315],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.699999999999904,"qpos":[-0.18219703795924572,1.1475573745366006,-0.7240389792131097,0.22638233922294546,0.44307993753987235,-0.20892051265438885,0.03499989696080869,-0.03499990454186089,0.29887665326137225,-0.03267397597505573,0.07989224457978372,1.0,8.120335090469654e-12,4.184072661774412e-12,4.160023844214451e-09],"qvel":[-0.0029534756872505647,0.03482388112032783,-0.06713343412741715,-0.047569663663994614,0.1033847438862799,-0.009660695071739717,-1.544696886657812e-05,-2.6235666299420072e-05,-5.260527264777124e-12,1.0209481758805222e-11,2.5676233844735973e-15,-2.922475364016483e-10,-1.5058385038947804e-10,1.292895632431211e-08],"joint_position_rad":[-0.18219703795924572,1.1475573745366006,-0.7240389792131097,0.22638233922294546,0.44307993753987235,-0.20892051265438885],"joint_velocity_rad_s":[-0.0029534756872505647,0.03482388112032783,-0.06713343412741715,-0.047569663663994614,0.1033847438862799,-0.009660695071739717],"gripper_joint_position_m":[0.03499989696080869,-0.03499990454186089],"tcp_position_m":[0.30355732760166665,-0.03387649099263085,0.18553744161600233],"tcp_quaternion_wxyz":[0.392034040893851,0.06323578261603688,0.9177399967706724,0.007990300666530416],"object_position_m":[0.29887665326137225,-0.03267397597505573,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.120335090469654e-12,4.184072661774412e-12,4.160023844214451e-09],"object_linear_velocity_m_s":[-5.260527264777124e-12,1.0209481758805222e-11,2.5676233844735973e-15],"object_angular_velocity_rad_s":[-2.922475350405921e-10,-1.505838530309664e-10,1.292895632431211e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999970494},{"geom_ids":[1,90],"normal_force_n":0.09809999999907772},{"geom_ids":[1,90],"normal_force_n":0.09810000000029506},{"geom_ids":[1,90],"normal_force_n":0.09810000000092232}],"native_actuator_controls":[-0.18367402525768062,1.1532345559537602,-0.7314954451851132,0.21304043346205565,0.4885400172561075,-0.2169833492879315,0.035],"actuator_force_native":[-0.10339160543854042,0.2800551077711333,-0.260850107123197,-0.29582791211561954,0.29952368133293206,-0.06613732372781689,8.135641198547816e-05],"issued_joint_targets_rad":[-0.183613716379789,1.15398278271212,-0.7329274784319082,0.21193595174490443,0.49075102350645816,-0.21698236508829635],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.699999999999904,"joint_targets_rad":[-0.183613716379789,1.15398278271212,-0.7329274784319082,0.21193595174490443,0.49075102350645816,-0.21698236508829635],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.719999999999911,"qpos":[-0.18225554383393633,1.1482982491942735,-0.7254640646232349,0.22535154070101865,0.44529044254008326,-0.20911927270573047,0.03499989738775486,-0.03499990183448488,0.29887665326124496,-0.03267397597480869,0.07989224457978372,1.0,7.746480546684699e-12,3.991442993329837e-12,4.56220717939172e-09],"qvel":[-0.0027097314595263306,0.03495751128901991,-0.06725315462954713,-0.0481795343711968,0.10337387502235264,-0.009410544412554083,-1.4984570984409592e-05,-2.693558996744e-05,-5.308690983762159e-12,1.0302955706947825e-11,2.5690111632543783e-15,-1.7921808143927685e-10,-9.234362342499362e-11,2.360500930228317e-08],"joint_position_rad":[-0.18225554383393633,1.1482982491942735,-0.7254640646232349,0.22535154070101865,0.44529044254008326,-0.20911927270573047],"joint_velocity_rad_s":[-0.0027097314595263306,0.03495751128901991,-0.06725315462954713,-0.0481795343711968,0.10337387502235264,-0.009410544412554083],"gripper_joint_position_m":[0.03499989738775486,-0.03499990183448488],"tcp_position_m":[0.303566405882736,-0.03389267319005032,0.18553181791979761],"tcp_quaternion_wxyz":[0.3913176262585485,0.06270342200606806,0.9180838117892879,0.007804535768091904],"object_position_m":[0.29887665326124496,-0.03267397597480869,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.746480546684699e-12,3.991442993329837e-12,4.56220717939172e-09],"object_linear_velocity_m_s":[-5.308690983762159e-12,1.0302955706947825e-11,2.5690111632543783e-15],"object_angular_velocity_rad_s":[-1.7921808040825926e-10,-9.234362542596514e-11,2.360500930228317e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999934417},{"geom_ids":[1,90],"normal_force_n":0.09809999999794973},{"geom_ids":[1,90],"normal_force_n":0.09810000000065582},{"geom_ids":[1,90],"normal_force_n":0.09810000000205028}],"native_actuator_controls":[-0.183613716379789,1.15398278271212,-0.7329274784319082,0.21193595174490443,0.49075102350645816,-0.21698236508829635,0.035],"actuator_force_native":[-0.09510514637057987,0.2799751249826272,-0.26080733154613256,-0.29572588638858477,0.2995449971302193,-0.06451510720682796,7.902734472775563e-05],"issued_joint_targets_rad":[-0.18354608610267137,1.1547339259690228,-0.7343623358489126,0.2108189747802426,0.49296275603765743,-0.21697333542659084],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.719999999999911,"joint_targets_rad":[-0.18354608610267137,1.1547339259690228,-0.7343623358489126,0.2108189747802426,0.49296275603765743,-0.21697333542659084],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.739999999999918,"qpos":[-0.1823091058250444,1.1490419706461736,-0.7268918225826861,0.22430791655833474,0.44750109132489935,-0.20931302638824606,0.034999891969685795,-0.03499989448461335,0.2988766532611332,-0.032673975974591804,0.07989224457978372,1.0,7.109576707200825e-12,3.663289137408328e-12,4.948132792735248e-09],"qvel":[-0.0024610394212007496,0.03509246709341452,-0.06737560119347268,-0.04878674022774627,0.10336699668210575,-0.009156527068495336,-1.5720484462224117e-05,-2.6452662879684113e-05,-5.56308498667704e-12,1.0796611238327998e-11,2.5731744995967224e-15,-2.3125488151679765e-11,-1.1913545581333827e-11,4.3096785934302493e-08],"joint_position_rad":[-0.1823091058250444,1.1490419706461736,-0.7268918225826861,0.22430791655833474,0.44750109132489935,-0.20931302638824606],"joint_velocity_rad_s":[-0.0024610394212007496,0.03509246709341452,-0.06737560119347268,-0.04878674022774627,0.10336699668210575,-0.009156527068495336],"gripper_joint_position_m":[0.034999891969685795,-0.03499989448461335],"tcp_position_m":[0.3035754523844831,-0.033909454482948354,0.18552621265218822],"tcp_quaternion_wxyz":[0.39059970573585784,0.06216772573096726,0.9184274895832769,0.007615125360736345],"object_position_m":[0.2988766532611332,-0.032673975974591804,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.109576707200825e-12,3.663289137408328e-12,4.948132792735248e-09],"object_linear_velocity_m_s":[-5.56308498667704e-12,1.0796611238327998e-11,2.5731744995967224e-15],"object_angular_velocity_rad_s":[-2.3125487718028177e-11,-1.1913546422989609e-11,4.3096785934302493e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999912901},{"geom_ids":[1,90],"normal_force_n":0.09809999999727718},{"geom_ids":[1,90],"normal_force_n":0.09810000000087099},{"geom_ids":[1,90],"normal_force_n":0.09810000000272283}],"native_actuator_controls":[-0.18354608610267137,1.1547339259690228,-0.7343623358489126,0.2108189747802426,0.49296275603765743,-0.21697333542659084,0.035],"actuator_force_native":[-0.08665322510415585,0.27989409036085533,-0.26076305533075583,-0.29562396998495366,0.29956615210442195,-0.06286829978070463,8.292363487960586e-05],"issued_joint_targets_rad":[-0.1834711993860349,1.1554880164424879,-0.7358000623586192,0.2096898621731128,0.4951753332656214,-0.21695653867237255],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.739999999999918,"joint_targets_rad":[-0.1834711993860349,1.1554880164424879,-0.7358000623586192,0.2096898621731128,0.4951753332656214,-0.21695653867237255],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.759999999999924,"qpos":[-0.1823576284145484,1.1497885671136316,-0.7283223080147864,0.2232515654110135,0.4497119695202082,-0.20950169956436673,0.034999896107420235,-0.03499989680967247,0.2988766532610365,-0.032673975974404156,0.07989224457978372,1.0,6.132881749745941e-12,3.1600377591301945e-12,5.287840848201805e-09],"qvel":[-0.002207739296523203,0.03522874111973433,-0.06750068103597205,-0.04938913777117034,0.10336427208841834,-0.008899088766240184,-1.4757785179292157e-05,-2.7621949992869508e-05,-6.239853267586474e-12,1.2110119875267646e-11,2.5690111632543783e-15,1.8881809637134558e-10,9.728838868549827e-11,7.868384784896625e-08],"joint_position_rad":[-0.1823576284145484,1.1497885671136316,-0.7283223080147864,0.2232515654110135,0.4497119695202082,-0.20950169956436673],"joint_velocity_rad_s":[-0.002207739296523203,0.03522874111973433,-0.06750068103597205,-0.04938913777117034,0.10336427208841834,-0.008899088766240184],"gripper_joint_position_m":[0.034999896107420235,-0.03499989680967247],"tcp_position_m":[0.30358447290444074,-0.033926809926078196,0.18552062859288027],"tcp_quaternion_wxyz":[0.3898802509420137,0.061628734458433795,0.9187710275782166,0.007422122156916525],"object_position_m":[0.2988766532610365,-0.032673975974404156,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.132881749745941e-12,3.1600377591301945e-12,5.287840848201805e-09],"object_linear_velocity_m_s":[-6.239853267586474e-12,1.2110119875267646e-11,2.5690111632543783e-15],"object_angular_velocity_rad_s":[1.888180958397424e-10,9.728838971726089e-11,7.868384784896625e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999924762},{"geom_ids":[1,90],"normal_force_n":0.09809999999764829},{"geom_ids":[1,90],"normal_force_n":0.09810000000075234},{"geom_ids":[1,90],"normal_force_n":0.09810000000235179}],"native_actuator_controls":[-0.1834711993860349,1.1554880164424879,-0.7358000623586192,0.2096898621731128,0.4951753332656214,-0.21695653867237255,0.035],"actuator_force_native":[-0.07804698123630516,0.27981224070983046,-0.26071694232675924,-0.2955224406601733,0.29958722932150383,-0.061199757930697984,7.794462908705668e-05],"issued_joint_targets_rad":[-0.18338913932785902,1.15624508510901,-0.7372407003182291,0.208549024377664,0.4973888748278086,-0.21693227779022953],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.759999999999924,"joint_targets_rad":[-0.18338913932785902,1.15624508510901,-0.7372407003182291,0.208549024377664,0.4973888748278086,-0.21693227779022953],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.779999999999931,"qpos":[-0.1824010225939045,1.1505380668608967,-0.7297555734126647,0.22218263199946373,0.4519231656085347,-0.20968522708180315,0.03499989205330752,-0.034999892404352875,0.2988766532609518,-0.032673975974239586,0.07989224457978372,1.0,5.027407097495645e-12,2.590422435258686e-12,5.586307425571945e-09],"qvel":[-0.0019501681422637806,0.03536634439021212,-0.06762828179094939,-0.049984513639723005,0.10336588710064037,-0.008638692979360223,-1.5934492323085328e-05,-2.6688770107388357e-05,-3.2129576030379665e-12,6.235601349911587e-12,2.5662356056928156e-15,-2.263070573444578e-10,-1.1660718026197466e-10,8.524750559766122e-09],"joint_position_rad":[-0.1824010225939045,1.1505380668608967,-0.7297555734126647,0.22218263199946373,0.4519231656085347,-0.20968522708180315],"joint_velocity_rad_s":[-0.0019501681422637806,0.03536634439021212,-0.06762828179094939,-0.049984513639723005,0.10336588710064037,-0.008638692979360223],"gripper_joint_position_m":[0.03499989205330752,-0.034999892404352875],"tcp_position_m":[0.3035934732305978,-0.033944712144221165,0.18551506820933436],"tcp_quaternion_wxyz":[0.38915923377388995,0.061086502838646445,0.9191144220074756,0.007225593216265897],"object_position_m":[0.2988766532609518,-0.032673975974239586,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.027407097495645e-12,2.590422435258686e-12,5.586307425571945e-09],"object_linear_velocity_m_s":[-3.2129576030379665e-12,6.235601349911587e-12,2.5662356056928156e-15],"object_angular_velocity_rad_s":[-2.2630705599748527e-10,-1.1660718287613103e-10,8.524750559766122e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000007127},{"geom_ids":[1,90],"normal_force_n":0.09810000000022263},{"geom_ids":[1,90],"normal_force_n":0.09809999999992874},{"geom_ids":[1,90],"normal_force_n":0.0980999999997774}],"native_actuator_controls":[-0.18338913932785902,1.15624508510901,-0.7372407003182291,0.208549024377664,0.4973888748278086,-0.21693227779022953,0.035],"actuator_force_native":[-0.06929849800504151,0.27972973789800903,-0.2606687434903989,-0.29542173667337224,0.29960826154177855,-0.05951246761522366,8.399032931460937e-05],"issued_joint_targets_rad":[-0.18330000763394397,1.157005163464121,-0.7386842899883228,0.20739692274615756,0.4996035023055926,-0.21690088104966054],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.779999999999931,"joint_targets_rad":[-0.18330000763394397,1.157005163464121,-0.7386842899883228,0.20739692274615756,0.4996035023055926,-0.21690088104966054],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.799999999999938,"qpos":[-0.18243920699280347,1.1512904984788104,-0.7311916686401577,0.22110130838320843,0.45413477190634693,-0.20986355299579357,0.03499988895685819,-0.03499988912859775,0.2988766532608645,-0.03267397597407027,0.07989224457978372,1.0,4.913105726915033e-12,2.5315351629998364e-12,6.070772003421553e-09],"qvel":[-0.0016887175200804424,0.035505297211446,-0.06775827235764344,-0.0505706621120485,0.1033720257000559,-0.00837582557404953,-1.5387492826807264e-05,-2.741434974060643e-05,-3.184773076312442e-12,6.180883302731255e-12,2.5703989420351593e-15,-1.7734157602623107e-10,-9.13770108915175e-11,1.5564041753555956e-08],"joint_position_rad":[-0.18243920699280347,1.1512904984788104,-0.7311916686401577,0.22110130838320843,0.45413477190634693,-0.20986355299579357],"joint_velocity_rad_s":[-0.0016887175200804424,0.035505297211446,-0.06775827235764344,-0.0505706621120485,0.1033720257000559,-0.00837582557404953],"gripper_joint_position_m":[0.03499988895685819,-0.03499988912859775],"tcp_position_m":[0.3036024589826057,-0.033963131405480664,0.18550953337877432],"tcp_quaternion_wxyz":[0.3884366258759009,0.060541100172440854,0.9194576681533596,0.0070256204026506175],"object_position_m":[0.2988766532608645,-0.03267397597407027,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.913105726915033e-12,2.5315351629998364e-12,6.070772003421553e-09],"object_linear_velocity_m_s":[-3.184773076312442e-12,6.180883302731255e-12,2.5703989420351593e-15],"object_angular_velocity_rad_s":[-1.7734157483797126e-10,-9.13770131976536e-11,1.5564041753555956e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999982666},{"geom_ids":[1,90],"normal_force_n":0.0980999999994583},{"geom_ids":[1,90],"normal_force_n":0.09810000000017324},{"geom_ids":[1,90],"normal_force_n":0.09810000000054178}],"native_actuator_controls":[-0.18330000763394397,1.157005163464121,-0.7386842899883228,0.20739692274615756,0.4996035023055926,-0.21690088104966054,0.035],"actuator_force_native":[-0.06042046369083742,0.2796467127676152,-0.26061834606498735,-0.2953221149217917,0.29962926544237334,-0.05780954217759593,8.137918980666292e-05],"issued_joint_targets_rad":[-0.1832039249584817,1.1577682840482466,-0.7401308704969466,0.20623406864652344,0.50181934063859,-0.21686270023036394],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.799999999999938,"joint_targets_rad":[-0.1832039249584817,1.1577682840482466,-0.7401308704969466,0.20623406864652344,0.50181934063859,-0.21686270023036394],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.819999999999944,"qpos":[-0.1824721077827917,1.1520458912561742,-0.7326306407814995,0.22000783381732017,0.4563468842643645,-0.21003663112658505,0.03499989107555683,-0.03499989179050023,0.2988766532607915,-0.032673975973928494,0.07989224457978372,1.0,4.470167935019411e-12,2.303322252274193e-12,6.498256110938799e-09],"qvel":[-0.0014237724214372907,0.03564564288744304,-0.06789053213294753,-0.05114532523755643,0.10338289997284669,-0.008110989250521877,-1.5367938951204853e-05,-2.763309870567689e-05,-3.1225799542745436e-12,6.060143446958531e-12,2.569011163254378e-15,-1.0021080965128686e-10,-5.163385414597061e-11,2.8416009835300264e-08],"joint_position_rad":[-0.1824721077827917,1.1520458912561742,-0.7326306407814995,0.22000783381732017,0.4563468842643645,-0.21003663112658505],"joint_velocity_rad_s":[-0.0014237724214372907,0.03564564288744304,-0.06789053213294753,-0.05114532523755643,0.10338289997284669,-0.008110989250521877],"gripper_joint_position_m":[0.03499989107555683,-0.03499989179050023],"tcp_position_m":[0.30361143565342413,-0.03398203552531823,0.18550402526003057],"tcp_quaternion_wxyz":[0.38771239858204565,0.0599926099817376,0.919800760464424,0.00682230037472178],"object_position_m":[0.2988766532607915,-0.032673975973928494,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.470167935019411e-12,2.303322252274193e-12,6.498256110938799e-09],"object_linear_velocity_m_s":[-3.1225799542745436e-12,6.060143446958531e-12,2.569011163254378e-15],"object_angular_velocity_rad_s":[-1.0021080884932439e-10,-5.16338557024103e-11,2.8416009835300264e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999996563},{"geom_ids":[1,90],"normal_force_n":0.09809999999892575},{"geom_ids":[1,90],"normal_force_n":0.09810000000034373},{"geom_ids":[1,90],"normal_force_n":0.09810000000107426}],"native_actuator_controls":[-0.1832039249584817,1.1577682840482466,-0.7401308704969466,0.20623406864652344,0.50181934063859,-0.21686270023036394,0.035],"actuator_force_native":[-0.05142651194801573,0.2795632089285931,-0.2605657165710298,-0.2952239806440886,0.29965021378298484,-0.05609420716200608,8.119667248274176e-05],"issued_joint_targets_rad":[-0.18310103115450807,1.1585344805713313,-0.7415804800717167,0.20506102308867039,0.5040365183850332,-0.21681811124668607],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.819999999999944,"joint_targets_rad":[-0.18310103115450807,1.1585344805713313,-0.7415804800717167,0.20506102308867039,0.5040365183850332,-0.21681811124668607],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.839999999999951,"qpos":[-0.18249965939073604,1.1528042755115238,-0.73407253444439,0.2189024954926475,0.45855960290332265,-0.21020442532267045,0.034999893119321356,-0.03499989522421798,0.29887665326072876,-0.03267397597380686,0.07989224457978372,1.0,3.9636709034310155e-12,2.0423653606027704e-12,6.903479130301873e-09],"qvel":[-0.0011557580815419626,0.035787435637499296,-0.06802494946976681,-0.05170624454913902,0.10339873378763254,-0.007844704747340612,-1.5459502656488663e-05,-2.772160360910725e-05,-3.2207470052727863e-12,6.250572900652929e-12,2.5690111632543775e-15,-8.496760287569602e-13,-4.349796256045607e-13,5.188045805352693e-08],"joint_position_rad":[-0.18249965939073604,1.1528042755115238,-0.73407253444439,0.2189024954926475,0.45855960290332265,-0.21020442532267045],"joint_velocity_rad_s":[-0.0011557580815419626,0.035787435637499296,-0.06802494946976681,-0.05170624454913902,0.10339873378763254,-0.007844704747340612],"gripper_joint_position_m":[0.034999893119321356,-0.03499989522421798],"tcp_position_m":[0.30362040857633155,-0.03400138988049522,0.185498544208254],"tcp_quaternion_wxyz":[0.38698652262483446,0.059441130302109714,0.9201436927210828,0.006615744913127095],"object_position_m":[0.29887665326072876,-0.03267397597380686,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.9636709034310155e-12,2.0423653606027704e-12,6.903479130301873e-09],"object_linear_velocity_m_s":[-3.2207470052727863e-12,6.250572900652929e-12,2.5690111632543775e-15],"object_angular_velocity_rad_s":[-8.49675810833511e-13,-4.349800486101248e-13,5.188045805352693e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999995483},{"geom_ids":[1,90],"normal_force_n":0.09809999999858805},{"geom_ids":[1,90],"normal_force_n":0.09810000000045173},{"geom_ids":[1,90],"normal_force_n":0.09810000000141195}],"native_actuator_controls":[-0.18310103115450807,1.1585344805713313,-0.7415804800717167,0.20506102308867039,0.5040365183850332,-0.21681811124668607,0.035],"actuator_force_native":[-0.042330950694053016,0.2794792265971182,-0.2605109028373036,-0.29512767341338986,0.29967105413565687,-0.05436980211914566,8.157274042819296e-05],"issued_joint_targets_rad":[-0.18299148561816414,1.159303788234171,-0.7430331566179085,0.20387839630859658,0.5062551685250738,-0.21676751346767262],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.839999999999951,"joint_targets_rad":[-0.18299148561816414,1.159303788234171,-0.7430331566179085,0.20387839630859658,0.5062551685250738,-0.21676751346767262],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.859999999999958,"qpos":[-0.18252180491357883,1.1535656828601386,-0.7355173920399266,0.21778562854667102,0.46077303251044366,-0.21036690984380624,0.03499988766132062,-0.03499989207364308,0.2988766532606778,-0.0326739759737081,0.07989224457978372,1.0,3.1460730013010964e-12,1.6210902519463035e-12,7.194609922250648e-09],"qvel":[-0.0008851170867685154,0.03593074316697304,-0.06816143172381613,-0.05225114781655163,0.10341976209645665,-0.007577509347227272,-1.5875769845766467e-05,-2.746381854131491e-05,-3.6006674820501985e-12,6.987916879281494e-12,2.570398942035159e-15,1.2954150935654631e-10,6.674876663208658e-11,9.472061492782701e-08],"joint_position_rad":[-0.18252180491357883,1.1535656828601386,-0.7355173920399266,0.21778562854667102,0.46077303251044366,-0.21036690984380624],"joint_velocity_rad_s":[-0.0008851170867685154,0.03593074316697304,-0.06816143172381613,-0.05225114781655163,0.10341976209645665,-0.007577509347227272],"gripper_joint_position_m":[0.03499988766132062,-0.03499989207364308],"tcp_position_m":[0.30362938297683645,-0.0340211574440073,0.1854930897910026],"tcp_quaternion_wxyz":[0.38625896815053484,0.05888677357183688,0.9204864581018133,0.00640608092064815],"object_position_m":[0.2988766532606778,-0.0326739759737081,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.1460730013010964e-12,1.6210902519463035e-12,7.194609922250648e-09],"object_linear_velocity_m_s":[-3.6006674820501985e-12,6.987916879281494e-12,2.570398942035159e-15],"object_angular_velocity_rad_s":[1.2954150870318496e-10,6.67487679000919e-11,9.472061492782701e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999977789},{"geom_ids":[1,90],"normal_force_n":0.09809999999930569},{"geom_ids":[1,90],"normal_force_n":0.09810000000022215},{"geom_ids":[1,90],"normal_force_n":0.09810000000069433}],"native_actuator_controls":[-0.18299148561816414,1.159303788234171,-0.7430331566179085,0.20387839630859658,0.5062551685250738,-0.21676751346767262,0.035],"actuator_force_native":[-0.03314887093298147,0.2793947140877293,-0.26045400761947235,-0.2950335504402197,0.29969171700161645,-0.05263977221782312,8.387239640428312e-05],"issued_joint_targets_rad":[-0.18287546732681095,1.1600762437478875,-0.7444889377735981,0.20268684682563978,0.508475428353374,-0.21671132919825115],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.859999999999958,"joint_targets_rad":[-0.18287546732681095,1.1600762437478875,-0.7444889377735981,0.20268684682563978,0.508475428353374,-0.21671132919825115],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.879999999999964,"qpos":[-0.18253849668654168,1.1543301464134323,-0.7369652541896281,0.21665761619621898,0.4629872824986691,-0.21052406965300383,0.03499989228876253,-0.03499989916416848,0.29887665326063084,-0.032673975973616994,0.07989224457978372,1.0,2.6824960294836526e-12,1.3822188950252582e-12,7.553907777111143e-09],"qvel":[-0.0006123160460028146,0.036075640024480334,-0.06829990339002012,-0.05277776995894057,0.10344621782492176,-0.007309957023972236,-1.5106151148950505e-05,-2.8366878178318387e-05,-1.7320230257335336e-12,3.361369825861108e-12,2.5731744995967216e-15,-1.1648347941793233e-10,-6.002105436611279e-11,1.0262202944076022e-08],"joint_position_rad":[-0.18253849668654168,1.1543301464134323,-0.7369652541896281,0.21665761619621898,0.4629872824986691,-0.21052406965300383],"joint_velocity_rad_s":[-0.0006123160460028146,0.036075640024480334,-0.06829990339002012,-0.05277776995894057,0.10344621782492176,-0.007309957023972236],"gripper_joint_position_m":[0.03499989228876253,-0.03499989916416848],"tcp_position_m":[0.3036383640204788,-0.03404129884898816,0.18548766085239918],"tcp_quaternion_wxyz":[0.38552970475574666,0.05832966665844248,0.9208290492321475,0.006193450466505388],"object_position_m":[0.29887665326063084,-0.032673975973616994,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.6824960294836526e-12,1.3822188950252582e-12,7.553907777111143e-09],"object_linear_velocity_m_s":[-1.7320230257335336e-12,3.361369825861108e-12,2.5731744995967216e-15],"object_angular_velocity_rad_s":[-1.1648347848277605e-10,-6.002105618098035e-11,1.0262202944076022e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000268},{"geom_ids":[1,90],"normal_force_n":0.09810000000008388},{"geom_ids":[1,90],"normal_force_n":0.09809999999997317},{"geom_ids":[1,90],"normal_force_n":0.0980999999999161}],"native_actuator_controls":[-0.18287546732681095,1.1600762437478875,-0.7444889377735981,0.20268684682563978,0.508475428353374,-0.21671132919825115,0.035],"actuator_force_native":[-0.023896070991527907,0.27930958663401384,-0.26039516976749866,-0.29494192502846417,0.2997121318096658,-0.0509076599165148,7.983920524345933e-05],"issued_joint_targets_rad":[-0.1827531748576782,1.1608518853215917,-0.7459478609097314,0.20148708048218633,0.5106974392744175,-0.21665000289719624],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.879999999999964,"joint_targets_rad":[-0.1827531748576782,1.1608518853215917,-0.7459478609097314,0.20148708048218633,0.5106974392744175,-0.21665000289719624],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.899999999999971,"qpos":[-0.18254969630675713,1.1550977008995973,-0.7384161600574967,0.21551888948234585,0.46520246676574595,-0.21067590080902332,0.03499988927148916,-0.034999900009764995,0.2988766532605872,-0.032673975973532214,0.07989224457978372,1.0,2.525684491940181e-12,1.3014031819928176e-12,8.013706203506168e-09],"qvel":[-0.00033783198950002453,0.03622220589541859,-0.0684403110004928,-0.053283826409660215,0.10347834617384898,-0.007042613600333769,-1.597422677656732e-05,-2.764521570390636e-05,-1.6711443476108277e-12,3.2432541959066216e-12,2.5717867208159403e-15,-8.277520743172968e-11,-4.265206705258342e-11,1.8736191043864032e-08],"joint_position_rad":[-0.18254969630675713,1.1550977008995973,-0.7384161600574967,0.21551888948234585,0.46520246676574595,-0.21067590080902332],"joint_velocity_rad_s":[-0.00033783198950002453,0.03622220589541859,-0.0684403110004928,-0.053283826409660215,0.10347834617384898,-0.007042613600333769],"gripper_joint_position_m":[0.03499988927148916,-0.034999900009764995],"tcp_position_m":[0.303647356918311,-0.034061772351524876,0.18548225563424187],"tcp_quaternion_wxyz":[0.384798701723787,0.0577699504821126,0.9211714581775327,0.005978010710968462],"object_position_m":[0.2988766532605872,-0.032673975973532214,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.525684491940181e-12,1.3014031819928176e-12,8.013706203506168e-09],"object_linear_velocity_m_s":[-1.6711443476108277e-12,3.2432541959066216e-12,2.5717867208159403e-15],"object_angular_velocity_rad_s":[-8.277520669936072e-11,-4.265206847389922e-11,1.8736191043864032e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999988828},{"geom_ids":[1,90],"normal_force_n":0.09809999999965074},{"geom_ids":[1,90],"normal_force_n":0.09810000000011168},{"geom_ids":[1,90],"normal_force_n":0.09810000000034937}],"native_actuator_controls":[-0.1827531748576782,1.1608518853215917,-0.7459478609097314,0.20148708048218633,0.5106974392744175,-0.21665000289719624,0.035],"actuator_force_native":[-0.014589124126185737,0.2792237242824456,-0.26033451317631773,-0.2948532279580789,0.29973220582594173,-0.049177100481228475,8.430027431649556e-05],"issued_joint_targets_rad":[-0.182624826464387,1.1616307524807632,-0.7474099628191079,0.20027984998593723,0.5129213461420953,-0.2165840015913362],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.899999999999971,"joint_targets_rad":[-0.182624826464387,1.1616307524807632,-0.7474099628191079,0.20027984998593723,0.5129213461420953,-0.2165840015913362],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.919999999999978,"qpos":[-0.18255537560165647,1.15586838261975,-0.7398701476976826,0.21436992744125258,0.46741870399723184,-0.21082241061128035,0.03499988532533759,-0.034999900333926866,0.2988766532605494,-0.032673975973458745,0.07989224457978372,1.0,2.3400988037079815e-12,1.2057618820998962e-12,8.467272498033386e-09],"qvel":[-6.218062228253844e-05,0.03637051396047051,-0.0685826064136766,-0.05376707127482296,0.10351636596311457,-0.006776061125582613,-1.580254825401906e-05,-2.7913399239333235e-05,-1.6742279717210608e-12,3.2492759451119423e-12,2.57178672081594e-15,-4.037785213231353e-11,-2.0806138071299257e-11,3.4207553353908687e-08],"joint_position_rad":[-0.18255537560165647,1.15586838261975,-0.7398701476976826,0.21436992744125258,0.46741870399723184,-0.21082241061128035],"joint_velocity_rad_s":[-6.218062228253844e-05,0.03637051396047051,-0.0685826064136766,-0.05376707127482296,0.10351636596311457,-0.006776061125582613],"gripper_joint_position_m":[0.03499988532533759,-0.034999900333926866],"tcp_position_m":[0.3036563669269578,-0.03408253400491044,0.18547687188211373],"tcp_quaternion_wxyz":[0.38406592812460705,0.0572077802972664,0.9215136764522668,0.005759933912031057],"object_position_m":[0.2988766532605494,-0.032673975973458745,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.3400988037079815e-12,1.2057618820998962e-12,8.467272498033386e-09],"object_linear_velocity_m_s":[-1.6742279717210608e-12,3.2492759451119423e-12,2.57178672081594e-15],"object_angular_velocity_rad_s":[-4.037785169747871e-11,-2.080613891517792e-11,3.4207553353908687e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999977873},{"geom_ids":[1,90],"normal_force_n":0.09809999999930848},{"geom_ids":[1,90],"normal_force_n":0.09810000000022129},{"geom_ids":[1,90],"normal_force_n":0.09810000000069152}],"native_actuator_controls":[-0.182624826464387,1.1616307524807632,-0.7474099628191079,0.20027984998593723,0.5129213461420953,-0.2165840015913362,0.035],"actuator_force_native":[-0.005245165907030724,0.27913701907868926,-0.26027217764564625,-0.2947677418384984,0.29975187250396207,-0.047451818112184796,8.35997277666145e-05],"issued_joint_targets_rad":[-0.1824906598501429,1.1624128859505523,-0.748875279559488,0.19906595324807624,0.5151472967271152,-0.21651381294028205],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.919999999999978,"joint_targets_rad":[-0.1824906598501429,1.1624128859505523,-0.748875279559488,0.19906595324807624,0.5151472967271152,-0.21651381294028205],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.939999999999984,"qpos":[-0.18255551661624406,1.156642229370996,-0.741327254148219,0.21321125637966698,0.46963611691857843,-0.21096361797862598,0.0349998907626695,-0.034999910553477856,0.2988766532605181,-0.03267397597339796,0.07989224457978372,1.0,1.986260772148967e-12,1.023439905859341e-12,8.833925972387746e-09],"qvel":[0.00021411999140528943,0.03652063531289205,-0.0687267534146198,-0.054225254901348205,0.1035604900082351,-0.006510892150672827,-1.5358464323126976e-05,-2.8449847664888072e-05,-1.7538372109339334e-12,3.403780523009863e-12,2.5801133935006285e-15,1.7529412279442616e-11,9.03221622692933e-12,6.245435391772737e-08],"joint_position_rad":[-0.18255551661624406,1.156642229370996,-0.741327254148219,0.21321125637966698,0.46963611691857843,-0.21096361797862598],"joint_velocity_rad_s":[0.00021411999140528943,0.03652063531289205,-0.0687267534146198,-0.054225254901348205,0.1035604900082351,-0.006510892150672827],"gripper_joint_position_m":[0.0349998907626695,-0.034999910553477856],"tcp_position_m":[0.3036653994525161,-0.03410353767636676,0.18547150699291148],"tcp_quaternion_wxyz":[0.3833313532283325,0.056643325175220534,0.9218556949511822,0.00553940712553695],"object_position_m":[0.2988766532605181,-0.03267397597339796,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.986260772148967e-12,1.023439905859341e-12,8.833925972387746e-09],"object_linear_velocity_m_s":[-1.7538372109339334e-12,3.403780523009863e-12,2.5801133935006285e-15],"object_angular_velocity_rad_s":[1.7529412247699315e-11,9.032216288535125e-12,6.245435391772737e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999997885},{"geom_ids":[1,90],"normal_force_n":0.09809999999933931},{"geom_ids":[1,90],"normal_force_n":0.09810000000021141},{"geom_ids":[1,90],"normal_force_n":0.09810000000066076}],"native_actuator_controls":[-0.1824906598501429,1.1624128859505523,-0.748875279559488,0.19906595324807624,0.5151472967271152,-0.21651381294028205,0.035],"actuator_force_native":[0.004117941331065467,0.27904934980004725,-0.2602082658284175,-0.29468585075688836,0.29977106307301504,-0.0457356113905516,8.116181483552865e-05],"issued_joint_targets_rad":[-0.1823509319334457,1.1631983272729776,-0.7503438458239021,0.19784623219841058,0.5173754404728717,-0.21643994516219459],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.939999999999984,"joint_targets_rad":[-0.1823509319334457,1.1631983272729776,-0.7503438458239021,0.19784623219841058,0.5173754404728717,-0.21643994516219459],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.959999999999991,"qpos":[-0.18255011196830104,1.1574192802736856,-0.7427875155282513,0.21204344959069493,0.4718548320751604,-0.2110995536563798,0.03499988408457549,-0.03499991008835152,0.2988766532604921,-0.03267397597334755,0.07989224457978372,1.0,1.570913619277194e-12,8.094281233748462e-13,9.124459943787197e-09],"qvel":[0.000490528655758448,0.0366726297255945,-0.06887271568664599,-0.05465614799600398,0.10361091430148925,-0.006247709006704973,-1.6183961629275724e-05,-2.7700491412168464e-05,-2.0145980979766856e-12,3.909863526886709e-12,2.5717867208159403e-15,9.276357962538947e-11,4.779817924094603e-11,1.1402587854005783e-07],"joint_position_rad":[-0.18255011196830104,1.1574192802736856,-0.7427875155282513,0.21204344959069493,0.4718548320751604,-0.2110995536563798],"joint_velocity_rad_s":[0.000490528655758448,0.0366726297255945,-0.06887271568664599,-0.05465614799600398,0.10361091430148925,-0.006247709006704973],"gripper_joint_position_m":[0.03499988408457549,-0.03499991008835152],"tcp_position_m":[0.3036744600734122,-0.03412473510048102,0.18546615812435327],"tcp_quaternion_wxyz":[0.38259494675152916,0.05607676785349624,0.9221975039277147,0.00531663209110544],"object_position_m":[0.2988766532604921,-0.03267397597334755,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.570913619277194e-12,8.094281233748462e-13,9.124459943787197e-09],"object_linear_velocity_m_s":[-2.0145980979766856e-12,3.909863526886709e-12,2.5717867208159403e-15],"object_angular_velocity_rad_s":[9.276357893771581e-11,4.779818057553155e-11,1.1402587854005783e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999991054},{"geom_ids":[1,90],"normal_force_n":0.09809999999972033},{"geom_ids":[1,90],"normal_force_n":0.09810000000008946},{"geom_ids":[1,90],"normal_force_n":0.09810000000027967}],"native_actuator_controls":[-0.1823509319334457,1.1631983272729776,-0.7503438458239021,0.19784623219841058,0.5173754404728717,-0.21643994516219459,0.035],"actuator_force_native":[0.013481759509634372,0.27896061131538374,-0.26014284521883724,-0.2946079557113537,0.29978971252487874,-0.044032351548090265,8.555642512697581e-05],"issued_joint_targets_rad":[-0.18220591868184252,1.1639871185708,-0.7518156945776767,0.19662157158862378,0.5196059276834004,-0.21636292632188606],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.959999999999991,"joint_targets_rad":[-0.18220591868184252,1.1639871185708,-0.7518156945776767,0.19662157158862378,0.5196059276834004,-0.21636292632188606],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.979999999999998,"qpos":[-0.18253916571368772,1.1581995754922896,-0.7442509669646146,0.21086712686310444,0.47407497954330813,-0.2112302603194434,0.034999902899354014,-0.034999934660828666,0.29887665326046664,-0.032673975973298186,0.07989224457978372,1.0,1.4293187535887715e-12,7.364729439798028e-13,9.55698726203727e-09],"qvel":[0.0007664776706231024,0.03682654246488288,-0.06902044468963085,-0.0550575819504082,0.10366778884603683,-0.005987127158583367,-1.4237677942933499e-05,-2.967137729921094e-05,-9.224182909718481e-13,1.7901961946703008e-12,2.570398942035159e-15,-5.844037013492351e-11,-3.0111924840943146e-11,1.2353770162906828e-08],"joint_position_rad":[-0.18253916571368772,1.1581995754922896,-0.7442509669646146,0.21086712686310444,0.47407497954330813,-0.2112302603194434],"joint_velocity_rad_s":[0.0007664776706231024,0.03682654246488288,-0.06902044468963085,-0.0550575819504082,0.10366778884603683,-0.005987127158583367],"gripper_joint_position_m":[0.034999902899354014,-0.034999934660828666],"tcp_position_m":[0.3036835545085213,-0.03414607610352338,0.18546082227424956],"tcp_quaternion_wxyz":[0.38185667909231596,0.05550830480663596,0.9225390929649924,0.005091824958775291],"object_position_m":[0.29887665326046664,-0.032673975973298186,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4293187535887715e-12,7.364729439798028e-13,9.55698726203727e-09],"object_linear_velocity_m_s":[-9.224182909718481e-13,1.7901961946703008e-12,2.570398942035159e-15],"object_angular_velocity_rad_s":[-5.84403695411685e-11,-3.011192599328584e-11,1.2353770162906828e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999039},{"geom_ids":[1,90],"normal_force_n":0.0980999999999696},{"geom_ids":[1,90],"normal_force_n":0.09810000000000961},{"geom_ids":[1,90],"normal_force_n":0.09810000000003041}],"native_actuator_controls":[-0.18220591868184252,1.1639871185708,-0.7518156945776767,0.19662157158862378,0.5196059276834004,-0.21636292632188606,0.035],"actuator_force_native":[0.022827374194498873,0.2788707339564098,-0.26007598559682066,-0.29453430122718416,0.29980779813186764,-0.042345969286551544,7.507241555426702e-05],"issued_joint_targets_rad":[-0.18205591450824554,1.1647793022660842,-0.7532908566681464,0.195392896397224,0.521838908533987,-0.21628330184214925],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.979999999999998,"joint_targets_rad":[-0.18205591450824554,1.1647793022660842,-0.7532908566681464,0.195392896397224,0.521838908533987,-0.21628330184214925],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.000000000000004,"qpos":[-0.18252269252807451,1.158983156034292,-0.7457176423115858,0.20968295307619775,0.4762966915981049,-0.2113557930234608,0.034999880367102394,-0.0349999210143833,0.2988766532604448,-0.032673975973255734,0.07989224457978372,1.0,1.3000388827646848e-12,6.69873608930749e-13,9.991545431453353e-09],"qvel":[0.0010414179026648656,0.0369824131764571,-0.06916989491646261,-0.05542736029365506,0.10373127361995443,-0.005729762879022663,-1.8135766543828305e-05,-2.586468698583022e-05,-8.808857195704393e-13,1.7095542331931296e-12,2.5662356056928148e-15,-3.7644291527180914e-11,-1.9396418869090115e-11,2.255486460053258e-08],"joint_position_rad":[-0.18252269252807451,1.158983156034292,-0.7457176423115858,0.20968295307619775,0.4762966915981049,-0.2113557930234608],"joint_velocity_rad_s":[0.0010414179026648656,0.0369824131764571,-0.06916989491646261,-0.05542736029365506,0.10373127361995443,-0.005729762879022663],"gripper_joint_position_m":[0.034999880367102394,-0.0349999210143833],"tcp_position_m":[0.30369268872961636,-0.034167508462466516,0.1854554963840943],"tcp_quaternion_wxyz":[0.3811165218435671,0.05493814513845856,0.9228804509044849,0.004865215816583099],"object_position_m":[0.2988766532604448,-0.032673975973255734,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3000388827646848e-12,6.69873608930749e-13,9.991545431453353e-09],"object_linear_velocity_m_s":[-8.808857195704393e-13,1.7095542331931296e-12,2.5662356056928148e-15],"object_angular_velocity_rad_s":[-3.764429110936269e-11,-1.9396419679983813e-11,2.255486460053258e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999297},{"geom_ids":[1,90],"normal_force_n":0.09809999999978027},{"geom_ids":[1,90],"normal_force_n":0.09810000000007024},{"geom_ids":[1,90],"normal_force_n":0.09810000000021984}],"native_actuator_controls":[-0.18205591450824554,1.1647793022660842,-0.7532908566681464,0.195392896397224,0.521838908533987,-0.21628330184214925,0.035],"actuator_force_native":[0.03213515207299267,0.2787796326610845,-0.260007673942539,-0.2944654656906751,0.2998252589288892,-0.040680443868350125,9.546414862349195e-05],"issued_joint_targets_rad":[-0.18190123208774292,1.165574920630292,-0.7547693600988751,0.1941611710548914,0.5240745317311114,-0.2162016358821861],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.000000000000004,"joint_targets_rad":[-0.18190123208774292,1.165574920630292,-0.7547693600988751,0.1941611710548914,0.5240745317311114,-0.2162016358821861],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.020000000000011,"qpos":[-0.18250071987697344,1.1597700633569556,-0.7471875740845775,0.20849163846167854,0.4785201035664506,-0.2114762188500377,0.03499988170363293,-0.034999929271840965,0.2988766532604261,-0.03267397597321947,0.07989224457978372,1.0,1.1673975850679726e-12,6.015597565304601e-13,1.0412955116838445e-08],"qvel":[0.0013147152588991028,0.037140253154098225,-0.0693209844769024,-0.055763444097342484,0.10380144723290133,-0.005476247442986159,-1.4497383327538025e-05,-2.9399052478671905e-05,-8.8256944532837e-13,1.7127076697302623e-12,2.5703989420351585e-15,-1.212345085710997e-11,-6.2438292791521216e-12,4.117948694965563e-08],"joint_position_rad":[-0.18250071987697344,1.1597700633569556,-0.7471875740845775,0.20849163846167854,0.4785201035664506,-0.2114762188500377],"joint_velocity_rad_s":[0.0013147152588991028,0.037140253154098225,-0.0693209844769024,-0.055763444097342484,0.10380144723290133,-0.005476247442986159],"gripper_joint_position_m":[0.03499988170363293,-0.034999929271840965],"tcp_position_m":[0.30370186873653604,-0.034188978382740445,0.1854501773055735],"tcp_quaternion_wxyz":[0.3803744476128979,0.054366511660032986,0.9232215659270152,0.004637048670436744],"object_position_m":[0.2988766532604261,-0.03267397597321947,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.1673975850679726e-12,6.015597565304601e-13,1.0412955116838445e-08],"object_linear_velocity_m_s":[-8.8256944532837e-13,1.7127076697302623e-12,2.5703989420351585e-15],"object_angular_velocity_rad_s":[-1.2123450677532695e-11,-6.243829627779686e-12,4.117948694965563e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999988203},{"geom_ids":[1,90],"normal_force_n":0.09809999999963104},{"geom_ids":[1,90],"normal_force_n":0.09810000000011798},{"geom_ids":[1,90],"normal_force_n":0.098100000000369}],"native_actuator_controls":[-0.18190123208774292,1.165574920630292,-0.7547693600988751,0.1941611710548914,0.5240745317311114,-0.2162016358821861,0.035],"actuator_force_native":[0.04138544684394674,0.2786873160964376,-0.25993795875929493,-0.29440147578477394,0.29984211079725576,-0.03903979915700484,7.721877132049748e-05],"issued_joint_targets_rad":[-0.18174220149451548,1.166374015827151,-0.7562512302648025,0.19292739552150318,0.5263129444076363,-0.2161185058125264],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.020000000000011,"joint_targets_rad":[-0.18174220149451548,1.166374015827151,-0.7562512302648025,0.19292739552150318,0.5263129444076363,-0.2161185058125264],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.040000000000018,"qpos":[-0.18247328600874466,1.16056033920407,-0.7486607928088012,0.20729393552210798,0.4807453511145504,-0.2115916176724535,0.034999888939158764,-0.034999945527299,0.2988766532604102,-0.0326739759731886,0.07989224457978372,1.0,1.005812576172989e-12,5.183182924031357e-13,1.079270259223595e-08],"qvel":[0.00158582512752985,0.03730008118508149,-0.06947364079489224,-0.056063722645781806,0.10387840968093136,-0.005227207707614157,-1.572991940407326e-05,-2.8210145625894433e-05,-9.54628256823653e-13,1.8524645628709915e-12,2.5995422964315684e-15,2.0324975740591773e-11,1.0477458899409869e-11,7.518334404756481e-08],"joint_position_rad":[-0.18247328600874466,1.16056033920407,-0.7486607928088012,0.20729393552210798,0.4807453511145504,-0.2115916176724535],"joint_velocity_rad_s":[0.00158582512752985,0.03730008118508149,-0.06947364079489224,-0.056063722645781806,0.10387840968093136,-0.005227207707614157],"gripper_joint_position_m":[0.034999888939158764,-0.034999945527299],"tcp_position_m":[0.3037111007906766,-0.03421043022963593,0.18544486190787474],"tcp_quaternion_wxyz":[0.37963043086389775,0.05379363862015284,0.9235624254166261,0.0044075803628162375],"object_position_m":[0.2988766532604102,-0.0326739759731886,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.005812576172989e-12,5.183182924031357e-13,1.079270259223595e-08],"object_linear_velocity_m_s":[-9.54628256823653e-13,1.8524645628709915e-12,2.5995422964315684e-15],"object_angular_velocity_rad_s":[2.0324975592369382e-11,1.0477459186892e-11,7.518334404756483e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999988113},{"geom_ids":[1,90],"normal_force_n":0.09809999999962803},{"geom_ids":[1,90],"normal_force_n":0.098100000000119},{"geom_ids":[1,90],"normal_force_n":0.09810000000037214}],"native_actuator_controls":[-0.18174220149451548,1.166374015827151,-0.7562512302648025,0.19292739552150318,0.5263129444076363,-0.2161185058125264,0.035],"actuator_force_native":[0.05055763550068626,0.27859372392107673,-0.2598667925056475,-0.29434298679528403,0.29985831840946187,-0.03742806983930791,8.30920306700289e-05],"issued_joint_targets_rad":[-0.1815791696876972,1.1671766291727164,-0.7577364887630534,0.19169260405945204,0.5285542900137754,-0.21603450515505285],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.040000000000018,"joint_targets_rad":[-0.1815791696876972,1.1671766291727164,-0.7577364887630534,0.19169260405945204,0.5285542900137754,-0.21603450515505285],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.0600000000000245,"qpos":[-0.1824404418709708,1.1613540252649408,-0.7501373270347267,0.20609063960844295,0.4829725716908318,-0.21170208164553922,0.034999883697299825,-0.03499995024560182,0.2988766532603969,-0.03267397597316287,0.07989224457978372,1.0,7.903486852801222e-13,4.0729585809673724e-13,1.1077890924872449e-08],"qvel":[0.001854102559687779,0.037461883990321014,-0.06962775286387912,-0.056326248352058954,0.10396220122303187,-0.00498327715056805,-1.596826349183811e-05,-2.7905245057966362e-05,-5.066873706605558e-13,9.832249069497663e-13,2.6522778901012623e-15,-3.7016600615649825e-11,-1.907536431147459e-11,8.145499638573214e-09],"joint_position_rad":[-0.1824404418709708,1.1613540252649408,-0.7501373270347267,0.20609063960844295,0.4829725716908318,-0.21170208164553922],"joint_velocity_rad_s":[0.001854102559687779,0.037461883990321014,-0.06962775286387912,-0.056326248352058954,0.10396220122303187,-0.00498327715056805],"gripper_joint_position_m":[0.034999883697299825,-0.03499995024560182],"tcp_position_m":[0.3037203911428176,-0.034231806868748854,0.1854395469811358],"tcp_quaternion_wxyz":[0.3788844474969628,0.05321977281841344,0.9239030161342254,0.004177080817802805],"object_position_m":[0.2988766532603969,-0.03267397597316287,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.903486852801222e-13,4.0729585809673724e-13,1.1077890924872449e-08],"object_linear_velocity_m_s":[-5.066873706605558e-13,9.832249069497663e-13,2.6522778901012623e-15],"object_angular_velocity_rad_s":[-3.701660018638495e-11,-1.9075365144481886e-11,8.145499638573215e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000000022},{"geom_ids":[1,90],"normal_force_n":0.09810000000006873},{"geom_ids":[1,90],"normal_force_n":0.09809999999997801},{"geom_ids":[1,90],"normal_force_n":0.0980999999999313}],"native_actuator_controls":[-0.1815791696876972,1.1671766291727164,-0.7577364887630534,0.19169260405945204,0.5285542900137754,-0.21603450515505285,0.035],"actuator_force_native":[0.05963126186345136,0.2784988926704415,-0.2597941739467444,-0.29429018019934183,0.2998738813948876,-0.03584931936928415,8.449342546623662e-05],"issued_joint_targets_rad":[-0.18141250004722173,1.1679828014522076,-0.7592251540879066,0.19045786240383808,0.5307987090698758,-0.21595023912584035],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.0600000000000245,"joint_targets_rad":[-0.18141250004722173,1.1679828014522076,-0.7592251540879066,0.19045786240383808,0.5307987090698758,-0.21595023912584035],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.080000000000031,"qpos":[-0.18240225080730632,1.1621511629158878,-0.7516172027139244,0.20488258610122068,0.4852019027216014,-0.21180771551232344,0.03499990480725179,-0.03499998093888195,0.2988766532603837,-0.03267397597313731,0.07989224457978372,1.0,7.373244488634249e-13,3.799689080888285e-13,1.1540802539343586e-08],"qvel":[0.0021189369271627243,0.037625648211356846,-0.06978320067191175,-0.056549117719188184,0.10405283485518367,-0.004745089622064433,-1.4034348560628441e-05,-2.9741455814974295e-05,-4.809843131824675e-13,9.333452936619375e-13,2.6592167840051695e-15,-2.794472524178269e-11,-1.4401008356813214e-11,1.4871625346836922e-08],"joint_position_rad":[-0.18240225080730632,1.1621511629158878,-0.7516172027139244,0.20488258610122068,0.4852019027216014,-0.21180771551232344],"joint_velocity_rad_s":[0.0021189369271627243,0.037625648211356846,-0.06978320067191175,-0.056549117719188184,0.10405283485518367,-0.004745089622064433],"gripper_joint_position_m":[0.03499990480725179,-0.03499998093888195],"tcp_position_m":[0.3037297460865701,-0.03425304983635874,0.18543422925786193],"tcp_quaternion_wxyz":[0.37813647535278355,0.052645172381694645,0.9242433241539365,0.003945831922043294],"object_position_m":[0.2988766532603837,-0.03267397597313731,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.373244488634249e-13,3.799689080888285e-13,1.1540802539343586e-08],"object_linear_velocity_m_s":[-4.809843131824675e-13,9.333452936619375e-13,2.6592167840051695e-15],"object_angular_velocity_rad_s":[-2.794472489808279e-11,-1.440100902375275e-11,1.4871625346836925e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998553},{"geom_ids":[1,90],"normal_force_n":0.09809999999995446},{"geom_ids":[1,90],"normal_force_n":0.0981000000000145},{"geom_ids":[1,90],"normal_force_n":0.09810000000004551}],"native_actuator_controls":[-0.18141250004722173,1.1679828014522076,-0.7592251540879066,0.19045786240383808,0.5307987090698758,-0.21595023912584035,0.035],"actuator_force_native":[0.06858537617095273,0.27840284184880204,-0.25972010655902267,-0.2942433592993625,0.2998888111999687,-0.0343076017020727,7.397945273157625e-05],"issued_joint_targets_rad":[-0.1812425710644676,1.1687925723772579,-0.7607172408892101,0.1892242636748327,0.5330463375105655,-0.21586632292352984],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.080000000000031,"joint_targets_rad":[-0.1812425710644676,1.1687925723772579,-0.7607172408892101,0.1892242636748327,0.5330463375105655,-0.21586632292352984],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.100000000000038,"qpos":[-0.18235878792437565,1.1629517930955655,-0.7531004429584123,0.20367064870427448,0.48743348102132594,-0.21190863670514493,0.03499987636658679,-0.03499996541102049,0.2988766532603724,-0.0326739759731153,0.07989224457978372,1.0,6.841925755802303e-13,3.52591346525722e-13,1.2003416823630663e-08],"qvel":[0.002379725769816335,0.037791352533771076,-0.06993985574600114,-0.0567304692410538,0.10415032411924094,-0.00451327113443692,-1.8440184125304626e-05,-2.5299449852969694e-05,-4.705611377978501e-13,9.131096793480833e-13,2.6578290052243878e-15,-1.6860516421279384e-11,-8.688623255880761e-12,2.7151832331355206e-08],"joint_position_rad":[-0.18235878792437565,1.1629517930955655,-0.7531004429584123,0.20367064870427448,0.48743348102132594,-0.21190863670514493],"joint_velocity_rad_s":[0.002379725769816335,0.037791352533771076,-0.06993985574600114,-0.0567304692410538,0.10415032411924094,-0.00451327113443692],"gripper_joint_position_m":[0.03499987636658679,-0.03499996541102049],"tcp_position_m":[0.3037391719660067,-0.03427409924759597,0.18542890539260992],"tcp_quaternion_wxyz":[0.37738649434547167,0.05207010578705889,0.9245833349294044,0.0037141270549721126],"object_position_m":[0.2988766532603724,-0.0326739759731153,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.841925755802303e-13,3.52591346525722e-13,1.2003416823630663e-08],"object_linear_velocity_m_s":[-4.705611377978501e-13,9.131096793480833e-13,2.6578290052243878e-15],"object_angular_velocity_rad_s":[-1.6860516193546047e-11,-8.688623697802538e-12,2.7151832331355213e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999995031},{"geom_ids":[1,90],"normal_force_n":0.09809999999984464},{"geom_ids":[1,90],"normal_force_n":0.09810000000004972},{"geom_ids":[1,90],"normal_force_n":0.09810000000015537}],"native_actuator_controls":[-0.1812425710644676,1.1687925723772579,-0.7607172408892101,0.1892242636748327,0.5330463375105655,-0.21586632292352984,0.035],"actuator_force_native":[0.07739871994356307,0.27830557986654014,-0.2596445557338214,-0.29420305497240307,0.29990307871353394,-0.032806955482194144,9.714625715506742e-05],"issued_joint_targets_rad":[-0.1810697759713195,1.169605980488206,-0.7622127599304296,0.1879929268339375,0.5352973064052884,-0.21578338215802048],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.100000000000038,"joint_targets_rad":[-0.1810697759713195,1.169605980488206,-0.7622127599304296,0.1879929268339375,0.5352973064052884,-0.21578338215802048],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1200000000000445,"qpos":[-0.182310142121829,1.1637559559906379,-0.75458706789041,0.20245573853840554,0.489667443523542,-0.2120049747870281,0.034999874425882566,-0.03499997394308895,0.29887665326036306,-0.03267397597309713,0.07989224457978372,1.0,5.901248673429278e-13,3.0409180851306594e-13,1.2390612194734822e-08],"qvel":[0.0026357905368952876,0.037958953667315866,-0.07009755561710956,-0.056868652122419566,0.10425460541422389,-0.004288452282273185,-1.4292242070983724e-05,-2.919305771618726e-05,-4.757985052107414e-13,9.233743794012625e-13,2.660604562785951e-15,-1.8890857843943895e-12,-9.769870177723676e-13,4.9572389146079054e-08],"joint_position_rad":[-0.182310142121829,1.1637559559906379,-0.75458706789041,0.20245573853840554,0.489667443523542,-0.2120049747870281],"joint_velocity_rad_s":[0.0026357905368952876,0.037958953667315866,-0.07009755561710956,-0.056868652122419566,0.10425460541422389,-0.004288452282273185],"gripper_joint_position_m":[0.034999874425882566,-0.03499997394308895],"tcp_position_m":[0.303748674930232,-0.03429489435787706,0.18542357186370617],"tcp_quaternion_wxyz":[0.3766344861797911,0.051494852616766895,0.9249230334276187,0.0034822706837450827],"object_position_m":[0.29887665326036306,-0.03267397597309713,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.901248673429278e-13,3.0409180851306594e-13,1.2390612194734822e-08],"object_linear_velocity_m_s":[-4.757985052107414e-13,9.233743794012625e-13,2.660604562785951e-15],"object_angular_velocity_rad_s":[-1.889085730034339e-12,-9.76987123094025e-13,4.957238914607907e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999994067},{"geom_ids":[1,90],"normal_force_n":0.09809999999981474},{"geom_ids":[1,90],"normal_force_n":0.09810000000005935},{"geom_ids":[1,90],"normal_force_n":0.0981000000001853}],"native_actuator_controls":[-0.1810697759713195,1.169605980488206,-0.7622127599304296,0.1879929268339375,0.5352973064052884,-0.21578338215802048,0.035],"actuator_force_native":[0.08605033935628015,0.27820719146886574,-0.25956758511601663,-0.29416920756662357,0.2999167206961282,-0.031351395286514094,7.64841750524603e-05],"issued_joint_targets_rad":[-0.18089452133283113,1.1704230632691948,-0.7637117185296292,0.18676499138770977,0.5375517420896239,-0.2157020465591026],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.1200000000000445,"joint_targets_rad":[-0.18089452133283113,1.1704230632691948,-0.7637117185296292,0.18676499138770977,0.5375517420896239,-0.2157020465591026],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.140000000000051,"qpos":[-0.18225641380945518,1.1645636910063053,-0.7560770940983425,0.2012387999066671,0.49190392465110294,-0.21209687205593938,0.03499991069427587,-0.03500002193083853,0.2988766532603553,-0.03267397597308195,0.07989224457978372,1.0,4.8487820840405e-13,2.498451892595862e-13,1.2721953321076673e-08],"qvel":[0.0028865580779052257,0.038128422299348666,-0.07025615228756522,-0.05696198738313915,0.10436563801068066,-0.004071248848076705,-1.3519606336427405e-05,-2.9869757497973826e-05,-5.239232381158618e-13,1.0167688004988604e-12,2.6564412264436064e-15,1.7155255094705798e-11,8.839653978861286e-12,9.05066639978103e-08],"joint_position_rad":[-0.18225641380945518,1.1645636910063053,-0.7560770940983425,0.2012387999066671,0.49190392465110294,-0.21209687205593938],"joint_velocity_rad_s":[0.0028865580779052257,0.038128422299348666,-0.07025615228756522,-0.05696198738313915,0.10436563801068066,-0.004071248848076705],"gripper_joint_position_m":[0.03499991069427587,-0.03500002193083853],"tcp_position_m":[0.30375826116960875,-0.03431537333596304,0.18541822504359862],"tcp_quaternion_wxyz":[0.3758804350612528,0.050919700878750265,0.9252624040509986,0.003250576925509308],"object_position_m":[0.2988766532603553,-0.03267397597308195,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.8487820840405e-13,2.498451892595862e-13,1.2721953321076673e-08],"object_linear_velocity_m_s":[-5.239232381158618e-13,1.0167688004988604e-12,2.6564412264436064e-15],"object_angular_velocity_rad_s":[1.7155254915015777e-11,8.839654327588576e-12,9.050666399781033e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999995482},{"geom_ids":[1,90],"normal_force_n":0.0980999999998588},{"geom_ids":[1,90],"normal_force_n":0.09810000000004518},{"geom_ids":[1,90],"normal_force_n":0.09810000000014121}],"native_actuator_controls":[-0.18089452133283113,1.1704230632691948,-0.7637117185296292,0.18676499138770977,0.5375517420896239,-0.2157020465591026,0.035],"actuator_force_native":[0.09451860774039744,0.2781076695344069,-0.2594891930651144,-0.2941424038425984,0.2999297173691886,-0.02994487175951699,7.117026064751286e-05],"issued_joint_targets_rad":[-0.18071722607716403,1.171243856518268,-0.7652141196442556,0.18554161497872382,0.5398097644339886,-0.21562295243631305],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.140000000000051,"joint_targets_rad":[-0.18071722607716403,1.171243856518268,-0.7652141196442556,0.18554161497872382,0.5398097644339886,-0.21562295243631305],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.160000000000058,"qpos":[-0.1821977156376005,1.165375030423627,-0.7575705158699231,0.20002081093594065,0.49414304234495016,-0.2121844828073159,0.03499978767084377,-0.03499985792500741,0.2988766532603483,-0.032673975973068425,0.07989224457978372,1.0,4.0450627380594235e-13,2.0843200424373348e-13,1.306526665629394e-08],"qvel":[0.003131329409991925,0.03829977727380033,-0.07041525362495975,-0.05700911779281828,0.1044837962502802,-0.0038622761390130853,-1.749916816597181e-05,-2.5179725120882116e-05,-2.601190254195825e-13,5.048146156434486e-13,2.6564412264436064e-15,-1.792047406175556e-11,-9.233890459687969e-12,9.80565586976661e-09],"joint_position_rad":[-0.1821977156376005,1.165375030423627,-0.7575705158699231,0.20002081093594065,0.49414304234495016,-0.2121844828073159],"joint_velocity_rad_s":[0.003131329409991925,0.03829977727380033,-0.07041525362495975,-0.05700911779281828,0.1044837962502802,-0.0038622761390130853],"gripper_joint_position_m":[0.03499978767084377,-0.03499985792500741],"tcp_position_m":[0.30376793465176577,-0.0343354734579763,0.1854128577792949],"tcp_quaternion_wxyz":[0.3751243282773582,0.05034494879927417,0.9256014303554407,0.0030193689442387637],"object_position_m":[0.2988766532603483,-0.032673975973068425,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.0450627380594235e-13,2.0843200424373348e-13,1.306526665629394e-08],"object_linear_velocity_m_s":[-2.601190254195825e-13,5.048146156434486e-13,2.6564412264436064e-15],"object_angular_velocity_rad_s":[-1.792047381638145e-11,-9.23389093589241e-12,9.805655869766611e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000542},{"geom_ids":[1,90],"normal_force_n":0.09810000000001672},{"geom_ids":[1,90],"normal_force_n":0.09809999999999469},{"geom_ids":[1,90],"normal_force_n":0.09809999999998324}],"native_actuator_controls":[-0.18071722607716403,1.171243856518268,-0.7652141196442556,0.18554161497872382,0.5398097644339886,-0.21562295243631305,0.035],"actuator_force_native":[0.1027825177849575,0.2780072012022714,-0.25941203382180333,-0.294122249324583,0.29994152651496453,-0.028591282081452007,9.598900707930014e-05],"issued_joint_targets_rad":[-0.18053831923474373,1.1720683933339113,-0.7667199602979536,0.18432396613060692,0.5420714837395104,-0.21554673242477895],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.160000000000058,"joint_targets_rad":[-0.18053831923474373,1.1720683933339113,-0.7667199602979536,0.18432396613060692,0.5420714837395104,-0.21554673242477895],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1800000000000646,"qpos":[-0.1821341759870641,1.1661900119238193,-0.7590673324316342,0.19880277531085072,0.49638492734767825,-0.2122679729815629,0.034999794116054674,-0.03499988654490469,0.29887665326034146,-0.032673975973055235,0.07989224457978372,1.0,3.8805094418737537e-13,1.9995753889336053e-13,1.3560295067256421e-08],"qvel":[0.003369569027547417,0.03847309816672433,-0.07057483356883511,-0.057008483269657836,0.1046092022830394,-0.0036621156509971885,-1.3630534181718031e-05,-3.02101215471997e-05,-2.5402221721838627e-13,4.929735280798028e-13,2.6619923415667323e-15,-1.3378411412186489e-11,-6.893626313450724e-12,1.7902651380929582e-08],"joint_position_rad":[-0.1821341759870641,1.1661900119238193,-0.7590673324316342,0.19880277531085072,0.49638492734767825,-0.2122679729815629],"joint_velocity_rad_s":[0.003369569027547417,0.03847309816672433,-0.07057483356883511,-0.057008483269657836,0.1046092022830394,-0.0036621156509971885],"gripper_joint_position_m":[0.034999794116054674,-0.03499988654490469],"tcp_position_m":[0.30377769899804213,-0.03435513217404526,0.18540746189668153],"tcp_quaternion_wxyz":[0.3743661494161245,0.049770902110445873,0.9259400979953502,0.002788978095549488],"object_position_m":[0.29887665326034146,-0.032673975973055235,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.8805094418737537e-13,1.9995753889336053e-13,1.3560295067256421e-08],"object_linear_velocity_m_s":[-2.5402221721838627e-13,4.929735280798028e-13,2.6619923415667323e-15],"object_angular_velocity_rad_s":[-1.3378411218067732e-11,-6.893626690175416e-12,1.7902651380929586e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998455},{"geom_ids":[1,90],"normal_force_n":0.0980999999999517},{"geom_ids":[1,90],"normal_force_n":0.09810000000001551},{"geom_ids":[1,90],"normal_force_n":0.0981000000000483}],"native_actuator_controls":[-0.18053831923474373,1.1720683933339113,-0.7667199602979536,0.18432396613060692,0.5420714837395104,-0.21554673242477895,0.035],"actuator_force_native":[0.1108206950478916,0.2779050219737371,-0.2593360614613829,-0.29410995086146396,0.29995176049376315,-0.027294420955664478,7.638802872178552e-05],"issued_joint_targets_rad":[-0.18035823880918644,1.1728967114133957,-0.7682292449660736,0.18311321446571435,0.5443370208285305,-0.2154740119386434],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.1800000000000646,"joint_targets_rad":[-0.18035823880918644,1.1728967114133957,-0.7682292449660736,0.18311321446571435,0.5443370208285305,-0.2154740119386434],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.200000000000071,"qpos":[-0.18206593145433494,1.1670086763724918,-0.7605675514916178,0.19758572478998848,0.49862972281676626,-0.21234752085016903,0.03499984102866432,-0.034999965826955935,0.29887665326033586,-0.03267397597304426,0.07989224457978372,1.0,3.4837784022197487e-13,1.7951306633828383e-13,1.3993683007907743e-08],"qvel":[0.00360062274190204,0.038648363394633206,-0.07073493141991316,-0.05695906307607604,0.10474158128156597,-0.00347135537515079,-1.2631405679888635e-05,-3.091597264497621e-05,-2.487205449294847e-13,4.82691592024786e-13,2.6606045627859517e-15,-6.788347694355169e-12,-3.4979520786152886e-12,3.268572043873565e-08],"joint_position_rad":[-0.18206593145433494,1.1670086763724918,-0.7605675514916178,0.19758572478998848,0.49862972281676626,-0.21234752085016903],"joint_velocity_rad_s":[0.00360062274190204,0.038648363394633206,-0.07073493141991316,-0.05695906307607604,0.10474158128156597,-0.00347135537515079],"gripper_joint_position_m":[0.03499984102866432,-0.034999965826955935],"tcp_position_m":[0.30378755843352023,-0.03437428467630883,0.1854020303570772],"tcp_quaternion_wxyz":[0.3736058813040222,0.049197870802487345,0.9262783937157814,0.0025597458582829824],"object_position_m":[0.29887665326033586,-0.03267397597304426,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.4837784022197487e-13,1.7951306633828383e-13,1.3993683007907743e-08],"object_linear_velocity_m_s":[-2.487205449294847e-13,4.82691592024786e-13,2.6606045627859517e-15],"object_angular_velocity_rad_s":[-6.7883475847216745e-12,-3.4979522913772207e-12,3.268572043873566e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999997161},{"geom_ids":[1,90],"normal_force_n":0.09809999999991133},{"geom_ids":[1,90],"normal_force_n":0.0981000000000284},{"geom_ids":[1,90],"normal_force_n":0.0981000000000887}],"native_actuator_controls":[-0.18035823880918644,1.1728967114133957,-0.7682292449660736,0.18311321446571435,0.5443370208285305,-0.2154740119386434,0.035],"actuator_force_native":[0.11861229790237005,0.2778009862991411,-0.2592608208568947,-0.29410509759058456,0.2999606081952937,-0.026057877822017517,6.951588182690926e-05],"issued_joint_targets_rad":[-0.1801774373776118,1.173728850794484,-0.769741980898489,0.18191055110798157,0.5466065014764524,-0.2154054348732373],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.200000000000071,"joint_targets_rad":[-0.1801774373776118,1.173728850794484,-0.769741980898489,0.18191055110798157,0.5466065014764524,-0.2154054348732373],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.220000000000078,"qpos":[-0.18199313309708548,1.1678310644746437,-0.7620711812082425,0.19637071274830095,0.5008775654942499,-0.21242331584357682,0.03499989316648618,-0.03500004628471789,0.298876653260331,-0.03267397597303492,0.07989224457978372,1.0,3.0447473721960735e-13,1.5688389558761534e-13,1.4398696367905968e-08],"qvel":[0.0038238586594888458,0.03882556865583398,-0.07089559878527915,-0.05685967642929725,0.10488075837783724,-0.003290551195449736,-1.3161560901265157e-05,-2.9564019781760235e-05,-2.585543610249861e-13,5.0179697407725e-13,2.6592167840051703e-15,1.564087931686466e-12,8.048002266042941e-13,5.967587135037107e-08],"joint_position_rad":[-0.18199313309708548,1.1678310644746437,-0.7620711812082425,0.19637071274830095,0.5008775654942499,-0.21242331584357682],"joint_velocity_rad_s":[0.0038238586594888458,0.03882556865583398,-0.07089559878527915,-0.05685967642929725,0.10488075837783724,-0.003290551195449736],"gripper_joint_position_m":[0.03499989316648618,-0.03500004628471789],"tcp_position_m":[0.3037975182481665,-0.034392867217615176,0.18539655765672275],"tcp_quaternion_wxyz":[0.3728435119090324,0.048626171348648065,0.9266163028875208,0.0023320185190653033],"object_position_m":[0.298876653260331,-0.03267397597303492,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.0447473721960735e-13,1.5688389558761534e-13,1.4398696367905968e-08],"object_linear_velocity_m_s":[-2.585543610249861e-13,5.0179697407725e-13,2.6592167840051703e-15],"object_angular_velocity_rad_s":[1.5640879272346844e-12,8.048002353063581e-13,5.967587135037108e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999996515},{"geom_ids":[1,90],"normal_force_n":0.0980999999998914},{"geom_ids":[1,90],"normal_force_n":0.09810000000003488},{"geom_ids":[1,90],"normal_force_n":0.09810000000010866}],"native_actuator_controls":[-0.1801774373776118,1.173728850794484,-0.769741980898489,0.18191055110798157,0.5466065014764524,-0.2154054348732373,0.035],"actuator_force_native":[0.12613636426044827,0.2776950623080552,-0.2591859812933279,-0.2941080834662886,0.29996822225527,-0.02488536350343029,7.008114505913099e-05],"issued_joint_targets_rad":[-0.1799963720271284,1.1745648465421659,-0.7712581662547101,0.1807171636408328,0.5488800352468943,-0.2153416339929378],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.220000000000078,"joint_targets_rad":[-0.1799963720271284,1.1745648465421659,-0.7712581662547101,0.1807171636408328,0.5488800352468943,-0.2153416339929378],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.240000000000085,"qpos":[-0.18191594355304147,1.1686572155307187,-0.7635782292854134,0.19515881371088145,0.5031285878041709,-0.2124955586562163,0.03499977230501662,-0.03499989300161835,0.2988766532603272,-0.03267397597302741,0.07989224457978372,1.0,2.363033262422837e-13,1.217485342619756e-13,1.4676305002265313e-08],"qvel":[0.00403861004925115,0.039004618566795185,-0.07105675122457862,-0.05670949215609367,0.10502639364413957,-0.003120255987128504,-1.6923783905976576e-05,-2.492748952348678e-05,-2.943408563978378e-13,5.71466785538656e-13,2.652277890101263e-15,1.2387881647003133e-11,6.374862924772775e-12,1.0895307105142124e-07],"joint_position_rad":[-0.18191594355304147,1.1686572155307187,-0.7635782292854134,0.19515881371088145,0.5031285878041709,-0.2124955586562163],"joint_velocity_rad_s":[0.00403861004925115,0.039004618566795185,-0.07105675122457862,-0.05670949215609367,0.10502639364413957,-0.003120255987128504],"gripper_joint_position_m":[0.03499977230501662,-0.03499989300161835],"tcp_position_m":[0.30380758432533206,-0.03441081604525717,0.18539103953219546],"tcp_quaternion_wxyz":[0.3720790335253987,0.048056125001174746,0.9269538099613789,0.002106147848745617],"object_position_m":[0.2988766532603272,-0.03267397597302741,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.363033262422837e-13,1.217485342619756e-13,1.4676305002265313e-08],"object_linear_velocity_m_s":[-2.943408563978378e-13,5.71466785538656e-13,2.652277890101263e-15],"object_angular_velocity_rad_s":[1.2387881486414018e-11,6.3748632368974866e-12,1.0895307105142127e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998871},{"geom_ids":[1,90],"normal_force_n":0.09809999999996448},{"geom_ids":[1,90],"normal_force_n":0.0981000000000114},{"geom_ids":[1,90],"normal_force_n":0.09810000000003548}],"native_actuator_controls":[-0.1799963720271284,1.1745648465421659,-0.7712581662547101,0.1807171636408328,0.5488800352468943,-0.2153416339929378,0.035],"actuator_force_native":[0.13337267182679113,0.2775873880818125,-0.2591112014208363,-0.29411854202147847,0.299974883961025,-0.02378036938652217,9.372671886520578e-05],"issued_joint_targets_rad":[-0.17981550627797022,1.1754047298711294,-0.7727777919956441,0.17953424112393762,0.5511577190351531,-0.21528323924433582],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.240000000000085,"joint_targets_rad":[-0.17981550627797022,1.1754047298711294,-0.7727777919956441,0.17953424112393762,0.5511577190351531,-0.21528323924433582],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.260000000000091,"qpos":[-0.18183454048726228,1.1694871668604656,-0.7650887005498052,0.193951117763666,0.5053829123892952,-0.2125644601880744,0.03499978167503793,-0.03499993089554122,0.2988766532603234,-0.032673975973020145,0.07989224457978372,1.0,2.0996625318278293e-13,1.0815444792374048e-13,1.508958995336936e-08],"qvel":[0.004244398666682363,0.03918540543499046,-0.07121829880579314,-0.056507425226957786,0.10517834205419753,-0.0029609823559458228,-1.301145269742653e-05,-2.9771851123000786e-05,-1.3590119921480071e-13,2.6382661392383134e-13,2.6508901113204817e-15,-8.777026231352359e-12,-4.521861458338722e-12,1.1804173013464101e-08],"joint_position_rad":[-0.18183454048726228,1.1694871668604656,-0.7650887005498052,0.193951117763666,0.5053829123892952,-0.2125644601880744],"joint_velocity_rad_s":[0.004244398666682363,0.03918540543499046,-0.07121829880579314,-0.056507425226957786,0.10517834205419753,-0.0029609823559458228],"gripper_joint_position_m":[0.03499978167503793,-0.03499993089554122],"tcp_position_m":[0.3038177631441883,-0.034428069183429985,0.18538547283378176],"tcp_quaternion_wxyz":[0.37131244404843927,0.04748805831070822,0.9272908979663662,0.0018824880831817689],"object_position_m":[0.2988766532603234,-0.032673975973020145,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.0996625318278293e-13,1.0815444792374048e-13,1.508958995336936e-08],"object_linear_velocity_m_s":[-1.3590119921480071e-13,2.6382661392383134e-13,2.6508901113204817e-15],"object_angular_velocity_rad_s":[-8.777026092332939e-12,-4.52186172817913e-12,1.1804173013464105e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000031},{"geom_ids":[1,90],"normal_force_n":0.0981000000000007},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.09809999999999922}],"native_actuator_controls":[-0.17981550627797022,1.1754047298711294,-0.7727777919956441,0.17953424112393762,0.5511577190351531,-0.21528323924433582,0.035],"actuator_force_native":[0.14030074340995213,0.27747801367816294,-0.2590358216381503,-0.2941379394543464,0.29998055337728236,-0.022746317028695895,7.379026197007477e-05],"issued_joint_targets_rad":[-0.17963530446115927,1.176248526189904,-0.7743008391586431,0.1783629584102344,0.5534396313564857,-0.2152308612227167],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.260000000000091,"joint_targets_rad":[-0.17963530446115927,1.176248526189904,-0.7743008391586431,0.1783629584102344,0.5534396313564857,-0.2152308612227167],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.280000000000098,"qpos":[-0.18174910901221294,1.1703209517392013,-0.7666025962883245,0.19274873173214013,0.5076406593084836,-0.21263024223959534,0.0349998311042954,-0.035000017082590575,0.2988766532603201,-0.03267397597301365,0.07989224457978372,1.0,1.9654211735375505e-13,1.0122959931392915e-13,1.555849156098651e-08],"qvel":[0.004440599966642132,0.039367709400282405,-0.07137995327364968,-0.05625306971112139,0.10533614882060349,-0.0028132465770662218,-1.2001286791992999e-05,-3.0291018993925212e-05,-1.3139345500371494e-13,2.5510095173143557e-13,2.653665668882044e-15,-5.9637629988106005e-12,-3.072038246002279e-12,2.1551438997948288e-08],"joint_position_rad":[-0.18174910901221294,1.1703209517392013,-0.7666025962883245,0.19274873173214013,0.5076406593084836,-0.21263024223959534],"joint_velocity_rad_s":[0.004440599966642132,0.039367709400282405,-0.07137995327364968,-0.05625306971112139,0.10533614882060349,-0.0028132465770662218],"gripper_joint_position_m":[0.0349998311042954,-0.035000017082590575],"tcp_position_m":[0.3038280607732524,-0.034444563470397586,0.18537985489806735],"tcp_quaternion_wxyz":[0.3705437444486624,0.04692229926308714,0.9276275497400698,0.0016613985265774526],"object_position_m":[0.2988766532603201,-0.03267397597301365,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.9654211735375505e-13,1.0122959931392915e-13,1.555849156098651e-08],"object_linear_velocity_m_s":[-1.3139345500371494e-13,2.5510095173143557e-13,2.653665668882044e-15],"object_angular_velocity_rad_s":[-5.9637628988547495e-12,-3.0720384400481216e-12,2.155143899794829e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998952},{"geom_ids":[1,90],"normal_force_n":0.09809999999996721},{"geom_ids":[1,90],"normal_force_n":0.0981000000000105},{"geom_ids":[1,90],"normal_force_n":0.09810000000003277}],"native_actuator_controls":[-0.17963530446115927,1.176248526189904,-0.7743008391586431,0.1783629584102344,0.5534396313564857,-0.2152308612227167,0.035],"actuator_force_native":[0.14690136425108413,0.2773674090548184,-0.25895966325724373,-0.29416558432062256,0.29998549724911605,-0.021786319965614087,6.676226214419323e-05],"issued_joint_targets_rad":[-0.17945623800995694,1.1770962586150422,-0.7758272844617492,0.17720449293138546,0.5557258428774527,-0.21518511518140498],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.280000000000098,"joint_targets_rad":[-0.17945623800995694,1.1770962586150422,-0.7758272844617492,0.17720449293138546,0.5557258428774527,-0.21518511518140498],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.300000000000105,"qpos":[-0.18165984702222723,1.1711585995972906,-0.7681199118568043,0.1915527712373666,0.5099019392197844,-0.21269313633757558,0.03499972743796681,-0.03499989239784586,0.29887665326031737,-0.03267397597300829,0.07989224457978372,1.0,1.724249752069606e-13,8.87891705093124e-14,1.596115348285546e-08],"qvel":[0.004626593922560015,0.039551370606056416,-0.07154143937791825,-0.05594595940501379,0.1054994022173555,-0.0026775197315928216,-1.5819780894590817e-05,-2.5198335333182248e-05,-1.29660813094629e-13,2.5181367050693406e-13,2.657829005224388e-15,-2.149095679988465e-12,-1.1088245206091497e-12,3.9347485194943356e-08],"joint_position_rad":[-0.18165984702222723,1.1711585995972906,-0.7681199118568043,0.1915527712373666,0.5099019392197844,-0.21269313633757558],"joint_velocity_rad_s":[0.004626593922560015,0.039551370606056416,-0.07154143937791825,-0.05594595940501379,0.1054994022173555,-0.0026775197315928216],"gripper_joint_position_m":[0.03499972743796681,-0.03499989239784586],"tcp_position_m":[0.30383848299947264,-0.03446023725337255,0.18537418334655661],"tcp_quaternion_wxyz":[0.36977294016956264,0.046359178074291664,0.9279637473454029,0.0014432391729862892],"object_position_m":[0.29887665326031737,-0.03267397597300829,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.724249752069606e-13,8.87891705093124e-14,1.596115348285546e-08],"object_linear_velocity_m_s":[-1.29660813094629e-13,2.5181367050693406e-13,2.657829005224388e-15],"object_angular_velocity_rad_s":[-2.149095637604967e-12,-1.1088246027822197e-12,3.934748519494336e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998426},{"geom_ids":[1,90],"normal_force_n":0.09809999999995116},{"geom_ids":[1,90],"normal_force_n":0.09810000000001574},{"geom_ids":[1,90],"normal_force_n":0.09810000000004886}],"native_actuator_controls":[-0.17945623800995694,1.1770962586150422,-0.7758272844617492,0.17720449293138546,0.5557258428774527,-0.21518511518140498,0.035],"actuator_force_native":[0.15315575136882487,0.27725586838982963,-0.258882611506003,-0.29420133521417746,0.29998993325065015,-0.02090350884090464,9.000138580073092e-05],"issued_joint_targets_rad":[-0.17927877728429248,1.1779479456283937,-0.7773570971601952,0.1760600017367981,0.5580164093686816,-0.21514659670409264],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.300000000000105,"joint_targets_rad":[-0.17927877728429248,1.1779479456283937,-0.7773570971601952,0.1760600017367981,0.5580164093686816,-0.21514659670409264],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.320000000000111,"qpos":[-0.18156696641570116,1.1720001368624775,-0.7696406364735047,0.19036435687525613,0.5121668516818693,-0.2127533828102419,0.03499974716652964,-0.03499994570726233,0.29887665326031493,-0.032673975973003776,0.07989224457978372,1.0,1.4622884063156121e-13,7.528985390056767e-14,1.6324006671995584e-08],"qvel":[0.004801927222191344,0.03973624300670953,-0.07170251067970194,-0.05558558736563352,0.105667853671196,-0.0025542407407321915,-1.2130308170297902e-05,-2.9528090672539293e-05,-1.3794376985919391e-13,2.679112823428216e-13,2.6606045627859513e-15,2.6426664327583253e-12,1.3599977860415974e-12,7.183857148802329e-08],"joint_position_rad":[-0.18156696641570116,1.1720001368624775,-0.7696406364735047,0.19036435687525613,0.5121668516818693,-0.2127533828102419],"joint_velocity_rad_s":[0.004801927222191344,0.03973624300670953,-0.07170251067970194,-0.05558558736563352,0.105667853671196,-0.0025542407407321915],"gripper_joint_position_m":[0.03499974716652964,-0.03499994570726233],"tcp_position_m":[0.3038490354560278,-0.034475031212260594,0.18536845590236004],"tcp_quaternion_wxyz":[0.369000041170742,0.0457990270320468,0.9282994720714751,0.0012283691337837339],"object_position_m":[0.29887665326031493,-0.032673975973003776,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4622884063156121e-13,7.528985390056767e-14,1.6324006671995584e-08],"object_linear_velocity_m_s":[-1.3794376985919391e-13,2.679112823428216e-13,2.6606045627859513e-15],"object_angular_velocity_rad_s":[2.6426663991745303e-12,1.359997851309664e-12,7.18385714880233e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998402},{"geom_ids":[1,90],"normal_force_n":0.09809999999995014},{"geom_ids":[1,90],"normal_force_n":0.098100000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000004986}],"native_actuator_controls":[-0.17927877728429248,1.1779479456283937,-0.7773570971601952,0.1760600017367981,0.5580164093686816,-0.21514659670409264,0.035],"actuator_force_native":[0.15904549440173632,0.27714348623975127,-0.2588043015367276,-0.294246268710153,0.2999937963613295,-0.020100777827409377,7.076487966584111e-05],"issued_joint_targets_rad":[-0.17910338873718312,1.1788036007213474,-0.7788902388341824,0.17493061356118714,0.5603113707468771,-0.21511587421903958],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.320000000000111,"joint_targets_rad":[-0.17910338873718312,1.1788036007213474,-0.7788902388341824,0.17493061356118714,0.5603113707468771,-0.21511587421903958],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.340000000000118,"qpos":[-0.18147068553340512,1.1728455856424886,-0.7711647535543038,0.1891846145837486,0.514435492660579,-0.21281123125158738,0.03499980275354286,-0.03500004024544242,0.29887665326031304,-0.032673975973000056,0.07989224457978372,1.0,1.1389255927352593e-13,5.863758542951533e-14,1.6596507485587284e-08],"qvel":[0.004966059825845571,0.039922106082873075,-0.07186279635876136,-0.05517204402106438,0.10584104046389253,-0.0024438362312524217,-1.170033558369101e-05,-2.9096207296393562e-05,-7.314865868711384e-14,1.4207404524498025e-13,2.663380120347514e-15,-5.37925123954516e-12,-2.769642494969559e-12,7.783120922593045e-09],"joint_position_rad":[-0.18147068553340512,1.1728455856424886,-0.7711647535543038,0.1891846145837486,0.514435492660579,-0.21281123125158738],"joint_velocity_rad_s":[0.004966059825845571,0.039922106082873075,-0.07186279635876136,-0.05517204402106438,0.10584104046389253,-0.0024438362312524217],"gripper_joint_position_m":[0.03499980275354286,-0.03500004024544242],"tcp_position_m":[0.3038597227967704,-0.0344888855349102,0.1853626698758369],"tcp_quaternion_wxyz":[0.36822505932097466,0.04524217649374794,0.9286347056631962,0.001017148957745561],"object_position_m":[0.29887665326031304,-0.032673975973000056,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.1389255927352593e-13,5.863758542951533e-14,1.6596507485587284e-08],"object_linear_velocity_m_s":[-7.314865868711384e-14,1.4207404524498025e-13,2.663380120347514e-15],"object_angular_velocity_rad_s":[-5.3792511466996075e-12,-2.7696426752960045e-12,7.783120922593047e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000006551},{"geom_ids":[1,90],"normal_force_n":0.09810000000020395},{"geom_ids":[1,90],"normal_force_n":0.09809999999993455},{"geom_ids":[1,90],"normal_force_n":0.09809999999979611}],"native_actuator_controls":[-0.17910338873718312,1.1788036007213474,-0.7788902388341824,0.17493061356118714,0.5603113707468771,-0.21511587421903958,0.035],"actuator_force_native":[0.16455344456853283,0.2770306758943377,-0.2587248405964786,-0.29429982079713657,0.2999972201671435,-0.019380675327643537,6.639153620424665e-05],"issued_joint_targets_rad":[-0.17893054069797212,1.179663235991542,-0.7804266691241346,0.17381744432795776,0.562610761669374,-0.21509351187526451],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.340000000000118,"joint_targets_rad":[-0.17893054069797212,1.179663235991542,-0.7804266691241346,0.17381744432795776,0.562610761669374,-0.21509351187526451],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.360000000000125,"qpos":[-0.18137123402195132,1.1736949644295533,-0.7726922395818465,0.18801466715645523,0.5167079487008239,-0.21286693923119557,0.03499970470296946,-0.034999922921756944,0.29887665326031104,-0.03267397597299618,0.07989224457978372,1.0,1.1017766489426839e-13,5.670870206650859e-14,1.7094025156179944e-08],"qvel":[0.005118423650063649,0.040108817017701165,-0.07202198226933096,-0.05470548324037446,0.1060185191709285,-0.002346685360383089,-1.505603039779677e-05,-2.456126345794694e-05,-7.117573316143465e-14,1.3828107251370054e-13,2.6619923415667326e-15,-4.257671852857492e-12,-2.192209493717463e-12,1.421001332191798e-08],"joint_position_rad":[-0.18137123402195132,1.1736949644295533,-0.7726922395818465,0.18801466715645523,0.5167079487008239,-0.21286693923119557],"joint_velocity_rad_s":[0.005118423650063649,0.040108817017701165,-0.07202198226933096,-0.05470548324037446,0.1060185191709285,-0.002346685360383089],"gripper_joint_position_m":[0.03499970470296946,-0.034999922921756944],"tcp_position_m":[0.3038705489799205,-0.03450174254551841,0.18535682215560406],"tcp_quaternion_wxyz":[0.36744800965484664,0.04468895532016233,0.9289694297857365,0.0008099361998879204],"object_position_m":[0.29887665326031104,-0.03267397597299618,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.1017766489426839e-13,5.670870206650859e-14,1.7094025156179944e-08],"object_linear_velocity_m_s":[-7.117573316143465e-14,1.3828107251370054e-13,2.6619923415667326e-15],"object_angular_velocity_rad_s":[-4.257671776298459e-12,-2.1922096424102138e-12,1.4210013321917984e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999776},{"geom_ids":[1,90],"normal_force_n":0.09809999999999311},{"geom_ids":[1,90],"normal_force_n":0.09810000000000225},{"geom_ids":[1,90],"normal_force_n":0.09810000000000688}],"native_actuator_controls":[-0.17893054069797212,1.179663235991542,-0.7804266691241346,0.17381744432795776,0.562610761669374,-0.21509351187526451,0.035],"actuator_force_native":[0.16966334766801872,0.2769176398705895,-0.25864445203639264,-0.29436149693802616,0.3000003509291078,-0.01874569840011464,8.70920332107783e-05],"issued_joint_targets_rad":[-0.17876069534341474,1.1805268599770675,-0.7819663428658152,0.17272157520416084,0.5649146050716695,-0.2150800468092841],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.360000000000125,"joint_targets_rad":[-0.17876069534341474,1.1805268599770675,-0.7819663428658152,0.17272157520416084,0.5649146050716695,-0.2150800468092841],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.380000000000131,"qpos":[-0.18126885393591993,1.1745482892980654,-0.7742230649063804,0.1868556300502384,0.5189842955137213,-0.21292077117580396,0.0349997281075941,-0.034999980769805254,0.2988766532603095,-0.032673975972992944,0.07989224457978372,1.0,1.0022779545768641e-13,5.156883282642905e-14,1.7536058557976007e-08],"qvel":[0.005258665383913086,0.04029626331694358,-0.0721798371764878,-0.05418593616206386,0.10620006449480848,-0.0022631209303221166,-1.1416515779828114e-05,-2.873028656080012e-05,-6.876371516449495e-14,1.336454500432144e-13,2.663380120347514e-15,-2.589751402756476e-12,-1.3338272553191134e-12,2.5943895850386493e-08],"joint_position_rad":[-0.18126885393591993,1.1745482892980654,-0.7742230649063804,0.1868556300502384,0.5189842955137213,-0.21292077117580396],"joint_velocity_rad_s":[0.005258665383913086,0.04029626331694358,-0.0721798371764878,-0.05418593616206386,0.10620006449480848,-0.0022631209303221166],"gripper_joint_position_m":[0.0349997281075941,-0.034999980769805254],"tcp_position_m":[0.30388151757971366,-0.0345135475843042,0.1853509092672535],"tcp_quaternion_wxyz":[0.3666689105545363,0.044139690638178235,0.9293036259438928,0.0006070837245486647],"object_position_m":[0.2988766532603095,-0.032673975972992944,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.0022779545768641e-13,5.156883282642905e-14,1.7536058557976007e-08],"object_linear_velocity_m_s":[-6.876371516449495e-14,1.336454500432144e-13,2.663380120347514e-15],"object_angular_velocity_rad_s":[-2.5897513533005366e-12,-1.3338273513477766e-12,2.59438958503865e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999353},{"geom_ids":[1,90],"normal_force_n":0.09809999999997944},{"geom_ids":[1,90],"normal_force_n":0.09810000000000649},{"geom_ids":[1,90],"normal_force_n":0.09810000000002056}],"native_actuator_controls":[-0.17876069534341474,1.1805268599770675,-0.7819663428658152,0.17272157520416084,0.5649146050716695,-0.2150800468092841,0.035],"actuator_force_native":[0.17435936048084955,0.2768043377354559,-0.258563050872354,-0.29443251303278295,0.3000029988372699,-0.018198074939318243,6.795827513528252e-05],"issued_joint_targets_rad":[-0.17859430573011176,1.181394477146699,-0.7835092095857062,0.17164404491857121,0.5672229107960686,-0.21507598194337302],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.380000000000131,"joint_targets_rad":[-0.17859430573011176,1.181394477146699,-0.7835092095857062,0.17164404491857121,0.5672229107960686,-0.21507598194337302],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.400000000000138,"qpos":[-0.1811637921831602,1.1754055727906847,-0.775757194813284,0.18570861139099656,0.5212646054689455,-0.21297299870654443,0.03499978512362535,-0.035000076772217066,0.2988766532603081,-0.03267397597299018,0.07989224457978372,1.0,8.947000650414987e-14,4.601010183706693e-14,1.796022335276124e-08],"qvel":[0.005386328731751848,0.04048426341658509,-0.07233603904695585,-0.05361409990824974,0.1063852215183184,-0.002193460450194604,-1.1439469302726433e-05,-2.7573913260263042e-05,-6.980019034029754e-14,1.3573784819291114e-13,2.657829005224388e-15,-4.988276052419435e-13,-2.589168234974134e-13,4.736700217323011e-08],"joint_position_rad":[-0.1811637921831602,1.1754055727906847,-0.775757194813284,0.18570861139099656,0.5212646054689455,-0.21297299870654443],"joint_velocity_rad_s":[0.005386328731751848,0.04048426341658509,-0.07233603904695585,-0.05361409990824974,0.1063852215183184,-0.002193460450194604],"gripper_joint_position_m":[0.03499978512362535,-0.035000076772217066],"tcp_position_m":[0.30389263111134873,-0.03452424628439899,0.1853449270867627],"tcp_quaternion_wxyz":[0.3658877813610288,0.043594703804348274,0.9296372765856031,0.0004089418271098338],"object_position_m":[0.2988766532603081,-0.03267397597299018,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.947000650414987e-14,4.601010183706693e-14,1.796022335276124e-08],"object_linear_velocity_m_s":[-6.980019034029754e-14,1.3573784819291114e-13,2.657829005224388e-15],"object_angular_velocity_rad_s":[-4.988275915828141e-13,-2.589168498913756e-13,4.7367002173230126e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999043},{"geom_ids":[1,90],"normal_force_n":0.09809999999996971},{"geom_ids":[1,90],"normal_force_n":0.09810000000000965},{"geom_ids":[1,90],"normal_force_n":0.09810000000003025}],"native_actuator_controls":[-0.17859430573011176,1.181394477146699,-0.7835092095857062,0.17164404491857121,0.5672229107960686,-0.21507598194337302,0.035],"actuator_force_native":[0.17862727258511413,0.27669103139822937,-0.2584809865589932,-0.29451215935576514,0.3000052209937527,-0.017739641692994024,6.579240149973131e-05],"issued_joint_targets_rad":[-0.17843182122891432,1.182266091261601,-0.7850552187907094,0.17058586472017068,0.5695356854131807,-0.21508180821608935],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.400000000000138,"joint_targets_rad":[-0.17843182122891432,1.182266091261601,-0.7850552187907094,0.17058586472017068,0.5695356854131807,-0.21508180821608935],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.420000000000145,"qpos":[-0.18105630523170263,1.176266824622046,-0.7772945890101012,0.18457470309618898,0.5235489417773034,-0.21302389920554837,0.03499969217453815,-0.03499996611497673,0.29887665326030693,-0.03267397597298794,0.07989224457978372,1.0,7.222871389219599e-14,3.7125131791779704e-14,1.82768237047181e-08],"qvel":[0.005500923243688408,0.04067270965145509,-0.07249034265086092,-0.052990771773967445,0.10657353433631059,-0.0021379669086619892,-1.4262571087553737e-05,-2.3690460136187997e-05,-7.630860311725709e-14,1.4854694975103902e-13,2.655053447662825e-15,2.2427792811760437e-12,1.1475362272372017e-12,8.648018430864195e-08],"joint_position_rad":[-0.18105630523170263,1.176266824622046,-0.7772945890101012,0.18457470309618898,0.5235489417773034,-0.21302389920554837],"joint_velocity_rad_s":[0.005500923243688408,0.04067270965145509,-0.07249034265086092,-0.052990771773967445,0.10657353433631059,-0.0021379669086619892],"gripper_joint_position_m":[0.03499969217453815,-0.03499996611497673],"tcp_position_m":[0.3039038914402245,-0.0345337872510363,0.18533887106594538],"tcp_quaternion_wxyz":[0.36510464387614455,0.04305431073779332,0.9299703644494144,0.00021585363248626677],"object_position_m":[0.29887665326030693,-0.03267397597298794,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.222871389219599e-14,3.7125131791779704e-14,1.82768237047181e-08],"object_linear_velocity_m_s":[-7.630860311725709e-14,1.4854694975103902e-13,2.655053447662825e-15],"object_angular_velocity_rad_s":[2.242779245650585e-12,1.1475362967262595e-12,8.6480184308642e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999411},{"geom_ids":[1,90],"normal_force_n":0.09809999999998104},{"geom_ids":[1,90],"normal_force_n":0.09810000000000625},{"geom_ids":[1,90],"normal_force_n":0.09810000000001927}],"native_actuator_controls":[-0.17843182122891432,1.182266091261601,-0.7850552187907094,0.17058586472017068,0.5695356854131807,-0.21508180821608935,0.035],"actuator_force_native":[0.18245410400462347,0.2765777829071254,-0.2583986691943565,-0.2945996761708951,0.3000071348543072,-0.017372139742416692,8.362587391208542e-05],"issued_joint_targets_rad":[-0.17827367937183608,1.183141702918951,-0.7866043165965865,0.16954799692821876,0.571852925063434,-0.2150979823950788],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.420000000000145,"joint_targets_rad":[-0.17827367937183608,1.183141702918951,-0.7866043165965865,0.16954799692821876,0.571852925063434,-0.2150979823950788],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.440000000000151,"qpos":[-0.18094665983788957,1.1771320527178681,-0.778835202771455,0.18345497685064308,0.5258373571249656,-0.21307375455203492,0.03499971775303243,-0.03500002626080511,0.2988766532603058,-0.03267397597298597,0.07989224457978372,1.0,5.924939377585922e-14,3.0436387614926045e-14,1.8604863643368563e-08],"qvel":[0.00560221219262201,0.0408615154331517,-0.07264260009024509,-0.05231657469311689,0.10676478936706703,-0.002096849576250486,-1.0700232428446518e-05,-2.766790600905515e-05,-3.809851637171996e-14,7.415509579455443e-14,2.807709113548784e-15,-2.6668406764525235e-12,-1.3707520671216323e-12,9.36941976915842e-09],"joint_position_rad":[-0.18094665983788957,1.1771320527178681,-0.778835202771455,0.18345497685064308,0.5258373571249656,-0.21307375455203492],"joint_velocity_rad_s":[0.00560221219262201,0.0408615154331517,-0.07264260009024509,-0.05231657469311689,0.10676478936706703,-0.002096849576250486],"gripper_joint_position_m":[0.03499971775303243,-0.03500002626080511],"tcp_position_m":[0.3039153001664576,-0.03454212285344857,0.1853327364737847],"tcp_quaternion_wxyz":[0.36431952275596086,0.04251882165640129,0.9303028723760886,2.815348870169001e-05],"object_position_m":[0.2988766532603058,-0.03267397597298597,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.924939377585922e-14,3.0436387614926045e-14,1.8604863643368563e-08],"object_linear_velocity_m_s":[-3.809851637171996e-14,7.415509579455443e-14,2.807709113548784e-15],"object_angular_velocity_rad_s":[-2.6668406248768696e-12,-1.370752167464311e-12,9.369419769158424e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000124},{"geom_ids":[1,90],"normal_force_n":0.09810000000000356},{"geom_ids":[1,90],"normal_force_n":0.09809999999999883},{"geom_ids":[1,90],"normal_force_n":0.09809999999999651}],"native_actuator_controls":[-0.17827367937183608,1.183141702918951,-0.7866043165965865,0.16954799692821876,0.571852925063434,-0.2150979823950788,0.035],"actuator_force_native":[0.1858273763211713,0.27646443892086836,-0.2583161055592882,-0.2946963234313884,0.30000849533408314,-0.01709700406606318,6.47910408453356e-05],"issued_joint_targets_rad":[-0.17812030313263708,1.1840213088285414,-0.7881564447979885,0.1685313485995485,0.5741746135743724,-0.21512492113997592],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.440000000000151,"joint_targets_rad":[-0.17812030313263708,1.1840213088285414,-0.7881564447979885,0.1685313485995485,0.5741746135743724,-0.21512492113997592],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.460000000000158,"qpos":[-0.18083512506123128,1.1780012617905216,-0.780378987996205,0.18235048410177593,0.528129901253449,-0.21312285148720722,0.03499964103281616,-0.03499994353836416,0.2988766532603047,-0.03267397597298406,0.07989224457978372,1.0,5.602587878703099e-14,2.8758781228090214e-14,1.9077869125285638e-08],"qvel":[0.005689798342022379,0.04105051104916631,-0.07279255621234378,-0.051592923619289376,0.10695845970058207,-0.002070300705690447,-1.313649002615606e-05,-2.39523269869094e-05,-3.662245908494182e-14,7.133711800390509e-14,2.8243624589181605e-15,-1.9648375783111133e-12,-1.0095670914585286e-12,1.7106194425397595e-08],"joint_position_rad":[-0.18083512506123128,1.1780012617905216,-0.780378987996205,0.18235048410177593,0.528129901253449,-0.21312285148720722],"joint_velocity_rad_s":[0.005689798342022379,0.04105051104916631,-0.07279255621234378,-0.051592923619289376,0.10695845970058207,-0.002070300705690447],"gripper_joint_position_m":[0.03499964103281616,-0.03499994353836416],"tcp_position_m":[0.30392685792474894,-0.034549206397119156,0.18532651819705614],"tcp_quaternion_wxyz":[0.3635324432128457,0.04198853685052609,0.9306347843493193,-0.00015383090517951333],"object_position_m":[0.2988766532603047,-0.03267397597298406,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.602587878703099e-14,2.8758781228090214e-14,1.9077869125285638e-08],"object_linear_velocity_m_s":[-3.662245908494182e-14,7.133711800390509e-14,2.8243624589181605e-15],"object_angular_velocity_rad_s":[-1.964837538806428e-12,-1.0095671683451358e-12,1.71061944253976e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999813},{"geom_ids":[1,90],"normal_force_n":0.0980999999999939},{"geom_ids":[1,90],"normal_force_n":0.09810000000000188},{"geom_ids":[1,90],"normal_force_n":0.09810000000000609}],"native_actuator_controls":[-0.17812030313263708,1.1840213088285414,-0.7881564447979885,0.1685313485995485,0.5741746135743724,-0.21512492113997592,0.035],"actuator_force_native":[0.1887367625774239,0.2763512077957415,-0.2582337630809661,-0.2948008019926496,0.3000094336583601,-0.01691524546915124,8.004113748460995e-05],"issued_joint_targets_rad":[-0.17797210645753667,1.1849049051177454,-0.7897115459886714,0.1675367870542538,0.5765007320527998,-0.21516302396666473],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.460000000000158,"joint_targets_rad":[-0.17797210645753667,1.1849049051177454,-0.7897115459886714,0.1675367870542538,0.5765007320527998,-0.21516302396666473],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.480000000000165,"qpos":[-0.18072198031757136,1.1788744545002001,-0.7819258924593829,0.18126224510256164,0.5304266110775144,-0.21317147933786326,0.03499967733074214,-0.03500001927394173,0.2988766532603036,-0.032673975972982404,0.07989224457978372,1.0,5.2270959464673946e-14,2.6793610458785377e-14,1.954771020975606e-08],"qvel":[0.005763450153962854,0.04123962212224561,-0.07294010725944038,-0.05082090240246842,0.1071542591249174,-0.0020584360006164933,-9.788354496201603e-06,-2.743523879275255e-05,-3.6394409129443036e-14,7.100418666216164e-14,2.8201991225758167e-15,-1.0853750233189215e-12,-5.58897558866127e-13,3.1231591168877356e-08],"joint_position_rad":[-0.18072198031757136,1.1788744545002001,-0.7819258924593829,0.18126224510256164,0.5304266110775144,-0.21317147933786326],"joint_velocity_rad_s":[0.005763450153962854,0.04123962212224561,-0.07294010725944038,-0.05082090240246842,0.1071542591249174,-0.0020584360006164933],"gripper_joint_position_m":[0.03499967733074214,-0.03500001927394173],"tcp_position_m":[0.30393856521002355,-0.03455499631126716,0.1853202112573667],"tcp_quaternion_wxyz":[0.36274343389516117,0.04146374854876297,0.9309660842179981,-0.00032978483749697093],"object_position_m":[0.2988766532603036,-0.032673975972982404,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.2270959464673946e-14,2.6793610458785377e-14,1.954771020975606e-08],"object_linear_velocity_m_s":[-3.6394409129443036e-14,7.100418666216164e-14,2.8201991225758167e-15],"object_angular_velocity_rad_s":[-1.085374999794972e-12,-5.588976045643301e-13,3.123159116887737e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999545},{"geom_ids":[1,90],"normal_force_n":0.09809999999998599},{"geom_ids":[1,90],"normal_force_n":0.09810000000000457},{"geom_ids":[1,90],"normal_force_n":0.09810000000001401}],"native_actuator_controls":[-0.17797210645753667,1.1849049051177454,-0.7897115459886714,0.1675367870542538,0.5765007320527998,-0.21516302396666473,0.035],"actuator_force_native":[0.19117265803296135,0.27623793879240566,-0.25815174604588265,-0.2949138099199722,0.3000098210654789,-0.01682779228708986,6.184854279545071e-05],"issued_joint_targets_rad":[-0.17782948259140538,1.1857924828770887,-0.7912695571294232,0.16656510994126367,0.5788312462260652,-0.21521263970394655],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.480000000000165,"joint_targets_rad":[-0.17782948259140538,1.1857924828770887,-0.7912695571294232,0.16656510994126367,0.5788312462260652,-0.21521263970394655],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.500000000000171,"qpos":[-0.1806075062350364,1.1797516304541722,-0.7834758614897966,0.18019125132567082,0.5327275196774606,-0.21321993038961157,0.03499961542238586,-0.03499995556542693,0.29887665326030266,-0.03267397597298102,0.07989224457978372,1.0,4.4905682093361665e-14,2.2975876940971815e-14,1.993470524940708e-08],"qvel":[0.005822875484279802,0.04142868007326931,-0.07308504782377365,-0.05000228181624114,0.10735166244482378,-0.0020613523436546956,-1.2155410377832468e-05,-2.3669918007901063e-05,-3.749340848129772e-14,7.334735078661574e-14,2.8229746801373795e-15,1.279200060988387e-13,5.930951386034096e-14,5.702099851573636e-08],"joint_position_rad":[-0.1806075062350364,1.1797516304541722,-0.7834758614897966,0.18019125132567082,0.5327275196774606,-0.21321993038961157],"joint_velocity_rad_s":[0.005822875484279802,0.04142868007326931,-0.07308504782377365,-0.05000228181624114,0.10735166244482378,-0.0020613523436546956],"gripper_joint_position_m":[0.03499961542238586,-0.03499995556542693],"tcp_position_m":[0.30395042172232645,-0.03455945269009667,0.1853138105793939],"tcp_quaternion_wxyz":[0.3619525241854969,0.040944736874406605,0.9312967568688714,-0.0004994031994015292],"object_position_m":[0.29887665326030266,-0.03267397597298102,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.4905682093361665e-14,2.2975876940971815e-14,1.993470524940708e-08],"object_linear_velocity_m_s":[-3.749340848129772e-14,7.334735078661574e-14,2.8229746801373795e-15],"object_angular_velocity_rad_s":[1.279200063544183e-13,5.930951383930256e-14,5.702099851573639e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999512},{"geom_ids":[1,90],"normal_force_n":0.09809999999998516},{"geom_ids":[1,90],"normal_force_n":0.09810000000000489},{"geom_ids":[1,90],"normal_force_n":0.09810000000001487}],"native_actuator_controls":[-0.17782948259140538,1.1857924828770887,-0.7912695571294232,0.16656510994126367,0.5788312462260652,-0.21521263970394655,0.035],"actuator_force_native":[0.1931275140690829,0.2761247934669768,-0.2580704120512536,-0.2950342462950797,0.30000977181881083,-0.016835064627867435,7.616015645495189e-05],"issued_joint_targets_rad":[-0.17769281160593925,1.186684032081102,-0.7928304154934908,0.1656170662306918,0.5811661178249752,-0.21527409456955432],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.500000000000171,"joint_targets_rad":[-0.17769281160593925,1.186684032081102,-0.7928304154934908,0.1656170662306918,0.5811661178249752,-0.21527409456955432],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.520000000000178,"qpos":[-0.18049199164935426,1.1806327869473623,-0.7850288370297814,0.1791384547748756,0.5350326471505213,-0.21326849769634293,0.034999657846613026,-0.03500003712634597,0.2988766532603021,-0.03267397597297988,0.07989224457978372,1.0,3.632748441581167e-14,1.8560284975255564e-14,2.0254682541066564e-08],"qvel":[0.005867938141200383,0.04161759231560684,-0.07322729632976634,-0.04913855115023876,0.10755035333436833,-0.002079069555210892,-9.493241565588191e-06,-2.6134595579343236e-05,-4.221915270494567e-14,8.267290145988197e-14,2.8201991225758167e-15,1.6959313286592905e-12,8.630385810020778e-13,1.0410594369509878e-07],"joint_position_rad":[-0.18049199164935426,1.1806327869473623,-0.7850288370297814,0.1791384547748756,0.5350326471505213,-0.21326849769634293],"joint_velocity_rad_s":[0.005867938141200383,0.04161759231560684,-0.07322729632976634,-0.04913855115023876,0.10755035333436833,-0.002079069555210892],"gripper_joint_position_m":[0.034999657846613026,-0.03500003712634597],"tcp_position_m":[0.30396242706742194,-0.034562541099420044,0.18530731146444435],"tcp_quaternion_wxyz":[0.36115974686847246,0.040431771265407195,0.931626787047862,-0.0006623964982313248],"object_position_m":[0.2988766532603021,-0.03267397597297988,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.632748441581167e-14,1.8560284975255564e-14,2.0254682541066564e-08],"object_linear_velocity_m_s":[-4.221915270494567e-14,8.267290145988197e-14,2.8201991225758167e-15],"object_angular_velocity_rad_s":[1.6959312975626168e-12,8.630386421393647e-13,1.0410594369509882e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999708},{"geom_ids":[1,90],"normal_force_n":0.09809999999999097},{"geom_ids":[1,90],"normal_force_n":0.09810000000000291},{"geom_ids":[1,90],"normal_force_n":0.09810000000000908}],"native_actuator_controls":[-0.17769281160593925,1.186684032081102,-0.7928304154934908,0.1656170662306918,0.5811661178249752,-0.21527409456955432,0.035],"actuator_force_native":[0.19459471276719853,0.27601164912114484,-0.25798979544791223,-0.2951627860161574,0.3000091767429858,-0.016937364399297383,6.115234330716923e-05],"issued_joint_targets_rad":[-0.1775624496033193,1.187579537449075,-0.7943940527011971,0.16469332902942843,0.5835052929493362,-0.21534766210717834],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.520000000000178,"joint_targets_rad":[-0.1775624496033193,1.187579537449075,-0.7943940527011971,0.16469332902942843,0.5835052929493362,-0.21534766210717834],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.540000000000185,"qpos":[-0.18037572500731905,1.1815179178760677,-0.786584758894959,0.1781047700685571,0.537342008845706,-0.21331747532645048,0.034999602636313534,-0.03499998017153189,0.29887665326030166,-0.0326739759729788,0.07989224457978372,1.0,3.1619545419515436e-14,1.6143892353713638e-14,2.0649581183523126e-08],"qvel":[0.005898421423525359,0.04180617322016852,-0.07336666178355762,-0.0482319138882079,0.10774976148132824,-0.002111588404156563,-1.1426704172643017e-05,-2.295025278407285e-05,-2.016880501540879e-14,3.949495172343899e-14,2.8257502376989422e-15,-1.3465606341648494e-12,-6.880714361126107e-13,1.1279026458353354e-08],"joint_position_rad":[-0.18037572500731905,1.1815179178760677,-0.786584758894959,0.1781047700685571,0.537342008845706,-0.21331747532645048],"joint_velocity_rad_s":[0.005898421423525359,0.04180617322016852,-0.07336666178355762,-0.0482319138882079,0.10774976148132824,-0.002111588404156563],"gripper_joint_position_m":[0.034999602636313534,-0.03499998017153189],"tcp_position_m":[0.3039745800908998,-0.034564229367260314,0.18530070932590653],"tcp_quaternion_wxyz":[0.36036513559539746,0.039925106706110214,0.9319561604386587,-0.0008184877822209277],"object_position_m":[0.29887665326030166,-0.0326739759729788,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.1619545419515436e-14,1.6143892353713638e-14,2.0649581183523126e-08],"object_linear_velocity_m_s":[-2.016880501540879e-14,3.949495172343899e-14,2.8257502376989422e-15],"object_angular_velocity_rad_s":[-1.3465606053839001e-12,-6.880714924377121e-13,1.1279026458353358e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.1775624496033193,1.187579537449075,-0.7943940527011971,0.16469332902942843,0.5835052929493362,-0.21534766210717834,0.035],"actuator_force_native":[0.1955699252023546,0.27589869973972725,-0.2579101955812604,-0.2952980721241065,0.3000081988143082,-0.017134485201043326,7.302806832210074e-05],"issued_joint_targets_rad":[-0.1774387355688099,1.1884789821048605,-0.7959604002583057,0.16379451479856297,0.5858487126305165,-0.21543358890637404],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.540000000000185,"joint_targets_rad":[-0.1774387355688099,1.1884789821048605,-0.7959604002583057,0.16379451479856297,0.5858487126305165,-0.21543358890637404],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.5600000000001915,"qpos":[-0.1802590008500077,1.1824070144089858,-0.7881435637695452,0.1770910643260513,0.5396556067248041,-0.21336715616420743,0.03499964696298019,-0.03500006191290576,0.2988766532603014,-0.032673975972977845,0.07989224457978372,1.0,2.891234765167535e-14,1.476104997941946e-14,2.1097622196863503e-08],"qvel":[0.005914308281546954,0.04199430959152605,-0.07350307006227506,-0.04728420301205927,0.1079495601607429,-0.002158826076594899,-9.22017723174093e-06,-2.475802327445942e-05,-1.9176072789446518e-14,3.755371899945565e-14,2.82297468013738e-15,-9.114670494004171e-13,-4.654544881129348e-13,2.0592654004036625e-08],"joint_position_rad":[-0.1802590008500077,1.1824070144089858,-0.7881435637695452,0.1770910643260513,0.5396556067248041,-0.21336715616420743],"joint_velocity_rad_s":[0.005914308281546954,0.04199430959152605,-0.07350307006227506,-0.04728420301205927,0.1079495601607429,-0.002158826076594899],"gripper_joint_position_m":[0.03499964696298019,-0.03500006191290576],"tcp_position_m":[0.3039868795226121,-0.03456449116625076,0.18529400009875308],"tcp_quaternion_wxyz":[0.3595687273572195,0.03942498510990584,0.9322848625595146,-0.000967418306991636],"object_position_m":[0.2988766532603014,-0.032673975972977845,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.891234765167535e-14,1.476104997941946e-14,2.1097622196863503e-08],"object_linear_velocity_m_s":[-1.9176072789446518e-14,3.755371899945565e-14,2.82297468013738e-15],"object_angular_velocity_rad_s":[-9.114670291525124e-13,-4.654545277632735e-13,2.0592654004036635e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999867},{"geom_ids":[1,90],"normal_force_n":0.09809999999999595},{"geom_ids":[1,90],"normal_force_n":0.0981000000000014},{"geom_ids":[1,90],"normal_force_n":0.09810000000000405}],"native_actuator_controls":[-0.1774387355688099,1.1884789821048605,-0.7959604002583057,0.16379451479856297,0.5858487126305165,-0.21543358890637404,0.035],"actuator_force_native":[0.1960496810880894,0.2757858677123437,-0.2578315687894701,-0.2954409660392363,0.30000671881601093,-0.017426088306773835,6.022236695124583e-05],"issued_joint_targets_rad":[-0.17732198126047524,1.1893823436870687,-0.7975293839638745,0.16292115828656553,0.5881963020026186,-0.21553206669287522],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.5600000000001915,"joint_targets_rad":[-0.17732198126047524,1.1893823436870687,-0.7975293839638745,0.16292115828656553,0.5881963020026186,-0.21553206669287522],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.580000000000198,"qpos":[-0.1801421115602068,1.1833000639306266,-0.7897051862089987,0.17609815907478232,0.5419734371774125,-0.21341783210770118,0.034999597664007134,-0.03500001099103659,0.2988766532603013,-0.032673975972977026,0.07989224457978372,1.0,2.61731342432877e-14,1.337697838322457e-14,2.153609302798133e-08],"qvel":[0.005915462384612242,0.04218179849982509,-0.0736363287570878,-0.04629803591250328,0.10814913352119894,-0.002220683392700023,-1.0727633658546687e-05,-2.2136953697889527e-05,-1.9064726947813217e-14,3.7291212043977576e-14,2.8257502376989426e-15,-3.803603154538366e-13,-1.9305948002830698e-13,3.759698591857676e-08],"joint_position_rad":[-0.1801421115602068,1.1833000639306266,-0.7897051862089987,0.17609815907478232,0.5419734371774125,-0.21341783210770118],"joint_velocity_rad_s":[0.005915462384612242,0.04218179849982509,-0.0736363287570878,-0.04629803591250328,0.10814913352119894,-0.002220683392700023],"gripper_joint_position_m":[0.034999597664007134,-0.03500001099103659],"tcp_position_m":[0.3039993233014168,-0.03456330296217587,0.18528717992498556],"tcp_quaternion_wxyz":[0.35877055999420704,0.038931631728340785,0.932612879802857,-0.0011089446488933789],"object_position_m":[0.2988766532603013,-0.032673975972977026,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.61731342432877e-14,1.337697838322457e-14,2.153609302798133e-08],"object_linear_velocity_m_s":[-1.9064726947813217e-14,3.7291212043977576e-14,2.8257502376989426e-15],"object_angular_velocity_rad_s":[-3.8036030613247445e-13,-1.9305949837931907e-13,3.759698591857678e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999762},{"geom_ids":[1,90],"normal_force_n":0.0980999999999922},{"geom_ids":[1,90],"normal_force_n":0.09810000000000238},{"geom_ids":[1,90],"normal_force_n":0.09810000000000785}],"native_actuator_controls":[-0.17732198126047524,1.1893823436870687,-0.7975293839638745,0.16292115828656553,0.5881963020026186,-0.21553206669287522,0.035],"actuator_force_native":[0.1960331120554617,0.2756733880162301,-0.25775417660462807,-0.29558985196615506,0.3000049479702618,-0.017811320762690208,6.973160800760603e-05],"issued_joint_targets_rad":[-0.17721247764172832,1.190289597912472,-0.7991009293024144,0.16207373060863092,0.5905479805034478,-0.2156432565172554],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.580000000000198,"joint_targets_rad":[-0.17721247764172832,1.190289597912472,-0.7991009293024144,0.16207373060863092,0.5905479805034478,-0.2156432565172554],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.600000000000205,"qpos":[-0.18002535393289565,1.184197050707614,-0.7912695601370383,0.17512679342872178,0.544295486549538,-0.21346979528066146,0.03499954078388244,-0.034999955491014235,0.2988766532603013,-0.03267397597297635,0.07989224457978372,1.0,2.1743690025480512e-14,1.1130090147140501e-14,2.188280352739587e-08],"qvel":[0.005901053918038254,0.04236855956521857,-0.0737685578533293,-0.04530042414640873,0.10835090678938002,-0.0022999493101538465,-1.0304275898224102e-05,-2.1856123262082665e-05,-2.0114950962426158e-14,3.9255382590807643e-14,2.831301352822068e-15,3.1476531117476265e-13,1.6494139973935753e-13,6.864260186582752e-08],"joint_position_rad":[-0.18002535393289565,1.184197050707614,-0.7912695601370383,0.17512679342872178,0.544295486549538,-0.21346979528066146],"joint_velocity_rad_s":[0.005901053918038254,0.04236855956521857,-0.0737685578533293,-0.04530042414640873,0.10835090678938002,-0.0022999493101538465],"gripper_joint_position_m":[0.03499954078388244,-0.034999955491014235],"tcp_position_m":[0.30401190844224335,-0.03456065028599451,0.18528024543702165],"tcp_quaternion_wxyz":[0.35797067229986285,0.038445246550074766,0.9329401996388884,-0.0012428550354757549],"object_position_m":[0.2988766532603013,-0.03267397597297635,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.1743690025480512e-14,1.1130090147140501e-14,2.188280352739587e-08],"object_linear_velocity_m_s":[-2.0114950962426158e-14,3.9255382590807643e-14,2.831301352822068e-15],"object_angular_velocity_rad_s":[3.147653054839988e-13,1.649414105301655e-13,6.864260186582755e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999787},{"geom_ids":[1,90],"normal_force_n":0.09809999999999329},{"geom_ids":[1,90],"normal_force_n":0.09810000000000213},{"geom_ids":[1,90],"normal_force_n":0.09810000000000674}],"native_actuator_controls":[-0.17721247764172832,1.190289597912472,-0.7991009293024144,0.16207373060863092,0.5905479805034478,-0.2156432565172554,0.035],"actuator_force_native":[0.19552483370319607,0.27556097856252393,-0.2576667439634406,-0.29562039207158985,0.2999985793550284,-0.01828468840070885,6.989002419355295e-05],"issued_joint_targets_rad":[-0.17711047198630794,1.191200716793373,-0.8006749609067135,0.161252578620538,0.5929036556233332,-0.2157672423637129],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.600000000000205,"joint_targets_rad":[-0.17711047198630794,1.191200716793373,-0.8006749609067135,0.161252578620538,0.5929036556233332,-0.2157672423637129],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6200000000002115,"qpos":[-0.17990903138295278,1.1850979536087682,-0.7928366385460048,0.1741773114157333,0.5466217526279555,-0.21352336243520254,0.03499959144879949,-0.035000043628798085,0.2988766532603013,-0.03267397597297581,0.07989224457978372,1.0,1.6683477323469183e-14,8.550150274484604e-15,2.2143181266931035e-08],"qvel":[0.005868213212333494,0.04255401458625345,-0.07390662425213258,-0.0443924691745891,0.1085618152432228,-0.002406221533714641,-8.085897551246455e-06,-2.2078535625875112e-05,-1.0698985139657206e-14,2.088183524462382e-14,2.8326891316028494e-15,-7.991222838481381e-13,-4.0933231486717064e-13,7.436863786410594e-09],"joint_position_rad":[-0.17990903138295278,1.1850979536087682,-0.7928366385460048,0.1741773114157333,0.5466217526279555,-0.21352336243520254],"joint_velocity_rad_s":[0.005868213212333494,0.04255401458625345,-0.07390662425213258,-0.0443924691745891,0.1085618152432228,-0.002406221533714641],"gripper_joint_position_m":[0.03499959144879949,-0.035000043628798085],"tcp_position_m":[0.30402462378395323,-0.0345565608460475,0.18527319304263676],"tcp_quaternion_wxyz":[0.35716908512260753,0.03796589642797187,0.9332668219334704,-0.0013690943357057067],"object_position_m":[0.2988766532603013,-0.03267397597297581,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6683477323469183e-14,8.550150274484604e-15,2.2143181266931035e-08],"object_linear_velocity_m_s":[-1.0698985139657206e-14,2.088183524462382e-14,2.8326891316028494e-15],"object_angular_velocity_rad_s":[-7.991222655931257e-13,-4.093323505055351e-13,7.4368637864105974e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000924},{"geom_ids":[1,90],"normal_force_n":0.09810000000002894},{"geom_ids":[1,90],"normal_force_n":0.0980999999999908},{"geom_ids":[1,90],"normal_force_n":0.09809999999997093}],"native_actuator_controls":[-0.17711047198630794,1.191200716793373,-0.8006749609067135,0.161252578620538,0.5929036556233332,-0.2157672423637129,0.035],"actuator_force_native":[0.1945436856699203,0.2754509818371247,-0.2575326675960312,-0.2950269659348672,0.29997630708894274,-0.01882946698453125,5.6771535776878324e-05],"issued_joint_targets_rad":[-0.17701601332585107,1.1921156826348918,-0.802251443636079,0.16045750249507384,0.5952632478950971,-0.21590379150160474],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.6200000000002115,"joint_targets_rad":[-0.17701601332585107,1.1921156826348918,-0.802251443636079,0.16045750249507384,0.5952632478950971,-0.21590379150160474],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.640000000000218,"qpos":[-0.17979344211140424,1.1860027395858341,-0.7944063836835086,0.17324938732708112,0.5489522074698775,-0.21357884790783457,0.03499956656021647,-0.035000015641143,0.2988766532603013,-0.03267397597297526,0.07989224457978372,1.0,1.5873676699139956e-14,8.14722512624881e-15,2.2618565265753857e-08],"qvel":[0.005819115858682638,0.04273737658428638,-0.07404602080913494,-0.04356073492678185,0.10877356865852403,-0.002532574318118665,-7.95144949124695e-06,-1.9628050828972493e-05,-1.0250727696925866e-14,1.9979142508010258e-14,2.8257502376989426e-15,-6.230835696206098e-13,-3.193092351213202e-13,1.3577835231971723e-08],"joint_position_rad":[-0.17979344211140424,1.1860027395858341,-0.7944063836835086,0.17324938732708112,0.5489522074698775,-0.21357884790783457],"joint_velocity_rad_s":[0.005819115858682638,0.04273737658428638,-0.07404602080913494,-0.04356073492678185,0.10877356865852403,-0.002532574318118665],"gripper_joint_position_m":[0.03499956656021647,-0.035000015641143],"tcp_position_m":[0.3040374464835104,-0.034551132485180304,0.1852660169075947],"tcp_quaternion_wxyz":[0.3563657993197155,0.03749344040685799,0.9335927619944633,-0.001487868686162978],"object_position_m":[0.2988766532603013,-0.03267397597297526,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.5873676699139956e-14,8.14722512624881e-15,2.2618565265753857e-08],"object_linear_velocity_m_s":[-1.0250727696925866e-14,1.9979142508010258e-14,2.8257502376989426e-15],"object_angular_velocity_rad_s":[-6.230835549547325e-13,-3.193092637388931e-13,1.357783523197173e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999996},{"geom_ids":[1,90],"normal_force_n":0.09809999999999938},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981000000000007}],"native_actuator_controls":[-0.17701601332585107,1.1921156826348918,-0.802251443636079,0.16045750249507384,0.5952632478950971,-0.21590379150160474,0.035],"actuator_force_native":[0.19309872355084146,0.2753485610031703,-0.25737469215996356,-0.29387171864638084,0.29995005126440955,-0.019450574460524006,5.7094838797455694e-05],"issued_joint_targets_rad":[-0.17692881750175832,1.1930344827951043,-0.8038303881081865,0.15968740994370767,0.5976266679500529,-0.21605212931202739],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.640000000000218,"joint_targets_rad":[-0.17692881750175832,1.1930344827951043,-0.8038303881081865,0.15968740994370767,0.5976266679500529,-0.21605212931202739],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.660000000000225,"qpos":[-0.17967886276009037,1.1869113793054276,-0.7959787541890532,0.1723424602179416,0.5512867982116808,-0.2136365212635798,0.03499955129201571,-0.0349999977849569,0.2988766532603013,-0.032673975972974764,0.07989224457978372,1.0,1.4975274622358828e-14,7.687860215786527e-15,2.309618134129718e-08],"qvel":[0.005756310498048109,0.04291897194470253,-0.07418415766086803,-0.04278455964479395,0.10898225665777246,-0.0026730770267450717,-6.72095411594984e-06,-1.848036743680848e-05,-1.0093315016190953e-14,1.9658647562854555e-14,2.8243624589181612e-15,-4.0419214979159547e-13,-2.0746774062687803e-13,2.4789698303119004e-08],"joint_position_rad":[-0.17967886276009037,1.1869113793054276,-0.7959787541890532,0.1723424602179416,0.5512867982116808,-0.2136365212635798],"joint_velocity_rad_s":[0.005756310498048109,0.04291897194470253,-0.07418415766086803,-0.04278455964479395,0.10898225665777246,-0.0026730770267450717],"gripper_joint_position_m":[0.03499955129201571,-0.0349999977849569],"tcp_position_m":[0.30405035167670547,-0.03454448330009184,0.1852587075976177],"tcp_quaternion_wxyz":[0.3555608086144099,0.03702767790468933,0.9339180393136631,-0.001599465841158406],"object_position_m":[0.2988766532603013,-0.032673975972974764,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.4975274622358828e-14,7.687860215786527e-15,2.309618134129718e-08],"object_linear_velocity_m_s":[-1.0093315016190953e-14,1.9658647562854555e-14,2.8243624589181612e-15],"object_angular_velocity_rad_s":[-4.0419213982701067e-13,-2.0746776003993337e-13,2.4789698303119014e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999901},{"geom_ids":[1,90],"normal_force_n":0.09809999999999681},{"geom_ids":[1,90],"normal_force_n":0.09810000000000105},{"geom_ids":[1,90],"normal_force_n":0.09810000000000312}],"native_actuator_controls":[-0.17692881750175832,1.1930344827951043,-0.8038303881081865,0.15968740994370767,0.5976266679500529,-0.21605212931202739,0.035],"actuator_force_native":[0.1912220681763248,0.2752534194506211,-0.25720992522633424,-0.29227921274538815,0.2999253123970629,-0.020146464944358566,5.155308995163921e-05],"issued_joint_targets_rad":[-0.1768484929941512,1.193957106019121,-0.8054118188431763,0.158940941208844,0.5999938245832023,-0.21621131090107834],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.660000000000225,"joint_targets_rad":[-0.1768484929941512,1.193957106019121,-0.8054118188431763,0.158940941208844,0.5999938245832023,-0.21621131090107834],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6800000000002315,"qpos":[-0.17956553941870584,1.187823853623506,-0.7975537120622056,0.17145589653037605,0.5536254687556867,-0.2136966088890418,0.03499959548407159,-0.03500005466105132,0.2988766532603013,-0.03267397597297437,0.07989224457978372,1.0,1.3111669348252425e-14,6.740794653168842e-15,2.3501475802627936e-08],"qvel":[0.005681853575810736,0.043099466011173905,-0.07432013173840288,-0.04204786443083534,0.10918680373957712,-0.0028238926498448265,-7.313456075469866e-06,-1.438019777897381e-05,-1.0169233809756472e-14,1.9773254786568477e-14,2.8285257952605057e-15,-9.940685152708166e-14,-4.9716386359204603e-14,4.52597289229543e-08],"joint_position_rad":[-0.17956553941870584,1.187823853623506,-0.7975537120622056,0.17145589653037605,0.5536254687556867,-0.2136966088890418],"joint_velocity_rad_s":[0.005681853575810736,0.043099466011173905,-0.07432013173840288,-0.04204786443083534,0.10918680373957712,-0.0028238926498448265],"gripper_joint_position_m":[0.03499959548407159,-0.03500005466105132],"tcp_position_m":[0.3040633154895833,-0.03453673118176108,0.18525125298887457],"tcp_quaternion_wxyz":[0.35475409997339813,0.03656839342093503,0.934242675590984,-0.001704188744057263],"object_position_m":[0.2988766532603013,-0.03267397597297437,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3111669348252425e-14,6.740794653168842e-15,2.3501475802627936e-08],"object_linear_velocity_m_s":[-1.0169233809756472e-14,1.9773254786568477e-14,2.8285257952605057e-15],"object_angular_velocity_rad_s":[-9.940684858009161e-14,-4.9716392218481195e-14,4.525972892295432e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999859},{"geom_ids":[1,90],"normal_force_n":0.09809999999999602},{"geom_ids":[1,90],"normal_force_n":0.09810000000000142},{"geom_ids":[1,90],"normal_force_n":0.09810000000000402}],"native_actuator_controls":[-0.1768484929941512,1.193957106019121,-0.8054118188431763,0.158940941208844,0.5999938245832023,-0.21621131090107834,0.035],"actuator_force_native":[0.18895444608531875,0.2751628615933299,-0.25704788378563137,-0.29035889070710486,0.2999033526657886,-0.02091118114559798,5.274791751386232e-05],"issued_joint_targets_rad":[-0.17677462939629437,1.1948835473089419,-0.8069957726338521,0.15821670829544465,0.6023646439506399,-0.21638038495886375],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.6800000000002315,"joint_targets_rad":[-0.17677462939629437,1.1948835473089419,-0.8069957726338521,0.15821670829544465,0.6023646439506399,-0.21638038495886375],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.700000000000238,"qpos":[-0.17945369217835858,1.18874015247254,-0.7991312338719654,0.1705889357157854,0.5559681709345766,-0.21375931049274693,0.03499958853720492,-0.03500003400949055,0.2988766532603013,-0.032673975972974036,0.07989224457978372,1.0,1.0993186632363135e-14,5.658052856110242e-15,2.3858233137707737e-08],"qvel":[0.005597269642882267,0.043279333520545256,-0.07445391034073448,-0.04134579081338324,0.1093866616321352,-0.00298248091069979,-8.000877384302401e-06,-1.0900699419806372e-05,-1.106925463210484e-14,2.148779645027187e-14,2.890975840395671e-15,2.927466049924947e-13,1.5138225265481095e-13,8.263283550835171e-08],"joint_position_rad":[-0.17945369217835858,1.18874015247254,-0.7991312338719654,0.1705889357157854,0.5559681709345766,-0.21375931049274693],"joint_velocity_rad_s":[0.005597269642882267,0.043279333520545256,-0.07445391034073448,-0.04134579081338324,0.1093866616321352,-0.00298248091069979],"gripper_joint_position_m":[0.03499958853720492,-0.03500003400949055],"tcp_position_m":[0.304076314063727,-0.03452800091363439,0.18524364034259927],"tcp_quaternion_wxyz":[0.3539456508211027,0.03611533377824246,0.9345666965799926,-0.001802380224095926],"object_position_m":[0.2988766532603013,-0.032673975972974036,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.0993186632363135e-14,5.658052856110242e-15,2.3858233137707737e-08],"object_linear_velocity_m_s":[-1.106925463210484e-14,2.148779645027187e-14,2.890975840395671e-15],"object_angular_velocity_rad_s":[2.9274659870415033e-13,1.5138226480684802e-13,8.263283550835177e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999887},{"geom_ids":[1,90],"normal_force_n":0.09809999999999641},{"geom_ids":[1,90],"normal_force_n":0.09810000000000121},{"geom_ids":[1,90],"normal_force_n":0.09810000000000359}],"native_actuator_controls":[-0.17677462939629437,1.1948835473089419,-0.8069957726338521,0.15821670829544465,0.6023646439506399,-0.21638038495886375,0.035],"actuator_force_native":[0.1863386743507256,0.27507491930941796,-0.25689354924728036,-0.28816014274671353,0.2998847377124303,-0.021737023295118618,5.6462898724962685e-05],"issued_joint_targets_rad":[-0.1767067687102109,1.195813810057088,-0.8085823052712284,0.15751321795547232,0.6047390726847414,-0.21655835471859344],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.700000000000238,"joint_targets_rad":[-0.1767067687102109,1.195813810057088,-0.8085823052712284,0.15751321795547232,0.6047390726847414,-0.21655835471859344],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.720000000000245,"qpos":[-0.17934351255804115,1.189660275413371,-0.8007113046524236,0.1697408526388362,0.5583148556001889,-0.21382478563288856,0.03499958759817529,-0.03500002224067115,0.2988766532603013,-0.03267397597297373,0.07989224457978372,1.0,8.864838310153008e-15,4.5649959697941615e-15,2.417167916592062e-08],"qvel":[0.005504111727928405,0.04345924234195657,-0.07458604464762482,-0.04066886739158174,0.10958255413851639,-0.00314686238173186,-5.411063442528117e-06,-1.221245823948495e-05,-5.688982779691984e-15,1.1048960066827158e-14,2.9062414069842662e-15,-4.052314932281718e-13,-2.0853892263215162e-13,8.9525910332007e-09],"joint_position_rad":[-0.17934351255804115,1.189660275413371,-0.8007113046524236,0.1697408526388362,0.5583148556001889,-0.21382478563288856],"joint_velocity_rad_s":[0.005504111727928405,0.04345924234195657,-0.07458604464762482,-0.04066886739158174,0.10958255413851639,-0.00314686238173186],"gripper_joint_position_m":[0.03499958759817529,-0.03500002224067115],"tcp_position_m":[0.30408932786737186,-0.03451840656609756,0.18523585813682636],"tcp_quaternion_wxyz":[0.35313544008659337,0.03566826366227445,0.9348901258064761,-0.0018943578642577716],"object_position_m":[0.2988766532603013,-0.03267397597297373,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.864838310153008e-15,4.5649959697941615e-15,2.417167916592062e-08],"object_linear_velocity_m_s":[-5.688982779691984e-15,1.1048960066827158e-14,2.9062414069842662e-15],"object_angular_velocity_rad_s":[-4.0523148306496263e-13,-2.0853894238112934e-13,8.952591033200707e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000069},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999933}],"native_actuator_controls":[-0.1767067687102109,1.195813810057088,-0.8085823052712284,0.15751321795547232,0.6047390726847414,-0.21655835471859344,0.035],"actuator_force_native":[0.1834189491867786,0.27498655978759245,-0.2567498262662582,-0.2857610503766459,0.29986833963774906,-0.022615397284451166,4.3551390201068685e-05],"issued_joint_targets_rad":[-0.17664448641993868,1.19674789756062,-0.8101714681232143,0.15682909341118295,0.6071170617948962,-0.21674430551427604],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.720000000000245,"joint_targets_rad":[-0.17664448641993868,1.19674789756062,-0.8101714681232143,0.15682909341118295,0.6071170617948962,-0.21674430551427604],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.740000000000252,"qpos":[-0.1792351679621856,1.1905842274895708,-0.8022939291434913,0.16891084023591021,0.5606654841205168,-0.2138931748662486,0.034999606972641095,-0.035000035456771786,0.2988766532603013,-0.032673975972973425,0.07989224457978372,1.0,8.208888405601165e-15,4.2077240480167655e-15,2.4623641479529387e-08],"qvel":[0.005403763604343661,0.04363938941548009,-0.07471712214872304,-0.04001658391201362,0.10977455780592545,-0.003315528650963332,-7.238176374000582e-06,-7.266686033843486e-06,-5.367659166256534e-15,1.0468371130698315e-14,2.913180300888173e-15,-2.9512943999986305e-13,-1.52162081246611e-13,1.6345170415806128e-08],"joint_position_rad":[-0.1792351679621856,1.1905842274895708,-0.8022939291434913,0.16891084023591021,0.5606654841205168,-0.2138931748662486],"joint_velocity_rad_s":[0.005403763604343661,0.04363938941548009,-0.07471712214872304,-0.04001658391201362,0.10977455780592545,-0.003315528650963332],"gripper_joint_position_m":[0.034999606972641095,-0.035000035456771786],"tcp_position_m":[0.304102338895355,-0.03450806510325713,0.18522789780263027],"tcp_quaternion_wxyz":[0.3523234428009229,0.03522692113372352,0.9352129882773101,-0.001980464028379182],"object_position_m":[0.2988766532603013,-0.032673975972973425,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.208888405601165e-15,4.2077240480167655e-15,2.4623641479529387e-08],"object_linear_velocity_m_s":[-5.367659166256534e-15,1.0468371130698315e-14,2.913180300888173e-15],"object_angular_velocity_rad_s":[-2.951294323687419e-13,-1.521620960492853e-13,1.6345170415806138e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999973},{"geom_ids":[1,90],"normal_force_n":0.09809999999999934},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023},{"geom_ids":[1,90],"normal_force_n":0.09810000000000073}],"native_actuator_controls":[-0.17664448641993868,1.19674789756062,-0.8101714681232143,0.15682909341118295,0.6071170617948962,-0.21674430551427604,0.035],"actuator_force_native":[0.18023570535803657,0.27489665860653645,-0.25661750763421765,-0.28318695342902256,0.2998539400349056,-0.023538013503829003,5.1911976226337586e-05],"issued_joint_targets_rad":[-0.1765873315377685,1.197685816641886,-0.8117633209470779,0.15616291197146984,0.6094985714495366,-0.2169373169693317],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.740000000000252,"joint_targets_rad":[-0.1765873315377685,1.197685816641886,-0.8117633209470779,0.15616291197146984,0.6094985714495366,-0.2169373169693317],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.760000000000258,"qpos":[-0.1791288019335231,1.1915120150161895,-0.8038791268348012,0.16809798899586223,0.563020016305009,-0.21396459400835235,0.034999613148464594,-0.03500002842324263,0.2988766532603013,-0.032673975972973196,0.07989224457978372,1.0,7.576890261313074e-15,3.8771038638351435e-15,2.5072580174073934e-08],"qvel":[0.005297421161164562,0.04381991191569383,-0.07484765912313383,-0.03938897048602853,0.10996249822937942,-0.0034868944469949427,-6.399412337316107e-06,-6.5456420787291395e-06,-5.2743910305388684e-15,1.0304085911240355e-14,2.9117925221073917e-15,-1.6187884333047822e-13,-8.320438374420253e-14,2.984215350963032e-08],"joint_position_rad":[-0.1791288019335231,1.1915120150161895,-0.8038791268348012,0.16809798899586223,0.563020016305009,-0.21396459400835235],"joint_velocity_rad_s":[0.005297421161164562,0.04381991191569383,-0.07484765912313383,-0.03938897048602853,0.10996249822937942,-0.0034868944469949427],"gripper_joint_position_m":[0.034999613148464594,-0.03500002842324263],"tcp_position_m":[0.3041153306471465,-0.03449709932190049,0.1852197543256032],"tcp_quaternion_wxyz":[0.351509633890507,0.03479101492305222,0.9355353090794976,-0.002061074553414881],"object_position_m":[0.2988766532603013,-0.032673975972973196,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.576890261313074e-15,3.8771038638351435e-15,2.5072580174073934e-08],"object_linear_velocity_m_s":[-5.2743910305388684e-15,1.0304085911240355e-14,2.9117925221073917e-15],"object_angular_velocity_rad_s":[-1.618788389267787e-13,-8.320439231386447e-14,2.984215350963034e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999928},{"geom_ids":[1,90],"normal_force_n":0.09809999999999817},{"geom_ids":[1,90],"normal_force_n":0.09810000000000069},{"geom_ids":[1,90],"normal_force_n":0.09810000000000185}],"native_actuator_controls":[-0.1765873315377685,1.197685816641886,-0.8117633209470779,0.15616291197146984,0.6094985714495366,-0.2169373169693317,0.035],"actuator_force_native":[0.17683052585454462,0.2748045704772579,-0.2564972333664741,-0.28045822854555347,0.29984180410120675,-0.024496887939300827,4.747112310310442e-05],"issued_joint_targets_rad":[-0.17653481471309704,1.1986275724908364,-0.8133579244466719,0.1555131777837786,0.6118835569274086,-0.21713643874554606],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.760000000000258,"joint_targets_rad":[-0.17653481471309704,1.1986275724908364,-0.8133579244466719,0.1555131777837786,0.6118835569274086,-0.21713643874554606],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.780000000000265,"qpos":[-0.1790245332086693,1.19244364445523,-0.8054669300939307,0.16730129263150506,0.5653784090814189,-0.21403913273267153,0.03499961979584726,-0.035000020567414226,0.2988766532603013,-0.032673975972973,0.07989224457978372,1.0,6.787870878541707e-15,3.4844205638181087e-15,2.549814054000219e-08],"qvel":[0.005186491822577245,0.04400087629792138,-0.07497812869060552,-0.038786101900061314,0.11014638576889627,-0.0036594279829222833,-7.63805636200622e-06,-3.122969670324526e-06,-5.508859688006606e-15,1.0719174803988206e-14,2.9076291857650476e-15,5.251331468251504e-15,4.48113863991207e-15,5.448423622623774e-08],"joint_position_rad":[-0.1790245332086693,1.19244364445523,-0.8054669300939307,0.16730129263150506,0.5653784090814189,-0.21403913273267153],"joint_velocity_rad_s":[0.005186491822577245,0.04400087629792138,-0.07497812869060552,-0.038786101900061314,0.11014638576889627,-0.0036594279829222833],"gripper_joint_position_m":[0.03499961979584726,-0.035000020567414226],"tcp_position_m":[0.3041282880273317,-0.03448563715906226,0.18521142613759006],"tcp_quaternion_wxyz":[0.3506939887326522,0.0343602267562084,0.9358571130462177,-0.0021365965560867133],"object_position_m":[0.2988766532603013,-0.032673975972973,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.787870878541707e-15,3.4844205638181087e-15,2.549814054000219e-08],"object_linear_velocity_m_s":[-5.508859688006606e-15,1.0719174803988206e-14,2.9076291857650476e-15],"object_angular_velocity_rad_s":[5.2513316194221e-15,4.4811381680465315e-15,5.448423622623777e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999924},{"geom_ids":[1,90],"normal_force_n":0.0980999999999975},{"geom_ids":[1,90],"normal_force_n":0.0981000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000256}],"native_actuator_controls":[-0.17653481471309704,1.1986275724908364,-0.8133579244466719,0.1555131777837786,0.6118835569274086,-0.21713643874554606,0.035],"actuator_force_native":[0.17324502053289415,0.2747098613589145,-0.2563889047662684,-0.27759408440875166,0.299831899806553,-0.02548391815436224,5.3398447919850156e-05],"issued_joint_targets_rad":[-0.17648641142222057,1.1995731681937878,-0.8149553391436816,0.15487833186133873,0.6142719677205919,-0.2173406958687339],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.780000000000265,"joint_targets_rad":[-0.17648641142222057,1.1995731681937878,-0.8149553391436816,0.15487833186133873,0.6142719677205919,-0.2173406958687339],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.800000000000272,"qpos":[-0.178922455444428,1.193379120810766,-0.8070573814571337,0.16651964452116128,0.5677406149289983,-0.21411685493440857,0.034999622908682616,-0.035000008940497075,0.2988766532603013,-0.03267397597297285,0.07989224457978372,1.0,5.416771600125878e-15,2.792690249162835e-15,2.580388261396712e-08],"qvel":[0.005072217845766852,0.0441822858311311,-0.07510884710849113,-0.038208588504408676,0.11032597521042078,-0.0038316215242620694,-3.634497079586217e-06,-7.5014405102264285e-06,-6.275460307236298e-15,1.206677971567377e-14,2.9104047433266107e-15,2.2873274898200597e-13,1.2347923302004363e-13,9.947445636579521e-08],"joint_position_rad":[-0.178922455444428,1.193379120810766,-0.8070573814571337,0.16651964452116128,0.5677406149289983,-0.21411685493440857],"joint_velocity_rad_s":[0.005072217845766852,0.0441822858311311,-0.07510884710849113,-0.038208588504408676,0.11032597521042078,-0.0038316215242620694],"gripper_joint_position_m":[0.034999622908682616,-0.035000008940497075],"tcp_position_m":[0.3041411968202846,-0.034473812169035625,0.18520291468763822],"tcp_quaternion_wxyz":[0.34987648307406216,0.033934210375300186,0.9361784247850031,-0.0022074702717013997],"object_position_m":[0.2988766532603013,-0.03267397597297285,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.416771600125878e-15,2.792690249162835e-15,2.580388261396712e-08],"object_linear_velocity_m_s":[-6.275460307236298e-15,1.206677971567377e-14,2.9104047433266107e-15],"object_angular_velocity_rad_s":[2.287327431651213e-13,1.2347924374676874e-13,9.947445636579528e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999965},{"geom_ids":[1,90],"normal_force_n":0.09809999999999873},{"geom_ids":[1,90],"normal_force_n":0.0981000000000004},{"geom_ids":[1,90],"normal_force_n":0.09810000000000127}],"native_actuator_controls":[-0.17648641142222057,1.1995731681937878,-0.8149553391436816,0.15487833186133873,0.6142719677205919,-0.2173406958687339,0.035],"actuator_force_native":[0.16952243254776,0.274612361486092,-0.25629237938139227,-0.2746095638708592,0.2998245651003053,-0.026490977056859766,3.325613809357364e-05],"issued_joint_targets_rad":[-0.17644156021118534,1.2005226047340982,-0.8165556255908967,0.15425674859722205,0.6166637474879894,-0.21754908607999274],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.800000000000272,"joint_targets_rad":[-0.17644156021118534,1.2005226047340982,-0.8165556255908967,0.15425674859722205,0.6166637474879894,-0.21754908607999274],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.820000000000278,"qpos":[-0.1788226361391136,1.1943184468463381,-0.8086505318575368,0.16575182627135446,0.5701065821250847,-0.21419779900058222,0.034999635972219195,-0.035000007749155286,0.2988766532603013,-0.032673975972972696,0.07989224457978372,1.0,4.6375229623984155e-15,2.407656302789992e-15,2.6181212921764007e-08],"qvel":[0.004956138730677443,0.04436410472563019,-0.07524006282956955,-0.03765712681507169,0.11050129246385793,-0.004001978649925485,-8.328408219660619e-06,3.0536981670721127e-07,-3.0109588546741217e-15,5.804682611601577e-15,2.9104047433266107e-15,-2.0064952816621405e-13,-1.035264825352939e-13,1.077724273425421e-08],"joint_position_rad":[-0.1788226361391136,1.1943184468463381,-0.8086505318575368,0.16575182627135446,0.5701065821250847,-0.21419779900058222],"joint_velocity_rad_s":[0.004956138730677443,0.04436410472563019,-0.07524006282956955,-0.03765712681507169,0.11050129246385793,-0.004001978649925485],"gripper_joint_position_m":[0.034999635972219195,-0.035000007749155286],"tcp_position_m":[0.30415404295807547,-0.03446176456446479,0.18519422372676653],"tcp_quaternion_wxyz":[0.34905709167424576,0.033512587789554904,0.9364992692714047,-0.0022741736279001654],"object_position_m":[0.2988766532603013,-0.032673975972972696,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.6375229623984155e-15,2.407656302789992e-15,2.6181212921764007e-08],"object_linear_velocity_m_s":[-3.0109588546741217e-15,5.804682611601577e-15,2.9104047433266107e-15],"object_angular_velocity_rad_s":[-2.0064952269342035e-13,-1.0352649314174929e-13,1.0777242734254217e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.17644156021118534,1.2005226047340982,-0.8165556255908967,0.15425674859722205,0.6166637474879894,-0.21754908607999274,0.035],"actuator_force_native":[0.16570538058087436,0.27451210739265264,-0.25620718452094593,-0.2715174728899381,0.29981971493325954,-0.027509902819216947,5.6203152330569495e-05],"issued_joint_targets_rad":[-0.17639965775053226,1.2014758823319143,-0.8181588471730158,0.1536467234708946,0.6190588371766261,-0.2177605729842336],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.820000000000278,"joint_targets_rad":[-0.17639965775053226,1.2014758823319143,-0.8181588471730158,0.1536467234708946,0.6190588371766261,-0.2177605729842336],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.840000000000285,"qpos":[-0.1787251177275302,1.1952616222651744,-0.8102464386208768,0.1649964773002057,0.572476252823276,-0.21428197837550966,0.03499962370024283,-0.034999974680034004,0.2988766532603013,-0.03267397597297255,0.07989224457978372,1.0,4.37603537534101e-15,2.2854062837346857e-15,2.6664087727298128e-08],"qvel":[0.004839400401342436,0.04454631076723303,-0.07537183512440748,-0.03713336312095092,0.11067183568607013,-0.004168913004715708,-2.2734159592898806e-06,-7.799685930825437e-06,-2.93199440254183e-15,5.617217150072143e-15,2.9048536282034852e-15,-1.4302835972787774e-13,-7.410284075609227e-14,1.9676523640028043e-08],"joint_position_rad":[-0.1787251177275302,1.1952616222651744,-0.8102464386208768,0.1649964773002057,0.572476252823276,-0.21428197837550966],"joint_velocity_rad_s":[0.004839400401342436,0.04454631076723303,-0.07537183512440748,-0.03713336312095092,0.11067183568607013,-0.004168913004715708],"gripper_joint_position_m":[0.03499962370024283,-0.034999974680034004],"tcp_position_m":[0.30416681149851144,-0.034449645144762626,0.18518535844218892],"tcp_quaternion_wxyz":[0.34823578661479604,0.03309494080910638,0.9368196726939167,-0.0023372349644433465],"object_position_m":[0.2988766532603013,-0.03267397597297255,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.37603537534101e-15,2.2854062837346857e-15,2.6664087727298128e-08],"object_linear_velocity_m_s":[-2.93199440254183e-15,5.617217150072143e-15,2.9048536282034852e-15],"object_angular_velocity_rad_s":[-1.4302835568617062e-13,-7.410284855574401e-14,1.9676523640028056e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.0980999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000059}],"native_actuator_controls":[-0.17639965775053226,1.2014758823319143,-0.8181588471730158,0.1536467234708946,0.6190588371766261,-0.2177605729842336,0.035],"actuator_force_native":[0.1618397961531226,0.2744092515030161,-0.2561335085490839,-0.2683233375676899,0.2998180900043961,-0.028532576580166058,2.641907008338329e-05],"issued_joint_targets_rad":[-0.176360043150625,1.202433001450238,-0.819765073484029,0.15304643319557457,0.6214571765240465,-0.21797405917364926],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.840000000000285,"joint_targets_rad":[-0.176360043150625,1.202433001450238,-0.819765073484029,0.15304643319557457,0.6214571765240465,-0.21797405917364926],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.860000000000292,"qpos":[-0.1786299251279695,1.1962086316738438,-0.8118451881355878,0.16425126978348611,0.5748495588406602,-0.21436941089399641,0.034999667701381625,-0.035000015054198544,0.2988766532603013,-0.03267397597297241,0.07989224457978372,1.0,3.907292450797572e-15,2.0273977678488727e-15,2.708305177497522e-08],"qvel":[0.004724326548487908,0.04472864944835607,-0.07550344235065502,-0.0366499967414327,0.11083592906185544,-0.004329008893498581,-4.66130250491212e-06,-3.93715030233458e-06,-2.8780617937932335e-15,5.5567026655497414e-15,2.9090169645458293e-15,-6.06103833951338e-14,-3.281285047117418e-14,3.592436322559013e-08],"joint_position_rad":[-0.1786299251279695,1.1962086316738438,-0.8118451881355878,0.16425126978348611,0.5748495588406602,-0.21436941089399641],"joint_velocity_rad_s":[0.004724326548487908,0.04472864944835607,-0.07550344235065502,-0.0366499967414327,0.11083592906185544,-0.004329008893498581],"gripper_joint_position_m":[0.034999667701381625,-0.035000015054198544],"tcp_position_m":[0.3041794696261607,-0.03443770970356677,0.18517632244510418],"tcp_quaternion_wxyz":[0.34741250245861655,0.03268055219135686,0.9371396834610396,-0.0023975667773352147],"object_position_m":[0.2988766532603013,-0.03267397597297241,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.907292450797572e-15,2.0273977678488727e-15,2.708305177497522e-08],"object_linear_velocity_m_s":[-2.8780617937932335e-15,5.5567026655497414e-15,2.9090169645458293e-15],"object_angular_velocity_rad_s":[-6.061038147212353e-14,-3.281285403493644e-14,3.592436322559016e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999969},{"geom_ids":[1,90],"normal_force_n":0.09809999999999885},{"geom_ids":[1,90],"normal_force_n":0.0981000000000004},{"geom_ids":[1,90],"normal_force_n":0.09810000000000106}],"native_actuator_controls":[-0.176360043150625,1.202433001450238,-0.819765073484029,0.15304643319557457,0.6214571765240465,-0.21797405917364926,0.035],"actuator_force_native":[0.1579689254451182,0.274306334869749,-0.2560736161220376,-0.26494347980929867,0.2998222832410793,-0.029552969456280387,3.659845725967337e-05],"issued_joint_targets_rad":[-0.17632158412228657,1.2033939808684335,-0.8213744553716303,0.15245286361318378,0.6238587216720771,-0.21818773485227108],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.860000000000292,"joint_targets_rad":[-0.17632158412228657,1.2033939808684335,-0.8213744553716303,0.15245286361318378,0.6238587216720771,-0.21818773485227108],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.880000000000298,"qpos":[-0.17853701274103825,1.197159497809015,-0.8134468133760492,0.16351560798678952,0.5772264432325268,-0.21445997921891602,0.03499968076648083,-0.03500001300052787,0.2988766532603013,-0.03267397597297227,0.07989224457978372,1.0,3.3740258301754644e-15,1.7678448287484488e-15,2.7468106866688978e-08],"qvel":[0.004611821379889744,0.04491250079531557,-0.0756371798874182,-0.036182743266272764,0.11099836923355763,-0.004483645306697196,-5.455920632512932e-06,-2.894537118724589e-06,-3.0895930676285674e-15,5.8330263859466235e-15,2.913180300888174e-15,3.751169785190701e-14,2.4745740167846457e-14,6.558881521836255e-08],"joint_position_rad":[-0.17853701274103825,1.197159497809015,-0.8134468133760492,0.16351560798678952,0.5772264432325268,-0.21445997921891602],"joint_velocity_rad_s":[0.004611821379889744,0.04491250079531557,-0.0756371798874182,-0.036182743266272764,0.11099836923355763,-0.004483645306697196],"gripper_joint_position_m":[0.03499968076648083,-0.03500001300052787],"tcp_position_m":[0.30419202096531806,-0.034426002820234655,0.18516711910849254],"tcp_quaternion_wxyz":[0.3465872357960766,0.03226926280506244,0.9374593078432845,-0.002455361326295506],"object_position_m":[0.2988766532603013,-0.03267397597297227,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.3740258301754644e-15,1.7678448287484488e-15,2.7468106866688978e-08],"object_linear_velocity_m_s":[-3.0895930676285674e-15,5.8330263859466235e-15,2.913180300888174e-15],"object_angular_velocity_rad_s":[3.751169672437141e-14,2.4745741786000384e-14,6.558881521836259e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09809999999999867},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000126}],"native_actuator_controls":[-0.17632158412228657,1.2033939808684335,-0.8213744553716303,0.15245286361318378,0.6238587216720771,-0.21818773485227108,0.035],"actuator_force_native":[0.1541751826006852,0.27419614077692245,-0.25602546020940053,-0.2615960586128665,0.2998252305451663,-0.030552088373505093,4.004894392961589e-05],"issued_joint_targets_rad":[-0.17628404969174485,1.2043588161853045,-0.822987006261378,0.15186537589086285,0.626263433435387,-0.21840124453842805],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.880000000000298,"joint_targets_rad":[-0.17628404969174485,1.2043588161853045,-0.822987006261378,0.15186537589086285,0.626263433435387,-0.21840124453842805],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.900000000000305,"qpos":[-0.1784463262930577,1.1981142467219625,-0.8150513640534569,0.1627892328583934,0.5796068769023246,-0.21455358732907076,0.03499969013349674,-0.03500001133905416,0.2988766532603013,-0.03267397597297216,0.07989224457978372,1.0,2.5550478685988978e-15,1.3535457666091296e-15,2.7716900866058724e-08],"qvel":[0.004502020647692999,0.045097340975813346,-0.07577354839545099,-0.03572680064950699,0.11115927083855456,-0.004633912736608281,-3.23605322041708e-06,-6.117967216470731e-06,-1.6839202336280442e-15,3.1864540591018657e-15,2.906241406984267e-15,-1.2373453435881637e-13,-6.505064727443803e-14,7.106011011119173e-09],"joint_position_rad":[-0.1784463262930577,1.1981142467219625,-0.8150513640534569,0.1627892328583934,0.5796068769023246,-0.21455358732907076],"joint_velocity_rad_s":[0.004502020647692999,0.045097340975813346,-0.07577354839545099,-0.03572680064950699,0.11115927083855456,-0.004633912736608281],"gripper_joint_position_m":[0.03499969013349674,-0.03500001133905416],"tcp_position_m":[0.30420447756125135,-0.03441452913446701,0.18515775990273303],"tcp_quaternion_wxyz":[0.3457599980468025,0.03186100032488737,0.9377785436325248,-0.002510679476446383],"object_position_m":[0.2988766532603013,-0.03267397597297216,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.5550478685988978e-15,1.3535457666091296e-15,2.7716900866058724e-08],"object_linear_velocity_m_s":[-1.6839202336280442e-15,3.1864540591018657e-15,2.906241406984267e-15],"object_angular_velocity_rad_s":[-1.2373453073357496e-13,-6.505065416982602e-14,7.106011011119178e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000133},{"geom_ids":[1,90],"normal_force_n":0.09810000000000448},{"geom_ids":[1,90],"normal_force_n":0.09809999999999852},{"geom_ids":[1,90],"normal_force_n":0.09809999999999536}],"native_actuator_controls":[-0.17628404969174485,1.2043588161853045,-0.822987006261378,0.15186537589086285,0.626263433435387,-0.21840124453842805,0.035],"actuator_force_native":[0.15047202486656275,0.2740788521882962,-0.25598363465643104,-0.25832027545368685,0.29982665907279227,-0.031525702988660864,2.8574926232538544e-05],"issued_joint_targets_rad":[-0.17624738237867327,1.2053274969167829,-0.8246027108855148,0.15128378809243367,0.628671270125885,-0.21861454640999006],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.900000000000305,"joint_targets_rad":[-0.17624738237867327,1.2053274969167829,-0.8246027108855148,0.15128378809243367,0.628671270125885,-0.21861454640999006],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.920000000000312,"qpos":[-0.17835781055545358,1.1990728887568651,-0.8166588901997935,0.16207192790232036,0.5819908199907934,-0.21465015238852642,0.03499969809228509,-0.03500000288564443,0.2988766532603013,-0.032673975972972065,0.07989224457978372,1.0,2.400074745204941e-15,1.2849196707870166e-15,2.817113588059817e-08],"qvel":[0.004395014164829926,0.04528232668366608,-0.0759123333478547,-0.03528125706536411,0.11131802182416345,-0.004780170815274055,-7.997510986527591e-06,8.670706282128954e-07,-1.6153276332324562e-15,3.0223911657946555e-15,2.977018124804121e-15,-9.513933793552402e-14,-5.041744365183953e-14,1.2973781615032066e-08],"joint_position_rad":[-0.17835781055545358,1.1990728887568651,-0.8166588901997935,0.16207192790232036,0.5819908199907934,-0.21465015238852642],"joint_velocity_rad_s":[0.004395014164829926,0.04528232668366608,-0.0759123333478547,-0.03528125706536411,0.11131802182416345,-0.004780170815274055],"gripper_joint_position_m":[0.03499969809228509,-0.03500000288564443],"tcp_position_m":[0.3042168533585053,-0.034403289118131196,0.1851482633989192],"tcp_quaternion_wxyz":[0.3449308155715809,0.031455699002993845,0.9380973827785181,-0.0025635704499783053],"object_position_m":[0.2988766532603013,-0.032673975972972065,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.400074745204941e-15,1.2849196707870166e-15,2.817113588059817e-08],"object_linear_velocity_m_s":[-1.6153276332324562e-15,3.0223911657946555e-15,2.977018124804121e-15],"object_angular_velocity_rad_s":[-9.51393350615501e-14,-5.041744907448201e-14,1.2973781615032078e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019}],"native_actuator_controls":[-0.17624738237867327,1.2053274969167829,-0.8246027108855148,0.15128378809243367,0.628671270125885,-0.21861454640999006,0.035],"actuator_force_native":[0.1468591833182753,0.2739570193750893,-0.2559439881184318,-0.2551193070686466,0.29982746861467113,-0.03247368399172501,5.206386352907266e-05],"issued_joint_targets_rad":[-0.17621154357938035,1.2062999969533417,-0.826221526328542,0.1507079774609252,0.6310821533530533,-0.21882764424112716],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.920000000000312,"joint_targets_rad":[-0.17621154357938035,1.2062999969533417,-0.826221526328542,0.1507079774609252,0.6310821533530533,-0.21882764424112716],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.940000000000318,"qpos":[-0.17827141291610837,1.200035416443311,-0.8182694306133559,0.16136348452409932,0.5843782128406474,-0.21474959576279853,0.03499967781618777,-0.03499996852711108,0.2988766532603013,-0.032673975972971996,0.07989224457978372,1.0,2.2448755101384778e-15,1.2002588119410882e-15,2.8627503670755442e-08],"qvel":[0.004290502735426435,0.045466638265621945,-0.07605282260725577,-0.03484604418249472,0.11147353198282672,-0.004922537861078902,-2.5187220900994023e-06,-7.355764891997889e-06,-1.575595433549673e-15,2.949808416792313e-15,2.9895081338311534e-15,-6.149077511139433e-14,-3.3077253573406153e-14,2.368684894115382e-08],"joint_position_rad":[-0.17827141291610837,1.200035416443311,-0.8182694306133559,0.16136348452409932,0.5843782128406474,-0.21474959576279853],"joint_velocity_rad_s":[0.004290502735426435,0.045466638265621945,-0.07605282260725577,-0.03484604418249472,0.11147353198282672,-0.004922537861078902],"gripper_joint_position_m":[0.03499967781618777,-0.03499996852711108],"tcp_position_m":[0.3042291620476113,-0.03439228399200966,0.1851386520179909],"tcp_quaternion_wxyz":[0.34409972722029025,0.03105329568226417,0.9384158124810893,-0.0026140848587679483],"object_position_m":[0.2988766532603013,-0.032673975972971996,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.2448755101384778e-15,1.2002588119410882e-15,2.8627503670755442e-08],"object_linear_velocity_m_s":[-1.575595433549673e-15,2.949808416792313e-15,2.9895081338311534e-15],"object_angular_velocity_rad_s":[-6.149077316069519e-14,-3.307725720040896e-14,2.368684894115384e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999951},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000053}],"native_actuator_controls":[-0.17621154357938035,1.2062999969533417,-0.826221526328542,0.1507079774609252,0.6310821533530533,-0.21882764424112716,0.035],"actuator_force_native":[0.14333703326111014,0.2738332494743503,-0.25590354417860794,-0.25199006161449056,0.2998291071498187,-0.0333966779916679,2.548096293986113e-05],"issued_joint_targets_rad":[-0.17617649385486928,1.2072762754361244,-0.8278433857494456,0.15013782775892692,0.6334959691731201,-0.2190405414817046],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.940000000000318,"joint_targets_rad":[-0.17617649385486928,1.2072762754361244,-0.8278433857494456,0.15013782775892692,0.6334959691731201,-0.2190405414817046],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.960000000000325,"qpos":[-0.1781870801528985,1.201001806290299,-0.8198830068010093,0.16066370203385186,0.5867689786682491,-0.2148518410576203,0.034999715382377464,-0.035000015970916114,0.2988766532603013,-0.032673975972971954,0.07989224457978372,1.0,2.0427973980017053e-15,1.1173548883367742e-15,2.9070063080286953e-08],"qvel":[0.004188756882710217,0.04564954341875226,-0.07619411479861876,-0.034420524814099115,0.11162533790900031,-0.005061139110756639,-3.617406707025521e-06,-5.309537266677474e-06,-1.6513070326045875e-15,2.991539611696891e-15,2.9922836913927165e-15,-1.9646777143827824e-14,-7.810254382834677e-15,4.324620449221413e-08],"joint_position_rad":[-0.1781870801528985,1.201001806290299,-0.8198830068010093,0.16066370203385186,0.5867689786682491,-0.2148518410576203],"joint_velocity_rad_s":[0.004188756882710217,0.04564954341875226,-0.07619411479861876,-0.034420524814099115,0.11162533790900031,-0.005061139110756639],"gripper_joint_position_m":[0.034999715382377464,-0.035000015970916114],"tcp_position_m":[0.3042414156299432,-0.03438151435638881,0.18512894880764802],"tcp_quaternion_wxyz":[0.34326677950201334,0.030653729309999683,0.9387338170496067,-0.002662272935105025],"object_position_m":[0.2988766532603013,-0.032673975972971954,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.0427973980017053e-15,1.1173548883367742e-15,2.9070063080286953e-08],"object_linear_velocity_m_s":[-1.6513070326045875e-15,2.991539611696891e-15,2.9922836913927165e-15],"object_angular_velocity_rad_s":[-1.9646776593095908e-14,-7.810255701787237e-15,4.324620449221417e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999977},{"geom_ids":[1,90],"normal_force_n":0.09809999999999933},{"geom_ids":[1,90],"normal_force_n":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.09810000000000065}],"native_actuator_controls":[-0.17617649385486928,1.2072762754361244,-0.8278433857494456,0.15013782775892692,0.6334959691731201,-0.2190405414817046,0.035],"actuator_force_native":[0.13990311942878542,0.27370981457225696,-0.2558597418818067,-0.24893234692650168,0.29983189818521083,-0.03429529557470801,2.947173843681483e-05],"issued_joint_targets_rad":[-0.1761421951308448,1.2082562823696712,-0.8294682075723622,0.14957323164183353,0.6359125824951846,-0.21925324514937788],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.960000000000325,"joint_targets_rad":[-0.1761421951308448,1.2082562823696712,-0.8294682075723622,0.14957323164183353,0.6359125824951846,-0.21925324514937788],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.980000000000332,"qpos":[-0.17810475875900442,1.2019720210274147,-0.8214996189744718,0.15997238680505418,0.5891630263631389,-0.21495681418622395,0.03499971879285759,-0.03500000481333211,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.6810822794025908e-15,9.377960537420752e-16,2.941094891928997e-08],"qvel":[0.004089594535553889,0.04583045743463996,-0.0763351087647376,-0.034004571853293454,0.11177264804779871,-0.0051960738037876136,-7.397096029478616e-06,3.652422224178896e-07,-1.8224722918138446e-15,3.2213741912549157e-15,2.9978348065158423e-15,3.7489173570619296e-14,2.4532387424468433e-14,7.895664837598185e-08],"joint_position_rad":[-0.17810475875900442,1.2019720210274147,-0.8214996189744718,0.15997238680505418,0.5891630263631389,-0.21495681418622395],"joint_velocity_rad_s":[0.004089594535553889,0.04583045743463996,-0.0763351087647376,-0.034004571853293454,0.11177264804779871,-0.0051960738037876136],"gripper_joint_position_m":[0.03499971879285759,-0.03500000481333211],"tcp_position_m":[0.30425362326814953,-0.034370980074880556,0.18511917484525237],"tcp_quaternion_wxyz":[0.34243202237296705,0.030256940859906822,0.9390513794899353,-0.002708184153505929],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6810822794025908e-15,9.377960537420752e-16,2.941094891928997e-08],"object_linear_velocity_m_s":[-1.8224722918138446e-15,3.2213741912549157e-15,2.9978348065158423e-15],"object_angular_velocity_rad_s":[3.748917227566815e-14,2.4532389364187507e-14,7.895664837598191e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999983},{"geom_ids":[1,90],"normal_force_n":0.09809999999999947},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024},{"geom_ids":[1,90],"normal_force_n":0.09810000000000048}],"native_actuator_controls":[-0.1761421951308448,1.2082562823696712,-0.8294682075723622,0.14957323164183353,0.6359125824951846,-0.21925324514937788,0.035],"actuator_force_native":[0.13655711757499844,0.27358862020732033,-0.2558115440075426,-0.2459433472623589,0.2998365892487591,-0.03517019892585749,4.8233765843841425e-05],"issued_joint_targets_rad":[-0.17610861059362126,1.2092399633074749,-0.831095903299556,0.1490140873551277,0.6383318487965439,-0.2194657633973809],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.980000000000332,"joint_targets_rad":[-0.17610861059362126,1.2092399633074749,-0.831095903299556,0.1490140873551277,0.6383318487965439,-0.2194657633973809],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.000000000000338,"qpos":[-0.178024398588713,1.2029460139092008,-0.8231192461611194,0.15928934797056676,0.5915602524913864,-0.2150644426616375,0.03499970146531455,-0.03499997685574844,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.3309905145404231e-15,7.555991827625894e-16,2.9710450294042545e-08],"qvel":[0.0039928639430864415,0.04600901434850038,-0.07647480000944273,-0.03359803600907669,0.11191498269293157,-0.005327414060475431,-2.369510643684149e-06,-7.147748584401149e-06,-9.409558380399208e-16,1.664842589594525e-15,2.992283691392717e-15,-6.198866629155173e-14,-3.456659286418386e-14,8.55430626232371e-09],"joint_position_rad":[-0.178024398588713,1.2029460139092008,-0.8231192461611194,0.15928934797056676,0.5915602524913864,-0.2150644426616375],"joint_velocity_rad_s":[0.0039928639430864415,0.04600901434850038,-0.07647480000944273,-0.03359803600907669,0.11191498269293157,-0.005327414060475431],"gripper_joint_position_m":[0.03499970146531455,-0.03499997685574844],"tcp_position_m":[0.30426579103603546,-0.0343606817872952,0.18510934762557363],"tcp_quaternion_wxyz":[0.3415955061027206,0.029862874120017622,0.9393684826399851,-0.0027518688868087638],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3309905145404231e-15,7.555991827625894e-16,2.9710450294042545e-08],"object_linear_velocity_m_s":[-9.409558380399208e-16,1.664842589594525e-15,2.992283691392717e-15],"object_angular_velocity_rad_s":[-6.198866422464634e-14,-3.456659657037761e-14,8.554306262323718e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.17610861059362126,1.2092399633074749,-0.831095903299556,0.1490140873551277,0.6383318487965439,-0.2194657633973809,0.035],"actuator_force_native":[0.133298719891906,0.273470880119433,-0.2557585710277124,-0.24302024457217986,0.2998434890121784,-0.036022086266720876,2.378894063648218e-05],"issued_joint_targets_rad":[-0.17607570114762364,1.2102272624125459,-0.8327263829573275,0.14846028746178622,0.6407536214369182,-0.21967809363430035],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.000000000000338,"joint_targets_rad":[-0.17607570114762364,1.2102272624125459,-0.8327263829573275,0.14846028746178622,0.6407536214369182,-0.21967809363430035],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.020000000000345,"qpos":[-0.17794594803440578,1.2039237326863774,-0.8247418489808599,0.15861440233959498,0.5939605495814478,-0.21517465586137663,0.03499973307137537,-0.035000017274476304,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.239836371121477e-15,7.213438645137526e-16,3.0196594532933475e-08],"qvel":[0.003898816165601053,0.04618501121067501,-0.07661235510928288,-0.0332003464226655,0.11205242398604093,-0.005455274292550574,-4.71769726866854e-06,-3.330623573551278e-06,-9.091952620634808e-16,1.5708589843735786e-15,2.9950592489542796e-15,-4.6875618430395945e-14,-2.655354646465814e-14,1.5618003003627672e-08],"joint_position_rad":[-0.17794594803440578,1.2039237326863774,-0.8247418489808599,0.15861440233959498,0.5939605495814478,-0.21517465586137663],"joint_velocity_rad_s":[0.003898816165601053,0.04618501121067501,-0.07661235510928288,-0.0332003464226655,0.11205242398604093,-0.005455274292550574],"gripper_joint_position_m":[0.03499973307137537,-0.035000017274476304],"tcp_position_m":[0.30427792175945934,-0.03435061855651455,0.18509947991931497],"tcp_quaternion_wxyz":[0.3407572772737278,0.029471474486633828,0.9396851106806097,-0.0027933746168469003],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.239836371121477e-15,7.213438645137526e-16,3.0196594532933475e-08],"object_linear_velocity_m_s":[-9.091952620634808e-16,1.5708589843735786e-15,2.9950592489542796e-15],"object_angular_velocity_rad_s":[-4.687561680421065e-14,-2.6553549334353737e-14,1.5618003003627686e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.17607570114762364,1.2102272624125459,-0.8327263829573275,0.14846028746178622,0.6407536214369182,-0.21967809363430035,0.035],"actuator_force_native":[0.1301256701145661,0.27335732204009844,-0.2557009425709964,-0.24016286299902312,0.299852082575641,-0.03685146629041158,3.4265631328578294e-05],"issued_joint_targets_rad":[-0.1760434312676327,1.2112181277595602,-0.8343595631833222,0.14791173153484427,0.6431777650763116,-0.2198902377832837],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.020000000000345,"joint_targets_rad":[-0.1760434312676327,1.2112181277595602,-0.8343595631833222,0.14791173153484427,0.6431777650763116,-0.2198902377832837],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.040000000000352,"qpos":[-0.17786935593206385,1.2049051230631447,-0.8263673729075103,0.1579473720258662,0.5963638093139437,-0.21528738520571422,0.03499973130506843,-0.035000008289251074,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.1112153107641544e-15,6.542122375584575e-16,3.062556074750811e-08],"qvel":[0.003807220625924976,0.04635842901457412,-0.0767470792920566,-0.032811477621299885,0.11218476468335484,-0.005579737605380917,-6.365555970500013e-06,-8.739624284993083e-07,-8.883571585773931e-16,1.5101205829773335e-15,2.996447027735061e-15,-2.5749454255671537e-14,-1.4846266813577613e-14,2.851452944765545e-08],"joint_position_rad":[-0.17786935593206385,1.2049051230631447,-0.8263673729075103,0.1579473720258662,0.5963638093139437,-0.21528738520571422],"joint_velocity_rad_s":[0.003807220625924976,0.04635842901457412,-0.0767470792920566,-0.032811477621299885,0.11218476468335484,-0.005579737605380917],"gripper_joint_position_m":[0.03499973130506843,-0.035000008289251074],"tcp_position_m":[0.3042900152862861,-0.03434078868410639,0.18508957950982602],"tcp_quaternion_wxyz":[0.33991737707810354,0.029082688938573714,0.9400012497384717,-0.0028327468216447337],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.1112153107641544e-15,6.542122375584575e-16,3.062556074750811e-08],"object_linear_velocity_m_s":[-8.883571585773931e-16,1.5101205829773335e-15,2.996447027735061e-15],"object_angular_velocity_rad_s":[-2.5749453309011914e-14,-1.4846268454132113e-14,2.8514529447655476e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.1760434312676327,1.2112181277595602,-0.8343595631833222,0.14791173153484427,0.6431777650763116,-0.2198902377832837,0.035],"actuator_force_native":[0.12703787002486777,0.2732482306403625,-0.2556398256046606,-0.23736823153437747,0.2998624105986476,-0.037658919367623334,4.257557711562221e-05],"issued_joint_targets_rad":[-0.17601176726695614,1.2122125131333032,-0.8359953702952102,0.1473683206677419,0.6456041597738255,-0.2201021972140938],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.040000000000352,"joint_targets_rad":[-0.17601176726695614,1.2122125131333032,-0.8359953702952102,0.1473683206677419,0.6456041597738255,-0.2201021972140938],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.060000000000358,"qpos":[-0.1777945729269094,1.2058901327112097,-0.8279957536245661,0.1572880827308718,0.5987699252781206,-0.2154025637319849,0.03499972338534979,-0.0349999932250905,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,9.814067390474423e-16,5.685247621484588e-16,3.103218869351411e-08],"qvel":[0.003718031944191559,0.046529418587723734,-0.07687858595141102,-0.03243120477187062,0.11231217268137636,-0.005700886584848896,-2.015656973870757e-06,-7.008562064124173e-06,-8.876221463112697e-16,1.55020505513775e-15,3.001998142858187e-15,-2.2978186444191904e-16,-1.9405403053979903e-15,5.2060329955906645e-08],"joint_position_rad":[-0.1777945729269094,1.2058901327112097,-0.8279957536245661,0.1572880827308718,0.5987699252781206,-0.2154025637319849],"joint_velocity_rad_s":[0.003718031944191559,0.046529418587723734,-0.07687858595141102,-0.03243120477187062,0.11231217268137636,-0.005700886584848896],"gripper_joint_position_m":[0.03499972338534979,-0.0349999932250905],"tcp_position_m":[0.30430206932864423,-0.034331190404301576,0.18507964962492415],"tcp_quaternion_wxyz":[0.33907584056574697,0.02869646621779117,0.9403168881294898,-0.002870029567098648],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,9.814067390474423e-16,5.685247621484588e-16,3.103218869351411e-08],"object_linear_velocity_m_s":[-8.876221463112697e-16,1.55020505513775e-15,3.001998142858187e-15],"object_angular_velocity_rad_s":[-2.2978168480831637e-16,-1.9405404218439723e-15,5.206032995590669e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999963},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000038}],"native_actuator_controls":[-0.17601176726695614,1.2122125131333032,-0.8359953702952102,0.1473683206677419,0.6456041597738255,-0.2201021972140938,0.035],"actuator_force_native":[0.12403429307530267,0.2731433408288666,-0.2555764038944801,-0.23463445866584376,0.29987408593498355,-0.03844500494381542,2.1142870877843833e-05],"issued_joint_targets_rad":[-0.17598067612873566,1.213210378804392,-0.8376337416169437,0.1468299541823544,0.648032702605999,-0.22031396937727055],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.060000000000358,"joint_targets_rad":[-0.17598067612873566,1.213210378804392,-0.8376337416169437,0.1468299541823544,0.648032702605999,-0.22031396937727055],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.080000000000365,"qpos":[-0.1777215493381186,1.2068787136888928,-0.8296269222621505,0.1566363658711975,0.6011787979941065,-0.21552012619951813,0.034999738834671126,-0.03500000802274115,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,8.141288805092383e-16,4.670840502368227e-16,3.1380159179949425e-08],"qvel":[0.0036314251037889256,0.046698219385234274,-0.07700675219073119,-0.03205906811748195,0.11243517421995523,-0.00581881810358953,-7.2832435602679305e-06,8.116903532576153e-07,-9.714400541975822e-16,1.685059779071528e-15,2.9964470277350614e-15,2.724823742415187e-14,1.6381256269026777e-14,9.504901562881993e-08],"joint_position_rad":[-0.1777215493381186,1.2068787136888928,-0.8296269222621505,0.1566363658711975,0.6011787979941065,-0.21552012619951813],"joint_velocity_rad_s":[0.0036314251037889256,0.046698219385234274,-0.07700675219073119,-0.03205906811748195,0.11243517421995523,-0.00581881810358953],"gripper_joint_position_m":[0.034999738834671126,-0.03500000802274115],"tcp_position_m":[0.3043140800483988,-0.03432182092943282,0.18506968958501893],"tcp_quaternion_wxyz":[0.3382326957991177,0.028312756134532845,0.9406320166643841,-0.0029052639160246194],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.141288805092383e-16,4.670840502368227e-16,3.1380159179949425e-08],"object_linear_velocity_m_s":[-9.714400541975822e-16,1.685059779071528e-15,2.9964470277350614e-15],"object_angular_velocity_rad_s":[2.7248236484850746e-14,1.6381257824370522e-14,9.504901562882001e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003}],"native_actuator_controls":[-0.17598067612873566,1.213210378804392,-0.8376337416169437,0.1468299541823544,0.648032702605999,-0.22031396937727055,0.035],"actuator_force_native":[0.12111273123168864,0.2730421123137745,-0.2555117874297963,-0.23196112696631577,0.29988628478899226,-0.03921020462213942,4.686283095645116e-05],"issued_joint_targets_rad":[-0.17595012812458533,1.2142116929265776,-0.8392746274042405,0.14629653601008932,0.6504633110489247,-0.2205255554352958],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.080000000000365,"joint_targets_rad":[-0.17595012812458533,1.2142116929265776,-0.8392746274042405,0.14629653601008932,0.6504633110489247,-0.2205255554352958],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.100000000000372,"qpos":[-0.17765023671141383,1.2078708237821443,-0.8312608092943626,0.15599205671674432,0.6035903350040502,-0.2156400091844746,0.03499971886260082,-0.03499997633369679,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.732551769557178e-16,3.8860920887422253e-16,3.17407027368916e-08],"qvel":[0.0035470663868166167,0.04686513689702901,-0.07713157578432546,-0.03169519047687273,0.11255378511391212,-0.005933600661837319,-2.226504007705353e-06,-6.450361596504271e-06,-4.852718360943651e-16,8.409731295598111e-16,3.058897072870226e-15,-3.010535838999567e-14,-1.7315288080775174e-14,1.0297782471079229e-08],"joint_position_rad":[-0.17765023671141383,1.2078708237821443,-0.8312608092943626,0.15599205671674432,0.6035903350040502,-0.2156400091844746],"joint_velocity_rad_s":[0.0035470663868166167,0.04686513689702901,-0.07713157578432546,-0.03169519047687273,0.11255378511391212,-0.005933600661837319],"gripper_joint_position_m":[0.03499971886260082,-0.03499997633369679],"tcp_position_m":[0.3043260428297347,-0.03431267728664444,0.18505969583847623],"tcp_quaternion_wxyz":[0.3373879648680416,0.027931509613813833,0.94094662824983,-0.002938489096581297],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.732551769557178e-16,3.8860920887422253e-16,3.17407027368916e-08],"object_linear_velocity_m_s":[-4.852718360943651e-16,8.409731295598111e-16,3.058897072870226e-15],"object_angular_velocity_rad_s":[-3.010535728279319e-14,-1.731529000577169e-14,1.029778247107924e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.17595012812458533,1.2142116929265776,-0.8392746274042405,0.14629653601008932,0.6504633110489247,-0.2205255554352958,0.035],"actuator_force_native":[0.11827335501219771,0.2729438470695129,-0.2554475698685934,-0.2293448758818366,0.299899082777876,-0.0399550615154558,2.237801600557532e-05],"issued_joint_targets_rad":[-0.175920095127694,1.2152164302626467,-0.8409179888548222,0.14576797113112439,0.6528959195352718,-0.22073695652509984],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.100000000000372,"joint_targets_rad":[-0.175920095127694,1.2152164302626467,-0.8409179888548222,0.14576797113112439,0.6528959195352718,-0.22073695652509984],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1200000000003785,"qpos":[-0.17758058735765317,1.208866427856905,-0.8328973490772374,0.15535499481927179,0.6060044523987858,-0.2157621507389302,0.03499975121882706,-0.03500001623846182,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.202216930285017e-16,3.4298518535026445e-16,3.2202095305543935e-08],"qvel":[0.003465199082095848,0.04703050258231474,-0.07725333819633703,-0.031339035519509555,0.11266871145203866,-0.006045329648791752,-3.364675117960386e-06,-4.3656434661069e-06,-4.412294159342792e-16,7.984229132877796e-16,3.0727748606780397e-15,-2.0737825572049852e-14,-1.2244356967891293e-14,1.8801150278235334e-08],"joint_position_rad":[-0.17758058735765317,1.208866427856905,-0.8328973490772374,0.15535499481927179,0.6060044523987858,-0.2157621507389302],"joint_velocity_rad_s":[0.003465199082095848,0.04703050258231474,-0.07725333819633703,-0.031339035519509555,0.11266871145203866,-0.006045329648791752],"gripper_joint_position_m":[0.03499975121882706,-0.03500001623846182],"tcp_position_m":[0.30433795309322276,-0.034303756226163745,0.1850496630878714],"tcp_quaternion_wxyz":[0.3365416646970444,0.027552678612466727,0.9412607175779272,-0.0029697422288784896],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.202216930285017e-16,3.4298518535026445e-16,3.2202095305543935e-08],"object_linear_velocity_m_s":[-4.412294159342792e-16,7.984229132877796e-16,3.0727748606780397e-15],"object_angular_velocity_rad_s":[-2.0737824770564898e-14,-1.2244358326815914e-14,1.8801150278235353e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.175920095127694,1.2152164302626467,-0.8409179888548222,0.14576797113112439,0.6528959195352718,-0.22073695652509984,0.035],"actuator_force_native":[0.11551338298625424,0.2728476795477661,-0.25538449122508666,-0.2267857699283491,0.2999116041868035,-0.040680063388508714,2.6774622507330648e-05],"issued_joint_targets_rad":[-0.17589055118640082,1.2162245714037565,-0.8425637967099386,0.14524416766165055,0.6553304774242833,-0.22094817585994458],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.1200000000003785,"joint_targets_rad":[-0.17589055118640082,1.2162245714037565,-0.8425637967099386,0.14524416766165055,0.6553304774242833,-0.22094817585994458],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.140000000000385,"qpos":[-0.17751255320447495,1.2098654970942926,-0.8345364817758576,0.15472502537342395,0.6084210753087361,-0.2158864908825156,0.034999759195833154,-0.03500001043056582,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,5.569999750516223e-16,2.969847631088726e-16,3.265723413540921e-08],"qvel":[0.003385637087004555,0.04719461104605356,-0.07737232116730464,-0.03099056135212994,0.11278012446618862,-0.006154090195542427,-5.234458057057417e-06,-1.347789192818522e-06,-4.1157825478467356e-16,7.712831169545139e-16,3.079713754581946e-15,-1.100055719796483e-14,-6.69032110278016e-15,3.4326152526294354e-08],"joint_position_rad":[-0.17751255320447495,1.2098654970942926,-0.8345364817758576,0.15472502537342395,0.6084210753087361,-0.2158864908825156],"joint_velocity_rad_s":[0.003385637087004555,0.04719461104605356,-0.07737232116730464,-0.03099056135212994,0.11278012446618862,-0.006154090195542427],"gripper_joint_position_m":[0.034999759195833154,-0.03500001043056582],"tcp_position_m":[0.3043498066430559,-0.034295053747639914,0.1850395852217478],"tcp_quaternion_wxyz":[0.3356938081592413,0.02717621564399602,0.9415742807230733,-0.002999057792798408],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.569999750516223e-16,2.969847631088726e-16,3.265723413540921e-08],"object_linear_velocity_m_s":[-4.1157825478467356e-16,7.712831169545139e-16,3.079713754581946e-15],"object_angular_velocity_rad_s":[-1.1000556740601362e-14,-6.690321859515028e-15,3.4326152526294394e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.17589055118640082,1.2162245714037565,-0.8425637967099386,0.14524416766165055,0.6553304774242833,-0.22094817585994458,0.035],"actuator_force_native":[0.11283197601090933,0.2727528895268563,-0.255323588889965,-0.22428150171028616,0.2999238344561892,-0.041385714480976166,3.5804456959276365e-05],"issued_joint_targets_rad":[-0.17586147372509922,1.217236101732782,-0.8442120293765194,0.14472504059259278,0.657766946420939,-0.22115922301490984],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.140000000000385,"joint_targets_rad":[-0.17586147372509922,1.217236101732782,-0.8442120293765194,0.14472504059259278,0.657766946420939,-0.22115922301490984],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.160000000000392,"qpos":[-0.17744608955047994,1.2108680087878454,-0.8361781551183826,0.15410199489670665,0.6108401347438815,-0.2160129709536683,0.03499975660511707,-0.035000001551161265,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,4.78605849753542e-16,2.4319737480299206e-16,3.302515881444081e-08],"qvel":[0.0033082625316323906,0.047357741066991435,-0.07748892440491108,-0.030649642162068155,0.11288832456408862,-0.006259943350584741,-1.7942021942453906e-06,-6.5873065942917686e-06,-4.1695510359864557e-16,8.378351195884698e-16,3.0755504182396016e-15,6.125859332400045e-15,1.3039450496359136e-15,6.267088607989449e-08],"joint_position_rad":[-0.17744608955047994,1.2108680087878454,-0.8361781551183826,0.15410199489670665,0.6108401347438815,-0.2160129709536683],"joint_velocity_rad_s":[0.0033082625316323906,0.047357741066991435,-0.07748892440491108,-0.030649642162068155,0.11288832456408862,-0.006259943350584741],"gripper_joint_position_m":[0.03499975660511707,-0.035000001551161265],"tcp_position_m":[0.30436160026745973,-0.0342865669781731,0.1850294563708866],"tcp_quaternion_wxyz":[0.3348444061355518,0.02680207463291526,0.9418873143599821,-0.0030264703602624716],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,4.78605849753542e-16,2.4319737480299206e-16,3.302515881444081e-08],"object_linear_velocity_m_s":[-4.1695510359864557e-16,8.378351195884698e-16,3.0755504182396016e-15],"object_angular_velocity_rad_s":[6.125859276756845e-15,1.3039453942615624e-15,6.267088607989456e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981000000000002}],"native_actuator_controls":[-0.17586147372509922,1.217236101732782,-0.8442120293765194,0.14472504059259278,0.657766946420939,-0.22115922301490984,0.035],"actuator_force_native":[0.11022795337229496,0.27265873025996257,-0.25526531862638535,-0.22182996135421362,0.299935629924442,-0.04207260558653836,1.8706806288681932e-05],"issued_joint_targets_rad":[-0.17583283934305152,1.2182510085438665,-0.845862668649388,0.14421050245789607,0.6602052932183484,-0.2213701030042991],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.160000000000392,"joint_targets_rad":[-0.17583283934305152,1.2182510085438665,-0.845862668649388,0.14421050245789607,0.6602052932183484,-0.2213701030042991],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1800000000003985,"qpos":[-0.1773811498959952,1.2118739450028386,-0.837822324959582,0.15348575727299416,0.6132615693138455,-0.21614153418924476,0.03499977200565952,-0.03500000505300481,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,3.9158453741908754e-16,1.91049588533107e-16,3.331670008070188e-08],"qvel":[0.003233274922249074,0.047520083491670806,-0.07760354923595612,-0.030315785681641963,0.11299376596000352,-0.006363004789099359,-6.594634580563715e-06,8.709982787921359e-07,-5.027670488360927e-16,1.057308195298857e-15,3.079713754581946e-15,3.1183332423125747e-14,1.362984778164594e-14,1.144212116120634e-07],"joint_position_rad":[-0.1773811498959952,1.2118739450028386,-0.837822324959582,0.15348575727299416,0.6132615693138455,-0.21614153418924476],"joint_velocity_rad_s":[0.003233274922249074,0.047520083491670806,-0.07760354923595612,-0.030315785681641963,0.11299376596000352,-0.006363004789099359],"gripper_joint_position_m":[0.03499977200565952,-0.03500000505300481],"tcp_position_m":[0.3043733318382286,-0.03427829180540872,0.18501927142206526],"tcp_quaternion_wxyz":[0.33399346802203395,0.026430209857602457,0.9421998156188842,-0.003052011343042727],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.9158453741908754e-16,1.91049588533107e-16,3.331670008070188e-08],"object_linear_velocity_m_s":[-5.027670488360927e-16,1.057308195298857e-15,3.079713754581946e-15],"object_angular_velocity_rad_s":[3.118333155864287e-14,1.362984976988624e-14,1.1442121161206353e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.17583283934305152,1.2182510085438665,-0.845862668649388,0.14421050245789607,0.6602052932183484,-0.2213701030042991,0.035],"actuator_force_native":[0.10769846962424978,0.2725646658238787,-0.25520974900469184,-0.21943126419571346,0.29994659010502467,-0.04274118096689472,4.2092946522132024e-05],"issued_joint_targets_rad":[-0.17580462931980712,1.2192692812134565,-0.8475156993953565,0.14370047744007244,0.6626454902553047,-0.2215808318402868],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.1800000000003985,"joint_targets_rad":[-0.17580462931980712,1.2192692812134565,-0.8475156993953565,0.14370047744007244,0.6626454902553047,-0.2215808318402868],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.200000000000405,"qpos":[-0.1773176914054262,1.212883290942772,-0.8394689542667841,0.15287616741829219,0.6156853209115208,-0.2162721253132084,0.03499975171146209,-0.03499997586366238,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,3.822865719163639e-16,1.8125342537567892e-16,3.3750726991462865e-08],"qvel":[0.0031602867883080642,0.047681775849527167,-0.07771650969587884,-0.029989179015233815,0.11309635312446296,-0.006463316868788195,-2.1652924488611923e-06,-6.06652405963117e-06,-2.255562633701824e-16,4.732833156013265e-16,3.0741626394588207e-15,-1.4450354876851707e-14,-7.212323369014018e-15,1.2396601263707178e-08],"joint_position_rad":[-0.1773176914054262,1.212883290942772,-0.8394689542667841,0.15287616741829219,0.6156853209115208,-0.2162721253132084],"joint_velocity_rad_s":[0.0031602867883080642,0.047681775849527167,-0.07771650969587884,-0.029989179015233815,0.11309635312446296,-0.006463316868788195],"gripper_joint_position_m":[0.03499975171146209,-0.03499997586366238],"tcp_position_m":[0.3043850003167388,-0.034270225453645886,0.18500902656805865],"tcp_quaternion_wxyz":[0.3331410035623085,0.026060576990292218,0.9425117813919432,-0.0030757128957207133],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.822865719163639e-16,1.8125342537567892e-16,3.3750726991462865e-08],"object_linear_velocity_m_s":[-2.255562633701824e-16,4.732833156013265e-16,3.0741626394588207e-15],"object_angular_velocity_rad_s":[-1.4450354385515523e-14,-7.212324353912084e-15,1.2396601263707191e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.17580462931980712,1.2192692812134565,-0.8475156993953565,0.14370047744007244,0.6626454902553047,-0.2215808318402868,0.035],"actuator_force_native":[0.10524353290798594,0.2724703424071322,-0.2551570618064005,-0.21708170405262006,0.29995716375114423,-0.04339208996760169,2.0758003760779076e-05],"issued_joint_targets_rad":[-0.17577682357016497,1.2202909083101525,-0.8491711054849873,0.14319488722838294,0.6650875083015051,-0.22179142058647527],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.200000000000405,"joint_targets_rad":[-0.17577682357016497,1.2202909083101525,-0.8491711054849873,0.14319488722838294,0.6650875083015051,-0.22179142058647527],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.220000000000412,"qpos":[-0.17725567051515861,1.213896033983906,-0.8411180126658897,0.15227308649556107,0.6181113353692582,-0.21640469068347423,0.03499977918411535,-0.035000015293187504,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,3.49635224665346e-16,1.8132658856736884e-16,3.418679179446703e-08],"qvel":[0.003089567819295192,0.047842882203242086,-0.07782813082065951,-0.029669237085064238,0.11319650240771084,-0.006560994979372101,-3.2866012265237565e-06,-3.996601144637446e-06,-2.3549848719186685e-16,4.555783015114258e-16,3.0811015333627275e-15,-1.0005828014678338e-14,-4.172819945526078e-15,2.2633063375822284e-08],"joint_position_rad":[-0.17725567051515861,1.213896033983906,-0.8411180126658897,0.15227308649556107,0.6181113353692582,-0.21640469068347423],"joint_velocity_rad_s":[0.003089567819295192,0.047842882203242086,-0.07782813082065951,-0.029669237085064238,0.11319650240771084,-0.006560994979372101],"gripper_joint_position_m":[0.03499977918411535,-0.035000015293187504],"tcp_position_m":[0.3043966057847848,-0.03426236446934792,0.18499871944110746],"tcp_quaternion_wxyz":[0.3322870231421626,0.02569313243714739,0.9428232082631838,-0.0030976050755548734],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.49635224665346e-16,1.8132658856736884e-16,3.418679179446703e-08],"object_linear_velocity_m_s":[-2.3549848719186685e-16,4.555783015114258e-16,3.0811015333627275e-15],"object_angular_velocity_rad_s":[-1.000582772115972e-14,-4.1728206454870235e-15,2.263306337582231e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.17577682357016497,1.2202909083101525,-0.8491711054849873,0.14319488722838294,0.6650875083015051,-0.22179142058647527,0.035],"actuator_force_native":[0.10285991650301618,0.2723755350835262,-0.2551067714245079,-0.21478178526180347,0.2999669757109018,-0.04402580656095223,2.526564151872357e-05],"issued_joint_targets_rad":[-0.17574940527898744,1.2213158778498407,-0.8508288697369807,0.14269366268609215,0.6675313174244558,-0.2220018879048203],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.220000000000412,"joint_targets_rad":[-0.17574940527898744,1.2213158778498407,-0.8508288697369807,0.14269366268609215,0.6675313174244558,-0.2220018879048203],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.2400000000004185,"qpos":[-0.17719504375010162,1.214912161821239,-0.8427694742880127,0.15167638111661158,0.6205395607804925,-0.21653917876009326,0.034999781146124495,-0.03500000405374147,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,3.249681058216608e-16,1.7271191152472673e-16,3.460966252701472e-08],"qvel":[0.0030209244451628605,0.04800340210895477,-0.07793858299351106,-0.029355912034128993,0.11329411546972896,-0.006656126113936664,-5.924303828493913e-06,2.317507811749705e-07,-2.529047825292717e-16,4.780059681740433e-16,3.0811015333627275e-15,-2.3036461501016654e-15,-9.444207721247173e-16,4.132225816391009e-08],"joint_position_rad":[-0.17719504375010162,1.214912161821239,-0.8427694742880127,0.15167638111661158,0.6205395607804925,-0.21653917876009326],"joint_velocity_rad_s":[0.0030209244451628605,0.04800340210895477,-0.07793858299351106,-0.029355912034128993,0.11329411546972896,-0.006656126113936664],"gripper_joint_position_m":[0.034999781146124495,-0.03500000405374147],"tcp_position_m":[0.3044081490933821,-0.03425470504377311,0.1849883490627392],"tcp_quaternion_wxyz":[0.33143153836683553,0.02532783332214155,0.9431340923106303,-0.0031177165365329756],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,3.249681058216608e-16,1.7271191152472673e-16,3.460966252701472e-08],"object_linear_velocity_m_s":[-2.529047825292717e-16,4.780059681740433e-16,3.0811015333627275e-15],"object_angular_velocity_rad_s":[-2.303646070455801e-15,-9.444209584383793e-16,4.1322258163910134e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.17574940527898744,1.2213158778498407,-0.8508288697369807,0.14269366268609215,0.6675313174244558,-0.2220018879048203,0.035],"actuator_force_native":[0.10054645546331997,0.27228027174335523,-0.2550587209498758,-0.21252917705013186,0.2999763932350392,-0.04464290227636569,3.837567416264953e-05],"issued_joint_targets_rad":[-0.17572235994694438,1.2223441765164575,-0.8524889727600261,0.1421967416219335,0.6699768850639153,-0.2222122577667203],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.2400000000004185,"joint_targets_rad":[-0.17572235994694438,1.2223441765164575,-0.8524889727600261,0.1421967416219335,0.6699768850639153,-0.2222122577667203],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.260000000000425,"qpos":[-0.17713577161668614,1.2159316619536862,-0.8444233165139395,0.15108591875784008,0.622969944323994,-0.21667553928894961,0.03499976612253538,-0.03499998246019607,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,2.816948743976911e-16,1.5001029740101168e-16,3.499072660475713e-08],"qvel":[0.0029541942911310228,0.04816331690745702,-0.07804801039472874,-0.029049117538146603,0.11338917364803094,-0.006748767668539519,-1.9174545646427995e-06,-5.903645385788402e-06,-2.7496738052373224e-16,5.135002654226924e-16,3.0963670999513237e-15,5.2220638373298545e-15,2.6092267471326123e-15,7.544400823747863e-08],"joint_position_rad":[-0.17713577161668614,1.2159316619536862,-0.8444233165139395,0.15108591875784008,0.622969944323994,-0.21667553928894961],"joint_velocity_rad_s":[0.0029541942911310228,0.04816331690745702,-0.07804801039472874,-0.029049117538146603,0.11338917364803094,-0.006748767668539519],"gripper_joint_position_m":[0.03499976612253538,-0.03499998246019607],"tcp_position_m":[0.30441963181399334,-0.03424724485243599,0.18497791584312998],"tcp_quaternion_wxyz":[0.3305745628602307,0.024964638500061368,0.9434444288002741,-0.0031360771759096177],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.816948743976911e-16,1.5001029740101168e-16,3.499072660475713e-08],"object_linear_velocity_m_s":[-2.7496738052373224e-16,5.135002654226924e-16,3.0963670999513237e-15],"object_angular_velocity_rad_s":[5.222063677367126e-15,2.609227070075845e-15,7.544400823747874e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.17572235994694438,1.2223441765164575,-0.8524889727600261,0.1421967416219335,0.6699768850639153,-0.2222122577667203,0.035],"actuator_force_native":[0.09830196212368492,0.27218458048443495,-0.2550124477132698,-0.21032149774553055,0.29998564692716645,-0.04524403327489779,1.894237140809274e-05],"issued_joint_targets_rad":[-0.1756956711873904,1.2233757881295706,-0.8541513909387728,0.1417040587671278,0.6724241721274182,-0.22242254784457882],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.260000000000425,"joint_targets_rad":[-0.1756956711873904,1.2233757881295706,-0.8541513909387728,0.1417040587671278,0.6724241721274182,-0.22242254784457882],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.280000000000432,"qpos":[-0.1770778134707762,1.2169545207828665,-0.8460795185865424,0.15050157381219512,0.6254024345877865,-0.2168137238096331,0.034999785275918,-0.03500000906140437,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,2.1970710866887969e-16,1.1578934765438212e-16,3.527690369875395e-08],"qvel":[0.0028895795989065504,0.04832255031386602,-0.0781564870648056,-0.02874833988329489,0.11348190126889113,-0.006839033257798334,-5.203691242557263e-06,-8.223233822731528e-07,-1.452725666903559e-16,2.740926564694466e-16,3.230981641687123e-15,-1.0546465234738607e-14,-5.559791083722402e-15,8.173740468915318e-09],"joint_position_rad":[-0.1770778134707762,1.2169545207828665,-0.8460795185865424,0.15050157381219512,0.6254024345877865,-0.2168137238096331],"joint_velocity_rad_s":[0.0028895795989065504,0.04832255031386602,-0.0781564870648056,-0.02874833988329489,0.11348190126889113,-0.006839033257798334],"gripper_joint_position_m":[0.034999785275918,-0.03500000906140437],"tcp_position_m":[0.3044310558639004,-0.034239980581791354,0.1849674211460905],"tcp_quaternion_wxyz":[0.32971611139326296,0.024603507576055127,0.9437542125432404,-0.0031527146316687694],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.1970710866887969e-16,1.1578934765438212e-16,3.527690369875395e-08],"object_linear_velocity_m_s":[-1.452725666903559e-16,2.740926564694466e-16,3.230981641687123e-15],"object_angular_velocity_rad_s":[-1.0546464840581301e-14,-5.5597918314073295e-15,8.17374046891533e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.1756956711873904,1.2233757881295706,-0.8541513909387728,0.1417040587671278,0.6724241721274182,-0.22242254784457882,0.035],"actuator_force_native":[0.09612348467633147,0.2720886361669841,-0.25496735285440764,-0.20815890238621826,0.2999945234929804,-0.0458296904627602,3.460741949279367e-05],"issued_joint_targets_rad":[-0.1756693261953385,1.224410695372573,-0.8558160986645258,0.14121555869821648,0.6748731375283571,-0.22263278398791486],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.280000000000432,"joint_targets_rad":[-0.1756693261953385,1.224410695372573,-0.8558160986645258,0.14121555869821648,0.6748731375283571,-0.22263278398791486],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.300000000000439,"qpos":[-0.17702113001035888,1.2179807228253163,-0.8477380596365799,0.14992322467394117,0.6278369793821966,-0.2169536858099901,0.03499977823055194,-0.03499999797822686,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,2.0838861777118245e-16,9.699554188513623e-17,3.5741420249517844e-08],"qvel":[0.002826770372279946,0.04848101753326003,-0.0782639592916865,-0.028453672361263158,0.11357200157917456,-0.006926996277183438,-1.6091808819971774e-06,-5.838111155310325e-06,-1.2495305287664914e-16,2.6476760870553087e-16,3.2448594294949363e-15,-7.665315868241258e-15,-4.2292601403168195e-15,1.4923185969695253e-08],"joint_position_rad":[-0.17702113001035888,1.2179807228253163,-0.8477380596365799,0.14992322467394117,0.6278369793821966,-0.2169536858099901],"joint_velocity_rad_s":[0.002826770372279946,0.04848101753326003,-0.0782639592916865,-0.028453672361263158,0.11357200157917456,-0.006926996277183438],"gripper_joint_position_m":[0.03499977823055194,-0.03499999797822686],"tcp_position_m":[0.3044424232265578,-0.03423290905877266,0.1849568670082596],"tcp_quaternion_wxyz":[0.32885620013651684,0.024244401257950972,0.9440634378020436,-0.0031676560421659288],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.0838861777118245e-16,9.699554188513623e-17,3.5741420249517844e-08],"object_linear_velocity_m_s":[-1.2495305287664914e-16,2.6476760870553087e-16,3.2448594294949363e-15],"object_angular_velocity_rad_s":[-7.665315563026755e-15,-4.22926069447501e-15,1.4923185969695273e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1756693261953385,1.224410695372573,-0.8558160986645258,0.14121555869821648,0.6748731375283571,-0.22263278398791486,0.035],"actuator_force_native":[0.09401045334023017,0.2719927161142266,-0.2549233257772414,-0.20603827722267187,0.30000357909284325,-0.046400487363472465,1.6916682332501765e-05],"issued_joint_targets_rad":[-0.17564331304076516,1.2254488791332747,-0.8574830675625789,0.14073118915953978,0.6773237364518501,-0.22284299303523136],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.300000000000439,"joint_targets_rad":[-0.17564331304076516,1.2254488791332747,-0.8574830675625789,0.14073118915953978,0.6773237364518501,-0.22284299303523136],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.320000000000445,"qpos":[-0.1769656832627256,1.2190102511722658,-0.8493989183962518,0.14935075376649207,0.6302735259855805,-0.21709538034090917,0.03499978138522184,-0.034999998158095624,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,2.195046215927907e-16,8.36212652980184e-17,3.6205638439213725e-08],"qvel":[0.002765959754210452,0.04863864581814143,-0.07837043048539662,-0.028164600769302606,0.11365975251586852,-0.0070127558239759715,-7.318615363894469e-06,2.5310008081471054e-06,-1.1261619304100136e-16,2.9572354706545474e-16,3.246247208275718e-15,-3.80567870496225e-15,-2.434095598611349e-15,2.7245969006853533e-08],"joint_position_rad":[-0.1769656832627256,1.2190102511722658,-0.8493989183962518,0.14935075376649207,0.6302735259855805,-0.21709538034090917],"joint_velocity_rad_s":[0.002765959754210452,0.04863864581814143,-0.07837043048539662,-0.028164600769302606,0.11365975251586852,-0.0070127558239759715],"gripper_joint_position_m":[0.03499978138522184,-0.034999998158095624],"tcp_position_m":[0.3044537358833133,-0.0342260272160205,0.18494625585862784],"tcp_quaternion_wxyz":[0.3279948462063707,0.02388728154166376,0.9443720984550861,-0.003180927874966493],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.195046215927907e-16,8.36212652980184e-17,3.6205638439213725e-08],"object_linear_velocity_m_s":[-1.1261619304100136e-16,2.9572354706545474e-16,3.246247208275718e-15],"object_angular_velocity_rad_s":[-3.805678524149589e-15,-2.4340958861466324e-15,2.724596900685357e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.17564331304076516,1.2254488791332747,-0.8574830675625789,0.14073118915953978,0.6773237364518501,-0.22284299303523136,0.035],"actuator_force_native":[0.09195981898578154,0.2718970077900025,-0.25487978087917895,-0.20395958043157858,0.30001247588889335,-0.04695699320725799,4.5337667946121485e-05],"issued_joint_targets_rad":[-0.1756176207672067,1.2264903190098613,-0.85915226730717,0.1402509009890487,0.6797759215873476,-0.22305320257246591],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.320000000000445,"joint_targets_rad":[-0.1756176207672067,1.2264903190098613,-0.85915226730717,0.1402509009890487,0.6797759215873476,-0.22305320257246591],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.340000000000452,"qpos":[-0.17691143662832734,1.2200430870736108,-0.851062071869717,0.14878404746179816,0.632712020836037,-0.21723876432222264,0.03499975024447841,-0.03499995473424453,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,2.1090541327668474e-16,6.991587482164892e-17,3.6594176234815056e-08],"qvel":[0.0027068146275604174,0.04879536074690311,-0.07847577414128919,-0.02788125504153272,0.11374481828040833,-0.007096381667020189,-2.0560947491992755e-06,-5.058121647815284e-06,-1.0629073642008112e-16,3.3749646629896776e-16,3.250410544618062e-15,1.6861324855475336e-15,-7.232628665319478e-16,4.9744258942418977e-08],"joint_position_rad":[-0.17691143662832734,1.2200430870736108,-0.851062071869717,0.14878404746179816,0.632712020836037,-0.21723876432222264],"joint_velocity_rad_s":[0.0027068146275604174,0.04879536074690311,-0.07847577414128919,-0.02788125504153272,0.11374481828040833,-0.007096381667020189],"gripper_joint_position_m":[0.03499975024447841,-0.03499995473424453],"tcp_position_m":[0.3044649955547451,-0.03421933206861595,0.18493559018257302],"tcp_quaternion_wxyz":[0.3271320673778066,0.023532111588944114,0.9446801881079379,-0.0031925559727818435],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,2.1090541327668474e-16,6.991587482164892e-17,3.6594176234815056e-08],"object_linear_velocity_m_s":[-1.0629073642008112e-16,3.3749646629896776e-16,3.250410544618062e-15],"object_angular_velocity_rad_s":[1.6861325454377766e-15,-7.23262764109355e-16,4.974425894241904e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.1756176207672067,1.2264903190098613,-0.85915226730717,0.1402509009890487,0.6797759215873476,-0.22305320257246591,0.035],"actuator_force_native":[0.08997119575185053,0.2718017511655262,-0.2548367642897773,-0.2019195837023151,0.3000217800924938,-0.04749981000190262,2.0270694609747508e-05],"issued_joint_targets_rad":[-0.17559223934843626,1.2275349936385236,-0.8608236661532578,0.13977464778193985,0.6822296439134714,-0.22326344086506397],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.340000000000452,"joint_targets_rad":[-0.17559223934843626,1.2275349936385236,-0.8608236661532578,0.13977464778193985,0.6822296439134714,-0.22326344086506397],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.360000000000459,"qpos":[-0.17685835436404984,1.2210792107426325,-0.8527274957566803,0.14822299657689955,0.6351524105646439,-0.21738379623032217,0.03499977853499727,-0.034999993019165974,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.8454359779477398e-16,5.154353920331737e-17,3.692666613636229e-08],"qvel":[0.0026495239800478406,0.04895110552526649,-0.07857994562223498,-0.027603132011690398,0.11382748116304052,-0.007177974806988161,-4.935486637735314e-07,-6.8116290595062875e-06,-9.125273200078272e-17,3.9786274205279093e-16,3.2531861021796253e-15,8.359884894852061e-15,-2.1936546931947576e-16,9.082045483895164e-08],"joint_position_rad":[-0.17685835436404984,1.2210792107426325,-0.8527274957566803,0.14822299657689955,0.6351524105646439,-0.21738379623032217],"joint_velocity_rad_s":[0.0026495239800478406,0.04895110552526649,-0.07857994562223498,-0.027603132011690398,0.11382748116304052,-0.007177974806988161],"gripper_joint_position_m":[0.03499977853499727,-0.034999993019165974],"tcp_position_m":[0.30447620370649103,-0.03421282045734473,0.18492487231446192],"tcp_quaternion_wxyz":[0.3262678814712796,0.0231788557370512,0.9449877003136121,-0.0032025650586350084],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.8454359779477398e-16,5.154353920331737e-17,3.692666613636229e-08],"object_linear_velocity_m_s":[-9.125273200078272e-17,3.9786274205279093e-16,3.2531861021796253e-15],"object_angular_velocity_rad_s":[8.359884920415339e-15,-2.193648854347852e-16,9.082045483895176e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.17559223934843626,1.2275349936385236,-0.8608236661532578,0.13977464778193985,0.6822296439134714,-0.22326344086506397,0.035],"actuator_force_native":[0.08804158134884688,0.2717071040449497,-0.25479390361502396,-0.19991829173993647,0.30003111174371444,-0.04802948413693553,1.1326343428041952e-05],"issued_joint_targets_rad":[-0.17556716028600067,1.2285828814731645,-0.8624972321243847,0.13930238697370792,0.6846848545772074,-0.22347373806585147],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.360000000000459,"joint_targets_rad":[-0.17556716028600067,1.2285828814731645,-0.8624972321243847,0.13930238697370792,0.6846848545772074,-0.22347373806585147],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.380000000000465,"qpos":[-0.17680640092425884,1.2221186011288057,-0.8543951638032437,0.14766749719063932,0.6375946430007746,-0.2175304365098801,0.03499978843768242,-0.03499999967476657,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.6033662736650378e-16,3.6415408186810626e-17,3.7271169754985924e-08],"qvel":[0.0025939882171588545,0.04910583355086375,-0.07868284198071696,-0.02733008194158385,0.11390771216495474,-0.007257624752870044,-5.970775675573628e-06,1.183947240693944e-06,-4.671088600682774e-17,1.975312067739411e-16,3.2504105446180625e-15,-6.5881622678533775e-15,-1.7570382526463652e-15,9.83965253788917e-09],"joint_position_rad":[-0.17680640092425884,1.2221186011288057,-0.8543951638032437,0.14766749719063932,0.6375946430007746,-0.2175304365098801],"joint_velocity_rad_s":[0.0025939882171588545,0.04910583355086375,-0.07868284198071696,-0.02733008194158385,0.11390771216495474,-0.007257624752870044],"gripper_joint_position_m":[0.03499978843768242,-0.03499999967476657],"tcp_position_m":[0.30448736128249565,-0.03420648865902617,0.1849141041534878],"tcp_quaternion_wxyz":[0.3254023057536219,0.022827479190377885,0.9452946287919919,-0.0032109782075276944],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6033662736650378e-16,3.6415408186810626e-17,3.7271169754985924e-08],"object_linear_velocity_m_s":[-4.671088600682774e-17,1.975312067739411e-16,3.2504105446180625e-15],"object_angular_velocity_rad_s":[-6.588162136162995e-15,-1.7570387468987047e-15,9.839652537889182e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.17556716028600067,1.2285828814731645,-0.8624972321243847,0.13930238697370792,0.6846848545772074,-0.22347373806585147,0.035],"actuator_force_native":[0.08616930997485817,0.27161325979439255,-0.25475125578770985,-0.19795399896933663,0.3000405475168968,-0.04854657843040844,3.831637108109298e-05],"issued_joint_targets_rad":[-0.17554237736985445,1.2296339616087184,-0.8641729342323883,0.13883408129049407,0.6871415068503908,-0.22368412825604753],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.380000000000465,"joint_targets_rad":[-0.17554237736985445,1.2296339616087184,-0.8641729342323883,0.13883408129049407,0.6871415068503908,-0.22368412825604753],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.400000000000472,"qpos":[-0.17675554348219696,1.223161236800017,-0.8560650481237698,0.1471174475496694,0.6400386649774146,-0.21767864725428399,0.03499976944282568,-0.03499997038515055,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.6475025718911245e-16,2.349413009454525e-17,3.776791445265403e-08],"qvel":[0.0025399839595697774,0.049259546751467785,-0.07878438810785851,-0.027062106789505935,0.11398536405482781,-0.007335402623650306,-1.6694079946147243e-06,-5.0132491969172e-06,-3.053077575305274e-17,2.0776972315161375e-16,3.2531861021796257e-15,-5.343441503503603e-15,-1.2201324777682771e-15,1.7964720712449314e-08],"joint_position_rad":[-0.17675554348219696,1.223161236800017,-0.8560650481237698,0.1471174475496694,0.6400386649774146,-0.21767864725428399],"joint_velocity_rad_s":[0.0025399839595697774,0.049259546751467785,-0.07878438810785851,-0.027062106789505935,0.11398536405482781,-0.007335402623650306],"gripper_joint_position_m":[0.03499976944282568,-0.03499997038515055],"tcp_position_m":[0.3044984690070531,-0.034200333660185656,0.18490328723646524],"tcp_quaternion_wxyz":[0.32453535747020684,0.022477948556275797,0.9456009672285338,-0.003217818647469922],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.6475025718911245e-16,2.349413009454525e-17,3.776791445265403e-08],"object_linear_velocity_m_s":[-3.053077575305274e-17,2.0776972315161375e-16,3.2531861021796257e-15],"object_angular_velocity_rad_s":[-5.343441410495746e-15,-1.2201328873089433e-15,1.7964720712449337e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.17554237736985445,1.2296339616087184,-0.8641729342323883,0.13883408129049407,0.6871415068503908,-0.22368412825604753,0.035],"actuator_force_native":[0.08435336918955372,0.27152025093876375,-0.2547089481501956,-0.19602411641948425,0.30005037264751966,-0.04905170608215981,1.7569326945965358e-05],"issued_joint_targets_rad":[-0.17551788401286803,1.230688212777743,-0.8658507411574631,0.13836969255379916,0.6895995535960121,-0.22389464245965546],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.400000000000472,"joint_targets_rad":[-0.17551788401286803,1.230688212777743,-0.8658507411574631,0.13836969255379916,0.6895995535960121,-0.22389464245965546],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.420000000000479,"qpos":[-0.17670574941350745,1.2242070964884233,-0.8577371201745841,0.14657275098935776,0.6424844253048491,-0.21782839218697791,0.0349997972696452,-0.03500000570439365,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.519188578088111e-16,9.448415639588224e-18,3.820280496961272e-08],"qvel":[0.0024876706198878515,0.04941224201463283,-0.07888456493899895,-0.026798747311880415,0.11406072901424902,-0.007411408846266468,-1.6345952643074526e-06,-4.663427425967037e-06,-8.408363310355513e-18,2.0996396696359035e-16,8.328999084967847e-16,-2.7313232264482293e-15,-1.1220950402024504e-15,3.279904336393769e-08],"joint_position_rad":[-0.17670574941350745,1.2242070964884233,-0.8577371201745841,0.14657275098935776,0.6424844253048491,-0.21782839218697791],"joint_velocity_rad_s":[0.0024876706198878515,0.04941224201463283,-0.07888456493899895,-0.026798747311880415,0.11406072901424902,-0.007411408846266468],"gripper_joint_position_m":[0.0349997972696452,-0.03500000570439365],"tcp_position_m":[0.304509527313065,-0.03419435191263094,0.18489242261830774],"tcp_quaternion_wxyz":[0.32366705288604436,0.02213023137638556,0.9459067096236808,-0.0032231078467505137],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.519188578088111e-16,9.448415639588224e-18,3.820280496961272e-08],"object_linear_velocity_m_s":[-8.408363310355513e-18,2.0996396696359035e-16,8.328999084967847e-16],"object_angular_velocity_rad_s":[-2.7313231400940707e-15,-1.1220952588564521e-15,3.279904336393774e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000103},{"geom_ids":[1,90],"normal_force_n":0.0981000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000095},{"geom_ids":[1,90],"normal_force_n":0.09810000000000098}],"native_actuator_controls":[-0.17551788401286803,1.230688212777743,-0.8658507411574631,0.13836969255379916,0.6895995535960121,-0.22389464245965546,0.035],"actuator_force_native":[0.08259087895171469,0.27142809307240157,-0.2546668539353192,-0.1941286008629417,0.3000601893902566,-0.049545389457375855,1.6282190513638994e-05],"issued_joint_targets_rad":[-0.17549367597358473,1.2317456148565236,-0.8675306233523046,0.13790918774329847,0.6920589509445129,-0.22410531556876848],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.420000000000479,"joint_targets_rad":[-0.17549367597358473,1.2317456148565236,-0.8675306233523046,0.13790918774329847,0.6920589509445129,-0.22410531556876848],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.440000000000485,"qpos":[-0.17665698661767523,1.225256158881395,-0.8594113504973685,0.14603331553052482,0.644931874761483,-0.21797963696077896,0.034999798227189655,-0.03499999993636252,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.3475624953055734e-16,-1.7189767877021596e-17,3.8609222529910644e-08],"qvel":[0.0024369068780238524,0.04956392870944312,-0.0789833223669866,-0.026539914544585333,0.11413377631780837,-0.0074857296951104536,-5.437153669227447e-06,8.3020777490517e-07,4.964564562394355e-17,2.2594484135442127e-16,1.6655671769656521e-15,8.38906030150177e-16,-4.285597778868374e-15,5.988277039253319e-08],"joint_position_rad":[-0.17665698661767523,1.225256158881395,-0.8594113504973685,0.14603331553052482,0.644931874761483,-0.21797963696077896],"joint_velocity_rad_s":[0.0024369068780238524,0.04956392870944312,-0.0789833223669866,-0.026539914544585333,0.11413377631780837,-0.0074857296951104536],"gripper_joint_position_m":[0.034999798227189655,-0.03499999993636252],"tcp_position_m":[0.3045205362528941,-0.034188539459824516,0.18488151083664212],"tcp_quaternion_wxyz":[0.3227974072407841,0.02178429600933297,0.9462118503080402,-0.003226865761061941],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.3475624953055734e-16,-1.7189767877021596e-17,3.8609222529910644e-08],"object_linear_velocity_m_s":[4.964564562394355e-17,2.2594484135442127e-16,1.6655671769656521e-15],"object_angular_velocity_rad_s":[8.389063590186313e-16,-4.285597730228504e-15,5.988277039253329e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.17549367597358473,1.2317456148565236,-0.8675306233523046,0.13790918774329847,0.6920589509445129,-0.22410531556876848,0.035],"actuator_force_native":[0.08088031713712063,0.2713368344630567,-0.2546252165599583,-0.19226553876612673,0.30007009735358636,-0.05002819153722937,3.5256680759987447e-05],"issued_joint_targets_rad":[-0.1754697510206276,1.2328061488983453,-0.869212553108526,0.13745253810619298,0.6945196583018821,-0.2243161856815541],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.440000000000485,"joint_targets_rad":[-0.1754697510206276,1.2328061488983453,-0.869212553108526,0.13745253810619298,0.6945196583018821,-0.2243161856815541],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.460000000000492,"qpos":[-0.17660922554603373,1.2263084033543452,-0.8610877093929193,0.145499051358862,0.6473809642354401,-0.21813234884914992,0.034999782562756106,-0.03499997553571492,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,1.0443004313114467e-16,-2.5431159463530475e-17,3.888779364641288e-08],"qvel":[0.002387544511641222,0.049714654537689015,-0.07908066540698265,-0.026285528827157702,0.11420448454971671,-0.007558439597298874,-1.4878745906269873e-06,-4.832926106131569e-06,-6.85273344857993e-18,2.164601896705013e-16,1.7349561160047244e-15,2.8332139887664758e-15,3.560404061752554e-15,1.0933081645385718e-07],"joint_position_rad":[-0.17660922554603373,1.2263084033543452,-0.8610877093929193,0.145499051358862,0.6473809642354401,-0.21813234884914992],"joint_velocity_rad_s":[0.002387544511641222,0.049714654537689015,-0.07908066540698265,-0.026285528827157702,0.11420448454971671,-0.007558439597298874],"gripper_joint_position_m":[0.034999782562756106,-0.03499997553571492],"tcp_position_m":[0.30453149584467787,-0.0341828929883742,0.18487055212850595],"tcp_quaternion_wxyz":[0.32192643539937715,0.021440112073871483,0.9465163837033737,-0.003229112323556873],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,1.0443004313114467e-16,-2.5431159463530475e-17,3.888779364641288e-08],"object_linear_velocity_m_s":[-6.85273344857993e-18,2.164601896705013e-16,1.7349561160047244e-15],"object_angular_velocity_rad_s":[2.8332137062931366e-15,3.560404259272586e-15,1.0933081645385735e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1754697510206276,1.2328061488983453,-0.869212553108526,0.13745253810619298,0.6945196583018821,-0.2243161856815541,0.035],"actuator_force_native":[0.07922023947428514,0.27124637083156244,-0.2545841702136187,-0.19043288597097252,0.30008021383984484,-0.05050070892809355,1.61368627091818e-05],"issued_joint_targets_rad":[-0.1754461068200938,1.2338697960629255,-0.8708965030772756,0.13699971442356731,0.6969816357067209,-0.22452728869725114],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.460000000000492,"joint_targets_rad":[-0.1754461068200938,1.2338697960629255,-0.8708965030772756,0.13699971442356731,0.6969816357067209,-0.22452728869725114],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.480000000000499,"qpos":[-0.17656243685742887,1.2273638101602213,-0.8627661677502656,0.1449698736001285,0.6498316472472491,-0.21828649679231163,0.034999809618421564,-0.035000009841522385,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,8.414798757520972e-17,-6.31454842507021e-18,3.930251147580735e-08],"qvel":[0.002339695120319472,0.04986444809574495,-0.07917662971365491,-0.026035194453057655,0.11427311722605013,-0.007629636546452358,-1.5439632955104588e-06,-4.368438521427087e-06,9.415425573100593e-18,1.0631179160696162e-16,1.8293250730978625e-15,-3.853833334400216e-15,1.1699657703886853e-15,1.1845098634413166e-08],"joint_position_rad":[-0.17656243685742887,1.2273638101602213,-0.8627661677502656,0.1449698736001285,0.6498316472472491,-0.21828649679231163],"joint_velocity_rad_s":[0.002339695120319472,0.04986444809574495,-0.07917662971365491,-0.026035194453057655,0.11427311722605013,-0.007629636546452358],"gripper_joint_position_m":[0.034999809618421564,-0.035000009841522385],"tcp_position_m":[0.30454240600866334,-0.03417740866644324,0.1848595464207065],"tcp_quaternion_wxyz":[0.32105415118878516,0.02109764999367026,0.9468203045651122,-0.003229865697081322],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.414798757520972e-17,-6.31454842507021e-18,3.930251147580735e-08],"object_linear_velocity_m_s":[9.415425573100593e-18,1.0631179160696162e-16,1.8293250730978625e-15],"object_angular_velocity_rad_s":[-3.853833426514989e-15,1.1699654654645434e-15,1.1845098634413185e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1754461068200938,1.2338697960629255,-0.8708965030772756,0.13699971442356731,0.6969816357067209,-0.22452728869725114,0.035],"actuator_force_native":[0.07760792738520905,0.27115663173761106,-0.2545436775925225,-0.18863039479715926,0.30009020875564385,-0.05096346422971676,1.5335079615264036e-05],"issued_joint_targets_rad":[-0.17542274340725547,1.2349365387570583,-0.8725824478072989,0.13655069256717225,0.6994448466066221,-0.22473866465865866],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.480000000000499,"joint_targets_rad":[-0.17542274340725547,1.2349365387570583,-0.8725824478072989,0.13655069256717225,0.6994448466066221,-0.22473866465865866],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.500000000000505,"qpos":[-0.17651659191867486,1.2284223600773028,-0.8644466967936749,0.14444570170278853,0.6522838794969456,-0.2184420516219286,0.03499980785368528,-0.03500000075635693,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.550612586608985e-17,-5.2888107922889385e-18,3.9773038787262227e-08],"qvel":[0.002293229048679745,0.05001334054902507,-0.07927122690640082,-0.025788815830358885,0.11433967186145347,-0.0076994064612112625,-5.5794967547902466e-06,1.4392710863870247e-06,8.262199241537621e-18,9.839251260710049e-17,1.794630603578327e-15,-2.3081796099641984e-15,2.6524938828402596e-16,2.1626158846488645e-08],"joint_position_rad":[-0.17651659191867486,1.2284223600773028,-0.8644466967936749,0.14444570170278853,0.6522838794969456,-0.2184420516219286],"joint_velocity_rad_s":[0.002293229048679745,0.05001334054902507,-0.07927122690640082,-0.025788815830358885,0.11433967186145347,-0.0076994064612112625],"gripper_joint_position_m":[0.03499980785368528,-0.03500000075635693],"tcp_position_m":[0.3045532665293696,-0.034172082374480224,0.18484849339031512],"tcp_quaternion_wxyz":[0.3201805676102382,0.020756880952110514,0.9471236079073508,-0.00322914268623823],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.550612586608985e-17,-5.2888107922889385e-18,3.9773038787262227e-08],"object_linear_velocity_m_s":[8.262199241537621e-18,9.839251260710049e-17,1.794630603578327e-15],"object_angular_velocity_rad_s":[-2.308179631292496e-15,2.652492014115763e-16,2.1626158846488678e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.17542274340725547,1.2349365387570583,-0.8725824478072989,0.13655069256717225,0.6994448466066221,-0.22473866465865866,0.035],"actuator_force_native":[0.07604173567015238,0.27106759163530114,-0.25450394655791797,-0.18685628627285666,0.30010016330458456,-0.051417020675483815,3.558333636277666e-05],"issued_joint_targets_rad":[-0.17539966264932766,1.2360063603305902,-0.8742703633026097,0.13610545227168153,0.7019092570785447,-0.22495035660499776],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.500000000000505,"joint_targets_rad":[-0.17539966264932766,1.2360063603305902,-0.8742703633026097,0.13610545227168153,0.7019092570785447,-0.22495035660499776],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.520000000000512,"qpos":[-0.17647166458224903,1.2294840348099496,-0.8661292685049056,0.1439264571976194,0.6547376169524877,-0.21859898578592118,0.03499978817841187,-0.0349999715260091,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.98922737447924e-17,-1.2206091414254524e-17,4.017709675686859e-08],"qvel":[0.0022479870382933107,0.05016138356619488,-0.07936450117968137,-0.025546336056468583,0.11440411229153724,-0.007767823538136474,-1.4765480214767084e-06,-4.468047499801896e-06,2.1926732215012602e-17,1.0428170878966241e-16,1.780752815770513e-15,-4.0931955035671624e-16,-1.0049788391259005e-15,3.948390476840828e-08],"joint_position_rad":[-0.17647166458224903,1.2294840348099496,-0.8661292685049056,0.1439264571976194,0.6547376169524877,-0.21859898578592118],"joint_velocity_rad_s":[0.0022479870382933107,0.05016138356619488,-0.07936450117968137,-0.025546336056468583,0.11440411229153724,-0.007767823538136474],"gripper_joint_position_m":[0.03499978817841187,-0.0349999715260091],"tcp_position_m":[0.30456407735473745,-0.0341669106389568,0.184837392697336],"tcp_quaternion_wxyz":[0.3193056975716166,0.020417777286044637,0.9474262887410101,-0.00322696009219198],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.98922737447924e-17,-1.2206091414254524e-17,4.017709675686859e-08],"object_linear_velocity_m_s":[2.1926732215012602e-17,1.0428170878966241e-16,1.780752815770513e-15],"object_angular_velocity_rad_s":[-4.093194705663395e-16,-1.0049788775356812e-15,3.948390476840834e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.17539966264932766,1.2360063603305902,-0.8742703633026097,0.13610545227168153,0.7019092570785447,-0.22495035660499776,0.035],"actuator_force_native":[0.07452021944224185,0.27097912382026834,-0.2544650779179136,-0.1851085167551716,0.30011023282326477,-0.051861972883561425,1.5855603632708437e-05],"issued_joint_targets_rad":[-0.1753768664092509,1.2370792439361782,-0.8759602254158994,0.1356639731364619,0.7043748330718933,-0.22516240596423975],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.520000000000512,"joint_targets_rad":[-0.1753768664092509,1.2370792439361782,-0.8759602254158994,0.1356639731364619,0.7043748330718933,-0.22516240596423975],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.540000000000519,"qpos":[-0.17642762901483133,1.230548816909721,-0.8678138560929942,0.14341206631106954,0.6571928179525641,-0.21875727339817874,0.03499981442852637,-0.03500000570898834,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.385190598160865e-17,-2.845290717570904e-17,4.054120797500579e-08],"qvel":[0.002204072990266845,0.05030860158727687,-0.07945651518581154,-0.025307372145955107,0.11446668636887773,-0.00783498518342521,-2.75601159228373e-07,-5.795862064220544e-06,8.573959809468955e-17,1.2415939909250212e-16,1.7987939399206716e-15,1.866374424862517e-15,-4.9025598863237865e-15,7.208763917933788e-08],"joint_position_rad":[-0.17642762901483133,1.230548816909721,-0.8678138560929942,0.14341206631106954,0.6571928179525641,-0.21875727339817874],"joint_velocity_rad_s":[0.002204072990266845,0.05030860158727687,-0.07945651518581154,-0.025307372145955107,0.11446668636887773,-0.00783498518342521],"gripper_joint_position_m":[0.03499981442852637,-0.03500000570898834],"tcp_position_m":[0.3045748384966288,-0.034161889546862806,0.18482624397235042],"tcp_quaternion_wxyz":[0.3184295533640985,0.020080312076475794,0.9477283422663759,-0.0032233331008400803],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.385190598160865e-17,-2.845290717570904e-17,4.054120797500579e-08],"object_linear_velocity_m_s":[8.573959809468955e-17,1.2415939909250212e-16,1.7987939399206716e-15],"object_angular_velocity_rad_s":[1.8663748182717082e-15,-4.902559744199497e-15,7.208763917933799e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1753768664092509,1.2370792439361782,-0.8759602254158994,0.1356639731364619,0.7043748330718933,-0.22516240596423975,0.035],"actuator_force_native":[0.07304064349510142,0.27089115418019105,-0.25442696990336344,-0.18338686625452993,0.30012012163997515,-0.05229884788547201,8.800864741420611e-06],"issued_joint_targets_rad":[-0.17535435877915942,1.2381551734755167,-0.8776520111008349,0.13522623962739577,0.7068415427100982,-0.22537485824739129],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.540000000000519,"joint_targets_rad":[-0.17535435877915942,1.2381551734755167,-0.8776520111008349,0.13522623962739577,0.7068415427100982,-0.22537485824739129],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.560000000000525,"qpos":[-0.17638445995609897,1.2316166892359064,-0.8695004334712866,0.14290245965722345,0.6596494428563995,-0.21891689047551907,0.034999810150475534,-0.034999993257684076,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,5.1631591876299325e-17,-3.7086535051151464e-17,4.081465356167847e-08],"qvel":[0.0021613707102605627,0.050455010455438494,-0.07954729266210529,-0.02507181832600926,0.11452739081598408,-0.007900979357839583,-3.828144718637083e-06,-7.114191719293522e-07,4.2607337986499514e-17,6.453712513244241e-17,1.8459784184672405e-15,-2.3504194218152208e-15,1.1649753828808866e-15,7.810105367333096e-09],"joint_position_rad":[-0.17638445995609897,1.2316166892359064,-0.8695004334712866,0.14290245965722345,0.6596494428563995,-0.21891689047551907],"joint_velocity_rad_s":[0.0021613707102605627,0.050455010455438494,-0.07954729266210529,-0.02507181832600926,0.11452739081598408,-0.007900979357839583],"gripper_joint_position_m":[0.034999810150475534,-0.034999993257684076],"tcp_position_m":[0.3045855499253382,-0.03415701484755359,0.1848150468253747],"tcp_quaternion_wxyz":[0.3175521468109319,0.019744459070197066,0.9480297638231103,-0.003218275515146688],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.1631591876299325e-17,-3.7086535051151464e-17,4.081465356167847e-08],"object_linear_velocity_m_s":[4.2607337986499514e-17,6.453712513244241e-17,1.8459784184672405e-15],"object_angular_velocity_rad_s":[-2.3504195174906498e-15,1.1649751902112796e-15,7.81010536733311e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09810000000000059},{"geom_ids":[1,90],"normal_force_n":0.09810000000000087}],"native_actuator_controls":[-0.17535435877915942,1.2381551734755167,-0.8776520111008349,0.13522623962739577,0.7068415427100982,-0.22537485824739129,0.035],"actuator_force_native":[0.07160124060386153,0.27080368689162526,-0.25438974705333806,-0.18168970956306119,0.300129912313011,-0.05272820868196293,2.6734704571929058e-05],"issued_joint_targets_rad":[-0.17533214579474496,1.2392341333988457,-0.8793456981126992,0.13479224041237223,0.7093093557815227,-0.22558776252190307],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.560000000000525,"joint_targets_rad":[-0.17533214579474496,1.2392341333988457,-0.8793456981126992,0.13479224041237223,0.7093093557815227,-0.22558776252190307],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.580000000000532,"qpos":[-0.1763421350286099,1.2326876352302887,-0.8711889753256034,0.14239756929356767,0.6621074514146346,-0.21907781462953327,0.034999807778757275,-0.03499998807309036,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.704645883297069e-17,-6.561280269084928e-17,4.131389614933234e-08],"qvel":[0.0021197628156569897,0.05060065147181057,-0.07963689351750099,-0.0248395704153317,0.11458622426940071,-0.007965879314253075,-9.401489143145329e-07,-4.724146719803299e-06,7.630354562453662e-17,8.232283346796892e-17,1.7724261430858243e-15,-1.968764075512276e-15,1.511037678433519e-15,1.4259280103520203e-08],"joint_position_rad":[-0.1763421350286099,1.2326876352302887,-0.8711889753256034,0.14239756929356767,0.6621074514146346,-0.21907781462953327],"joint_velocity_rad_s":[0.0021197628156569897,0.05060065147181057,-0.07963689351750099,-0.0248395704153317,0.11458622426940071,-0.007965879314253075],"gripper_joint_position_m":[0.034999807778757275,-0.03499998807309036],"tcp_position_m":[0.3045962118667313,-0.03415228316214387,0.18480380105747896],"tcp_quaternion_wxyz":[0.3166734901735679,0.019410193179286543,0.9483305485709581,-0.003211801541149826],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.704645883297069e-17,-6.561280269084928e-17,4.131389614933234e-08],"object_linear_velocity_m_s":[7.630354562453662e-17,8.232283346796892e-17,1.7724261430858243e-15],"object_angular_velocity_rad_s":[-1.9687642022371627e-15,1.511037513846819e-15,1.4259280103520228e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.17533214579474496,1.2392341333988457,-0.8793456981126992,0.13479224041237223,0.7093093557815227,-0.22558776252190307,0.035],"actuator_force_native":[0.07020032463090864,0.27071659612551,-0.2543533553801751,-0.18001530317115932,0.3001397072647807,-0.0531506599523186,1.238959428073727e-05],"issued_joint_targets_rad":[-0.1753102330882273,1.2403161072633115,-0.8810412629966374,0.13436196327954533,0.7117782402976282,-0.22580116556535573],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.580000000000532,"joint_targets_rad":[-0.1753102330882273,1.2403161072633115,-0.8810412629966374,0.13436196327954533,0.7117782402976282,-0.22580116556535573],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.600000000000539,"qpos":[-0.176300631399804,1.2337616387081483,-0.8728794574280031,0.1418973328678492,0.664566806083346,-0.21924002521661196,0.034999820851071596,-0.03500000221538631,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.611250180078292e-17,-7.774688794137163e-17,4.175746210163398e-08],"qvel":[0.002079324463818375,0.050745515320543076,-0.07972534613527892,-0.02461028486485436,0.11464336979504494,-0.008029787486003592,-5.049753740906433e-06,1.3937706160986533e-06,1.0199754082511309e-16,1.0007690251535783e-16,1.6794449647734674e-15,-1.1077689869948936e-15,1.118220760284057e-15,2.603384455232864e-08],"joint_position_rad":[-0.176300631399804,1.2337616387081483,-0.8728794574280031,0.1418973328678492,0.664566806083346,-0.21924002521661196],"joint_velocity_rad_s":[0.002079324463818375,0.050745515320543076,-0.07972534613527892,-0.02461028486485436,0.11464336979504494,-0.008029787486003592],"gripper_joint_position_m":[0.034999820851071596,-0.03500000221538631],"tcp_position_m":[0.3046068245467426,-0.034147690276746696,0.18479250651035947],"tcp_quaternion_wxyz":[0.31579359516897304,0.01907748985495721,0.9486306918432148,-0.0032039232438349574],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.611250180078292e-17,-7.774688794137163e-17,4.175746210163398e-08],"object_linear_velocity_m_s":[1.0199754082511309e-16,1.0007690251535783e-16,1.6794449647734674e-15],"object_angular_velocity_rad_s":[-1.1077690844311144e-15,1.1182206638058099e-15,2.6033844552328685e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.1753102330882273,1.2403161072633115,-0.8810412629966374,0.13436196327954533,0.7117782402976282,-0.22580116556535573,0.035],"actuator_force_native":[0.06883524260704554,0.27062990781034557,-0.2543177148143485,-0.17836335920788304,0.30014928745025493,-0.053566722258432176,3.241472584081251e-05],"issued_joint_targets_rad":[-0.175288629262937,1.2414010794030936,-0.882738683348857,0.1339354025253631,0.7142481665038609,-0.2260151203144932],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.600000000000539,"joint_targets_rad":[-0.175288629262937,1.2414010794030936,-0.882738683348857,0.1339354025253631,0.7142481665038609,-0.2260151203144932],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6200000000005454,"qpos":[-0.17625992825510067,1.2348386833696474,-0.8745718556897409,0.14140169048419673,0.6670274692474526,-0.21940350343585724,0.034999803088451985,-0.03499997562922413,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.759882347328866e-17,-6.07311698655075e-17,4.2183097495626846e-08],"qvel":[0.002039789395757608,0.0508896109784611,-0.07981264979987002,-0.024384055793431943,0.11469863381470385,-0.008092776161796648,-1.2509045911845346e-06,-4.075639782812315e-06,8.78328292052172e-17,1.2099894638054486e-16,1.703037204046752e-15,4.567683314263562e-16,1.501237756301013e-15,4.7531225787996736e-08],"joint_position_rad":[-0.17625992825510067,1.2348386833696474,-0.8745718556897409,0.14140169048419673,0.6670274692474526,-0.21940350343585724],"joint_velocity_rad_s":[0.002039789395757608,0.0508896109784611,-0.07981264979987002,-0.024384055793431943,0.11469863381470385,-0.008092776161796648],"gripper_joint_position_m":[0.034999803088451985,-0.03499997562922413],"tcp_position_m":[0.3046173882406393,-0.034143232386459776,0.1847811631469306],"tcp_quaternion_wxyz":[0.31491247381189286,0.01874632543047126,0.9489301888526565,-0.0031946524991316437],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.759882347328866e-17,-6.07311698655075e-17,4.2183097495626846e-08],"object_linear_velocity_m_s":[8.78328292052172e-17,1.2099894638054486e-16,1.703037204046752e-15],"object_angular_velocity_rad_s":[4.567681989993845e-16,1.5012377874600818e-15,4.753122578799682e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.175288629262937,1.2414010794030936,-0.882738683348857,0.1339354025253631,0.7142481665038609,-0.2260151203144932,0.035],"actuator_force_native":[0.06750497239430686,0.2705436277833968,-0.25428296372992065,-0.17673123938618573,0.3001590218420276,-0.05397700454366472,1.4130984876681296e-05],"issued_joint_targets_rad":[-0.1752673433857467,1.242489033554988,-0.8844379359219846,0.1335125534535682,0.7167191035830123,-0.22622967983811454],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.6200000000005454,"joint_targets_rad":[-0.1752673433857467,1.242489033554988,-0.8844379359219846,0.1335125534535682,0.7167191035830123,-0.22622967983811454],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.640000000000552,"qpos":[-0.1762200060031148,1.2359187532124432,-0.876266146738419,0.14091058565248046,0.6694894040063086,-0.2195682320720105,0.0349998266681278,-0.035000006216278995,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.021965422580356e-17,-3.0349361978671016e-17,4.2500795515833836e-08],"qvel":[0.0020013007637250655,0.051032942723778466,-0.07989885691450753,-0.024160448668801043,0.11475228567966848,-0.008154943710227269,-1.2640351076056149e-06,-3.6965054563249006e-06,-1.2441944414721886e-17,1.7346154370802994e-16,1.673893849650342e-15,5.038668867840619e-15,7.410556231929567e-15,8.67800151594516e-08],"joint_position_rad":[-0.1762200060031148,1.2359187532124432,-0.876266146738419,0.14091058565248046,0.6694894040063086,-0.2195682320720105],"joint_velocity_rad_s":[0.0020013007637250655,0.051032942723778466,-0.07989885691450753,-0.024160448668801043,0.11475228567966848,-0.008154943710227269],"gripper_joint_position_m":[0.0349998266681278,-0.035000006216278995],"tcp_position_m":[0.3046279033465662,-0.034138905713139635,0.18476977106118214],"tcp_quaternion_wxyz":[0.3140301382010169,0.018416677092153708,0.9492290347687948,-0.003184000351033293],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.021965422580356e-17,-3.0349361978671016e-17,4.2500795515833836e-08],"object_linear_velocity_m_s":[-1.2441944414721886e-17,1.7346154370802994e-16,1.673893849650342e-15],"object_angular_velocity_rad_s":[5.0386682326641046e-15,7.410556648037099e-15,8.678001515945176e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.1752673433857467,1.242489033554988,-0.8844379359219846,0.1335125534535682,0.7167191035830123,-0.22622967983811454,0.035],"actuator_force_native":[0.06620650557082364,0.27045771378469396,-0.2542488501127167,-0.17511904461248662,0.3001685672475336,-0.05438206209569918,1.3253450426242708e-05],"issued_joint_targets_rad":[-0.17524638580587412,1.2435799532110505,-0.8861389970969082,0.13309341416301104,0.7191910205121897,-0.2264448992735125],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.640000000000552,"joint_targets_rad":[-0.17524638580587412,1.2435799532110505,-0.8861389970969082,0.13309341416301104,0.7191910205121897,-0.2264448992735125],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.660000000000559,"qpos":[-0.17618084546362578,1.2370018319022575,-0.8779623072045589,0.14042396633526205,0.6719525748425953,-0.2197341958545167,0.0349998268346396,-0.03500000116511615,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,6.658358001681491e-17,2.9483095535849207e-18,4.2829972784320955e-08],"qvel":[0.0019636978171964103,0.051175492330563996,-0.07998394232046582,-0.02393942807373608,0.11480422886320328,-0.008216377141068107,-2.93278213000678e-06,-1.2567372035999095e-06,2.9684273423888652e-18,8.252703985420547e-17,1.6849960798965932e-15,-2.782634682687343e-15,9.357324504564898e-16,9.401903986452381e-09],"joint_position_rad":[-0.17618084546362578,1.2370018319022575,-0.8779623072045589,0.14042396633526205,0.6719525748425953,-0.2197341958545167],"joint_velocity_rad_s":[0.0019636978171964103,0.051175492330563996,-0.07998394232046582,-0.02393942807373608,0.11480422886320328,-0.008216377141068107],"gripper_joint_position_m":[0.0349998268346396,-0.03500000116511615],"tcp_position_m":[0.3046383701435903,-0.034134706049683106,0.18475833034364025],"tcp_quaternion_wxyz":[0.313146600248779,0.01808852258313708,0.9495272248171689,-0.0031719764180105055],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,6.658358001681491e-17,2.9483095535849207e-18,4.2829972784320955e-08],"object_linear_velocity_m_s":[2.9684273423888652e-18,8.252703985420547e-17,1.6849960798965932e-15],"object_angular_velocity_rad_s":[-2.782634762786689e-15,9.357322108441278e-16,9.401903986452397e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.17524638580587412,1.2435799532110505,-0.8861389970969082,0.13309341416301104,0.7191910205121897,-0.2264448992735125,0.035],"actuator_force_native":[0.06493828353415054,0.27037224305061613,-0.2542154797856142,-0.17352494652135952,0.300178113401139,-0.054782468478355995,2.1590525066228494e-05],"issued_joint_targets_rad":[-0.175225768949306,1.2446738220728681,-0.8878418434995838,0.1326779872027085,0.7216638871260472,-0.22666083799907927],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.660000000000559,"joint_targets_rad":[-0.175225768949306,1.2446738220728681,-0.8878418434995838,0.1326779872027085,0.7216638871260472,-0.22666083799907927],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6800000000005655,"qpos":[-0.17614242992953888,1.2380879030773229,-0.8796603137089912,0.13994178223123419,0.6744169453900721,-0.21990138116489918,0.03499983009931428,-0.03500000312121274,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.135053098867831e-17,1.2485073964395241e-17,4.330461819840149e-08],"qvel":[0.0019269123526862307,0.0513172703285536,-0.08006792702495054,-0.023720836127569467,0.11485449005836908,-0.008277157282352673,-6.457421023417829e-07,-4.392696060906787e-06,-1.320425191609713e-17,9.080954553462507e-17,1.6336482650076803e-15,-2.155051539679514e-15,-1.0595045153946585e-16,1.7165502402802934e-08],"joint_position_rad":[-0.17614242992953888,1.2380879030773229,-0.8796603137089912,0.13994178223123419,0.6744169453900721,-0.21990138116489918],"joint_velocity_rad_s":[0.0019269123526862307,0.0513172703285536,-0.08006792702495054,-0.023720836127569467,0.11485449005836908,-0.008277157282352673],"gripper_joint_position_m":[0.03499983009931428,-0.03500000312121274],"tcp_position_m":[0.3046487890264688,-0.03413062984589714,0.1847468412059719],"tcp_quaternion_wxyz":[0.3122618723692301,0.017761840639826987,0.9498247540402489,-0.0031585904971125323],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.135053098867831e-17,1.2485073964395241e-17,4.330461819840149e-08],"object_linear_velocity_m_s":[-1.320425191609713e-17,9.080954553462507e-17,1.6336482650076803e-15],"object_angular_velocity_rad_s":[-2.1550515300745974e-15,-1.0595064063636931e-16,1.7165502402802964e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.175225768949306,1.2446738220728681,-0.8878418434995838,0.1326779872027085,0.7216638871260472,-0.22666083799907927,0.035],"actuator_force_native":[0.06369831665520032,0.2702871680008485,-0.25418274812265906,-0.1719476205031798,0.30018768227219805,-0.05517883241827182,1.0024737940428352e-05],"issued_joint_targets_rad":[-0.17037258171968175,1.2725989509952038,-0.8698487536651632,0.12594541810046828,0.678546007226029,-0.21104521718833352],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.6800000000005655,"joint_targets_rad":[-0.17037258171968175,1.2725989509952038,-0.8698487536651632,0.12594541810046828,0.678546007226029,-0.21104521718833352],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.700000000000572,"qpos":[-0.1758211366829453,1.2397144453496352,-0.880518912198726,0.1391650794857572,0.6756596943100881,-0.21992166946631092,0.03500095544830703,-0.0349959625282575,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,9.024440162642045e-17,2.1274778964779864e-18,4.377608824391838e-08],"qvel":[0.024924478730872508,0.144890085754395,-0.014914699238433136,-0.04010609377139345,0.026033526451344477,0.007268469680405035,-5.7100389735936766e-05,0.0001424067839211822,5.515962170888682e-19,1.2497536255466075e-16,1.6586282830617467e-15,-1.3944792264177288e-16,-8.345565930052042e-16,3.133987255828386e-08],"joint_position_rad":[-0.1758211366829453,1.2397144453496352,-0.880518912198726,0.1391650794857572,0.6756596943100881,-0.21992166946631092],"joint_velocity_rad_s":[0.024924478730872508,0.144890085754395,-0.014914699238433136,-0.04010609377139345,0.026033526451344477,0.007268469680405035],"gripper_joint_position_m":[0.03500095544830703,-0.0349959625282575],"tcp_position_m":[0.30471506860220476,-0.03411651983067989,0.1844017723403064],"tcp_quaternion_wxyz":[0.3112729089459274,0.01736501688963498,0.9501563955873576,-0.003233615500343468],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,9.024440162642045e-17,2.1274778964779864e-18,4.377608824391838e-08],"object_linear_velocity_m_s":[5.515962170888682e-19,1.2497536255466075e-16,1.6586282830617467e-15],"object_angular_velocity_rad_s":[-1.3944784944117648e-16,-8.345566108706678e-16,3.133987255828392e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.17037258171968175,1.2725989509952038,-0.8698487536651632,0.12594541810046828,0.6916638871260483,-0.21104521718833352,0.035],"actuator_force_native":[0.3112620034067213,1.9063100228735124,0.9281861788771977,-0.32825598655459043,0.1209916384825851,0.0778618182591666,0.00024728401639850794],"issued_joint_targets_rad":[-0.17005437085341854,1.2742487412622847,-0.8707144412742632,0.12517844848643866,0.6797783378572491,-0.21101109759744488],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.700000000000572,"joint_targets_rad":[-0.17005437085341854,1.2742487412622847,-0.8707144412742632,0.12517844848643866,0.6797783378572491,-0.21101109759744488],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.720000000000579,"qpos":[-0.17523114712182997,1.2442418491186356,-0.8806060853588847,0.13835147824226726,0.6758130909013957,-0.2197245118109093,0.0349993702164063,-0.03499604808446487,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,8.669347417370284e-17,3.58932818521538e-18,4.416442501349591e-08],"qvel":[0.02999948905325022,0.281360428837271,0.002267069990590051,-0.04010763459748486,-0.0009715797402723184,0.01102311036349123,-7.262775494078642e-05,-0.00012625560939485514,-1.289880105401961e-17,1.4088526735842616e-16,1.6766694072119054e-15,8.792893029221583e-16,5.524204715246978e-16,5.721869298792662e-08],"joint_position_rad":[-0.17523114712182997,1.2442418491186356,-0.8806060853588847,0.13835147824226726,0.6758130909013957,-0.2197245118109093],"joint_velocity_rad_s":[0.02999948905325022,0.281360428837271,0.002267069990590051,-0.04010763459748486,-0.0009715797402723184,0.01102311036349123],"gripper_joint_position_m":[0.0349993702164063,-0.03499604808446487],"tcp_position_m":[0.3049763745677789,-0.0340837542226709,0.18301415929187292],"tcp_quaternion_wxyz":[0.30906076203687116,0.017062209157114507,0.9508841859269667,-0.003096989163205897],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,8.669347417370284e-17,3.58932818521538e-18,4.416442501349591e-08],"object_linear_velocity_m_s":[-1.289880105401961e-17,1.4088526735842616e-16,1.6766694072119054e-15],"object_angular_velocity_rad_s":[8.792892545382453e-16,5.52420539270335e-16,5.721869298792673e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.17005437085341854,1.2742487412622847,-0.8707144412742632,0.12517844848643866,0.6797783378572491,-0.21101109759744488,0.035],"actuator_force_native":[0.2641446562066623,0.993749227305571,0.7799961768167805,-0.3263830172457194,0.04110983916894195,0.07059947658940713,0.00038833011845196275],"issued_joint_targets_rad":[-0.1695034313824408,1.2788448266463677,-0.8708439374671578,0.12438075054461549,0.679910810318187,-0.21079526866361203],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.720000000000579,"joint_targets_rad":[-0.1695034313824408,1.2788448266463677,-0.8708439374671578,0.12438075054461549,0.679910810318187,-0.21079526866361203],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.7400000000005855,"qpos":[-0.17461810381747112,1.2507162298033987,-0.8804423555530391,0.13749692662143134,0.6757562481069646,-0.2194998582669406,0.034998979109829374,-0.03499859160225568,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.472329909061802e-17,1.1471839929652452e-17,4.44855116814094e-08],"qvel":[0.028316470886338742,0.34494886735887015,0.01892832893922384,-0.041399964219746704,-0.0036626192252756187,0.011634827634888417,-4.445092199445396e-08,-0.0001429717451542599,-9.40726596428479e-17,1.9574385721533313e-16,1.6572405042809655e-15,5.575412664118477e-15,6.601851000773648e-15,1.0446688387637101e-07],"joint_position_rad":[-0.17461810381747112,1.2507162298033987,-0.8804423555530391,0.13749692662143134,0.6757562481069646,-0.2194998582669406],"joint_velocity_rad_s":[0.028316470886338742,0.34494886735887015,0.01892832893922384,-0.041399964219746704,-0.0036626192252756187,0.011634827634888417],"gripper_joint_position_m":[0.034998979109829374,-0.03499859160225568],"tcp_position_m":[0.3053234676470645,-0.03406894522269503,0.18096056611167918],"tcp_quaternion_wxyz":[0.3059081554773441,0.016810435393517415,0.9519083992801244,-0.0028300272579307706],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.472329909061802e-17,1.1471839929652452e-17,4.44855116814094e-08],"object_linear_velocity_m_s":[-9.40726596428479e-17,1.9574385721533313e-16,1.6572405042809655e-15],"object_angular_velocity_rad_s":[5.575412079141882e-15,6.601851481211586e-15,1.0446688387637122e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.1695034313824408,1.2788448266463677,-0.8708439374671578,0.12438075054461549,0.679910810318187,-0.21079526866361203,0.035],"actuator_force_native":[0.26759144037072957,0.5255434106431807,0.673231802174385,-0.3176472219739006,0.047039550950138675,0.06959365458095279,4.105786143515644e-05],"issued_joint_targets_rad":[-0.16891795907631,1.2854281488143402,-0.8707466282880977,0.12351540859862946,0.6798110934831434,-0.2105292372674236],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.7400000000005855,"joint_targets_rad":[-0.16891795907631,1.2854281488143402,-0.8707466282880977,0.12351540859862946,0.6798110934831434,-0.2105292372674236],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.760000000000592,"qpos":[-0.17404341100464413,1.2580520922298244,-0.8799148495500372,0.1366120971782199,0.6756951539209215,-0.21927040729418107,0.034999466772090336,-0.035000155756609815,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.161091852957146e-17,3.070852835694641e-17,4.4881779455949415e-08],"qvel":[0.026488821074052905,0.37455168630697905,0.03713194107600698,-0.04238795588048227,-0.002643865757302999,0.011713337081870973,8.332760077900937e-06,-6.175173235247705e-05,-3.425693945211436e-17,8.909335740840023e-17,1.6378116013500254e-15,-2.8122773585605723e-15,-2.6309880829047614e-16,1.1318131371201697e-08],"joint_position_rad":[-0.17404341100464413,1.2580520922298244,-0.8799148495500372,0.1366120971782199,0.6756951539209215,-0.21927040729418107],"joint_velocity_rad_s":[0.026488821074052905,0.37455168630697905,0.03713194107600698,-0.04238795588048227,-0.002643865757302999,0.011713337081870973],"gripper_joint_position_m":[0.034999466772090336,-0.035000155756609815],"tcp_position_m":[0.30562307183104587,-0.03406141941090973,0.1785070872865661],"tcp_quaternion_wxyz":[0.3021751350205626,0.01659849399993752,0.9531046496259116,-0.0024909102165964108],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.161091852957146e-17,3.070852835694641e-17,4.4881779455949415e-08],"object_linear_velocity_m_s":[-3.425693945211436e-17,8.909335740840023e-17,1.6378116013500254e-15],"object_angular_velocity_rad_s":[-2.812277334248755e-15,-2.6309906235150354e-16,1.131813137120172e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.16891795907631,1.2854281488143402,-0.8707466282880977,0.12351540859862946,0.6798110934831434,-0.2105292372674236,0.035],"actuator_force_native":[0.2775920488964658,0.31732609522636324,0.5477979955751238,-0.3119277637812061,0.04512519425817363,0.06984169464476864,-2.033468400286509e-05],"issued_joint_targets_rad":[-0.16835031832510458,1.2929452187593269,-0.87032081811321,0.12259703108476905,0.6796649126074081,-0.21023413284464598],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.760000000000592,"joint_targets_rad":[-0.16835031832510458,1.2929452187593269,-0.87032081811321,0.12259703108476905,0.6796649126074081,-0.21023413284464598],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.780000000000599,"qpos":[-0.17349403092843307,1.2658235585027495,-0.8790662227372663,0.13569807021883332,0.6756620633231422,-0.21904172529760274,0.0349997593040398,-0.035000175554814356,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,7.201981580732897e-17,4.9344452703616423e-17,4.533137384846152e-08],"qvel":[0.025610761948776158,0.3916159819115571,0.05023781150874384,-0.043399289669540334,-0.00098349179926606,0.011669112433492364,-9.091891438134835e-06,-1.4892202340469318e-05,-5.93583008427177e-17,9.313723750140526e-17,1.6544649467194028e-15,-1.9800027328649295e-15,-4.979673728942739e-16,2.06640496996733e-08],"joint_position_rad":[-0.17349403092843307,1.2658235585027495,-0.8790662227372663,0.13569807021883332,0.6756620633231422,-0.21904172529760274],"joint_velocity_rad_s":[0.025610761948776158,0.3916159819115571,0.05023781150874384,-0.043399289669540334,-0.00098349179926606,0.011669112433492364],"gripper_joint_position_m":[0.0349997593040398,-0.035000175554814356],"tcp_position_m":[0.30584827649427415,-0.03405163526671383,0.17579760695152102],"tcp_quaternion_wxyz":[0.2980655661807982,0.01640427828648995,0.9544021002897504,-0.002109235343155249],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,7.201981580732897e-17,4.9344452703616423e-17,4.533137384846152e-08],"object_linear_velocity_m_s":[-5.93583008427177e-17,9.313723750140526e-17,1.6544649467194028e-15],"object_angular_velocity_rad_s":[-1.9800026856785223e-15,-4.979675553832031e-16,2.066404969967334e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16835031832510458,1.2929452187593269,-0.87032081811321,0.12259703108476905,0.6796649126074081,-0.21023413284464598,0.035],"actuator_force_native":[0.28344319852239863,0.21165291096841088,0.44844331238078894,-0.3070451170148685,0.041503730541558426,0.07057225587932914,5.5087295598665875e-05],"issued_joint_targets_rad":[-0.16779275953098144,1.3009644087440726,-0.869606231075968,0.12163426603248463,0.6795089963963438,-0.2099220459721599],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.780000000000599,"joint_targets_rad":[-0.16779275953098144,1.3009644087440726,-0.869606231075968,0.12163426603248463,0.6795089963963438,-0.2099220459721599],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.800000000000606,"qpos":[-0.17295405880749795,1.2738681723602094,-0.8780059274440399,0.1347586440502924,0.675657992157722,-0.21881417608811427,0.03499981192650372,-0.034999671906284904,0.2988766532603013,-0.03267397597297194,0.07989224457978372,1.0,5.4629142248346475e-17,4.2432049116605363e-17,4.577136487848119e-08],"qvel":[0.025379898104536183,0.40326623501639974,0.05820612014435421,-0.044355288782482745,0.0003533025364972051,0.011649085613031332,-1.8026217962738312e-05,-1.284187483329595e-05,-5.632539743685696e-17,7.484415636148787e-17,1.647526052815496e-15,-1.884036732291457e-15,-1.0766006763169639e-15,3.7727336429143226e-08],"joint_position_rad":[-0.17295405880749795,1.2738681723602094,-0.8780059274440399,0.1347586440502924,0.675657992157722,-0.21881417608811427],"joint_velocity_rad_s":[0.025379898104536183,0.40326623501639974,0.05820612014435421,-0.044355288782482745,0.0003533025364972051,0.011649085613031332],"gripper_joint_position_m":[0.03499981192650372,-0.034999671906284904],"tcp_position_m":[0.3060097535587633,-0.03403612379933489,0.17292361873839684],"tcp_quaternion_wxyz":[0.29370619046114443,0.01621378255164788,0.9557567123239658,-0.0017011137099492396],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[1.0,5.4629142248346475e-17,4.2432049116605363e-17,4.577136487848119e-08],"object_linear_velocity_m_s":[-5.632539743685696e-17,7.484415636148787e-17,1.647526052815496e-15],"object_angular_velocity_rad_s":[-1.884036630534792e-15,-1.0766008529088509e-15,3.77273364291433e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.16779275953098144,1.3009644087440726,-0.869606231075968,0.12163426603248463,0.6795089963963438,-0.2099220459721599,0.035],"actuator_force_native":[0.2860044515986413,0.15136773562704775,0.3809451087239779,-0.3031986767998962,0.03798008858147206,0.07144767273999664,9.765402966488423e-05],"issued_joint_targets_rad":[-0.16723532477791872,1.3093044449222249,-0.8687040133792435,0.12063606244349212,0.6793561217249104,-0.20959888906472782],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.800000000000606,"joint_targets_rad":[-0.16723532477791872,1.3093044449222249,-0.8687040133792435,0.12063606244349212,0.6793561217249104,-0.20959888906472782],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.820000000000612,"qpos":[-0.17241439138959516,1.2821123340094498,-0.8768250117715387,0.1337984126676323,0.6756748548644157,-0.21858671485616984,0.03499979808186257,-0.03499926917831825,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,4.333225571171724e-17,3.021437649878016e-17,4.611927743943126e-08],"qvel":[0.025496113029876637,0.41221970591907814,0.06240396164065586,-0.045251642581083495,0.0012249294144114737,0.01167026947366211,-2.1033292345791333e-05,-2.240680214343203e-05,-4.520101669952359e-17,8.605962505592865e-17,1.943122933121944e-15,9.128023770575204e-16,-9.805417295954897e-16,6.888058898059107e-08],"joint_position_rad":[-0.17241439138959516,1.2821123340094498,-0.8768250117715387,0.1337984126676323,0.6756748548644157,-0.21858671485616984],"joint_velocity_rad_s":[0.025496113029876637,0.41221970591907814,0.06240396164065586,-0.045251642581083495,0.0012249294144114737,0.01167026947366211],"gripper_joint_position_m":[0.03499979808186257,-0.03499926917831825],"tcp_position_m":[0.30612233631688957,-0.03401432312248888,0.16994316544308813],"tcp_quaternion_wxyz":[0.28917800527363696,0.016020279610295965,0.9571404301890021,-0.0012762463634446572],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,4.333225571171724e-17,3.021437649878016e-17,4.611927743943126e-08],"object_linear_velocity_m_s":[-4.520101669952359e-17,8.605962505592865e-17,1.943122933121944e-15],"object_angular_velocity_rad_s":[9.12802471663637e-16,-9.805416513694156e-16,6.888058898059106e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000059},{"geom_ids":[1,90],"normal_force_n":0.09810000000000055},{"geom_ids":[1,90],"normal_force_n":0.09810000000000062},{"geom_ids":[1,90],"normal_force_n":0.09810000000000052}],"native_actuator_controls":[-0.16723532477791872,1.3093044449222249,-0.8687040133792435,0.12063606244349212,0.6793561217249104,-0.20959888906472782,0.035],"actuator_force_native":[0.2868447637847318,0.11427034342661102,0.33766006318035124,-0.30023579606018913,0.03497527448333049,0.07237285370392721,0.00011324318722616411],"issued_joint_targets_rad":[-0.16667294948953182,1.3178750581697647,-0.8676978619546727,0.11960996696981832,0.679208292797467,-0.20926715941691926],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.820000000000612,"joint_targets_rad":[-0.16667294948953182,1.3178750581697647,-0.8676978619546727,0.11960996696981832,0.679208292797467,-0.20926715941691926],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.840000000000619,"qpos":[-0.1718705451033165,1.2905168830765692,-0.8755866936443971,0.13282070605425395,0.6757046296723412,-0.21835834147517075,0.034999767303021866,-0.03499905259235501,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.477817465147011e-17,1.7925164573770895e-17,4.638055792078118e-08],"qvel":[0.025761031987302674,0.4196378818571426,0.06408421918914356,-0.04601134832677818,0.0017251222935805613,0.011736029818798085,-2.134256624950929e-05,-3.2531073008851674e-05,-2.515255542386517e-17,4.330884904730181e-17,2.424682170053106e-15,-1.4981622393520189e-15,-1.1030506494086375e-15,7.462647741370615e-09],"joint_position_rad":[-0.1718705451033165,1.2905168830765692,-0.8755866936443971,0.13282070605425395,0.6757046296723412,-0.21835834147517075],"joint_velocity_rad_s":[0.025761031987302674,0.4196378818571426,0.06408421918914356,-0.04601134832677818,0.0017251222935805613,0.011736029818798085],"gripper_joint_position_m":[0.034999767303021866,-0.03499905259235501],"tcp_position_m":[0.30619766206876947,-0.03398668224234664,0.16689301222839742],"tcp_quaternion_wxyz":[0.28453286460484484,0.015820526016335195,0.9585353685217873,-0.0008409572692449256],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.477817465147011e-17,1.7925164573770895e-17,4.638055792078118e-08],"object_linear_velocity_m_s":[-2.515255542386517e-17,4.330884904730181e-17,2.424682170053106e-15],"object_angular_velocity_rad_s":[-1.4981621367642648e-15,-1.1030507888989082e-15,7.462647741370613e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999973}],"native_actuator_controls":[-0.16667294948953182,1.3178750581697647,-0.8676978619546727,0.11960996696981832,0.679208292797467,-0.20926715941691926,0.035],"actuator_force_native":[0.2870024891662606,0.09046459816993035,0.31068543923223046,-0.2983728217435342,0.03244894781088625,0.07330777585431747,0.00011602071037297712],"issued_joint_targets_rad":[-0.16610362212950197,1.3266249338706615,-0.8666455612052354,0.11856093067852169,0.6790646684858597,-0.20892789743110193],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.840000000000619,"joint_targets_rad":[-0.16610362212950197,1.3266249338706615,-0.8666455612052354,0.11856093067852169,0.6790646684858597,-0.20892789743110193],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.860000000000626,"qpos":[-0.17132042927317895,1.299058669301624,-0.8743325569092358,0.13182766189273576,0.6757414136304891,-0.2181283408523275,0.03499975315239704,-0.03499898991271051,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.751477208949506e-17,1.071400936268447e-17,4.6857590098187004e-08],"qvel":[0.026092953819716592,0.4261151479790238,0.06412901557703116,-0.04668710669066399,0.0019694309270141476,0.01183348895036719,-2.076781727544934e-05,-3.968983237419699e-05,-1.4866024508400995e-17,4.562622398870532e-17,2.5468067027618725e-15,-9.374752802045412e-16,-7.731522007616445e-16,1.362491022247869e-08],"joint_position_rad":[-0.17132042927317895,1.299058669301624,-0.8743325569092358,0.13182766189273576,0.6757414136304891,-0.2181283408523275],"joint_velocity_rad_s":[0.026092953819716592,0.4261151479790238,0.06412901557703116,-0.04668710669066399,0.0019694309270141476,0.01183348895036719],"gripper_joint_position_m":[0.03499975315239704,-0.03499898991271051],"tcp_position_m":[0.30624374178084907,-0.033953849677073676,0.16379649567896598],"tcp_quaternion_wxyz":[0.2798040049821976,0.015612882255437175,0.9599301001365238,-0.0003994439676147999],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.751477208949506e-17,1.071400936268447e-17,4.6857590098187004e-08],"object_linear_velocity_m_s":[-1.4866024508400995e-17,4.562622398870532e-17,2.5468067027618725e-15],"object_angular_velocity_rad_s":[-9.374752074564843e-16,-7.731522896395766e-16,1.362491022247869e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16610362212950197,1.3266249338706615,-0.8666455612052354,0.11856093067852169,0.6790646684858597,-0.20892789743110193,0.035],"actuator_force_native":[0.286879802395573,0.0747254256278751,0.2943145784348644,-0.2972337151152429,0.03027840216318456,0.07425420078670486,0.00011371299049578454],"issued_joint_targets_rad":[-0.16552677032970892,1.335522490297268,-0.8655848321232529,0.11749197237980462,0.6789241883060518,-0.2085815526038912],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.860000000000626,"joint_targets_rad":[-0.16552677032970892,1.335522490297268,-0.8655848321232529,0.11749197237980462,0.6789241883060518,-0.2085815526038912],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.880000000000632,"qpos":[-0.17076312032159718,1.307723163373056,-0.8730894296370323,0.13082044146340843,0.6757812575647136,-0.2178962148167875,0.03499976008232577,-0.0349990172236526,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.3542803827008854e-17,2.168185535683086e-19,4.7336862091028134e-08],"qvel":[0.026452440139762248,0.4319886002185065,0.06312427647259498,-0.0473196814129948,0.0020468930056617165,0.011953005695739522,-2.036611403778744e-05,-4.372880045221762e-05,-2.2312160359089954e-18,4.6090604733617526e-17,2.5690111632543744e-15,-1.2758311638952096e-15,-6.644200285576192e-16,2.487564534789227e-08],"joint_position_rad":[-0.17076312032159718,1.307723163373056,-0.8730894296370323,0.13082044146340843,0.6757812575647136,-0.2178962148167875],"joint_velocity_rad_s":[0.026452440139762248,0.4319886002185065,0.06312427647259498,-0.0473196814129948,0.0020468930056617165,0.011953005695739522],"gripper_joint_position_m":[0.03499976008232577,-0.0349990172236526],"tcp_position_m":[0.30626582572409455,-0.0339164278889161,0.1606684648755775],"tcp_quaternion_wxyz":[0.2750127805570434,0.015396442542958438,0.9613172827025279,4.54393251482182e-05],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.3542803827008854e-17,2.168185535683086e-19,4.7336862091028134e-08],"object_linear_velocity_m_s":[-2.2312160359089954e-18,4.6090604733617526e-17,2.5690111632543744e-15],"object_angular_velocity_rad_s":[-1.2758311009812983e-15,-6.644201510141017e-16,2.487564534789227e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.16552677032970892,1.335522490297268,-0.8655848321232529,0.11749197237980462,0.6789241883060518,-0.2085815526038912,0.035],"actuator_force_native":[0.2866457986522484,0.06400315284443536,0.284746418739374,-0.29654035627917885,0.028358967904889454,0.07521711358535432,0.00011142727715829359],"issued_joint_targets_rad":[-0.1649424338634518,1.344547360312397,-0.8645397275876145,0.11640472157892719,0.6787861303561089,-0.20822828701593443],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.880000000000632,"joint_targets_rad":[-0.1649424338634518,1.344547360312397,-0.8645397275876145,0.11640472157892719,0.6787861303561089,-0.20822828701593443],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.900000000000639,"qpos":[-0.17019828785386348,1.3165006650387003,-0.8718743843519557,0.12979957577432344,0.675821620370176,-0.2176616096442358,0.03499978064310964,-0.03499908224419765,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.23764786425372e-18,-1.0246805673175266e-17,4.774356172723426e-08],"qvel":[0.026819142324841505,0.43745068726974384,0.06145328168139909,-0.04793469634924981,0.0020188116023497154,0.012088247426984337,-2.040688862933669e-05,-4.5650439050014455e-05,1.9023466642897496e-17,-1.1955067360549953e-17,2.5676233844735926e-15,-3.572449065213364e-15,-1.0705616948913512e-15,4.541664652242841e-08],"joint_position_rad":[-0.17019828785386348,1.3165006650387003,-0.8718743843519557,0.12979957577432344,0.675821620370176,-0.2176616096442358],"joint_velocity_rad_s":[0.026819142324841505,0.43745068726974384,0.06145328168139909,-0.04793469634924981,0.0020188116023497154,0.012088247426984337],"gripper_joint_position_m":[0.03499978064310964,-0.03499908224419765],"tcp_position_m":[0.30626723165272296,-0.033874911853723357,0.15751843284782718],"tcp_quaternion_wxyz":[0.2701730370396232,0.015170674798394448,0.9626921309027158,0.0004917122493109989],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.23764786425372e-18,-1.0246805673175266e-17,4.774356172723426e-08],"object_linear_velocity_m_s":[1.9023466642897496e-17,-1.1955067360549953e-17,2.5676233844735926e-15],"object_angular_velocity_rad_s":[-3.572448963919242e-15,-1.0705620362174844e-15,4.541664652242841e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1649424338634518,1.344547360312397,-0.8645397275876145,0.11640472157892719,0.6787861303561089,-0.20822828701593443,0.035],"actuator_force_native":[0.28637260760872785,0.056482185547011454,0.279506132740309,-0.2961206860696013,0.026616882455803292,0.07620085514253727,0.00011080871876090193],"issued_joint_targets_rad":[-0.16435092900447001,1.3536857238625843,-0.8635252572340919,0.11529994182603225,0.6786501094304838,-0.20786812643626026],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.900000000000639,"joint_targets_rad":[-0.16435092900447001,1.3536857238625843,-0.8635252572340919,0.11529994182603225,0.6786501094304838,-0.20786812643626026],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.920000000000646,"qpos":[-0.16962592431802664,1.3253839243128054,-0.8706980301790505,0.1287651920140912,0.6758609073118119,-0.21742426538146262,0.034999806592678186,-0.03499915318295492,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.2959604382844112e-17,-6.72303111633334e-18,4.8101555956699914e-08],"qvel":[0.02718188581959486,0.44259956521656024,0.059367054310841,-0.04854868954369613,0.0019263698247120905,0.012235030135665344,-2.082632540898374e-05,-4.645678149805981e-05,-1.148998251495147e-17,-2.049812642656501e-17,2.5703989420351557e-15,-1.3643747180887344e-15,2.192480663297224e-15,8.291932741829952e-08],"joint_position_rad":[-0.16962592431802664,1.3253839243128054,-0.8706980301790505,0.1287651920140912,0.6758609073118119,-0.21742426538146262],"joint_velocity_rad_s":[0.02718188581959486,0.44259956521656024,0.059367054310841,-0.04854868954369613,0.0019263698247120905,0.012235030135665344],"gripper_joint_position_m":[0.034999806592678186,-0.03499915318295492],"tcp_position_m":[0.306249933413554,-0.03382969192502682,0.15435262498037328],"tcp_quaternion_wxyz":[0.2652939890348745,0.01493524420124551,0.9640514291945359,0.0009379395424986992],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.2959604382844112e-17,-6.72303111633334e-18,4.8101555956699914e-08],"object_linear_velocity_m_s":[-1.148998251495147e-17,-2.049812642656501e-17,2.5703989420351557e-15],"object_angular_velocity_rad_s":[-1.3643749301271295e-15,2.1924805341893235e-15,8.291932741829952e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16435092900447001,1.3536857238625843,-0.8635252572340919,0.11529994182603225,0.6786501094304838,-0.20786812643626026,0.035],"actuator_force_native":[0.2860901959865565,0.05114613789952216,0.2769865640424882,-0.2958665598038772,0.02500246644964932,0.07720884424852548,0.0001118679199176853],"issued_joint_targets_rad":[-0.1637527169946108,1.3629273350556208,-0.8625504232587624,0.11417786010413772,0.6785159796191852,-0.20750103891272967],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.920000000000646,"joint_targets_rad":[-0.1637527169946108,1.3629273350556208,-0.8625504232587624,0.11417786010413772,0.6785159796191852,-0.20750103891272967],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.940000000000652,"qpos":[-0.16904618103557445,1.33436787972922,-0.8695671552930585,0.1277171875041627,0.6758981538683502,-0.21718398468907724,0.034999816333674834,-0.034999209353060175,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.592859425656902e-17,2.185516535637744e-18,4.841608871696957e-08],"qvel":[0.027534153754313135,0.44752667391205264,0.05701875416718446,-0.04917081999195945,0.0017940261197631137,0.012390952499344876,-2.231850195138352e-05,-4.6384856882515086e-05,-1.4072660867751039e-18,-1.582883013388126e-17,2.6342367659511026e-15,2.7809417900174857e-16,1.9973864500527076e-16,8.983630085516722e-09],"joint_position_rad":[-0.16904618103557445,1.33436787972922,-0.8695671552930585,0.1277171875041627,0.6758981538683502,-0.21718398468907724],"joint_velocity_rad_s":[0.027534153754313135,0.44752667391205264,0.05701875416718446,-0.04917081999195945,0.0017940261197631137,0.012390952499344876],"gripper_joint_position_m":[0.034999816333674834,-0.034999209353060175],"tcp_position_m":[0.30621512724451955,-0.033781087505036625,0.1511750903529242],"tcp_quaternion_wxyz":[0.26038173102079243,0.014689930973050153,0.9653930014066824,0.00138308120515709],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.592859425656902e-17,2.185516535637744e-18,4.841608871696957e-08],"object_linear_velocity_m_s":[-1.4072660867751039e-18,-1.582883013388126e-17,2.6342367659511026e-15],"object_angular_velocity_rad_s":[2.780941596998871e-16,1.9973867221992794e-16,8.983630085516723e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1637527169946108,1.3629273350556208,-0.8625504232587624,0.11417786010413772,0.6785159796191852,-0.20750103891272967,0.035],"actuator_force_native":[0.28580635450552627,0.04712305655181126,0.2762447919077715,-0.29571899604120233,0.023487218328705595,0.07824302901445845,0.00011893916276384253],"issued_joint_targets_rad":[-0.1631483351518881,1.3722647491747397,-0.8616206273216764,0.11303838901166771,0.6783838081985238,-0.20712698052806364],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.940000000000652,"joint_targets_rad":[-0.1631483351518881,1.3722647491747397,-0.8616206273216764,0.11303838901166771,0.6783838081985238,-0.20712698052806364],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.960000000000659,"qpos":[-0.1684593319128771,1.343448690470645,-0.8684859023347788,0.12665530709837225,0.6759327648754424,-0.2169406059656761,0.03499981130178308,-0.034999243014459815,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-5.9051327047644455e-18,1.0412376990366504e-17,4.8869618005082996e-08],"qvel":[0.027870653176568994,0.45227597442173156,0.054516417554899936,-0.049807867253654145,0.001637567895276411,0.012554427024856912,-2.355332487606747e-05,-4.603261513174237e-05,-1.055526049669607e-17,-7.024596423586474e-18,2.6522778901012607e-15,8.529154211946587e-16,1.7021288616149464e-17,1.640183988701013e-08],"joint_position_rad":[-0.1684593319128771,1.343448690470645,-0.8684859023347788,0.12665530709837225,0.6759327648754424,-0.2169406059656761],"joint_velocity_rad_s":[0.027870653176568994,0.45227597442173156,0.054516417554899936,-0.049807867253654145,0.001637567895276411,0.012554427024856912],"gripper_joint_position_m":[0.03499981130178308,-0.034999243014459815],"tcp_position_m":[0.3061634521369947,-0.03372937111336585,0.1479884803940057],"tcp_quaternion_wxyz":[0.2554403657507883,0.014434599733245809,0.9667153284878456,0.0018263467035228105],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-5.9051327047644455e-18,1.0412376990366504e-17,4.8869618005082996e-08],"object_linear_velocity_m_s":[-1.055526049669607e-17,-7.024596423586474e-18,2.6522778901012607e-15],"object_angular_velocity_rad_s":[8.529154198725713e-16,1.7021372173161134e-17,1.6401839887010135e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1631483351518881,1.3722647491747397,-0.8616206273216764,0.11303838901166771,0.6783838081985238,-0.20712698052806364,0.035],"actuator_force_native":[0.28552647499627604,0.04390482421891306,0.27663991327369786,-0.2956373871999105,0.02205408138789977,0.07930461383883891,0.0001253145530570876],"issued_joint_targets_rad":[-0.16253840484302995,1.381692108499179,-0.8607387316346413,0.11188123601512397,0.6782537557560002,-0.20674591010624124],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.960000000000659,"joint_targets_rad":[-0.16253840484302995,1.381692108499179,-0.8607387316346413,0.11188123601512397,0.6782537557560002,-0.20674591010624124],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.980000000000666,"qpos":[-0.16786575342709384,1.352623079121987,-0.8674565712193192,0.12557918744975569,0.6759643895018503,-0.21669399140921827,0.034999807639075425,-0.03499926437643724,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-2.0822960817405577e-17,3.582097115336447e-17,4.9320113191103643e-08],"qvel":[0.028186843063537685,0.4568670595810917,0.051935011933038844,-0.05046455466076844,0.001467550186485959,0.012724387984472929,-2.3535851342670694e-05,-4.683801370841095e-05,-4.876040556939454e-17,-3.077170886496947e-17,2.6481145537589166e-15,-1.0066781165284793e-15,1.1977159702605436e-15,2.994561765324794e-08],"joint_position_rad":[-0.16786575342709384,1.352623079121987,-0.8674565712193192,0.12557918744975569,0.6759643895018503,-0.21669399140921827],"joint_velocity_rad_s":[0.028186843063537685,0.4568670595810917,0.051935011933038844,-0.05046455466076844,0.001467550186485959,0.012724387984472929],"gripper_joint_position_m":[0.034999807639075425,-0.03499926437643724],"tcp_position_m":[0.30609513926923504,-0.03367478605739134,0.14479457263133097],"tcp_quaternion_wxyz":[0.2504727497566551,0.014169174497593744,0.9680173017023975,0.0022670968674760347],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-2.0822960817405577e-17,3.582097115336447e-17,4.9320113191103643e-08],"object_linear_velocity_m_s":[-4.876040556939454e-17,-3.077170886496947e-17,2.6481145537589166e-15],"object_angular_velocity_rad_s":[-1.006678232526087e-15,1.1977158722086936e-15,2.9945617653247945e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.16253840484302995,1.381692108499179,-0.8607387316346413,0.11188123601512397,0.6782537557560002,-0.20674591010624124,0.035],"actuator_force_native":[0.28525367140742297,0.0411870522698905,0.27775210710903764,-0.2955952840814273,0.02069233726177,0.08039423105306076,0.0001253736936963623],"issued_joint_targets_rad":[-0.16192364449637997,1.3912043085020138,-0.8599057746056603,0.1107059701385547,0.6781260468556857,-0.2063578085683946],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.980000000000666,"joint_targets_rad":[-0.16192364449637997,1.3912043085020138,-0.8599057746056603,0.1107059701385547,0.6781260468556857,-0.2063578085683946],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.000000000000672,"qpos":[-0.16726591376357913,1.3618879737540432,-0.8664801672544061,0.1244883915075295,0.6759928381099772,-0.2164440193773943,0.034999802509748976,-0.03499927429921257,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-2.0958104630748963e-17,5.490226119389619e-17,4.974714899474812e-08],"qvel":[0.028478460862431332,0.46130507577564345,0.049328194324836226,-0.05114417829711267,0.0012908957898738389,0.012900094289199986,-2.4536683191521524e-05,-4.687285492417195e-05,-9.168306984792728e-17,-2.7395523772505142e-17,2.6522778901012607e-15,2.7686070107854424e-16,2.5157014005074604e-15,5.467313562454775e-08],"joint_position_rad":[-0.16726591376357913,1.3618879737540432,-0.8664801672544061,0.1244883915075295,0.6759928381099772,-0.2164440193773943],"joint_velocity_rad_s":[0.028478460862431332,0.46130507577564345,0.049328194324836226,-0.05114417829711267,0.0012908957898738389,0.012900094289199986],"gripper_joint_position_m":[0.034999802509748976,-0.03499927429921257],"tcp_position_m":[0.3060101223518171,-0.03361756014478958,0.14159459964733515],"tcp_quaternion_wxyz":[0.24548095971938208,0.013893626522469057,0.9692980706124684,0.0027047854354039134],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-2.0958104630748963e-17,5.490226119389619e-17,4.974714899474812e-08],"object_linear_velocity_m_s":[-9.168306984792728e-17,-2.7395523772505142e-17,2.6522778901012607e-15],"object_angular_velocity_rad_s":[2.768604567839556e-16,2.5157014303452008e-15,5.467313562454776e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16192364449637997,1.3912043085020138,-0.8599057746056603,0.1107059701385547,0.6781260468556857,-0.2063578085683946,0.035],"actuator_force_native":[0.2849892370637761,0.038781400959422285,0.2793104402754949,-0.2955759632734276,0.019395743772273377,0.08151196665619675,0.0001305830259985541],"issued_joint_targets_rad":[-0.16130488679510566,1.4007964998536442,-0.8591214437981811,0.10951207196116602,0.6780009561540917,-0.20596269875024834],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.000000000000672,"joint_targets_rad":[-0.16130488679510566,1.4007964998536442,-0.8591214437981811,0.10951207196116602,0.6780009561540917,-0.20596269875024834],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.020000000000679,"qpos":[-0.16666037208270545,1.3712402823341885,-0.8655567418147425,0.12338243225601042,0.6760180249783951,-0.21619057962704039,0.03499980073013335,-0.034999279750960975,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.4796821120603306e-17,5.3328058842430956e-17,5.005395109080042e-08],"qvel":[0.028741058765991465,0.46558556497384407,0.04673681276682555,-0.05184910690437041,0.0011120842676641178,0.013080993239592388,-2.445838768131749e-05,-4.8043234801412174e-05,-1.20476647702616e-16,-2.3344320282637355e-17,2.653665668882042e-15,5.493040636151633e-16,2.9526486507467423e-15,9.981933896413514e-08],"joint_position_rad":[-0.16666037208270545,1.3712402823341885,-0.8655567418147425,0.12338243225601042,0.6760180249783951,-0.21619057962704039],"joint_velocity_rad_s":[0.028741058765991465,0.46558556497384407,0.04673681276682555,-0.05184910690437041,0.0011120842676641178,0.013080993239592388],"gripper_joint_position_m":[0.03499980073013335,-0.034999279750960975],"tcp_position_m":[0.3059081086853218,-0.03355791636326926,0.1383894564339353],"tcp_quaternion_wxyz":[0.24046658704780835,0.013607970652732271,0.9705569487742485,0.003138922476556763],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.4796821120603306e-17,5.3328058842430956e-17,5.005395109080042e-08],"object_linear_velocity_m_s":[-1.20476647702616e-16,-2.3344320282637355e-17,2.653665668882042e-15],"object_angular_velocity_rad_s":[5.493037786780414e-16,2.952648708690424e-15,9.981933896413517e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.16130488679510566,1.4007964998536442,-0.8591214437981811,0.10951207196116602,0.6780009561540917,-0.20596269875024834,0.035],"actuator_force_native":[0.28473352917802686,0.036569576687242034,0.2811397774907789,-0.2955688772719247,0.018161185355469733,0.08265731890853178,0.00013026273307281677],"issued_joint_targets_rad":[-0.16068310288064017,1.4104637502815807,-0.8583843499788362,0.10829896885834416,0.6778788001828181,-0.20556066648865245],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.020000000000679,"joint_targets_rad":[-0.16068310288064017,1.4104637502815807,-0.8583843499788362,0.10829896885834416,0.6778788001828181,-0.20556066648865245],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.040000000000686,"qpos":[-0.16604978744712182,1.3806767342752817,-0.8646855890198164,0.12226078856634379,0.6760399302389305,-0.2159335709459596,0.03499979751927589,-0.034999280419880895,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-9.117146834738457e-18,4.808206281974904e-17,5.043258962044379e-08],"qvel":[0.028969602837895226,0.4696970003789811,0.044194699144283284,-0.05258107262481995,0.0009340024992805223,0.013266614987497241,-2.5461034371169616e-05,-4.8333783824583337e-05,-5.879578285711155e-17,-1.2996461440140607e-17,2.6522778901012607e-15,8.691646591301965e-16,-1.9471600600060883e-15,1.0814607939483811e-08],"joint_position_rad":[-0.16604978744712182,1.3806767342752817,-0.8646855890198164,0.12226078856634379,0.6760399302389305,-0.2159335709459596],"joint_velocity_rad_s":[0.028969602837895226,0.4696970003789811,0.044194699144283284,-0.05258107262481995,0.0009340024992805223,0.013266614987497241],"gripper_joint_position_m":[0.03499979751927589,-0.034999280419880895],"tcp_position_m":[0.305788620313617,-0.033496081886497615,0.13517983173600256],"tcp_quaternion_wxyz":[0.2354309240119795,0.013312267823465854,0.9717933553074937,0.0035690509193637325],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-9.117146834738457e-18,4.808206281974904e-17,5.043258962044379e-08],"object_linear_velocity_m_s":[-5.879578285711155e-17,-1.2996461440140607e-17,2.6522778901012607e-15],"object_angular_velocity_rad_s":[8.691648565708181e-16,-1.947159972140433e-15,1.0814607939483812e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.16068310288064017,1.4104637502815807,-0.8583843499788362,0.10829896885834416,0.6778788001828181,-0.20556066648865245,0.035],"actuator_force_native":[0.28448675112905697,0.03447627860902003,0.28312562755701265,-0.29556742519588575,0.01698769568995484,0.08382912209182569,0.00013540440082016048],"issued_joint_targets_rad":[-0.16005943555788377,1.4202007873801172,-0.8576921590797656,0.10706606012697582,0.6777599357489615,-0.20515188493654232],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.040000000000686,"joint_targets_rad":[-0.16005943555788377,1.4202007873801172,-0.8576921590797656,0.10706606012697582,0.6777599357489615,-0.20515188493654232],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.060000000000692,"qpos":[-0.16543493402648052,1.3901937558216424,-0.863865343794167,0.12112291744261552,0.6760585748580359,-0.21567290033800338,0.034999797752320934,-0.034999281951074844,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,9.157915871058011e-20,6.744027216895153e-17,5.091713857553975e-08],"qvel":[0.02915819152642513,0.47362200583168945,0.04173267002169021,-0.05334136347489794,0.0007585079125313503,0.013456491363956435,-2.5336396641357514e-05,-4.971006337384915e-05,-8.517387673349214e-17,-1.290858262328333e-18,2.7910557681794053e-15,3.9394667139257485e-16,-1.145224374470513e-15,1.9744743068858696e-08],"joint_position_rad":[-0.16543493402648052,1.3901937558216424,-0.863865343794167,0.12112291744261552,0.6760585748580359,-0.21567290033800338],"joint_velocity_rad_s":[0.02915819152642513,0.47362200583168945,0.04173267002169021,-0.05334136347489794,0.0007585079125313503,0.013456491363956435],"gripper_joint_position_m":[0.034999797752320934,-0.034999281951074844],"tcp_position_m":[0.3056510135396774,-0.03343229542118137,0.13196629194816067],"tcp_quaternion_wxyz":[0.23037508137295898,0.013006631887837346,0.9730067787662399,0.003994732066439118],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,9.157915871058011e-20,6.744027216895153e-17,5.091713857553975e-08],"object_linear_velocity_m_s":[-8.517387673349214e-17,-1.290858262328333e-18,2.7910557681794053e-15],"object_angular_velocity_rad_s":[3.93946790678851e-16,-1.1452243343568493e-15,1.9744743068858706e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.16005943555788377,1.4202007873801172,-0.8576921590797656,0.10706606012697582,0.6777599357489615,-0.20515188493654232,0.035],"actuator_force_native":[0.28424891985561374,0.03245249551953577,0.28519142704365663,-0.29556747525109817,0.015875847040458524,0.08502541696867638,0.0001347718903697004],"issued_joint_targets_rad":[-0.1594352419931569,1.4300017761548753,-0.8570416205295229,0.10581273830385968,0.6776447652644261,-0.2047366455163343],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.060000000000692,"joint_targets_rad":[-0.1594352419931569,1.4300017761548753,-0.8570416205295229,0.10581273830385968,0.6776447652644261,-0.2047366455163343],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.080000000000699,"qpos":[-0.16481672401999042,1.3997873588660954,-0.8630940103243635,0.11996826366940885,0.6760740042539568,-0.21540848376643185,0.03499979577472336,-0.03499928245825632,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.347868488734064e-17,7.500277412083321e-17,5.1337555191188796e-08],"qvel":[0.0292996828159092,0.4773377026876737,0.039381441888875095,-0.0541308930532102,0.0005867973796501899,0.013650086973740568,-2.635991198348658e-05,-5.008805640589122e-05,-1.0762427146185357e-16,3.5354840615452325e-17,2.817423565014253e-15,1.6946787936538441e-15,7.89769054361351e-17,3.604891467511265e-08],"joint_position_rad":[-0.16481672401999042,1.3997873588660954,-0.8630940103243635,0.11996826366940885,0.6760740042539568,-0.21540848376643185],"joint_velocity_rad_s":[0.0292996828159092,0.4773377026876737,0.039381441888875095,-0.0541308930532102,0.0005867973796501899,0.013650086973740568],"gripper_joint_position_m":[0.03499979577472336,-0.03499928245825632],"tcp_position_m":[0.3054944822311953,-0.03336681429119612,0.12874933565345512],"tcp_quaternion_wxyz":[0.22530006277825496,0.012691240625927776,0.9741967548511272,0.004415536323234676],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.347868488734064e-17,7.500277412083321e-17,5.1337555191188796e-08],"object_linear_velocity_m_s":[-1.0762427146185357e-16,3.5354840615452325e-17,2.817423565014253e-15],"object_angular_velocity_rad_s":[1.6946787909524107e-15,7.897707774470497e-17,3.604891467511266e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1594352419931569,1.4300017761548753,-0.8570416205295229,0.10581273830385968,0.6776447652644261,-0.2047366455163343,0.035],"actuator_force_native":[0.28402014806713893,0.030464869664015737,0.2872839741428663,-0.2955665493559163,0.014827414035217146,0.08624325204036465,0.00013996857098308446],"issued_joint_targets_rad":[-0.1588121499954921,1.4398600981935394,-0.8564285133554022,0.10453840872734141,0.6775337500053397,-0.20431539841972396],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.080000000000699,"joint_targets_rad":[-0.1588121499954921,1.4398600981935394,-0.8564285133554022,0.10453840872734141,0.6775337500053397,-0.20431539841972396],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.100000000000706,"qpos":[-0.16419623754280188,1.4094530283195916,-0.8623689370899937,0.1187962697911849,0.6760862772796691,-0.21514024799972337,0.034999788252375194,-0.03499928012193357,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.5338458711508874e-17,7.749016012270268e-17,5.172394528693632e-08],"qvel":[0.029385332627156247,0.4808153775364918,0.037173975643393274,-0.05495023850494325,0.0004196412342599526,0.01384673220045976,-2.6884117000258354e-05,-5.091863623824127e-05,-1.4429691166566103e-16,6.366511154346196e-17,2.8243624589181597e-15,2.1591489819568075e-15,2.903197068787509e-15,6.581621471201687e-08],"joint_position_rad":[-0.16419623754280188,1.4094530283195916,-0.8623689370899937,0.1187962697911849,0.6760862772796691,-0.21514024799972337],"joint_velocity_rad_s":[0.029385332627156247,0.4808153775364918,0.037173975643393274,-0.05495023850494325,0.0004196412342599526,0.01384673220045976],"gripper_joint_position_m":[0.034999788252375194,-0.03499928012193357],"tcp_position_m":[0.30531804807952206,-0.033299921281654626,0.12552943033430355],"tcp_quaternion_wxyz":[0.22020681221899027,0.012366351006624594,0.9753628526286111,0.004831037912234287],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.5338458711508874e-17,7.749016012270268e-17,5.172394528693632e-08],"object_linear_velocity_m_s":[-1.4429691166566103e-16,6.366511154346196e-17,2.8243624589181597e-15],"object_angular_velocity_rad_s":[2.1591486918274024e-15,2.9031972874952156e-15,6.58162147120169e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1588121499954921,1.4398600981935394,-0.8564285133554022,0.10453840872734141,0.6775337500053397,-0.20431539841972396,0.035],"actuator_force_native":[0.2838003406490017,0.028488702233374852,0.2893640205503658,-0.29556325002902284,0.013845265405315388,0.08747839749930453,0.00014289048999360787],"issued_joint_targets_rad":[-0.15819213205827853,1.4497681032693166,-0.8558475169057759,0.10324251214448546,0.6774274334579141,-0.20388880807360257],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.100000000000706,"joint_targets_rad":[-0.15819213205827853,1.4497681032693166,-0.8558475169057759,0.10324251214448546,0.6774274334579141,-0.20388880807360257],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.120000000000712,"qpos":[-0.16357476297611098,1.419185595405032,-0.8616867459596182,0.11760638674449254,0.6760954586609913,-0.2148681339356398,0.03499978733268792,-0.034999287407009784,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.407870190689399e-17,6.498414895386652e-17,5.197360186675203e-08],"qvel":[0.029404239947019163,0.4840195204748322,0.035147634952060164,-0.05579959760086614,0.0002575382937687508,0.014045546908876567,-2.6599364282174308e-05,-5.248519841314919e-05,-7.915310599204125e-17,3.766930184578297e-17,2.8243624589181597e-15,-1.0502353418437018e-15,-2.9869649358696014e-15,7.130647884044747e-09],"joint_position_rad":[-0.16357476297611098,1.419185595405032,-0.8616867459596182,0.11760638674449254,0.6760954586609913,-0.2148681339356398],"joint_velocity_rad_s":[0.029404239947019163,0.4840195204748322,0.035147634952060164,-0.05579959760086614,0.0002575382937687508,0.014045546908876567],"gripper_joint_position_m":[0.03499978733268792,-0.034999287407009784],"tcp_position_m":[0.3051205389303432,-0.03323193254462687,0.12230703877864238],"tcp_quaternion_wxyz":[0.21509624493774038,0.012032319909296242,0.9765046659304362,0.005240811709162435],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.407870190689399e-17,6.498414895386652e-17,5.197360186675203e-08],"object_linear_velocity_m_s":[-7.915310599204125e-17,3.766930184578297e-17,2.8243624589181597e-15],"object_angular_velocity_rad_s":[-1.0502350304302857e-15,-2.9869650455246203e-15,7.13064788404475e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.15819213205827853,1.4497681032693166,-0.8558475169057759,0.10324251214448546,0.6774274334579141,-0.20388880807360257,0.035],"actuator_force_native":[0.2835892736914989,0.026503026768594395,0.29140014954708704,-0.29555699599595364,0.012933440528575701,0.0887249382570574,0.00014150351389385918],"issued_joint_targets_rad":[-0.15757760587767045,1.459716801689199,-0.8552920006262412,0.10192455223079308,0.6773264792735314,-0.2034578301925031],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.120000000000712,"joint_targets_rad":[-0.15757760587767045,1.459716801689199,-0.8552920006262412,0.10192455223079308,0.6773264792735314,-0.2034578301925031],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.140000000000719,"qpos":[-0.16295385050861452,1.4289790835416967,-0.86104321510527,0.11639808732653295,0.6761016133972352,-0.21459210144994523,0.034999785020910515,-0.03499929777017602,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.8735729687762196e-17,7.155437229065546e-17,5.24294117353571e-08],"qvel":[0.029342647971118654,0.4869061500710525,0.0333465016773882,-0.05667869461849042,0.00010081229406237869,0.014245350634324857,-2.7521150549639083e-05,-5.279481043474091e-05,-8.801418166767119e-17,3.4119760213591665e-17,2.8313013528220665e-15,-9.85505633216356e-16,-2.30756785899722e-15,1.3018762323406903e-08],"joint_position_rad":[-0.16295385050861452,1.4289790835416967,-0.86104321510527,0.11639808732653295,0.6761016133972352,-0.21459210144994523],"joint_velocity_rad_s":[0.029342647971118654,0.4869061500710525,0.0333465016773882,-0.05667869461849042,0.00010081229406237869,0.014245350634324857],"gripper_joint_position_m":[0.034999785020910515,-0.03499929777017602],"tcp_position_m":[0.3049005546724257,-0.03316320708212993,0.11908264027517053],"tcp_quaternion_wxyz":[0.20996926882254544,0.011689632070633846,0.9776218077772907,0.005644431808486177],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.8735729687762196e-17,7.155437229065546e-17,5.24294117353571e-08],"object_linear_velocity_m_s":[-8.801418166767119e-17,3.4119760213591665e-17,2.8313013528220665e-15],"object_angular_velocity_rad_s":[-9.855053893844015e-16,-2.307567963084377e-15,1.3018762323406908e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.15757760587767045,1.459716801689199,-0.8552920006262412,0.10192455223079308,0.6773264792735314,-0.2034578301925031,0.035],"actuator_force_native":[0.28338633061993335,0.02448670144492837,0.2933646499353699,-0.2955479307371425,0.012097440321868547,0.08997468662293384,0.00014620491632788557],"issued_joint_targets_rad":[-0.15697157343500187,1.4696954556520503,-0.8547537128598738,0.10058413311584355,0.6772317316786581,-0.2030238218302026],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.140000000000719,"joint_targets_rad":[-0.15697157343500187,1.4696954556520503,-0.8547537128598738,0.10058413311584355,0.6772317316786581,-0.2030238218302026],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.160000000000726,"qpos":[-0.16233538395201613,1.4388265102496576,-0.8604331083297599,0.11517088435528756,0.6761048020021543,-0.21431213609984512,0.03499977738806627,-0.0349993079706376,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.5837769349123454e-17,5.027568351175396e-17,5.288736177401281e-08],"qvel":[0.029182942627242144,0.48942020004674447,0.03182420674127595,-0.05758662447476309,-5.033051682038533e-05,0.014444545020161634,-2.789350012894989e-05,-5.3518325507998104e-05,-6.410144815572456e-17,3.32741070533592e-17,2.877098052587855e-15,-7.418694766048649e-16,-2.3579205611649095e-15,2.3768972355597385e-08],"joint_position_rad":[-0.16233538395201613,1.4388265102496576,-0.8604331083297599,0.11517088435528756,0.6761048020021543,-0.21431213609984512],"joint_velocity_rad_s":[0.029182942627242144,0.48942020004674447,0.03182420674127595,-0.05758662447476309,-5.033051682038533e-05,0.014444545020161634],"gripper_joint_position_m":[0.03499977738806627,-0.0349993079706376],"tcp_position_m":[0.3046564183489733,-0.03309415877193268,0.11585675037745505],"tcp_quaternion_wxyz":[0.20482680130931585,0.011338938065847555,0.9787139063956881,0.006041471395694555],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.5837769349123454e-17,5.027568351175396e-17,5.288736177401281e-08],"object_linear_velocity_m_s":[-6.410144815572456e-17,3.32741070533592e-17,2.877098052587855e-15],"object_angular_velocity_rad_s":[-7.418692248064629e-16,-2.3579206408642107e-15,2.3768972355597402e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.15697157343500187,1.4696954556520503,-0.8547537128598738,0.10058413311584355,0.6772317316786581,-0.2030238218302026,0.035],"actuator_force_native":[0.2831901282249287,0.02241463195770166,0.2952306038845194,-0.295536927203945,0.01134479254026921,0.09121632516618305,0.00014837197799422164],"issued_joint_targets_rad":[-0.1563778186477584,1.4796910069211264,-0.8542223291645712,0.09922101324102076,0.6771443123805143,-0.20258870276363664],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.160000000000726,"joint_targets_rad":[-0.1563778186477584,1.4796910069211264,-0.8542223291645712,0.09922101324102076,0.6771443123805143,-0.20258870276363664],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.1800000000007325,"qpos":[-0.1617216796197035,1.4487196216817122,-0.8598499348368523,0.11392435605787159,0.6761050762533233,-0.2140282588212366,0.03499977703144672,-0.03499933197472854,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.1041118181336664e-18,2.2010153749468187e-17,5.333145555774048e-08],"qvel":[0.028902172472562535,0.49149152237212373,0.03064775360298665,-0.058521581057102985,-0.00019574319578182206,0.014640930965446402,-2.7368506582324147e-05,-5.500150534995035e-05,-2.2575943988596282e-17,-1.2243865595888044e-17,1.6419749376923681e-15,-2.714414180616399e-15,-2.423861242988621e-15,4.3396141108235335e-08],"joint_position_rad":[-0.1617216796197035,1.4487196216817122,-0.8598499348368523,0.11392435605787159,0.6761050762533233,-0.2140282588212366],"joint_velocity_rad_s":[0.028902172472562535,0.49149152237212373,0.03064775360298665,-0.058521581057102985,-0.00019574319578182206,0.014640930965446402],"gripper_joint_position_m":[0.03499977703144672,-0.03499933197472854],"tcp_position_m":[0.3043861077485669,-0.03302527252987028,0.11262994251952282],"tcp_quaternion_wxyz":[0.19966978570712687,0.01098110684822628,0.9797806018335384,0.006431503616341401],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.1041118181336664e-18,2.2010153749468187e-17,5.333145555774048e-08],"object_linear_velocity_m_s":[-2.2575943988596282e-17,-1.2243865595888044e-17,1.6419749376923681e-15],"object_angular_velocity_rad_s":[-2.7144139201699774e-15,-2.4238615324200987e-15,4.339614110823536e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000067},{"geom_ids":[1,90],"normal_force_n":0.09810000000000062},{"geom_ids":[1,90],"normal_force_n":0.09810000000000073},{"geom_ids":[1,90],"normal_force_n":0.09810000000000077}],"native_actuator_controls":[-0.1563778186477584,1.4796910069211264,-0.8542223291645712,0.09922101324102076,0.6771443123805143,-0.20258870276363664,0.035],"actuator_force_native":[0.2829980153927938,0.020253207292526554,0.29696968576756433,-0.2955258073885183,0.010685976065583525,0.0924341641278299,0.00014576127504284386],"issued_joint_targets_rad":[-0.1558011975879755,1.4896872377099637,-0.8536847892324101,0.09783518540958733,0.6770657803140335,-0.2021551994623807],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.1800000000007325,"joint_targets_rad":[-0.1558011975879755,1.4896872377099637,-0.8536847892324101,0.09783518540958733,0.6770657803140335,-0.2021551994623807],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.200000000000739,"qpos":[-0.16111562526311804,1.4586485234442506,-0.8592856102397561,0.11265818338168478,0.6761024745834623,-0.21374053969463847,0.03499977529937592,-0.03499936451084463,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-2.3619301746558498e-17,5.7860834321366004e-18,5.367352326390968e-08],"qvel":[0.028469833531333723,0.4930286947160617,0.029903084488607387,-0.05948042735047732,-0.00033530347102769635,0.014831452419628615,-2.8065683633097746e-05,-5.5127549708132084e-05,3.1696080591412476e-18,-8.243452120693012e-17,1.7502216825933204e-15,-5.696264897196375e-15,-1.8207102605292865e-15,7.923039477314204e-08],"joint_position_rad":[-0.16111562526311804,1.4586485234442506,-0.8592856102397561,0.11265818338168478,0.6761024745834623,-0.21374053969463847],"joint_velocity_rad_s":[0.028469833531333723,0.4930286947160617,0.029903084488607387,-0.05948042735047732,-0.00033530347102769635,0.014831452419628615],"gripper_joint_position_m":[0.03499977529937592,-0.03499936451084463],"tcp_position_m":[0.3040871592563853,-0.03295712663097812,0.10940287503877649],"tcp_quaternion_wxyz":[0.1944992111756311,0.010617300262249817,0.9808215422686727,0.006814103675550095],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-2.3619301746558498e-17,5.7860834321366004e-18,5.367352326390968e-08],"object_linear_velocity_m_s":[3.1696080591412476e-18,-8.243452120693012e-17,1.7502216825933204e-15],"object_angular_velocity_rad_s":[-5.696264700831609e-15,-1.8207108682637568e-15,7.92303947731421e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000073},{"geom_ids":[1,90],"normal_force_n":0.09810000000000053},{"geom_ids":[1,90],"normal_force_n":0.09810000000000052},{"geom_ids":[1,90],"normal_force_n":0.0981000000000007}],"native_actuator_controls":[-0.1558011975879755,1.4896872377099637,-0.8536847892324101,0.09783518540958733,0.6770657803140335,-0.2021551994623807,0.035],"actuator_force_native":[0.2828050463547349,0.017953667676735563,0.2985502581446582,-0.2955177821315118,0.0101360125122536,0.09360622369313454,0.0001493164431289884],"issued_joint_targets_rad":[-0.1552480806661835,1.4996634821939179,-0.8531242938330666,0.09642700122932457,0.6769984037886544,-0.20172722767015525],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.200000000000739,"joint_targets_rad":[-0.1552480806661835,1.4996634821939179,-0.8531242938330666,0.09642700122932457,0.6769984037886544,-0.20172722767015525],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.220000000000746,"qpos":[-0.16052088121820035,1.4686011478649057,-0.8587299681045759,0.11137220681758651,0.6760970160552836,-0.2134491176904547,0.03499977593640757,-0.034999412336249563,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-3.600056591456073e-17,-2.0146915387744603e-18,5.397406302395304e-08],"qvel":[0.02784438205360312,0.493909127912362,0.029703672347769994,-0.06045800047519973,-0.00046888785853286044,0.015011801846209812,-2.735550398559717e-05,-5.6388108306422034e-05,3.570526048319197e-19,-4.0090263543319827e-17,2.2068009014704155e-15,8.331271819449301e-16,-1.8120370057954915e-16,8.583964442700884e-09],"joint_position_rad":[-0.16052088121820035,1.4686011478649057,-0.8587299681045759,0.11137220681758651,0.6760970160552836,-0.2134491176904547],"joint_velocity_rad_s":[0.02784438205360312,0.493909127912362,0.029703672347769994,-0.06045800047519973,-0.00046888785853286044,0.015011801846209812],"gripper_joint_position_m":[0.03499977593640757,-0.034999412336249563],"tcp_position_m":[0.3037565297837309,-0.03289042464528162,0.10617632841725073],"tcp_quaternion_wxyz":[0.18931614191473514,0.010249082066428083,0.9818363789988702,0.00718885259985068],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-3.600056591456073e-17,-2.0146915387744603e-18,5.397406302395304e-08],"object_linear_velocity_m_s":[3.570526048319197e-19,-4.0090263543319827e-17,2.2068009014704155e-15],"object_angular_velocity_rad_s":[8.331272014709377e-16,-1.81203610026975e-16,8.58396444270089e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1552480806661835,1.4996634821939179,-0.8531242938330666,0.09642700122932457,0.6769984037886544,-0.20172722767015525,0.035],"actuator_force_native":[0.28260213389333266,0.015441106759155332,0.29993557998189146,-0.2955182211544791,0.009717209121506976,0.09470119743367933,0.0001457400636251105],"issued_joint_targets_rad":[-0.15472705804115647,1.5095925429487131,-0.8525187201054131,0.09499737309383148,0.6769456457235237,-0.20131051969631833],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.220000000000746,"joint_targets_rad":[-0.15472705804115647,1.5095925429487131,-0.8525187201054131,0.09499737309383148,0.6769456457235237,-0.20131051969631833],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.2400000000007525,"qpos":[-0.15994218340332658,1.4785624529148782,-0.858170031900653,0.11006651614706224,0.6760886921489595,-0.21315423052801563,0.03499978217071117,-0.03499948466113049,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-4.146654113441984e-17,-3.069033256718944e-17,5.446189274768447e-08],"qvel":[0.026967475148354597,0.493962540530246,0.03020457031250774,-0.06144589867157385,-0.0005963159739371188,0.015175757028995152,-2.6966967459950136e-05,-5.70491074330085e-05,3.773180294371644e-17,-4.9240919304433465e-17,2.265087610263237e-15,1.3540522555561842e-15,1.228430932032156e-16,1.567215135137238e-08],"joint_position_rad":[-0.15994218340332658,1.4785624529148782,-0.858170031900653,0.11006651614706224,0.6760886921489595,-0.21315423052801563],"joint_velocity_rad_s":[0.026967475148354597,0.493962540530246,0.03020457031250774,-0.06144589867157385,-0.0005963159739371188,0.015175757028995152],"gripper_joint_position_m":[0.03499978217071117,-0.03499948466113049],"tcp_position_m":[0.303390391461723,-0.032826043175215,0.1029512604231713],"tcp_quaternion_wxyz":[0.18412176417910597,0.009878583504269683,0.9828247587075838,0.007555343466867393],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-4.146654113441984e-17,-3.069033256718944e-17,5.446189274768447e-08],"object_linear_velocity_m_s":[3.773180294371644e-17,-4.9240919304433465e-17,2.265087610263237e-15],"object_angular_velocity_rad_s":[1.3540522412136751e-15,1.2284324199145219e-16,1.567215135137239e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.15472705804115647,1.5095925429487131,-0.8525187201054131,0.09499737309383148,0.6769456457235237,-0.20131051969631833,0.035],"actuator_force_native":[0.28237265323183536,0.012594500055570279,0.30108209205664593,-0.29553622877136076,0.009464009706547039,0.09567347277348004,0.0001435480088531893],"issued_joint_targets_rad":[-0.15425013145405947,1.5194371062024734,-0.8518379710565409,0.09354811873428505,0.6769130827194061,-0.2009137120119601],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.2400000000007525,"joint_targets_rad":[-0.15425013145405947,1.5194371062024734,-0.8518379710565409,0.09354811873428505,0.6769130827194061,-0.2009137120119601],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.260000000000759,"qpos":[-0.15938582042804464,1.4885131564139698,-0.8575888772594379,0.10874160023317599,0.6760774532406356,-0.21285626067751723,0.034999780254073826,-0.034999576841332675,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-3.412501409163876e-17,-2.4137698963124373e-17,5.4892346208211925e-08],"qvel":[0.02575396724317115,0.4929417193414394,0.0316269063053326,-0.06243032170742744,-0.0007173219385391833,0.015314077507200142,-2.712181915954401e-05,-5.6753545630786575e-05,2.996073020165266e-17,-4.5330602387473254e-17,2.2373320346476076e-15,1.1029239521439002e-15,6.849866159724474e-16,2.8613390656480003e-08],"joint_position_rad":[-0.15938582042804464,1.4885131564139698,-0.8575888772594379,0.10874160023317599,0.6760774532406356,-0.21285626067751723],"joint_velocity_rad_s":[0.02575396724317115,0.4929417193414394,0.0316269063053326,-0.06243032170742744,-0.0007173219385391833,0.015314077507200142],"gripper_joint_position_m":[0.034999780254073826,-0.034999576841332675],"tcp_position_m":[0.3029838118337261,-0.032765106146873633,0.0997288929689085],"tcp_quaternion_wxyz":[0.17891746760906987,0.009508767288433981,0.9837863103912895,0.007913192510275419],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-3.412501409163876e-17,-2.4137698963124373e-17,5.4892346208211925e-08],"object_linear_velocity_m_s":[2.996073020165266e-17,-4.5330602387473254e-17,2.2373320346476076e-15],"object_angular_velocity_rad_s":[1.1029238755615266e-15,6.849867390094753e-16,2.861339065648003e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.15425013145405947,1.5194371062024734,-0.8518379710565409,0.09354811873428505,0.6769130827194061,-0.2009137120119601,0.035],"actuator_force_native":[0.2820852817029582,0.009207386373091708,0.3019379647051039,-0.2955876514185003,0.009432277695514024,0.09645437039477134,0.00014439893284490246],"issued_joint_targets_rad":[-0.15383488112467852,1.5291430732091966,-0.8510392010208733,0.09208259038098662,0.6769102853944607,-0.20055037166521406],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.260000000000759,"joint_targets_rad":[-0.15383488112467852,1.5291430732091966,-0.8510392010208733,0.09208259038098662,0.6769102853944607,-0.20055037166521406],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.280000000000766,"qpos":[-0.15886043216687437,1.4984276084946544,-0.8569637412390977,0.1073986128543126,0.6760631841679788,-0.21255581038895485,0.034999779076315095,-0.034999711278388794,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-3.181130787255745e-17,-2.829627016067582e-17,5.530038395234765e-08],"qvel":[0.024073117003613226,0.4904667971980419,0.03430397432783509,-0.0633878787832404,-0.000831515362330415,0.015412455417111498,-2.5358646935026315e-05,-5.7759358853515703e-05,5.025132917403913e-17,-5.237771871972794e-17,2.2068009014704163e-15,-2.85510451839947e-16,-1.387065638218684e-15,5.224082555766208e-08],"joint_position_rad":[-0.15886043216687437,1.4984276084946544,-0.8569637412390977,0.1073986128543126,0.6760631841679788,-0.21255581038895485],"joint_velocity_rad_s":[0.024073117003613226,0.4904667971980419,0.03430397432783509,-0.0633878787832404,-0.000831515362330415,0.015412455417111498],"gripper_joint_position_m":[0.034999779076315095,-0.034999711278388794],"tcp_position_m":[0.30253022404961116,-0.03270910761777206,0.09651085815734159],"tcp_quaternion_wxyz":[0.17370499426565658,0.009143875282764787,0.9847206217383065,0.008262059991571546],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-3.181130787255745e-17,-2.829627016067582e-17,5.530038395234765e-08],"object_linear_velocity_m_s":[5.025132917403913e-17,-5.237771871972794e-17,2.2068009014704163e-15],"object_angular_velocity_rad_s":[-2.85510301385862e-16,-1.3870656664726539e-15,5.2240825557662125e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.15383488112467852,1.5291430732091966,-0.8510392010208733,0.09208259038098662,0.6769102853944607,-0.20055037166521406,0.035],"actuator_force_native":[0.2816784983576017,0.004903191173170285,0.30244334581877297,-0.295701505016837,0.009718285308315089,0.09693570411174068,0.0001356301820714112],"issued_joint_targets_rad":[-0.15350880923759916,1.5386258170182647,-0.850057332642717,0.09060692665625668,0.6769550890790755,-0.20024314889513156],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.280000000000766,"joint_targets_rad":[-0.15350880923759916,1.5386258170182647,-0.850057332642717,0.09060692665625668,0.6769550890790755,-0.20024314889513156],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.3000000000007725,"qpos":[-0.1583784578483417,1.5082699138877103,-0.8562626112054612,0.1060398869275405,0.6760456543938238,-0.2122538327641463,0.034999787782535235,-0.03499992290409508,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-2.3345277082062117e-17,-3.0118543589377375e-17,5.564956086875368e-08],"qvel":[0.021709801016702602,0.48590812959229307,0.03877699139811159,-0.06427665053407262,-0.0009384031805987554,0.015447396589615182,-2.292629601751238e-05,-5.8654582505462774e-05,8.239728374658218e-17,-2.823841685560015e-17,2.0569207931460193e-15,1.3514654457616413e-15,-1.999276809244672e-15,9.537855501683584e-08],"joint_position_rad":[-0.1583784578483417,1.5082699138877103,-0.8562626112054612,0.1060398869275405,0.6760456543938238,-0.2122538327641463],"joint_velocity_rad_s":[0.021709801016702602,0.48590812959229307,0.03877699139811159,-0.06427665053407262,-0.0009384031805987554,0.015447396589615182],"gripper_joint_position_m":[0.034999787782535235,-0.03499992290409508],"tcp_position_m":[0.30202047415528066,-0.032660130960416665,0.09329946426002066],"tcp_quaternion_wxyz":[0.16848673186115304,0.008790253116991973,0.9856271929580533,0.008601693932902147],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-2.3345277082062117e-17,-3.0118543589377375e-17,5.564956086875368e-08],"object_linear_velocity_m_s":[8.239728374658218e-17,-2.823841685560015e-17,2.0569207931460193e-15],"object_angular_velocity_rad_s":[1.3514656625340605e-15,-1.999276654374467e-15,9.537855501683592e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.15350880923759916,1.5386258170182647,-0.850057332642717,0.09060692665625668,0.6769550890790755,-0.20024314889513156,0.035],"actuator_force_native":[0.2810228837758917,-0.001068397517116182,0.3025373280289898,-0.29593515818098926,0.010501951623415273,0.09693574380572478,0.00012312017867821545],"issued_joint_targets_rad":[-0.15277394748021922,1.545145342677696,-0.8596466554978566,0.08712717840362104,0.690356346295268,-0.1970703408697942],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.3000000000007725,"joint_targets_rad":[-0.15277394748021922,1.545145342677696,-0.8596466554978566,0.08712717840362104,0.690356346295268,-0.1970703408697942],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.320000000000779,"qpos":[-0.15784795587779413,1.518037706665556,-0.8559060940226916,0.10434612171885267,0.6762294864651798,-0.211938335845393,0.035000333215882695,-0.03499766395785804,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.2326829416656941e-17,-2.7829625545787827e-17,5.6011354447090835e-08],"qvel":[0.025114805212397888,0.47727488122439327,0.005044469953513616,-0.08285270365060758,0.016403556116245388,0.017468210598043342,-7.651870554387612e-05,-7.433462018251113e-06,3.611660616104009e-17,-1.6032798014543536e-17,2.0777374748577398e-15,7.9725052402740145e-16,1.1905715586306278e-15,1.0333485365117178e-08],"joint_position_rad":[-0.15784795587779413,1.518037706665556,-0.8559060940226916,0.10434612171885267,0.6762294864651798,-0.211938335845393],"joint_velocity_rad_s":[0.025114805212397888,0.47727488122439327,0.005044469953513616,-0.08285270365060758,0.016403556116245388,0.017468210598043342],"gripper_joint_position_m":[0.035000333215882695,-0.03499766395785804],"tcp_position_m":[0.3015406065359498,-0.032642548833599974,0.09020055546203934],"tcp_quaternion_wxyz":[0.1633497834504839,0.008289696407648728,0.9864940020317459,0.008815505404624061],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.2326829416656941e-17,-2.7829625545787827e-17,5.6011354447090835e-08],"object_linear_velocity_m_s":[3.611660616104009e-17,-1.6032798014543536e-17,2.0777374748577398e-15],"object_angular_velocity_rad_s":[7.97250390081192e-16,1.190571648195543e-15,1.0333485365117188e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.15277394748021922,1.545145342677696,-0.8596466554978566,0.08712717840362104,0.690356346295268,-0.1970703408697942,0.035],"actuator_force_native":[0.28034664574400203,-0.21776352515077235,-0.3244672677807756,-0.27449421435622723,0.11666326412651351,0.12247763385892307,0.00036926489241162486],"issued_joint_targets_rad":[-0.15188717421129724,1.5513555651564965,-0.869194992358777,0.08337313347132305,0.7038166894576745,-0.19381703958141205],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.320000000000779,"joint_targets_rad":[-0.15188717421129724,1.5513555651564965,-0.869194992358777,0.08337313347132305,0.7038166894576745,-0.19381703958141205],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.340000000000786,"qpos":[-0.15724127739659471,1.527501424990151,-0.8565076259651802,0.10229148860770153,0.6770644823437648,-0.2115691898411481,0.03500004513128711,-0.03499553369616656,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.7683866261798135e-18,-2.8822457810302135e-17,5.647434668538421e-08],"qvel":[0.029317991467426613,0.4551105330399005,-0.05063215911893731,-0.09901808555871976,0.04822446577736025,0.02058846581753369,-0.00011357223638022138,-7.094666248826118e-05,3.724519447651821e-17,7.811904103042533e-19,2.0902274838847717e-15,5.389709439179132e-16,7.725011127655559e-16,1.8866334746647296e-08],"joint_position_rad":[-0.15724127739659471,1.527501424990151,-0.8565076259651802,0.10229148860770153,0.6770644823437648,-0.2115691898411481],"joint_velocity_rad_s":[0.029317991467426613,0.4551105330399005,-0.05063215911893731,-0.09901808555871976,0.04822446577736025,0.02058846581753369],"gripper_joint_position_m":[0.03500004513128711,-0.03499553369616656],"tcp_position_m":[0.3012084157531978,-0.03266259408286425,0.08742849947231725],"tcp_quaternion_wxyz":[0.15848759993034936,0.007614916102972148,0.9872916085284346,0.00888670076005117],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.7683866261798135e-18,-2.8822457810302135e-17,5.647434668538421e-08],"object_linear_velocity_m_s":[3.724519447651821e-17,7.811904103042533e-19,2.0902274838847717e-15],"object_angular_velocity_rad_s":[5.389708555773707e-16,7.725011735748897e-16,1.8866334746647313e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.15188717421129724,1.5513555651564965,-0.869194992358777,0.08337313347132305,0.7038166894576745,-0.19381703958141205,0.035],"actuator_force_native":[0.28173829748666535,-0.36722145189185085,-0.7618285158930576,-0.26164377766154034,0.19518537247305723,0.14663880387105976,0.000566055930417031],"issued_joint_targets_rad":[-0.15089128695384701,1.557102387921972,-0.8781334292804879,0.07955870760816698,0.7165530540593351,-0.190775106152655],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.340000000000786,"joint_targets_rad":[-0.15089128695384701,1.557102387921972,-0.8781334292804879,0.07955870760816698,0.7165530540593351,-0.190775106152655],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.360000000000793,"qpos":[-0.15655772707212115,1.536534552533197,-0.8587598694077677,0.09992264811232023,0.6794297860372333,-0.2111396646778268,0.03499953404463268,-0.0349948097096775,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.3631330404609786e-19,-3.3681605394595454e-17,5.6931063502885266e-08],"qvel":[0.033269785119799875,0.42674090075251736,-0.13922700437613766,-0.11249900188296776,0.1317289022538181,0.0237396227748283,-0.00011098919448714213,-0.00014657538383012578,4.77232137762961e-17,-1.0901756679246366e-18,2.0527574568036724e-15,-1.1212827323334433e-16,-5.82899413609567e-17,3.444516290448328e-08],"joint_position_rad":[-0.15655772707212115,1.536534552533197,-0.8587598694077677,0.09992264811232023,0.6794297860372333,-0.2111396646778268],"joint_velocity_rad_s":[0.033269785119799875,0.42674090075251736,-0.13922700437613766,-0.11249900188296776,0.1317289022538181,0.0237396227748283],"gripper_joint_position_m":[0.03499953404463268,-0.0349948097096775],"tcp_position_m":[0.3010869169203207,-0.032709863448639,0.0851594352838225],"tcp_quaternion_wxyz":[0.1538800804622618,0.006754150543328165,0.9880266712548125,0.008865617660401264],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.3631330404609786e-19,-3.3681605394595454e-17,5.6931063502885266e-08],"object_linear_velocity_m_s":[4.77232137762961e-17,-1.0901756679246366e-18,2.0527574568036724e-15],"object_angular_velocity_rad_s":[-1.1212826891666378e-16,-5.828995413751088e-17,3.444516290448332e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.15089128695384701,1.557102387921972,-0.8781334292804879,0.07955870760816698,0.7165530540593351,-0.190775106152655,0.035],"actuator_force_native":[0.286966283862931,-0.48827767266058686,-0.8537497679369181,-0.2520626107512909,0.17363932684029137,0.16803615108947523,0.0005735841871286063],"issued_joint_targets_rad":[-0.1498573140903327,1.5624670280159316,-0.886536031470044,0.07588152303840195,0.7286289070119707,-0.18818169340828578],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.360000000000793,"joint_targets_rad":[-0.1498573140903327,1.5624670280159316,-0.886536031470044,0.07588152303840195,0.7286289070119707,-0.18818169340828578],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.380000000000799,"qpos":[-0.15578945873927047,1.5448192014957318,-0.8626637236035928,0.09734145505033465,0.6832035531753724,-0.21065007786802056,0.034999224764554686,-0.034995387578687503,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,5.345409047190581e-18,-2.3865116335618517e-17,5.730026379400777e-08],"qvel":[0.03766387317508756,0.38297851872082683,-0.21531098686307132,-0.12141923953317509,0.18984287646033904,0.026591000245209946,-9.492714324573741e-05,-0.00019447924872910066,3.381345700783405e-17,1.9465225237994274e-17,2.016675208503356e-15,1.5137602817092732e-15,1.3735919286993101e-15,6.288816897660768e-08],"joint_position_rad":[-0.15578945873927047,1.5448192014957318,-0.8626637236035928,0.09734145505033465,0.6832035531753724,-0.21065007786802056],"joint_velocity_rad_s":[0.03766387317508756,0.38297851872082683,-0.21531098686307132,-0.12141923953317509,0.18984287646033904,0.026591000245209946],"gripper_joint_position_m":[0.034999224764554686,-0.034995387578687503],"tcp_position_m":[0.30122627182365536,-0.03278006016010724,0.08349369448726561],"tcp_quaternion_wxyz":[0.1497484537757322,0.005739399425321687,0.988668754113168,0.008749544349865013],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,5.345409047190581e-18,-2.3865116335618517e-17,5.730026379400777e-08],"object_linear_velocity_m_s":[3.381345700783405e-17,1.9465225237994274e-17,2.016675208503356e-15],"object_angular_velocity_rad_s":[1.5137601212932382e-15,1.3735921015047032e-15,6.288816897660775e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.1498573140903327,1.5624670280159316,-0.886536031470044,0.07588152303840195,0.7286289070119707,-0.18818169340828578,0.035],"actuator_force_native":[0.2862522060395829,-0.5030664719881486,-0.8332296950007532,-0.25130108281143215,0.16948922367547503,0.18479734422953298,0.0005056451340412771],"issued_joint_targets_rad":[-0.14883368395724786,1.5672502997127402,-0.8940403084107491,0.0725231009305275,0.7394487393639636,-0.18617877175846437],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.380000000000799,"joint_targets_rad":[-0.14883368395724786,1.5672502997127402,-0.8940403084107491,0.0725231009305275,0.7394487393639636,-0.18617877175846437],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.400000000000806,"qpos":[-0.15494326159357993,1.552118480968033,-0.8678692299797299,0.09464859883645475,0.6878171441276445,-0.21010912769452741,0.03499914073759726,-0.034996853507660394,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.0080861986877233e-17,-1.3439191415418635e-17,5.759281584749091e-08],"qvel":[0.04125399562791936,0.33080021448112334,-0.27106231313769935,-0.1257123615298579,0.219971541527409,0.028859041212790856,-7.673758652224992e-05,-0.00021648705072477235,1.1360597166217448e-17,3.399408551202064e-17,1.987531854106947e-15,2.0224887284803018e-15,1.5026291467590883e-15,1.1481791531070775e-07],"joint_position_rad":[-0.15494326159357993,1.552118480968033,-0.8678692299797299,0.09464859883645475,0.6878171441276445,-0.21010912769452741],"joint_velocity_rad_s":[0.04125399562791936,0.33080021448112334,-0.27106231313769935,-0.1257123615298579,0.219971541527409,0.028859041212790856],"gripper_joint_position_m":[0.03499914073759726,-0.034996853507660394],"tcp_position_m":[0.30164718170358346,-0.032875545405330074,0.08243639256198738],"tcp_quaternion_wxyz":[0.14631897140038014,0.004621735346325917,0.9891899977010763,0.008517430297204734],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.0080861986877233e-17,-1.3439191415418635e-17,5.759281584749091e-08],"object_linear_velocity_m_s":[1.1360597166217448e-17,3.399408551202064e-17,1.987531854106947e-15],"object_angular_velocity_rad_s":[2.0224885523128835e-15,1.5026293774057945e-15,1.1481791531070788e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.14883368395724786,1.5672502997127402,-0.8940403084107491,0.0725231009305275,0.7394487393639636,-0.18617877175846437,0.035],"actuator_force_native":[0.2824962327669702,-0.4434555728290519,-0.7383747087930317,-0.2564581085878008,0.18635864007207825,0.19601499754144402,0.0004180584287212241],"issued_joint_targets_rad":[-0.1478425863267565,1.5712232240480313,-0.9002648653409789,0.06956581937004737,0.7478171441276444,-0.18477074011406272],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.400000000000806,"joint_targets_rad":[-0.1478425863267565,1.5712232240480313,-0.9002648653409789,0.06956581937004737,0.7478171441276444,-0.18477074011406272],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.420000000000813,"qpos":[-0.1540428502116315,1.5583012430316503,-0.8738974938728283,0.09193546008471304,0.6926888013304716,-0.2095292116496666,0.03499927249447826,-0.03499870224114927,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.3402276195940359e-17,-3.4685334863560177e-18,5.8028347549875595e-08],"qvel":[0.04349269862881369,0.2743553987294332,-0.301463696278674,-0.12597727522839516,0.22254815897382957,0.03043706186936624,-5.866027220077422e-05,-0.00020985350937431944,7.24405360297527e-18,1.6079900666362178e-17,1.9458984906835048e-15,-3.6455942614470404e-16,7.210417819576732e-16,1.2439580860781706e-08],"joint_position_rad":[-0.1540428502116315,1.5583012430316503,-0.8738974938728283,0.09193546008471304,0.6926888013304716,-0.2095292116496666],"joint_velocity_rad_s":[0.04349269862881369,0.2743553987294332,-0.301463696278674,-0.12597727522839516,0.22254815897382957,0.03043706186936624],"gripper_joint_position_m":[0.03499927249447826,-0.03499870224114927],"tcp_position_m":[0.3023233994025119,-0.032996585883139834,0.08192707482692436],"tcp_quaternion_wxyz":[0.14370946396622813,0.0034582022900818588,0.9895802288002015,0.008160978568851398],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.3402276195940359e-17,-3.4685334863560177e-18,5.8028347549875595e-08],"object_linear_velocity_m_s":[7.24405360297527e-18,1.6079900666362178e-17,1.9458984906835048e-15],"object_angular_velocity_rad_s":[-3.6455950991272244e-16,7.210417393146696e-16,1.2439580860781719e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1478425863267565,1.5712232240480313,-0.9002648653409789,0.06956581937004737,0.7478171441276444,-0.18477074011406272,0.035],"actuator_force_native":[0.2785576176459319,-0.33801851233667435,-0.6020712360586771,-0.2648992524446512,0.21746118951098392,0.20192912255198925,0.000322401581873466],"issued_joint_targets_rad":[-0.14689598152338618,1.574257520764113,-0.9050095343634637,0.06701815199006225,0.7526888013304716,-0.18387548020538194],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.420000000000813,"joint_targets_rad":[-0.14689598152338618,1.574257520764113,-0.9050095343634637,0.06701815199006225,0.7526888013304716,-0.18387548020538194],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.440000000000819,"qpos":[-0.15311573899498404,1.5633093483855123,-0.88020717348867,0.08927585864193957,0.6972502139644093,-0.20892414560814906,0.034999552415244044,-0.03500039625559975,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.1289559161550046e-17,-3.009851030565246e-17,5.846592420997128e-08],"qvel":[0.04438770272035169,0.2170207643794704,-0.3055812317089409,-0.12319887171912525,0.19979788045342625,0.031322980983802116,-5.767579542686289e-05,-0.00016084790800140522,4.020945410666826e-17,2.8432892487054636e-17,2.001409641914764e-15,3.479842088848732e-17,-9.728524880722132e-16,2.2711533266379506e-08],"joint_position_rad":[-0.15311573899498404,1.5633093483855123,-0.88020717348867,0.08927585864193957,0.6972502139644093,-0.20892414560814906],"joint_velocity_rad_s":[0.04438770272035169,0.2170207643794704,-0.3055812317089409,-0.12319887171912525,0.19979788045342625,0.031322980983802116],"gripper_joint_position_m":[0.034999552415244044,-0.03500039625559975],"tcp_position_m":[0.30319954042839353,-0.033140935172169254,0.08186683253316145],"tcp_quaternion_wxyz":[0.1419641758404575,0.0023008992400594982,0.9898393347859514,0.007679189484018492],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.1289559161550046e-17,-3.009851030565246e-17,5.846592420997128e-08],"object_linear_velocity_m_s":[4.020945410666826e-17,2.8432892487054636e-17,2.001409641914764e-15],"object_angular_velocity_rad_s":[3.479853327876021e-17,-9.728524849702011e-16,2.2711533266379532e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.14689598152338618,1.574257520764113,-0.9050095343634637,0.06701815199006225,0.7526888013304716,-0.18387548020538194,0.035],"actuator_force_native":[0.27564208412607094,-0.2092500316093009,-0.4562827114387886,-0.2743139074794665,0.25468905298048217,0.20350218255196828,0.0003062823673727344],"issued_joint_targets_rad":[-0.14599731630921403,1.5762910189354606,-0.9081937691855335,0.064844566196446,0.7572502139644093,-0.18337332286658534],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.440000000000819,"joint_targets_rad":[-0.14599731630921403,1.5762910189354606,-0.9081937691855335,0.064844566196446,0.7572502139644093,-0.18337332286658534],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.460000000000826,"qpos":[-0.1521917222021654,1.5671545133278253,-0.8863273665207405,0.08671985393777963,0.7012141011942261,-0.20830536359410956,0.034999433723997234,-0.035000866905905585,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.67404291760259e-17,-2.1346086191416752e-17,5.889026105515036e-08],"qvel":[0.04377311029403723,0.1617560870361652,-0.2891098858658585,-0.11827415453758244,0.17275245472820866,0.03169568068327741,-5.964167777568186e-05,-9.830534653008951e-05,2.331265826114832e-17,5.831481147495184e-17,1.943122933121944e-15,1.4671899527694949e-15,1.250876690484297e-15,4.146552436795319e-08],"joint_position_rad":[-0.1521917222021654,1.5671545133278253,-0.8863273665207405,0.08671985393777963,0.7012141011942261,-0.20830536359410956],"joint_velocity_rad_s":[0.04377311029403723,0.1617560870361652,-0.2891098858658585,-0.11827415453758244,0.17275245472820866,0.03169568068327741],"gripper_joint_position_m":[0.034999433723997234,-0.035000866905905585],"tcp_position_m":[0.30418194057255943,-0.03329939452752724,0.08214020379040543],"tcp_quaternion_wxyz":[0.14099020079265512,0.001189007808696648,0.9899848603093077,0.0070940749388773115],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.67404291760259e-17,-2.1346086191416752e-17,5.889026105515036e-08],"object_linear_velocity_m_s":[2.331265826114832e-17,5.831481147495184e-17,1.943122933121944e-15],"object_angular_velocity_rad_s":[1.4671898036703238e-15,1.2508768602437662e-15,4.1465524367953246e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.14599731630921403,1.5762910189354606,-0.9081937691855335,0.064844566196446,0.7572502139644093,-0.18337332286658534,0.035],"actuator_force_native":[0.2766869199659219,-0.07785998656999027,-0.3037627838541539,-0.2836407369654328,0.3012324456095188,0.2017768862503262,0.0003208594289894062],"issued_joint_targets_rad":[-0.14514669531182897,1.5774180844785943,-0.909978061441156,0.06298044752629717,0.7612141011942262,-0.18313407663992037],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.460000000000826,"joint_targets_rad":[-0.14514669531182897,1.5774180844785943,-0.909978061441156,0.06298044752629717,0.7612141011942262,-0.18313407663992037],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.480000000000833,"qpos":[-0.15129409695928447,1.5698933207403571,-0.8918755819510811,0.08429600308262841,0.7045675847543273,-0.20768194833422438,0.03499941143526793,-0.035000630683536246,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.952670781722243e-17,-1.4098325657760105e-17,5.927264629989428e-08],"qvel":[0.04226641678376593,0.11033552333824916,-0.2556771637114283,-0.11221406582856452,0.14826497644118986,0.03165211032814182,-3.981524101146075e-05,-6.860973893035738e-05,1.737517362833602e-17,7.312855174704626e-17,1.99724630557242e-15,1.2353393898761019e-15,3.5780632474244674e-16,7.570557614683267e-08],"joint_position_rad":[-0.15129409695928447,1.5698933207403571,-0.8918755819510811,0.08429600308262841,0.7045675847543273,-0.20768194833422438],"joint_velocity_rad_s":[0.04226641678376593,0.11033552333824916,-0.2556771637114283,-0.11221406582856452,0.14826497644118986,0.03165211032814182],"gripper_joint_position_m":[0.03499941143526793,-0.035000630683536246],"tcp_position_m":[0.3051480354592857,-0.03345540301262398,0.0826273695784148],"tcp_quaternion_wxyz":[0.1405814804350976,0.0001455036015360979,0.9900481126315863,0.0064467714409432485],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.952670781722243e-17,-1.4098325657760105e-17,5.927264629989428e-08],"object_linear_velocity_m_s":[1.737517362833602e-17,7.312855174704626e-17,1.99724630557242e-15],"object_angular_velocity_rad_s":[1.2353393453251959e-15,3.5780646520132957e-16,7.570557614683278e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.14514669531182897,1.5774180844785943,-0.909978061441156,0.06298044752629717,0.7612141011942262,-0.18313407663992037,0.035],"actuator_force_native":[0.28046004787760914,0.05030348236772397,-0.16981254064886286,-0.29155189311042706,0.3440676997372032,0.19800055145082762,0.000222618794340379],"issued_joint_targets_rad":[-0.144342219505529,1.5778706384301249,-0.9107267981869733,0.06134810517220794,0.7630905179921593,-0.18303728322717752],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.480000000000833,"joint_targets_rad":[-0.144342219505529,1.5778706384301249,-0.9107267981869733,0.06134810517220794,0.7630905179921593,-0.18303728322717752],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.500000000000839,"qpos":[-0.1504310649646683,1.5716354412390394,-0.8965657641724323,0.08201223809217738,0.7073364115422899,-0.20706175675725397,0.03499957282835664,-0.03499999090736862,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,3.252418535275456e-17,-8.557417652237167e-18,5.955981558327673e-08],"qvel":[0.04061257115425165,0.06576530362906922,-0.21069568264964345,-0.1058880584185926,0.12419412791888333,0.03126605266269134,-3.4854846956806055e-05,-4.1788970780333426e-05,1.2005288822414873e-17,3.9931400040956084e-17,1.99724630557242e-15,-1.5327404843428298e-15,6.535354685359584e-16,8.20207920987038e-09],"joint_position_rad":[-0.1504310649646683,1.5716354412390394,-0.8965657641724323,0.08201223809217738,0.7073364115422899,-0.20706175675725397],"joint_velocity_rad_s":[0.04061257115425165,0.06576530362906922,-0.21069568264964345,-0.1058880584185926,0.12419412791888333,0.03126605266269134],"gripper_joint_position_m":[0.03499957282835664,-0.03499999090736862],"tcp_position_m":[0.3059964023733392,-0.033593792980845534,0.08321618280371203],"tcp_quaternion_wxyz":[0.1405328322696332,-0.0008224550218764702,0.9900588462548477,0.005773003943524121],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,3.252418535275456e-17,-8.557417652237167e-18,5.955981558327673e-08],"object_linear_velocity_m_s":[1.2005288822414873e-17,3.9931400040956084e-17,1.99724630557242e-15],"object_angular_velocity_rad_s":[-1.532740562332102e-15,6.535352854229416e-16,8.202079209870392e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.144342219505529,1.5778706384301249,-0.9107267981869733,0.06134810517220794,0.7630905179921593,-0.18303728322717752,0.035],"actuator_force_native":[0.28404478095988495,0.16998925714148072,-0.07940430791505548,-0.2971250247058146,0.37124987262036946,0.1933456563067275,0.00019136110051864996],"issued_joint_targets_rad":[-0.14357732733198575,1.577884270041634,-0.9108058379274855,0.059872329289119924,0.7630935379686262,-0.18298864034714082],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.500000000000839,"joint_targets_rad":[-0.14357732733198575,1.577884270041634,-0.9108058379274855,0.059872329289119924,0.7630935379686262,-0.18298864034714082],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.520000000000846,"qpos":[-0.14960077889689988,1.5725635496491335,-0.9002638888726817,0.07986280989869031,0.7095594634073997,-0.2064507148492256,0.03499978589990118,-0.034999238637435794,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.1688407146727845e-17,1.689200484232437e-17,6.00259426346739e-08],"qvel":[0.03913701099943415,0.031085248537524927,-0.16186519293094817,-0.09983506617243985,0.10161176753675534,0.030661881320702054,-3.5624359019282466e-05,-3.4395725022106274e-05,-1.7799726551269342e-17,2.844025968749292e-17,1.933408481656472e-15,-1.3094766290678423e-15,4.224224417810728e-16,1.4974925354255532e-08],"joint_position_rad":[-0.14960077889689988,1.5725635496491335,-0.9002638888726817,0.07986280989869031,0.7095594634073997,-0.2064507148492256],"joint_velocity_rad_s":[0.03913701099943415,0.031085248537524927,-0.16186519293094817,-0.09983506617243985,0.10161176753675534,0.030661881320702054],"gripper_joint_position_m":[0.03499978589990118,-0.034999238637435794],"tcp_position_m":[0.30666926281905615,-0.03370506356293944,0.08381229779738916],"tcp_quaternion_wxyz":[0.1406703349014682,-0.0017180794284507087,0.9900418669645231,0.0050996803025390525],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.1688407146727845e-17,1.689200484232437e-17,6.00259426346739e-08],"object_linear_velocity_m_s":[-1.7799726551269342e-17,2.844025968749292e-17,1.933408481656472e-15],"object_angular_velocity_rad_s":[-1.3094766792745323e-15,4.224222839263678e-16,1.4974925354255552e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023}],"native_actuator_controls":[-0.14357732733198575,1.577884270041634,-0.9108058379274855,0.059872329289119924,0.7630935379686262,-0.18298864034714082,0.035],"actuator_force_native":[0.286191070195958,0.2702313887124177,-0.03402995972955125,-0.3004438935206166,0.3829230943071318,0.18862792303979448,0.00018668579904934646],"issued_joint_targets_rad":[-0.14284412765735088,1.5776633145156065,-0.9105289356449326,0.058490659153539445,0.7626000137229095,-0.18292356460732415],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.520000000000846,"joint_targets_rad":[-0.14284412765735088,1.5776633145156065,-0.9105289356449326,0.058490659153539445,0.7626000137229095,-0.18292356460732415],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.540000000000853,"qpos":[-0.14879940231252614,1.57293007061588,-0.9030084952469729,0.07783590528307852,0.7113845508671433,-0.20585201394601285,0.03499964889511043,-0.034998340641604245,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.6980527701829875e-17,2.5581277700064782e-17,6.049177029057118e-08],"qvel":[0.03787938654302906,0.011395753497497925,-0.1181232179718737,-0.09424957591165407,0.08727240257643827,0.029966418234018966,-5.674890321791759e-05,-2.782545819724568e-05,-3.013171931209214e-17,3.883497032342022e-17,2.0014096419147626e-15,-2.0640688225327252e-16,4.7823642387671437e-17,2.73404320572361e-08],"joint_position_rad":[-0.14879940231252614,1.57293007061588,-0.9030084952469729,0.07783590528307852,0.7113845508671433,-0.20585201394601285],"joint_velocity_rad_s":[0.03787938654302906,0.011395753497497925,-0.1181232179718737,-0.09424957591165407,0.08727240257643827,0.029966418234018966],"gripper_joint_position_m":[0.03499964889511043,-0.034998340641604245],"tcp_position_m":[0.30714001309500877,-0.03378355619410257,0.08434051161215844],"tcp_quaternion_wxyz":[0.14081710427339197,-0.0025496436922624885,0.9900223216105591,0.004454792244108664],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.6980527701829875e-17,2.5581277700064782e-17,6.049177029057118e-08],"object_linear_velocity_m_s":[-3.013171931209214e-17,3.883497032342022e-17,2.0014096419147626e-15],"object_angular_velocity_rad_s":[-2.0640688664033844e-16,4.782361594051726e-17,2.7340432057236138e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.14284412765735088,1.5776633145156065,-0.9105289356449326,0.058490659153539445,0.7626000137229095,-0.18292356460732415,0.035],"actuator_force_native":[0.28702503969887516,0.3216807444906351,-0.011019141977413938,-0.3025619656232923,0.38124602469300495,0.18433486603585858,0.0002977887116724087],"issued_joint_targets_rad":[-0.14213746391154092,1.5774218986919468,-0.9102193122674926,0.05715390721980658,0.7620757840234389,-0.1827993641710469],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.540000000000853,"joint_targets_rad":[-0.14213746391154092,1.5774218986919468,-0.9102193122674926,0.05715390721980658,0.7620757840234389,-0.1827993641710469],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.560000000000859,"qpos":[-0.14802074902519083,1.5730978523872903,-0.9049676993790117,0.07591690384849482,0.7129889190871457,-0.205266725265719,0.03499952054545509,-0.034997891554601895,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.3525652676560278e-17,1.921818617907614e-17,6.08816551649037e-08],"qvel":[0.03692464649754556,0.006866174367972214,-0.08111642922105515,-0.0893785907416664,0.07679667997959673,0.029291149875262785,-4.164919456584127e-05,-5.713891867418375e-05,-2.134890194585171e-17,3.660669305064345e-17,1.8251617367555184e-15,-1.225244044189913e-16,-1.173915420698466e-15,4.99167246175184e-08],"joint_position_rad":[-0.14802074902519083,1.5730978523872903,-0.9049676993790117,0.07591690384849482,0.7129889190871457,-0.205266725265719],"joint_velocity_rad_s":[0.03692464649754556,0.006866174367972214,-0.08111642922105515,-0.0893785907416664,0.07679667997959673,0.029291149875262785],"gripper_joint_position_m":[0.03499952054545509,-0.034997891554601895],"tcp_position_m":[0.3074135628725826,-0.03382793861182649,0.08472521838207804],"tcp_quaternion_wxyz":[0.1407910720452872,-0.0033271579620756655,0.9900261884965458,0.0038665415084337446],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.3525652676560278e-17,1.921818617907614e-17,6.08816551649037e-08],"object_linear_velocity_m_s":[-2.134890194585171e-17,3.660669305064345e-17,1.8251617367555184e-15],"object_angular_velocity_rad_s":[-1.2252425956054496e-16,-1.173915437966083e-15,4.991672461751848e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.14213746391154092,1.5774218986919468,-0.9102193122674926,0.05715390721980658,0.7620757840234389,-0.1827993641710469,0.035],"actuator_force_native":[0.2860395766042654,0.3115928325326678,-0.01454688497319978,-0.30362691143919784,0.3756736293935372,0.1807368861338272,0.00022742415462584376],"issued_joint_targets_rad":[-0.14145295068412783,1.5773839649794832,-0.9102118289980771,0.05581725356742133,0.7620000162513151,-0.182580044775253],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.560000000000859,"joint_targets_rad":[-0.14145295068412783,1.5773839649794832,-0.9102118289980771,0.05581725356742133,0.7620000162513151,-0.182580044775253],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.580000000000866,"qpos":[-0.14726137555737528,1.5732245160458176,-0.9062715509760778,0.074081845017145,0.7144776568124768,-0.20469398597409025,0.03499955090537418,-0.03499783356516793,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.158996165247341e-17,-1.3924347022571725e-19,6.121529782450891e-08],"qvel":[0.03599327358738222,0.006110832638417511,-0.051489995003640966,-0.08563174818177086,0.073382281256596,0.028691765759006067,-3.8217081713304854e-05,-7.124918935352538e-05,6.1421996977936e-17,5.0657225104070525e-17,1.7974061611398895e-15,1.9230842135993934e-15,-6.433783179774984e-15,9.113533360867796e-08],"joint_position_rad":[-0.14726137555737528,1.5732245160458176,-0.9062715509760778,0.074081845017145,0.7144776568124768,-0.20469398597409025],"joint_velocity_rad_s":[0.03599327358738222,0.006110832638417511,-0.051489995003640966,-0.08563174818177086,0.073382281256596,0.028691765759006067],"gripper_joint_position_m":[0.03499955090537418,-0.03499783356516793],"tcp_position_m":[0.3075045120598825,-0.0338415666232536,0.08494740604394199],"tcp_quaternion_wxyz":[0.14052627372417598,-0.0040621573136132485,0.9900629846546003,0.0033394143172444553],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.158996165247341e-17,-1.3924347022571725e-19,6.121529782450891e-08],"object_linear_velocity_m_s":[6.1421996977936e-17,5.0657225104070525e-17,1.7974061611398895e-15],"object_angular_velocity_rad_s":[1.923085001265909e-15,-6.433782948265817e-15,9.11353336086781e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.14145295068412783,1.5773839649794832,-0.9102118289980771,0.05581725356742133,0.7620000162513151,-0.182580044775253,0.035],"actuator_force_native":[0.2847076219228857,0.30220175150115836,-0.05777226674173619,-0.30242491708009256,0.3651501725034887,0.17810176334986338,0.00020904919359931995],"issued_joint_targets_rad":[-0.140783282384643,1.5776329715165665,-0.9106295267109344,0.054457236229847106,0.762545063065332,-0.1822567844530999],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.580000000000866,"joint_targets_rad":[-0.140783282384643,1.5776329715165665,-0.9106295267109344,0.054457236229847106,0.762545063065332,-0.1822567844530999],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.600000000000873,"qpos":[-0.1465204750871206,1.573356250499089,-0.9071050044417307,0.07230815241498681,0.7160231428872892,-0.2041322526066019,0.034999595460609496,-0.03499801634199828,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.2507854189754594e-17,-2.1466089596198125e-17,6.156099585331018e-08],"qvel":[0.03511588619923639,0.0068124173940950486,-0.032068063886441005,-0.08283007458672445,0.0782824197380298,0.028187234774652098,-3.956266854490935e-05,-8.454320186676954e-05,2.1729982081669543e-17,2.5764722277367656e-17,1.7821405945512936e-15,-6.3713015650253e-16,5.075618387171714e-17,9.873767073993931e-09],"joint_position_rad":[-0.1465204750871206,1.573356250499089,-0.9071050044417307,0.07230815241498681,0.7160231428872892,-0.2041322526066019],"joint_velocity_rad_s":[0.03511588619923639,0.0068124173940950486,-0.032068063886441005,-0.08283007458672445,0.0782824197380298,0.028187234774652098],"gripper_joint_position_m":[0.034999595460609496,-0.03499801634199828],"tcp_position_m":[0.3074354114832395,-0.033828918330214286,0.08503427945799594],"tcp_quaternion_wxyz":[0.14000550846489493,-0.00476684999805016,0.9901350846726713,0.0028720795295874234],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.2507854189754594e-17,-2.1466089596198125e-17,6.156099585331018e-08],"object_linear_velocity_m_s":[2.1729982081669543e-17,2.5764722277367656e-17,1.7821405945512936e-15],"object_angular_velocity_rad_s":[-6.371301631756309e-16,5.0756104982508343e-17,9.873767073993946e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.140783282384643,1.5776329715165665,-0.9106295267109344,0.054457236229847106,0.762545063065332,-0.1822567844530999,0.035],"actuator_force_native":[0.28339598520202713,0.30807559442772003,-0.12162146210408764,-0.2998862744719655,0.34779557217338297,0.17647382937304168,0.00021399491834483975],"issued_joint_targets_rad":[-0.14012529261507792,1.5781926687421208,-0.911506478173414,0.05307222344732211,0.7637567962384334,-0.181847016954999],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.600000000000873,"joint_targets_rad":[-0.14012529261507792,1.5781926687421208,-0.911506478173414,0.05307222344732211,0.7637567962384334,-0.181847016954999],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.620000000000879,"qpos":[-0.14579612296943845,1.5735159130709295,-0.9076801135537265,0.070580097618907,0.7177661341672839,-0.20357962611549332,0.034999614112144146,-0.034998465331045225,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.7014061495183568e-17,-6.23617542014118e-17,6.205946278810592e-08],"qvel":[0.034354282341470754,0.008373584681217247,-0.023199763950934295,-0.08066967466188604,0.08869412630669005,0.027785562246949783,-4.103920084131701e-05,-9.955288222443618e-05,7.474650437808596e-17,3.345771046627666e-17,1.782140594551294e-15,-8.1588209263366575e-16,6.687186724052831e-16,1.8027005240384077e-08],"joint_position_rad":[-0.14579612296943845,1.5735159130709295,-0.9076801135537265,0.070580097618907,0.7177661341672839,-0.20357962611549332],"joint_velocity_rad_s":[0.034354282341470754,0.008373584681217247,-0.023199763950934295,-0.08066967466188604,0.08869412630669005,0.027785562246949783],"gripper_joint_position_m":[0.034999614112144146,-0.034998465331045225],"tcp_position_m":[0.30724450121562186,-0.03379597255440351,0.08503000747826982],"tcp_quaternion_wxyz":[0.13925193514390022,-0.005451184385235286,0.9902389301317783,0.0024585359359468595],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.7014061495183568e-17,-6.23617542014118e-17,6.205946278810592e-08],"object_linear_velocity_m_s":[7.474650437808596e-17,3.345771046627666e-17,1.782140594551294e-15],"object_angular_velocity_rad_s":[-8.158821778826951e-16,6.687185701649049e-16,1.8027005240384104e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.14012529261507792,1.5781926687421208,-0.911506478173414,0.05307222344732211,0.7637567962384334,-0.181847016954999,0.035],"actuator_force_native":[0.28189501664148864,0.33227253028921666,-0.19011034982034403,-0.2969665935539654,0.32686543125146095,0.17564774823451845,0.0002206315184409835],"issued_joint_targets_rad":[-0.1394791155426446,1.5790368960321184,-0.9128028064483813,0.05167442821913812,0.7655760497691436,-0.18138079675223964],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.620000000000879,"joint_targets_rad":[-0.1394791155426446,1.5790368960321184,-0.9128028064483813,0.05167442821913812,0.7655760497691436,-0.18138079675223964],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.640000000000886,"qpos":[-0.14508550102084308,1.5738045227896256,-0.9082318723814091,0.06889129734379403,0.7198006484830406,-0.20303422828828158,0.03499960001258624,-0.03499928285088998,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.2877269929650753e-17,-6.60765399101316e-17,6.249586109085142e-08],"qvel":[0.03375394187625169,0.016078869029652675,-0.024960261470875315,-0.07872992031665932,0.10079810869407031,0.027483028420715573,-3.952963139887388e-05,-0.00011577694061977178,9.200790916739656e-17,3.061549320668218e-17,1.7099760979506594e-15,-4.842246068507845e-16,4.2513400305611286e-16,3.2912759183158134e-08],"joint_position_rad":[-0.14508550102084308,1.5738045227896256,-0.9082318723814091,0.06889129734379403,0.7198006484830406,-0.20303422828828158],"joint_velocity_rad_s":[0.03375394187625169,0.016078869029652675,-0.024960261470875315,-0.07872992031665932,0.10079810869407031,0.027483028420715573],"gripper_joint_position_m":[0.03499960001258624,-0.03499928285088998],"tcp_position_m":[0.30698379613633664,-0.033749700250483454,0.08496393899747162],"tcp_quaternion_wxyz":[0.13828489896545668,-0.006120734450708011,0.990371360615202,0.0020955670094327736],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.2877269929650753e-17,-6.60765399101316e-17,6.249586109085142e-08],"object_linear_velocity_m_s":[9.200790916739656e-17,3.061549320668218e-17,1.7099760979506594e-15],"object_angular_velocity_rad_s":[-4.842246643385351e-16,4.2513394102613434e-16,3.2912759183158193e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1394791155426446,1.5790368960321184,-0.9128028064483813,0.05167442821913812,0.7655760497691436,-0.18138079675223964,0.035],"actuator_force_native":[0.279741128874619,0.33819551425115435,-0.24087341800340312,-0.2950251634029395,0.30655684981992426,0.17530977272934622,0.00021364765354481285],"issued_joint_targets_rad":[-0.13884724277910648,1.580143893597643,-0.91448564533986,0.05027732313399351,0.7679542238074785,-0.180882526864322],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.640000000000886,"joint_targets_rad":[-0.13884724277910648,1.580143893597643,-0.91448564533986,0.05027732313399351,0.7679542238074785,-0.180882526864322],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.660000000000893,"qpos":[-0.14438706832983236,1.5743149873814994,-0.9089250121458892,0.06723922687146638,0.7221092298928189,-0.20249404397072218,0.034999592945935507,-0.035000345229986574,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.4716473321734442e-17,-7.299449747022682e-17,6.290368771986214e-08],"qvel":[0.033156923570693525,0.028140813431761284,-0.03396782150470992,-0.0769086286563439,0.1117801890127698,0.02727280285882799,-4.832645047254476e-05,-0.00010687344217302574,1.2839435373187033e-16,2.088181970020453e-17,1.6627916194040902e-15,-9.504509100497301e-16,-2.5560635415089056e-15,6.009038676160287e-08],"joint_position_rad":[-0.14438706832983236,1.5743149873814994,-0.9089250121458892,0.06723922687146638,0.7221092298928189,-0.20249404397072218],"joint_velocity_rad_s":[0.033156923570693525,0.028140813431761284,-0.03396782150470992,-0.0769086286563439,0.1117801890127698,0.02727280285882799],"gripper_joint_position_m":[0.034999592945935507,-0.035000345229986574],"tcp_position_m":[0.30670548659240193,-0.033698104918155634,0.08485468787191376],"tcp_quaternion_wxyz":[0.1371476745955013,-0.006776517953236468,0.9905258419191029,0.0017750064586288016],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.4716473321734442e-17,-7.299449747022682e-17,6.290368771986214e-08],"object_linear_velocity_m_s":[1.2839435373187033e-16,2.088181970020453e-17,1.6627916194040902e-15],"object_angular_velocity_rad_s":[-9.504505972506136e-16,-2.5560636628512617e-15,6.009038676160298e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000027},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.13884724277910648,1.580143893597643,-0.91448564533986,0.05027732313399351,0.7679542238074785,-0.180882526864322,0.035],"actuator_force_native":[0.2774014262046016,0.32560843013268936,-0.27501154799411154,-0.2939330062171952,0.29077965562744,0.17520596677575995,0.000257914414942384],"issued_joint_targets_rad":[-0.13823051508340095,1.5814619849784857,-0.9164779542968212,0.0488918615682016,0.7707789510550133,-0.18036688145601293],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.660000000000893,"joint_targets_rad":[-0.13823051508340095,1.5814619849784857,-0.9164779542968212,0.0488918615682016,0.7707789510550133,-0.18036688145601293],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.680000000000899,"qpos":[-0.14370224725217534,1.575088174634795,-0.9098534038829197,0.06562266894322023,0.7246354944176028,-0.20195724084831787,0.034999189622501176,-0.035000866175504075,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,6.763598945969978e-18,-6.507965534985518e-17,6.318322465546989e-08],"qvel":[0.032434370627263114,0.04092220568197938,-0.04644806125987933,-0.07518264589841799,0.12021471062779258,0.0271412001062999,-6.534452864272427e-05,-7.763125143133959e-05,1.577004347983998e-16,-4.605374949557065e-18,1.6572405042809641e-15,-1.8725991987209806e-15,-4.291855496054491e-15,1.0970987151411265e-07],"joint_position_rad":[-0.14370224725217534,1.575088174634795,-0.9098534038829197,0.06562266894322023,0.7246354944176028,-0.20195724084831787],"joint_velocity_rad_s":[0.032434370627263114,0.04092220568197938,-0.04644806125987933,-0.07518264589841799,0.12021471062779258,0.0271412001062999],"gripper_joint_position_m":[0.034999189622501176,-0.035000866175504075],"tcp_position_m":[0.3064489054570987,-0.033648299869552895,0.08471923122722455],"tcp_quaternion_wxyz":[0.13589335636506686,-0.0074169294981292965,0.9906945919977197,0.0014866873002884775],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,6.763598945969978e-18,-6.507965534985518e-17,6.318322465546989e-08],"object_linear_velocity_m_s":[1.577004347983998e-16,-4.605374949557065e-18,1.6572405042809641e-15],"object_angular_velocity_rad_s":[-1.87259867065419e-15,-4.2918557341722446e-15,1.0970987151411284e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.13823051508340095,1.5814619849784857,-0.9164779542968212,0.0488918615682016,0.7707789510550133,-0.18036688145601293,0.035],"actuator_force_native":[0.2755667203656369,0.30529379908536214,-0.29772372681271975,-0.2933190655086553,0.28111250043241576,0.1751917937635996,0.0003591377431666487],"issued_joint_targets_rad":[-0.13762866988852235,1.5829268857025605,-0.9186843200441766,0.0475268914389359,0.7739116165851921,-0.1798422533361379],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.680000000000899,"joint_targets_rad":[-0.13762866988852235,1.5829268857025605,-0.9186843200441766,0.0475268914389359,0.7739116165851921,-0.1798422533361379],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.700000000000906,"qpos":[-0.1430340429390052,1.5761117986116335,-0.9110557681098775,0.06404102240793019,0.7273212250200175,-0.20142237629008178,0.03499863474674478,-0.0350010472818037,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,-1.1953196520977174e-18,-6.108942167402279e-17,6.359938033099879e-08],"qvel":[0.03155777689678462,0.05236796918764892,-0.06005861277964929,-0.07350326362077884,0.12628320658100176,0.027068403633635604,-6.551778184545027e-05,-6.548638189212142e-05,7.490885553421789e-17,3.058015438614878e-19,1.6530771679386202e-15,-2.769536536762627e-16,2.369796917645616e-15,1.1886166146047138e-08],"joint_position_rad":[-0.1430340429390052,1.5761117986116335,-0.9110557681098775,0.06404102240793019,0.7273212250200175,-0.20142237629008178],"joint_velocity_rad_s":[0.03155777689678462,0.05236796918764892,-0.06005861277964929,-0.07350326362077884,0.12628320658100176,0.027068403633635604],"gripper_joint_position_m":[0.03499863474674478,-0.0350010472818037],"tcp_position_m":[0.306238229635366,-0.03360545910785088,0.08457546426023611],"tcp_quaternion_wxyz":[0.13457505308210765,-0.008039536428029806,0.9908700373656597,0.0012206526722110635],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,-1.1953196520977174e-18,-6.108942167402279e-17,6.359938033099879e-08],"object_linear_velocity_m_s":[7.490885553421789e-17,3.058015438614878e-19,1.6530771679386202e-15],"object_angular_velocity_rad_s":[-2.7695395656372995e-16,2.369796882445855e-15,1.1886166146047159e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13762866988852235,1.5829268857025605,-0.9186843200441766,0.0475268914389359,0.7739116165851921,-0.1798422533361379,0.035],"actuator_force_native":[0.27464095955470746,0.2833671213359139,-0.30999109084567067,-0.2930489206558775,0.2764791057802434,0.17519862408898557,0.00038219903943637057],"issued_joint_targets_rad":[-0.13704120541714976,1.5844739163782535,-0.9210089169458863,0.04619013936805222,0.7772134021400913,-0.17931463098102804],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.700000000000906,"joint_targets_rad":[-0.13704120541714976,1.5844739163782535,-0.9210089169458863,0.04619013936805222,0.7772134021400913,-0.17931463098102804],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.720000000000913,"qpos":[-0.14238519606813888,1.5773421759321344,-0.9125300430456307,0.06249454064338364,0.7301123273413019,-0.20088838713465448,0.03499813628838599,-0.03500107418326617,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,8.301446417115422e-18,-5.554177229925779e-17,6.407153898267581e-08],"qvel":[0.03056959252369755,0.061321271453737926,-0.07301358167795508,-0.07182666993565967,0.13016130942831639,0.027036408095334637,-5.881350129411927e-05,-5.8778696754245356e-05,7.18429632546605e-17,1.2993092365205777e-17,1.6267093711037727e-15,2.7556655950693855e-16,1.6962363301801202e-15,2.1701137751894747e-08],"joint_position_rad":[-0.14238519606813888,1.5773421759321344,-0.9125300430456307,0.06249454064338364,0.7301123273413019,-0.20088838713465448],"joint_velocity_rad_s":[0.03056959252369755,0.061321271453737926,-0.07301358167795508,-0.07182666993565967,0.13016130942831639,0.027036408095334637],"gripper_joint_position_m":[0.03499813628838599,-0.03500107418326617],"tcp_position_m":[0.30608511331841387,-0.033572582354545986,0.08443918702680873],"tcp_quaternion_wxyz":[0.13323938962497178,-0.008641927768255158,0.9910457326293057,0.0009684906070632269],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,8.301446417115422e-18,-5.554177229925779e-17,6.407153898267581e-08],"object_linear_velocity_m_s":[7.18429632546605e-17,1.2993092365205777e-17,1.6267093711037727e-15],"object_angular_velocity_rad_s":[2.7556633973535327e-16,1.6962363651317548e-15,2.1701137751894787e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13704120541714976,1.5844739163782535,-0.9210089169458863,0.04619013936805222,0.7772134021400913,-0.17931463098102804,0.035],"actuator_force_native":[0.2746712894606418,0.2639328784208317,-0.3132420036306769,-0.2930427013349588,0.27576878384541903,0.17518294939326218,0.00036861597103121646],"issued_joint_targets_rad":[-0.13646785272059214,1.5860461131499795,-0.9233674004321857,0.04488818288900162,0.7805624207779926,-0.17878879651501756],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.720000000000913,"joint_targets_rad":[-0.13646785272059214,1.5860461131499795,-0.9233674004321857,0.04488818288900162,0.7805624207779926,-0.17878879651501756],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.7400000000009195,"qpos":[-0.14175733261912052,1.5787214023797136,-0.9142454317077869,0.06098416302328387,0.7329607178855444,-0.20035455862628074,0.03499777627735202,-0.03500101106211578,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.5883193863173304e-17,-2.7339380797115936e-17,6.447699784018355e-08],"qvel":[0.029533591514686063,0.0673523022730596,-0.08408150803564628,-0.07011887200469297,0.13207414191509464,0.02702919242050045,-4.944865232155555e-05,-5.445701424775962e-05,3.712026473929983e-17,2.5885907931146647e-17,1.6489138315962763e-15,7.352320770893187e-16,2.637823992000333e-15,3.96207973151468e-08],"joint_position_rad":[-0.14175733261912052,1.5787214023797136,-0.9142454317077869,0.06098416302328387,0.7329607178855444,-0.20035455862628074],"joint_velocity_rad_s":[0.029533591514686063,0.0673523022730596,-0.08408150803564628,-0.07011887200469297,0.13207414191509464,0.02702919242050045],"gripper_joint_position_m":[0.03499777627735202,-0.03500101106211578],"tcp_position_m":[0.30599150687969673,-0.03355069218663519,0.08432213732607048],"tcp_quaternion_wxyz":[0.1319230558230314,-0.009222160364302475,0.9912167952093188,0.0007238753318030276],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.5883193863173304e-17,-2.7339380797115936e-17,6.447699784018355e-08],"object_linear_velocity_m_s":[3.712026473929983e-17,2.5885907931146647e-17,1.6489138315962763e-15],"object_angular_velocity_rad_s":[7.352317347649543e-16,2.6378240855528207e-15,3.962079731514688e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019}],"native_actuator_controls":[-0.13646785272059214,1.5860461131499795,-0.9233674004321857,0.04488818288900162,0.7805624207779926,-0.17878879651501756,0.035],"actuator_force_native":[0.2754904343088391,0.24921535025598018,-0.30934995777367646,-0.2932448453478249,0.27790581605184084,0.17511383248188128,0.00033619216752733827],"issued_joint_targets_rad":[-0.13590863229431646,1.5875985139159734,-0.9256932081146937,0.043626105565554574,0.783862754737687,-0.1782685347171772],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.7400000000009195,"joint_targets_rad":[-0.13590863229431646,1.5875985139159734,-0.9256932081146937,0.043626105565554574,0.783862754737687,-0.1782685347171772],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.760000000000926,"qpos":[-0.14115083960744723,1.580189446681153,-0.9161531059979164,0.059511222120869935,0.7358252635975929,-0.19982049422397782,0.034997571435912755,-0.035000884836551185,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.7464580338787125e-17,2.9954641308062885e-19,6.484237144896422e-08],"qvel":[0.028507056642705194,0.07054369936656266,-0.09255377344221245,-0.06835978143116447,0.13232449325760898,0.027032687090410346,-3.9961869522211055e-05,-5.13974045353821e-05,-2.232764246586872e-17,2.881808949423382e-17,1.6267093711037737e-15,3.4018711691885454e-16,3.97285024447213e-15,7.233757040001246e-08],"joint_position_rad":[-0.14115083960744723,1.580189446681153,-0.9161531059979164,0.059511222120869935,0.7358252635975929,-0.19982049422397782],"joint_velocity_rad_s":[0.028507056642705194,0.07054369936656266,-0.09255377344221245,-0.06835978143116447,0.13232449325760898,0.027032687090410346],"gripper_joint_position_m":[0.034997571435912755,-0.035000884836551185],"tcp_position_m":[0.3059523959598615,-0.03353926153190752,0.08423127785600053],"tcp_quaternion_wxyz":[0.1306516356171101,-0.009778912197546058,0.9913799927616619,0.0004826372278451822],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.7464580338787125e-17,2.9954641308062885e-19,6.484237144896422e-08],"object_linear_velocity_m_s":[-2.232764246586872e-17,2.881808949423382e-17,1.6267093711037737e-15],"object_angular_velocity_rad_s":[3.401866017441269e-16,3.972850286062493e-15,7.23375704000126e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13590863229431646,1.5875985139159734,-0.9256932081146937,0.043626105565554574,0.783862754737687,-0.1782685347171772,0.035],"actuator_force_native":[0.2768413018369351,0.24000688195282294,-0.30043930213111025,-0.2936057550567921,0.2818881715145274,0.17497056443239067,0.0002969519111009067],"issued_joint_targets_rad":[-0.13536375355486618,1.5890996153640198,-0.9279397225097007,0.04240726737942933,0.7870475066115633,-0.17775652131739877],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.760000000000926,"joint_targets_rad":[-0.13536375355486618,1.5890996153640198,-0.9279397225097007,0.04240726737942933,0.7870475066115633,-0.17775652131739877],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.780000000000933,"qpos":[-0.14056512747019165,1.5816921693816821,-0.9181959108670774,0.05807713304806462,0.7386733070785524,-0.19928607217014332,0.034997506684614516,-0.0350007165020555,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,1.3421286406596896e-17,1.2345425419615613e-17,6.511676508429048e-08],"qvel":[0.02752958920716091,0.07129800216482096,-0.09817337730076679,-0.06654384648533844,0.13128364398133927,0.02703528038415878,-3.171340634951166e-05,-4.922735363715067e-05,-1.1412008655526394e-17,1.7845331821865983e-17,1.6822205223350315e-15,-6.887214608533963e-16,-5.100230302017821e-18,7.837183368365452e-09],"joint_position_rad":[-0.14056512747019165,1.5816921693816821,-0.9181959108670774,0.05807713304806462,0.7386733070785524,-0.19928607217014332],"joint_velocity_rad_s":[0.02752958920716091,0.07129800216482096,-0.09817337730076679,-0.06654384648533844,0.13128364398133927,0.02703528038415878],"gripper_joint_position_m":[0.034997506684614516,-0.0350007165020555],"tcp_position_m":[0.3059582471499111,-0.033536705010085814,0.08416900783982252],"tcp_quaternion_wxyz":[0.12943965511617037,-0.010311477326267776,0.9915336556328308,0.0002426234773300257],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,1.3421286406596896e-17,1.2345425419615613e-17,6.511676508429048e-08],"object_linear_velocity_m_s":[-1.1412008655526394e-17,1.7845331821865983e-17,1.6822205223350315e-15],"object_angular_velocity_rad_s":[-6.887214599956642e-16,-5.100320207015091e-18,7.837183368365467e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984}],"native_actuator_controls":[-0.13536375355486618,1.5890996153640198,-0.9279397225097007,0.04240726737942933,0.7870475066115633,-0.17775652131739877,0.035],"actuator_force_native":[0.27846196719023375,0.23610566776291364,-0.28863804490602263,-0.29407539431871976,0.2868165293581004,0.174742587951207,0.0002582996471671706],"issued_joint_targets_rad":[-0.1348334807134583,1.59053134752133,-0.9300802420180984,0.04123325651215773,0.7900786618812504,-0.17725417578134733],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.780000000000933,"joint_targets_rad":[-0.1348334807134583,1.59053134752133,-0.9300802420180984,0.04123325651215773,0.7900786618812504,-0.17725417578134733],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8000000000009395,"qpos":[-0.139999004537683,1.5831855710635738,-0.9203162714018321,0.05668310819140962,0.7414815759232878,-0.19875138969912326,0.03499755135202474,-0.03500052507303149,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999989,2.0985944818891928e-18,3.7354255778632514e-17,6.561773856937329e-08],"qvel":[0.02662186133930669,0.0701775529302234,-0.10104931515393316,-0.06467823980829225,0.12936906634747466,0.02702826064181357,-2.5369570602468006e-05,-4.7719222092047256e-05,-4.1716716916886396e-17,4.404661588754395e-18,1.6072804681728335e-15,-3.8151561660269743e-16,-4.793463895937747e-16,1.4308717695344697e-08],"joint_position_rad":[-0.139999004537683,1.5831855710635738,-0.9203162714018321,0.05668310819140962,0.7414815759232878,-0.19875138969912326],"joint_velocity_rad_s":[0.02662186133930669,0.0701775529302234,-0.10104931515393316,-0.06467823980829225,0.12936906634747466,0.02702826064181357],"gripper_joint_position_m":[0.03499755135202474,-0.03500052507303149],"tcp_position_m":[0.3059971497577107,-0.03354085506774962,0.08413403858510224],"tcp_quaternion_wxyz":[0.12829189987248857,-0.010819693435170809,0.9916774287286301,3.3539428101561004e-06],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999989,2.0985944818891928e-18,3.7354255778632514e-17,6.561773856937329e-08],"object_linear_velocity_m_s":[-4.1716716916886396e-17,4.404661588754395e-18,1.6072804681728335e-15],"object_angular_velocity_rad_s":[-3.8151555262645977e-16,-4.793464397222118e-16,1.4308717695344725e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1348334807134583,1.59053134752133,-0.9300802420180984,0.04123325651215773,0.7900786618812504,-0.17725417578134733,0.035],"actuator_force_native":[0.2801325992414405,0.23677435196938745,-0.27587107353164697,-0.2946028681286146,0.29191726005841456,0.1744297482150392,0.000224793772023002],"issued_joint_targets_rad":[-0.13431801034891153,1.5918875129848908,-0.932105659140694,0.04010405850625193,0.7929436285445678,-0.17676169282023074],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.8000000000009395,"joint_targets_rad":[-0.13431801034891153,1.5918875129848908,-0.932105659140694,0.04010405850625193,0.7929436285445678,-0.17676169282023074],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.820000000000946,"qpos":[-0.13945099433527205,1.58463871416335,-0.9224625520603408,0.055329980110335034,0.7442358054647502,-0.19821670199072142,0.03499766846353684,-0.03500032502236311,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.131558952707148e-18,2.7679477642459065e-17,6.606284238560193e-08],"qvel":[0.02578972637624851,0.06782361291564798,-0.10155254344972732,-0.06277880805402482,0.1269631989938088,0.027006239648911433,-2.1106896947464697e-05,-4.6669792933090204e-05,-3.2649261418573414e-17,1.4704590284293901e-18,2.181820883416352e-15,-1.9494076499973263e-16,-1.2641131315633138e-15,2.6124105110452312e-08],"joint_position_rad":[-0.13945099433527205,1.58463871416335,-0.9224625520603408,0.055329980110335034,0.7442358054647502,-0.19821670199072142],"joint_velocity_rad_s":[0.02578972637624851,0.06782361291564798,-0.10155254344972732,-0.06277880805402482,0.1269631989938088,0.027006239648911433],"gripper_joint_position_m":[0.03499766846353684,-0.03500032502236311],"tcp_position_m":[0.306056782838657,-0.03354938373781425,0.08412228693618207],"tcp_quaternion_wxyz":[0.12720525957471934,-0.011303833813871985,0.9918119732807086,-0.00023438144909956402],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.131558952707148e-18,2.7679477642459065e-17,6.606284238560193e-08],"object_linear_velocity_m_s":[-3.2649261418573414e-17,1.4704590284293901e-18,2.181820883416352e-15],"object_angular_velocity_rad_s":[-1.9494059653171461e-16,-1.2641131572608629e-15,2.612410511045231e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003}],"native_actuator_controls":[-0.13431801034891153,1.5918875129848908,-0.932105659140694,0.04010405850625193,0.7929436285445678,-0.17676169282023074,0.035],"actuator_force_native":[0.28169008702760046,0.24078584114502632,-0.26368584917962323,-0.2951428238932001,0.29663343230746264,0.1740407322315396,0.00019879594326366323],"issued_joint_targets_rad":[-0.13381739524713726,1.5931715894967486,-0.93402118969149,0.03901833038212951,0.7956504096953131,-0.17627817274825625],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.820000000000946,"joint_targets_rad":[-0.13381739524713726,1.5931715894967486,-0.93402118969149,0.03901833038212951,0.7956504096953131,-0.17627817274825625],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.840000000000953,"qpos":[-0.1389196163626682,1.5860336825933812,-0.9245930755553308,0.054018088098182836,0.7469306500764432,-0.19768234727486322,0.03499782216002269,-0.03500013525198424,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-6.731549582234392e-18,1.824730891695067e-17,6.648995347743658e-08],"qvel":[0.025028326779665617,0.06483879457598987,-0.10020658837766849,-0.060866913440360215,0.12441750978394259,0.026966991552488665,-1.8610005426404307e-05,-4.618849690415709e-05,-2.5142300643829736e-17,-1.2394597363080687e-17,2.4801933212843637e-15,-5.913271989190207e-16,-8.348998093832725e-16,4.769601877350085e-08],"joint_position_rad":[-0.1389196163626682,1.5860336825933812,-0.9245930755553308,0.054018088098182836,0.7469306500764432,-0.19768234727486322],"joint_velocity_rad_s":[0.025028326779665617,0.06483879457598987,-0.10020658837766849,-0.060866913440360215,0.12441750978394259,0.026966991552488665],"gripper_joint_position_m":[0.03499782216002269,-0.03500013525198424],"tcp_position_m":[0.3061256983252222,-0.03356009776880912,0.08412799646254832],"tcp_quaternion_wxyz":[0.12617074435119807,-0.011764493797470719,0.9919386674961275,-0.0004689153026499032],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-6.731549582234392e-18,1.824730891695067e-17,6.648995347743658e-08],"object_linear_velocity_m_s":[-2.5142300643829736e-17,-1.2394597363080687e-17,2.4801933212843637e-15],"object_angular_velocity_rad_s":[-5.913270861534686e-16,-8.348998873757647e-16,4.769601877350085e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.13381739524713726,1.5931715894967486,-0.93402118969149,0.03901833038212951,0.7956504096953131,-0.17627817274825625,0.035],"actuator_force_native":[0.2830360553441462,0.24683857938943277,-0.2532161890043909,-0.295655741440332,0.3005713315127849,0.17359125793733665,0.0001801636262248607],"issued_joint_targets_rad":[-0.13333151383259595,1.5943943231755868,-0.9358427704629041,0.03797375977808172,0.7982223218449123,-0.17580186745288212],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.840000000000953,"joint_targets_rad":[-0.13333151383259595,1.5943943231755868,-0.9358427704629041,0.03797375977808172,0.7982223218449123,-0.17580186745288212],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8600000000009596,"qpos":[-0.13840354022274512,1.5873640864444358,-0.9266780015459624,0.05274723869679611,0.7495681418782263,-0.19714868758363005,0.034997989030664756,-0.03499997137924795,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-2.291764773153238e-17,9.751108106377622e-18,6.680875297155612e-08],"qvel":[0.02432714800577531,0.061737600789936106,-0.09760340108609027,-0.0589656607221284,0.12202290177086839,0.026910912063676875,-1.6234846535108658e-05,-4.781592980746326e-05,-9.618251758257652e-19,-1.2658890571827817e-16,2.5523578178849984e-15,-9.014288744052527e-15,-1.1557102939281305e-15,8.708088553557269e-08],"joint_position_rad":[-0.13840354022274512,1.5873640864444358,-0.9266780015459624,0.05274723869679611,0.7495681418782263,-0.19714868758363005],"joint_velocity_rad_s":[0.02432714800577531,0.061737600789936106,-0.09760340108609027,-0.0589656607221284,0.12202290177086839,0.026910912063676875],"gripper_joint_position_m":[0.034997989030664756,-0.03499997137924795],"tcp_position_m":[0.30619427748356587,-0.03357114540893574,0.08414478228057674],"tcp_quaternion_wxyz":[0.1251758808241568,-0.012202495549236629,0.9920592777466165,-0.0006981397632668893],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-2.291764773153238e-17,9.751108106377622e-18,6.680875297155612e-08],"object_linear_velocity_m_s":[-9.618251758257652e-19,-1.2658890571827817e-16,2.5523578178849984e-15],"object_angular_velocity_rad_s":[-9.01428858793105e-15,-1.1557114944035219e-15,8.708088553557269e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.13333151383259595,1.5943943231755868,-0.9358427704629041,0.03797375977808172,0.7982223218449123,-0.17580186745288212,0.035],"actuator_force_native":[0.28412637118305817,0.2537309345424035,-0.24516450792488342,-0.2961108531379335,0.3035074470105572,0.17310183321196404,0.00016161300608552587],"issued_joint_targets_rad":[-0.1328600720857797,1.5955708304698901,-0.9375927463897461,0.03696746186433769,0.8006917329304891,-0.1753305412030861],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.8600000000009596,"joint_targets_rad":[-0.1328600720857797,1.5955708304698901,-0.9375927463897461,0.03696746186433769,0.8006917329304891,-0.1753305412030861],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.880000000000966,"qpos":[-0.13790166086398634,1.5886327857745157,-0.9286996138585375,0.05151674378035454,0.7521557491985288,-0.19661605898893217,0.0349982642952406,-0.03499999481125229,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-4.406731163329332e-17,2.8959182894648885e-18,6.713907151304715e-08],"qvel":[0.023673751163911388,0.058915696540824014,-0.09432676262996666,-0.057096286362029,0.11998969217633407,0.02684042588790668,-1.362920229242093e-05,-5.057978553773533e-05,-4.15644942909973e-18,-5.1564287298783417e-17,2.567623384473594e-15,1.0955375232697619e-15,-3.998456064636924e-16,9.434500827827249e-09],"joint_position_rad":[-0.13790166086398634,1.5886327857745157,-0.9286996138585375,0.05151674378035454,0.7521557491985288,-0.19661605898893217],"joint_velocity_rad_s":[0.023673751163911388,0.058915696540824014,-0.09432676262996666,-0.057096286362029,0.11998969217633407,0.02684042588790668],"gripper_joint_position_m":[0.0349982642952406,-0.03499999481125229],"tcp_position_m":[0.3062552960408268,-0.03358113095931054,0.08416649574803094],"tcp_quaternion_wxyz":[0.1242069140818189,-0.012618798996260417,0.9921756710520078,-0.0009198796995609453],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-4.406731163329332e-17,2.8959182894648885e-18,6.713907151304715e-08],"object_linear_velocity_m_s":[-4.15644942909973e-18,-5.1564287298783417e-17,2.567623384473594e-15],"object_angular_velocity_rad_s":[1.0955375770149206e-15,-3.998454585254384e-16,9.434500827827249e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.1328600720857797,1.5955708304698901,-0.9375927463897461,0.03696746186433769,0.8006917329304891,-0.1753305412030861,0.035],"actuator_force_native":[0.28495834643697293,0.260465092925827,-0.23981678934686101,-0.2964898448305291,0.3053752990551022,0.1725945390266006,0.000137574201838353],"issued_joint_targets_rad":[-0.1324026371372326,1.5967179109781766,-0.939295890518619,0.0359963502917518,0.8030943234542253,-0.17486182928122346],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.880000000000966,"joint_targets_rad":[-0.1324026371372326,1.5967179109781766,-0.939295890518619,0.0359963502917518,0.8030943234542253,-0.17486182928122346],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.900000000000973,"qpos":[-0.13741311199368914,1.589849224583114,-0.9306513012617958,0.05032551461436729,0.7547043565540598,-0.19608473617280664,0.034998508309937504,-0.03500002860935292,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-6.182770322342722e-17,1.7128567491794315e-17,6.761536254500406e-08],"qvel":[0.023055891369464652,0.056637686338627355,-0.09089246378880922,-0.05527633212310737,0.11844227540949714,0.02675926462195283,-1.4803171770195099e-05,-4.9370220158203994e-05,-2.24039590579506e-17,-7.57509090985632e-17,2.6189711993625075e-15,1.2460249289873623e-15,1.756420665103876e-17,1.722501600342649e-08],"joint_position_rad":[-0.13741311199368914,1.589849224583114,-0.9306513012617958,0.05032551461436729,0.7547043565540598,-0.19608473617280664],"joint_velocity_rad_s":[0.023055891369464652,0.056637686338627355,-0.09089246378880922,-0.05527633212310737,0.11844227540949714,0.02675926462195283],"gripper_joint_position_m":[0.034998508309937504,-0.03500002860935292],"tcp_position_m":[0.3063041075446609,-0.0335891453627251,0.08418785545587568],"tcp_quaternion_wxyz":[0.12325060472715356,-0.013014425071823196,0.9922895904711965,-0.0011321735495812737],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-6.182770322342722e-17,1.7128567491794315e-17,6.761536254500406e-08],"object_linear_velocity_m_s":[-2.24039590579506e-17,-7.57509090985632e-17,2.6189711993625075e-15],"object_angular_velocity_rad_s":[1.2460249272022103e-15,1.7564377281859625e-17,1.7225016003426492e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1324026371372326,1.5967179109781766,-0.939295890518619,0.0359963502917518,0.8030943234542253,-0.17486182928122346,0.035],"actuator_force_native":[0.28555853166919754,0.2663064799118757,-0.2371048216017897,-0.29678491228908244,0.3062362558874092,0.17209017198290266,0.0001336834613510085],"issued_joint_targets_rad":[-0.13195868799657942,1.5978518325563416,-0.9409761413242664,0.035057444250207036,0.8054644159400433,-0.17439354458045164],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.900000000000973,"joint_targets_rad":[-0.13195868799657942,1.5978518325563416,-0.9409761413242664,0.035057444250207036,0.8054644159400433,-0.17439354458045164],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.92000000000098,"qpos":[-0.13693725639994905,1.591026730265615,-0.9325356025955907,0.0491721791028964,0.7572263238280715,-0.1955549109834321,0.034998636489471054,-0.034999976826885736,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-5.845928846251396e-17,1.5921586986331446e-17,6.808846719924583e-08],"qvel":[0.022462895411989623,0.055041661950633,-0.08770963019052601,-0.053518047665354604,0.11742495831074978,0.02667173263808696,-1.7646064186334338e-05,-4.6935181218137634e-05,-2.0885558616936444e-17,-7.834435980709134e-17,2.6467267749781352e-15,1.5867761418565339e-15,-3.2623553389048303e-16,3.144852936396699e-08],"joint_position_rad":[-0.13693725639994905,1.591026730265615,-0.9325356025955907,0.0491721791028964,0.7572263238280715,-0.1955549109834321],"joint_velocity_rad_s":[0.022462895411989623,0.055041661950633,-0.08770963019052601,-0.053518047665354604,0.11742495831074978,0.02667173263808696],"gripper_joint_position_m":[0.034998636489471054,-0.034999976826885736],"tcp_position_m":[0.3063385158434824,-0.03359473963864768,0.08420483088963647],"tcp_quaternion_wxyz":[0.12229554894174752,-0.013390385948267072,0.9924024980559087,-0.0013334637545163242],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-5.845928846251396e-17,1.5921586986331446e-17,6.808846719924583e-08],"object_linear_velocity_m_s":[-2.0885558616936444e-17,-7.834435980709134e-17,2.6467267749781352e-15],"object_angular_velocity_rad_s":[1.586776187283695e-15,-3.2623531413125214e-16,3.1448529363967e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.13195868799657942,1.5978518325563416,-0.9409761413242664,0.035057444250207036,0.8054644159400433,-0.17439354458045164,0.035],"actuator_force_native":[0.2859709952096221,0.2707998735049699,-0.2366949473414337,-0.2969991557808016,0.3062434836535921,0.17160606507267429,0.0001427707420897928],"issued_joint_targets_rad":[-0.13152766383517384,1.5989866839963456,-0.9426541929917757,0.034148079603488896,0.8078315536331805,-0.17392387751569455],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.92000000000098,"joint_targets_rad":[-0.13152766383517384,1.5989866839963456,-0.9426541929917757,0.034148079603488896,0.8078315536331805,-0.17392387751569455],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.940000000000986,"qpos":[-0.1364736503944775,1.592180067455286,-0.9343617385791273,0.04805520685607703,0.7597338246862392,-0.19502668597247597,0.034998814226590166,-0.03500007049141905,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-4.235060351169036e-17,1.7997204283318516e-17,6.847815035058778e-08],"qvel":[0.021886457705975672,0.054155681087273186,-0.08506220139355564,-0.05182822860310348,0.11691518386000434,0.02658207784586714,-1.7082260904467935e-05,-4.8464226606663734e-05,-3.594184105494492e-17,-6.369887490180789e-17,2.652277890101261e-15,1.0999021107330216e-15,9.06818191885952e-16,5.7417072875842285e-08],"joint_position_rad":[-0.1364736503944775,1.592180067455286,-0.9343617385791273,0.04805520685607703,0.7597338246862392,-0.19502668597247597],"joint_velocity_rad_s":[0.021886457705975672,0.054155681087273186,-0.08506220139355564,-0.05182822860310348,0.11691518386000434,0.02658207784586714],"gripper_joint_position_m":[0.034998814226590166,-0.03500007049141905],"tcp_position_m":[0.30635842005067065,-0.0335978538852107,0.08421479557632684],"tcp_quaternion_wxyz":[0.12133298779396351,-0.013747633326396985,0.9925154860504084,-0.0015226953188399147],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-4.235060351169036e-17,1.7997204283318516e-17,6.847815035058778e-08],"object_linear_velocity_m_s":[-3.594184105494492e-17,-6.369887490180789e-17,2.652277890101261e-15],"object_angular_velocity_rad_s":[1.09990198860524e-15,9.068183473877635e-16,5.74170728758423e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.13152766383517384,1.5989866839963456,-0.9426541929917757,0.034148079603488896,0.8078315536331805,-0.17392387751569455,0.035],"actuator_force_native":[0.28624663621441293,0.27375091784841743,-0.2380853460441017,-0.29714394708800795,0.3056045136794072,0.1711549677990134,0.00013284224091569818],"issued_joint_targets_rad":[-0.13110900750168764,1.6001333474244608,-0.9443460067783855,0.033266034468492175,0.8102184121693747,-0.1734515101227006],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.940000000000986,"joint_targets_rad":[-0.13110900750168764,1.6001333474244608,-0.9443460067783855,0.033266034468492175,0.8102184121693747,-0.1734515101227006],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.960000000000993,"qpos":[-0.1360219908781897,1.5933234389378372,-0.9361430111157611,0.046973025205225734,0.7622375853843066,-0.19450008045390832,0.034998878435332184,-0.03500007171530562,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-3.043208390972553e-17,1.930000563786694e-17,6.880035024101414e-08],"qvel":[0.02132053797430838,0.0539217394402194,-0.08310807578326468,-0.05020910449629047,0.11684106167324093,0.02649404640602817,-1.9657092086024656e-05,-4.5804832344507144e-05,-6.703452167235145e-17,-7.986388209517068e-17,2.655053447662824e-15,-1.9691432541042328e-15,3.214241238229646e-15,1.048290754545461e-07],"joint_position_rad":[-0.1360219908781897,1.5933234389378372,-0.9361430111157611,0.046973025205225734,0.7622375853843066,-0.19450008045390832],"joint_velocity_rad_s":[0.02132053797430838,0.0539217394402194,-0.08310807578326468,-0.05020910449629047,0.11684106167324093,0.02649404640602817],"gripper_joint_position_m":[0.034998878435332184,-0.03500007171530562],"tcp_position_m":[0.3063653210982553,-0.0335987195784045,0.0842164880253153],"tcp_quaternion_wxyz":[0.12035713726234655,-0.014087027798336788,0.9926292497312065,-0.0016993339529537072],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-3.043208390972553e-17,1.930000563786694e-17,6.880035024101414e-08],"object_linear_velocity_m_s":[-6.703452167235145e-17,-7.986388209517068e-17,2.655053447662824e-15],"object_angular_velocity_rad_s":[-1.9691436923396573e-15,3.21424097365446e-15,1.0482907545454612e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.13110900750168764,1.6001333474244608,-0.9443460067783855,0.033266034468492175,0.8102184121693747,-0.1734515101227006,0.035],"actuator_force_native":[0.2864359802486227,0.27518398172878733,-0.2406992740936289,-0.2972341069878899,0.3045466753408199,0.17074463370303494,0.00014314804714299356],"issued_joint_targets_rad":[-0.13070220034606395,1.601299060496106,-0.9460621911803089,0.03240957934419503,0.8126399573289487,-0.17297565708810994],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.960000000000993,"joint_targets_rad":[-0.13070220034606395,1.601299060496106,-0.9460621911803089,0.03240957934419503,0.8126399573289487,-0.17297565708810994],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.980000000001,"qpos":[-0.1355820836732428,1.5944690368574503,-0.9378943818709261,0.04592410605559319,0.764746064447054,-0.1939750423142025,0.034998905059020244,-0.03500008002366864,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-2.840796933528723e-17,2.5149890991069884e-17,6.919799189448419e-08],"qvel":[0.020761226105187835,0.05422309294957988,-0.08189205576753622,-0.04865867571125072,0.11710061828539783,0.02641057822254633,-1.9970505186215977e-05,-4.561669368886036e-05,-2.9233159976825695e-17,-3.564233331482621e-17,2.764687971344558e-15,1.2703265184491723e-15,-7.07813536959743e-16,1.1357371862648499e-08],"joint_position_rad":[-0.1355820836732428,1.5944690368574503,-0.9378943818709261,0.04592410605559319,0.764746064447054,-0.1939750423142025],"joint_velocity_rad_s":[0.020761226105187835,0.05422309294957988,-0.08189205576753622,-0.04865867571125072,0.11710061828539783,0.02641057822254633],"gripper_joint_position_m":[0.034998905059020244,-0.03500008002366864],"tcp_position_m":[0.3063617752508355,-0.03359776258622838,0.08420983149096993],"tcp_quaternion_wxyz":[0.11936511966565994,-0.01440931489409497,0.9927441099617689,-0.0018633270514878141],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-2.840796933528723e-17,2.5149890991069884e-17,6.919799189448419e-08],"object_linear_velocity_m_s":[-2.9233159976825695e-17,-3.564233331482621e-17,2.764687971344558e-15],"object_angular_velocity_rad_s":[1.2703266169789849e-15,-7.078133605063685e-16,1.1357371862648504e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.13070220034606395,1.601299060496106,-0.9460621911803089,0.03240957934419503,0.8126399573289487,-0.17297565708810994,0.035],"actuator_force_native":[0.28658453564836783,0.27528642634456446,-0.2439644659129243,-0.2972876898996728,0.30328800139084944,0.17037798492710632,0.0001436501651213007],"issued_joint_targets_rad":[-0.13030677871469062,1.6024874741865773,-0.947808106779438,0.031577449264778394,0.8151036338909508,-0.17249600969171994],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.980000000001,"joint_targets_rad":[-0.13030677871469062,1.6024874741865773,-0.947808106779438,0.031577449264778394,0.8151036338909508,-0.17249600969171994],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.000000000001005,"qpos":[-0.13515379614868325,1.595626164396351,-0.9396304455478219,0.04490703310744597,0.767265071502231,-0.19345146679959782,0.034998918559281965,-0.035000110539547165,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.758452689960876e-17,3.159593227901797e-17,6.964914505180786e-08],"qvel":[0.02020658840987462,0.054911188365038534,-0.08136778735094896,-0.047172298277267224,0.11757967589809988,0.026333671759642803,-2.049798491237861e-05,-4.419500665400177e-05,-4.31918131579403e-17,-2.3072651215374487e-17,2.811872449891127e-15,1.0054520346824729e-15,-5.716269408509173e-16,2.0735692927596844e-08],"joint_position_rad":[-0.13515379614868325,1.595626164396351,-0.9396304455478219,0.04490703310744597,0.767265071502231,-0.19345146679959782],"joint_velocity_rad_s":[0.02020658840987462,0.054911188365038534,-0.08136778735094896,-0.047172298277267224,0.11757967589809988,0.026333671759642803],"gripper_joint_position_m":[0.034998918559281965,-0.035000110539547165],"tcp_position_m":[0.30635086389026295,-0.03359550422568822,0.08419566542223914],"tcp_quaternion_wxyz":[0.1183565932315474,-0.014715124528578177,0.9928600715361897,-0.0020150180849913806],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.758452689960876e-17,3.159593227901797e-17,6.964914505180786e-08],"object_linear_velocity_m_s":[-4.31918131579403e-17,-2.3072651215374487e-17,2.811872449891127e-15],"object_angular_velocity_rad_s":[1.0054521156194457e-15,-5.71626800063908e-16,2.0735692927596854e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.13030677871469062,1.6024874741865773,-0.947808106779438,0.031577449264778394,0.8151036338909508,-0.17249600969171994,0.035],"actuator_force_native":[0.28672845267003666,0.27434884139290716,-0.2473739617745565,-0.29732186232036684,0.30201611004004825,0.17005406343931462,0.00014574755328333744],"issued_joint_targets_rad":[-0.12992234511176706,1.6036990911754792,-0.9495845224425614,0.03076878458710773,0.817610334387743,-0.17201266280785013],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.000000000001005,"joint_targets_rad":[-0.12992234511176706,1.6036990911754792,-0.9495845224425614,0.03076878458710773,0.817610334387743,-0.17201266280785013],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.020000000000994,"qpos":[-0.13473702500037377,1.596800885792524,-0.9413639248274602,0.04392053465792936,0.7697977589037742,-0.19292921584362235,0.03499891745449203,-0.03500014294518653,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.785116832440604e-17,2.285275186013547e-17,7.009066155133158e-08],"qvel":[0.01965658742243901,0.055829620933396454,-0.08142456670567921,-0.04574613267009472,0.11816702775004628,0.02626416987597318,-2.0822485158619813e-05,-4.2256036325826485e-05,-2.892574693295996e-17,-2.984735370891476e-17,2.8215869013565965e-15,1.5113595168402714e-17,-1.1805408316181094e-15,3.785813887116203e-08],"joint_position_rad":[-0.13473702500037377,1.596800885792524,-0.9413639248274602,0.04392053465792936,0.7697977589037742,-0.19292921584362235],"joint_velocity_rad_s":[0.01965658742243901,0.055829620933396454,-0.08142456670567921,-0.04574613267009472,0.11816702775004628,0.02626416987597318],"gripper_joint_position_m":[0.03499891745449203,-0.03500014294518653],"tcp_position_m":[0.3063357331061947,-0.03359248031320424,0.08417543972341612],"tcp_quaternion_wxyz":[0.11733319383697213,-0.015004979778418318,0.9929769020487251,-0.002155041433802753],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.785116832440604e-17,2.285275186013547e-17,7.009066155133158e-08],"object_linear_velocity_m_s":[-2.892574693295996e-17,-2.984735370891476e-17,2.8215869013565965e-15],"object_angular_velocity_rad_s":[1.5113762388503538e-17,-1.1805408281478304e-15,3.785813887116205e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12992234511176706,1.6036990911754792,-0.9495845224425614,0.03076878458710773,0.817610334387743,-0.17201266280785013,0.035],"actuator_force_native":[0.28689145397634164,0.2727083259694325,-0.2505249756797099,-0.29733933948239155,0.30087521321461796,0.16976927554376253,0.0001474142461119765],"issued_joint_targets_rad":[-0.1295485654742981,1.604931943587851,-0.9513886150518114,0.029983036536188612,0.8201558485566568,-0.17152600370166193],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.020000000000994,"joint_targets_rad":[-0.1295485654742981,1.604931943587851,-0.9513886150518114,0.029983036536188612,0.8201558485566568,-0.17152600370166193],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.040000000000983,"qpos":[-0.1343316073512179,1.5979961150945812,-0.9431047378816033,0.04296319695002864,0.7723449003477084,-0.1924081629332375,0.03499890726858734,-0.0350001625389579,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.621108707958889e-17,1.1982674956953204e-17,7.043978034142185e-08],"qvel":[0.019144213334637804,0.05683272418048774,-0.08192045907867788,-0.044525753575433834,0.11876425843664754,0.02618886011692235,-1.9826726490031324e-05,-3.754810695436416e-05,-1.5902435574595044e-17,-2.8275216334859474e-17,2.577337835939062e-15,-4.311953230899959e-16,-1.1876253677239047e-15,6.911940120797834e-08],"joint_position_rad":[-0.1343316073512179,1.5979961150945812,-0.9431047378816033,0.04296319695002864,0.7723449003477084,-0.1924081629332375],"joint_velocity_rad_s":[0.019144213334637804,0.05683272418048774,-0.08192045907867788,-0.044525753575433834,0.11876425843664754,0.02618886011692235],"gripper_joint_position_m":[0.03499890726858734,-0.0350001625389579],"tcp_position_m":[0.3063192351752033,-0.03358920327893946,0.08415091590041143],"tcp_quaternion_wxyz":[0.11629788192461367,-0.015279452302313912,0.9930942165097115,-0.002284323127774017],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.621108707958889e-17,1.1982674956953204e-17,7.043978034142185e-08],"object_linear_velocity_m_s":[-1.5902435574595044e-17,-2.8275216334859474e-17,2.577337835939062e-15],"object_angular_velocity_rad_s":[-4.311951541213813e-16,-1.1876254262294998e-15,6.911940120797836e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999963},{"geom_ids":[1,90],"normal_force_n":0.09809999999999973}],"native_actuator_controls":[-0.1295485654742981,1.604931943587851,-0.9513886150518114,0.029983036536188612,0.8201558485566568,-0.17152600370166193,0.035],"actuator_force_native":[0.28692228348039706,0.270702658559145,-0.2531078782232754,-0.296577648676432,0.2999630944345135,0.16953830214037224,0.00014284288895649588],"issued_joint_targets_rad":[-0.12918503274744841,1.6061823749125783,-0.953215119615119,0.029219616952250612,0.8227325115495412,-0.1710365377676548],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.040000000000983,"joint_targets_rad":[-0.12918503274744841,1.6061823749125783,-0.953215119615119,0.029219616952250612,0.8227325115495412,-0.1710365377676548],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.060000000000972,"qpos":[-0.13393725322684943,1.5992120215107477,-0.9448595867791355,0.042032902934784296,0.7749053505849249,-0.1918882003939027,0.034998893946204764,-0.035000156861917646,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.4019808723394845e-17,7.74835741039311e-18,7.070196669443529e-08],"qvel":[0.0186645799997258,0.0577991395262535,-0.08269345513464446,-0.04350448959717138,0.11929518184584319,0.026112557526173988,-1.7896260351714308e-05,-3.1500906299568264e-05,-8.964609796734345e-18,-1.5758516451281362e-17,2.3539054522332487e-15,5.9743859488868705e-16,-5.0707755974423904e-17,7.488521090535778e-09],"joint_position_rad":[-0.13393725322684943,1.5992120215107477,-0.9448595867791355,0.042032902934784296,0.7749053505849249,-0.1918882003939027],"joint_velocity_rad_s":[0.0186645799997258,0.0577991395262535,-0.08269345513464446,-0.04350448959717138,0.11929518184584319,0.026112557526173988],"gripper_joint_position_m":[0.034998893946204764,-0.035000156861917646],"tcp_position_m":[0.30630367974494177,-0.03358618744030563,0.0841239042548892],"tcp_quaternion_wxyz":[0.11525428366538458,-0.015539377613356681,0.9932115573845995,-0.0024041875605619978],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.4019808723394845e-17,7.74835741039311e-18,7.070196669443529e-08],"object_linear_velocity_m_s":[-8.964609796734345e-18,-1.5758516451281362e-17,2.3539054522332487e-15],"object_angular_velocity_rad_s":[5.97438602175005e-16,-5.070767128428088e-17,7.488521090535783e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000066},{"geom_ids":[1,90],"normal_force_n":0.09810000000000067},{"geom_ids":[1,90],"normal_force_n":0.09810000000000062},{"geom_ids":[1,90],"normal_force_n":0.09810000000000059}],"native_actuator_controls":[-0.12918503274744841,1.6061823749125783,-0.953215119615119,0.029219616952250612,0.8227325115495412,-0.1710365377676548,0.035],"actuator_force_native":[0.286854738353453,0.2686325745151805,-0.25497535120545933,-0.2950089913154905,0.29932883687739675,0.16934778997321787,0.00013372345356832405],"issued_joint_targets_rad":[-0.12883100887943555,1.6074458170812504,-0.9550574707504691,0.02847732293653845,0.8253308263868753,-0.17054455170522417],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.060000000000972,"joint_targets_rad":[-0.12883100887943555,1.6074458170812504,-0.9550574707504691,0.02847732293653845,0.8253308263868753,-0.17054455170522417],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.080000000000961,"qpos":[-0.13355367024864062,1.600446648836616,-0.9466319614272115,0.04112746560977276,0.7774766205467228,-0.19136918985238227,0.034998886544281814,-0.03500013379705149,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.401794683297865e-17,2.0449916894697032e-17,7.118065276473756e-08],"qvel":[0.01820360878127517,0.05864009485607297,-0.08358779107771505,-0.04261332184954905,0.11970943895116462,0.026042702102570855,-1.5279927961760907e-05,-2.6238492189669804e-05,-2.3301697266855734e-17,-1.6972264385686462e-17,2.3150476463713677e-15,5.528278172875581e-16,-2.578179248079836e-16,1.3672148424216191e-08],"joint_position_rad":[-0.13355367024864062,1.600446648836616,-0.9466319614272115,0.04112746560977276,0.7774766205467228,-0.19136918985238227],"joint_velocity_rad_s":[0.01820360878127517,0.05864009485607297,-0.08358779107771505,-0.04261332184954905,0.11970943895116462,0.026042702102570855],"gripper_joint_position_m":[0.034998886544281814,-0.03500013379705149],"tcp_position_m":[0.3062907072924608,-0.03358387396862048,0.0840960523517166],"tcp_quaternion_wxyz":[0.11420614764073773,-0.015785571407983024,0.9933284659217358,-0.002516021851295158],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.401794683297865e-17,2.0449916894697032e-17,7.118065276473756e-08],"object_linear_velocity_m_s":[-2.3301697266855734e-17,-1.6972264385686462e-17,2.3150476463713677e-15],"object_angular_velocity_rad_s":[5.528278545500377e-16,-2.5781784572338043e-16,1.3672148424216201e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.12883100887943555,1.6074458170812504,-0.9550574707504691,0.02847732293653845,0.8253308263868753,-0.17054455170522417,0.035],"actuator_force_native":[0.2867948656300303,0.26673298529041745,-0.2561017904720302,-0.29293909768162707,0.2989778999747772,0.16918232831772473,0.00012093786853628608],"issued_joint_targets_rad":[-0.1284856935181392,1.6087175098027475,-0.956908835983708,0.027754812920178746,0.8279409539371819,-0.17005016011052032],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.080000000000961,"joint_targets_rad":[-0.1284856935181392,1.6087175098027475,-0.956908835983708,0.027754812920178746,0.8279409539371819,-0.17005016011052032],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.10000000000095,"qpos":[-0.13318054250284475,1.6016966276691256,-0.9484225140902647,0.04024498360145082,0.7800554672692998,-0.1908509799267506,0.03499889493566754,-0.03500010841262477,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.9679582394132202e-17,4.34589193405832e-17,7.166158641602017e-08],"qvel":[0.017758307781917296,0.059301323889792965,-0.08447245940909696,-0.04180831475732641,0.11998114144873612,0.02598154911423831,-1.2545920751950955e-05,-2.1711918815742917e-05,-5.534323805012137e-17,2.6506614402878182e-17,2.3885999217527845e-15,1.3202629878725906e-15,1.7188955306046151e-16,2.4961890375132615e-08],"joint_position_rad":[-0.13318054250284475,1.6016966276691256,-0.9484225140902647,0.04024498360145082,0.7800554672692998,-0.1908509799267506],"joint_velocity_rad_s":[0.017758307781917296,0.059301323889792965,-0.08447245940909696,-0.04180831475732641,0.11998114144873612,0.02598154911423831],"gripper_joint_position_m":[0.03499889493566754,-0.03500010841262477],"tcp_position_m":[0.3062812714865097,-0.033582565908311886,0.08406870411757411],"tcp_quaternion_wxyz":[0.11315691271461771,-0.016018742704014093,0.9934445344481194,-0.0026210612808154217],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.9679582394132202e-17,4.34589193405832e-17,7.166158641602017e-08],"object_linear_velocity_m_s":[-5.534323805012137e-17,2.6506614402878182e-17,2.3885999217527845e-15],"object_angular_velocity_rad_s":[1.3202629654064554e-15,1.7188974130226126e-16,2.496189037513263e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000055},{"geom_ids":[1,90],"normal_force_n":0.09810000000000053},{"geom_ids":[1,90],"normal_force_n":0.09810000000000063}],"native_actuator_controls":[-0.1284856935181392,1.6087175098027475,-0.956908835983708,0.027754812920178746,0.8279409539371819,-0.17005016011052032,0.035],"actuator_force_native":[0.2867963798668569,0.26516395124079395,-0.2565434544299876,-0.2905652534642509,0.29888315450571756,0.16903587449094526,0.00010693217705837199],"issued_joint_targets_rad":[-0.12814838707069875,1.6099930672626672,-0.9587629289165851,0.02705089589589436,0.8305538768998613,-0.16955345982523276],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.10000000000095,"joint_targets_rad":[-0.12814838707069875,1.6099930672626672,-0.9587629289165851,0.02705089589589436,0.8305538768998613,-0.16955345982523276],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.120000000000939,"qpos":[-0.1328174788204273,1.6029578724093032,-0.950229662952775,0.03938390522855617,0.7826384235241206,-0.1903334265760486,0.034998923083842746,-0.03500008862170179,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,3.888786103233993e-17,2.0024697789959105e-17,7.206969609890893e-08],"qvel":[0.01733134043451515,0.059760723351867454,-0.08524913743868383,-0.04106170192076637,0.12010582799451076,0.025928904883231723,-9.96005107700089e-06,-1.7683359448739694e-05,-1.621495519939313e-17,6.442883266564635e-17,2.5690111632543724e-15,1.711799515731072e-15,-2.9352965539069674e-15,4.557410816257545e-08],"joint_position_rad":[-0.1328174788204273,1.6029578724093032,-0.950229662952775,0.03938390522855617,0.7826384235241206,-0.1903334265760486],"joint_velocity_rad_s":[0.01733134043451515,0.059760723351867454,-0.08524913743868383,-0.04106170192076637,0.12010582799451076,0.025928904883231723],"gripper_joint_position_m":[0.034998923083842746,-0.03500008862170179],"tcp_position_m":[0.3062757007570856,-0.03358240802287359,0.08404282728082779],"tcp_quaternion_wxyz":[0.11210940675087758,-0.016239516534409235,0.9935594390571458,-0.002720309016412102],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,3.888786103233993e-17,2.0024697789959105e-17,7.206969609890893e-08],"object_linear_velocity_m_s":[-1.621495519939313e-17,6.442883266564635e-17,2.5690111632543724e-15],"object_angular_velocity_rad_s":[1.7117999406481322e-15,-2.9352963107137563e-15,4.5574108162575483e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999969},{"geom_ids":[1,90],"normal_force_n":0.09809999999999965},{"geom_ids":[1,90],"normal_force_n":0.09809999999999959},{"geom_ids":[1,90],"normal_force_n":0.09809999999999965}],"native_actuator_controls":[-0.12814838707069875,1.6099930672626672,-0.9587629289165851,0.02705089589589436,0.8305538768998613,-0.16955345982523276,0.035],"actuator_force_native":[0.2868706378057073,0.2640119715098024,-0.25641558991138425,-0.28801186370264054,0.2989957917656412,0.16890631018331081,9.287690167525398e-05],"issued_joint_targets_rad":[-0.12781852703017818,1.6112688647894222,-0.960614564424859,0.02636458617334285,0.8331621850630497,-0.16905460321339763],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.120000000000939,"joint_targets_rad":[-0.12781852703017818,1.6112688647894222,-0.960614564424859,0.02636458617334285,0.8331621850630497,-0.16905460321339763],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.140000000000928,"qpos":[-0.13246395753736295,1.6042261884439275,-0.9520503030723333,0.038542757762942116,0.7852222212634671,-0.18981641603101598,0.034998970964652446,-0.03500006179598297,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,4.9771889216810245e-17,-4.094889628841806e-18,7.242893151113139e-08],"qvel":[0.016926904079088458,0.0600229615513668,-0.08585480767447508,-0.04036398368935929,0.12009568085686036,0.025883990089068037,-7.413494753816488e-06,-1.4477470721602939e-05,3.7770564897669985e-17,1.2002255281038645e-16,2.2609242739208916e-15,5.129514876868623e-15,-4.535423946985126e-15,8.320681260918615e-08],"joint_position_rad":[-0.13246395753736295,1.6042261884439275,-0.9520503030723333,0.038542757762942116,0.7852222212634671,-0.18981641603101598],"joint_velocity_rad_s":[0.016926904079088458,0.0600229615513668,-0.08585480767447508,-0.04036398368935929,0.12009568085686036,0.025883990089068037],"gripper_joint_position_m":[0.034998970964652446,-0.03500006179598297],"tcp_position_m":[0.3062738108461599,-0.03358342337757263,0.08401900047486867],"tcp_quaternion_wxyz":[0.11106567314988046,-0.016448564207675473,0.9936729537208523,-0.002814609554974926],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,4.9771889216810245e-17,-4.094889628841806e-18,7.242893151113139e-08],"object_linear_velocity_m_s":[3.7770564897669985e-17,1.2002255281038645e-16,2.2609242739208916e-15],"object_angular_velocity_rad_s":[5.129515533178949e-15,-4.5354232122172396e-15,8.320681260918623e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999972}],"native_actuator_controls":[-0.12781852703017818,1.6112688647894222,-0.960614564424859,0.02636458617334285,0.8331621850630497,-0.16905460321339763,0.035],"actuator_force_native":[0.2869999201793405,0.26329929988276035,-0.2558668698296884,-0.28530694513717414,0.2992561167105361,0.1687921430425814,7.822888767150538e-05],"issued_joint_targets_rad":[-0.1274955746402478,1.6125422440196395,-0.9624599553434382,0.025694878442460076,0.8357604826042326,-0.16855373632132953],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.140000000000928,"joint_targets_rad":[-0.1274955746402478,1.6125422440196395,-0.9624599553434382,0.025694878442460076,0.8357604826042326,-0.16855373632132953],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.160000000000917,"qpos":[-0.13211940295612404,1.6054977489206836,-0.9538804989626584,0.037720290899859225,0.7878040959367334,-0.18929984544932188,0.034999035470270085,-0.03500005785425016,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,5.199433696374915e-17,-1.876445130383489e-17,7.274455477120905e-08],"qvel":[0.016547324278733837,0.060112878669279494,-0.08625986679739615,-0.03970265209666406,0.11997452875189335,0.02584579976833856,-5.918333790892966e-06,-1.0949271688857518e-05,1.960135456969313e-17,6.15868293640721e-17,2.1526775290199395e-15,-1.9938097158843786e-15,2.8017944927135625e-16,9.014776751684943e-09],"joint_position_rad":[-0.13211940295612404,1.6054977489206836,-0.9538804989626584,0.037720290899859225,0.7878040959367334,-0.18929984544932188],"joint_velocity_rad_s":[0.016547324278733837,0.060112878669279494,-0.08625986679739615,-0.03970265209666406,0.11997452875189335,0.02584579976833856],"gripper_joint_position_m":[0.034999035470270085,-0.03500005785425016],"tcp_position_m":[0.3062750457657461,-0.033585533507869754,0.08399744317506898],"tcp_quaternion_wxyz":[0.1100269359627349,-0.016646515893717292,0.9937849517088031,-0.002904587472446031],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,5.199433696374915e-17,-1.876445130383489e-17,7.274455477120905e-08],"object_linear_velocity_m_s":[1.960135456969313e-17,6.15868293640721e-17,2.1526775290199395e-15],"object_angular_velocity_rad_s":[-1.993809756985732e-15,2.801791582563186e-16,9.014776751684951e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.1274955746402478,1.6125422440196395,-0.9624599553434382,0.025694878442460076,0.8357604826042326,-0.16855373632132953,0.035],"actuator_force_native":[0.28716964387642996,0.26299521457005426,-0.25505717647540394,-0.28250323781264575,0.2996020735471525,0.16869239162741567,6.817285815130525e-05],"issued_joint_targets_rad":[-0.1271790755788586,1.6138115742504349,-0.9642967950294147,0.025040867576104596,0.8383454985239139,-0.16805098895342072],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.160000000000917,"joint_targets_rad":[-0.1271790755788586,1.6138115742504349,-0.9642967950294147,0.025040867576104596,0.8383454985239139,-0.16805098895342072],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.180000000000906,"qpos":[-0.13178318041134454,1.6067694187958375,-0.9557161148152175,0.03691529659581532,0.7903819603190608,-0.18878363813149962,0.03499909957541049,-0.0350000422827757,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,4.4823709330779044e-17,-4.689752038754428e-17,7.319965646660105e-08],"qvel":[0.016193812247002195,0.0600679005955218,-0.08646354006004275,-0.03907364092716579,0.11977218382377298,0.025813417190659667,-5.349512301733039e-06,-6.8602716285826055e-06,5.345611375947853e-17,5.658283592673569e-17,2.094390820227119e-15,-1.7802400322996983e-15,1.7087912289943465e-16,1.6458705833920213e-08],"joint_position_rad":[-0.13178318041134454,1.6067694187958375,-0.9557161148152175,0.03691529659581532,0.7903819603190608,-0.18878363813149962],"joint_velocity_rad_s":[0.016193812247002195,0.0600679005955218,-0.08646354006004275,-0.03907364092716579,0.11977218382377298,0.025813417190659667],"gripper_joint_position_m":[0.03499909957541049,-0.0350000422827757],"tcp_position_m":[0.30627862619682594,-0.03358860343177316,0.08397807904506899],"tcp_quaternion_wxyz":[0.10899365333773865,-0.016834030958283716,0.993895394138656,-0.0029907262919804892],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,4.4823709330779044e-17,-4.689752038754428e-17,7.319965646660105e-08],"object_linear_velocity_m_s":[5.345611375947853e-17,5.658283592673569e-17,2.094390820227119e-15],"object_angular_velocity_rad_s":[-1.780240058860012e-15,1.708788607980348e-16,1.6458705833920226e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1271790755788586,1.6138115742504349,-0.9642967950294147,0.025040867576104596,0.8383454985239139,-0.16805098895342072,0.035],"actuator_force_native":[0.28735932536386244,0.2630329333901784,-0.2541367168355606,-0.27960895615260006,0.29997710631287156,0.1686063659947994,6.276454508924445e-05],"issued_joint_targets_rad":[-0.12686858443221805,1.6150761797940343,-0.9661241514615261,0.024401614044186608,0.8409159229948132,-0.16754643489767787],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.180000000000906,"joint_targets_rad":[-0.12686858443221805,1.6150761797940343,-0.9661241514615261,0.024401614044186608,0.8409159229948132,-0.16754643489767787],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.200000000000895,"qpos":[-0.13145463763574028,1.6080389268417077,-0.9575533114097161,0.03612653683923317,0.7929544603820234,-0.1882677344703268,0.034999169135200334,-0.03500002682238854,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,4.251651921191971e-17,-6.641382987607494e-17,7.365171354052625e-08],"qvel":[0.01586562074477512,0.05993107021377108,-0.08648694935919182,-0.038474658641926604,0.11951983795882797,0.02578630918132295,-3.668779568177226e-06,-5.360453183656708e-06,8.84482273521579e-17,5.913641163095545e-17,2.1152075019388414e-15,-8.549247591643853e-16,8.603785625258293e-17,3.004944051186612e-08],"joint_position_rad":[-0.13145463763574028,1.6080389268417077,-0.9575533114097161,0.03612653683923317,0.7929544603820234,-0.1882677344703268],"joint_velocity_rad_s":[0.01586562074477512,0.05993107021377108,-0.08648694935919182,-0.038474658641926604,0.11951983795882797,0.02578630918132295],"gripper_joint_position_m":[0.034999169135200334,-0.03500002682238854],"tcp_position_m":[0.30628368618607454,-0.03359248396543226,0.08396061530968638],"tcp_quaternion_wxyz":[0.10796564463610021,-0.017011797689127195,0.9940043120702431,-0.0030734188550230667],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,4.251651921191971e-17,-6.641382987607494e-17,7.365171354052625e-08],"object_linear_velocity_m_s":[8.84482273521579e-17,5.913641163095545e-17,2.1152075019388414e-15],"object_angular_velocity_rad_s":[-8.549247758294446e-16,8.603772776403964e-17,3.004944051186615e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.12686858443221805,1.6150761797940343,-0.9661241514615261,0.024401614044186608,0.8409159229948132,-0.16754643489767787,0.035],"actuator_force_native":[0.2875561525579027,0.26332488511729935,-0.2532324573488296,-0.2766236185922295,0.3003348691896566,0.1685335319545047,5.157848982761948e-05],"issued_joint_targets_rad":[-0.12656363340489904,1.6163361816212745,-0.9679422371591789,0.023776097616751715,0.8434720711277641,-0.16704004617019078],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.200000000000895,"joint_targets_rad":[-0.12656363340489904,1.6163361816212745,-0.9679422371591789,0.023776097616751715,0.8434720711277641,-0.16704004617019078],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.220000000000883,"qpos":[-0.13113312454864046,1.6093049032580817,-0.9593888925479036,0.03535266423043124,0.7955209375852006,-0.1877520872612979,0.034999243780213976,-0.035000018588219536,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,4.492612020716097e-17,-4.42682159408972e-17,7.4080229897298e-08],"qvel":[0.01556086244691899,0.05974503982801084,-0.08636552706138971,-0.03790504642595088,0.11924628189516323,0.02576432875342297,-2.5657502076478485e-06,-4.1520578811330964e-06,5.1726453420811366e-17,7.679031342139743e-17,2.041655226557425e-15,1.1956124100623177e-15,2.705209306612887e-15,5.4862689945844763e-08],"joint_position_rad":[-0.13113312454864046,1.6093049032580817,-0.9593888925479036,0.03535266423043124,0.7955209375852006,-0.1877520872612979],"joint_velocity_rad_s":[0.01556086244691899,0.05974503982801084,-0.08636552706138971,-0.03790504642595088,0.11924628189516323,0.02576432875342297],"gripper_joint_position_m":[0.034999243780213976,-0.035000018588219536],"tcp_position_m":[0.30628938668986544,-0.03359704574723641,0.08394462631893577],"tcp_quaternion_wxyz":[0.10694225521389246,-0.017180546692689123,0.9941117851077719,-0.0031530263154540402],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,4.492612020716097e-17,-4.42682159408972e-17,7.4080229897298e-08],"object_linear_velocity_m_s":[5.1726453420811366e-17,7.679031342139743e-17,2.041655226557425e-15],"object_angular_velocity_rad_s":[1.1956120043999046e-15,2.705209478825809e-15,5.486268994584482e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.12656363340489904,1.6163361816212745,-0.9679422371591789,0.023776097616751715,0.8434720711277641,-0.16704004617019078,0.035],"actuator_force_native":[0.2877549792647187,0.2637770699153634,-0.25243993359508465,-0.27353743241742656,0.30064191258289163,0.1684739177809369,4.30775424793417e-05],"issued_joint_targets_rad":[-0.126263700310761,1.61759228939669,-0.9697521087727659,0.023163172450077263,0.8460154492469589,-0.16653167348009296],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.220000000000883,"joint_targets_rad":[-0.126263700310761,1.61759228939669,-0.9697521087727659,0.023163172450077263,0.8460154492469589,-0.16653167348009296],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.240000000000872,"qpos":[-0.1308179940426843,1.6105668096719468,-0.9612204991070527,0.03459209331414251,0.7980813216833443,-0.18723665762075423,0.034999320558815265,-0.03500000669009772,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,3.782241361392075e-17,-2.4335137518915712e-17,7.438809569058341e-08],"qvel":[0.015276798208588318,0.059547523685510674,-0.08614165107682617,-0.037365878751319394,0.11897528719118947,0.025747837413213768,-5.975696033179066e-07,-4.9179400792596946e-06,3.4000529904299784e-17,7.032258192882693e-17,1.987531854106948e-15,-1.4771596795713708e-16,1.1087162592452075e-15,1.001654172864043e-07],"joint_position_rad":[-0.1308179940426843,1.6105668096719468,-0.9612204991070527,0.03459209331414251,0.7980813216833443,-0.18723665762075423],"joint_velocity_rad_s":[0.015276798208588318,0.059547523685510674,-0.08614165107682617,-0.037365878751319394,0.11897528719118947,0.025747837413213768],"gripper_joint_position_m":[0.034999320558815265,-0.03500000669009772],"tcp_position_m":[0.3062949984389701,-0.03360221107337747,0.08392963139064055],"tcp_quaternion_wxyz":[0.10592253044957688,-0.01734108799975381,0.9942179195644474,-0.003229957752849029],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,3.782241361392075e-17,-2.4335137518915712e-17,7.438809569058341e-08],"object_linear_velocity_m_s":[3.4000529904299784e-17,7.032258192882693e-17,1.987531854106948e-15],"object_angular_velocity_rad_s":[-1.477161377827958e-16,1.1087162296915813e-15,1.001654172864044e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015}],"native_actuator_controls":[-0.126263700310761,1.61759228939669,-0.9697521087727659,0.023163172450077263,0.8460154492469589,-0.16653167348009296,0.035],"actuator_force_native":[0.2879595075109229,0.2643007595519009,-0.2518205178729147,-0.2703274408060128,0.3008783448493624,0.1684280852867921,3.0165495406020426e-05],"issued_joint_targets_rad":[-0.12596815620882937,1.618845576342999,-0.9715553438178854,0.022561483196619516,0.848548290513601,-0.16602102144130415],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.240000000000872,"joint_targets_rad":[-0.12596815620882937,1.618845576342999,-0.9715553438178854,0.022561483196619516,0.848548290513601,-0.16602102144130415],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.260000000000861,"qpos":[-0.1305085093851054,1.6118247883650858,-0.9630466770380616,0.03384222794178501,0.8006359729259499,-0.1867214258207987,0.03499940049547897,-0.03500001103292388,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,2.6883134078079487e-17,-1.3834211895241207e-17,7.476804697773896e-08],"qvel":[0.015008379954008742,0.059368190602320216,-0.08585791683771202,-0.036867376993260224,0.11872429153464494,0.025738953246283697,-2.194945560161149e-06,-3.635985570719006e-06,1.9267770651655928e-17,3.477048769314308e-17,2.011124093380233e-15,-1.1990628310647677e-15,9.881887509431519e-16,1.0852102691608363e-08],"joint_position_rad":[-0.1305085093851054,1.6118247883650858,-0.9630466770380616,0.03384222794178501,0.8006359729259499,-0.1867214258207987],"joint_velocity_rad_s":[0.015008379954008742,0.059368190602320216,-0.08585791683771202,-0.036867376993260224,0.11872429153464494,0.025738953246283697],"gripper_joint_position_m":[0.03499940049547897,-0.03500001103292388],"tcp_position_m":[0.306299946439259,-0.03360805026665611,0.0839151618322727],"tcp_quaternion_wxyz":[0.10490535324442135,-0.017494599776137695,0.9943228262672814,-0.0033049966992515947],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,2.6883134078079487e-17,-1.3834211895241207e-17,7.476804697773896e-08],"object_linear_velocity_m_s":[1.9267770651655928e-17,3.477048769314308e-17,2.011124093380233e-15],"object_angular_velocity_rad_s":[-1.199062979134902e-15,9.881885710564929e-16,1.0852102691608375e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12596815620882937,1.618845576342999,-0.9715553438178854,0.022561483196619516,0.848548290513601,-0.16602102144130415,0.035],"actuator_force_native":[0.2881863543320371,0.26482208522142514,-0.2514037581973412,-0.26689290484031847,0.3010367385745436,0.16839561392552005,3.495490864202644e-05],"issued_joint_targets_rad":[-0.12567593447156994,1.6200972511481875,-0.973353722538689,0.021968848011211926,0.8510730887660607,-0.16550741669939734],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.260000000000861,"joint_targets_rad":[-0.12567593447156994,1.6200972511481875,-0.973353722538689,0.021968848011211926,0.8510730887660607,-0.16550741669939734],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.28000000000085,"qpos":[-0.13020424474166709,1.6130795031750298,-0.9648667531710823,0.03310223818479618,0.8031855656522067,-0.1862062851593829,0.0349994593479405,-0.03500000907138118,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.4903686983541918e-17,-4.74851663496068e-18,7.525427588675146e-08],"qvel":[0.014760104254129007,0.059228180592962115,-0.08555352934791459,-0.03638445303699413,0.11850369002327409,0.025735483026826406,-2.2259888018314076e-06,-4.487691001547083e-06,7.43545723100301e-18,2.2445003902661573e-17,1.9570007209297577e-15,-1.0261046180282438e-15,6.023867437782544e-16,1.9813199017634896e-08],"joint_position_rad":[-0.13020424474166709,1.6130795031750298,-0.9648667531710823,0.03310223818479618,0.8031855656522067,-0.1862062851593829],"joint_velocity_rad_s":[0.014760104254129007,0.059228180592962115,-0.08555352934791459,-0.03638445303699413,0.11850369002327409,0.025735483026826406],"gripper_joint_position_m":[0.0349994593479405,-0.03500000907138118],"tcp_position_m":[0.3063038509021304,-0.03361448898997382,0.08390079658806697],"tcp_quaternion_wxyz":[0.10388968778396471,-0.017641515902784188,0.9944266172528676,-0.0033782521843216977],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.4903686983541918e-17,-4.74851663496068e-18,7.525427588675146e-08],"object_linear_velocity_m_s":[7.43545723100301e-18,2.2445003902661573e-17,1.9570007209297577e-15],"object_angular_velocity_rad_s":[-1.0261047088807562e-15,6.023865887501489e-16,1.9813199017634922e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.12567593447156994,1.6200972511481875,-0.973353722538689,0.021968848011211926,0.8510730887660607,-0.16550741669939734,0.035],"actuator_force_native":[0.2884643003371288,0.26527893488778886,-0.251189902668969,-0.2634133417583995,0.301119696103628,0.16838546005961597,3.2756026389302306e-05],"issued_joint_targets_rad":[-0.12538673504579512,1.6213485531790643,-0.9751490418477774,0.021384569324624597,0.8535923867420206,-0.16499067753450058],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.28000000000085,"joint_targets_rad":[-0.12538673504579512,1.6213485531790643,-0.9751490418477774,0.021384569324624597,0.8535923867420206,-0.16499067753450058],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.30000000000084,"qpos":[-0.12990473469805394,1.6143319406662107,-0.966680763056218,0.03237193088063988,0.8057309221656427,-0.18569114733734107,0.03499951120765762,-0.035000012807033715,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-2.415172565311218e-18,-1.0555264062074525e-17,7.567615010649315e-08],"qvel":[0.014537105326234671,0.059139179380570985,-0.08526120441623981,-0.03590815796792558,0.11831818683443215,0.025735869971856656,-3.1832595294823854e-06,-3.5810557570154124e-06,2.0994377459554215e-17,-6.582909497686895e-18,1.9334084816564737e-15,-1.2595769801059042e-15,-6.527946562028147e-16,3.6173897950299367e-08],"joint_position_rad":[-0.12990473469805394,1.6143319406662107,-0.966680763056218,0.03237193088063988,0.8057309221656427,-0.18569114733734107],"joint_velocity_rad_s":[0.014537105326234671,0.059139179380570985,-0.08526120441623981,-0.03590815796792558,0.11831818683443215,0.025735869971856656],"gripper_joint_position_m":[0.03499951120765762,-0.035000012807033715],"tcp_position_m":[0.30630653088397386,-0.03362137036426053,0.08388620379506755],"tcp_quaternion_wxyz":[0.1028746540966656,-0.01778210445050827,0.9945293874671268,-0.003449604334417405],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-2.415172565311218e-18,-1.0555264062074525e-17,7.567615010649315e-08],"object_linear_velocity_m_s":[2.0994377459554215e-17,-6.582909497686895e-18,1.9334084816564737e-15],"object_angular_velocity_rad_s":[-1.2595768820675688e-15,-6.527948466679489e-16,3.617389795029941e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.12538673504579512,1.6213485531790643,-0.9751490418477774,0.021384569324624597,0.8535923867420206,-0.16499067753450058,0.035],"actuator_force_native":[0.28875444554953233,0.2656331041254134,-0.25115628124356704,-0.25995367240098344,0.30113736551213144,0.16840089307061978,3.546799134279688e-05],"issued_joint_targets_rad":[-0.12510055357998393,1.6226005748350585,-0.9769428769791,0.0208085424389196,0.8561084176385997,-0.16447102624197033],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.30000000000084,"joint_targets_rad":[-0.12510055357998393,1.6226005748350585,-0.9769428769791,0.0208085424389196,0.8561084176385997,-0.16447102624197033],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.320000000000828,"qpos":[-0.1296094735572311,1.615583217037998,-0.9684892849997017,0.03165119336177421,0.8082728769793689,-0.18517594402140197,0.034999550696822715,-0.03500001325729498,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,-1.4976720113791228e-18,-1.0965764695968723e-17,7.60638798347955e-08],"qvel":[0.014338659199257255,0.0591041576153881,-0.08500420214806653,-0.0354368151022424,0.11816717947847523,0.02573952132910266,-2.9114560968568907e-06,-4.438914201284749e-06,1.7670277203312836e-17,1.0371209757164694e-17,1.9264695877525664e-15,1.224110957765033e-15,2.32351587252075e-16,6.604440261029183e-08],"joint_position_rad":[-0.1296094735572311,1.615583217037998,-0.9684892849997017,0.03165119336177421,0.8082728769793689,-0.18517594402140197],"joint_velocity_rad_s":[0.014338659199257255,0.0591041576153881,-0.08500420214806653,-0.0354368151022424,0.11816717947847523,0.02573952132910266],"gripper_joint_position_m":[0.034999550696822715,-0.03500001325729498],"tcp_position_m":[0.30630797355638817,-0.03362853547148867,0.08387115763186748],"tcp_quaternion_wxyz":[0.10185957389669165,-0.017916640351650307,0.9946312071890869,-0.0035189330305780376],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,-1.4976720113791228e-18,-1.0965764695968723e-17,7.60638798347955e-08],"object_linear_velocity_m_s":[1.7670277203312836e-17,1.0371209757164694e-17,1.9264695877525664e-15],"object_angular_velocity_rad_s":[1.2241109209694394e-15,2.323517736711558e-16,6.604440261029192e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.12510055357998393,1.6226005748350585,-0.9769428769791,0.0208085424389196,0.8561084176385997,-0.16447102624197033,0.035],"actuator_force_native":[0.28902030218348607,0.2658678356878852,-0.25126634761153355,-0.25652196140297234,0.3011046373745945,0.16843989580066254,3.2529407576031844e-05],"issued_joint_targets_rad":[-0.12481743092095335,1.623854162478791,-0.9787364490025591,0.02024077085969071,0.8586229084283409,-0.16394882483220824],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.320000000000828,"joint_targets_rad":[-0.12481743092095335,1.623854162478791,-0.9787364490025591,0.02024077085969071,0.8586229084283409,-0.16394882483220824],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.340000000000817,"qpos":[-0.12931801564389986,1.6168344187259025,-0.9702932381592821,0.030939937803751035,0.8108121743041818,-0.1846606164862502,0.03499957943567492,-0.035000007502158544,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.84949257106567e-18,-6.673414430338785e-18,7.63144019856637e-08],"qvel":[0.014160216223989632,0.05911920699365003,-0.0847959144424354,-0.03496946210534438,0.11804605866370746,0.02574600227935675,-4.676266507386681e-06,-2.1885743486507574e-06,9.386674172167946e-18,3.1802075025330162e-18,1.932020702875692e-15,-1.6011162767834225e-16,3.5603474237185327e-16,7.155370174153864e-09],"joint_position_rad":[-0.12931801564389986,1.6168344187259025,-0.9702932381592821,0.030939937803751035,0.8108121743041818,-0.1846606164862502],"joint_velocity_rad_s":[0.014160216223989632,0.05911920699365003,-0.0847959144424354,-0.03496946210534438,0.11804605866370746,0.02574600227935675],"gripper_joint_position_m":[0.03499957943567492,-0.035000007502158544],"tcp_position_m":[0.3063082923186039,-0.03363585770029378,0.08385553672445947],"tcp_quaternion_wxyz":[0.10084399651656664,-0.01804536646184185,0.9947321210505075,-0.003586149213693015],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.84949257106567e-18,-6.673414430338785e-18,7.63144019856637e-08],"object_linear_velocity_m_s":[9.386674172167946e-18,3.1802075025330162e-18,1.932020702875692e-15],"object_angular_velocity_rad_s":[-1.6011168211499902e-16,3.560347179077358e-16,7.155370174153874e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999973},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.12481743092095335,1.623854162478791,-0.9787364490025591,0.02024077085969071,0.8586229084283409,-0.16394882483220824,0.035],"actuator_force_native":[0.28924569671577416,0.265983465262849,-0.25147729524996976,-0.25311936723569106,0.30103825324602873,0.16849891312138432,4.020390554027031e-05],"issued_joint_targets_rad":[-0.12453741647152741,1.6251098787638614,-0.9805305736404737,0.019681287731116978,0.8611370083046737,-0.16342443452078254],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.340000000000817,"joint_targets_rad":[-0.12453741647152741,1.6251098787638614,-0.9805305736404737,0.019681287731116978,0.8611370083046737,-0.16342443452078254],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.360000000000806,"qpos":[-0.12903002592096194,1.6180864858828174,-0.9720936927606961,0.03023808987502973,0.8133493991508224,-0.18414511354248947,0.03499959914739322,-0.035000005838992904,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.2309655227239247e-17,2.806887840990548e-17,7.677179216842665e-08],"qvel":[0.013995673324050061,0.05917566973308758,-0.08464088735537054,-0.034505646685601854,0.11794757234804532,0.025754957506470333,-1.6973835369290764e-06,-6.989167168335149e-06,-3.061796122696504e-17,1.4325754187302036e-17,1.933408481656473e-15,9.442353367406633e-17,2.333435836211409e-16,1.3063898981989255e-08],"joint_position_rad":[-0.12903002592096194,1.6180864858828174,-0.9720936927606961,0.03023808987502973,0.8133493991508224,-0.18414511354248947],"joint_velocity_rad_s":[0.013995673324050061,0.05917566973308758,-0.08464088735537054,-0.034505646685601854,0.11794757234804532,0.025754957506470333],"gripper_joint_position_m":[0.03499959914739322,-0.035000005838992904],"tcp_position_m":[0.3063076830348735,-0.0336432545519189,0.08383931159235745],"tcp_quaternion_wxyz":[0.09982769603004621,-0.018168469905629123,0.9948321499298577,-0.00365120152246896],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.2309655227239247e-17,2.806887840990548e-17,7.677179216842665e-08],"object_linear_velocity_m_s":[-3.061796122696504e-17,1.4325754187302036e-17,1.933408481656473e-15],"object_angular_velocity_rad_s":[9.442349857903316e-17,2.333435977976422e-16,1.3063898981989275e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.12453741647152741,1.6251098787638614,-0.9805305736404737,0.019681287731116978,0.8611370083046737,-0.16342443452078254,0.035],"actuator_force_native":[0.2894303893345125,0.26599308181809533,-0.2517460336053432,-0.24974385232850083,0.3009547330164448,0.16857435395736386,2.4521021955825617e-05],"issued_joint_targets_rad":[-0.1242605568944451,1.626368004290695,-0.9823256652034245,0.01913012837738904,0.8636512963631233,-0.16289815227150198],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.360000000000806,"joint_targets_rad":[-0.1242605568944451,1.626368004290695,-0.9823256652034245,0.01913012837738904,0.8636512963631233,-0.16289815227150198],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.380000000000795,"qpos":[-0.12874528591403525,1.619340140259971,-0.9738917107027052,0.02954558791110121,0.8158849442483922,-0.18362939090403974,0.03499962687098488,-0.03500001183576262,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.9986777363303354e-17,2.799404727988632e-17,7.723132994131e-08],"qvel":[0.013839652093024474,0.059262220589850194,-0.08453645740123093,-0.03404464586724827,0.11786349969221727,0.02576601354537315,-5.772784389637039e-06,-8.050243866211477e-07,-3.1339989478927854e-17,2.515162758205578e-17,1.8973262333561554e-15,-1.9080271186222826e-16,-9.684649929551067e-16,2.3851380495741615e-08],"joint_position_rad":[-0.12874528591403525,1.619340140259971,-0.9738917107027052,0.02954558791110121,0.8158849442483922,-0.18362939090403974],"joint_velocity_rad_s":[0.013839652093024474,0.059262220589850194,-0.08453645740123093,-0.03404464586724827,0.11786349969221727,0.02576601354537315],"gripper_joint_position_m":[0.03499962687098488,-0.03500001183576262],"tcp_position_m":[0.306306382718003,-0.03365068415470551,0.08382252529528952],"tcp_quaternion_wxyz":[0.09881064462889734,-0.01828607841232173,0.9949312948689792,-0.003714072516285073],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.9986777363303354e-17,2.799404727988632e-17,7.723132994131e-08],"object_linear_velocity_m_s":[-3.1339989478927854e-17,2.515162758205578e-17,1.8973262333561554e-15],"object_angular_velocity_rad_s":[-1.9080256093515402e-16,-9.684650233804154e-16,2.385138049574165e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1242605568944451,1.626368004290695,-0.9823256652034245,0.01913012837738904,0.8636512963631233,-0.16289815227150198,0.035],"actuator_force_native":[0.28958006110209134,0.26591801950863214,-0.2520340730513766,-0.2463951520122456,0.30086827160898544,0.1686633660073178,4.3789082553091774e-05],"issued_joint_targets_rad":[-0.12398689424382736,1.6276285700331576,-0.984121783729723,0.018587323152099926,0.8661658505046073,-0.16237019732563446],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.380000000000795,"joint_targets_rad":[-0.12398689424382736,1.6276285700331576,-0.984121783729723,0.018587323152099926,0.8661658505046073,-0.16237019732563446],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.400000000000784,"qpos":[-0.1284636800576734,1.6205958539537988,-0.9756882262674876,0.028862373212175184,0.8184190040276965,-0.1831134090365448,0.034999628397125615,-0.035000002394290235,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.3367632140649505e-17,2.8302298314241776e-17,7.767696341898064e-08],"qvel":[0.013687273982055497,0.05936673719985618,-0.08447487822052287,-0.03358661855943499,0.11778545240699387,0.025779005458500266,-2.1544208604758008e-06,-6.85144838843737e-06,-4.2999001697590535e-17,1.7919387272607266e-17,1.859856206275057e-15,-7.125563747495577e-16,2.300856667812183e-16,4.3546597561491636e-08],"joint_position_rad":[-0.1284636800576734,1.6205958539537988,-0.9756882262674876,0.028862373212175184,0.8184190040276965,-0.1831134090365448],"joint_velocity_rad_s":[0.013687273982055497,0.05936673719985618,-0.08447487822052287,-0.03358661855943499,0.11778545240699387,0.025779005458500266],"gripper_joint_position_m":[0.034999628397125615,-0.035000002394290235],"tcp_position_m":[0.30630463435587435,-0.03365813781190198,0.08380527122992429],"tcp_quaternion_wxyz":[0.09779297182393037,-0.01839826861323718,0.9950295419972219,-0.003774775049962927],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.3367632140649505e-17,2.8302298314241776e-17,7.767696341898064e-08],"object_linear_velocity_m_s":[-4.2999001697590535e-17,1.7919387272607266e-17,1.859856206275057e-15],"object_angular_velocity_rad_s":[-7.125564080293244e-16,2.3008555491855536e-16,4.35465975614917e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.12398689424382736,1.6276285700331576,-0.984121783729723,0.018587323152099926,0.8661658505046073,-0.16237019732563446,0.035],"actuator_force_native":[0.28970649519740554,0.2657836003494367,-0.25231020587622766,-0.24306890960583538,0.3007902861586178,0.16876360892135311,2.5636219277869188e-05],"issued_joint_targets_rad":[-0.12371646221278743,1.628891407313297,-0.9859187068011687,0.018052887775206295,0.8686803506188107,-0.16184071111443243],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.400000000000784,"joint_targets_rad":[-0.12371646221278743,1.628891407313297,-0.9859187068011687,0.018052887775206295,0.8686803506188107,-0.16184071111443243],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.420000000000773,"qpos":[-0.12818516783584644,1.6218538525818127,-0.9774839695106616,0.028188394541813412,0.8209515950930869,-0.18259713230832253,0.034999646377133264,-0.03500002279579245,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.32953046342701e-17,3.224479171953485e-17,7.802021708990454e-08],"qvel":[0.013535770294287106,0.05947777403115112,-0.08444528401638068,-0.033130932608658015,0.11770630847427838,0.02579368398720923,-5.940856529093256e-06,-1.3132523631330514e-06,-7.713714189135611e-17,4.042674837959932e-17,1.887611781890685e-15,1.981595850857813e-15,3.141121787066533e-15,7.950509026180312e-08],"joint_position_rad":[-0.12818516783584644,1.6218538525818127,-0.9774839695106616,0.028188394541813412,0.8209515950930869,-0.18259713230832253],"joint_velocity_rad_s":[0.013535770294287106,0.05947777403115112,-0.08444528401638068,-0.033130932608658015,0.11770630847427838,0.02579368398720923],"gripper_joint_position_m":[0.034999646377133264,-0.03500002279579245],"tcp_position_m":[0.30630265938541945,-0.033665626888426156,0.08378767086476442],"tcp_quaternion_wxyz":[0.09677491556522176,-0.018505077986837266,0.995126867943345,-0.003833341011930464],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.32953046342701e-17,3.224479171953485e-17,7.802021708990454e-08],"object_linear_velocity_m_s":[-7.713714189135611e-17,4.042674837959932e-17,1.887611781890685e-15],"object_angular_velocity_rad_s":[1.981595365843035e-15,3.1411220941614883e-15,7.950509026180324e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.12371646221278743,1.628891407313297,-0.9859187068011687,0.018052887775206295,0.8686803506188107,-0.16184071111443243,0.035],"actuator_force_native":[0.28981759837328447,0.2656155083629983,-0.25255256315867314,-0.23976560762099464,0.30072809254581934,0.16887368595808705,4.384919731492687e-05],"issued_joint_targets_rad":[-0.12344929005865829,1.6301562092441813,-0.9877160170250578,0.017526829349229563,0.8711942035432522,-0.16130977835597582],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.420000000000773,"joint_targets_rad":[-0.12344929005865829,1.6301562092441813,-0.9877160170250578,0.017526829349229563,0.8711942035432522,-0.16130977835597582],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.440000000000762,"qpos":[-0.12790975788193745,1.6231141439362249,-0.9792794301174405,0.02752360326821266,0.8234825888022062,-0.18208052815264503,0.03499964073327349,-0.0350000087183637,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.5856384419290612e-17,3.4815383010999995e-17,7.832179883536877e-08],"qvel":[0.01338290225148294,0.05958564736311881,-0.08443572924279678,-0.03267776278224198,0.11762020539928895,0.025809956878482868,-3.996924500227773e-06,-3.8015041613864297e-06,-3.9058172283739264e-17,1.924470659804656e-17,1.7113638767314412e-15,-6.163849775007312e-16,-1.065769192147936e-15,8.61372544936997e-09],"joint_position_rad":[-0.12790975788193745,1.6231141439362249,-0.9792794301174405,0.02752360326821266,0.8234825888022062,-0.18208052815264503],"joint_velocity_rad_s":[0.01338290225148294,0.05958564736311881,-0.08443572924279678,-0.03267776278224198,0.11762020539928895,0.025809956878482868],"gripper_joint_position_m":[0.03499964073327349,-0.0350000087183637],"tcp_position_m":[0.30630063929148044,-0.03367317294769637,0.08376985401277043],"tcp_quaternion_wxyz":[0.09575677418378137,-0.018606518874246643,0.9952232448047061,-0.0038898140946451547],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.5856384419290612e-17,3.4815383010999995e-17,7.832179883536877e-08],"object_linear_velocity_m_s":[-3.9058172283739264e-17,1.924470659804656e-17,1.7113638767314412e-15],"object_angular_velocity_rad_s":[-6.163848099550239e-16,-1.0657692889738502e-15,8.613725449369984e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.12344929005865829,1.6301562092441813,-0.9877160170250578,0.017526829349229563,0.8711942035432522,-0.16130977835597582,0.035],"actuator_force_native":[0.2899229146049187,0.2654369878209195,-0.2527483063954037,-0.23648214284811409,0.3006858393115266,0.16899256264896767,3.4355291561594115e-05],"issued_joint_targets_rad":[-0.12318540224363453,1.6314225907969953,-0.9895131873715443,0.017009144550365257,0.8737066641724669,-0.16077744209345404],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.440000000000762,"joint_targets_rad":[-0.12318540224363453,1.6314225907969953,-0.9895131873715443,0.017009144550365257,0.8737066641724669,-0.16077744209345404],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.46000000000075,"qpos":[-0.12763748755437246,1.6243765635103113,-0.981074856797386,0.026867952200604648,0.8260117530809236,-0.1815635657323745,0.03499964742841347,-0.035000008207363216,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.9353651434189936e-17,2.2855554531676412e-17,7.88113198875951e-08],"qvel":[0.013227920048861204,0.05968304469271811,-0.08443467579025439,-0.03222686877391879,0.11752328473504658,0.02582771831784343,-4.600591156869681e-06,-2.617066541199395e-06,-2.9048102707063004e-17,2.3823805960461797e-17,1.6558527255001835e-15,-5.143402047171246e-16,-1.3554863141800001e-15,1.5726487433959544e-08],"joint_position_rad":[-0.12763748755437246,1.6243765635103113,-0.981074856797386,0.026867952200604648,0.8260117530809236,-0.1815635657323745],"joint_velocity_rad_s":[0.013227920048861204,0.05968304469271811,-0.08443467579025439,-0.03222686877391879,0.11752328473504658,0.02582771831784343],"gripper_joint_position_m":[0.03499964742841347,-0.035000008207363216],"tcp_position_m":[0.3062987058483501,-0.0336808001523393,0.08375194310855617],"tcp_quaternion_wxyz":[0.09473886316426161,-0.018702588539779404,0.9953186444260615,-0.003944242148056267],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.9353651434189936e-17,2.2855554531676412e-17,7.88113198875951e-08],"object_linear_velocity_m_s":[-2.9048102707063004e-17,2.3823805960461797e-17,1.6558527255001835e-15],"object_angular_velocity_rad_s":[-5.143399903429128e-16,-1.3554863958603764e-15,1.572648743395957e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12318540224363453,1.6314225907969953,-0.9895131873715443,0.017009144550365257,0.8737066641724669,-0.16077744209345404,0.035],"actuator_force_native":[0.29002722461472885,0.2652669594711199,-0.252893066981386,-0.2332179621399818,0.300664183812863,0.16911965891243952,3.710581924565304e-05],"issued_joint_targets_rad":[-0.12292481931177751,1.6326901433903858,-0.9913096584419985,0.01649982044664927,0.8762169446435406,-0.1602437156064337],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.46000000000075,"joint_targets_rad":[-0.12292481931177751,1.6326901433903858,-0.9913096584419985,0.01649982044664927,0.8762169446435406,-0.1602437156064337],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.48000000000074,"qpos":[-0.12736840460120188,1.6256408272964875,-0.9828702821911196,0.026221393990119433,0.8285387949170028,-0.18104621547863,0.0349996477174359,-0.03500001252564299,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,3.178294397614266e-17,-4.347123511273949e-18,7.924326575042632e-08],"qvel":[0.013070509019853738,0.059765244510112114,-0.08443217830099974,-0.03177832273366864,0.11741335708578098,0.02584692596718011,-5.015486232659171e-06,-2.4565358000355597e-06,7.635090011717252e-18,4.5229233303208344e-17,1.6766694072119048e-15,2.433029037619516e-16,-1.846130470474867e-15,2.871259462171557e-08],"joint_position_rad":[-0.12736840460120188,1.6256408272964875,-0.9828702821911196,0.026221393990119433,0.8285387949170028,-0.18104621547863],"joint_velocity_rad_s":[0.013070509019853738,0.059765244510112114,-0.08443217830099974,-0.03177832273366864,0.11741335708578098,0.02584692596718011],"gripper_joint_position_m":[0.0349996477174359,-0.03500001252564299],"tcp_position_m":[0.3062969389475901,-0.03368852939901072,0.0837340420554856],"tcp_quaternion_wxyz":[0.09372148049622553,-0.01879327882594171,0.9954130415979202,-0.00399667128279859],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,3.178294397614266e-17,-4.347123511273949e-18,7.924326575042632e-08],"object_linear_velocity_m_s":[7.635090011717252e-18,4.5229233303208344e-17,1.6766694072119048e-15],"object_angular_velocity_rad_s":[2.433031960991297e-16,-1.8461304337397555e-15,2.871259462171562e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.12292481931177751,1.6326901433903858,-0.9913096584419985,0.01649982044664927,0.8762169446435406,-0.1602437156064337,0.035],"actuator_force_native":[0.29013427805467984,0.2651190649612829,-0.25298920856531026,-0.2299713280704634,0.30066146163670737,0.1692546097711929,3.916873372733498e-05],"issued_joint_targets_rad":[-0.1226675585376854,1.6339584787681871,-0.9931049003523448,0.01599883546114844,0.8787243013687072,-0.15970859421020248],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.48000000000074,"joint_targets_rad":[-0.1226675585376854,1.6339584787681871,-0.9931049003523448,0.01599883546114844,0.8787243013687072,-0.15970859421020248],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.500000000000728,"qpos":[-0.1271025558700704,1.6269065849912543,-0.984665565323248,0.025583885188886282,0.8310633998108188,-0.18052844958782513,0.03499964722262429,-0.03500000830409518,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,3.003491355904995e-17,-2.5298965498827092e-17,7.965271818052742e-08],"qvel":[0.012910867948585803,0.05983000169294545,-0.08442054568335391,-0.03133194121079431,0.11728983509028283,0.025867471932319266,-4.214428511226635e-06,-2.849204699500573e-06,4.866616960271396e-17,4.441352829799425e-17,1.6669549557464347e-15,-3.924598734636912e-16,-2.320549376068398e-15,5.2421946946056076e-08],"joint_position_rad":[-0.1271025558700704,1.6269065849912543,-0.984665565323248,0.025583885188886282,0.8310633998108188,-0.18052844958782513],"joint_velocity_rad_s":[0.012910867948585803,0.05983000169294545,-0.08442054568335391,-0.03133194121079431,0.11728983509028283,0.025867471932319266],"gripper_joint_position_m":[0.03499964722262429,-0.03500000830409518],"tcp_position_m":[0.30629537047428396,-0.03369637457159058,0.08371622976937672],"tcp_quaternion_wxyz":[0.09270488225681865,-0.018878581096039206,0.9955064161728757,-0.004047139753791737],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,3.003491355904995e-17,-2.5298965498827092e-17,7.965271818052742e-08],"object_linear_velocity_m_s":[4.866616960271396e-17,4.441352829799425e-17,1.6669549557464347e-15],"object_angular_velocity_rad_s":[-3.924595064399978e-16,-2.3205494417383417e-15,5.242194694605618e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1226675585376854,1.6339584787681871,-0.9931049003523448,0.01599883546114844,0.8787243013687072,-0.15970859421020248,0.035],"actuator_force_native":[0.290245446847873,0.26500149368990833,-0.2530440739109707,-0.22674228305554212,0.3006742629434598,0.16939734587774757,3.518323758489039e-05],"issued_joint_targets_rad":[-0.12241363654660677,1.635227260515772,-0.9948984569550923,0.015506164242607055,0.8812280969163069,-0.15917206506832085],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.500000000000728,"joint_targets_rad":[-0.12241363654660677,1.635227260515772,-0.9948984569550923,0.015506164242607055,0.8812280969163069,-0.15917206506832085],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.520000000000717,"qpos":[-0.12683998354754444,1.62817346759613,-0.9864604429741789,0.02495538097296476,0.8335852621021624,-0.18001024130606588,0.03499965255680707,-0.03500000828400662,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.871690491573418e-17,-2.7603844881083516e-17,7.994688757502928e-08],"qvel":[0.012749348215633276,0.05987720724129878,-0.08439467190543798,-0.0308877877536999,0.1171533789306816,0.025889330754769034,-4.038091922247375e-06,-2.847587137014741e-06,5.85382563844411e-17,1.390429292097025e-17,1.696098310142845e-15,-2.127433197979107e-15,-1.5027633362156725e-15,9.570923693315184e-08],"joint_position_rad":[-0.12683998354754444,1.62817346759613,-0.9864604429741789,0.02495538097296476,0.8335852621021624,-0.18001024130606588],"joint_velocity_rad_s":[0.012749348215633276,0.05987720724129878,-0.08439467190543798,-0.0308877877536999,0.1171533789306816,0.025889330754769034],"gripper_joint_position_m":[0.03499965255680707,-0.03500000828400662],"tcp_position_m":[0.3062939926132192,-0.03370434320859996,0.08369855810952462],"tcp_quaternion_wxyz":[0.09168926922760443,-0.018958489621568698,0.9955987540189025,-0.004095677695535851],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.871690491573418e-17,-2.7603844881083516e-17,7.994688757502928e-08],"object_linear_velocity_m_s":[5.85382563844411e-17,1.390429292097025e-17,1.696098310142845e-15],"object_angular_velocity_rad_s":[-2.127432962980466e-15,-1.5027636799617435e-15,9.570923693315203e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12241363654660677,1.635227260515772,-0.9948984569550923,0.015506164242607055,0.8812280969163069,-0.15917206506832085,0.035],"actuator_force_native":[0.2903610189968475,0.26491739736488285,-0.25306775894588895,-0.2235297304458087,0.30069827974542207,0.16954776624529688,3.4088187328640274e-05],"issued_joint_targets_rad":[-0.12216306739394353,1.636496221078832,-0.9966899696611883,0.015021774095392678,0.8837278328315452,-0.1586341064225582],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.520000000000717,"joint_targets_rad":[-0.12216306739394353,1.636496221078832,-0.9966899696611883,0.015021774095392678,0.8837278328315452,-0.1586341064225582],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.540000000000706,"qpos":[-0.1265807213835926,1.6294411255060364,-0.988254581441513,0.02433583603698973,0.8361041080756798,-0.1794915645439185,0.03499964686611108,-0.035000004990008195,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,6.015782606194323e-18,-2.399943482698127e-17,8.030993550864339e-08],"qvel":[0.012586396313091502,0.05990837079132626,-0.08435191940645935,-0.03044586647428304,0.11700549505248944,0.025912467164970046,-5.266478591348037e-06,-1.4822368531858953e-06,3.0427915418905973e-17,1.049860328382613e-17,1.6808327435542495e-15,-7.884786145201529e-16,1.3070076517949963e-15,1.0369312042740571e-08],"joint_position_rad":[-0.1265807213835926,1.6294411255060364,-0.988254581441513,0.02433583603698973,0.8361041080756798,-0.1794915645439185],"joint_velocity_rad_s":[0.012586396313091502,0.05990837079132626,-0.08435191940645935,-0.03044586647428304,0.11700549505248944,0.025912467164970046],"gripper_joint_position_m":[0.03499964686611108,-0.035000004990008195],"tcp_position_m":[0.30629276824419177,-0.03371243649768382,0.08368105311209495],"tcp_quaternion_wxyz":[0.09067478229883179,-0.019033003231835963,0.9956900471259424,-0.004142305804125171],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,6.015782606194323e-18,-2.399943482698127e-17,8.030993550864339e-08],"object_linear_velocity_m_s":[3.0427915418905973e-17,1.049860328382613e-17,1.6808327435542495e-15],"object_angular_velocity_rad_s":[-7.884788249492599e-16,1.3070075250248895e-15,1.0369312042740593e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12216306739394353,1.636496221078832,-0.9966899696611883,0.015021774095392678,0.8837278328315452,-0.1586341064225582,0.035],"actuator_force_native":[0.29048033760646774,0.26486579186700965,-0.253071460541733,-0.22033314529246684,0.30072900497991917,0.16970588046614798,4.045774851380024e-05],"issued_joint_targets_rad":[-0.12191586350499097,1.6377651680658623,-0.9984791860357123,0.01454562723762799,0.88622316107806,-0.15809469143875785],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.540000000000706,"joint_targets_rad":[-0.12191586350499097,1.6377651680658623,-0.9984791860357123,0.01454562723762799,0.88622316107806,-0.15809469143875785],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.560000000000695,"qpos":[-0.12632479457536522,1.6307092553058733,-0.990047623186873,0.023725206613558078,0.8386197092147228,-0.17897239432922965,0.03499964692657089,-0.035000012807809816,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999978,1.1998988993094825e-17,-3.343892034631231e-17,8.077453296270643e-08],"qvel":[0.012422353942736228,0.059926074424769354,-0.08429181507713557,-0.03000613054952382,0.11684813521466272,0.025936824545931023,-2.994934679746304e-06,-4.326211201308731e-06,4.603880729211485e-17,1.7099126950801835e-17,1.6974860889236271e-15,-4.539123729855735e-17,6.053779421729427e-16,1.8931745212625233e-08],"joint_position_rad":[-0.12632479457536522,1.6307092553058733,-0.990047623186873,0.023725206613558078,0.8386197092147228,-0.17897239432922965],"joint_velocity_rad_s":[0.012422353942736228,0.059926074424769354,-0.08429181507713557,-0.03000613054952382,0.11684813521466272,0.025936824545931023],"gripper_joint_position_m":[0.03499964692657089,-0.035000012807809816],"tcp_position_m":[0.30629164205268133,-0.033720650345872245,0.08366371868050823],"tcp_quaternion_wxyz":[0.08966150581228978,-0.019102125160858123,0.9957802930000851,-0.004187035045982756],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999978,1.1998988993094825e-17,-3.343892034631231e-17,8.077453296270643e-08],"object_linear_velocity_m_s":[4.603880729211485e-17,1.7099126950801835e-17,1.6974860889236271e-15],"object_angular_velocity_rad_s":[-4.539133636291214e-17,6.053779343857003e-16,1.893174521262527e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015}],"native_actuator_controls":[-0.12191586350499097,1.6377651680658623,-0.9984791860357123,0.01454562723762799,0.88622316107806,-0.15809469143875785,0.035],"actuator_force_native":[0.29060271591625764,0.26484264867525553,-0.25306595252146735,-0.21715252228958448,0.30076231581137947,0.16987179208582148,2.9097610563244558e-05],"issued_joint_targets_rad":[-0.12167203686979342,1.6390339805208767,-1.0002659542960017,0.014077683577609825,0.8887138756981334,-0.15755379087079177],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.560000000000695,"joint_targets_rad":[-0.12167203686979342,1.6390339805208767,-1.0002659542960017,0.014077683577609825,0.8887138756981334,-0.15755379087079177],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.580000000000684,"qpos":[-0.12607222086045644,1.631977615165383,-0.991839224875762,0.023123449740298254,0.8411318871898857,-0.17845270656247247,0.03499965095562165,-0.03500001743198372,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,1.3840276201903665e-17,-4.7134017267925527e-17,8.123283323879929e-08],"qvel":[0.012257647226703345,0.05993343171890703,-0.08421556302863958,-0.02956850903647944,0.11668344058487158,0.025962366318292397,-5.123089441291426e-06,-7.691694087101375e-07,7.123900425174186e-17,1.709078281564811e-17,2.1887597773202586e-15,2.6626553467036273e-17,-5.077253638416811e-16,3.456458589715929e-08],"joint_position_rad":[-0.12607222086045644,1.631977615165383,-0.991839224875762,0.023123449740298254,0.8411318871898857,-0.17845270656247247],"joint_velocity_rad_s":[0.012257647226703345,0.05993343171890703,-0.08421556302863958,-0.02956850903647944,0.11668344058487158,0.025962366318292397],"gripper_joint_position_m":[0.03499965095562165,-0.03500001743198372],"tcp_position_m":[0.3062905509272408,-0.03372897718200147,0.08364654175941627],"tcp_quaternion_wxyz":[0.08864947617862641,-0.01916586271413103,0.9958694936052178,-0.004229868338960077],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,1.3840276201903665e-17,-4.7134017267925527e-17,8.123283323879929e-08],"object_linear_velocity_m_s":[7.123900425174186e-17,1.709078281564811e-17,2.1887597773202586e-15],"object_angular_velocity_rad_s":[2.6626632696640045e-17,-5.077253604725407e-16,3.456458589715928e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000028},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000034},{"geom_ids":[1,90],"normal_force_n":0.0981000000000003}],"native_actuator_controls":[-0.12167203686979342,1.6390339805208767,-1.0002659542960017,0.014077683577609825,0.8887138756981334,-0.15755379087079177,0.035],"actuator_force_native":[0.2907264831195242,0.26484206984497405,-0.2530605384759923,-0.2139881013251399,0.3007947242051703,0.17004560743936836,3.957722234049221e-05],"issued_joint_targets_rad":[-0.12143159901308681,1.6403025982387316,-1.002050208110443,0.013617901258664649,0.8911998909132878,-0.15701137366931467],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.580000000000684,"joint_targets_rad":[-0.12143159901308681,1.6403025982387316,-1.002050208110443,0.013617901258664649,0.8911998909132878,-0.15701137366931467],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.600000000000673,"qpos":[-0.125823013622387,1.6332460297527391,-0.9936290844195224,0.022530520969382243,0.8436405111827218,-0.17793247743924553,0.03499964966385806,-0.03500000782744159,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,5.244640377151877e-18,-4.752109943348826e-17,8.16033135646188e-08],"qvel":[0.012092299394067871,0.05993362597103956,-0.08412552764628047,-0.02913315588999796,0.11651330695111685,0.02598910045315833,-2.3924704484670856e-06,-4.157287304053439e-06,8.308203347524389e-17,-7.049270478250485e-18,2.5023977817768652e-15,-1.7746545729939383e-15,-1.0553384414201425e-15,6.310620520316845e-08],"joint_position_rad":[-0.125823013622387,1.6332460297527391,-0.9936290844195224,0.022530520969382243,0.8436405111827218,-0.17793247743924553],"joint_velocity_rad_s":[0.012092299394067871,0.05993362597103956,-0.08412552764628047,-0.02913315588999796,0.11651330695111685,0.02598910045315833],"gripper_joint_position_m":[0.03499964966385806,-0.03500000782744159],"tcp_position_m":[0.3062894327323726,-0.03373740843663995,0.08362949806499323],"tcp_quaternion_wxyz":[0.08763869391889155,-0.019224226167103006,0.9959576540667038,-0.004270803485848055],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,5.244640377151877e-18,-4.752109943348826e-17,8.16033135646188e-08],"object_linear_velocity_m_s":[8.308203347524389e-17,-7.049270478250485e-18,2.5023977817768652e-15],"object_angular_velocity_rad_s":[-1.7746544067534395e-15,-1.0553387317174547e-15,6.310620520316845e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.12143159901308681,1.6403025982387316,-1.002050208110443,0.013617901258664649,0.8911998909132878,-0.15701137366931467,0.035],"actuator_force_native":[0.29085167177367666,0.2648573490241972,-0.25306225704224516,-0.21083900897871388,0.30082383687898506,0.1702273870195714,2.5975797920185784e-05],"issued_joint_targets_rad":[-0.12119456015993788,1.6415710065514426,-1.0038319451351574,0.013166235624207424,0.893681210563207,-0.15646740527347008],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.600000000000673,"joint_targets_rad":[-0.12119456015993788,1.6415710065514426,-1.0038319451351574,0.013166235624207424,0.893681210563207,-0.15646740527347008],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.620000000000662,"qpos":[-0.12557718303412754,1.6345143867719298,-0.9954169568902863,0.021946375294397087,0.8461454916307704,-0.17741168305239935,0.0349996570248704,-0.03500001359135709,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-6.094987539277584e-18,-4.027955430872738e-17,8.189687990977004e-08],"qvel":[0.011926637749111239,0.059929534986957904,-0.08402463902086535,-0.02869996545731552,0.1163394421923886,0.026017022460662204,-4.810189744831223e-06,-7.909791846365168e-07,1.318439401577729e-16,-8.279897107322618e-17,2.567623384473593e-15,-6.845915439048068e-15,-5.5347872961151455e-15,1.152159943993994e-07],"joint_position_rad":[-0.12557718303412754,1.6345143867719298,-0.9954169568902863,0.021946375294397087,0.8461454916307704,-0.17741168305239935],"joint_velocity_rad_s":[0.011926637749111239,0.059929534986957904,-0.08402463902086535,-0.02869996545731552,0.1163394421923886,0.026017022460662204],"gripper_joint_position_m":[0.0349996570248704,-0.03500001359135709],"tcp_position_m":[0.30628823274169803,-0.03374593560453225,0.08361255756717487],"tcp_quaternion_wxyz":[0.08662913631866614,-0.0192772277233466,0.9960447814008316,-0.0043098348175156995],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-6.094987539277584e-18,-4.027955430872738e-17,8.189687990977004e-08],"object_linear_velocity_m_s":[1.318439401577729e-16,-8.279897107322618e-17,2.567623384473593e-15],"object_angular_velocity_rad_s":[-6.845914541766054e-15,-5.534788416028822e-15,1.152159943993994e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.12119456015993788,1.6415710065514426,-1.0038319451351574,0.013166235624207424,0.893681210563207,-0.15646740527347008,0.035],"actuator_force_native":[0.2909766411896175,0.2648819074262292,-0.2530758644853677,-0.2077057595210089,0.30084802603578353,0.1704172440982994,3.7769953908251e-05],"issued_joint_targets_rad":[-0.12096092992478988,1.64283922043905,-1.005611204629943,0.012722641083264194,0.8961578964651581,-0.15592184936047118],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.620000000000662,"joint_targets_rad":[-0.12096092992478988,1.64283922043905,-1.005611204629943,0.012722641083264194,0.8961578964651581,-0.15592184936047118],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.64000000000065,"qpos":[-0.12533473668284173,1.6357826272942333,-0.997202659775775,0.021370967807143787,0.8486467703223725,-0.17689029952166738,0.03499965315132158,-0.03500000995219336,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-2.618287771958548e-17,-4.6579647866000576e-17,8.233392162096051e-08],"qvel":[0.011760569741378978,0.05992349828254431,-0.08391596880361979,-0.028269042229852704,0.11616298873268763,0.026046144699060747,-3.640079964269434e-06,-2.3796787162941806e-06,5.735290772680574e-17,-2.9138047530962234e-17,2.6078689691162546e-15,1.6359784131261581e-16,1.513911918457828e-15,1.2482709470105545e-08],"joint_position_rad":[-0.12533473668284173,1.6357826272942333,-0.997202659775775,0.021370967807143787,0.8486467703223725,-0.17689029952166738],"joint_velocity_rad_s":[0.011760569741378978,0.05992349828254431,-0.08391596880361979,-0.028269042229852704,0.11616298873268763,0.026046144699060747],"gripper_joint_position_m":[0.03499965315132158,-0.03500000995219336],"tcp_position_m":[0.306286907687875,-0.033754550883549325,0.08359568918130275],"tcp_quaternion_wxyz":[0.08562076967648723,-0.01932488103792639,0.9961308833462248,-0.004346954882026563],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-2.618287771958548e-17,-4.6579647866000576e-17,8.233392162096051e-08],"object_linear_velocity_m_s":[5.735290772680574e-17,-2.9138047530962234e-17,2.6078689691162546e-15],"object_angular_velocity_rad_s":[1.635975908571227e-16,1.5139119460507777e-15,1.2482709470105549e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.12096092992478988,1.64283922043905,-1.005611204629943,0.012722641083264194,0.8961578964651581,-0.15592184936047118,0.035],"actuator_force_native":[0.29110169193725177,0.26490996017261637,-0.25310374431533944,-0.20458785780592015,0.30086677832882636,0.17061528456337083,3.207434695817746e-05],"issued_joint_targets_rad":[-0.12073071784889956,1.6441072690081469,-1.0073880456623319,0.012287072601580806,0.8986300377501412,-0.15537467010167091],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.64000000000065,"joint_targets_rad":[-0.12073071784889956,1.6441072690081469,-1.0073880456623319,0.012287072601580806,0.8986300377501412,-0.15537467010167091],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.66000000000064,"qpos":[-0.1250956816108656,1.6370507328315036,-0.9989860705627981,0.020804254433145312,0.851144309774192,-0.17636830289183364,0.034999648604750584,-0.03500000436824344,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.990197845839357e-17,-2.2936082499934142e-17,8.277301537982613e-08],"qvel":[0.011594213794225464,0.05991718996938958,-0.08380233068682434,-0.027840290461206067,0.11598473771348272,0.02607646463665796,-4.616884003545488e-06,-7.239104470357533e-07,2.992340417023472e-17,-5.0021618418873597e-17,2.6481145537589154e-15,2.0395069583555226e-16,1.800756313757224e-15,2.2790275215674122e-08],"joint_position_rad":[-0.1250956816108656,1.6370507328315036,-0.9989860705627981,0.020804254433145312,0.851144309774192,-0.17636830289183364],"joint_velocity_rad_s":[0.011594213794225464,0.05991718996938958,-0.08380233068682434,-0.027840290461206067,0.11598473771348272,0.02607646463665796],"gripper_joint_position_m":[0.034999648604750584,-0.03500000436824344],"tcp_position_m":[0.3062854276077337,-0.03376324795240515,0.08357886445384327],"tcp_quaternion_wxyz":[0.08461355974221148,-0.019367199881781448,0.9962159674420459,-0.004382155861998591],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.990197845839357e-17,-2.2936082499934142e-17,8.277301537982613e-08],"object_linear_velocity_m_s":[2.992340417023472e-17,-5.0021618418873597e-17,2.6481145537589154e-15],"object_angular_velocity_rad_s":[2.0395039668204997e-16,1.800756349339182e-15,2.279027521567413e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.12073071784889956,1.6441072690081469,-1.0073880456623319,0.012287072601580806,0.8986300377501412,-0.15537467010167091,0.035],"actuator_force_native":[0.29122603198615415,0.2649369442845284,-0.2531463545285675,-0.20148582095655,0.3008801731892685,0.17082163094664038,3.7140229994570007e-05],"issued_joint_targets_rad":[-0.12050393377191285,1.6453751822585398,-1.0091625285899346,0.011859486642274795,0.9010977249181527,-0.15482583251595997],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.66000000000064,"joint_targets_rad":[-0.12050393377191285,1.6453751822585398,-1.0091625285899346,0.011859486642274795,0.9010977249181527,-0.15482583251595997],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.680000000000629,"qpos":[-0.12486002552939576,1.6383187109746853,-1.0007671180802533,0.020246190120486708,0.8536380822819429,-0.17584566881695524,0.03499965046394169,-0.03500000805443626,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.832608648491395e-17,-3.886807984391954e-18,8.319882342071687e-08],"qvel":[0.011427436520664159,0.059911601908796096,-0.08368606511017253,-0.027413796737488498,0.1158049831475098,0.02610801668008479,-2.3121850022761883e-06,-3.7124957596900816e-06,2.2775714336538256e-18,-5.276590434887803e-17,2.6522778901012595e-15,4.601639519268257e-16,1.4823951996860681e-15,4.1609287282545794e-08],"joint_position_rad":[-0.12486002552939576,1.6383187109746853,-1.0007671180802533,0.020246190120486708,0.8536380822819429,-0.17584566881695524],"joint_velocity_rad_s":[0.011427436520664159,0.059911601908796096,-0.08368606511017253,-0.027413796737488498,0.1158049831475098,0.02610801668008479],"gripper_joint_position_m":[0.03499965046394169,-0.03500000805443626],"tcp_position_m":[0.3062837758053752,-0.033772022654227886,0.08356206004583125],"tcp_quaternion_wxyz":[0.0836074798052469,-0.01940419785500497,0.9963000403442224,-0.004415431611942031],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.832608648491395e-17,-3.886807984391954e-18,8.319882342071687e-08],"object_linear_velocity_m_s":[2.2775714336538256e-18,-5.276590434887803e-17,2.6522778901012595e-15],"object_angular_velocity_rad_s":[4.601637049362918e-16,1.4823952794456892e-15,4.16092872825458e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.12050393377191285,1.6453751822585398,-1.0091625285899346,0.011859486642274795,0.9010977249181527,-0.15482583251595997,0.035],"actuator_force_native":[0.29135015799531416,0.2649596931643998,-0.25320251522364856,-0.19839915544103404,0.3008889516408306,0.17103633798982543,2.5542367343867056e-05],"issued_joint_targets_rad":[-0.1202805871180905,1.6466429805869438,-1.010934700438432,0.011439840016723678,0.903561029427337,-0.1542753018670624],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.680000000000629,"joint_targets_rad":[-0.1202805871180905,1.6466429805869438,-1.010934700438432,0.011439840016723678,0.903561029427337,-0.1542753018670624],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.700000000000617,"qpos":[-0.12462777617074654,1.639586581723868,-1.002545770326319,0.019696731203851535,0.8561280617398186,-0.17532237264929643,0.034999658145091095,-0.03500001324338597,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-2.61138417372567e-17,-1.4991247864914627e-18,8.358253441300935e-08],"qvel":[0.011260339304871383,0.059907089186028786,-0.08356885506459963,-0.026989432080180207,0.11562374021461537,0.026140800580229138,-4.1834721599901055e-06,-6.277349850371152e-07,1.1607592795809153e-17,-3.081489984652215e-17,2.653665668882041e-15,1.3022241440337189e-15,-7.499550820320537e-16,7.59680509242218e-08],"joint_position_rad":[-0.12462777617074654,1.639586581723868,-1.002545770326319,0.019696731203851535,0.8561280617398186,-0.17532237264929643],"joint_velocity_rad_s":[0.011260339304871383,0.059907089186028786,-0.08356885506459963,-0.026989432080180207,0.11562374021461537,0.026140800580229138],"gripper_joint_position_m":[0.034999658145091095,-0.03500001324338597],"tcp_position_m":[0.3062819472642024,-0.03378087222810755,0.08354525900197622],"tcp_quaternion_wxyz":[0.08260251560664489,-0.019435887996044336,0.9963831074660483,-0.004446777435461045],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-2.61138417372567e-17,-1.4991247864914627e-18,8.358253441300935e-08],"object_linear_velocity_m_s":[1.1607592795809153e-17,-3.081489984652215e-17,2.653665668882041e-15],"object_angular_velocity_rad_s":[1.3022242691722225e-15,-7.499548603780195e-16,7.596805092422181e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1202805871180905,1.6466429805869438,-1.010934700438432,0.011439840016723678,0.903561029427337,-0.1542753018670624,0.035],"actuator_force_native":[0.2914734276881248,0.2649764631159428,-0.25327013364604056,-0.1953284870842133,0.300894066553262,0.17125950695199643,3.4591557156238295e-05],"issued_joint_targets_rad":[-0.12006068799874355,1.6479106685860212,-1.0127045862571946,0.011028092064445737,0.9060199917644934,-0.15372304620679766],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.700000000000617,"joint_targets_rad":[-0.12006068799874355,1.6479106685860212,-1.0127045862571946,0.011028092064445737,0.9060199917644934,-0.15372304620679766],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.720000000000606,"qpos":[-0.12439894267226884,1.640854365685901,-1.0043220209657482,0.019155833223584492,0.8586142159280477,-0.17479838931900435,0.03499966080877554,-0.035000006281117706,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-1.5130409863333788e-17,-4.439608879762073e-18,8.38706993257439e-08],"qvel":[0.01109270435095374,0.059903497547057406,-0.08345175336851482,-0.02656732081248371,0.11544065741953125,0.026174854475137344,-1.8105913539278225e-06,-3.5831834906971347e-06,4.790783206492189e-18,-1.9711317302786962e-17,2.466315533476545e-15,1.0545950694411354e-15,-1.0825905501070349e-16,8.230516202551062e-09],"joint_position_rad":[-0.12439894267226884,1.640854365685901,-1.0043220209657482,0.019155833223584492,0.8586142159280477,-0.17479838931900435],"joint_velocity_rad_s":[0.01109270435095374,0.059903497547057406,-0.08345175336851482,-0.02656732081248371,0.11544065741953125,0.026174854475137344],"gripper_joint_position_m":[0.03499966080877554,-0.035000006281117706],"tcp_position_m":[0.30627994630464944,-0.03378979580102109,0.08352845107066097],"tcp_quaternion_wxyz":[0.08159866817160462,-0.019462282622673,0.9964651728071984,-0.004476191467735451],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-1.5130409863333788e-17,-4.439608879762073e-18,8.38706993257439e-08],"object_linear_velocity_m_s":[4.790783206492189e-18,-1.9711317302786962e-17,2.466315533476545e-15],"object_angular_velocity_rad_s":[1.0545950875275659e-15,-1.082588778623879e-16,8.230516202551065e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999973},{"geom_ids":[1,90],"normal_force_n":0.09809999999999969},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12006068799874355,1.6479106685860212,-1.0127045862571946,0.011028092064445737,0.9060199917644934,-0.15372304620679766,0.035],"actuator_force_native":[0.2915968521272543,0.26498674427432434,-0.2533464564731389,-0.19227304230313164,0.300896772235161,0.17149114940936094,2.262060574809155e-05],"issued_joint_targets_rad":[-0.11984424618137428,1.6491782311880006,-1.014472183821573,0.010624202680761566,0.9084746141760862,-0.15316903452531452],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.720000000000606,"joint_targets_rad":[-0.11984424618137428,1.6491782311880006,-1.014472183821573,0.010624202680761566,0.9084746141760862,-0.15316903452531452],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.740000000000595,"qpos":[-0.12417353526661719,1.6421220751381274,-1.0060958764880852,0.018623451636499817,0.8610965024850918,-0.17427369314368055,0.034999669567568614,-0.03500001201023116,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,1.655091569431972e-18,-1.9670482018061768e-17,8.433844246145455e-08],"qvel":[0.010924662072275285,0.0599002903421367,-0.08333517247854368,-0.026147349847440104,0.1152553384242302,0.026210194404757404,-4.022258086385086e-06,-5.697083061506793e-07,2.0189192575175352e-17,1.7423570995072443e-19,2.4024777095605985e-15,6.765654029539785e-16,1.5316577880430144e-16,1.502684412165659e-08],"joint_position_rad":[-0.12417353526661719,1.6421220751381274,-1.0060958764880852,0.018623451636499817,0.8610965024850918,-0.17427369314368055],"joint_velocity_rad_s":[0.010924662072275285,0.0599002903421367,-0.08333517247854368,-0.026147349847440104,0.1152553384242302,0.026210194404757404],"gripper_joint_position_m":[0.034999669567568614,-0.03500001201023116],"tcp_position_m":[0.30627778370851083,-0.033798793815901285,0.08351163220925059],"tcp_quaternion_wxyz":[0.08059595392049532,-0.0194833931412579,0.9965462390277824,-0.004503674381034726],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,1.655091569431972e-18,-1.9670482018061768e-17,8.433844246145455e-08],"object_linear_velocity_m_s":[2.0189192575175352e-17,1.7423570995072443e-19,2.4024777095605985e-15],"object_angular_velocity_rad_s":[6.765653765272723e-16,1.531658928755023e-16,1.5026844121656595e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999}],"native_actuator_controls":[-0.11984424618137428,1.6491782311880006,-1.014472183821573,0.010624202680761566,0.9084746141760862,-0.15316903452531452,0.035],"actuator_force_native":[0.29171981645805545,0.26499103227916976,-0.2534287242862945,-0.18923320899232954,0.3008981092735983,0.17173129457652414,3.332858768745339e-05],"issued_joint_targets_rad":[-0.11963127135636646,1.6504456334860336,-1.0162374634252878,0.010228132764162222,0.9109248605548703,-0.15261323713867936],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.740000000000595,"joint_targets_rad":[-0.11963127135636646,1.6504456334860336,-1.0162374634252878,0.010228132764162222,0.9109248605548703,-0.15261323713867936],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.760000000000584,"qpos":[-0.12395156422588334,1.6433897079565305,-1.0078673446705955,0.018099542363117744,0.8635748664855029,-0.17374825815555903,0.034999664016912305,-0.03500000709547959,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,9.221821440118221e-18,-3.3012064178471456e-17,8.480588516364717e-08],"qvel":[0.010756057578630827,0.05989670337501036,-0.08321902943246803,-0.025729584138462422,0.11506719434074791,0.026246838985966223,-3.3990927193568848e-06,-1.5229144901587042e-06,4.426951449206584e-17,1.1100116077636264e-17,2.4357844002993533e-15,2.5647488297835624e-16,-7.983627393555075e-17,2.7435222615389942e-08],"joint_position_rad":[-0.12395156422588334,1.6433897079565305,-1.0078673446705955,0.018099542363117744,0.8635748664855029,-0.17374825815555903],"joint_velocity_rad_s":[0.010756057578630827,0.05989670337501036,-0.08321902943246803,-0.025729584138462422,0.11506719434074791,0.026246838985966223],"gripper_joint_position_m":[0.034999664016912305,-0.03500000709547959],"tcp_position_m":[0.3062754738409788,-0.03380786725131118,0.08349480350763099],"tcp_quaternion_wxyz":[0.0795944032106621,-0.019499230544975432,0.9966263076355113,-0.004529228907852384],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,9.221821440118221e-18,-3.3012064178471456e-17,8.480588516364717e-08],"object_linear_velocity_m_s":[4.426951449206584e-17,1.1100116077636264e-17,2.4357844002993533e-15],"object_angular_velocity_rad_s":[2.5647489470813784e-16,-7.98362309403963e-17,2.7435222615389955e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11963127135636646,1.6504456334860336,-1.0162374634252878,0.010228132764162222,0.9109248605548703,-0.15261323713867936,0.035],"actuator_force_native":[0.29184314166819547,0.26499052548518875,-0.25351435321304905,-0.18620846326590873,0.3008991491825519,0.17197995168984748,3.0434787104738348e-05],"issued_joint_targets_rad":[-0.11942177334188711,1.6517128225152107,-1.0180003703898857,0.009839844547897672,0.9133706601036574,-0.15205562669918296],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.760000000000584,"joint_targets_rad":[-0.11942177334188711,1.6517128225152107,-1.0180003703898857,0.009839844547897672,0.9133706601036574,-0.15205562669918296],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.780000000000573,"qpos":[-0.12373304031917082,1.6446572447290395,-1.0096364261103827,0.017584063034092146,0.8660492402564571,-0.17322205839152324,0.03499965966596023,-0.03500000261434175,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,7.55999977816206e-18,-4.749592991286601e-17,8.519712178709534e-08],"qvel":[0.010586952794368401,0.05989187963932008,-0.08310285292701744,-0.025313906713719553,0.11487571797102708,0.026284777133185392,-3.6299613116665306e-06,-8.621783316195519e-07,8.813858725697109e-17,9.69376578363898e-18,2.345578779548559e-15,-3.6229781774633822e-16,-2.430118684303162e-15,5.0089788239116864e-08],"joint_position_rad":[-0.12373304031917082,1.6446572447290395,-1.0096364261103827,0.017584063034092146,0.8660492402564571,-0.17322205839152324],"joint_velocity_rad_s":[0.010586952794368401,0.05989187963932008,-0.08310285292701744,-0.025313906713719553,0.11487571797102708,0.026284777133185392],"gripper_joint_position_m":[0.03499965966596023,-0.03500000261434175],"tcp_position_m":[0.3062730321288948,-0.03381701723886677,0.08347796987103409],"tcp_quaternion_wxyz":[0.07859405775551988,-0.019509804951174752,0.9967053792729081,-0.004552858963004615],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,7.55999977816206e-18,-4.749592991286601e-17,8.519712178709534e-08],"object_linear_velocity_m_s":[8.813858725697109e-17,9.69376578363898e-18,2.345578779548559e-15],"object_angular_velocity_rad_s":[-3.622974084262203e-16,-2.430118746793949e-15,5.00897882391169e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11942177334188711,1.6517128225152107,-1.0180003703898857,0.009839844547897672,0.9133706601036574,-0.15205562669918296,0.035],"actuator_force_native":[0.29196659421085336,0.26498682469707546,-0.25360127772513863,-0.18319920587918115,0.3009006215154617,0.17223715122362493,3.176316814945679e-05],"issued_joint_targets_rad":[-0.11921576244291154,1.6529797305980678,-1.019760829743284,0.009459302092763057,0.915811913996004,-0.15149617786597377],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.780000000000573,"joint_targets_rad":[-0.11921576244291154,1.6529797305980678,-1.019760829743284,0.009459302092763057,0.915811913996004,-0.15149617786597377],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.800000000000562,"qpos":[-0.12351797494127513,1.6459246482848375,-1.0114031084963448,0.017076970616573005,0.8685195439916576,-0.1726950676542179,0.03499966290308975,-0.03500000966927138,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,4.95078443370469e-18,-4.753169726392745e-17,8.553192120142422e-08],"qvel":[0.010417285913353594,0.059884986286216475,-0.08298595475252372,-0.024900361245040692,0.11468041842738104,0.02632402973036735,-2.509619734093912e-06,-2.2106037346534358e-06,1.0215915123163612e-16,1.2419414879170139e-17,2.2609242739208896e-15,1.6252270302119346e-16,-1.858716372267856e-15,9.14513040777065e-08],"joint_position_rad":[-0.12351797494127513,1.6459246482848375,-1.0114031084963448,0.017076970616573005,0.8685195439916576,-0.1726950676542179],"joint_velocity_rad_s":[0.010417285913353594,0.059884986286216475,-0.08298595475252372,-0.024900361245040692,0.11468041842738104,0.02632402973036735],"gripper_joint_position_m":[0.03499966290308975,-0.03500000966927138],"tcp_position_m":[0.30627047308323835,-0.0338262452328839,0.08346113864415552],"tcp_quaternion_wxyz":[0.07759496759449933,-0.019515126109475547,0.9967834539983759,-0.004574570144565641],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,4.95078443370469e-18,-4.753169726392745e-17,8.553192120142422e-08],"object_linear_velocity_m_s":[1.0215915123163612e-16,1.2419414879170139e-17,2.2609242739208896e-15],"object_angular_velocity_rad_s":[1.6252301228668444e-16,-1.858716345371584e-15,9.145130407770657e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11921576244291154,1.6529797305980678,-1.019760829743284,0.009459302092763057,0.915811913996004,-0.15149617786597377,0.035],"actuator_force_native":[0.2920905703023191,0.26498165362735904,-0.25368792599250867,-0.1802049347271945,0.30090307240239333,0.1725028532868904,2.6031975080664793e-05],"issued_joint_targets_rad":[-0.11901324835243474,1.6542462790063421,-1.0215187513495843,0.009086469150848849,0.9182485025974385,-0.15093486536495287],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.800000000000562,"joint_targets_rad":[-0.11901324835243474,1.6542462790063421,-1.0215187513495843,0.009086469150848849,0.9182485025974385,-0.15093486536495287],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.820000000000551,"qpos":[-0.12330637880236786,1.6471918652335582,-1.013167363537982,0.01657822386400602,0.870985688485557,-0.17216725981849842,0.03499966433291737,-0.03500000758600779,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,4.05712781044116e-18,-3.8748603167794786e-17,8.587881778147864e-08],"qvel":[0.010247126242444294,0.05987528701416757,-0.08286752359112813,-0.024488855996831146,0.11448092499726614,0.026364581210898408,-3.5157568539147053e-06,-3.561915405729098e-07,4.928642291905653e-17,5.7765274569754905e-18,2.2456587073322942e-15,-3.3587442743072526e-16,1.8252046308856203e-15,9.907999886777983e-09],"joint_position_rad":[-0.12330637880236786,1.6471918652335582,-1.013167363537982,0.01657822386400602,0.870985688485557,-0.17216725981849842],"joint_velocity_rad_s":[0.010247126242444294,0.05987528701416757,-0.08286752359112813,-0.024488855996831146,0.11448092499726614,0.026364581210898408],"gripper_joint_position_m":[0.03499966433291737,-0.03500000758600779],"tcp_position_m":[0.3062678088044871,-0.033835552011908306,0.08344431826436906],"tcp_quaternion_wxyz":[0.07659718762506229,-0.01951520349514529,0.9968605315999255,-0.0045943681598682486],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,4.05712781044116e-18,-3.8748603167794786e-17,8.587881778147864e-08],"object_linear_velocity_m_s":[4.928642291905653e-17,5.7765274569754905e-18,2.2456587073322942e-15],"object_angular_velocity_rad_s":[-3.358747416913947e-16,1.8252045731162015e-15,9.90799988677799e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11901324835243474,1.6542462790063421,-1.0215187513495843,0.009086469150848849,0.9182485025974385,-0.15093486536495287,0.035],"actuator_force_native":[0.2922148047824269,0.2649766667518918,-0.2537734069725275,-0.1772259085421311,0.30090675362291464,0.1727770727191078,3.1005467574951595e-05],"issued_joint_targets_rad":[-0.11881424113899527,1.6555123825285574,-1.0232740362281159,0.008721310929044452,0.9206802943507189,-0.15037166559064125],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.820000000000551,"joint_targets_rad":[-0.11881424113899527,1.6555123825285574,-1.0232740362281159,0.008721310929044452,0.9206802943507189,-0.15037166559064125],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.84000000000054,"qpos":[-0.1230982634297349,1.6484588288074835,-1.0149291465556245,0.016087779980369126,0.8734475767818637,-0.1716386085053069,0.03499966444917149,-0.03500000813432956,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,1.4419125356777144e-17,-2.328339330474698e-17,8.632274612535336e-08],"qvel":[0.010076400130469836,0.05986220689608418,-0.08274678056110883,-0.024079466943048657,0.11427694238238388,0.026406455442532024,-2.6411850981094262e-06,-1.5655047273314768e-06,3.062410139956155e-17,1.8014878689516406e-17,2.161004201704627e-15,1.2295681770195496e-16,1.2254482057995438e-15,1.808950571166574e-08],"joint_position_rad":[-0.1230982634297349,1.6484588288074835,-1.0149291465556245,0.016087779980369126,0.8734475767818637,-0.1716386085053069],"joint_velocity_rad_s":[0.010076400130469836,0.05986220689608418,-0.08274678056110883,-0.024079466943048657,0.11427694238238388,0.026406455442532024],"gripper_joint_position_m":[0.03499966444917149,-0.03500000813432956],"tcp_position_m":[0.30626504828338486,-0.033844938595291994,0.08342751722567995],"tcp_quaternion_wxyz":[0.07560077498765741,-0.019510046378541295,0.9969366118117665,-0.004612259841804565],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,1.4419125356777144e-17,-2.328339330474698e-17,8.632274612535336e-08],"object_linear_velocity_m_s":[3.062410139956155e-17,1.8014878689516406e-17,2.161004201704627e-15],"object_angular_velocity_rad_s":[1.2295660529147442e-16,1.2254482265057972e-15,1.8089505711665756e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11881424113899527,1.6555123825285574,-1.0232740362281159,0.008721310929044452,0.9206802943507189,-0.15037166559064125,0.035],"actuator_force_native":[0.29233978260682036,0.26497326320549064,-0.25385727099376254,-0.17426142733774375,0.3009117621149766,0.17305974598285845,2.6627958630953685e-05],"issued_joint_targets_rad":[-0.11861874970734841,1.6567779526072546,-1.025026580942467,0.008363791121856508,0.9231071518812843,-0.1498065531358725],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.84000000000054,"joint_targets_rad":[-0.11861874970734841,1.6567779526072546,-1.025026580942467,0.008363791121856508,0.9231071518812843,-0.1498065531358725],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.860000000000529,"qpos":[-0.12289363908952272,1.6497254623838573,-1.0166883975965892,0.015605598608043055,0.8759051078450475,-0.171109087587137,0.03499966346497048,-0.03500000315407822,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,2.529798844337881e-17,-9.68617798785468e-18,8.676065744144867e-08],"qvel":[0.009905212246730709,0.05984533675067962,-0.08262300505425928,-0.02367207256492105,0.11406831914325088,0.026449624210350076,-3.2640175289200888e-06,-3.1040906561725756e-07,1.667906880948117e-17,3.5388779376673875e-17,2.0874519263232105e-15,5.646846772980132e-16,1.2269826899557597e-15,3.302686926037023e-08],"joint_position_rad":[-0.12289363908952272,1.6497254623838573,-1.0166883975965892,0.015605598608043055,0.8759051078450475,-0.171109087587137],"joint_velocity_rad_s":[0.009905212246730709,0.05984533675067962,-0.08262300505425928,-0.02367207256492105,0.11406831914325088,0.026449624210350076],"gripper_joint_position_m":[0.03499966346497048,-0.03500000315407822],"tcp_position_m":[0.30626219702232155,-0.033854404896112224,0.08341074319296804],"tcp_quaternion_wxyz":[0.0746057863111565,-0.01949966396294707,0.9970116945385367,-0.004628251032715814],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,2.529798844337881e-17,-9.68617798785468e-18,8.676065744144867e-08],"object_linear_velocity_m_s":[1.667906880948117e-17,3.5388779376673875e-17,2.0874519263232105e-15],"object_angular_velocity_rad_s":[5.646844637505475e-16,1.2269827862695432e-15,3.3026869260370255e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11861874970734841,1.6567779526072546,-1.025026580942467,0.008363791121856508,0.9231071518812843,-0.1498065531358725,0.035],"actuator_force_native":[0.29246508934029336,0.2649725341183853,-0.2539396423989331,-0.17131193662285665,0.30091796164749063,0.17335090819712007,2.9781488825708635e-05],"issued_joint_targets_rad":[-0.11842678349078312,1.6580429011140978,-1.026776282776841,0.008013875040058606,0.9255289392355047,-0.1492395039528579],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.860000000000529,"joint_targets_rad":[-0.11842678349078312,1.6580429011140978,-1.026776282776841,0.008013875040058606,0.9255289392355047,-0.1492395039528579],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.880000000000518,"qpos":[-0.12269251639982832,1.6509916831266045,-1.0184450441512303,0.015131637911784977,0.8783581779371404,-0.17057867081594028,0.03499966701215843,-0.03500000868117323,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,3.670742112804061e-17,-1.5481192871995075e-17,8.716989802447845e-08],"qvel":[0.009733509547365463,0.05982444915656282,-0.08249564538067564,-0.023266749113220582,0.11385496651636168,0.026494107924632783,-2.037924566346547e-06,-1.969269617194043e-06,3.7720869460534416e-17,7.095991963740882e-17,2.0930030414463368e-15,2.235880498192537e-15,-2.150333102382792e-15,6.029872294621632e-08],"joint_position_rad":[-0.12269251639982832,1.6509916831266045,-1.0184450441512303,0.015131637911784977,0.8783581779371404,-0.17057867081594028],"joint_velocity_rad_s":[0.009733509547365463,0.05982444915656282,-0.08249564538067564,-0.023266749113220582,0.11385496651636168,0.026494107924632783],"gripper_joint_position_m":[0.03499966701215843,-0.03500000868117323],"tcp_position_m":[0.30625925733413006,-0.0338639508956364,0.08339400254018761],"tcp_quaternion_wxyz":[0.07361227634140957,-0.019484065544747138,0.9970857799439373,-0.004642348034570163],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,3.670742112804061e-17,-1.5481192871995075e-17,8.716989802447845e-08],"object_linear_velocity_m_s":[3.7720869460534416e-17,7.095991963740882e-17,2.0930030414463368e-15],"object_angular_velocity_rad_s":[2.2358808712141475e-15,-2.150332717006633e-15,6.029872294621638e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11842678349078312,1.6580429011140978,-1.026776282776841,0.008013875040058606,0.9255289392355047,-0.1492395039528579,0.035],"actuator_force_native":[0.29259108498679076,0.2649751932166282,-0.25402086314548455,-0.16837676930295198,0.3009251632091008,0.1736505067438745,2.350913649462605e-05],"issued_joint_targets_rad":[-0.11823835072858965,1.65930714187036,-1.0285230418725713,0.007671526365157042,0.9279455247959703,-0.148670491824003],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.880000000000518,"joint_targets_rad":[-0.11823835072858965,1.65930714187036,-1.0285230418725713,0.007671526365157042,0.9279455247959703,-0.148670491824003],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.900000000000507,"qpos":[-0.12249490448139834,1.652257405348564,-1.0201990042017821,0.014665858517366648,0.8808066836154966,-0.17004733225116922,0.03499967066840351,-0.035000007463423015,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,3.739598626847186e-17,-2.0386323380721773e-17,8.745040412773118e-08],"qvel":[0.009561404913435453,0.059799459025238866,-0.08236428258631392,-0.022863373399909712,0.11363690566804256,0.026539876125634868,-2.9638859195826007e-06,-1.9079321382454884e-07,9.128377091307738e-17,1.2810712671864883e-16,2.0985541565694614e-15,5.877272176641929e-15,-4.039445128284834e-15,1.1009024077577732e-07],"joint_position_rad":[-0.12249490448139834,1.652257405348564,-1.0201990042017821,0.014665858517366648,0.8808066836154966,-0.17004733225116922],"joint_velocity_rad_s":[0.009561404913435453,0.059799459025238866,-0.08236428258631392,-0.022863373399909712,0.11363690566804256,0.026539876125634868],"gripper_joint_position_m":[0.03499967066840351,-0.035000007463423015],"tcp_position_m":[0.3062562287098729,-0.03387357546829961,0.08337730003510473],"tcp_quaternion_wxyz":[0.0726202965444617,-0.019463260517512095,0.9971588685514553,-0.004654555725673167],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,3.739598626847186e-17,-2.0386323380721773e-17,8.745040412773118e-08],"object_linear_velocity_m_s":[9.128377091307738e-17,1.2810712671864883e-16,2.0985541565694614e-15],"object_angular_velocity_rad_s":[5.877272878655393e-15,-4.039444108578989e-15,1.1009024077577741e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11823835072858965,1.65930714187036,-1.0285230418725713,0.007671526365157042,0.9279455247959703,-0.148670491824003,0.035],"actuator_force_native":[0.2927172756575178,0.26498162661752644,-0.2541016007315591,-0.16545641908883563,0.30093305330267306,0.17395859008321013,2.799269345765687e-05],"issued_joint_targets_rad":[-0.11805346014304077,1.660570592697475,-1.0302667640080867,0.007336710267352562,0.9303567851442737,-0.14809949147413617],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.900000000000507,"joint_targets_rad":[-0.11805346014304077,1.660570592697475,-1.0302667640080867,0.007336710267352562,0.9303567851442737,-0.14809949147413617],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.920000000000496,"qpos":[-0.12230081293641817,1.653522543262741,-1.0219501897678107,0.01420821914020425,0.8832505220086657,-0.1695150457757552,0.03499967190000865,-0.03500000617581907,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,4.6790736527672704e-17,-2.932339503405215e-17,8.786800263447347e-08],"qvel":[0.009388829631302262,0.05977041027454822,-0.08222869157105044,-0.022462046258775247,0.11341417102166906,0.02658695476671695,-2.2180742820634814e-06,-1.2126754089323948e-06,3.580784493362189e-17,5.562307451770498e-17,1.9681029511760055e-15,-1.3002446597015985e-15,8.269237174269276e-16,1.1927376040640408e-08],"joint_position_rad":[-0.12230081293641817,1.653522543262741,-1.0219501897678107,0.01420821914020425,0.8832505220086657,-0.1695150457757552],"joint_velocity_rad_s":[0.009388829631302262,0.05977041027454822,-0.08222869157105044,-0.022462046258775247,0.11341417102166906,0.02658695476671695],"gripper_joint_position_m":[0.03499967190000865,-0.03500000617581907],"tcp_position_m":[0.3062531086180387,-0.033883277811322145,0.08336063889427738],"tcp_quaternion_wxyz":[0.07162989509787517,-0.019437258417748696,0.9972309612188617,-0.0046648794169090145],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,4.6790736527672704e-17,-2.932339503405215e-17,8.786800263447347e-08],"object_linear_velocity_m_s":[3.580784493362189e-17,5.562307451770498e-17,1.9681029511760055e-15],"object_angular_velocity_rad_s":[-1.3002448057213529e-15,8.269234878109318e-16,1.1927376040640421e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11805346014304077,1.660570592697475,-1.0302667640080867,0.007336710267352562,0.9303567851442737,-0.14809949147413617,0.035],"actuator_force_native":[0.2928440753136812,0.2649919034059849,-0.25418248136682564,-0.16255012362019133,0.30094137482357475,0.17427511086611513,2.4214371064701368e-05],"issued_joint_targets_rad":[-0.1178721190740658,1.6618331751739732,-1.0320073602990685,0.007009389933342638,0.9327626045696935,-0.14752647482577633],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.920000000000496,"joint_targets_rad":[-0.1178721190740658,1.6618331751739732,-1.0320073602990685,0.007009389933342638,0.9327626045696935,-0.14752647482577633],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.940000000000484,"qpos":[-0.12211024040321668,1.6547870130991633,-1.0236985100087452,0.013758678244147322,0.8856895920036685,-0.16898178568416927,0.034999672328528686,-0.03500000146891342,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,5.450125638938498e-17,-3.3351299921622696e-17,8.834179828230447e-08],"qvel":[0.009224796750847978,0.059737511647230145,-0.08208892153954864,-0.022064601448714895,0.1131862695724232,0.02663508496372924,-2.4608955770921453e-06,-1.1802502604935375e-07,4.171930898564854e-17,6.93626414382633e-17,1.9570007209297545e-15,-1.1046237547634663e-15,8.658130595201916e-16,2.177637661262652e-08],"joint_position_rad":[-0.12211024040321668,1.6547870130991633,-1.0236985100087452,0.013758678244147322,0.8856895920036685,-0.16898178568416927],"joint_velocity_rad_s":[0.009224796750847978,0.059737511647230145,-0.08208892153954864,-0.022064601448714895,0.1131862695724232,0.02663508496372924],"gripper_joint_position_m":[0.034999672328528686,-0.03500000146891342],"tcp_position_m":[0.30624989358509946,-0.03389305375514225,0.0833440209067417],"tcp_quaternion_wxyz":[0.07064111691387018,-0.019406074447730945,0.9973020590174639,-0.004673323786859991],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,5.450125638938498e-17,-3.3351299921622696e-17,8.834179828230447e-08],"object_linear_velocity_m_s":[4.171930898564854e-17,6.93626414382633e-17,1.9570007209297545e-15],"object_angular_velocity_rad_s":[-1.1046239091909562e-15,8.658128619776014e-16,2.1776376612626542e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1178721190740658,1.6618331751739732,-1.0320073602990685,0.007009389933342638,0.9327626045696935,-0.14752647482577633,0.035],"actuator_force_native":[0.292925722577829,0.2650054077486459,-0.25426341552812914,-0.15964852518861283,0.30095072130161427,0.1746004811383357,2.541133673816809e-05],"issued_joint_targets_rad":[-0.11769433485236064,1.6630948142190862,-1.0337447465468779,0.006689529725447756,0.9351628741370499,-0.14695142165263209],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.940000000000484,"joint_targets_rad":[-0.11769433485236064,1.6630948142190862,-1.0337447465468779,0.006689529725447756,0.9351628741370499,-0.14695142165263209],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.960000000000473,"qpos":[-0.12192304184472984,1.6560507351703984,-1.0254438754740474,0.013317179712140387,0.8881237880788031,-0.16844752708999783,0.03499967875970583,-0.035000007811378665,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,5.043937012608203e-17,-2.242320897592594e-17,8.87486628846565e-08],"qvel":[0.009081063849114463,0.059701007156012245,-0.08194514959492835,-0.021672282850249962,0.11295280715562386,0.026684186068097616,-7.830689602313249e-07,-1.2912754348101388e-06,3.043847418910903e-17,7.449567150478265e-17,2.005572978257106e-15,-5.16580682244533e-16,1.27202823248366e-15,3.975816447464754e-08],"joint_position_rad":[-0.12192304184472984,1.6560507351703984,-1.0254438754740474,0.013317179712140387,0.8881237880788031,-0.16844752708999783],"joint_velocity_rad_s":[0.009081063849114463,0.059701007156012245,-0.08194514959492835,-0.021672282850249962,0.11295280715562386,0.026684186068097616],"gripper_joint_position_m":[0.03499967875970583,-0.035000007811378665],"tcp_position_m":[0.30624658592862614,-0.03390285777174117,0.0833274470284465],"tcp_quaternion_wxyz":[0.06965400722329354,-0.019369799964868328,0.9973721615888992,-0.0046798947151502545],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,5.043937012608203e-17,-2.242320897592594e-17,8.87486628846565e-08],"object_linear_velocity_m_s":[3.043847418910903e-17,7.449567150478265e-17,2.005572978257106e-15],"object_angular_velocity_rad_s":[-5.16580909809146e-16,1.2720281367811982e-15,3.975816447464759e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11769433485236064,1.6630948142190862,-1.0337447465468779,0.006689529725447756,0.9351628741370499,-0.14695142165263209,0.035],"actuator_force_native":[0.2928912401439625,0.2650212881149798,-0.2543439378518002,-0.15674458521645546,0.3009616498490324,0.17493477527151113,1.676495656810495e-05],"issued_joint_targets_rad":[-0.11752011700127785,1.664355425968519,-1.0354788260414054,0.00637710691339622,0.9375574676234867,-0.1463744250688162],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.960000000000473,"joint_targets_rad":[-0.11752011700127785,1.664355425968519,-1.0354788260414054,0.00637710691339622,0.9375574676234867,-0.1463744250688162],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.980000000000462,"qpos":[-0.12173890319371976,1.657313631521845,-1.0271861959954542,0.01288366944067101,0.8905530001748714,-0.16791224673051058,0.034999688975180805,-0.03500000376684434,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,3.727986555919715e-17,-9.197007039484856e-18,8.911530326084708e-08],"qvel":[0.008958479971260112,0.059660839886249276,-0.08179715014214664,-0.02128318919706409,0.11271408889422307,0.02673433753865218,-5.056800837801123e-07,3.246638076595069e-07,1.2930622612459607e-17,5.453663454426626e-17,1.986144075326165e-15,-1.1011663096752973e-15,1.579008203658326e-15,7.258836814372239e-08],"joint_position_rad":[-0.12173890319371976,1.657313631521845,-1.0271861959954542,0.01288366944067101,0.8905530001748714,-0.16791224673051058],"joint_velocity_rad_s":[0.008958479971260112,0.059660839886249276,-0.08179715014214664,-0.02128318919706409,0.11271408889422307,0.02673433753865218],"gripper_joint_position_m":[0.034999688975180805,-0.03500000376684434],"tcp_position_m":[0.30624319443759757,-0.03391259246912456,0.08331091761566227],"tcp_quaternion_wxyz":[0.06866861280069396,-0.0193286107471045,0.9974412669522194,-0.004684592123792427],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,3.727986555919715e-17,-9.197007039484856e-18,8.911530326084708e-08],"object_linear_velocity_m_s":[1.2930622612459607e-17,5.453663454426626e-17,1.986144075326165e-15],"object_angular_velocity_rad_s":[-1.1011665924380621e-15,1.5790080019845943e-15,7.258836814372249e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11752011700127785,1.664355425968519,-1.0354788260414054,0.00637710691339622,0.9375574676234867,-0.1463744250688162,0.035],"actuator_force_native":[0.29271049553905293,0.2650393563026512,-0.2544246529653691,-0.1538465551056712,0.30097354114481867,0.1752767103089654,1.4969393186792246e-05],"issued_joint_targets_rad":[-0.11734948432481096,1.6656149152369975,-1.037209485886581,0.006072125533465632,0.9399462364599706,-0.14579571455550386],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.980000000000462,"joint_targets_rad":[-0.11734948432481096,1.6656149152369975,-1.037209485886581,0.006072125533465632,0.9399462364599706,-0.14579571455550386],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.000000000000451,"qpos":[-0.12155750541863082,1.6585756207898008,-1.0289253747878186,0.012458107578145224,0.8929771164268195,-0.16737592441728896,0.03499969734348501,-0.03500000115852751,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,2.3178355621875697e-17,-2.2202423625999554e-18,8.939064823175525e-08],"qvel":[0.00885370711067041,0.05961677611347535,-0.08164452281447379,-0.020896213846958667,0.11247019917850513,0.026785396454940862,5.490835845795906e-07,1.918868086735198e-07,4.644033767718984e-18,3.182318293425816e-17,1.9611640572721e-15,-1.3822312258819758e-15,4.543118448579765e-16,7.864355250071664e-09],"joint_position_rad":[-0.12155750541863082,1.6585756207898008,-1.0289253747878186,0.012458107578145224,0.8929771164268195,-0.16737592441728896],"joint_velocity_rad_s":[0.00885370711067041,0.05961677611347535,-0.08164452281447379,-0.020896213846958667,0.11247019917850513,0.026785396454940862],"gripper_joint_position_m":[0.03499969734348501,-0.03500000115852751],"tcp_position_m":[0.3062397268458314,-0.033922156561251936,0.08329443245739075],"tcp_quaternion_wxyz":[0.06768498057395991,-0.019282682425324597,0.9975093732609819,-0.004687410763897143],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,2.3178355621875697e-17,-2.2202423625999554e-18,8.939064823175525e-08],"object_linear_velocity_m_s":[4.644033767718984e-18,3.182318293425816e-17,1.9611640572721e-15],"object_angular_velocity_rad_s":[-1.3822313071393377e-15,4.543115973763136e-16,7.864355250071674e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.11734948432481096,1.6656149152369975,-1.037209485886581,0.006072125533465632,0.9399462364599706,-0.14579571455550386,0.035],"actuator_force_native":[0.292373151952237,0.2650596752083345,-0.2545062738286248,-0.15095821255239034,0.3009859015637506,0.17562400393543975,9.360842676775505e-06],"issued_joint_targets_rad":[-0.11718245923073949,1.666873185011974,-1.0389366107632354,0.005774596355697124,0.9423290289569435,-0.14521552111516417],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.000000000000451,"joint_targets_rad":[-0.11718245923073949,1.666873185011974,-1.0389366107632354,0.005774596355697124,0.9423290289569435,-0.14521552111516417],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.02000000000044,"qpos":[-0.1213785671199055,1.6598366173544932,-1.0306613078804538,0.012040465421423873,0.8953960239382093,-0.16683854624381197,0.03499971114365085,-0.034999999368012395,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,4.214935419820993e-18,-1.3599959649417527e-17,8.989335861536843e-08],"qvel":[0.008763536057914145,0.059568604115612475,-0.08148691914736478,-0.02051063489561389,0.1122211411698398,0.026837076927572322,1.4777162370963684e-06,4.498204306658326e-07,1.9764617418285347e-17,8.081159590569783e-18,1.9542251633681926e-15,-6.855069085990985e-16,1.454919861687509e-16,1.435832668958592e-08],"joint_position_rad":[-0.1213785671199055,1.6598366173544932,-1.0306613078804538,0.012040465421423873,0.8953960239382093,-0.16683854624381197],"joint_velocity_rad_s":[0.008763536057914145,0.059568604115612475,-0.08148691914736478,-0.02051063489561389,0.1122211411698398,0.026837076927572322],"gripper_joint_position_m":[0.03499971114365085,-0.034999999368012395],"tcp_position_m":[0.3062361880115365,-0.03393145835879027,0.08327799086534271],"tcp_quaternion_wxyz":[0.06670315708130661,-0.019232171769134016,0.997576479195922,-0.0046883429372493735],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,4.214935419820993e-18,-1.3599959649417527e-17,8.989335861536843e-08],"object_linear_velocity_m_s":[1.9764617418285347e-17,8.081159590569783e-18,1.9542251633681926e-15],"object_angular_velocity_rad_s":[-6.855069351471603e-16,1.4549186280267314e-16,1.435832668958594e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11718245923073949,1.666873185011974,-1.0389366107632354,0.005774596355697124,0.9423290289569435,-0.14521552111516417,0.035],"actuator_force_native":[0.29187095084370895,0.2650823920204175,-0.25458963488569,-0.14808158815100053,0.3009983384325814,0.17597463589511952,4.165672780498397e-06],"issued_joint_targets_rad":[-0.11701906398360923,1.6681301386993859,-1.0406600862183961,0.005484527706302089,0.9447056948749417,-0.14463404294356624],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.02000000000044,"joint_targets_rad":[-0.11701906398360923,1.6681301386993859,-1.0406600862183961,0.005484527706302089,0.9447056948749417,-0.14463404294356624],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.040000000000429,"qpos":[-0.12120183943794936,1.661096532435903,-1.0323938864709272,0.01163071547169824,0.8978096073325685,-0.16630010369154052,0.03499972699183763,-0.03500000469575835,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-2.1187392331195667e-18,-4.345296343093526e-17,9.034000562736954e-08],"qvel":[0.008684881349192871,0.05951617435906977,-0.08132411087474876,-0.020125984551606867,0.11196691446627022,0.026889174016327212,1.9792266411950217e-06,9.188140658513425e-07,6.169348027093467e-17,-5.100534091643958e-19,1.8390395245633324e-15,-3.5860856946873155e-16,-6.912015035453493e-16,2.621467860610706e-08],"joint_position_rad":[-0.12120183943794936,1.661096532435903,-1.0323938864709272,0.01163071547169824,0.8978096073325685,-0.16630010369154052],"joint_velocity_rad_s":[0.008684881349192871,0.05951617435906977,-0.08132411087474876,-0.020125984551606867,0.11196691446627022,0.026889174016327212],"gripper_joint_position_m":[0.03499972699183763,-0.03500000469575835],"tcp_position_m":[0.3062325808768867,-0.033940415944332177,0.08326159195359757],"tcp_quaternion_wxyz":[0.06572318923080925,-0.019177221641080718,0.9976425838012739,-0.0046873824015176615],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-2.1187392331195667e-18,-4.345296343093526e-17,9.034000562736954e-08],"object_linear_velocity_m_s":[6.169348027093467e-17,-5.100534091643958e-19,1.8390395245633324e-15],"object_angular_velocity_rad_s":[-3.5860844686064175e-16,-6.912015682276554e-16,2.62146786061071e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11701906398360923,1.6681301386993859,-1.0406600862183961,0.005484527706302089,0.9447056948749417,-0.14463404294356624,0.035],"actuator_force_native":[0.2911976296012444,0.26510762928327836,-0.25467542542375554,-0.14521758785781164,0.30101050372432603,0.17632684645525232,1.0241932890675542e-06],"issued_joint_targets_rad":[-0.11685931736121007,1.669385678200727,-1.0423797960769792,0.0052019199069610065,0.9470760817914313,-0.14405144636477843],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.040000000000429,"joint_targets_rad":[-0.11685931736121007,1.669385678200727,-1.0423797960769792,0.0052019199069610065,0.9470760817914313,-0.14405144636477843],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.060000000000418,"qpos":[-0.12102709790542633,1.662355274850694,-1.034122998211518,0.011228834599376725,0.9002177489463894,-0.16576059330941906,0.034999743937636274,-0.03500000106820616,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-1.976041446424345e-17,-4.955619427608287e-17,9.076859753335873e-08],"qvel":[0.008615090335244371,0.05945936029739127,-0.0811559183730888,-0.01974183430543455,0.11170744713818957,0.026941469241174434,2.405900159517235e-06,1.7576728351383429e-06,7.026763480634112e-17,-3.676907560632301e-17,1.805732833824579e-15,-1.951971813526475e-15,-2.4067948945602587e-16,4.786138310391555e-08],"joint_position_rad":[-0.12102709790542633,1.662355274850694,-1.034122998211518,0.011228834599376725,0.9002177489463894,-0.16576059330941906],"joint_velocity_rad_s":[0.008615090335244371,0.05945936029739127,-0.0811559183730888,-0.01974183430543455,0.11170744713818957,0.026941469241174434],"gripper_joint_position_m":[0.034999743937636274,-0.03500000106820616],"tcp_position_m":[0.3062289071505667,-0.03394895419794965,0.08324523473882306],"tcp_quaternion_wxyz":[0.06474512466924301,-0.019117963998909287,0.9977076864146477,-0.004684522732512218],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-1.976041446424345e-17,-4.955619427608287e-17,9.076859753335873e-08],"object_linear_velocity_m_s":[7.026763480634112e-17,-3.676907560632301e-17,1.805732833824579e-15],"object_angular_velocity_rad_s":[-1.9519717745778227e-15,-2.4067984191998906e-16,4.7861383103915624e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11685931736121007,1.669385678200727,-1.0423797960769792,0.0052019199069610065,0.9470760817914313,-0.14405144636477843,0.035],"actuator_force_native":[0.29034699186107993,0.2651354665156873,-0.2547642373714467,-0.142367416169456,0.30102215774313557,0.17667926558464475,-1.7870062483105187e-06],"issued_joint_targets_rad":[-0.11670323649910269,1.670639703413837,-1.044095621716818,0.004926769105715385,0.9494400341334549,-0.14346787410952871],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.060000000000418,"joint_targets_rad":[-0.11670323649910269,1.670639703413837,-1.044095621716818,0.004926769105715385,0.9494400341334549,-0.14346787410952871],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.080000000000407,"qpos":[-0.12085412643498124,1.6636127513416732,-1.035848528441555,0.01083479709346269,0.9026203265603074,-0.1652200151488643,0.03499976114692382,-0.03500000458475584,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-2.8322639708535127e-17,-4.765362156025986e-17,9.108850232025196e-08],"qvel":[0.00855227930780085,0.05939804484925492,-0.08098220800212017,-0.019357973305630674,0.11144261300206186,0.02699382791112384,2.8360691336476698e-06,1.7779556837464872e-06,1.3500979616390252e-16,-7.868597340353349e-17,1.772426143085825e-15,-3.764980741846293e-15,-5.560820023305124e-15,8.738279904321018e-08],"joint_position_rad":[-0.12085412643498124,1.6636127513416732,-1.035848528441555,0.01083479709346269,0.9026203265603074,-0.1652200151488643],"joint_velocity_rad_s":[0.00855227930780085,0.05939804484925492,-0.08098220800212017,-0.019357973305630674,0.11144261300206186,0.02699382791112384],"gripper_joint_position_m":[0.03499976114692382,-0.03500000458475584],"tcp_position_m":[0.3062251685490148,-0.03395700113482749,0.08322891839352287],"tcp_quaternion_wxyz":[0.06376901297940259,-0.019054529080139413,0.9977717864090793,-0.004679759737586783],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-2.8322639708535127e-17,-4.765362156025986e-17,9.108850232025196e-08],"object_linear_velocity_m_s":[1.3500979616390252e-16,-7.868597340353349e-17,1.772426143085825e-15],"object_angular_velocity_rad_s":[-3.7649797371209156e-15,-5.560820704248133e-15,8.738279904321031e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11670323649910269,1.670639703413837,-1.044095621716818,0.004926769105715385,0.9494400341334549,-0.14346787410952871,0.035],"actuator_force_native":[0.2893097983312778,0.26516594152681705,-0.2548564220104339,-0.1395312529817388,0.30103315622838167,0.17703066852667004,-4.626222620762732e-06],"issued_joint_targets_rad":[-0.11655083525311537,1.6718921093082568,-1.0458074380553293,0.004659065369975586,0.9517973875936185,-0.14288345527174445],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.080000000000407,"joint_targets_rad":[-0.11655083525311537,1.6718921093082568,-1.0458074380553293,0.004659065369975586,0.9517973875936185,-0.14288345527174445],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.100000000000396,"qpos":[-0.12068270290930674,1.6648688660505897,-1.0375703595995962,0.010448580031848068,0.9050172130063815,-0.16467837280422223,0.03499978098988778,-0.03500001204989717,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.3235300034886733e-17,-5.2068340705303825e-17,9.141996609159326e-08],"qvel":[0.008494852549548093,0.059332068662876915,-0.08080279525857928,-0.01897403490123151,0.1111722295808582,0.027046075999955604,3.064390217062254e-06,2.278934496346453e-06,6.243417989684651e-17,-3.7448118510440776e-17,1.7377316735662891e-15,1.1330320090349847e-15,1.9032550436152618e-15,9.467210683959215e-09],"joint_position_rad":[-0.12068270290930674,1.6648688660505897,-1.0375703595995962,0.010448580031848068,0.9050172130063815,-0.16467837280422223],"joint_velocity_rad_s":[0.008494852549548093,0.059332068662876915,-0.08080279525857928,-0.01897403490123151,0.1111722295808582,0.027046075999955604],"gripper_joint_position_m":[0.03499978098988778,-0.03500001204989717],"tcp_position_m":[0.30622136731843125,-0.033964482602836875,0.083212642280724],"tcp_quaternion_wxyz":[0.06279490619155978,-0.018987051078111404,0.9978348830787219,-0.0046730888097216315],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.3235300034886733e-17,-5.2068340705303825e-17,9.141996609159326e-08],"object_linear_velocity_m_s":[6.243417989684651e-17,-3.7448118510440776e-17,1.7377316735662891e-15],"object_angular_velocity_rad_s":[1.1330316600580606e-15,1.90325525140802e-15,9.467210683959232e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11655083525311537,1.6718921093082568,-1.0458074380553293,0.004659065369975586,0.9517973875936185,-0.14288345527174445,0.035],"actuator_force_native":[0.28807514974757,0.2651991172989767,-0.25495230016574055,-0.13671041196874173,0.301043401501083,0.17738006132484463,-6.561546596062229e-06],"issued_joint_targets_rad":[-0.11640212699680474,1.6731427848245382,-1.0475151119677681,0.004398798487041014,0.9541479669851669,-0.14229831857468295],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.100000000000396,"joint_targets_rad":[-0.11640212699680474,1.6731427848245382,-1.0475151119677681,0.004398798487041014,0.9541479669851669,-0.14229831857468295],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.120000000000385,"qpos":[-0.12051259727211329,1.6661235194920312,-1.0392883702602609,0.010070161517572698,0.9074082744083599,-0.1641356729934858,0.03499979992264375,-0.03500001591644345,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-2.821826713657497e-17,-6.236449303910006e-17,9.189790844685986e-08],"qvel":[0.008441245731110904,0.05926122527859877,-0.08061745365855338,-0.018589833257072575,0.1108960403453563,0.02709806722714946,3.0190981688900535e-06,2.8005113395432775e-06,7.843467788593673e-17,-3.605758843356104e-17,1.7529972401548845e-15,1.2560939551054213e-15,1.4764643860929064e-15,1.7284735940455537e-08],"joint_position_rad":[-0.12051259727211329,1.6661235194920312,-1.0392883702602609,0.010070161517572698,0.9074082744083599,-0.1641356729934858],"joint_velocity_rad_s":[0.008441245731110904,0.05926122527859877,-0.08061745365855338,-0.018589833257072575,0.1108960403453563,0.02709806722714946],"gripper_joint_position_m":[0.03499979992264375,-0.03500001591644345],"tcp_position_m":[0.30621750636300843,-0.033971321998435285,0.08319640606293963],"tcp_quaternion_wxyz":[0.06182285958416914,-0.01891566938799407,0.9978969755796494,-0.004664505700385461],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-2.821826713657497e-17,-6.236449303910006e-17,9.189790844685986e-08],"object_linear_velocity_m_s":[7.843467788593673e-17,-3.605758843356104e-17,1.7529972401548845e-15],"object_angular_velocity_rad_s":[1.2560936815815166e-15,1.476464617933189e-15,1.7284735940455567e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015}],"native_actuator_controls":[-0.11640212699680474,1.6731427848245382,-1.0475151119677681,0.004398798487041014,0.9541479669851669,-0.14229831857468295,0.035],"actuator_force_native":[0.28663139336912913,0.2652351002075477,-0.255052068307819,-0.1339053549359045,0.3010528652500355,0.17772644334730447,-7.092396594243766e-06],"issued_joint_targets_rad":[-0.11625712399588724,1.674391611364773,-1.0492185002544734,0.004145956970264102,0.956491583452989,-0.14171259257716076],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.120000000000385,"joint_targets_rad":[-0.11625712399588724,1.674391611364773,-1.0492185002544734,0.004145956970264102,0.956491583452989,-0.14171259257716076],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.140000000000374,"qpos":[-0.1203435873777587,1.667376607273603,-1.0410024335438686,0.009699521641500604,0.9097933696929694,-0.16359192523611582,0.03499981502737695,-0.035000016933658507,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.043965408027735e-17,-6.706211037396517e-17,9.231633787133906e-08],"qvel":[0.008389679762207747,0.059185255856368815,-0.0804258898590475,-0.018205291876751534,0.11061372633488667,0.027149645031897682,2.8546303172788508e-06,2.8427427665098493e-06,9.832953085960517e-17,-4.2852988959790193e-17,1.7030372040467528e-15,1.1657936678150234e-16,6.203488077146702e-16,3.1557562887819506e-08],"joint_position_rad":[-0.1203435873777587,1.667376607273603,-1.0410024335438686,0.009699521641500604,0.9097933696929694,-0.16359192523611582],"joint_velocity_rad_s":[0.008389679762207747,0.059185255856368815,-0.0804258898590475,-0.018205291876751534,0.11061372633488667,0.027149645031897682],"gripper_joint_position_m":[0.03499981502737695,-0.035000016933658507],"tcp_position_m":[0.3062135883766319,-0.033977444916814946,0.08318020970400339],"tcp_quaternion_wxyz":[0.06085293179087769,-0.01884052026790876,0.9979580631023193,-0.004654006613333674],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.043965408027735e-17,-6.706211037396517e-17,9.231633787133906e-08],"object_linear_velocity_m_s":[9.832953085960517e-17,-4.2852988959790193e-17,1.7030372040467528e-15],"object_angular_velocity_rad_s":[1.165792480122066e-16,6.203488311602234e-16,3.155756288781956e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11625712399588724,1.674391611364773,-1.0492185002544734,0.004145956970264102,0.956491583452989,-0.14171259257716076,0.035],"actuator_force_native":[0.2849686717386781,0.26527404801174725,-0.2551558875531583,-0.1311161274657024,0.30106154809786645,0.1780688590417041,-6.874246664345662e-06],"issued_joint_targets_rad":[-0.11611583694822024,1.675638463480215,-1.0509174506764059,0.003900526367328497,0.9588280359788297,-0.14112639304298571],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.140000000000374,"joint_targets_rad":[-0.11611583694822024,1.675638463480215,-1.0509174506764059,0.003900526367328497,0.9588280359788297,-0.14112639304298571],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.160000000000363,"qpos":[-0.12017564732729522,1.66862801809047,-1.0427124137163286,0.009336653882694742,0.912172356120054,-0.1630471414066898,0.03499982626077922,-0.035000021657409265,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.425979422202763e-17,-5.729923450234063e-17,9.270737207241325e-08],"qvel":[0.00833548586809538,0.05910390486497582,-0.08022780347247437,-0.017821068149053935,0.11032485507872487,0.02720058152846708,2.7626817644341003e-06,2.458653926080874e-06,8.731922664303892e-17,-6.245199552670424e-17,1.6475260528154946e-15,-1.365428827017067e-15,3.7796879914206173e-16,5.7616140556004235e-08],"joint_position_rad":[-0.12017564732729522,1.66862801809047,-1.0427124137163286,0.009336653882694742,0.912172356120054,-0.1630471414066898],"joint_velocity_rad_s":[0.00833548586809538,0.05910390486497582,-0.08022780347247437,-0.017821068149053935,0.11032485507872487,0.02720058152846708],"gripper_joint_position_m":[0.03499982626077922,-0.035000021657409265],"tcp_position_m":[0.30620960754147347,-0.03398283466583765,0.08316405311539167],"tcp_quaternion_wxyz":[0.05988518160599673,-0.018761639439680417,0.9980181469114094,-0.004641588636322274],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.425979422202763e-17,-5.729923450234063e-17,9.270737207241325e-08],"object_linear_velocity_m_s":[8.731922664303892e-17,-6.245199552670424e-17,1.6475260528154946e-15],"object_angular_velocity_rad_s":[-1.3654289037007563e-15,3.77968549919253e-16,5.761614055600435e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.11611583694822024,1.675638463480215,-1.0509174506764059,0.003900526367328497,0.9588280359788297,-0.14112639304298571,0.035],"actuator_force_native":[0.2831074009855232,0.2653161068547263,-0.25526393944380743,-0.12833975986938018,0.3010695159696688,0.17840661134434033,-6.86383999082274e-06],"issued_joint_targets_rad":[-0.11597827057549709,1.6768832259926025,-1.0526118261663806,0.0036624710913676353,0.9611571452782312,-0.1405396829725227],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.160000000000363,"joint_targets_rad":[-0.11597827057549709,1.6768832259926025,-1.0526118261663806,0.0036624710913676353,0.9611571452782312,-0.1405396829725227],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.180000000000351,"qpos":[-0.12000885767238002,1.669877638024593,-1.0444181722950978,0.008981544876975625,0.9145450877497419,-0.16250133468291209,0.0349998352536805,-0.03500002649412151,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.357015061796362e-17,-3.7436469940334116e-17,9.303068904494647e-08],"qvel":[0.008276562984923061,0.05901713705541791,-0.08002319047357509,-0.017437762595803142,0.11002918230577179,0.027250855057165305,2.626842691927921e-06,2.616420752088709e-06,3.150628183006962e-17,-7.599416272510709e-17,1.6683427345272162e-15,-2.436382225114707e-15,3.708296721575433e-15,1.0519252276767007e-07],"joint_position_rad":[-0.12000885767238002,1.669877638024593,-1.0444181722950978,0.008981544876975625,0.9145450877497419,-0.16250133468291209],"joint_velocity_rad_s":[0.008276562984923061,0.05901713705541791,-0.08002319047357509,-0.017437762595803142,0.11002918230577179,0.027250855057165305],"gripper_joint_position_m":[0.0349998352536805,-0.03500002649412151],"tcp_position_m":[0.30620555422345086,-0.03398750835526766,0.08314793636388762],"tcp_quaternion_wxyz":[0.05891966866922906,-0.018679012069988208,0.9980772293076814,-0.0046272550717583825],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.357015061796362e-17,-3.7436469940334116e-17,9.303068904494647e-08],"object_linear_velocity_m_s":[3.150628183006962e-17,-7.599416272510709e-17,1.6683427345272162e-15],"object_angular_velocity_rad_s":[-2.436382922961542e-15,3.708296275321398e-15,1.0519252276767028e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11597827057549709,1.6768832259926025,-1.0526118261663806,0.0036624710913676353,0.9611571452782312,-0.1405396829725227,0.035],"actuator_force_native":[0.28106415282602093,0.26536135216366574,-0.25537635733475383,-0.12557413844530388,0.301076801826234,0.1787402345181457,-6.544360679594519e-06],"issued_joint_targets_rad":[-0.11584442140696315,1.6781257871612651,-1.0543014951597567,0.0034317359044532076,0.9634787402223586,-0.13995233971029922],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.180000000000351,"joint_targets_rad":[-0.11584442140696315,1.6781257871612651,-1.0543014951597567,0.0034317359044532076,0.9634787402223586,-0.13995233971029922],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.20000000000034,"qpos":[-0.11984331704686281,1.671125353565079,-1.0461195723269578,0.008634170994893324,0.9169114144891664,-0.1619545162820609,0.034999841068606576,-0.035000028497176004,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999967,-3.2566634760719413e-17,-1.747332588537461e-17,9.342970934064829e-08],"qvel":[0.008212650222879205,0.05892499332687814,-0.07981215577374337,-0.017055746941433747,0.1097265147067901,0.027300623919066184,2.493167593137987e-06,2.7449337033706694e-06,2.2659449415535132e-17,-3.856972905096546e-17,1.6003415742689253e-15,1.2491614262965194e-15,1.1156488723781905e-15,1.1396748402695171e-08],"joint_position_rad":[-0.11984331704686281,1.671125353565079,-1.0461195723269578,0.008634170994893324,0.9169114144891664,-0.1619545162820609],"joint_velocity_rad_s":[0.008212650222879205,0.05892499332687814,-0.07981215577374337,-0.017055746941433747,0.1097265147067901,0.027300623919066184],"gripper_joint_position_m":[0.034999841068606576,-0.035000028497176004],"tcp_position_m":[0.30620141933622735,-0.03399149058947566,0.08313185983069533],"tcp_quaternion_wxyz":[0.05795645457861437,-0.018592616165609793,0.9981353127436438,-0.004611014090638831],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999967,-3.2566634760719413e-17,-1.747332588537461e-17,9.342970934064829e-08],"object_linear_velocity_m_s":[2.2659449415535132e-17,-3.856972905096546e-17,1.6003415742689253e-15],"object_angular_velocity_rad_s":[1.249161217428722e-15,1.1156491065380587e-15,1.1396748402695195e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11584442140696315,1.6781257871612651,-1.0543014951597567,0.0034317359044532076,0.9634787402223586,-0.13995233971029922,0.035],"actuator_force_native":[0.27884840007757816,0.2654097210605073,-0.25549304775518067,-0.12281866891043591,0.3010834852717359,0.17907082983901756,-6.10858222849231e-06],"issued_joint_targets_rad":[-0.11571428114802747,1.679366032161006,-1.0559863223199664,0.0032082569329533505,0.9657926448685422,-0.13936422172870477],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.20000000000034,"joint_targets_rad":[-0.11571428114802747,1.679366032161006,-1.0559863223199664,0.0032082569329533505,0.9657926448685422,-0.13936422172870477],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.22000000000033,"qpos":[-0.11967912415231846,1.672371051433244,-1.0478164781316344,0.00829450378531148,0.9192711817200933,-0.1614066938664963,0.0349998442781473,-0.035000028744613165,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-3.177386837896556e-17,-2.4559551996227598e-17,9.388242666709311e-08],"qvel":[0.008143875739230862,0.05882746998350764,-0.07959474414018468,-0.01667519121789302,0.10941662929920623,0.027350072837860527,2.4006526878413084e-06,2.8192176578959953e-06,3.202425963081202e-17,-4.006826823972204e-17,2.216515352935887e-15,6.428166035314412e-16,4.0607364518693355e-16,2.0807584545907123e-08],"joint_position_rad":[-0.11967912415231846,1.672371051433244,-1.0478164781316344,0.00829450378531148,0.9192711817200933,-0.1614066938664963],"joint_velocity_rad_s":[0.008143875739230862,0.05882746998350764,-0.07959474414018468,-0.01667519121789302,0.10941662929920623,0.027350072837860527],"gripper_joint_position_m":[0.0349998442781473,-0.035000028744613165],"tcp_position_m":[0.3061971950750013,-0.03399480706068742,0.08311582421509198],"tcp_quaternion_wxyz":[0.0569956034015471,-0.018502429209361286,0.9981923996889747,-0.00459287594132346],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-3.177386837896556e-17,-2.4559551996227598e-17,9.388242666709311e-08],"object_linear_velocity_m_s":[3.202425963081202e-17,-4.006826823972204e-17,2.216515352935887e-15],"object_angular_velocity_rad_s":[6.428165262630214e-16,4.0607376720756647e-16,2.080758454590712e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.09810000000000026},{"geom_ids":[1,90],"normal_force_n":0.09810000000000034},{"geom_ids":[1,90],"normal_force_n":0.09810000000000026}],"native_actuator_controls":[-0.11571428114802747,1.679366032161006,-1.0559863223199664,0.0032082569329533505,0.9657926448685422,-0.13936422172870477,0.035],"actuator_force_native":[0.276468061647126,0.26546110830341263,-0.25561381436563124,-0.12007391800486009,0.301089687535681,0.17939961212112454,-5.7743893309147865e-06],"issued_joint_targets_rad":[-0.1155878396024641,1.680603841962658,-1.0576661669258585,0.0029919678297814145,0.9680986762407999,-0.13877518360071367],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.22000000000033,"joint_targets_rad":[-0.1155878396024641,1.680603841962658,-1.0576661669258585,0.0029919678297814145,0.9680986762407999,-0.13877518360071367],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.240000000000318,"qpos":[-0.11951637418460087,1.6736146174127113,-1.049508753795431,0.007962511928346846,0.9216242295511767,-0.16085787135669952,0.034999845697617514,-0.035000028134723575,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-3.252945992940734e-17,-2.2683943217064762e-17,9.432547392499434e-08],"qvel":[0.008070437857875585,0.05872450258106436,-0.07937092320948443,-0.01629622200994168,0.10909927645596094,0.027399388589520075,2.34499228639038e-06,2.860427147094481e-06,3.1948247465429343e-17,-4.5731265548417925e-17,2.496846666653739e-15,4.575988726937768e-17,2.5513477163866417e-16,3.798939481130452e-08],"joint_position_rad":[-0.11951637418460087,1.6736146174127113,-1.049508753795431,0.007962511928346846,0.9216242295511767,-0.16085787135669952],"joint_velocity_rad_s":[0.008070437857875585,0.05872450258106436,-0.07937092320948443,-0.01629622200994168,0.10909927645596094,0.027399388589520075],"gripper_joint_position_m":[0.034999845697617514,-0.035000028134723575],"tcp_position_m":[0.3061928748059527,-0.03399748310299328,0.08309983053031549],"tcp_quaternion_wxyz":[0.05603718200355383,-0.018408429287154793,0.9982484926049566,-0.004572852087309788],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-3.252945992940734e-17,-2.2683943217064762e-17,9.432547392499434e-08],"object_linear_velocity_m_s":[3.1948247465429343e-17,-4.5731265548417925e-17,2.496846666653739e-15],"object_angular_velocity_rad_s":[4.575983741446158e-17,2.5513478274285457e-16,3.798939481130452e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.1155878396024641,1.680603841962658,-1.0576661669258585,0.0029919678297814145,0.9680986762407999,-0.13877518360071367,0.035],"actuator_force_native":[0.273930577281563,0.2655154510904083,-0.255738434386771,-0.11734065389290887,0.30109555221229023,0.17972779467557842,-5.552866132463308e-06],"issued_joint_targets_rad":[-0.11546508553757377,1.6818390928475024,-1.059340882197543,0.0027828014930960923,0.9703966434176937,-0.13818507928614104],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.240000000000318,"joint_targets_rad":[-0.11546508553757377,1.6818390928475024,-1.059340882197543,0.0027828014930960923,0.9703966434176937,-0.13818507928614104],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.260000000000307,"qpos":[-0.11935515823654622,1.6748559351641896,-1.05119626163121,0.007638161742408865,0.9239703924068426,-0.16030804896803166,0.03499984595963923,-0.03500002716483817,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-4.022608895724281e-17,-1.945613479329148e-17,9.467580312627706e-08],"qvel":[0.007992543587891119,0.05861597224589838,-0.07914058807509712,-0.015918951189579096,0.10877419494768033,0.02744875439654527,2.3152445912502393e-06,2.8848530411994995e-06,3.2432283492364776e-17,-8.952261269128452e-17,2.5606844905696854e-15,-3.46836350735092e-15,-4.496018487154165e-16,6.935904140843269e-08],"joint_position_rad":[-0.11935515823654622,1.6748559351641896,-1.05119626163121,0.007638161742408865,0.9239703924068426,-0.16030804896803166],"joint_velocity_rad_s":[0.007992543587891119,0.05861597224589838,-0.07914058807509712,-0.015918951189579096,0.10877419494768033,0.02744875439654527],"gripper_joint_position_m":[0.03499984595963923,-0.03500002716483817],"tcp_position_m":[0.3061884527438935,-0.033999543385788485,0.08308388008540678],"tcp_quaternion_wxyz":[0.055081260109738316,-0.01831059525290841,0.9983035939506214,-0.004550955007512692],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-4.022608895724281e-17,-1.945613479329148e-17,9.467580312627706e-08],"object_linear_velocity_m_s":[3.2432283492364776e-17,-8.952261269128452e-17,2.5606844905696854e-15],"object_angular_velocity_rad_s":[-3.468363424916944e-15,-4.49602499875524e-16,6.935904140843269e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11546508553757377,1.6818390928475024,-1.059340882197543,0.0027828014930960923,0.9703966434176937,-0.13818507928614104,0.035],"actuator_force_native":[0.27124309797833845,0.2655727534355492,-0.25586670493115093,-0.11461965402461544,0.30110121768699116,0.18005656522408842,-5.414608525322606e-06],"issued_joint_targets_rad":[-0.11534600686242581,1.68307165628863,-1.0610103151379116,0.0025806904106814247,0.9726863473307624,-0.13759376269371204],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.260000000000307,"joint_targets_rad":[-0.11534600686242581,1.68307165628863,-1.0610103151379116,0.0025806904106814247,0.9726863473307624,-0.13759376269371204],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.280000000000296,"qpos":[-0.11919556328505347,1.6760948852721758,-1.052878860854729,0.00732141739305407,0.9263094989127373,-0.15975722329639802,0.03499984549779895,-0.035000026076848025,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-4.068494036752509e-17,-1.57362570249783e-17,9.493889849165309e-08],"qvel":[0.007910396375274461,0.05850171925202313,-0.07890357437584206,-0.015543482765060386,0.10844112266831527,0.027498348895074676,2.3025939862547348e-06,2.901535281721528e-06,1.9292654577712463e-17,-4.7325244115860564e-17,2.6342367659511018e-15,1.3670085976129642e-15,8.340524479111504e-16,7.514484143800427e-09],"joint_position_rad":[-0.11919556328505347,1.6760948852721758,-1.052878860854729,0.00732141739305407,0.9263094989127373,-0.15975722329639802],"joint_velocity_rad_s":[0.007910396375274461,0.05850171925202313,-0.07890357437584206,-0.015543482765060386,0.10844112266831527,0.027498348895074676],"gripper_joint_position_m":[0.03499984549779895,-0.035000026076848025],"tcp_position_m":[0.3061839236017367,-0.03400101183487629,0.08306797444428209],"tcp_quaternion_wxyz":[0.054127910192927085,-0.018208906711844126,0.9983577062014088,-0.004527198114411424],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-4.068494036752509e-17,-1.57362570249783e-17,9.493889849165309e-08],"object_linear_velocity_m_s":[1.9292654577712463e-17,-4.7325244115860564e-17,2.6342367659511018e-15],"object_angular_velocity_rad_s":[1.3670084390083987e-15,8.340527080871692e-16,7.514484143800429e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11534600686242581,1.68307165628863,-1.0610103151379116,0.0025806904106814247,0.9726863473307624,-0.13759376269371204,0.035],"actuator_force_native":[0.2684125319338406,0.26563308505623695,-0.2559984707753813,-0.11191166546960392,0.301106800177779,0.18038708268424775,-5.332881888975294e-06],"issued_joint_targets_rad":[-0.1152305906649261,1.6843013990587152,-1.0626743066842221,0.002385566723204756,0.9749675809885963,-0.13700108767732974],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.280000000000296,"joint_targets_rad":[-0.1152305906649261,1.6843013990587152,-1.0626743066842221,0.002385566723204756,0.9749675809885963,-0.13700108767732974],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.300000000000285,"qpos":[-0.11903767229329781,1.6773313445937386,-1.0545564065734017,0.0070122410264036655,0.9286413719710299,-0.15920538741041287,0.03499984460071137,-0.0350000249770903,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-1.0502517407156867e-17,-2.3678913576596197e-17,9.541924418897526e-08],"qvel":[0.007824193787930428,0.05838155795778214,-0.07865967425327025,-0.0151699148142626,0.10809980291174333,0.02754834613430882,2.3009971942429353e-06,2.9149359993513934e-06,2.8691122116347315e-17,-1.471979863620673e-17,2.560684490569685e-15,1.4325741753104128e-15,7.845753994944295e-16,1.3719550402993557e-08],"joint_position_rad":[-0.11903767229329781,1.6773313445937386,-1.0545564065734017,0.0070122410264036655,0.9286413719710299,-0.15920538741041287],"joint_velocity_rad_s":[0.007824193787930428,0.05838155795778214,-0.07865967425327025,-0.0151699148142626,0.10809980291174333,0.02754834613430882],"gripper_joint_position_m":[0.03499984460071137,-0.0350000249770903],"tcp_position_m":[0.3061792822821763,-0.03400191160696737,0.08305211536766256],"tcp_quaternion_wxyz":[0.053177207268144164,-0.018103343971720937,0.9984108318725399,-0.004501595693195403],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-1.0502517407156867e-17,-2.3678913576596197e-17,9.541924418897526e-08],"object_linear_velocity_m_s":[2.8691122116347315e-17,-1.471979863620673e-17,2.560684490569685e-15],"object_angular_velocity_rad_s":[1.4325740249334755e-15,7.845756731728851e-16,1.371955040299356e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985}],"native_actuator_controls":[-0.1152305906649261,1.6843013990587152,-1.0626743066842221,0.002385566723204756,0.9749675809885963,-0.13700108767732974,0.035],"actuator_force_native":[0.26544556133008435,0.2656965674092078,-0.25613363759929086,-0.10921739805664338,0.30111238580804844,0.1807204781293681,-5.289014425979843e-06],"issued_joint_targets_rad":[-0.11511882321466925,1.6855281834574527,-1.0643326920224823,0.0021973622202464075,0.977240129922272,-0.13640690789494636],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.300000000000285,"joint_targets_rad":[-0.11511882321466925,1.6855281834574527,-1.0643326920224823,0.0021973622202464075,0.977240129922272,-0.13640690789494636],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.320000000000274,"qpos":[-0.11888156433253608,1.6785651858961081,-1.0562287491002187,0.006710592878359761,0.9309658289321027,-0.15865253094014262,0.034999843459913735,-0.0350000239057023,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.6640206658348502e-17,-4.044965869670981e-17,9.590184525974631e-08],"qvel":[0.007734127242841119,0.05825529003494279,-0.07840865188047871,-0.014798340261964622,0.1077499869824958,0.027598915833699396,2.306452630098281e-06,2.9270712639690925e-06,5.196518454560044e-17,2.091894695139714e-17,2.5912156237468766e-15,1.107316984289883e-15,-1.8659606591389547e-16,2.5048434417891182e-08],"joint_position_rad":[-0.11888156433253608,1.6785651858961081,-1.0562287491002187,0.006710592878359761,0.9309658289321027,-0.15865253094014262],"joint_velocity_rad_s":[0.007734127242841119,0.05825529003494279,-0.07840865188047871,-0.014798340261964622,0.1077499869824958,0.027598915833699396],"gripper_joint_position_m":[0.034999843459913735,-0.0350000239057023],"tcp_position_m":[0.3061745236397619,-0.034002265082801734,0.08303630474707947],"tcp_quaternion_wxyz":[0.05222922865566538,-0.017993887989942902,0.9984629735427663,-0.0044741628464612495],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.6640206658348502e-17,-4.044965869670981e-17,9.590184525974631e-08],"object_linear_velocity_m_s":[5.196518454560044e-17,2.091894695139714e-17,2.5912156237468766e-15],"object_angular_velocity_rad_s":[1.1073170180532756e-15,-1.8659585436003038e-16,2.504843441789119e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11511882321466925,1.6855281834574527,-1.0643326920224823,0.0021973622202464075,0.977240129922272,-0.13640690789494636,0.035],"actuator_force_native":[0.26234865321514,0.2657633547328544,-0.25627217437867955,-0.10653752501471105,0.3011180294279505,0.1810578567014136,-5.270659699796454e-06],"issued_joint_targets_rad":[-0.11501068995631542,1.6867518675779716,-1.0659853009550013,0.0020160083179662372,0.9795037727007052,-0.13581107662941083],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.320000000000274,"joint_targets_rad":[-0.11501068995631542,1.6867518675779716,-1.0659853009550013,0.0020160083179662372,0.9795037727007052,-0.13581107662941083],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.340000000000263,"qpos":[-0.11872731470386448,1.679796277727885,-1.057895733557458,0.006416431371835889,0.9332826817910154,-0.15809864015963745,0.034999842202861516,-0.03500002287268536,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,3.373935389457585e-17,-4.1943518306249494e-17,9.631136987801524e-08],"qvel":[0.007640382151195616,0.05812271453692993,-0.07815025669617387,-0.014428847370377569,0.10739143415393275,0.02765022372276712,2.316310405674232e-06,2.9387464710783286e-06,6.305548568823523e-17,5.244467285838769e-17,2.596766738870002e-15,1.5732439021159194e-15,-1.930443992505822e-16,4.57321157295715e-08],"joint_position_rad":[-0.11872731470386448,1.679796277727885,-1.057895733557458,0.006416431371835889,0.9332826817910154,-0.15809864015963745],"joint_velocity_rad_s":[0.007640382151195616,0.05812271453692993,-0.07815025669617387,-0.014428847370377569,0.10739143415393275,0.02765022372276712],"gripper_joint_position_m":[0.034999842202861516,-0.03500002287268536],"tcp_position_m":[0.3061696423200444,-0.034002093871553396,0.08302054454021686],"tcp_quaternion_wxyz":[0.05128405375860454,-0.017880520321290852,0.998514133875835,-0.004444915445311985],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,3.373935389457585e-17,-4.1943518306249494e-17,9.631136987801524e-08],"object_linear_velocity_m_s":[6.305548568823523e-17,5.244467285838769e-17,2.596766738870002e-15],"object_angular_velocity_rad_s":[1.5732439354643004e-15,-1.9304409929397238e-16,4.573211572957152e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000026},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000031},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023}],"native_actuator_controls":[-0.11501068995631542,1.6867518675779716,-1.0659853009550013,0.0020160083179662372,0.9795037727007052,-0.13581107662941083,0.035],"actuator_force_native":[0.2591280690479465,0.2658336153222649,-0.2564141083226019,-0.10387268530289823,0.30112375786599976,0.18140029971811567,-5.269666488727509e-06],"issued_joint_targets_rad":[-0.11490617549970664,1.6879723055529614,-1.0676319582410103,0.0018414360306283533,0.9817582814058127,-0.13521344660099316],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.340000000000263,"joint_targets_rad":[-0.11490617549970664,1.6879723055529614,-1.0676319582410103,0.0018414360306283533,0.9817582814058127,-0.13521344660099316],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.360000000000252,"qpos":[-0.11857499520380362,1.6810244844503819,-1.0595571997442352,0.006129712490205995,0.9355917372876887,-0.15754369789521316,0.03499984082370677,-0.03500002889158789,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,3.947289538129031e-17,-4.558327895144371e-17,9.667185077623302e-08],"qvel":[0.007543140168364503,0.057983634287865925,-0.07788423318122027,-0.014061521689829869,0.10702391378702775,0.027702436474295235,2.3883048906280066e-06,2.897002885611066e-06,1.1723659615326142e-16,8.43387658974917e-17,2.7591368562214315e-15,2.5711845908287533e-15,-4.57031478633646e-15,8.349529452466799e-08],"joint_position_rad":[-0.11857499520380362,1.6810244844503819,-1.0595571997442352,0.006129712490205995,0.9355917372876887,-0.15754369789521316],"joint_velocity_rad_s":[0.007543140168364503,0.057983634287865925,-0.07788423318122027,-0.014061521689829869,0.10702391378702775,0.027702436474295235],"gripper_joint_position_m":[0.03499984082370677,-0.03500002889158789],"tcp_position_m":[0.3061646326755194,-0.03400141899290468,0.08300483672421896],"tcp_quaternion_wxyz":[0.05034176389770215,-0.017763223106716075,0.998564315635549,-0.004413870391906052],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,3.947289538129031e-17,-4.558327895144371e-17,9.667185077623302e-08],"object_linear_velocity_m_s":[1.1723659615326142e-16,8.43387658974917e-17,2.7591368562214315e-15],"object_angular_velocity_rad_s":[2.5711854668583065e-15,-4.5703142958056336e-15,8.349529452466803e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11490617549970664,1.6879723055529614,-1.0676319582410103,0.0018414360306283533,0.9817582814058127,-0.13521344660099316,0.035],"actuator_force_native":[0.25578987548593624,0.2659075167670153,-0.25655951383591,-0.10122344993395635,0.3011295705006969,0.18174885823075737,-5.5744727236461955e-06],"issued_joint_targets_rad":[-0.11480526337605512,1.6891893476786468,-1.0692724837762329,0.0016735755351016783,0.9840034218825124,-0.13461386940285017],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.360000000000252,"joint_targets_rad":[-0.11480526337605512,1.6891893476786468,-1.0692724837762329,0.0016735755351016783,0.9840034218825124,-0.13461386940285017],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.38000000000024,"qpos":[-0.11842467374965929,1.6822496663500992,-1.0612129819896507,0.005850392028145337,0.9378927972825434,-0.15698768405116018,0.03499984023795475,-0.03500003385579788,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,3.742381339313691e-17,-4.828756243807861e-17,9.698856831693242e-08],"qvel":[0.007442573394199662,0.057837858433028945,-0.07761032621519041,-0.013696436756121224,0.10664718854413772,0.027755704336336843,2.414629040444267e-06,3.0389720364183223e-06,5.729666076411749e-17,4.345575776406403e-17,2.8201991225758148e-15,-1.21829735044351e-15,1.5544143871371843e-15,9.04603140480067e-09],"joint_position_rad":[-0.11842467374965929,1.6822496663500992,-1.0612129819896507,0.005850392028145337,0.9378927972825434,-0.15698768405116018],"joint_velocity_rad_s":[0.007442573394199662,0.057837858433028945,-0.07761032621519041,-0.013696436756121224,0.10664718854413772,0.027755704336336843],"gripper_joint_position_m":[0.03499984023795475,-0.03500003385579788],"tcp_position_m":[0.30615948869944354,-0.03400026037057263,0.08298918322131288],"tcp_quaternion_wxyz":[0.04940244212744953,-0.017641978895804017,0.9986135217090264,-0.004381044667596991],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,3.742381339313691e-17,-4.828756243807861e-17,9.698856831693242e-08],"object_linear_velocity_m_s":[5.729666076411749e-17,4.345575776406403e-17,2.8201991225758148e-15],"object_angular_velocity_rad_s":[-1.2182976528379613e-15,1.5544141501382502e-15,9.046031404800674e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11480526337605512,1.6891893476786468,-1.0692724837762329,0.0016735755351016783,0.9840034218825124,-0.13461386940285017,0.035],"actuator_force_native":[0.2523399629173344,0.2659852141186718,-0.2567085118506185,-0.09859047594114023,0.30113546318348483,0.1821045899785949,-5.682663392070353e-06],"issued_joint_targets_rad":[-0.1147079367381933,1.6904028407513965,-1.0709066930458324,0.001512357382437871,0.9862389543675609,-0.13401219648864723],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.38000000000024,"joint_targets_rad":[-0.1147079367381933,1.6904028407513965,-1.0709066930458324,0.001512357382437871,0.9862389543675609,-0.13401219648864723],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.40000000000023,"qpos":[-0.11827641504582014,1.683471679826071,-1.0628629094217112,0.005578423459802383,0.9401856584815321,-0.15643057529119042,0.0349998396472398,-0.03500003659589825,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,3.372565720909482e-17,-5.760602222061021e-17,9.744524787121251e-08],"qvel":[0.007338849047699774,0.057685206040450826,-0.07732829129617262,-0.013333677038808325,0.10626102950660393,0.027810187016961252,2.4188551835028123e-06,3.1535064862887146e-06,6.928390148973967e-17,4.09689922987697e-17,2.3317009917407453e-15,-1.2007560287701962e-15,1.2213015292067054e-15,1.6515768937727e-08],"joint_position_rad":[-0.11827641504582014,1.683471679826071,-1.0628629094217112,0.005578423459802383,0.9401856584815321,-0.15643057529119042],"joint_velocity_rad_s":[0.007338849047699774,0.057685206040450826,-0.07732829129617262,-0.013333677038808325,0.10626102950660393,0.027810187016961252],"gripper_joint_position_m":[0.0349998396472398,-0.03500003659589825],"tcp_position_m":[0.3061542040946697,-0.03399863741370349,0.0829735859093762],"tcp_quaternion_wxyz":[0.0484661732903832,-0.0175167707391711,0.9986617551040088,-0.0043464562621121665],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,3.372565720909482e-17,-5.760602222061021e-17,9.744524787121251e-08],"object_linear_velocity_m_s":[6.928390148973967e-17,4.09689922987697e-17,2.3317009917407453e-15],"object_angular_velocity_rad_s":[-1.2007562686930499e-15,1.2213012940767347e-15,1.651576893772701e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.1147079367381933,1.6904028407513965,-1.0709066930458324,0.001512357382437871,0.9862389543675609,-0.13401219648864723,0.035],"actuator_force_native":[0.24878401937164796,0.26606684382380763,-0.2568612334488307,-0.09597425790053885,0.3011414146003819,0.18246850749998988,-5.6801655092808545e-06],"issued_joint_targets_rad":[-0.11461417761331305,1.6916126278052053,-1.0725343967926266,0.0013577111777780572,0.988464633030499,-0.13340827784179635],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.40000000000023,"joint_targets_rad":[-0.11461417761331305,1.6916126278052053,-1.0725343967926266,0.0013577111777780572,0.988464633030499,-0.13340827784179635],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.420000000000218,"qpos":[-0.1181302804575643,1.6846903775074697,-1.0645068060234197,0.005313758744180712,0.9424701125553306,-0.15587234514792708,0.03499983890759137,-0.035000037848293905,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.8850249215046987e-17,-6.880162668239958e-17,9.789887224818063e-08],"qvel":[0.007232132087516188,0.0575254999801219,-0.07703788622257382,-0.012973313293241109,0.10586520339721868,0.027866038139341222,2.423454109716553e-06,3.227297887889235e-06,9.103730523532447e-17,2.447489985339811e-17,2.245658707332295e-15,-1.4638223477136967e-15,3.2890645172768743e-16,3.015362332919134e-08],"joint_position_rad":[-0.1181302804575643,1.6846903775074697,-1.0645068060234197,0.005313758744180712,0.9424701125553306,-0.15587234514792708],"joint_velocity_rad_s":[0.007232132087516188,0.0575254999801219,-0.07703788622257382,-0.012973313293241109,0.10586520339721868,0.027866038139341222],"gripper_joint_position_m":[0.03499983890759137,-0.035000037848293905],"tcp_position_m":[0.306148772285292,-0.033996568843935385,0.08295804659860787],"tcp_quaternion_wxyz":[0.04753304397508277,-0.017387582077910156,0.9987090189601739,-0.004310123844336379],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.8850249215046987e-17,-6.880162668239958e-17,9.789887224818063e-08],"object_linear_velocity_m_s":[9.103730523532447e-17,2.447489985339811e-17,2.245658707332295e-15],"object_angular_velocity_rad_s":[-1.4638224162620476e-15,3.289061639777603e-16,3.0153623329191357e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11461417761331305,1.6916126278052053,-1.0725343967926266,0.0013577111777780572,0.988464633030499,-0.13340827784179635,0.035],"actuator_force_native":[0.2451275671025197,0.26615252391823674,-0.25701783042367765,-0.09337533618990065,0.30114739965585535,0.18284161585229564,-5.6735742031133185e-06],"issued_joint_targets_rad":[-0.11452396713670439,1.6928185481723061,-1.0741554011059162,0.0012095659836210068,0.990680206098548,-0.1328019622146201],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.420000000000218,"joint_targets_rad":[-0.11452396713670439,1.6928185481723061,-1.0741554011059162,0.0012095659836210068,0.990680206098548,-0.1328019622146201],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.440000000000207,"qpos":[-0.11798632810806654,1.6859056083252624,-1.066144490715561,0.005056348426291514,0.9447459460366094,-0.1553129641044569,0.03499983809811122,-0.0350000382634101,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.3396178684724714e-17,-5.981325837756416e-17,9.82725100366859e-08],"qvel":[0.007122581705436923,0.05735856619092621,-0.07673887380834855,-0.012615415193196037,0.10545947121212577,0.027923408636568756,2.4319199813711604e-06,3.2742813607608184e-06,8.858256080315131e-17,2.4132935683110528e-17,2.277577619290269e-15,2.775465472930993e-16,4.964844107512261e-16,5.505290146083009e-08],"joint_position_rad":[-0.11798632810806654,1.6859056083252624,-1.066144490715561,0.005056348426291514,0.9447459460366094,-0.1553129641044569],"joint_velocity_rad_s":[0.007122581705436923,0.05735856619092621,-0.07673887380834855,-0.012615415193196037,0.10545947121212577,0.027923408636568756],"gripper_joint_position_m":[0.03499983809811122,-0.0350000382634101],"tcp_position_m":[0.3061431864620269,-0.03399407271571838,0.08294256703191406],"tcp_quaternion_wxyz":[0.04660314257878071,-0.017254396702744777,0.9987553165525113,-0.004272066747973441],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.3396178684724714e-17,-5.981325837756416e-17,9.82725100366859e-08],"object_linear_velocity_m_s":[8.858256080315131e-17,2.4132935683110528e-17,2.277577619290269e-15],"object_angular_velocity_rad_s":[2.7754644312576903e-16,4.964844638266109e-16,5.505290146083013e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11452396713670439,1.6928185481723061,-1.0741554011059162,0.0012095659836210068,0.990680206098548,-0.1328019622146201,0.035],"actuator_force_native":[0.24137596918178872,0.2662423568088741,-0.2571784621866584,-0.09079422174084009,0.3011533938011972,0.18322490594351493,-5.683524355371006e-06],"issued_joint_targets_rad":[-0.11443728554550493,1.6940204373562324,-1.0757695072620108,0.0010678502994772012,0.9928854156390344,-0.13219309703080062],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.440000000000207,"joint_targets_rad":[-0.11443728554550493,1.6940204373562324,-1.0757695072620108,0.0010678502994772012,0.9928854156390344,-0.13219309703080062],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.460000000000196,"qpos":[-0.11784461298440034,1.687117217535566,-1.0677757774270697,0.004806141670332665,0.9470129401658807,-0.15475239963961465,0.034999837303420135,-0.035000038227360676,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.655054655072524e-17,-4.3250590417233104e-17,9.858144321509242e-08],"qvel":[0.0070103521286155315,0.05718423066901671,-0.0764310197952444,-0.012260050432357299,0.10504358602226421,0.027982447391448947,2.442900731934578e-06,3.305934303153187e-06,7.705306420698405e-17,9.041608863950674e-17,2.16377975926619e-15,5.478292719116717e-15,2.928802011828218e-16,1.0051269547836895e-07],"joint_position_rad":[-0.11784461298440034,1.687117217535566,-1.0677757774270697,0.004806141670332665,0.9470129401658807,-0.15475239963961465],"joint_velocity_rad_s":[0.0070103521286155315,0.05718423066901671,-0.0764310197952444,-0.012260050432357299,0.10504358602226421,0.027982447391448947],"gripper_joint_position_m":[0.034999837303420135,-0.035000038227360676],"tcp_position_m":[0.3061374396344425,-0.033991166451729386,0.08292714889754228],"tcp_quaternion_wxyz":[0.04567655940925106,-0.017117198709398106,0.9988006512930145,-0.004232304989747021],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.655054655072524e-17,-4.3250590417233104e-17,9.858144321509242e-08],"object_linear_velocity_m_s":[7.705306420698405e-17,9.041608863950674e-17,2.16377975926619e-15],"object_angular_velocity_rad_s":[5.478292652677042e-15,2.9288127797174055e-16,1.0051269547836904e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11443728554550493,1.6940204373562324,-1.0757695072620108,0.0010678502994772012,0.9928854156390344,-0.13219309703080062,0.035],"actuator_force_native":[0.2375344344685537,0.2663364323082362,-0.2573432878190687,-0.08823140267243204,0.3011593756981412,0.18361935500096682,-5.706640464842039e-06],"issued_joint_targets_rad":[-0.11435411214990024,1.695218126851058,-1.077376511493622,0.0009324920030267356,0.9950799972446567,-0.13158152825791528],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.460000000000196,"joint_targets_rad":[-0.11435411214990024,1.695218126851058,-1.077376511493622,0.0009324920030267356,0.9950799972446567,-0.13158152825791528],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.480000000000185,"qpos":[-0.11770518703063498,1.6883250466768385,-1.0694004751078152,0.004563086303209055,0.9492708706908661,-0.1541906162662596,0.03499983657624296,-0.03500003794695517,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,2.996726812003804e-17,-2.9089593039892226e-17,9.896271181115169e-08],"qvel":[0.006895593130523012,0.05700231625958977,-0.07611408977890351,-0.011907284444540705,0.10461729116182114,0.02804330143391822,2.4548510741239465e-06,3.32897730186743e-06,3.87020858718731e-17,3.5109850851509405e-17,2.1651675380469718e-15,-6.518193591990469e-16,1.7744004286310505e-15,1.0889727439788614e-08],"joint_position_rad":[-0.11770518703063498,1.6883250466768385,-1.0694004751078152,0.004563086303209055,0.9492708706908661,-0.1541906162662596],"joint_velocity_rad_s":[0.006895593130523012,0.05700231625958977,-0.07611408977890351,-0.011907284444540705,0.10461729116182114,0.02804330143391822],"gripper_joint_position_m":[0.03499983657624296,-0.03500003794695517],"tcp_position_m":[0.3061315246778773,-0.03398786687174584,0.08291179384831057],"tcp_quaternion_wxyz":[0.044753386814519645,-0.01697597245410041,0.9988450267315319,-0.004190859285780599],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,2.996726812003804e-17,-2.9089593039892226e-17,9.896271181115169e-08],"object_linear_velocity_m_s":[3.87020858718731e-17,3.5109850851509405e-17,2.1651675380469718e-15],"object_angular_velocity_rad_s":[-6.518197110315466e-16,1.7744002989667239e-15,1.0889727439788624e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11435411214990024,1.695218126851058,-1.077376511493622,0.0009324920030267356,0.9950799972446567,-0.13158152825791528,0.035],"actuator_force_native":[0.2336080248061645,0.266434832639618,-0.2575124619700233,-0.08568734978458926,0.30116532879517344,0.184025927932566,-5.737305088793221e-06],"issued_joint_targets_rad":[-0.11427442530647697,1.6964114439253954,-1.0789762047125886,0.0008034182961243067,0.9972636796556765,-0.13096710029956757],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.480000000000185,"joint_targets_rad":[-0.11427442530647697,1.6964114439253954,-1.0789762047125886,0.0008034182961243067,0.9972636796556765,-0.13096710029956757],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.500000000000174,"qpos":[-0.11756809923351938,1.6895289334648504,-1.0710183876754547,0.004327128857593179,0.9515195076312266,-0.15362757556610984,0.034999835944289036,-0.035000037529188226,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,3.430131687502567e-17,-3.680116180833833e-18,9.945062649855929e-08],"qvel":[0.006778450320656511,0.056812639830934986,-0.07578784599425047,-0.01155718058421913,0.10418031891167952,0.028106116104146865,2.4667839233842472e-06,3.346984983525607e-06,4.011287694611845e-18,4.3003124220097357e-17,2.059696350707581e-15,-9.669149290179077e-16,9.861548513615262e-16,1.9881892306377813e-08],"joint_position_rad":[-0.11756809923351938,1.6895289334648504,-1.0710183876754547,0.004327128857593179,0.9515195076312266,-0.15362757556610984],"joint_velocity_rad_s":[0.006778450320656511,0.056812639830934986,-0.07578784599425047,-0.01155718058421913,0.10418031891167952,0.028106116104146865],"gripper_joint_position_m":[0.034999835944289036,-0.035000037529188226],"tcp_position_m":[0.30612543436940476,-0.03398419021784853,0.08289650352393796],"tcp_quaternion_wxyz":[0.04383371932783088,-0.016830702511287685,0.9988884465564382,-0.0041477510691674165],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,3.430131687502567e-17,-3.680116180833833e-18,9.945062649855929e-08],"object_linear_velocity_m_s":[4.011287694611845e-18,4.3003124220097357e-17,2.059696350707581e-15],"object_angular_velocity_rad_s":[-9.669151253116604e-16,9.861546576769666e-16,1.9881892306377837e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.11427442530647697,1.6964114439253954,-1.0789762047125886,0.0008034182961243067,0.9972636796556765,-0.13096710029956757,0.035],"actuator_force_native":[0.22960166256011227,0.26653763768894123,-0.2576861329994671,-0.08316251953765927,0.30117124187697897,0.1844455785092023,-5.771691178324545e-06],"issued_joint_targets_rad":[-0.11419820238932356,1.6976002113865083,-1.0805683722065806,0.0006805556477305734,0.99943618434748,-0.13034965589892963],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.500000000000174,"joint_targets_rad":[-0.11419820238932356,1.6976002113865083,-1.0805683722065806,0.0006805556477305734,0.99943618434748,-0.13034965589892963],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.520000000000163,"qpos":[-0.11743339570313113,1.6907287116365783,-1.072629313899089,0.004098214609800007,0.9537586150200266,-0.15306323622142,0.034999835420663414,-0.03500003702887404,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,2.5698512073616567e-17,-9.067597923566407e-19,9.9873963375975e-08],"qvel":[0.006659065374753307,0.05661501005994293,-0.07545204435408558,-0.011209800422723288,0.1037323896343049,0.0281710352077928,2.478157571126191e-06,3.3617908076605857e-06,3.929321197705763e-18,3.7716068894236633e-17,1.9611640572720982e-15,-8.740399671659529e-16,-2.300831413126568e-16,3.629931454832743e-08],"joint_position_rad":[-0.11743339570313113,1.6907287116365783,-1.072629313899089,0.004098214609800007,0.9537586150200266,-0.15306323622142],"joint_velocity_rad_s":[0.006659065374753307,0.05661501005994293,-0.07545204435408558,-0.011209800422723288,0.1037323896343049,0.0281710352077928],"gripper_joint_position_m":[0.034999835420663414,-0.03500003702887404],"tcp_position_m":[0.30611916141074685,-0.03398015217727589,0.08288127957357035],"tcp_quaternion_wxyz":[0.042917653817815524,-0.016681373633745788,0.9989309145956357,-0.004103002509416829],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,2.5698512073616567e-17,-9.067597923566407e-19,9.9873963375975e-08],"object_linear_velocity_m_s":[3.929321197705763e-18,3.7716068894236633e-17,1.9611640572720982e-15],"object_angular_velocity_rad_s":[-8.740399212731353e-16,-2.3008331776600057e-16,3.629931454832747e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11419820238932356,1.6976002113865083,-1.0805683722065806,0.0006805556477305734,0.99943618434748,-0.13034965589892963,0.035],"actuator_force_native":[0.2255201382308396,0.266644929694678,-0.25786444282890386,-0.08065735636916088,0.3011771088230777,0.18487925041321462,-5.807614392061566e-06],"issued_joint_targets_rad":[-0.11412541975680238,1.6987842473373909,-1.082152793327024,0.0005638297301417423,1.001597225107154,-0.12972903604824343],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.520000000000163,"joint_targets_rad":[-0.11412541975680238,1.6987842473373909,-1.082152793327024,0.0005638297301417423,1.001597225107154,-0.12972903604824343],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.540000000000152,"qpos":[-0.11730111974901995,1.6919242107567731,-1.0742330472282864,0.003876287611382808,0.9559879506315747,-0.15249755404369572,0.034999835010793796,-0.03500003647417522,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.6513915807138273e-17,-6.601124945428635e-18,1.0026303738140074e-07],"qvel":[0.006537576256316,0.0564092258989291,-0.07510643197231454,-0.01086520406646252,0.10327321127806377,0.02823820116016996,2.4886926462430694e-06,3.3743194603782806e-06,1.937678866974832e-17,2.5406382865665537e-17,1.9375718179988146e-15,-8.707873232446175e-16,-1.2779788505647957e-15,6.627338164665794e-08],"joint_position_rad":[-0.11730111974901995,1.6919242107567731,-1.0742330472282864,0.003876287611382808,0.9559879506315747,-0.15249755404369572],"joint_velocity_rad_s":[0.006537576256316,0.0564092258989291,-0.07510643197231454,-0.01086520406646252,0.10327321127806377,0.02823820116016996],"gripper_joint_position_m":[0.034999835010793796,-0.03500003647417522],"tcp_position_m":[0.3061126984382745,-0.03397576790331177,0.08286612367628189],"tcp_quaternion_wxyz":[0.04200528963646503,-0.016527970715331002,0.998972434818212,-0.004056636533259197],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.6513915807138273e-17,-6.601124945428635e-18,1.0026303738140074e-07],"object_linear_velocity_m_s":[1.937678866974832e-17,2.5406382865665537e-17,1.9375718179988146e-15],"object_angular_velocity_rad_s":[-8.707870678514759e-16,-1.2779790273692014e-15,6.627338164665802e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11412541975680238,1.6987842473373909,-1.082152793327024,0.0005638297301417423,1.001597225107154,-0.12972903604824343,0.035],"actuator_force_native":[0.22136811809582646,0.26675679695475196,-0.25804752803743725,-0.07817229491733003,0.30118292783869904,0.18532787821426777,-5.843894982815456e-06],"issued_joint_targets_rad":[-0.11405605271329258,1.6999633649364736,-1.0837292411812063,0.0004531653472602654,1.0037465076167515,-0.12910507990168815],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.540000000000152,"joint_targets_rad":[-0.11405605271329258,1.6999633649364736,-1.0837292411812063,0.0004531653472602654,1.0037465076167515,-0.12910507990168815],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.56000000000014,"qpos":[-0.11717131195187318,1.6931152560010667,-1.075829375579128,0.003661290714219681,0.9582072657030754,-0.151930481999656,0.034999834716300825,-0.03500003587975295,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,8.624344134655835e-18,-8.548227922038518e-18,1.0051442810429665e-07],"qvel":[0.0064141174401896265,0.05619507569034626,-0.07475074528353273,-0.010523450480745695,0.1028024791564869,0.02830775512037189,2.4982498378192455e-06,3.385031707881738e-06,1.0595817404229624e-17,1.3361473844863904e-17,1.9486740482450655e-15,-5.578388211335246e-16,5.116437267323088e-16,7.180178177596504e-09],"joint_position_rad":[-0.11717131195187318,1.6931152560010667,-1.075829375579128,0.003661290714219681,0.9582072657030754,-0.151930481999656],"joint_velocity_rad_s":[0.0064141174401896265,0.05619507569034626,-0.07475074528353273,-0.010523450480745695,0.1028024791564869,0.02830775512037189],"gripper_joint_position_m":[0.034999834716300825,-0.03500003587975295],"tcp_position_m":[0.3061060380216887,-0.03397105203447324,0.0828510375581117],"tcp_quaternion_wxyz":[0.04109672876012815,-0.01637047875640495,0.9990130113369118,-0.004008676846306909],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,8.624344134655835e-18,-8.548227922038518e-18,1.0051442810429665e-07],"object_linear_velocity_m_s":[1.0595817404229624e-17,1.3361473844863904e-17,1.9486740482450655e-15],"object_angular_velocity_rad_s":[-5.578389241114228e-16,5.116436144667502e-16,7.180178177596514e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999977},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11405605271329258,1.6999633649364736,-1.0837292411812063,0.0004531653472602654,1.0037465076167515,-0.12910507990168815,0.035],"actuator_force_native":[0.2171501518854999,0.2668733363808258,-0.25823552174861675,-0.07570776227464815,0.3011887004020313,0.1857923882991206,-5.879901221916839e-06],"issued_joint_targets_rad":[-0.11399007546552398,1.7011373721663507,-1.0852974823370594,0.00034848635430658696,1.0058837290547271,-0.12847762469027244],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.56000000000014,"joint_targets_rad":[-0.11399007546552398,1.7011373721663507,-1.0852974823370594,0.00034848635430658696,1.0058837290547271,-0.12847762469027244],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.58000000000013,"qpos":[-0.1170440102306443,1.6943016679278708,-1.077418081089907,0.0034531655889816592,0.9604163046552439,-0.1513619702346148,0.03499983453702268,-0.035000035253435514,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-3.39101332570823e-18,-1.6085087737722023e-17,1.0097340408024045e-07],"qvel":[0.006288820139422773,0.055972336830888224,-0.07438470877563631,-0.010184597818645894,0.10231987591006568,0.028379837118110228,2.5067612957395446e-06,3.3941534691236843e-06,1.852066995885194e-17,-1.740274426556421e-18,1.9556129421489716e-15,-3.1390196354641706e-16,3.14083576499672e-16,1.310919213147572e-08],"joint_position_rad":[-0.1170440102306443,1.6943016679278708,-1.077418081089907,0.0034531655889816592,0.9604163046552439,-0.1513619702346148],"joint_velocity_rad_s":[0.006288820139422773,0.055972336830888224,-0.07438470877563631,-0.010184597818645894,0.10231987591006568,0.028379837118110228],"gripper_joint_position_m":[0.03499983453702268,-0.035000035253435514],"tcp_position_m":[0.3060991726538269,-0.03396601871230385,0.08283602300494754],"tcp_quaternion_wxyz":[0.04019207592115962,-0.0162088828321162,0.999052648411459,-0.003959147955337373],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-3.39101332570823e-18,-1.6085087737722023e-17,1.0097340408024045e-07],"object_linear_velocity_m_s":[1.852066995885194e-17,-1.740274426556421e-18,1.9556129421489716e-15],"object_angular_velocity_rad_s":[-3.1390202739631184e-16,3.140835131970732e-16,1.3109192131475738e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11399007546552398,1.7011373721663507,-1.0852974823370594,0.00034848635430658696,1.0058837290547271,-0.12847762469027244,0.035],"actuator_force_native":[0.21287068051251268,0.26699465492393415,-0.2584285558940138,-0.0732641802937734,0.30119443012973335,0.1862736997662584,-5.9152873856938015e-06],"issued_joint_targets_rad":[-0.11392746107323808,1.7023060716148322,-1.0868572765450264,0.0002497155685108449,1.0080085777214225,-0.1278465056382411],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.58000000000013,"joint_targets_rad":[-0.11392746107323808,1.7023060716148322,-1.0868572765450264,0.0002497155685108449,1.0080085777214225,-0.1278465056382411],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.600000000000119,"qpos":[-0.11691924990508083,1.6954832622488247,-1.078998939858447,0.003251852736858252,0.9626148048149412,-0.15079196609340123,0.0349998344720385,-0.03500003459957638,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-8.800113548516293e-18,-4.2438457541636195e-17,1.0143453509210022e-07],"qvel":[0.006161812535067956,0.055740775851923295,-0.07400803428193928,-0.009848703756368106,0.10182507156856299,0.028454586175475152,2.5141944220498114e-06,3.401792071441689e-06,5.678329840258755e-17,-1.0865392824149402e-17,1.9445107119027207e-15,-1.772394910888305e-16,-4.687234522393976e-16,2.393407434875907e-08],"joint_position_rad":[-0.11691924990508083,1.6954832622488247,-1.078998939858447,0.003251852736858252,0.9626148048149412,-0.15079196609340123],"joint_velocity_rad_s":[0.006161812535067956,0.055740775851923295,-0.07400803428193928,-0.009848703756368106,0.10182507156856299,0.028454586175475152],"gripper_joint_position_m":[0.0349998344720385,-0.03500003459957638],"tcp_position_m":[0.30609209473435184,-0.03396068159812628,0.08282108187119754],"tcp_quaternion_wxyz":[0.03929143872979278,-0.01604316806362808,0.9990913504526623,-0.003908075191254086],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-8.800113548516293e-18,-4.2438457541636195e-17,1.0143453509210022e-07],"object_linear_velocity_m_s":[5.678329840258755e-17,-1.0865392824149402e-17,1.9445107119027207e-15],"object_angular_velocity_rad_s":[-1.7723939803078662e-16,-4.687234877745544e-16,2.3934074348759104e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11392746107323808,1.7023060716148322,-1.0868572765450264,0.0002497155685108449,1.0080085777214225,-0.1278465056382411,0.035],"actuator_force_native":[0.20853404387207952,0.26712087002098883,-0.25862676351664504,-0.07084196795205575,0.30120012171196997,0.18677272528838862,-5.949853649989123e-06],"issued_joint_targets_rad":[-0.11386818139390462,1.703469260269213,-1.0884083764781731,0.00015677467038355004,1.0101207326899864,-0.1272115558811567],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.600000000000119,"joint_targets_rad":[-0.11386818139390462,1.703469260269213,-1.0884083764781731,0.00015677467038355004,1.0101207326899864,-0.1272115558811567],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.620000000000108,"qpos":[-0.11679706375359449,1.6966598496046401,-1.0805717216712654,0.003057291494392074,0.9648024961411498,-0.15022041413890924,0.034999834520170865,-0.035000033920738645,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-6.614694016492177e-18,-6.085406700363048e-17,1.0188171360190469e-07],"qvel":[0.0060332200087077755,0.05550014877594093,-0.07362042073702357,-0.009515825836227051,0.10131772364963149,0.028532140424656825,2.5205332629703813e-06,3.4079949001528487e-06,9.160474566919673e-17,-6.9055672067230775e-18,1.8723462153020856e-15,3.31526214333994e-16,-1.3966265626473673e-15,4.369757565430115e-08],"joint_position_rad":[-0.11679706375359449,1.6966598496046401,-1.0805717216712654,0.003057291494392074,0.9648024961411498,-0.15022041413890924],"joint_velocity_rad_s":[0.0060332200087077755,0.05550014877594093,-0.07362042073702357,-0.009515825836227051,0.10131772364963149,0.028532140424656825],"gripper_joint_position_m":[0.034999834520170865,-0.035000033920738645],"tcp_position_m":[0.3060847965500047,-0.03395505388909523,0.08280621608467088],"tcp_quaternion_wxyz":[0.03839492778724939,-0.015873319592383993,0.9991291220271801,-0.00385548473297792],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-6.614694016492177e-18,-6.085406700363048e-17,1.0188171360190469e-07],"object_linear_velocity_m_s":[9.160474566919673e-17,-6.9055672067230775e-18,1.8723462153020856e-15],"object_angular_velocity_rad_s":[3.315264935970521e-16,-1.3966264945163313e-15,4.369757565430121e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984}],"native_actuator_controls":[-0.11386818139390462,1.703469260269213,-1.0884083764781731,0.00015677467038355004,1.0101207326899864,-0.1272115558811567,0.035],"actuator_force_native":[0.20414448873165014,0.26725210928611887,-0.2588302808674996,-0.0684415437792057,0.3012057800139196,0.18729037194053988,-5.98347314917369e-06],"issued_joint_targets_rad":[-0.1138122070212364,1.7046267293228965,-1.0899505274893297,6.958409515543922e-05,1.0122198634809159,-0.12657260638643905],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.620000000000108,"joint_targets_rad":[-0.1138122070212364,1.7046267293228965,-1.0899505274893297,6.958409515543922e-05,1.0122198634809159,-0.12657260638643905],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.640000000000096,"qpos":[-0.11667748206641766,1.6978312353504201,-1.0821361897325907,0.0028694200312565964,0.9669791009543454,-0.14964725616836005,0.034999834680222754,-0.035000033218536585,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-4.554382173231318e-18,-6.37030734587094e-17,1.0222615734937849e-07],"qvel":[0.005903165377754608,0.05525020161992531,-0.07322155428065934,-0.009186021818022288,0.10079747724804376,0.028612637221466883,2.525769122273133e-06,3.4127788974978014e-06,1.423345099345585e-16,-1.0376448739951749e-17,1.848753976028802e-15,-1.9521890207779962e-16,-4.536760125543476e-15,7.978073813255548e-08],"joint_position_rad":[-0.11667748206641766,1.6978312353504201,-1.0821361897325907,0.0028694200312565964,0.9669791009543454,-0.14964725616836005],"joint_velocity_rad_s":[0.005903165377754608,0.05525020161992531,-0.07322155428065934,-0.009186021818022288,0.10079747724804376,0.028612637221466883],"gripper_joint_position_m":[0.034999834680222754,-0.035000033218536585],"tcp_position_m":[0.30607727025377324,-0.03394914833385595,0.08279142764838793],"tcp_quaternion_wxyz":[0.0375026567919926,-0.015699322557494916,0.9991659678627968,-0.0038014036326455983],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-4.554382173231318e-18,-6.37030734587094e-17,1.0222615734937849e-07],"object_linear_velocity_m_s":[1.423345099345585e-16,-1.0376448739951749e-17,1.848753976028802e-15],"object_angular_velocity_rad_s":[-1.9521798469124345e-16,-4.536760164729642e-15,7.97807381325556e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.1138122070212364,1.7046267293228965,-1.0899505274893297,6.958409515543922e-05,1.0122198634809159,-0.12657260638643905,0.035],"actuator_force_native":[0.1997061767257282,0.2673885096984918,-0.25903924913582443,-0.06606332835393483,0.30121140939363933,0.18782754198700968,-6.01605452121845e-06],"issued_joint_targets_rad":[-0.11375950721721764,1.7057782639924417,-1.091483467382694,-1.1937086050055161e-05,1.0143056297565578,-0.12592948587766645],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.640000000000096,"joint_targets_rad":[-0.11375950721721764,1.7057782639924417,-1.091483467382694,-1.1937086050055161e-05,1.0143056297565578,-0.12592948587766645],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.660000000000085,"qpos":[-0.11656053269398625,1.698997219352119,-1.0836921003987903,0.0026881753407963444,0.9691443336685194,-0.14907243122737704,0.034999834951082685,-0.03500003249405383,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-4.108982945775215e-18,-6.146726093056456e-17,1.0252878469287581e-07],"qvel":[0.005771769133815871,0.05499067094044633,-0.07281110859426992,-0.008859350039532471,0.10026396508960923,0.028696213253478944,2.529895941408348e-06,3.4161453542344687e-06,7.325160460501763e-17,-4.727947238347091e-18,1.8432028609056765e-15,8.538016735090459e-17,2.2387614283153432e-15,8.64358963883932e-09],"joint_position_rad":[-0.11656053269398625,1.698997219352119,-1.0836921003987903,0.0026881753407963444,0.9691443336685194,-0.14907243122737704],"joint_velocity_rad_s":[0.005771769133815871,0.05499067094044633,-0.07281110859426992,-0.008859350039532471,0.10026396508960923,0.028696213253478944],"gripper_joint_position_m":[0.034999834951082685,-0.03500003249405383],"tcp_position_m":[0.30606950784480713,-0.03394297724805482,0.08277671864018667],"tcp_quaternion_wxyz":[0.03661474264141475,-0.015521162076348053,0.9992018928540632,-0.0037458598425529604],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-4.108982945775215e-18,-6.146726093056456e-17,1.0252878469287581e-07],"object_linear_velocity_m_s":[7.325160460501763e-17,-4.727947238347091e-18,1.8432028609056765e-15],"object_angular_velocity_rad_s":[8.537970721333043e-17,2.238761445894182e-15,8.643589638839334e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11375950721721764,1.7057782639924417,-1.091483467382694,-1.1937086050055161e-05,1.0143056297565578,-0.12592948587766645,0.035],"actuator_force_native":[0.19522319247240993,0.2675302165235962,-0.25925381574096207,-0.06370774687619363,0.3012170132459726,0.18838513361688736,-6.047523014363065e-06],"issued_joint_targets_rad":[-0.11371004983732472,1.7069236433427732,-1.0930069261968454,-8.787129578679718e-05,1.016377681031273,-0.1252820207643684],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.660000000000085,"joint_targets_rad":[-0.11371004983732472,1.7069236433427732,-1.0930069261968454,-8.787129578679718e-05,1.016377681031273,-0.1252820207643684],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.680000000000074,"qpos":[-0.11644624109048113,1.700157595794038,-1.085239202921611,0.002513493223133445,0.9712979005247457,-0.1484958756220056,0.0349998353317663,-0.03500003174804892,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-1.6707235954362573e-17,-6.5509844220766e-17,1.03020002937512e-07],"qvel":[0.005639149684603762,0.0547212843455274,-0.07238874536842482,-0.008535869786934998,0.09971680754138658,0.028783004640819385,2.5329081270812125e-06,3.4180872830977473e-06,8.062392825008562e-17,-2.0012114337524508e-17,1.678057185992685e-15,1.229939396171424e-16,2.1163028802128453e-15,1.5781011902284795e-08],"joint_position_rad":[-0.11644624109048113,1.700157595794038,-1.085239202921611,0.002513493223133445,0.9712979005247457,-0.1484958756220056],"joint_velocity_rad_s":[0.005639149684603762,0.0547212843455274,-0.07238874536842482,-0.008535869786934998,0.09971680754138658,0.028783004640819385],"gripper_joint_position_m":[0.0349998353317663,-0.03500003174804892],"tcp_position_m":[0.30606150115038266,-0.03393655252987658,0.08276209121099996],"tcp_quaternion_wxyz":[0.035731305531237996,-0.015338823228561409,0.9992369020681655,-0.0036888822442639434],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-1.6707235954362573e-17,-6.5509844220766e-17,1.03020002937512e-07],"object_linear_velocity_m_s":[8.062392825008562e-17,-2.0012114337524508e-17,1.678057185992685e-15],"object_angular_velocity_rad_s":[1.2299350150645882e-16,2.11630290608179e-15,1.578101190228482e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11371004983732472,1.7069236433427732,-1.0930069261968454,-8.787129578679718e-05,1.016377681031273,-0.1252820207643684,0.035],"actuator_force_native":[0.19069955182949627,0.267677382171172,-0.25947413517663165,-0.061375231822134696,0.3012225937531916,0.18896404161514324,-6.0778112873638435e-06],"issued_joint_targets_rad":[-0.11366380124858798,1.708062640118439,-1.094520625996335,-0.00015830259116284733,1.0184356563933121,-0.12463003507936127],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.680000000000074,"joint_targets_rad":[-0.11366380124858798,1.708062640118439,-1.094520625996335,-0.00015830259116284733,1.0184356563933121,-0.12463003507936127],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.700000000000063,"qpos":[-0.11633463035055784,1.7013121529961022,-1.0867772392013533,0.0023453082711118144,0.9734394993261771,-0.1479175229312969,0.03499983581363721,-0.035000030869369904,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-1.7286552893991055e-17,-7.575695292923569e-17,1.034534463768754e-07],"qvel":[0.0055054235593728195,0.05444176093121228,-0.07195411483046593,-0.008215641700485223,0.09915561252700693,0.02887314697303527,2.5337809472315845e-06,3.419038287473075e-06,1.0516035517164653e-16,-2.1573810574860866e-17,1.6475260528154928e-15,2.407707017548322e-16,6.037669849212043e-16,2.8812142531729633e-08],"joint_position_rad":[-0.11633463035055784,1.7013121529961022,-1.0867772392013533,0.0023453082711118144,0.9734394993261771,-0.1479175229312969],"joint_velocity_rad_s":[0.0055054235593728195,0.05444176093121228,-0.07195411483046593,-0.008215641700485223,0.09915561252700693,0.02887314697303527],"gripper_joint_position_m":[0.03499983581363721,-0.035000030869369904],"tcp_position_m":[0.3060532418106132,-0.03392988567329262,0.0827475475824655],"tcp_quaternion_wxyz":[0.03485246905443273,-0.01515229104280366,0.999271000750951,-0.003630500675798209],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-1.7286552893991055e-17,-7.575695292923569e-17,1.034534463768754e-07],"object_linear_velocity_m_s":[1.0516035517164653e-16,-2.1573810574860866e-17,1.6475260528154928e-15],"object_angular_velocity_rad_s":[2.407705724658364e-16,6.037670357344351e-16,2.8812142531729683e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11366380124858798,1.708062640118439,-1.094520625996335,-0.00015830259116284733,1.0184356563933121,-0.12463003507936127,0.035],"actuator_force_native":[0.18613921036072512,0.2678301651308743,-0.25970036944619324,-0.05906622598856036,0.3012281518808404,0.18956515805980345,-6.101450224615945e-06],"issued_joint_targets_rad":[-0.1136207262422845,1.7091950205803217,-1.0960242806710379,-0.0002233168129803795,1.0204791842371925,-0.12397335042901622],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.700000000000063,"joint_targets_rad":[-0.1136207262422845,1.7091950205803217,-1.0960242806710379,-0.0002233168129803795,1.0204791842371925,-0.12397335042901622],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.720000000000052,"qpos":[-0.11622572124725648,1.702460673239232,-1.0883059435527753,0.0021835538170001598,0.975568819169415,-0.14733730401161382,0.03499983638487764,-0.03500002986914147,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-1.1689860895437204e-17,-8.636684673391086e-17,1.0386431839772421e-07],"qvel":[0.005370705750950049,0.054151811632550534,-0.07150685627292554,-0.007898728160817846,0.09857997562741712,0.028966775543165593,2.533376909653772e-06,3.4164984129396543e-06,1.4527142843224176e-16,-1.5018977445556633e-17,1.6558527255001814e-15,5.926790211205956e-16,-2.505899132493052e-15,5.260369629077521e-08],"joint_position_rad":[-0.11622572124725648,1.702460673239232,-1.0883059435527753,0.0021835538170001598,0.975568819169415,-0.14733730401161382],"joint_velocity_rad_s":[0.005370705750950049,0.054151811632550534,-0.07150685627292554,-0.007898728160817846,0.09857997562741712,0.028966775543165593],"gripper_joint_position_m":[0.03499983638487764,-0.03500002986914147],"tcp_position_m":[0.30604472126674576,-0.03392298778898753,0.08273309004506002],"tcp_quaternion_wxyz":[0.03397836030204589,-0.014961550489276765,0.9993041943328979,-0.0035707459751685993],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-1.1689860895437204e-17,-8.636684673391086e-17,1.0386431839772421e-07],"object_linear_velocity_m_s":[1.4527142843224176e-16,-1.5018977445556633e-17,1.6558527255001814e-15],"object_angular_velocity_rad_s":[5.926795325811639e-16,-2.5058990081467383e-15,5.2603696290775315e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1136207262422845,1.7091950205803217,-1.0960242806710379,-0.0002233168129803795,1.0204791842371925,-0.12397335042901622,0.035],"actuator_force_native":[0.18154607164300707,0.2679887291243972,-0.25993268809638437,-0.05678118439513234,0.30123368723664967,0.19018937251122758,-6.122279653908436e-06],"issued_joint_targets_rad":[-0.11358078793169026,1.7103205443429563,-1.0975175957369077,-0.0002830017590483404,1.0225078819978701,-0.1233117859462847],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.720000000000052,"joint_targets_rad":[-0.11358078793169026,1.7103205443429563,-1.0975175957369077,-0.0002830017590483404,1.0225078819978701,-0.1233117859462847],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.740000000000041,"qpos":[-0.1161195323476705,1.7036029141278712,-1.0898249861812777,0.00202816232274412,0.9776855005944043,-0.14675514648182764,0.0349998370721014,-0.035000028804083455,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,-3.039639446012625e-18,-8.607561823318714e-17,1.0415950769129129e-07],"qvel":[0.005235108866505598,0.05385152673585502,-0.07104608343699408,-0.007585195715119141,0.09799103623153675,0.029064017399826742,2.53147976704229e-06,3.4093028638417064e-06,2.4700231542035375e-16,3.4419264092320714e-17,1.6794449647734658e-15,3.7506776962229546e-15,-1.118773471178084e-14,9.604106533919006e-08],"joint_position_rad":[-0.1161195323476705,1.7036029141278712,-1.0898249861812777,0.00202816232274412,0.9776855005944043,-0.14675514648182764],"joint_velocity_rad_s":[0.005235108866505598,0.05385152673585502,-0.07104608343699408,-0.007585195715119141,0.09799103623153675,0.029064017399826742],"gripper_joint_position_m":[0.0349998370721014,-0.035000028804083455],"tcp_position_m":[0.30603592201703944,-0.0339158685621975,0.08271871358193357],"tcp_quaternion_wxyz":[0.0331091108559579,-0.014766586022298403,0.9993364884125338,-0.0035096499654252242],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,-3.039639446012625e-18,-8.607561823318714e-17,1.0415950769129129e-07],"object_linear_velocity_m_s":[2.4700231542035375e-16,3.4419264092320714e-17,1.6794449647734658e-15],"object_angular_velocity_rad_s":[3.750680010307172e-15,-1.1187733929859275e-14,9.604106533919026e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11358078793169026,1.7103205443429563,-1.0975175957369077,-0.0002830017590483404,1.0225078819978701,-0.1233117859462847,0.035],"actuator_force_native":[0.17692400894589078,0.26815278352754035,-0.26017834726543754,-0.05452058469610271,0.30123725968735293,0.19083757925568934,-6.14028289125379e-06],"issued_joint_targets_rad":[-0.11354394766549933,1.7114389630372049,-1.099000266285428,-0.0003374472827983241,1.0245213536371889,-0.12264515830505193],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.740000000000041,"joint_targets_rad":[-0.11354394766549933,1.7114389630372049,-1.099000266285428,-0.0003374472827983241,1.0245213536371889,-0.12264515830505193],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.76000000000003,"qpos":[-0.11601607988193106,1.7047386444979187,-1.0913340494689747,0.0018790645845327518,0.9797892195105296,-0.14617097572080015,0.03499983787247054,-0.03500002769870396,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999956,1.0742010648152305e-17,-9.965615657042985e-17,1.0452381432909102e-07],"qvel":[0.005098748344367814,0.05354096218374363,-0.07057169426370855,-0.007275119928973919,0.09738886552631475,0.02916499737592969,2.526992326450083e-06,3.3997369972574176e-06,1.1661956134708367e-16,1.0815906048850838e-17,1.6516893891578369e-15,1.9634322360295163e-16,2.894956499275128e-15,1.0405262933136236e-08],"joint_position_rad":[-0.11601607988193106,1.7047386444979187,-1.0913340494689747,0.0018790645845327518,0.9797892195105296,-0.14617097572080015],"joint_velocity_rad_s":[0.005098748344367814,0.05354096218374363,-0.07057169426370855,-0.007275119928973919,0.09738886552631475,0.02916499737592969],"gripper_joint_position_m":[0.03499983787247054,-0.03500002769870396],"tcp_position_m":[0.30602682269668435,-0.03390853692734773,0.08270441210695745],"tcp_quaternion_wxyz":[0.032244835172928914,-0.0145673824233462,0.9993678894632467,-0.0034472429241971065],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999956,1.0742010648152305e-17,-9.965615657042985e-17,1.0452381432909102e-07],"object_linear_velocity_m_s":[1.1661956134708367e-16,1.0815906048850838e-17,1.6516893891578369e-15],"object_angular_velocity_rad_s":[1.9634261634525951e-16,2.8949565400966093e-15,1.0405262933136257e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11354394766549933,1.7114389630372049,-1.099000266285428,-0.0003374472827983241,1.0245213536371889,-0.12264515830505193,0.035],"actuator_force_native":[0.17227683559269913,0.26832067222417777,-0.2604388739977139,-0.05228487504837344,0.301238042977122,0.19151067809358757,-6.149860453774636e-06],"issued_joint_targets_rad":[-0.11351016455119645,1.7125500463839962,-1.1004720116071098,-0.00038674612092175556,1.0265192364226507,-0.12197327047222273],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.76000000000003,"joint_targets_rad":[-0.11351016455119645,1.7125500463839962,-1.1004720116071098,-0.00038674612092175556,1.0265192364226507,-0.12197327047222273],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.780000000000019,"qpos":[-0.1159153777316961,1.7058676460139617,-1.0928328491010313,0.0017361896319376966,0.9818796768721412,-0.14558471468293507,0.03499983875355972,-0.035000026548737254,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.0458916242720824e-17,-1.0836736960304082e-16,1.0499002256428197e-07],"qvel":[0.004961738443255798,0.05322005370312613,-0.07008420044890638,-0.006968575387306911,0.09677272014254039,0.029269860445405343,2.519829352971147e-06,3.38909958615723e-06,1.3330330739872807e-16,2.457284402900614e-17,2.1707186531700972e-15,-4.367930936168055e-16,2.9767106986402985e-15,1.8997382459758006e-08],"joint_position_rad":[-0.1159153777316961,1.7058676460139617,-1.0928328491010313,0.0017361896319376966,0.9818796768721412,-0.14558471468293507],"joint_velocity_rad_s":[0.004961738443255798,0.05322005370312613,-0.07008420044890638,-0.006968575387306911,0.09677272014254039,0.029269860445405343],"gripper_joint_position_m":[0.03499983875355972,-0.035000026548737254],"tcp_position_m":[0.3060174068207988,-0.03390100210993497,0.08269018325263629],"tcp_quaternion_wxyz":[0.031385645363785256,-0.014363924721613726,0.999398404282853,-0.003383555611789404],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.0458916242720824e-17,-1.0836736960304082e-16,1.0499002256428197e-07],"object_linear_velocity_m_s":[1.3330330739872807e-16,2.457284402900614e-17,2.1707186531700972e-15],"object_angular_velocity_rad_s":[-4.367937227840353e-16,2.9767106061450672e-15,1.8997382459758003e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000037},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028},{"geom_ids":[1,90],"normal_force_n":0.09810000000000035},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028}],"native_actuator_controls":[-0.11351016455119645,1.7125500463839962,-1.1004720116071098,-0.00038674612092175556,1.0265192364226507,-0.12197327047222273,0.035],"actuator_force_native":[0.16760836222369413,0.268491761087148,-0.26071199824176006,-0.050074553177843525,0.3012365152912846,0.19220965143901547,-6.1492891534342675e-06],"issued_joint_targets_rad":[-0.11347939564022046,1.713653563921887,-1.1019325512518443,-0.00043099363294474974,1.028501168151317,-0.12129591839149326],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.780000000000019,"joint_targets_rad":[-0.11347939564022046,1.713653563921887,-1.1019325512518443,-0.00043099363294474974,1.028501168151317,-0.12129591839149326],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.800000000000008,"qpos":[-0.1158174375202597,1.7069896970437635,-1.0943211074499346,0.0015994650172560067,0.9839565578468169,-0.1449962832472879,0.03499983969197292,-0.035000025350375066,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.6668987206758013e-17,-9.740410951029608e-17,1.0544991178889212e-07],"qvel":[0.004824190415235761,0.05288859710573862,-0.0695838466929909,-0.00666563442034908,0.09614187786153743,0.029378763163091487,2.5107324870809435e-06,3.3770488777904026e-06,1.3254871616526311e-16,3.87856792601509e-17,2.4857444364074853e-15,1.0077476226951316e-16,2.259374037586596e-15,3.4684422934955116e-08],"joint_position_rad":[-0.1158174375202597,1.7069896970437635,-1.0943211074499346,0.0015994650172560067,0.9839565578468169,-0.1449962832472879],"joint_velocity_rad_s":[0.004824190415235761,0.05288859710573862,-0.0695838466929909,-0.00666563442034908,0.09614187786153743,0.029378763163091487],"gripper_joint_position_m":[0.03499983969197292,-0.035000025350375066],"tcp_position_m":[0.3060076635681824,-0.03389327370376256,0.08267602744481525],"tcp_quaternion_wxyz":[0.030531666241503816,-0.014156197707899332,0.9994280395189402,-0.003318621144415286],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.6668987206758013e-17,-9.740410951029608e-17,1.0544991178889212e-07],"object_linear_velocity_m_s":[1.3254871616526311e-16,3.87856792601509e-17,2.4857444364074853e-15],"object_angular_velocity_rad_s":[1.0077427901111453e-16,2.259374056989928e-15,3.4684422934955116e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981000000000002}],"native_actuator_controls":[-0.11347939564022046,1.713653563921887,-1.1019325512518443,-0.00043099363294474974,1.028501168151317,-0.12129591839149326,0.035],"actuator_force_native":[0.16292239832696076,0.26866636472118444,-0.2609962706878264,-0.047890173906284854,0.3012332862526943,0.19293550381330915,-6.141341352128293e-06],"issued_joint_targets_rad":[-0.11345159605255892,1.7147492668518407,-1.1033815811051206,-0.0004702875973643407,1.0304667547111384,-0.12061289874188745],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.800000000000008,"joint_targets_rad":[-0.11345159605255892,1.7147492668518407,-1.1033815811051206,-0.0004702875973643407,1.0304667547111384,-0.12061289874188745],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.819999999999997,"qpos":[-0.1157222686471727,1.7081045686670302,-1.0957985462300537,0.00146881679956473,0.9860195294381215,-0.1444055981691424,0.034999840680838945,-0.03500002410751861,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,3.654350408553704e-17,-8.024464590688553e-17,1.0582167658734903e-07],"qvel":[0.004686214426840963,0.05254618550320755,-0.06907049998991989,-0.006366371591646198,0.09549549945607495,0.029491859828251258,2.5004375633748237e-06,3.3633146349917947e-06,1.3817110747285656e-16,8.352595345062969e-17,2.5579089330081203e-15,3.373435060179562e-15,-6.088772762834495e-16,6.332499737156411e-08],"joint_position_rad":[-0.1157222686471727,1.7081045686670302,-1.0957985462300537,0.00146881679956473,0.9860195294381215,-0.1444055981691424],"joint_velocity_rad_s":[0.004686214426840963,0.05254618550320755,-0.06907049998991989,-0.006366371591646198,0.09549549945607495,0.029491859828251258],"gripper_joint_position_m":[0.034999840680838945,-0.03500002410751861],"tcp_position_m":[0.30599758611959865,-0.03388536148913684,0.08266194735551644],"tcp_quaternion_wxyz":[0.029683034839639945,-0.013944185890747944,0.999456801732515,-0.0032524749291432654],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,3.654350408553704e-17,-8.024464590688553e-17,1.0582167658734903e-07],"object_linear_velocity_m_s":[1.3817110747285656e-16,8.352595345062969e-17,2.5579089330081203e-15],"object_angular_velocity_rad_s":[3.3734351788813317e-15,-6.088765669465638e-16,6.332499737156411e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11345159605255892,1.7147492668518407,-1.1033815811051206,-0.0004702875973643407,1.0304667547111384,-0.12061289874188745,0.035],"actuator_force_native":[0.1582227354348973,0.26884492726881604,-0.2612902900557543,-0.045732317918931835,0.301229003546057,0.19368920453017235,-6.129421374456712e-06],"issued_joint_targets_rad":[-0.1134267187928516,1.7158368888164333,-1.1048187744405926,-0.0005047285047978644,1.0324155715947427,-0.11992400916156024],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.819999999999997,"joint_targets_rad":[-0.1134267187928516,1.7158368888164333,-1.1048187744405926,-0.0005047285047978644,1.0324155715947427,-0.11992400916156024],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.839999999999986,"qpos":[-0.11562987829972304,1.709212021269537,-1.097264879811628,0.001344169479108709,0.9880682393911964,-0.14381257316427462,0.03499984172625606,-0.03500002282837496,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,4.099097343815936e-17,-6.471534903385237e-17,1.0611626074076516e-07],"qvel":[0.0045479203784397826,0.05219226899471879,-0.06854372914246239,-0.006070865230926609,0.09483272854230938,0.02960929951785243,2.489423476988717e-06,3.347771500757567e-06,1.9311629222289089e-16,1.2533995643681724e-16,2.6356245447318816e-15,5.4241025631826335e-15,-6.010999439834901e-15,1.1561545364698697e-07],"joint_position_rad":[-0.11562987829972304,1.709212021269537,-1.097264879811628,0.001344169479108709,0.9880682393911964,-0.14381257316427462],"joint_velocity_rad_s":[0.0045479203784397826,0.05219226899471879,-0.06854372914246239,-0.006070865230926609,0.09483272854230938,0.02960929951785243],"gripper_joint_position_m":[0.03499984172625606,-0.03500002282837496],"tcp_position_m":[0.3059871699146449,-0.03387727524409448,0.08264794732755658],"tcp_quaternion_wxyz":[0.028839899328516147,-0.013727873544928916,0.9994846974742496,-0.003185154543113797],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,4.099097343815936e-17,-6.471534903385237e-17,1.0611626074076516e-07],"object_linear_velocity_m_s":[1.9311629222289089e-16,1.2533995643681724e-16,2.6356245447318816e-15],"object_angular_velocity_rad_s":[5.424103823947892e-15,-6.010998298142185e-15,1.15615453646987e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1134267187928516,1.7158368888164333,-1.1048187744405926,-0.0005047285047978644,1.0324155715947427,-0.11992400916156024,0.035],"actuator_force_native":[0.1535131586575158,0.26902805877810465,-0.26159292460485517,-0.04360159320162989,0.3012242292219991,0.1944716907503654,-6.116167627245872e-06],"issued_joint_targets_rad":[-0.1134047145405203,1.7169161473970793,-1.106243783907781,-0.0005344198922733836,1.0343471666758846,-0.11922904821711164],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.839999999999986,"joint_targets_rad":[-0.1134047145405203,1.7169161473970793,-1.106243783907781,-0.0005344198922733836,1.0343471666758846,-0.11922904821711164],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.859999999999975,"qpos":[-0.11554027145034691,1.7103118024763873,-1.0987198103620541,0.001225445906077534,0.9901023167216371,-0.1432171190233401,0.0349998428417837,-0.035000021522072385,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,4.7764347353119916e-17,-6.560149458177623e-17,1.0655481769603289e-07],"qvel":[0.0044094185176658945,0.051826220999741525,-0.06800289710816451,-0.00577919854632543,0.0941527475754472,0.02973122541337304,2.477903909561611e-06,3.3304034900774265e-06,8.151494869404554e-17,5.741179418225214e-17,2.6508901113204774e-15,-1.5885206073532152e-15,2.4098820914663524e-15,1.2525987608343498e-08],"joint_position_rad":[-0.11554027145034691,1.7103118024763873,-1.0987198103620541,0.001225445906077534,0.9901023167216371,-0.1432171190233401],"joint_velocity_rad_s":[0.0044094185176658945,0.051826220999741525,-0.06800289710816451,-0.00577919854632543,0.0941527475754472,0.02973122541337304],"gripper_joint_position_m":[0.0349998428417837,-0.035000021522072385],"tcp_position_m":[0.3059764110933297,-0.03386902457823621,0.08263403281675137],"tcp_quaternion_wxyz":[0.02800241736691485,-0.013507244789725674,0.9995117333697012,-0.003116699551632643],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,4.7764347353119916e-17,-6.560149458177623e-17,1.0655481769603289e-07],"object_linear_velocity_m_s":[8.151494869404554e-17,5.741179418225214e-17,2.6508901113204774e-15],"object_angular_velocity_rad_s":[-1.5885211225657202e-15,2.4098817517406596e-15,1.2525987608343501e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.1134047145405203,1.7169161473970793,-1.106243783907781,-0.0005344198922733836,1.0343471666758846,-0.11922904821711164,0.035],"actuator_force_native":[0.14879746019779994,0.26921648865663883,-0.261903398117326,-0.041498639202409565,0.30121937817930267,0.19528386994222502,-6.1031908957787095e-06],"issued_joint_targets_rad":[-0.11338553142476805,1.7179867462794736,-1.1076562443939424,-0.0005594687037800215,1.0362610641563081,-0.11852781501975677],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.859999999999975,"joint_targets_rad":[-0.11338553142476805,1.7179867462794736,-1.1076562443939424,-0.0005594687037800215,1.0362610641563081,-0.11852781501975677],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.879999999999963,"qpos":[-0.11545345084296427,1.711403646398318,-1.1001630248831415,0.0011125671684863682,0.9921213731201405,-0.14261914372746445,0.034999844043597926,-0.035000020196365916,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.5178695700351606e-17,-7.552147725994055e-17,1.0699543381352116e-07],"qvel":[0.0042708199415513615,0.05144739891653828,-0.06744725179514045,-0.005491460592994038,0.09345480567112555,0.02985777512389629,2.465884840527564e-06,3.3112550367597758e-06,9.747724762300415e-17,3.1662937086071107e-17,2.6606045627859473e-15,-1.8735209237278888e-15,1.4070110512781264e-15,2.2869290167004577e-08],"joint_position_rad":[-0.11545345084296427,1.711403646398318,-1.1001630248831415,0.0011125671684863682,0.9921213731201405,-0.14261914372746445],"joint_velocity_rad_s":[0.0042708199415513615,0.05144739891653828,-0.06744725179514045,-0.005491460592994038,0.09345480567112555,0.02985777512389629],"gripper_joint_position_m":[0.034999844043597926,-0.035000020196365916],"tcp_position_m":[0.305965305300347,-0.033860618809979585,0.0826202098847045],"tcp_quaternion_wxyz":[0.0271707543067909,-0.013282283678938278,0.9995379161990373,-0.0030471513186686493],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.5178695700351606e-17,-7.552147725994055e-17,1.0699543381352116e-07],"object_linear_velocity_m_s":[9.747724762300415e-17,3.1662937086071107e-17,2.6606045627859473e-15],"object_angular_velocity_rad_s":[-1.8735212282696075e-15,1.4070106492100886e-15,2.2869290167004587e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999972},{"geom_ids":[1,90],"normal_force_n":0.09809999999999962},{"geom_ids":[1,90],"normal_force_n":0.0980999999999996},{"geom_ids":[1,90],"normal_force_n":0.09809999999999966}],"native_actuator_controls":[-0.11338553142476805,1.7179867462794736,-1.1076562443939424,-0.0005594687037800215,1.0362610641563081,-0.11852781501975677,0.035],"actuator_force_native":[0.14407945374794018,0.2694109959097659,-0.2622213018883599,-0.0394241319256854,0.3012147018549882,0.1961266243912323,-6.091168119670698e-06],"issued_joint_targets_rad":[-0.11336911479276598,1.719048377572963,-1.1090557760855522,-0.0005799856645300012,1.038156768763069,-0.11782010866409637],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.879999999999963,"joint_targets_rad":[-0.11336911479276598,1.719048377572963,-1.1090557760855522,-0.0005799856645300012,1.038156768763069,-0.11782010866409637],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.899999999999952,"qpos":[-0.11536941697011487,1.7124872739506691,-1.1015941939360778,0.0010054524618525594,0.9941250046855404,-0.14201855255079635,0.0349998453470123,-0.035000018856436575,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,6.1844337596096186e-18,-8.960196968155492e-17,1.0742271815082812e-07],"qvel":[0.0041322370207774245,0.0510551903982777,-0.06687600308388959,-0.005207747121049513,0.09273822556230912,0.029989081536192473,2.453236430902925e-06,3.29039120748238e-06,1.3684689958105403e-16,7.943621946421615e-18,3.1046937726360103e-15,-1.4958658304526645e-15,-1.3467937632151324e-15,4.175354862990513e-08],"joint_position_rad":[-0.11536941697011487,1.7124872739506691,-1.1015941939360778,0.0010054524618525594,0.9941250046855404,-0.14201855255079635],"joint_velocity_rad_s":[0.0041322370207774245,0.0510551903982777,-0.06687600308388959,-0.005207747121049513,0.09273822556230912,0.029989081536192473],"gripper_joint_position_m":[0.0349998453470123,-0.035000018856436575],"tcp_position_m":[0.3059538469096474,-0.03385206689385461,0.08260648477035946],"tcp_quaternion_wxyz":[0.026345081538388257,-0.013052974293286179,0.9995632529630067,-0.0029765528462672654],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,6.1844337596096186e-18,-8.960196968155492e-17,1.0742271815082812e-07],"object_linear_velocity_m_s":[1.3684689958105403e-16,7.943621946421615e-18,3.1046937726360103e-15],"object_angular_velocity_rad_s":[-1.4958655485825373e-15,-1.3467940851114938e-15,4.175354862990515e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999931},{"geom_ids":[1,90],"normal_force_n":0.0980999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999916},{"geom_ids":[1,90],"normal_force_n":0.09809999999999924}],"native_actuator_controls":[-0.11336911479276598,1.719048377572963,-1.1090557760855522,-0.0005799856645300012,1.038156768763069,-0.11782010866409637,0.035],"actuator_force_native":[0.13936298908402378,0.26961233779212535,-0.2625465565384957,-0.037378789450054864,0.3012103024318211,0.19700081656271085,-6.0800626464629914e-06],"issued_joint_targets_rad":[-0.11335540697458116,1.720100723937761,-1.1104419872760432,-0.0005960856630298293,1.0400337695811983,-0.11710572763830049],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.899999999999952,"joint_targets_rad":[-0.11335540697458116,1.720100723937761,-1.1104419872760432,-0.0005960856630298293,1.0400337695811983,-0.11710572763830049],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.919999999999941,"qpos":[-0.11528816804219243,1.7135623939012141,-1.1030129716842665,0.0009040189429885377,0.996112793609036,-0.14141524814335538,0.03499984676442245,-0.035000017504536844,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.0084677052067037e-18,-8.900273058027705e-17,1.0780775948709802e-07],"qvel":[0.003993783771594582,0.05064904220732318,-0.066288380287609,-0.004928161319306591,0.09200239709597227,0.030125273868266016,2.439759367755647e-06,3.267870700433128e-06,1.6782438221465324e-16,1.7126609386235207e-17,2.5023977817768632e-15,6.862745855293855e-16,-3.2231813750773074e-15,7.623143571394223e-08],"joint_position_rad":[-0.11528816804219243,1.7135623939012141,-1.1030129716842665,0.0009040189429885377,0.996112793609036,-0.14141524814335538],"joint_velocity_rad_s":[0.003993783771594582,0.05064904220732318,-0.066288380287609,-0.004928161319306591,0.09200239709597227,0.030125273868266016],"gripper_joint_position_m":[0.03499984676442245,-0.035000017504536844],"tcp_position_m":[0.30594202864479775,-0.033843377394739645,0.08259286355886566],"tcp_quaternion_wxyz":[0.025525575150076862,-0.01281930083031827,0.9995877509317219,-0.0029049486641769587],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.0084677052067037e-18,-8.900273058027705e-17,1.0780775948709802e-07],"object_linear_velocity_m_s":[1.6782438221465324e-16,1.7126609386235207e-17,2.5023977817768632e-15],"object_angular_velocity_rad_s":[6.862752669276829e-16,-3.2231812274120012e-15,7.623143571394227e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985}],"native_actuator_controls":[-0.11335540697458116,1.720100723937761,-1.1104419872760432,-0.0005960856630298293,1.0400337695811983,-0.11710572763830049,0.035],"actuator_force_native":[0.13465196655092804,0.2698211918871323,-0.26287934590408213,-0.03536337764420172,0.301206164077664,0.1979072942481499,-6.069373736483641e-06],"issued_joint_targets_rad":[-0.11334434704511825,1.7211434603199698,-1.1118144766584024,-0.0006078881398113034,1.0418915431700477,-0.11638446932329409],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.919999999999941,"joint_targets_rad":[-0.11334434704511825,1.7211434603199698,-1.1118144766584024,-0.0006078881398113034,1.0418915431700477,-0.11638446932329409],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.93999999999993,"qpos":[-0.11520969994955994,1.7146287042944472,-1.1044189968329867,0.0008081815697198693,0.9980843095886426,-0.14080913059312047,0.034999848304464065,-0.03500001614019812,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.6511450090428513e-18,-7.470076987359581e-17,1.0809692348107822e-07],"qvel":[0.0038555761996382277,0.050228472583806506,-0.06568366905800944,-0.0046528144829985525,0.09124676360800511,0.030266478679478518,2.4252371580793217e-06,3.2437305132687674e-06,9.096845223429428e-17,4.946190714661771e-18,2.2775776192902696e-15,-1.5829457824767058e-16,3.3192498166433472e-15,8.259051787614636e-09],"joint_position_rad":[-0.11520969994955994,1.7146287042944472,-1.1044189968329867,0.0008081815697198693,0.9980843095886426,-0.14080913059312047],"joint_velocity_rad_s":[0.0038555761996382277,0.050228472583806506,-0.06568366905800944,-0.0046528144829985525,0.09124676360800511,0.030266478679478518],"gripper_joint_position_m":[0.034999848304464065,-0.03500001614019812],"tcp_position_m":[0.30592984152242286,-0.033834558500272824,0.0825793519550058],"tcp_quaternion_wxyz":[0.0247124149787095,-0.012581247690321361,0.999611417676361,-0.002832384778036062],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.6511450090428513e-18,-7.470076987359581e-17,1.0809692348107822e-07],"object_linear_velocity_m_s":[9.096845223429428e-17,4.946190714661771e-18,2.2775776192902696e-15],"object_angular_velocity_rad_s":[-1.5829529708296892e-16,3.3192497823771658e-15,8.259051787614641e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11334434704511825,1.7211434603199698,-1.1118144766584024,-0.0006078881398113034,1.0418915431700477,-0.11638446932329409,0.035],"actuator_force_native":[0.1299503513571434,0.2700381191227734,-0.2632200407432066,-0.03337871596625415,0.30120219040204255,0.19884689467904604,-6.058364352856671e-06],"issued_joint_targets_rad":[-0.11333587058105886,1.7221762552197766,-1.1131728350057746,-0.0006155174852047468,1.0437295558363315,-0.11565612966350838],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.93999999999993,"joint_targets_rad":[-0.11333587058105886,1.7221762552197766,-1.1131728350057746,-0.0006155174852047468,1.0437295558363315,-0.11565612966350838],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.95999999999992,"qpos":[-0.1151340062178598,1.7156858939526014,-1.1058118940708168,0.0007178529276501028,1.0000391108799644,-0.1402000974704107,0.03499984997206701,-0.03500001476074647,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,6.758115902769455e-18,-8.448384850571183e-17,1.0856628830414221e-07],"qvel":[0.0037177326372182205,0.04979307045180766,-0.06506122996418315,-0.004381826640539564,0.09047080607026424,0.030412820664097114,2.4094717742936475e-06,3.2179797561129148e-06,1.0522257031386316e-16,9.823385208738672e-18,2.256760937578548e-15,-1.7467142029049017e-16,2.5926202358829104e-15,1.507894289384971e-08],"joint_position_rad":[-0.1151340062178598,1.7156858939526014,-1.1058118940708168,0.0007178529276501028,1.0000391108799644,-0.1402000974704107],"joint_velocity_rad_s":[0.0037177326372182205,0.04979307045180766,-0.06506122996418315,-0.004381826640539564,0.09047080607026424,0.030412820664097114],"gripper_joint_position_m":[0.03499984997206701,-0.03500001476074647],"tcp_position_m":[0.30591727502574145,-0.03382561806036273,0.08256595515758673],"tcp_quaternion_wxyz":[0.023905784050060035,-0.012338799559290178,0.9996342610861795,-0.0027589086747691594],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,6.758115902769455e-18,-8.448384850571183e-17,1.0856628830414221e-07],"object_linear_velocity_m_s":[1.0522257031386316e-16,9.823385208738672e-18,2.256760937578548e-15],"object_angular_velocity_rad_s":[-1.7467198578065239e-16,2.5926201977521845e-15,1.507894289384972e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11333587058105886,1.7221762552197766,-1.1131728350057746,-0.0006155174852047468,1.0437295558363315,-0.11565612966350838,0.035],"actuator_force_native":[0.12526218775798625,0.2702635491149863,-0.26356912497570306,-0.031425683311496165,0.3011982404582749,0.19982044707287772,-6.046241551649345e-06],"issued_joint_targets_rad":[-0.1133299094093839,1.7231987715135757,-1.1145166462682272,-0.0006191034507805002,1.0455472651066609,-0.11492050305860628],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.95999999999992,"joint_targets_rad":[-0.1133299094093839,1.7231987715135757,-1.1145166462682272,-0.0006191034507805002,1.0455472651066609,-0.11492050305860628],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.979999999999908,"qpos":[-0.11506107795587339,1.7167336438376228,-1.1071912756901694,0.0006329430471336469,1.0019767449829018,-0.1395880438607147,0.03499985176661122,-0.03500001333214398,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-3.2509452522960895e-18,-7.789868551779937e-17,1.0903535165207108e-07],"qvel":[0.003580374152731216,0.04934248582105711,-0.06442050274864544,-0.004115326841419678,0.08967402844431062,0.030564423056739887,2.391483680622543e-06,3.1949039386579568e-06,1.0243500672799509e-16,-2.723789374907935e-18,2.1984742287857273e-15,-6.1856449501090375e-16,1.9786359380353227e-15,2.7530341816837326e-08],"joint_position_rad":[-0.11506107795587339,1.7167336438376228,-1.1071912756901694,0.0006329430471336469,1.0019767449829018,-0.1395880438607147],"joint_velocity_rad_s":[0.003580374152731216,0.04934248582105711,-0.06442050274864544,-0.004115326841419678,0.08967402844431062,0.030564423056739887],"gripper_joint_position_m":[0.03499985176661122,-0.03500001333214398],"tcp_position_m":[0.30590431741535323,-0.033816563642131384,0.08255267782243567],"tcp_quaternion_wxyz":[0.02310586835691913,-0.012091941491602585,0.9996562893743528,-0.0026845693762783257],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-3.2509452522960895e-18,-7.789868551779937e-17,1.0903535165207108e-07],"object_linear_velocity_m_s":[1.0243500672799509e-16,-2.723789374907935e-18,2.1984742287857273e-15],"object_angular_velocity_rad_s":[-6.18564930782575e-16,1.9786358033234818e-15,2.753034181683735e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.1133299094093839,1.7231987715135757,-1.1145166462682272,-0.0006191034507805002,1.0455472651066609,-0.11492050305860628,0.035],"actuator_force_native":[0.12059161295550247,0.27049778497095645,-0.26392713250139366,-0.029505225709467495,0.30119415857112486,0.20082877343597416,-6.028082851772254e-06],"issued_joint_targets_rad":[-0.1133263913436009,1.7242106669145176,-1.1158454881971485,-0.0006187815801370235,1.0473441205548273,-0.11417738249748247],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.979999999999908,"joint_targets_rad":[-0.1133263913436009,1.7242106669145176,-1.1158454881971485,-0.0006187815801370235,1.0473441205548273,-0.11417738249748247],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.999999999999897,"qpos":[-0.11499090379772886,1.717771628150039,-1.1085567431580938,0.000553359200373415,1.0038967490223742,-0.1389728623918324,0.0349998536733422,-0.035000011821485176,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-1.44210507477931e-17,-8.001991152656318e-17,1.0942794471121218e-07],"qvel":[0.003443624752500188,0.04887641576940623,-0.0637610010142082,-0.003853454694388072,0.0888559461204843,0.030721407911970637,2.3714122834260174e-06,3.1715501650630356e-06,1.346842082069665e-16,-2.5509937676632988e-17,2.3997021519990374e-15,-1.325313577427627e-15,-1.9281895093889534e-15,5.0263451880369444e-08],"joint_position_rad":[-0.11499090379772886,1.717771628150039,-1.1085567431580938,0.000553359200373415,1.0038967490223742,-0.1389728623918324],"joint_velocity_rad_s":[0.003443624752500188,0.04887641576940623,-0.0637610010142082,-0.003853454694388072,0.0888559461204843,0.030721407911970637],"gripper_joint_position_m":[0.0349998536733422,-0.035000011821485176],"tcp_position_m":[0.30589095609780925,-0.033807402593378735,0.08253952409596109],"tcp_quaternion_wxyz":[0.022312856893704366,-0.011840658997126574,0.9996775110763892,-0.002609417534688914],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-1.44210507477931e-17,-8.001991152656318e-17,1.0942794471121218e-07],"object_linear_velocity_m_s":[1.346842082069665e-16,-2.5509937676632988e-17,2.3997021519990374e-15],"object_angular_velocity_rad_s":[-1.3253131634761204e-15,-1.928189797991888e-15,5.026345188036949e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.09809999999999958},{"geom_ids":[1,90],"normal_force_n":0.09809999999999965}],"native_actuator_controls":[-0.1133263913436009,1.7242106669145176,-1.1158454881971485,-0.0006187815801370235,1.0473441205548273,-0.11417738249748247,0.035],"actuator_force_native":[0.11594287256773583,0.2707410223112561,-0.26429459805333977,-0.027618357748477183,0.30118979614380414,0.2018726870755434,-6.003995104864046e-06],"issued_joint_targets_rad":[-0.11332523990316772,1.725211594188613,-1.1171589326512292,-0.0006146936657172197,1.0491195641956335,-0.11342655993559068],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.999999999999897,"joint_targets_rad":[-0.11332523990316772,1.725211594188613,-1.1171589326512292,-0.0006146936657172197,1.0491195641956335,-0.11342655993559068],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.019999999999886,"qpos":[-0.1149234698360155,1.7187995151238196,-1.1099078885019518,0.0004790056881421378,1.0057986499175144,-0.13835444326324925,0.0349998556859681,-0.03500001023505452,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-1.8172439237156963e-17,-8.2541811044059e-17,1.0976390489078732e-07],"qvel":[0.0033076119170186327,0.04839458974128435,-0.06308230164936762,-0.0035963604639549056,0.08801607873908542,0.03088389574287966,2.3499274779417543e-06,3.1451190682995823e-06,2.158999895332078e-16,-4.0889600729126714e-17,2.124921953404311e-15,-1.4719747822711823e-15,-8.165658299609499e-15,9.176837003110818e-08],"joint_position_rad":[-0.1149234698360155,1.7187995151238196,-1.1099078885019518,0.0004790056881421378,1.0057986499175144,-0.13835444326324925],"joint_velocity_rad_s":[0.0033076119170186327,0.04839458974128435,-0.06308230164936762,-0.0035963604639549056,0.08801607873908542,0.03088389574287966],"gripper_joint_position_m":[0.0349998556859681,-0.03500001023505452],"tcp_position_m":[0.30587717799164177,-0.03379814210480787,0.08252649769826921],"tcp_quaternion_wxyz":[0.02152694185454549,-0.011584938136041853,0.9996979350445763,-0.002533505552638205],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-1.8172439237156963e-17,-8.2541811044059e-17,1.0976390489078732e-07],"object_linear_velocity_m_s":[2.158999895332078e-16,-4.0889600729126714e-17,2.124921953404311e-15],"object_angular_velocity_rad_s":[-1.4719730048315214e-15,-8.1656586194134e-15,9.176837003110826e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11332523990316772,1.725211594188613,-1.1171589326512292,-0.0006146936657172197,1.0491195641956335,-0.11342655993559068,0.035],"actuator_force_native":[0.11132033504272876,0.27099337647706534,-0.26467202369535414,-0.02576617183459977,0.3011850246725629,0.20295298966226638,-5.977076113383717e-06],"issued_joint_targets_rad":[-0.11333564560702585,1.7257099951578796,-1.1177874934019125,-0.0005895049009171032,1.0499587437479911,-0.11308182427863808],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.019999999999886,"joint_targets_rad":[-0.11333564560702585,1.7257099951578796,-1.1177874934019125,-0.0005895049009171032,1.0499587437479911,-0.11308182427863808],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.039999999999875,"qpos":[-0.11485902851419497,1.7197309755656782,-1.111120859481369,0.0004105974463025474,1.0075145311144083,-0.13773781107908295,0.03499989544292283,-0.034999950226993114,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-1.8184279707935957e-17,-8.545630616031827e-17,1.1011200417752806e-07],"qvel":[0.003149914364959572,0.042321284227011355,-0.05468365905555664,-0.003286164428558842,0.07831766180230006,0.03066002646001191,3.3235053359304394e-06,6.028147499311037e-06,1.0223044412482883e-16,-2.0837772671663258e-17,2.08606414754243e-15,7.045788811391456e-16,3.3322680207597697e-15,9.942351386322996e-09],"joint_position_rad":[-0.11485902851419497,1.7197309755656782,-1.111120859481369,0.0004105974463025474,1.0075145311144083,-0.13773781107908295],"joint_velocity_rad_s":[0.003149914364959572,0.042321284227011355,-0.05468365905555664,-0.003286164428558842,0.07831766180230006,0.03066002646001191],"gripper_joint_position_m":[0.03499989544292283,-0.034999950226993114],"tcp_position_m":[0.3058626756872223,-0.0337887002363995,0.08251226129174885],"tcp_quaternion_wxyz":[0.02081281763387759,-0.011326955520853067,0.9997161854699386,-0.002464794150169653],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-1.8184279707935957e-17,-8.545630616031827e-17,1.1011200417752806e-07],"object_linear_velocity_m_s":[1.0223044412482883e-16,-2.0837772671663258e-17,2.08606414754243e-15],"object_angular_velocity_rad_s":[7.045781455944355e-16,3.332268176286467e-15,9.942351386323007e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11333564560702585,1.7257099951578796,-1.1177874934019125,-0.0005895049009171032,1.0499587437479911,-0.11308182427863808,0.035],"actuator_force_native":[0.1061210607487304,0.2667151462410402,-0.2599124183657011,-0.023573271745991817,0.3069656336323803,0.20056982831443082,-1.2435243592845424e-05],"issued_joint_targets_rad":[-0.1133536012915493,1.7257394206910182,-1.1177823864719838,-0.0005505858815750024,1.0499342675487315,-0.11312108138534092],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.039999999999875,"joint_targets_rad":[-0.1133536012915493,1.7257394206910182,-1.1177823864719838,-0.0005505858815750024,1.0499342675487315,-0.11312108138534092],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.059999999999864,"qpos":[-0.11479793836364406,1.7204632422848456,-1.1120593577872957,0.000348891302400831,1.0089211683369241,-0.13713149513533066,0.03499995152236761,-0.03499977405380497,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-1.1836963424515314e-17,-1.0217941817439428e-16,1.1055747164175772e-07],"qvel":[0.0029779566398115244,0.0315231838495594,-0.04018079502276455,-0.002946963377663013,0.06424302197670063,0.029988396673502574,2.230164424968206e-06,1.1020801662018484e-05,1.2835413359307523e-16,-1.3407532517293744e-17,1.9750418450799135e-15,6.088903480042506e-16,2.274188949910253e-15,1.8152222875000947e-08],"joint_position_rad":[-0.11479793836364406,1.7204632422848456,-1.1120593577872957,0.000348891302400831,1.0089211683369241,-0.13713149513533066],"joint_velocity_rad_s":[0.0029779566398115244,0.0315231838495594,-0.04018079502276455,-0.002946963377663013,0.06424302197670063,0.029988396673502574],"gripper_joint_position_m":[0.03499995152236761,-0.03499977405380497],"tcp_position_m":[0.30583456096889106,-0.03377756264645175,0.08249713223511038],"tcp_quaternion_wxyz":[0.020215007975198377,-0.011070599679572489,0.9997314608976566,-0.002408602651906858],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-1.1836963424515314e-17,-1.0217941817439428e-16,1.1055747164175772e-07],"object_linear_velocity_m_s":[1.2835413359307523e-16,-1.3407532517293744e-17,1.9750418450799135e-15],"object_angular_velocity_rad_s":[6.088898414375085e-16,2.2741890849746888e-15,1.8152222875000967e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.1133536012915493,1.7257394206910182,-1.1177823864719838,-0.0005505858815750024,1.0499342675487315,-0.11312108138534092,0.035],"actuator_force_native":[0.10065718256852385,0.2644783532460053,-0.2569383196612307,-0.02124427047071827,0.31376645915302426,0.19512154248964353,-9.211716829105043e-06],"issued_joint_targets_rad":[-0.11336886740771582,1.7257631999307506,-1.1177772615499275,-0.0005170352377612733,1.0499135045280903,-0.1131543756007669],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.059999999999864,"joint_targets_rad":[-0.11336886740771582,1.7257631999307506,-1.1177772615499275,-0.0005170352377612733,1.0499135045280903,-0.1131543756007669],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.079999999999853,"qpos":[-0.11474013239491651,1.720993436289149,-1.112732560869373,0.0002935011046600423,1.0101126101579094,-0.13653977625961064,0.034999966268735104,-0.03499956726251727,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,1.3981769654639618e-18,-9.767495264307368e-17,1.1099690121689092e-07],"qvel":[0.002821409825965742,0.022261394405253182,-0.028201626782081653,-0.0026489172473971923,0.056030265092145634,0.02922608777217824,-1.0174113561891108e-07,9.286384598204931e-06,1.3224704122580834e-16,3.4242655646459408e-18,1.94312293312194e-15,8.693973401374634e-16,1.5207045929197876e-15,3.314137496256388e-08],"joint_position_rad":[-0.11474013239491651,1.720993436289149,-1.112732560869373,0.0002935011046600423,1.0101126101579094,-0.13653977625961064],"joint_velocity_rad_s":[0.002821409825965742,0.022261394405253182,-0.028201626782081653,-0.0026489172473971923,0.056030265092145634,0.02922608777217824],"gripper_joint_position_m":[0.034999966268735104,-0.03499956726251727],"tcp_position_m":[0.3057761790974052,-0.03376284778823461,0.0824833191862443],"tcp_quaternion_wxyz":[0.019692842298456727,-0.010818185712890104,0.9997447623791722,-0.002359854974755731],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,1.3981769654639618e-18,-9.767495264307368e-17,1.1099690121689092e-07],"object_linear_velocity_m_s":[1.3224704122580834e-16,3.4242655646459408e-18,1.94312293312194e-15],"object_angular_velocity_rad_s":[8.693969960762836e-16,1.5207047858278977e-15,3.314137496256392e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11336886740771582,1.7257631999307506,-1.1177772615499275,-0.0005170352377612733,1.0499135045280903,-0.1131543756007669,0.035],"actuator_force_native":[0.09559414984622805,0.2702741193018596,-0.2625679205339537,-0.019176867459866662,0.3139635460635901,0.19001487493017022,1.8579562739429178e-06],"issued_joint_targets_rad":[-0.11338218734002753,1.7257829039795103,-1.117771130309905,-0.00048730353903694097,1.0498942081771725,-0.11318340088382109],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.079999999999853,"joint_targets_rad":[-0.11338218734002753,1.7257829039795103,-1.117771130309905,-0.00048730353903694097,1.0498942081771725,-0.11318340088382109],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.099999999999842,"qpos":[-0.11468526000060614,1.721360342347912,-1.1131954632227203,0.00024362264793593159,1.011175200343184,-0.1359634867932916,0.03499994722906924,-0.034999444454519364,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,3.588212227457741e-18,-8.101125879702067e-17,1.114075606561846e-07],"qvel":[0.0026821211045244195,0.01511623903757919,-0.01899216335027327,-0.0023886121445164934,0.050826819249254106,0.028451110700812295,-1.1239551511651564e-06,3.4707081901367153e-06,1.2467303694995299e-16,1.6598050147949814e-18,1.88483622432912e-15,9.684737841658119e-17,5.576261043682716e-16,6.05077814421241e-08],"joint_position_rad":[-0.11468526000060614,1.721360342347912,-1.1131954632227203,0.00024362264793593159,1.011175200343184,-0.1359634867932916],"joint_velocity_rad_s":[0.0026821211045244195,0.01511623903757919,-0.01899216335027327,-0.0023886121445164934,0.050826819249254106,0.028451110700812295],"gripper_joint_position_m":[0.03499994722906924,-0.034999444454519364],"tcp_position_m":[0.3056852051995528,-0.03374431974604205,0.08247118471122578],"tcp_quaternion_wxyz":[0.01921150376656172,-0.010570542533037153,0.9997568830643575,-0.002314415482374107],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,3.588212227457741e-18,-8.101125879702067e-17,1.114075606561846e-07],"object_linear_velocity_m_s":[1.2467303694995299e-16,1.6598050147949814e-18,1.88483622432912e-15],"object_angular_velocity_rad_s":[9.684724436542778e-17,5.576261255130882e-16,6.050778144212417e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11338218734002753,1.7257829039795103,-1.117771130309905,-0.00048730353903694097,1.0498942081771725,-0.11318340088382109,0.035],"actuator_force_native":[0.09083520732366424,0.2782237353399353,-0.2710925502234005,-0.017293986756332435,0.3109498494660041,0.18512419304348682,7.730612986422969e-06],"issued_joint_targets_rad":[-0.11339423145597553,1.7257999809266047,-1.1177637921809471,-0.0004601041601277853,1.0498751757678693,-0.11320960440534554],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.099999999999842,"joint_targets_rad":[-0.11339423145597553,1.7257999809266047,-1.1177637921809471,-0.0004601041601277853,1.0498751757678693,-0.11320960440534554],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.11999999999983,"qpos":[-0.11463303164286234,1.7216065275356192,-1.1135010456053336,0.00019862479550732635,1.0121493612754853,-0.13540259504762395,0.03499992214577071,-0.034999445205487346,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,2.305607094804835e-18,-5.57021611805582e-17,1.1168903928723186e-07],"qvel":[0.002555197446998587,0.010230419396667256,-0.01242281168774317,-0.0021539961765319757,0.047116788391263,0.027686023117993553,-1.0101315101205678e-06,-2.7255595842133732e-06,4.297184246238692e-17,-1.2552060145133185e-17,1.938959596779596e-15,-6.509447638096015e-16,4.953922467745459e-15,1.1047192879544846e-07],"joint_position_rad":[-0.11463303164286234,1.7216065275356192,-1.1135010456053336,0.00019862479550732635,1.0121493612754853,-0.13540259504762395],"joint_velocity_rad_s":[0.002555197446998587,0.010230419396667256,-0.01242281168774317,-0.0021539961765319757,0.047116788391263,0.027686023117993553],"gripper_joint_position_m":[0.03499992214577071,-0.034999445205487346],"tcp_position_m":[0.30556813369166835,-0.03372274992689583,0.0824598434230891],"tcp_quaternion_wxyz":[0.018756080621029392,-0.010327977679121343,0.9997681664269876,-0.002270620183151054],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,2.305607094804835e-18,-5.57021611805582e-17,1.1168903928723186e-07],"object_linear_velocity_m_s":[4.297184246238692e-17,-1.2552060145133185e-17,1.938959596779596e-15],"object_angular_velocity_rad_s":[-6.509458827143188e-16,4.9539223218291415e-15,1.104719287954486e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11339423145597553,1.7257999809266047,-1.1177637921809471,-0.0004601041601277853,1.0498751757678693,-0.11320960440534554,0.035],"actuator_force_native":[0.08632802771595038,0.2843241742954774,-0.27890566761035984,-0.01557917734274459,0.3065829623369467,0.1804008717457939,8.164826722278917e-06],"issued_joint_targets_rad":[-0.1134053359907181,1.7258151894007345,-1.1177555463002378,-0.00043484427904148543,1.049856252578044,-0.11323368971333987],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.11999999999983,"joint_targets_rad":[-0.1134053359907181,1.7258151894007345,-1.1177555463002378,-0.00043484427904148543,1.049856252578044,-0.11323368971333987],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.13999999999982,"qpos":[-0.11458322295976964,1.721790989976794,-1.1137054284739714,0.00015820209059696193,1.0130614455888496,-0.13485685427383431,0.03499990484385586,-0.034999560453551674,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-1.0016249499090994e-18,-2.4952586671817753e-17,1.1210808562755082e-07],"qvel":[0.00243837534636634,0.00862284210889661,-0.008418526714845978,-0.0019302279821917416,0.04405409674805164,0.026938334781947796,-2.4779332831492635e-07,-7.5672091132291085e-06,3.354292175445176e-17,-9.454976965235753e-19,1.815447285290047e-15,-2.0131280538886097e-16,1.885240919291864e-15,1.196872881186527e-08],"joint_position_rad":[-0.11458322295976964,1.721790989976794,-1.1137054284739714,0.00015820209059696193,1.0130614455888496,-0.13485685427383431],"joint_velocity_rad_s":[0.00243837534636634,0.00862284210889661,-0.008418526714845978,-0.0019302279821917416,0.04405409674805164,0.026938334781947796],"gripper_joint_position_m":[0.03499990484385586,-0.034999560453551674],"tcp_position_m":[0.3054347273066887,-0.03369924739971786,0.08244421208907649],"tcp_quaternion_wxyz":[0.018312061675069696,-0.01009056984638584,0.9997789207834233,-0.0022267362926267622],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-1.0016249499090994e-18,-2.4952586671817753e-17,1.1210808562755082e-07],"object_linear_velocity_m_s":[3.354292175445176e-17,-9.454976965235753e-19,1.815447285290047e-15],"object_angular_velocity_rad_s":[-2.0131322868765851e-16,1.8852408741782094e-15,1.1968728811865288e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.1134053359907181,1.7258151894007345,-1.1177555463002378,-0.00043484427904148543,1.049856252578044,-0.11323368971333987,0.035],"actuator_force_native":[0.08203908079229194,0.27882174337077004,-0.2819167925270847,-0.014070714874579185,0.30186692476986643,0.17582414343202268,5.0452124074062965e-06],"issued_joint_targets_rad":[-0.11341581548097991,1.7258292621665428,-1.1177467220316264,-0.000411007010075749,1.0498373261194764,-0.11325627475966556],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.13999999999982,"joint_targets_rad":[-0.11341581548097991,1.7258292621665428,-1.1177467220316264,-0.000411007010075749,1.0498373261194764,-0.11325627475966556],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.159999999999808,"qpos":[-0.1145357071400177,1.7219571581882809,-1.1138399089147644,0.00012193824902372881,1.013901015338397,-0.1343257146721285,0.03499990879725927,-0.034999734176652204,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-2.043860870312737e-17,-1.0470934355586018e-17,1.1258352394707806e-07],"qvel":[0.0023249202934838785,0.008117338624044032,-0.0055698935931529185,-0.0017394149587175091,0.04035658406571722,0.026220719732019424,6.566094958438399e-07,-9.046452158875641e-06,1.641378298207565e-17,-2.6403826144154215e-17,1.8334884094402054e-15,-4.570158511258672e-16,1.1032822982438172e-15,2.185187633000812e-08],"joint_position_rad":[-0.1145357071400177,1.7219571581882809,-1.1138399089147644,0.00012193824902372881,1.013901015338397,-0.1343257146721285],"joint_velocity_rad_s":[0.0023249202934838785,0.008117338624044032,-0.0055698935931529185,-0.0017394149587175091,0.04035658406571722,0.026220719732019424],"gripper_joint_position_m":[0.03499990879725927,-0.034999734176652204],"tcp_position_m":[0.30529526491000686,-0.03367502995639659,0.08241841476230383],"tcp_quaternion_wxyz":[0.01787858696888531,-0.009858219988393957,0.9997891812717712,-0.002182805208424243],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-2.043860870312737e-17,-1.0470934355586018e-17,1.1258352394707806e-07],"object_linear_velocity_m_s":[1.641378298207565e-17,-2.6403826144154215e-17,1.8334884094402054e-15],"object_angular_velocity_rad_s":[-4.570161000062936e-16,1.1032821962321247e-15,2.1851876330008152e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11341581548097991,1.7258292621665428,-1.1177467220316264,-0.000411007010075749,1.0498373261194764,-0.11325627475966556,0.035],"actuator_force_native":[0.0779667312556036,0.2691816251407033,-0.28469558138318973,-0.012620735570391568,0.2988282317122195,0.17136331952660044,3.6506215006504306e-07],"issued_joint_targets_rad":[-0.1134257511455368,1.7258424053789458,-1.1177377036879357,-0.0003884911116565539,1.0498186821362303,-0.11327751023106872],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.159999999999808,"joint_targets_rad":[-0.1134257511455368,1.7258424053789458,-1.1177377036879357,-0.0003884911116565539,1.0498186821362303,-0.11327751023106872],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.179999999999797,"qpos":[-0.11449042525189963,1.722117389619082,-1.1139415268812898,8.909054614333642e-05,1.0146817305027223,-0.13380871695966298,0.03499992343398229,-0.03499992313482079,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-3.7712929757547406e-17,1.2439915536520877e-17,1.1299179916805774e-07],"qvel":[0.00221378410029439,0.007908688512138466,-0.00480895069788977,-0.001576258476234063,0.03813650702788608,0.025529487583084917,1.2532735153398676e-06,-8.866661801745027e-06,-2.339681669369657e-17,-5.8228647039149e-17,1.826549515536299e-15,-1.4674613119614689e-15,2.2082610308736717e-15,3.9896007892549865e-08],"joint_position_rad":[-0.11449042525189963,1.722117389619082,-1.1139415268812898,8.909054614333642e-05,1.0146817305027223,-0.13380871695966298],"joint_velocity_rad_s":[0.00221378410029439,0.007908688512138466,-0.00480895069788977,-0.001576258476234063,0.03813650702788608,0.025529487583084917],"gripper_joint_position_m":[0.03499992343398229,-0.03499992313482079],"tcp_position_m":[0.3051580233506412,-0.03365116289257466,0.08238728294464392],"tcp_quaternion_wxyz":[0.017461087155900137,-0.009630923918689527,0.9997988682761039,-0.0021397975671884483],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-3.7712929757547406e-17,1.2439915536520877e-17,1.1299179916805774e-07],"object_linear_velocity_m_s":[-2.339681669369657e-17,-5.8228647039149e-17,1.826549515536299e-15],"object_angular_velocity_rad_s":[-1.467461809999602e-15,2.208260702260622e-15,3.9896007892549925e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.1134257511455368,1.7258424053789458,-1.1177377036879357,-0.0003884911116565539,1.0498186821362303,-0.11327751023106872,0.035],"actuator_force_native":[0.07410500800755493,0.25845781822840763,-0.2796493910422271,-0.011221973930825298,0.2941647557932505,0.16701783591131547,-3.203726868017398e-06],"issued_joint_targets_rad":[-0.11343510937876551,1.7258546631310598,-1.1177290034572263,-0.0003673592095981566,1.049800931790704,-0.11329736263088788],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.179999999999797,"joint_targets_rad":[-0.11343510937876551,1.7258546631310598,-1.1177290034572263,-0.0003673592095981566,1.049800931790704,-0.11329736263088788],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.199999999999786,"qpos":[-0.11444735487326896,1.7222730439038076,-1.1140349236418716,5.950655661343415e-05,1.0154325315333568,-0.13330508397032378,0.03499993968811747,-0.03500005889676908,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-5.338090577676912e-17,1.903171371715227e-17,1.133597107036001e-07],"qvel":[0.002104583128613869,0.007655926272882028,-0.004575418233333499,-0.0014139433981082204,0.03707641059306063,0.02487624042014059,-2.7767499107334863e-07,-3.3820334916006213e-06,-2.982788557114863e-17,-1.2313727173100802e-16,1.7904672672359822e-15,-5.187608690010728e-15,6.579425026118251e-16,7.284003541490689e-08],"joint_position_rad":[-0.11444735487326896,1.7222730439038076,-1.1140349236418716,5.950655661343415e-05,1.0154325315333568,-0.13330508397032378],"joint_velocity_rad_s":[0.002104583128613869,0.007655926272882028,-0.004575418233333499,-0.0014139433981082204,0.03707641059306063,0.02487624042014059],"gripper_joint_position_m":[0.03499993968811747,-0.03500005889676908],"tcp_position_m":[0.3050246331016006,-0.03362785121232446,0.08235598106291099],"tcp_quaternion_wxyz":[0.017056750012236464,-0.00940834863089418,0.9998080571719095,-0.0020973958118436086],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-5.338090577676912e-17,1.903171371715227e-17,1.133597107036001e-07],"object_linear_velocity_m_s":[-2.982788557114863e-17,-1.2313727173100802e-16,1.7904672672359822e-15],"object_angular_velocity_rad_s":[-5.187608836406406e-15,6.579413342567031e-16,7.284003541490702e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11343510937876551,1.7258546631310598,-1.1177290034572263,-0.0003673592095981566,1.049800931790704,-0.11329736263088788,0.035],"actuator_force_native":[0.07045672391720714,0.24824990681574377,-0.2726492940617078,-0.010004913657922528,0.28806938668388327,0.16276285276414826,3.8008502565300972e-06],"issued_joint_targets_rad":[-0.11344396448525448,1.7258662501967235,-1.1177207706261367,-0.00034745497725123395,1.0497841514655923,-0.11331600889678521],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.199999999999786,"joint_targets_rad":[-0.11344396448525448,1.7258662501967235,-1.1177207706261367,-0.00034745497725123395,1.0497841514655923,-0.11331600889678521],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.219999999999775,"qpos":[-0.11440640879427952,1.722423299685354,-1.1141248746991308,3.3051927108641335e-05,1.0161650514367162,-0.13281430177086784,0.03499992161979948,-0.03500009206322268,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-5.565155475383109e-17,1.686434479929062e-17,1.1363601030841496e-07],"qvel":[0.0020008747289887887,0.007376341308580987,-0.004434866396182646,-0.001262154209077898,0.03623621525027297,0.024242249837147865,-1.0019492596824207e-06,-3.2183341826223354e-07,-1.8182867744661853e-17,-6.445509294411345e-17,1.7321805584431615e-15,1.9499220344567197e-15,-3.6431813451569094e-16,7.89162133795896e-09],"joint_position_rad":[-0.11440640879427952,1.722423299685354,-1.1141248746991308,3.3051927108641335e-05,1.0161650514367162,-0.13281430177086784],"joint_velocity_rad_s":[0.0020008747289887887,0.007376341308580987,-0.004434866396182646,-0.001262154209077898,0.03623621525027297,0.024242249837147865],"gripper_joint_position_m":[0.03499992161979948,-0.03500009206322268],"tcp_position_m":[0.3048941931065654,-0.03360498611689023,0.08232579023958353],"tcp_quaternion_wxyz":[0.016662576206423266,-0.0091903184642291,0.9998168194788856,-0.002055258576648279],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-5.565155475383109e-17,1.686434479929062e-17,1.1363601030841496e-07],"object_linear_velocity_m_s":[-1.8182867744661853e-17,-6.445509294411345e-17,1.7321805584431615e-15],"object_angular_velocity_rad_s":[1.9499221175221654e-15,-3.6431769047459937e-16,7.891621337958973e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11344396448525448,1.7258662501967235,-1.1177207706261367,-0.00034745497725123395,1.0497841514655923,-0.11331600889678521,0.035],"actuator_force_native":[0.0669911710770581,0.23855433436665407,-0.26549734217955745,-0.008909505129005523,0.2818366774133523,0.15861955398510452,8.144954319444508e-06],"issued_joint_targets_rad":[-0.11345237827371141,1.7258772915144076,-1.1177129601833973,-0.00032863745454938213,1.0497682189218693,-0.1133335949086911],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.219999999999775,"joint_targets_rad":[-0.11345237827371141,1.7258772915144076,-1.1177129601833973,-0.00032863745454938213,1.0497682189218693,-0.1133335949086911],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.239999999999764,"qpos":[-0.11436747823370011,1.7225679168260577,-1.114212263578134,9.495877948680979e-06,1.0168813513640753,-0.13233601649696364,0.03499990258538914,-0.03500009326226037,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-7.165232512591353e-17,-4.4635297850576195e-18,1.141404636124667e-07],"qvel":[0.0019024599124820838,0.007094900836485089,-0.004313809589609636,-0.0011223858077245292,0.035442827028926024,0.023625247599427256,-7.313818224555945e-07,4.215320614213794e-07,3.479798962427267e-18,-8.560342750538428e-17,1.6544649467194006e-15,2.2295747565664016e-15,-6.492658855689857e-16,1.4408107680522994e-08],"joint_position_rad":[-0.11436747823370011,1.7225679168260577,-1.114212263578134,9.495877948680979e-06,1.0168813513640753,-0.13233601649696364],"joint_velocity_rad_s":[0.0019024599124820838,0.007094900836485089,-0.004313809589609636,-0.0011223858077245292,0.035442827028926024,0.023625247599427256],"gripper_joint_position_m":[0.03499990258538914,-0.03500009326226037],"tcp_position_m":[0.3047665588215092,-0.033582556960560096,0.0822969679278625],"tcp_quaternion_wxyz":[0.016278090241143316,-0.008976772162168786,0.9998251784889601,-0.0020134048695327105],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-7.165232512591353e-17,-4.4635297850576195e-18,1.141404636124667e-07],"object_linear_velocity_m_s":[3.479798962427267e-18,-8.560342750538428e-17,1.6544649467194006e-15],"object_angular_velocity_rad_s":[2.229574904652744e-15,-6.492653745348285e-16,1.4408107680523022e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11345237827371141,1.7258772915144076,-1.1177129601833973,-0.00032863745454938213,1.0497682189218693,-0.1133335949086911,0.035],"actuator_force_native":[0.06369569723668533,0.2292754708855682,-0.2584866804730126,-0.00791340426129988,0.27570443503455166,0.15458634448358444,7.5534935466414765e-06],"issued_joint_targets_rad":[-0.11346037382197355,1.7258878236211073,-1.1177055556923436,-0.0003108400586283446,1.0497530939539692,-0.11335018663604081],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.239999999999764,"joint_targets_rad":[-0.11346037382197355,1.7258878236211073,-1.1177055556923436,-0.0003108400586283446,1.0497530939539692,-0.11335018663604081],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.259999999999753,"qpos":[-0.11433046159887413,1.7227069702079325,-1.1142973081435108,-1.1400461971027787e-05,1.0175820242289002,-0.13186989512782607,0.0349998902870588,-0.03500008686859309,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999944,-7.292518189855338e-17,-1.218254323180092e-17,1.1458865917057192e-07],"qvel":[0.0018089568270526898,0.006820581615109164,-0.004199188532216038,-0.0009944276331584987,0.03467087564119848,0.023024653961893973,-3.950586683388435e-07,5.726789992870961e-07,1.2464268589744986e-17,-9.562916288685283e-17,1.6586282830617453e-15,1.359115722589487e-15,-1.1064968889202296e-16,2.6305566124291624e-08],"joint_position_rad":[-0.11433046159887413,1.7227069702079325,-1.1142973081435108,-1.1400461971027787e-05,1.0175820242289002,-0.13186989512782607],"joint_velocity_rad_s":[0.0018089568270526898,0.006820581615109164,-0.004199188532216038,-0.0009944276331584987,0.03467087564119848,0.023024653961893973],"gripper_joint_position_m":[0.0349998902870588,-0.03500008686859309],"tcp_position_m":[0.3046416707621258,-0.033560566791822316,0.08226952925701447],"tcp_quaternion_wxyz":[0.01590305801255524,-0.008767657045752376,0.9998331523762494,-0.0019718887261991366],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999944,-7.292518189855338e-17,-1.218254323180092e-17,1.1458865917057192e-07],"object_linear_velocity_m_s":[1.2464268589744986e-17,-9.562916288685283e-17,1.6586282830617453e-15],"object_angular_velocity_rad_s":[1.3591157473069153e-15,-1.1064937357684735e-16,2.6305566124291677e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11346037382197355,1.7258878236211073,-1.1177055556923436,-0.0003108400586283446,1.0497530939539692,-0.11335018663604081,0.035],"actuator_force_native":[0.060562238016784065,0.22036536497842008,-0.2516638612455466,-0.007005445700500178,0.2697043837888913,0.15066010397501173,6.363810989951091e-06],"issued_joint_targets_rad":[-0.1134679700332171,1.7258978725378937,-1.1176985412903673,-0.00029400609527988736,1.049738741946469,-0.11336583978930834],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.259999999999753,"joint_targets_rad":[-0.1134679700332171,1.7258978725378937,-1.1176985412903673,-0.00029400609527988736,1.049738741946469,-0.11336583978930834],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.279999999999742,"qpos":[-0.11429526390572674,1.7228406332585242,-1.1143801038909813,-2.9865894823388085e-05,1.0182674481828426,-0.13141561467766114,0.03499988390086272,-0.03500007919411329,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-6.860180636042742e-17,-9.535778008609817e-18,1.1501873702476714e-07],"qvel":[0.0017200771091884324,0.006555778925093326,-0.0040884477192778355,-0.0008775934973504606,0.03391658814717818,0.0224399940930384,-1.4764133283547924e-07,5.692907844809548e-07,1.6185758843230485e-17,-1.017585931778225e-16,1.8279372943170815e-15,1.9690720360615239e-16,4.3218760369649454e-16,4.802732076016738e-08],"joint_position_rad":[-0.11429526390572674,1.7228406332585242,-1.1143801038909813,-2.9865894823388085e-05,1.0182674481828426,-0.13141561467766114],"joint_velocity_rad_s":[0.0017200771091884324,0.006555778925093326,-0.0040884477192778355,-0.0008775934973504606,0.03391658814717818,0.0224399940930384],"gripper_joint_position_m":[0.03499988390086272,-0.03500007919411329],"tcp_position_m":[0.3045194718916866,-0.03353901936187614,0.08224343232270519],"tcp_quaternion_wxyz":[0.015537242869072775,-0.00856291935477163,0.9998407586506913,-0.0019307607208727889],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-6.860180636042742e-17,-9.535778008609817e-18,1.1501873702476714e-07],"object_linear_velocity_m_s":[1.6185758843230485e-17,-1.017585931778225e-16,1.8279372943170815e-15],"object_angular_velocity_rad_s":[1.96907103270846e-16,4.321876555820406e-16,4.8027320760167376e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000007},{"geom_ids":[1,90],"normal_force_n":0.09810000000000069},{"geom_ids":[1,90],"normal_force_n":0.09810000000000065},{"geom_ids":[1,90],"normal_force_n":0.09810000000000069}],"native_actuator_controls":[-0.1134679700332171,1.7258978725378937,-1.1176985412903673,-0.00029400609527988736,1.049738741946469,-0.11336583978930834,0.035],"actuator_force_native":[0.0575831242548297,0.21180024772411343,-0.24503275335447938,-0.0061776405315076685,0.263838055415496,0.14683775774397034,5.38217215551029e-06],"issued_joint_targets_rad":[-0.11347518514886654,1.7259074626612583,-1.1176919005016337,-0.0002780819994621286,1.0497251281296025,-0.11338060706604296],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.279999999999742,"joint_targets_rad":[-0.11347518514886654,1.7259074626612583,-1.1176919005016337,-0.0002780819994621286,1.0497251281296025,-0.11338060706604296],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.29999999999973,"qpos":[-0.11426179534972639,1.7229691020014386,-1.1144607208349206,-4.611393578020963e-05,1.0189379667519451,-0.13097286148961074,0.034999881575452745,-0.03500007187063325,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.724078886345125e-17,-1.0008932310601659e-17,1.1533975093653552e-07],"qvel":[0.0016355814478524193,0.0063008698433538865,-0.003980987188578005,-0.0007710778965970158,0.03317917983560548,0.021870807688687904,1.2860608820126727e-08,5.281587006003768e-07,3.2187733024657984e-17,-1.163079882638699e-16,2.3830488066296598e-15,-1.633792971059846e-15,-1.6740683326279628e-15,8.7685759299044e-08],"joint_position_rad":[-0.11426179534972639,1.7229691020014386,-1.1144607208349206,-4.611393578020963e-05,1.0189379667519451,-0.13097286148961074],"joint_velocity_rad_s":[0.0016355814478524193,0.0063008698433538865,-0.003980987188578005,-0.0007710778965970158,0.03317917983560548,0.021870807688687904],"gripper_joint_position_m":[0.034999881575452745,-0.03500007187063325],"tcp_position_m":[0.30439990358062413,-0.033517917257072184,0.08221862301930126],"tcp_quaternion_wxyz":[0.015180402261459808,-0.008362503299009692,0.9998480142397784,-0.0018900652173371257],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.724078886345125e-17,-1.0008932310601659e-17,1.1533975093653552e-07],"object_linear_velocity_m_s":[3.2187733024657984e-17,-1.163079882638699e-16,2.3830488066296598e-15],"object_angular_velocity_rad_s":[-1.633792586641836e-15,-1.674068699472063e-15,8.7685759299044e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000017}],"native_actuator_controls":[-0.11347518514886654,1.7259074626612583,-1.1176919005016337,-0.0002780819994621286,1.0497251281296025,-0.11338060706604296,0.035],"actuator_force_native":[0.05475090882952571,0.2035645035688276,-0.23858943739415395,-0.0054233330642916786,0.2581028440231652,0.1431163327026459,4.672678846295852e-06],"issued_joint_targets_rad":[-0.11348203681802416,1.725916617262577,-1.117685616959642,-0.0002630170677903115,1.049712218396848,-0.11339453839919529],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.29999999999973,"joint_targets_rad":[-0.11348203681802416,1.725916617262577,-1.117685616959642,-0.0002630170677903115,1.049712218396848,-0.11339453839919529],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.31999999999972,"qpos":[-0.11422997065448826,1.7230925730026072,-1.1145392221099917,-6.034198348562626e-05,1.0195939128905671,-0.13054133094674505,0.03499988182745389,-0.035000065256928746,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-4.666454478670957e-17,-1.3330160616174592e-17,1.1567236390829226e-07],"qvel":[0.0015552524204043875,0.006055679480241862,-0.0038766013000880845,-0.0006740822326409863,0.032458234331793,0.02131664964150904,1.1131838067578343e-07,4.816990133480798e-07,1.479669535628434e-17,-5.898615612459817e-17,2.552357817884996e-15,2.262984816675202e-15,2.9868434958248754e-16,9.500033946686757e-09],"joint_position_rad":[-0.11422997065448826,1.7230925730026072,-1.1145392221099917,-6.034198348562626e-05,1.0195939128905671,-0.13054133094674505],"joint_velocity_rad_s":[0.0015552524204043875,0.006055679480241862,-0.0038766013000880845,-0.0006740822326409863,0.032458234331793,0.02131664964150904],"gripper_joint_position_m":[0.03499988182745389,-0.035000065256928746],"tcp_position_m":[0.3042829073526501,-0.033497261731131454,0.08219504599717266],"tcp_quaternion_wxyz":[0.014832296017343092,-0.008166351046029259,0.9998549353750438,-0.00184984096997831],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-4.666454478670957e-17,-1.3330160616174592e-17,1.1567236390829226e-07],"object_linear_velocity_m_s":[1.479669535628434e-17,-5.898615612459817e-17,2.552357817884996e-15],"object_angular_velocity_rad_s":[2.2629847473228178e-15,2.986848739987155e-16,9.500033946686757e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11348203681802416,1.725916617262577,-1.117685616959642,-0.0002630170677903115,1.049712218396848,-0.11339453839919529,0.035],"actuator_force_native":[0.05205844481510624,0.1956451433963764,-0.23232858147160584,-0.0047365922089824776,0.25249570356511875,0.1394929510132341,4.17030994115386e-06],"issued_joint_targets_rad":[-0.11348854201046943,1.7259253584029641,-1.1176796747392825,-0.00024876348035606454,1.0496999798235183,-0.11340768090514114],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.31999999999972,"joint_targets_rad":[-0.11348854201046943,1.7259253584029641,-1.1176796747392825,-0.00024876348035606454,1.0496999798235183,-0.11340768090514114],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.339999999999709,"qpos":[-0.11419970874343129,1.7232112375590765,-1.1146156678575303,-7.273193504409407e-05,1.0202356117517177,-0.13012072716365444,0.03499988364875966,-0.03500005935868784,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-4.604828229426597e-17,-9.93231098970395e-18,1.1615196331208343e-07],"qvel":[0.0014788856957385409,0.0058198957778215,-0.003775171627253345,-0.0005858525080861181,0.031753372182926946,0.02077709015086489,1.6912829403663027e-07,4.386657977813213e-07,1.3128040193476568e-17,-5.946605235215935e-17,2.6342367659511018e-15,1.3449165712307118e-15,4.909542118998257e-16,1.734466292928947e-08],"joint_position_rad":[-0.11419970874343129,1.7232112375590765,-1.1146156678575303,-7.273193504409407e-05,1.0202356117517177,-0.13012072716365444],"joint_velocity_rad_s":[0.0014788856957385409,0.0058198957778215,-0.003775171627253345,-0.0005858525080861181,0.031753372182926946,0.02077709015086489],"gripper_joint_position_m":[0.03499988364875966,-0.03500005935868784],"tcp_position_m":[0.30416842576449804,-0.03347705279980829,0.08217264731653699],"tcp_quaternion_wxyz":[0.014492689740959365,-0.007974402906397879,0.999861537564889,-0.0018101217457018725],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-4.604828229426597e-17,-9.93231098970395e-18,1.1615196331208343e-07],"object_linear_velocity_m_s":[1.3128040193476568e-17,-5.946605235215935e-17,2.6342367659511018e-15],"object_angular_velocity_rad_s":[1.344916456835539e-15,4.909545259265969e-16,1.7344662929289474e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11348854201046943,1.7259253584029641,-1.1176796747392825,-0.00024876348035606454,1.0496999798235183,-0.11340768090514114,0.035],"actuator_force_native":[0.04949891015825614,0.18803018862189447,-0.22624469240390965,-0.004111999272048228,0.24701362244361746,0.13596482735883564,3.80840814351302e-06],"issued_joint_targets_rad":[-0.1134947169943886,1.7259337069309104,-1.1176740584567992,-0.00023527620216075518,1.0496883808144708,-0.11342007896764324],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.339999999999709,"joint_targets_rad":[-0.1134947169943886,1.7259337069309104,-1.1176740584567992,-0.00023527620216075518,1.0496883808144708,-0.11342007896764324],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.359999999999697,"qpos":[-0.11417093251067809,1.7233252803595094,-1.1146901161293414,-8.34511866464678e-05,1.0208633809732124,-0.12971076268922666,0.03499988638999234,-0.03500005409314277,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-4.595041322453391e-17,-1.0761559464070793e-17,1.1657184345096955e-07],"qvel":[0.0014062873830817258,0.005593180348692401,-0.00367660190887724,-0.0005056874066612836,0.031064220117514432,0.020251713885095727,2.0116591304791744e-07,4.0080941140017683e-07,1.5774850315468798e-17,-6.405855045609166e-17,2.6536656688820413e-15,4.808973415101683e-16,2.2421789709845543e-17,3.166697443598152e-08],"joint_position_rad":[-0.11417093251067809,1.7233252803595094,-1.1146901161293414,-8.34511866464678e-05,1.0208633809732124,-0.12971076268922666],"joint_velocity_rad_s":[0.0014062873830817258,0.005593180348692401,-0.00367660190887724,-0.0005056874066612836,0.031064220117514432,0.020251713885095727],"gripper_joint_position_m":[0.03499988638999234,-0.03500005409314277],"tcp_position_m":[0.3040564026755623,-0.03345728936720526,0.08215137504444969],"tcp_quaternion_wxyz":[0.014161355727699427,-0.007786597572237699,0.9998678356087987,-0.0017709368079609272],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-4.595041322453391e-17,-1.0761559464070793e-17,1.1657184345096955e-07],"object_linear_velocity_m_s":[1.5774850315468798e-17,-6.405855045609166e-17,2.6536656688820413e-15],"object_angular_velocity_rad_s":[4.808973356010843e-16,2.2421904738245202e-17,3.166697443598153e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1134947169943886,1.7259337069309104,-1.1176740584567992,-0.00023527620216075518,1.0496883808144708,-0.11342007896764324,0.035],"actuator_force_native":[0.04706580438775099,0.1807082239686224,-0.22033237665225158,-0.0035445635872650766,0.24165366823631373,0.13252926638819051,3.5385707413126966e-06],"issued_joint_targets_rad":[-0.11350057734583648,1.7259416825324654,-1.117668753290083,-0.00022251283314530718,1.049677391113509,-0.11343177438022303],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.359999999999697,"joint_targets_rad":[-0.11350057734583648,1.7259416825324654,-1.117668753290083,-0.00022251283314530718,1.049677391113509,-0.11343177438022303],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.379999999999686,"qpos":[-0.11414356862395643,1.7234348793218173,-1.1147626231422276,-9.265368526000061e-05,1.0214775308006905,-0.12931115822616315,0.03499988964209677,-0.03500004936777976,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.3480256031711124e-17,-1.4131564436911246e-17,1.1696423338592838e-07],"qvel":[0.0013372730456282962,0.005375197101823047,-0.003580803335602994,-0.0004329376073834124,0.030390411759656098,0.019740119205210228,2.1712834222773006e-07,3.6782626828000357e-07,2.6667108231436867e-17,-9.731407443362213e-17,2.699462368647829e-15,-2.201451637164947e-15,-7.777526451611302e-16,5.781589841309052e-08],"joint_position_rad":[-0.11414356862395643,1.7234348793218173,-1.1147626231422276,-9.265368526000061e-05,1.0214775308006905,-0.12931115822616315],"joint_velocity_rad_s":[0.0013372730456282962,0.005375197101823047,-0.003580803335602994,-0.0004329376073834124,0.030390411759656098,0.019740119205210228],"gripper_joint_position_m":[0.03499988964209677,-0.03500004936777976],"tcp_position_m":[0.3039467832974402,-0.033437969347305745,0.08213117934014753],"tcp_quaternion_wxyz":[0.013838073051606628,-0.007602872359686141,0.9998738436240725,-0.0017323113243919988],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.3480256031711124e-17,-1.4131564436911246e-17,1.1696423338592838e-07],"object_linear_velocity_m_s":[2.6667108231436867e-17,-9.731407443362213e-17,2.699462368647829e-15],"object_angular_velocity_rad_s":[-2.201451456860463e-15,-7.777531539592975e-16,5.7815898413090544e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11350057734583648,1.7259416825324654,-1.117668753290083,-0.00022251283314530718,1.049677391113509,-0.11343177438022303,0.035],"actuator_force_native":[0.044752937021455,0.1736682713427058,-0.21458639515041966,-0.0030296778784952016,0.23641298548870182,0.12918365965158585,3.328674418101585e-06],"issued_joint_targets_rad":[-0.11350613796844862,1.7259493037962774,-1.1176637449751217,-0.00021043344955971028,1.0496669817713544,-0.11344280649972688],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.379999999999686,"joint_targets_rad":[-0.11350613796844862,1.7259493037962774,-1.1176637449751217,-0.00021043344955971028,1.0496669817713544,-0.11344280649972688],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.399999999999675,"qpos":[-0.11411754734186177,1.7235402057302815,-1.1148332433820003,-0.00010048093733264454,1.0220783642424045,-0.1289216423644292,0.03499989315057007,-0.03500004510210308,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.1991020175883167e-17,-1.3041323299226235e-17,1.1728867131354414e-07],"qvel":[0.0012716671396506534,0.005165619334543317,-0.0034876910147306744,-0.00036700282041338453,0.029731589055268088,0.019241917532458474,2.2318352259849803e-07,3.3892620180094336e-07,3.463857031686757e-17,-1.4636681811663125e-16,2.8049335559872193e-15,-5.336764126294473e-15,-1.1324370580656374e-15,1.0555723016956818e-07],"joint_position_rad":[-0.11411754734186177,1.7235402057302815,-1.1148332433820003,-0.00010048093733264454,1.0220783642424045,-0.1289216423644292],"joint_velocity_rad_s":[0.0012716671396506534,0.005165619334543317,-0.0034876910147306744,-0.00036700282041338453,0.029731589055268088,0.019241917532458474],"gripper_joint_position_m":[0.03499989315057007,-0.03500004510210308],"tcp_position_m":[0.30383951417748745,-0.03341908977588207,0.08211201241420603],"tcp_quaternion_wxyz":[0.01352262741683843,-0.007423163438661526,0.9998795750751958,-0.001694266730478138],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.1991020175883167e-17,-1.3041323299226235e-17,1.1728867131354414e-07],"object_linear_velocity_m_s":[3.463857031686757e-17,-1.4636681811663125e-16,2.8049335559872193e-15],"object_angular_velocity_rad_s":[-5.336763863403466e-15,-1.132438298973498e-15,1.0555723016956824e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11350613796844862,1.7259493037962774,-1.1176637449751217,-0.00021043344955971028,1.0496669817713544,-0.11344280649972688,0.035],"actuator_force_native":[0.04255441417479844,0.16689974860696566,-0.20900167237606126,-0.002563086387015706,0.23128879170659644,0.12592548234833578,3.1580595845071002e-06],"issued_joint_targets_rad":[-0.11351141311597887,1.7259565882795729,-1.117659019795486,-0.00019900045068910335,1.0496571251025784,-0.11345321239555729],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.399999999999675,"joint_targets_rad":[-0.11351141311597887,1.7259565882795729,-1.117659019795486,-0.00019900045068910335,1.0496571251025784,-0.11345321239555729],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.419999999999664,"qpos":[-0.11409280234089439,1.7236414244440748,-1.1149020296702172,-0.00010706295239581274,1.022666177241059,-0.1285419513263601,0.03499989675866249,-0.03500004123123082,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.524434443558639e-17,-1.2340692190685839e-17,1.176890750312946e-07],"qvel":[0.0012093025703751792,0.004964131277884282,-0.0033971830470999314,-0.0003073284008854891,0.029087402687545224,0.018756732800045587,2.2321175485309506e-07,3.1332817056518214e-07,1.5642676400087202e-17,-6.682565117542653e-17,2.8215869013565957e-15,1.7460406479938434e-15,4.269308314528648e-16,1.14362614630407e-08],"joint_position_rad":[-0.11409280234089439,1.7236414244440748,-1.1149020296702172,-0.00010706295239581274,1.022666177241059,-0.1285419513263601],"joint_velocity_rad_s":[0.0012093025703751792,0.004964131277884282,-0.0033971830470999314,-0.0003073284008854891,0.029087402687545224,0.018756732800045587],"gripper_joint_position_m":[0.03499989675866249,-0.03500004123123082],"tcp_position_m":[0.3037345431649589,-0.03340064691282298,0.08209382845818815],"tcp_quaternion_wxyz":[0.013214810950821332,-0.00724740604554828,0.9998850428029792,-0.0016568210614057734],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.524434443558639e-17,-1.2340692190685839e-17,1.176890750312946e-07],"object_linear_velocity_m_s":[1.5642676400087202e-17,-6.682565117542653e-17,2.8215869013565957e-15],"object_angular_velocity_rad_s":[1.7460405472213437e-15,4.2693124369624834e-16,1.1436261463040705e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11351141311597887,1.7259565882795729,-1.117659019795486,-0.00019900045068910335,1.0496571251025784,-0.11345321239555729,0.035],"actuator_force_native":[0.04046462514136451,0.1603924504504448,-0.20357329478601116,-0.002140857927304179,0.22627837458387567,0.12275229010795963,3.013594726208879e-06],"issued_joint_targets_rad":[-0.11351641641543485,1.7259635525711392,-1.117654564569593,-0.0001881784144808868,1.0496477946401337,-0.11346302699056186],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.419999999999664,"joint_targets_rad":[-0.11351641641543485,1.7259635525711392,-1.117654564569593,-0.0001881784144808868,1.0496477946401337,-0.11346302699056186],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.439999999999653,"qpos":[-0.11406927055087879,1.7237386941186907,-1.1149690332205204,-0.0001125191194535597,1.0232412588484516,-0.12817182872217586,0.03499990037096374,-0.03500003770401673,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.760511516733906e-17,-1.9420937160386062e-17,1.1814336194990805e-07],"qvel":[0.001150020290385121,0.004770428228188809,-0.0033092002367548197,-0.00025340203773389913,0.028457512041387304,0.018284200951514746,2.1963952240791096e-07,2.903930977913316e-07,2.533353857894143e-17,-7.425480588303985e-17,2.875710273807072e-15,1.5157622258015012e-15,3.0318597240533786e-16,2.0879725415808544e-08],"joint_position_rad":[-0.11406927055087879,1.7237386941186907,-1.1149690332205204,-0.0001125191194535597,1.0232412588484516,-0.12817182872217586],"joint_velocity_rad_s":[0.001150020290385121,0.004770428228188809,-0.0033092002367548197,-0.00025340203773389913,0.028457512041387304,0.018284200951514746],"gripper_joint_position_m":[0.03499990037096374,-0.03500003770401673],"tcp_position_m":[0.30363181937364325,-0.03338263633556173,0.08207658356906417],"tcp_quaternion_wxyz":[0.01291442198853872,-0.007075534678453649,0.9998902590527239,-0.0016199892570682502],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.760511516733906e-17,-1.9420937160386062e-17,1.1814336194990805e-07],"object_linear_velocity_m_s":[2.533353857894143e-17,-7.425480588303985e-17,2.875710273807072e-15],"object_angular_velocity_rad_s":[1.5157621533516318e-15,3.03186332965378e-16,2.0879725415808557e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11351641641543485,1.7259635525711392,-1.117654564569593,-0.0001881784144808868,1.0496477946401337,-0.11346302699056186,0.035],"actuator_force_native":[0.0384782293835908,0.1541365350549313,-0.19829650674203947,-0.0017593616124235876,0.22137908985473942,0.11966171588886776,2.8869638386552765e-06],"issued_joint_targets_rad":[-0.11352116089013356,1.7259702123504577,-1.1176503666370978,-0.00017793396247749776,1.0496389650898674,-0.11347228319300989],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.439999999999653,"joint_targets_rad":[-0.11352116089013356,1.7259702123504577,-1.1176503666370978,-0.00017793396247749776,1.0496389650898674,-0.11347228319300989],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.459999999999642,"qpos":[-0.11404689199814606,1.7238321674254589,-1.115034303691164,-0.00011695901921314911,1.023803891397601,-0.1278110253151599,0.03499990393037316,-0.03500003448002722,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-7.452107524964676e-17,-3.374644324524912e-17,1.1858794527339738e-07],"qvel":[0.001093668922073171,0.004584216323296887,-0.0032236659581465865,-0.0002047506375905778,0.027841585024558992,0.01782396947025175,2.1397762003248041e-07,2.6963390091384524e-07,5.286393825797092e-17,-1.1112337877203622e-16,2.871546937464727e-15,-9.916034093708635e-16,-8.515337564812291e-16,3.8121105821905964e-08],"joint_position_rad":[-0.11404689199814606,1.7238321674254589,-1.115034303691164,-0.00011695901921314911,1.023803891397601,-0.1278110253151599],"joint_velocity_rad_s":[0.001093668922073171,0.004584216323296887,-0.0032236659581465865,-0.0002047506375905778,0.027841585024558992,0.01782396947025175],"gripper_joint_position_m":[0.03499990393037316,-0.03500003448002722],"tcp_position_m":[0.3035312931447542,-0.0333650530242909,0.08206023567445953],"tcp_quaternion_wxyz":[0.012621264860977942,-0.006907483275878284,0.9998952355012541,-0.0015837834429076778],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-7.452107524964676e-17,-3.374644324524912e-17,1.1858794527339738e-07],"object_linear_velocity_m_s":[5.286393825797092e-17,-1.1112337877203622e-16,2.871546937464727e-15],"object_angular_velocity_rad_s":[-9.916032099804635e-16,-8.515339859839762e-16,3.812110582190599e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11352116089013356,1.7259702123504577,-1.1176503666370978,-0.00017793396247749776,1.0496389650898674,-0.11347228319300989,0.035],"actuator_force_native":[0.036590144030634875,0.14812251238342355,-0.1931667058839679,-0.001415244542621057,0.21658835938582577,0.11665146701612228,2.7728969735907327e-06],"issued_joint_targets_rad":[-0.11352565898246186,1.7259765824429687,-1.1176464138448285,-0.00016823563367562923,1.0496306122857273,-0.11348101201997496],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.459999999999642,"joint_targets_rad":[-0.11352565898246186,1.7259765824429687,-1.1176464138448285,-0.00016823563367562923,1.0496306122857273,-0.11348101201997496],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.479999999999631,"qpos":[-0.11402560965606362,1.7239219912654589,-1.115097889235401,-0.00012048317633530593,1.024354350670825,-0.12745929879595103,0.03499990740362921,-0.035000031526779045,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-9.427616201085154e-17,-4.1036568826426655e-17,1.1893948908242454e-07],"qvel":[0.0010401043987561974,0.004405212233143441,-0.003140506063931685,-0.0001609374232550121,0.027239297851535452,0.01737569693401246,2.071627829801484e-07,2.506892049291084e-07,8.935505608664806e-17,-2.1737205849753201e-16,2.9326092038191094e-15,-8.58730126498623e-15,-2.977780109137593e-15,6.959951245262134e-08],"joint_position_rad":[-0.11402560965606362,1.7239219912654589,-1.115097889235401,-0.00012048317633530593,1.024354350670825,-0.12745929879595103],"joint_velocity_rad_s":[0.0010401043987561974,0.004405212233143441,-0.003140506063931685,-0.0001609374232550121,0.027239297851535452,0.01737569693401246],"gripper_joint_position_m":[0.03499990740362921,-0.035000031526779045],"tcp_position_m":[0.3034329160110101,-0.03334789143960972,0.08204474446019205],"tcp_quaternion_wxyz":[0.012335149690859682,-0.00674318537990723,0.9998999832828078,-0.0015482131885731546],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-9.427616201085154e-17,-4.1036568826426655e-17,1.1893948908242454e-07],"object_linear_velocity_m_s":[8.935505608664806e-17,-2.1737205849753201e-16,2.9326092038191094e-15],"object_angular_velocity_rad_s":[-8.587300562346957e-15,-2.977782138752812e-15,6.95995124526214e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11352565898246186,1.7259765824429687,-1.1176464138448285,-0.00016823563367562923,1.0496306122857273,-0.11348101201997496,0.035],"actuator_force_native":[0.034795531894360465,0.1423412330350402,-0.18817943843453122,-0.0011054111773378715,0.21190366937172023,0.11371932235874205,2.668040916864456e-06],"issued_joint_targets_rad":[-0.11352992257622956,1.7259826768716786,-1.1176426945324467,-0.00015905376674471124,1.0496227131458882,-0.11348924271264577],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.479999999999631,"joint_targets_rad":[-0.11352992257622956,1.7259826768716786,-1.1176426945324467,-0.00015905376674471124,1.0496227131458882,-0.11348924271264577],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.49999999999962,"qpos":[-0.1140053693025636,1.724008306976999,-1.1151598365501652,-0.00012318375594140476,1.0248929060634075,-0.12711641356548586,0.03499991077224989,-0.035000028817584856,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-9.705092160870436e-17,-3.99028261436998e-17,1.1920349661175135e-07],"qvel":[0.0009891896223563855,0.004233142833606694,-0.003059648804219878,-0.00012155924031291641,0.026650334821580187,0.016939052591680683,1.9977289228343962e-07,2.332917600537985e-07,4.677554396178927e-17,-1.1274199660505884e-16,2.989508133831148e-15,3.46895564811507e-15,1.5017634266439303e-15,7.540537212180538e-09],"joint_position_rad":[-0.1140053693025636,1.724008306976999,-1.1151598365501652,-0.00012318375594140476,1.0248929060634075,-0.12711641356548586],"joint_velocity_rad_s":[0.0009891896223563855,0.004233142833606694,-0.003059648804219878,-0.00012155924031291641,0.026650334821580187,0.016939052591680683],"gripper_joint_position_m":[0.03499991077224989,-0.035000028817584856],"tcp_position_m":[0.3033366406620873,-0.03333114559320112,0.08203007130040213],"tcp_quaternion_wxyz":[0.012055892196178666,-0.006582574285049712,0.999904513013811,-0.0015132857461011525],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-9.705092160870436e-17,-3.99028261436998e-17,1.1920349661175135e-07],"object_linear_velocity_m_s":[4.677554396178927e-17,-1.1274199660505884e-16,2.989508133831148e-15],"object_angular_velocity_rad_s":[3.4689552894822938e-15,1.5017642551308065e-15,7.540537212180545e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.11352992257622956,1.7259826768716786,-1.1176426945324467,-0.00015905376674471124,1.0496227131458882,-0.11348924271264577,0.035],"actuator_force_native":[0.033089789994940944,0.13678387740634435,-0.1833303945614233,-0.0008270042305676779,0.2073225685924367,0.11086312964087996,2.570245543065397e-06],"issued_joint_targets_rad":[-0.11353396301855885,1.7259885089053495,-1.1176391975179214,-0.00015036039001397523,1.0496152456298975,-0.11349700284411646],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.49999999999962,"joint_targets_rad":[-0.11353396301855885,1.7259885089053495,-1.1176391975179214,-0.00015036039001397523,1.0496152456298975,-0.11349700284411646],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.519999999999609,"qpos":[-0.11398611938435099,1.724091250536554,-1.1152201909231767,-0.00012514520840662695,1.025419820742857,-0.12678214052616357,0.034999914026873934,-0.035000026329987534,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.0340438186669056e-16,-7.15150812530114e-17,1.1968550769009753e-07],"qvel":[0.0009407941364741042,0.004067744881259028,-0.0029810247499679854,-8.624405933984029e-05,0.026074388099762157,0.01651371596054266,1.921619727277481e-07,2.1724149377034586e-07,8.466321201191172e-17,-1.2539718790547413e-16,3.0006103640773988e-15,3.4362087089746675e-15,1.5817611283441416e-15,1.3767116726635857e-08],"joint_position_rad":[-0.11398611938435099,1.724091250536554,-1.1152201909231767,-0.00012514520840662695,1.025419820742857,-0.12678214052616357],"joint_velocity_rad_s":[0.0009407941364741042,0.004067744881259028,-0.0029810247499679854,-8.624405933984029e-05,0.026074388099762157,0.01651371596054266],"gripper_joint_position_m":[0.034999914026873934,-0.035000026329987534],"tcp_position_m":[0.303242420911429,-0.033314809112088,0.08201617919027143],"tcp_quaternion_wxyz":[0.011783313501404002,-0.006425583173791642,0.9999088348165847,-0.001479006269148026],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.0340438186669056e-16,-7.15150812530114e-17,1.1968550769009753e-07],"object_linear_velocity_m_s":[8.466321201191172e-17,-1.2539718790547413e-16,3.0006103640773988e-15],"object_angular_velocity_rad_s":[3.436208328377692e-15,1.5817619537200258e-15,1.3767116726635872e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11353396301855885,1.7259885089053495,-1.1176391975179214,-0.00015036039001397523,1.0496152456298975,-0.11349700284411646,0.035],"actuator_force_native":[0.031468538581000516,0.1314419450973503,-0.17861540382973828,-0.0005773869675947301,0.20284266672076257,0.10808080287965716,2.4781151790609357e-06],"issued_joint_targets_rad":[-0.11353779114126186,1.7259940911035145,-1.117635912082923,-0.0001421291187065047,1.049608188696933,-0.11350431842016329],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.519999999999609,"joint_targets_rad":[-0.11353779114126186,1.7259940911035145,-1.117635912082923,-0.0001421291187065047,1.049608188696933,-0.11350431842016329],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.539999999999598,"qpos":[-0.11396781088749317,1.7241709527532327,-1.1152789962785532,-0.0001264448662051934,1.0259353518038394,-0.1264562568808417,0.03499991716373281,-0.035000024044662695,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.1765099747176784e-16,-9.022913505141684e-17,1.2016978196137792e-07],"qvel":[0.0008947938140325224,0.00390876469367809,-0.0029045667187301834,-5.464866032944761e-05,0.025511157503198018,0.016099376442762076,1.8454465710772373e-07,2.0238518327079982e-07,1.1467469818780663e-16,-1.5210553252601514e-16,3.0672237455549087e-15,1.9336663759958466e-15,1.2278951382093293e-15,2.5135278512869022e-08],"joint_position_rad":[-0.11396781088749317,1.7241709527532327,-1.1152789962785532,-0.0001264448662051934,1.0259353518038394,-0.1264562568808417],"joint_velocity_rad_s":[0.0008947938140325224,0.00390876469367809,-0.0029045667187301834,-5.464866032944761e-05,0.025511157503198018,0.016099376442762076],"gripper_joint_position_m":[0.03499991716373281,-0.035000024044662695],"tcp_position_m":[0.3031502116643586,-0.03329887529698721,0.0820030326812806],"tcp_quaternion_wxyz":[0.011517239956052484,-0.006272145239862059,0.9999129583420147,-0.001445378014710224],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.1765099747176784e-16,-9.022913505141684e-17,1.2016978196137792e-07],"object_linear_velocity_m_s":[1.1467469818780663e-16,-1.5210553252601514e-16,3.0672237455549087e-15],"object_angular_velocity_rad_s":[1.9336660763481412e-15,1.2278956088602095e-15,2.513527851286905e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11353779114126186,1.7259940911035145,-1.117635912082923,-0.0001421291187065047,1.049608188696933,-0.11350431842016329,0.035],"actuator_force_native":[0.02992761062834326,0.1263072445541411,-0.17403043075593416,-0.0003541267984052141,0.19846163267613726,0.10537031994264101,2.390727402268311e-06],"issued_joint_targets_rad":[-0.11354141728167681,1.7259994353585348,-1.1176328279581704,-0.00013433505888405724,1.0496015222651747,-0.11351121397350507],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.539999999999598,"joint_targets_rad":[-0.11354141728167681,1.7259994353585348,-1.1176328279581704,-0.00013433505888405724,1.0496015222651747,-0.11351121397350507],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.559999999999587,"qpos":[-0.11395039721410581,1.7242475394569095,-1.1153362952209442,-0.0001271534963087782,1.0264397504188982,-0.12613854593929127,0.03499992018245446,-0.03500002194466225,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.0749190264232096e-16,-1.0256125848920789e-16,1.205807264206737e-07],"qvel":[0.0008510705588152461,0.0037559578365973178,-0.0028302097023114375,-2.6456486298455134e-05,0.024960350292991935,0.01569573295988813,1.7704893931664363e-07,1.8860204002130693e-07,1.617179469684326e-16,-1.5771426597243315e-16,3.0727748606780338e-15,8.223890056016589e-16,-1.8986435980151476e-15,4.5890671116136345e-08],"joint_position_rad":[-0.11395039721410581,1.7242475394569095,-1.1153362952209442,-0.0001271534963087782,1.0264397504188982,-0.12613854593929127],"joint_velocity_rad_s":[0.0008510705588152461,0.0037559578365973178,-0.0028302097023114375,-2.6456486298455134e-05,0.024960350292991935,0.01569573295988813],"gripper_joint_position_m":[0.03499992018245446,-0.03500002194466225],"tcp_position_m":[0.3030599688874233,-0.0332833371752339,0.08199059781891067],"tcp_quaternion_wxyz":[0.011257502960304146,-0.006122193800134545,0.9999168927912306,-0.0014124025286396584],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.0749190264232096e-16,-1.0256125848920789e-16,1.205807264206737e-07],"object_linear_velocity_m_s":[1.617179469684326e-16,-1.5771426597243315e-16,3.0727748606780338e-15],"object_angular_velocity_rad_s":[8.223894540680734e-16,-1.898643389820817e-15,4.58906711161364e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11354141728167681,1.7259994353585348,-1.1176328279581704,-0.00013433505888405724,1.0496015222651747,-0.11351121397350507,0.035],"actuator_force_native":[0.028463041800243616,0.12137188294704515,-0.16957157046654459,-0.0001549800715188853,0.1941771930232754,0.10272972021802995,2.3074571251502363e-06],"issued_joint_targets_rad":[-0.11354485130293215,1.726004552934918,-1.1176299353088284,-0.00012695471765163493,1.049595227172371,-0.11351771265199086],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.559999999999587,"joint_targets_rad":[-0.11354485130293215,1.726004552934918,-1.1176299353088284,-0.00012695471765163493,1.049595227172371,-0.11351771265199086],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.579999999999576,"qpos":[-0.11393383406486418,1.7243211316801594,-1.1153921290782387,-0.00012733581138817018,1.0269332619850795,-0.1258287969317635,0.03499992308469831,-0.03500002001489497,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-8.579301900287674e-17,-1.0179410340982862e-16,1.209424571230445e-07],"qvel":[0.0008095120203140782,0.003609088818338046,-0.0027578907962706287,-1.3756539137169963e-06,0.02442168097195647,0.015302493604342531,1.697490779368779e-07,1.7579383125219875e-07,2.18085423771979e-16,-1.5427131743313198e-16,3.2753905626721244e-15,-7.152906955523641e-16,-5.1385397363916935e-15,8.378477662029411e-08],"joint_position_rad":[-0.11393383406486418,1.7243211316801594,-1.1153921290782387,-0.00012733581138817018,1.0269332619850795,-0.1258287969317635],"joint_velocity_rad_s":[0.0008095120203140782,0.003609088818338046,-0.0027578907962706287,-1.3756539137169963e-06,0.02442168097195647,0.015302493604342531],"gripper_joint_position_m":[0.03499992308469831,-0.03500002001489497],"tcp_position_m":[0.3029716495789033,-0.03326818754871727,0.08197884208271268],"tcp_quaternion_wxyz":[0.011003938797340386,-0.0059756623960295786,0.9999206469363325,-0.0013800798161790135],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-8.579301900287674e-17,-1.0179410340982862e-16,1.209424571230445e-07],"object_linear_velocity_m_s":[2.18085423771979e-16,-1.5427131743313198e-16,3.2753905626721244e-15],"object_angular_velocity_rad_s":[-7.152894696746947e-16,-5.138539895033283e-15,8.378477662029422e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11354485130293215,1.726004552934918,-1.1176299353088284,-0.00012695471765163493,1.049595227172371,-0.11351771265199086,0.035],"actuator_force_native":[0.02707106085299138,0.11662825628897622,-0.16523504446581683,2.212201902999488e-05,0.18998713041497872,0.10015710239121245,2.2278666778063894e-06],"issued_joint_targets_rad":[-0.11354810261362495,1.7260094545060822,-1.117627224719977,-0.00011996591917467277,1.0495892851375814,-0.11352383630113196],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.579999999999576,"joint_targets_rad":[-0.11354810261362495,1.7260094545060822,-1.117627224719977,-0.00011996591917467277,1.0495892851375814,-0.11352383630113196],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.599999999999564,"qpos":[-0.11391807932707879,1.7243918458341498,-1.1154465379428857,-0.00012705094283315435,1.0274161262665753,-0.12552680482934014,0.034999925873308683,-0.03500001824176743,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-6.361863407787998e-17,-8.989661688691096e-17,1.212602727382872e-07],"qvel":[0.0007700113213353704,0.003467930791673532,-0.0026875491312335163,2.086289026044793e-05,0.02389487108800457,0.014919375306909734,1.6268609815101381e-07,1.6387824427647493e-07,1.0993145731421022e-16,-8.058676769043489e-17,2.527377799830926e-15,3.082941778842337e-15,3.9639441153243215e-15,9.077394419243474e-09],"joint_position_rad":[-0.11391807932707879,1.7243918458341498,-1.1154465379428857,-0.00012705094283315435,1.0274161262665753,-0.12552680482934014],"joint_velocity_rad_s":[0.0007700113213353704,0.003467930791673532,-0.0026875491312335163,2.086289026044793e-05,0.02389487108800457,0.014919375306909734],"gripper_joint_position_m":[0.034999925873308683,-0.03500001824176743],"tcp_position_m":[0.30288521174042826,-0.03325341903723598,0.08196773432866027],"tcp_quaternion_wxyz":[0.010756388472108356,-0.005832484885211075,0.9999242291401993,-0.0013484084986482923],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-6.361863407787998e-17,-8.989661688691096e-17,1.212602727382872e-07],"object_linear_velocity_m_s":[1.0993145731421022e-16,-8.058676769043489e-17,2.527377799830926e-15],"object_angular_velocity_rad_s":[3.0829408158723076e-15,3.963944864155915e-15,9.077394419243486e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999956},{"geom_ids":[1,90],"normal_force_n":0.09809999999999944},{"geom_ids":[1,90],"normal_force_n":0.09809999999999938},{"geom_ids":[1,90],"normal_force_n":0.09809999999999941}],"native_actuator_controls":[-0.11354810261362495,1.7260094545060822,-1.117627224719977,-0.00011996591917467277,1.0495892851375814,-0.11352383630113196,0.035],"actuator_force_native":[0.025748080469629286,0.11206903979623917,-0.1610171965111391,0.00017908649503702283,0.1858892820780529,0.09765062232171706,2.151637161995623e-06],"issued_joint_targets_rad":[-0.1135511801868963,1.7260141501887503,-1.1176246871822197,-0.00011334772610690904,1.0495836787241344,-0.11352960554136908],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.599999999999564,"joint_targets_rad":[-0.1135511801868963,1.7260141501887503,-1.1176246871822197,-0.00011334772610690904,1.0495836787241344,-0.11352960554136908],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.619999999999553,"qpos":[-0.11390309296808603,1.7244597938786317,-1.1154995607118565,-0.00012635287838677893,1.027888577533493,-0.12523237017075817,0.03499992855179087,-0.0350000166129318,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-5.241393659571101e-17,-8.629266479211525e-17,1.217185356219651e-07],"qvel":[0.0007324667978580259,0.003332265263213136,-0.0026191258060429476,4.050707846325446e-05,0.02337964904312827,0.014546103519315212,1.5588055420737719e-07,1.5278446980417004e-07,1.0808127757422687e-16,-6.791129441964698e-17,1.9181429150678715e-15,2.327950403326462e-15,3.040063262040293e-15,1.657302988195397e-08],"joint_position_rad":[-0.11390309296808603,1.7244597938786317,-1.1154995607118565,-0.00012635287838677893,1.027888577533493,-0.12523237017075817],"joint_velocity_rad_s":[0.0007324667978580259,0.003332265263213136,-0.0026191258060429476,4.050707846325446e-05,0.02337964904312827,0.014546103519315212],"gripper_joint_position_m":[0.03499992855179087,-0.0350000166129318],"tcp_position_m":[0.30280061434963895,-0.0332390241176477,0.08195724473370683],"tcp_quaternion_wxyz":[0.010514697556222936,-0.005692595524318065,0.9999276473754176,-0.0013173859573305704],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-5.241393659571101e-17,-8.629266479211525e-17,1.217185356219651e-07],"object_linear_velocity_m_s":[1.0808127757422687e-16,-6.791129441964698e-17,1.9181429150678715e-15],"object_angular_velocity_rad_s":[2.3279496604020378e-15,3.040063830486951e-15,1.6573029881953996e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1135511801868963,1.7260141501887503,-1.1176246871822197,-0.00011334772610690904,1.0495836787241344,-0.11352960554136908,0.035],"actuator_force_native":[0.02449068850588887,0.10768717849342124,-0.1569144885988436,0.00031767069887852356,0.18188153834172205,0.09520849101491802,2.078525594306768e-06],"issued_joint_targets_rad":[-0.11355409257889933,1.7260186495751368,-1.1176223140774604,-0.00010708036605491794,1.0495783913037924,-0.11353503984043595],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.619999999999553,"joint_targets_rad":[-0.11355409257889933,1.7260186495751368,-1.1176223140774604,-0.00010708036605491794,1.0495783913037924,-0.11353503984043595],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.639999999999542,"qpos":[-0.11388883693371374,1.7245250834861912,-1.115551235125286,-0.00012529086698706703,1.0283508446968697,-0.12494529889541732,0.034999931123988366,-0.03500001511710435,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-3.2529716093170024e-17,-9.513116116206229e-17,1.2217373273588825e-07],"qvel":[0.0006967817506460066,0.003201881810355983,-0.0025525638227399546,5.778530520113395e-05,0.022875749907828008,0.014182411911041302,1.4934046749874312e-07,1.4245027083724247e-07,1.29976601022402e-16,-4.223848318999621e-17,1.8168350640708266e-15,1.7910778312722815e-15,8.531160043617542e-16,3.0258167353157817e-08],"joint_position_rad":[-0.11388883693371374,1.7245250834861912,-1.115551235125286,-0.00012529086698706703,1.0283508446968697,-0.12494529889541732],"joint_velocity_rad_s":[0.0006967817506460066,0.003201881810355983,-0.0025525638227399546,5.778530520113395e-05,0.022875749907828008,0.014182411911041302],"gripper_joint_position_m":[0.034999931123988366,-0.03500001511710435],"tcp_position_m":[0.30271781733384107,-0.033224995159161406,0.08194734474246639],"tcp_quaternion_wxyz":[0.010278716038730274,-0.005555929043421286,0.9999309092423683,-0.0012870084655281532],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-3.2529716093170024e-17,-9.513116116206229e-17,1.2217373273588825e-07],"object_linear_velocity_m_s":[1.29976601022402e-16,-4.223848318999621e-17,1.8168350640708266e-15],"object_angular_velocity_rad_s":[1.7910776170585084e-15,8.531164439756372e-16,3.025816735315786e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11355409257889933,1.7260186495751368,-1.1176223140774604,-0.00010708036605491794,1.0495783913037924,-0.11353503984043595,0.035],"actuator_force_native":[0.023295639631923493,0.10347587806387537,-0.1529234970602289,0.0004394935112802933,0.1779618412074857,0.09282897268325163,2.008338128023368e-06],"issued_joint_targets_rad":[-0.11355684794665188,1.726022961763085,-1.117620097164888,-0.00010114516273167631,1.0495734070221332,-0.11354015758114334],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.639999999999542,"joint_targets_rad":[-0.11355684794665188,1.726022961763085,-1.117620097164888,-0.00010114516273167631,1.0495734070221332,-0.11354015758114334],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.659999999999531,"qpos":[-0.11387525943984675,1.7245878216115298,-1.1156015878523557,-0.00012364348319354,1.0288031879387973,-0.12466546534347148,0.03496707495613639,-0.03496816969841321,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.9387006618412796e-17,-1.0933495726813328e-16,1.225486659441012e-07],"qvel":[0.0006648311834553768,0.003076938097042679,-0.002486721471321218,0.00010062146682055531,0.02238682780189139,0.013821305802857654,-0.0040038174944383815,0.003902042289425465,2.061822782260073e-16,-2.64395659084369e-17,1.7571605764972245e-15,9.161563075158636e-16,-4.576232703599502e-15,5.524377244794686e-08],"joint_position_rad":[-0.11387525943984675,1.7245878216115298,-1.1156015878523557,-0.00012364348319354,1.0288031879387973,-0.12466546534347148],"joint_velocity_rad_s":[0.0006648311834553768,0.003076938097042679,-0.002486721471321218,0.00010062146682055531,0.02238682780189139,0.013821305802857654],"gripper_joint_position_m":[0.03496707495613639,-0.03496816969841321],"tcp_position_m":[0.3026367767950729,-0.03321127066938674,0.08193800382850872],"tcp_quaternion_wxyz":[0.010048287057002713,-0.005422392569756599,0.9999340223976075,-0.0012571546367878322],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.9387006618412796e-17,-1.0933495726813328e-16,1.225486659441012e-07],"object_linear_velocity_m_s":[2.061822782260073e-16,-2.64395659084369e-17,1.7571605764972245e-15],"object_angular_velocity_rad_s":[9.16157417058112e-16,-4.5762324769098845e-15,5.524377244794696e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984}],"native_actuator_controls":[-0.11355684794665188,1.726022961763085,-1.117620097164888,-0.00010114516273167631,1.0495734070221332,-0.11354015758114334,0.033999999999999975],"actuator_force_native":[0.022148763538313077,0.09942652163920229,-0.14904713764596522,0.0003968254843717701,0.17412194913052126,0.09052111891899473,-0.01866391077326468],"issued_joint_targets_rad":[-0.11355945540855132,1.7260270949203598,-1.1176180270837748,-9.552532477921947e-05,1.0495687085336494,-0.11354497472870456],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.659999999999531,"joint_targets_rad":[-0.11355945540855132,1.7260270949203598,-1.1176180270837748,-9.552532477921947e-05,1.0495687085336494,-0.11354497472870456],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.67999999999952,"qpos":[-0.11386228992402572,1.7246481109694893,-1.1156506430402988,-0.00012124467435288124,1.0292458627794232,-0.12439274594635093,0.03481950356307985,-0.03482301342181682,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.2882232691194498e-17,-1.0402108497836703e-16,1.228586702083025e-07],"qvel":[0.0006350246711494443,0.0029567387242256716,-0.0024229429277278663,0.00012782709043693068,0.021907341572536706,0.01347193288589274,-0.010499418591477273,0.010379563109719237,2.1985762319277377e-16,-2.9154524546126784e-17,1.6391993801308014e-15,-9.094515197876749e-16,-4.547133254815737e-15,1.0086117769991214e-07],"joint_position_rad":[-0.11386228992402572,1.7246481109694893,-1.1156506430402988,-0.00012124467435288124,1.0292458627794232,-0.12439274594635093],"joint_velocity_rad_s":[0.0006350246711494443,0.0029567387242256716,-0.0024229429277278663,0.00012782709043693068,0.021907341572536706,0.01347193288589274],"gripper_joint_position_m":[0.03481950356307985,-0.03482301342181682],"tcp_position_m":[0.3025574486246979,-0.0331977934442759,0.08192919232415344],"tcp_quaternion_wxyz":[0.009823253998494671,-0.005291917770854611,0.9999369940015058,-0.0012277273395226228],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.2882232691194498e-17,-1.0402108497836703e-16,1.228586702083025e-07],"object_linear_velocity_m_s":[2.1985762319277377e-16,-2.9154524546126784e-17,1.6391993801308014e-15],"object_angular_velocity_rad_s":[-9.094504234615378e-16,-4.547133475684985e-15,1.0086117769991232e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11355945540855132,1.7260270949203598,-1.1176180270837748,-9.552532477921947e-05,1.0495687085336494,-0.11354497472870456,0.032999999999999946],"actuator_force_native":[0.021051637882203877,0.09553502244850165,-0.14527600883943137,0.0003896385307618172,0.17036744518345692,0.0882698128476247,-0.020283049565809508],"issued_joint_targets_rad":[-0.11356192317128784,1.7260310570157564,-1.1176160951983274,-9.020447529881538e-05,1.049564279747124,-0.11354950675201701],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.67999999999952,"joint_targets_rad":[-0.11356192317128784,1.7260310570157564,-1.1176160951983274,-9.020447529881538e-05,1.049564279747124,-0.11354950675201701],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.699999999999509,"qpos":[-0.11384991755265285,1.7247060427373697,-1.1156984488190194,-0.00011851465788546806,1.0296790328364755,-0.12412687312592408,0.03454275531817693,-0.034548180408311174,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.2205184851797007e-17,-8.985214652630482e-17,1.2324126068043655e-07],"qvel":[0.000605010859432225,0.0028410273752068785,-0.0023615527441723087,0.00013716855351147668,0.021436054240109137,0.01313540196015423,-0.0167475732533293,0.016677846542733875,1.1147748646640165e-16,-1.4295342472479126e-17,1.6988738677044037e-15,4.469175090471848e-16,3.70939081629964e-15,1.092748263471336e-08],"joint_position_rad":[-0.11384991755265285,1.7247060427373697,-1.1156984488190194,-0.00011851465788546806,1.0296790328364755,-0.12412687312592408],"joint_velocity_rad_s":[0.000605010859432225,0.0028410273752068785,-0.0023615527441723087,0.00013716855351147668,0.021436054240109137,0.01313540196015423],"gripper_joint_position_m":[0.03454275531817693,-0.034548180408311174],"tcp_position_m":[0.302479801550665,-0.03318463278036081,0.08192088950604345],"tcp_quaternion_wxyz":[0.009603493483426767,-0.005164483048293763,0.9999398300377,-0.0011988877901546304],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.2205184851797007e-17,-8.985214652630482e-17,1.2324126068043655e-07],"object_linear_velocity_m_s":[1.1147748646640165e-16,-1.4295342472479126e-17,1.6988738677044037e-15],"object_angular_velocity_rad_s":[4.469165927834554e-16,3.709390926723632e-15,1.092748263471338e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.11356192317128784,1.7260310570157564,-1.1176160951983274,-9.020447529881538e-05,1.049564279747124,-0.11354950675201701,0.03199999999999992],"actuator_force_native":[0.0200144962120401,0.09179600539491162,-0.14160394662377485,0.00044656453590872407,0.1666983877463224,0.08607056079883946,-0.017972346460433997],"issued_joint_targets_rad":[-0.11356425633693742,1.7260348565390533,-1.1176142965183846,-8.516554360011493e-05,1.0495601102465046,-0.11355377129133874],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.699999999999509,"joint_targets_rad":[-0.11356425633693742,1.7260348565390533,-1.1176142965183846,-8.516554360011493e-05,1.0495601102465046,-0.11355377129133874],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.719999999999498,"qpos":[-0.11383814295787856,1.7247617061268725,-1.115745048383505,-0.00011568728197532208,1.0301028745280276,-0.1238676205836613,0.03414923257128816,-0.03415548106190625,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-7.464600599280985e-18,-1.156767954371727e-16,1.2373086699091102e-07],"qvel":[0.0005753086751387235,0.0027297427986086465,-0.0023021227110228146,0.00013948062976178673,0.020974100933143357,0.012808971644424154,-0.022188966197362804,0.02217140833823593,1.4834755435042304e-16,-8.925439942274645e-18,1.66695495574643e-15,3.935275155603658e-16,2.4079319413963376e-15,1.995082375793555e-08],"joint_position_rad":[-0.11383814295787856,1.7247617061268725,-1.115745048383505,-0.00011568728197532208,1.0301028745280276,-0.1238676205836613],"joint_velocity_rad_s":[0.0005753086751387235,0.0027297427986086465,-0.0023021227110228146,0.00013948062976178673,0.020974100933143357,0.012808971644424154],"gripper_joint_position_m":[0.03414923257128816,-0.03415548106190625],"tcp_position_m":[0.302403803706266,-0.03317182757148681,0.08191307441551433],"tcp_quaternion_wxyz":[0.009388883850198421,-0.005040034338552797,0.9999425365166126,-0.0011707171461079302],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-7.464600599280985e-18,-1.156767954371727e-16,1.2373086699091102e-07],"object_linear_velocity_m_s":[1.4834755435042304e-16,-8.925439942274645e-18,1.66695495574643e-15],"object_angular_velocity_rad_s":[3.935269150736462e-16,2.4079320390771192e-15,1.995082375793559e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11356425633693742,1.7260348565390533,-1.1176142965183846,-8.516554360011493e-05,1.0495601102465046,-0.11355377129133874,0.03099999999999989],"actuator_force_native":[0.019034386299596306,0.08820331898141376,-0.1380292372352585,0.0005234663861993522,0.16311120578505545,0.08392503545658925,-0.015024471864716782],"issued_joint_targets_rad":[-0.11356646080267567,1.7260385011469692,-1.1176126253002334,-8.039324970286535e-05,1.0495561886561064,-0.11355778400346093],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.719999999999498,"joint_targets_rad":[-0.11356646080267567,1.7260385011469692,-1.1176126253002334,-8.039324970286535e-05,1.0495561886561064,-0.11355778400346093],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.739999999999487,"qpos":[-0.11382695146545445,1.7248151886497276,-1.1157904776870378,-0.00011284274482059309,1.0305175811652938,-0.12361480349608092,0.03365579908826487,-0.03366201756354615,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999933,-1.0663476779770069e-17,-1.1308077641279288e-16,1.2415567159710268e-07],"qvel":[0.0005466697091804425,0.0026227769175202215,-0.002244373909458155,0.00013973933905628207,0.020522016500499545,0.012491194571441135,-0.026790867274913654,0.026806543323054266,1.5701356799595706e-16,-1.7839426099932253e-17,1.6405871589115822e-15,-2.0822423695812753e-16,1.1955088342044476e-15,3.642516597151054e-08],"joint_position_rad":[-0.11382695146545445,1.7248151886497276,-1.1157904776870378,-0.00011284274482059309,1.0305175811652938,-0.12361480349608092],"joint_velocity_rad_s":[0.0005466697091804425,0.0026227769175202215,-0.002244373909458155,0.00013973933905628207,0.020522016500499545,0.012491194571441135],"gripper_joint_position_m":[0.03365579908826487,-0.03366201756354615],"tcp_position_m":[0.30232942123184003,-0.033159383862155674,0.08190572518989783],"tcp_quaternion_wxyz":[0.0091793001422544,-0.00491850697054062,0.9999451193757917,-0.0011432299038024963],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999933,-1.0663476779770069e-17,-1.1308077641279288e-16,1.2415567159710268e-07],"object_linear_velocity_m_s":[1.5701356799595706e-16,-1.7839426099932253e-17,1.6405871589115822e-15],"object_angular_velocity_rad_s":[-2.0822454205449818e-16,1.19550878327681e-15,3.642516597151061e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11356646080267567,1.7260385011469692,-1.1176126253002334,-8.039324970286535e-05,1.0495561886561064,-0.11355778400346093,0.02999999999999986],"actuator_force_native":[0.018105904476399814,0.08475111519175016,-0.1345499395083607,0.000599283109427699,0.1596030501573793,0.08183340306903819,-0.01227762715603209],"issued_joint_targets_rad":[-0.11356854284690297,1.7260419978729198,-1.1176110752328459,-7.587354207883195e-05,1.0495525028881794,-0.11356155889388445],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.739999999999487,"joint_targets_rad":[-0.11356854284690297,1.7260419978729198,-1.1176110752328459,-7.587354207883195e-05,1.0495525028881794,-0.11356155889388445],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.759999999999476,"qpos":[-0.11381631760048624,1.7248665752711552,-1.115834768722693,-0.00011000092640555953,1.0309233512709781,-0.12336825635138632,0.03307836550219969,-0.03308408312503597,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-1.3391553448757188e-17,-1.0226784554830305e-16,1.2454609454032261e-07],"qvel":[0.0005194372843054926,0.0025199892192363537,-0.0021881683108645393,0.000139632956484898,0.02007986370136303,0.01218143393298816,-0.030644628973769808,0.03067599063795493,1.782623674906279e-16,-2.3893669524942136e-17,2.2290053619629154e-15,-7.057567122509293e-16,-1.8269548133522997e-15,6.650315456391991e-08],"joint_position_rad":[-0.11381631760048624,1.7248665752711552,-1.115834768722693,-0.00011000092640555953,1.0309233512709781,-0.12336825635138632],"joint_velocity_rad_s":[0.0005194372843054926,0.0025199892192363537,-0.0021881683108645393,0.000139632956484898,0.02007986370136303,0.01218143393298816],"gripper_joint_position_m":[0.03307836550219969,-0.03308408312503597],"tcp_position_m":[0.30225661966058215,-0.03314729335869731,0.08189882001925801],"tcp_quaternion_wxyz":[0.008974617166475707,-0.004799836026550825,0.9999475843458769,-0.0011164146536129494],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-1.3391553448757188e-17,-1.0226784554830305e-16,1.2454609454032261e-07],"object_linear_velocity_m_s":[1.782623674906279e-16,-2.3893669524942136e-17,2.2290053619629154e-15],"object_angular_velocity_rad_s":[-7.057562707730025e-16,-1.826954987369568e-15,6.650315456391991e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000035},{"geom_ids":[1,90],"normal_force_n":0.09810000000000038},{"geom_ids":[1,90],"normal_force_n":0.09810000000000035},{"geom_ids":[1,90],"normal_force_n":0.09810000000000033}],"native_actuator_controls":[-0.11356854284690297,1.7260419978729198,-1.1176110752328459,-7.587354207883195e-05,1.0495525028881794,-0.11356155889388445,0.02899999999999983],"actuator_force_native":[0.01722479386513598,0.0814338620449746,-0.1311636792579094,0.0006669305906446127,0.15617172061996776,0.07979482367553636,-0.009911475219145371],"issued_joint_targets_rad":[-0.11357050865894627,1.7260453533299698,-1.1176096399759647,-7.15932068051432e-05,1.0495490409447237,-0.11356510891348096],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.759999999999476,"joint_targets_rad":[-0.11357050865894627,1.7260453533299698,-1.1176096399759647,-7.15932068051432e-05,1.0495490409447237,-0.11356510891348096],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.779999999999465,"qpos":[-0.11380621234218477,1.7249159479922909,-1.1158779515173378,-0.00010716337040346376,1.0313203821094308,-0.12312782252290741,0.03243072965455921,-0.03243575986059786,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-1.1451319895921913e-17,-7.906369301567536e-17,1.2479835684662555e-07],"qvel":[0.0004936695558559061,0.0024212271225961457,-0.0021334343165492356,0.00013958746240552648,0.01964749698784494,0.011879368711325356,-0.03386106586510597,0.03389700571265216,9.77914666692068e-17,-1.3376069047203258e-17,2.5315411361732708e-15,5.537250427672819e-16,3.8357355667831186e-15,7.205072191532705e-09],"joint_position_rad":[-0.11380621234218477,1.7249159479922909,-1.1158779515173378,-0.00010716337040346376,1.0313203821094308,-0.12312782252290741],"joint_velocity_rad_s":[0.0004936695558559061,0.0024212271225961457,-0.0021334343165492356,0.00013958746240552648,0.01964749698784494,0.011879368711325356],"gripper_joint_position_m":[0.03243072965455921,-0.03243575986059786],"tcp_position_m":[0.3021853647879942,-0.03313554338876059,0.0818923377078024],"tcp_quaternion_wxyz":[0.008774711750649297,-0.004683958152237481,0.9999499369064043,-0.0010902525392110088],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-1.1451319895921913e-17,-7.906369301567536e-17,1.2479835684662555e-07],"object_linear_velocity_m_s":[9.77914666692068e-17,-1.3376069047203258e-17,2.5315411361732708e-15],"object_angular_velocity_rad_s":[5.537240842409533e-16,3.835735705155965e-15,7.205072191532705e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999967},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11357050865894627,1.7260453533299698,-1.1176096399759647,-7.15932068051432e-05,1.0495490409447237,-0.11356510891348096,0.027999999999999803],"actuator_force_native":[0.016387946879801163,0.07824629140131378,-0.12786790510739365,0.0007248692319051899,0.15281534287116116,0.07780808302727671,-0.00792385685684649],"issued_joint_targets_rad":[-0.11357236417889378,1.7260485737926827,-1.1176083133951011,-6.753974238101656e-05,1.0495457912674033,-0.11356844623593564],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.779999999999465,"joint_targets_rad":[-0.11357236417889378,1.7260485737926827,-1.1176083133951011,-6.753974238101656e-05,1.0495457912674033,-0.11356844623593564],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.799999999999454,"qpos":[-0.11379660696245303,1.7249633857357496,-1.115920054977475,-0.0001043282207785829,1.031708867143486,-0.12289335046601867,0.03172453830697165,-0.031728856731926824,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-2.4165850526085765e-17,-8.829155110682934e-17,1.2525892411376848e-07],"qvel":[0.00046930593039330926,0.002326336736409835,-0.0020801258258942115,0.000139620030188846,0.019224699389824275,0.01158478651428785,-0.03654284599247963,0.036577641639730145,1.0979958124491866e-16,-2.820027698460358e-17,2.6203589781432834e-15,2.985551766089735e-16,3.001545631437821e-15,1.315464231440207e-08],"joint_position_rad":[-0.11379660696245303,1.7249633857357496,-1.115920054977475,-0.0001043282207785829,1.031708867143486,-0.12289335046601867],"joint_velocity_rad_s":[0.00046930593039330926,0.002326336736409835,-0.0020801258258942115,0.000139620030188846,0.019224699389824275,0.01158478651428785],"gripper_joint_position_m":[0.03172453830697165,-0.031728856731926824],"tcp_position_m":[0.30211562303216905,-0.03312412083593849,0.08188625789061828],"tcp_quaternion_wxyz":[0.008579463719520564,-0.004570811522540405,0.999952182280456,-0.0010647238441998733],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-2.4165850526085765e-17,-8.829155110682934e-17,1.2525892411376848e-07],"object_linear_velocity_m_s":[1.0979958124491866e-16,-2.820027698460358e-17,2.6203589781432834e-15],"object_angular_velocity_rad_s":[2.9855442234532364e-16,3.0015457068669135e-15,1.3154642314402073e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11357236417889378,1.7260485737926827,-1.1176083133951011,-6.753974238101656e-05,1.0495457912674033,-0.11356844623593564,0.026999999999999774],"actuator_force_native":[0.015592893032772892,0.07518336087261446,-0.12466004428060273,0.0007734389849584234,0.1495321921544388,0.07587186252939859,-0.006267302316476986],"issued_joint_targets_rad":[-0.11357411506072582,1.72605166523175,-1.117607089634883,-6.370130923118321e-05,1.049542742842418,-0.11357158237477549],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.799999999999454,"joint_targets_rad":[-0.11357411506072582,1.72605166523175,-1.117607089634883,-6.370130923118321e-05,1.049542742842418,-0.11357158237477549],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.819999999999443,"qpos":[-0.11378747435994126,1.7250089643753428,-1.1159611071941218,-0.00010149460991268531,1.0320889952787076,-0.12266469244732706,0.030969531447521972,-0.030973190135894765,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-2.4556735702722247e-17,-9.625116126355996e-17,1.257216538884377e-07],"qvel":[0.00044625460074533525,0.00223516750220671,-0.002028205253624631,0.0001396479385597914,0.01881123798039286,0.011297510011263865,-0.03877842166642967,0.03880967035174755,1.2726303682236303e-16,-3.022290695822122e-17,2.6453389961973484e-15,6.73249766395644e-16,2.0163848196025002e-15,2.401705490518336e-08],"joint_position_rad":[-0.11378747435994126,1.7250089643753428,-1.1159611071941218,-0.00010149460991268531,1.0320889952787076,-0.12266469244732706],"joint_velocity_rad_s":[0.00044625460074533525,0.00223516750220671,-0.002028205253624631,0.0001396479385597914,0.01881123798039286,0.011297510011263865],"gripper_joint_position_m":[0.030969531447521972,-0.030973190135894765],"tcp_position_m":[0.3020473615503316,-0.0331130133596489,0.08188056108598096],"tcp_quaternion_wxyz":[0.008388756184455887,-0.004460335650710429,0.9999543254423638,-0.0010398099191553122],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-2.4556735702722247e-17,-9.625116126355996e-17,1.257216538884377e-07],"object_linear_velocity_m_s":[1.2726303682236303e-16,-3.022290695822122e-17,2.6453389961973484e-15],"object_angular_velocity_rad_s":[6.732492547658151e-16,2.0163849900661457e-15,2.4017054905183367e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11357411506072582,1.72605166523175,-1.117607089634883,-6.370130923118321e-05,1.049542742842418,-0.11357158237477549,0.025999999999999746],"actuator_force_native":[0.014837470933509067,0.07224023100152976,-0.12153756899277823,0.0008134923344611271,0.1463206186665147,0.07398483570861969,-0.004889149568740647],"issued_joint_targets_rad":[-0.11357576667398407,1.7260546333334361,-1.1176059631300035,-6.0066693508256814e-05,1.0495398852101985,-0.11357452823933331],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.819999999999443,"joint_targets_rad":[-0.11357576667398407,1.7260546333334361,-1.1176059631300035,-6.0066693508256814e-05,1.0495398852101985,-0.11357452823933331],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.839999999999431,"qpos":[-0.11377878927914414,1.7250527568238219,-1.1160011355386057,-9.86634284814527e-05,1.032460950780331,-0.12244170414611288,0.03017383014658392,-0.030176908882150116,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-1.0064045455762791e-17,-8.954849431136375e-17,1.2617038278707377e-07],"qvel":[0.0004244252665971298,0.0021475738993354267,-0.0019776374796674386,0.00013958655084068231,0.018406882899286433,0.01101737242492222,-0.040642161974926864,0.0406691999956712,1.2983543926589192e-16,-9.745473977675916e-18,2.512112233242329e-15,1.4206654170431082e-15,7.464978971285947e-16,4.384907719513348e-08],"joint_position_rad":[-0.11377878927914414,1.7250527568238219,-1.1160011355386057,-9.86634284814527e-05,1.032460950780331,-0.12244170414611288],"joint_velocity_rad_s":[0.0004244252665971298,0.0021475738993354267,-0.0019776374796674386,0.00013958655084068231,0.018406882899286433,0.01101737242492222],"gripper_joint_position_m":[0.03017383014658392,-0.030176908882150116],"tcp_position_m":[0.30198054825996196,-0.03310220960396417,0.08187522868335428],"tcp_quaternion_wxyz":[0.008202475551741426,-0.004352471274021715,0.9999563711290484,-0.001015493503900768],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-1.0064045455762791e-17,-8.954849431136375e-17,1.2617038278707377e-07],"object_linear_velocity_m_s":[1.2983543926589192e-16,-9.745473977675916e-18,2.512112233242329e-15],"object_angular_velocity_rad_s":[1.4206652208179751e-15,7.464982565029674e-16,4.38490771951335e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999977},{"geom_ids":[1,90],"normal_force_n":0.09809999999999977},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.11357576667398407,1.7260546333334361,-1.1176059631300035,-6.0066693508256814e-05,1.0495398852101985,-0.11357452823933331,0.024999999999999717],"actuator_force_native":[0.014119682079821061,0.06941225127246753,-0.1184980199134884,0.0008459366447244234,0.1431790199497449,0.07214570043041224,-0.0037423959887337155],"issued_joint_targets_rad":[-0.11357732411606314,1.7260574835142908,-1.1176049285956955,-5.662527357933932e-05,1.0495372084440568,-0.11357729416976292],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.839999999999431,"joint_targets_rad":[-0.11357732411606314,1.7260574835142908,-1.1176049285956955,-5.662527357933932e-05,1.0495372084440568,-0.11357729416976292],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.85999999999942,"qpos":[-0.11377052817059746,1.7250948331397904,-1.1160401666889121,-9.583704972962275e-05,1.0328249134006482,-0.12222424453774226,0.029344200952678298,-0.029346783319969802,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-6.976874270095582e-18,-7.409228479807882e-17,1.265160207371477e-07],"qvel":[0.0004037373647736115,0.0020634159077981876,-0.0019283880431827621,0.0001393729417670399,0.018011412432879695,0.010744210007264669,-0.04219609402180169,0.042219052808121285,1.2942952871008655e-16,-2.5985019739201732e-17,2.530153357392488e-15,-1.3242889146814957e-15,-1.6830325998146137e-15,8.00573416871591e-08],"joint_position_rad":[-0.11377052817059746,1.7250948331397904,-1.1160401666889121,-9.583704972962275e-05,1.0328249134006482,-0.12222424453774226],"joint_velocity_rad_s":[0.0004037373647736115,0.0020634159077981876,-0.0019283880431827621,0.0001393729417670399,0.018011412432879695,0.010744210007264669],"gripper_joint_position_m":[0.029344200952678298,-0.029346783319969802],"tcp_position_m":[0.30191515182720946,-0.033091699102409375,0.08187024291025359],"tcp_quaternion_wxyz":[0.008020511435624213,-0.00424716029530764,0.9999583238518727,-0.000991758584724472],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-6.976874270095582e-18,-7.409228479807882e-17,1.265160207371477e-07],"object_linear_velocity_m_s":[1.2942952871008655e-16,-2.5985019739201732e-17,2.530153357392488e-15],"object_angular_velocity_rad_s":[-1.3242885006835422e-15,-1.6830329337849898e-15,8.005734168715914e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000031},{"geom_ids":[1,90],"normal_force_n":0.09810000000000031},{"geom_ids":[1,90],"normal_force_n":0.09810000000000035},{"geom_ids":[1,90],"normal_force_n":0.09810000000000033}],"native_actuator_controls":[-0.11357732411606314,1.7260574835142908,-1.1176049285956955,-5.662527357933932e-05,1.0495372084440568,-0.11357729416976292,0.023999999999999688],"actuator_force_native":[0.013437637538876501,0.0666949504210379,-0.11553901232674946,0.0008716063371761377,0.14010583178476743,0.0703531886688964,-0.0027875679981360646],"issued_joint_targets_rad":[-0.11357879222662114,1.726060220934287,-1.1176039810130411,-5.336698810134214e-05,1.0495347031213271,-0.11357988996538304],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.85999999999942,"joint_targets_rad":[-0.11357879222662114,1.726060220934287,-1.1176039810130411,-5.336698810134214e-05,1.0495347031213271,-0.11357988996538304],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.87999999999941,"qpos":[-0.11376266899072617,1.7251352606380952,-1.1160782266378773,-9.301887126664361e-05,1.0331810585504702,-0.12201217585733169,0.028486282192299418,-0.028488445414837475,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-9.602121085208813e-18,-5.921527956325625e-17,1.2681969730381447e-07],"qvel":[0.0003841199761171668,0.00198255899630266,-0.001880422789017814,0.00013896645358067378,0.017624613477894582,0.010477860214193557,-0.04349184420855336,0.04351115840672506,7.236118897791167e-17,-1.0960567761756386e-17,2.473254427380449e-15,2.682000909821975e-16,2.4697773058181116e-15,8.67355736882788e-09],"joint_position_rad":[-0.11376266899072617,1.7251352606380952,-1.1160782266378773,-9.301887126664361e-05,1.0331810585504702,-0.12201217585733169],"joint_velocity_rad_s":[0.0003841199761171668,0.00198255899630266,-0.001880422789017814,0.00013896645358067378,0.017624613477894582,0.010477860214193557],"gripper_joint_position_m":[0.028486282192299418,-0.028488445414837475],"tcp_position_m":[0.3018511416460262,-0.03308147212999568,0.08186558679427937],"tcp_quaternion_wxyz":[0.007842756547764907,-0.004144345748839289,0.9999601879080631,-0.0009685901702354704],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-9.602121085208813e-18,-5.921527956325625e-17,1.2681969730381447e-07],"object_linear_velocity_m_s":[7.236118897791167e-17,-1.0960567761756386e-17,2.473254427380449e-15],"object_angular_velocity_rad_s":[2.6819946352215404e-16,2.469777374010711e-15,8.673557368827884e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.11357879222662114,1.726060220934287,-1.1176039810130411,-5.336698810134214e-05,1.0495347031213271,-0.11357988996538304,0.02299999999999966],"actuator_force_native":[0.01278954124781606,0.064084028713836,-0.11265823606802883,0.0008912430587086901,0.13709952549172755,0.06860606859819618,-0.0019920666492234673],"issued_joint_targets_rad":[-0.11358017560168879,1.7260628505092688,-1.1176031156140736,-5.028230579127519e-05,1.049532360294619,-0.11358232491093274],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.87999999999941,"joint_targets_rad":[-0.11358017560168879,1.7260628505092688,-1.1176031156140736,-5.028230579127519e-05,1.049532360294619,-0.11358232491093274],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.899999999999398,"qpos":[-0.11375519102888412,1.725174103997979,-1.1161153406996092,-9.02129172936301e-05,1.033529557464222,-0.12180536357762756,0.027604773238631027,-0.027606584843676552,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-1.3526612442310886e-17,-7.92707106092423e-17,1.273126186251047e-07],"qvel":[0.0003655098758680085,0.0019048739498456508,-0.0018337079280464222,0.00013834390457393965,0.017246280806902013,0.01021816166276433,-0.04457238158884818,0.044588558560020454,9.804104133598823e-17,-1.465890783470766e-17,2.2456587073322915e-15,2.530303315867492e-16,2.1369154343090825e-15,1.5835725409448727e-08],"joint_position_rad":[-0.11375519102888412,1.725174103997979,-1.1161153406996092,-9.02129172936301e-05,1.033529557464222,-0.12180536357762756],"joint_velocity_rad_s":[0.0003655098758680085,0.0019048739498456508,-0.0018337079280464222,0.00013834390457393965,0.017246280806902013,0.01021816166276433],"gripper_joint_position_m":[0.027604773238631027,-0.027606584843676552],"tcp_position_m":[0.3017884878159314,-0.03307151957444657,0.08186124412573913],"tcp_quaternion_wxyz":[0.0076691065867545375,-0.004043971775196367,0.9999619673914881,-0.0009459740942122007],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-1.3526612442310886e-17,-7.92707106092423e-17,1.273126186251047e-07],"object_linear_velocity_m_s":[9.804104133598823e-17,-1.465890783470766e-17,2.2456587073322915e-15],"object_angular_velocity_rad_s":[2.530297849635233e-16,2.13691549916533e-15,1.5835725409448737e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11358017560168879,1.7260628505092688,-1.1176031156140736,-5.028230579127519e-05,1.049532360294619,-0.11358232491093274,0.02199999999999963],"actuator_force_native":[0.01217368479628611,0.06157535115394808,-0.10985345351691933,0.0009055049372244978,0.1341586070936156,0.06690314417280163,-0.0013290216010148903],"issued_joint_targets_rad":[-0.11358147860688497,1.7260653769228982,-1.1176023278679408,-4.7362196908977925e-05,1.04953017146512,-0.11358460780191573],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.899999999999398,"joint_targets_rad":[-0.11358147860688497,1.7260653769228982,-1.1176023278679408,-4.7362196908977925e-05,1.04953017146512,-0.11358460780191573],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.919999999999387,"qpos":[-0.11374807477319539,1.7252114253672317,-1.116151533518143,-8.742354084195486e-05,1.033870577348321,-0.1216036763818024,0.02670359176820132,-0.026705109291941902,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-7.911806642892385e-18,-8.560876843784409e-17,1.2774756483316706e-07],"qvel":[0.0003478497392328085,0.0018302366551203333,-0.001788210168229611,0.0001374947785276564,0.016876216221233156,0.009964954541869872,-0.04547348844227859,0.04548701214495263,1.1432136510387787e-16,-9.103914034709312e-18,2.222066468059007e-15,5.907021403752969e-16,1.0867766666979895e-15,2.8912035578929194e-08],"joint_position_rad":[-0.11374807477319539,1.7252114253672317,-1.116151533518143,-8.742354084195486e-05,1.033870577348321,-0.1216036763818024],"joint_velocity_rad_s":[0.0003478497392328085,0.0018302366551203333,-0.001788210168229611,0.0001374947785276564,0.016876216221233156,0.009964954541869872],"gripper_joint_position_m":[0.02670359176820132,-0.026705109291941902],"tcp_position_m":[0.30172716112068493,-0.033061832837650754,0.08185719942228475],"tcp_quaternion_wxyz":[0.007499460133735019,-0.0039459835996267355,0.9999636662027876,-0.0009238968632933069],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-7.911806642892385e-18,-8.560876843784409e-17,1.2774756483316706e-07],"object_linear_velocity_m_s":[1.1432136510387787e-16,-9.103914034709312e-18,2.222066468059007e-15],"object_angular_velocity_rad_s":[5.907018577588851e-16,1.086776818076967e-15,2.8912035578929214e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11358147860688497,1.7260653769228982,-1.1176023278679408,-4.7362196908977925e-05,1.04953017146512,-0.11358460780191573,0.020999999999999602],"actuator_force_native":[0.01158844460866959,0.05916494117769844,-0.10712249714268296,0.0009149798646807955,0.1312816168361408,0.0652432539860619,-0.0007762285166756921],"issued_joint_targets_rad":[-0.11358270538969674,1.7260678046381295,-1.1176016134682778,-4.459810634104897e-05,1.0495281285581122,-0.1135867469691899],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.919999999999387,"joint_targets_rad":[-0.11358270538969674,1.7260678046381295,-1.1176016134682778,-4.459810634104897e-05,1.0495281285581122,-0.1135867469691899],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.939999999999376,"qpos":[-0.11374130180675796,1.7252472844619935,-1.1161868290785455,-8.465521089422859e-05,1.0342042815140586,-0.12140698612735161,0.025786004321251048,-0.025787276190222485,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-9.131407484863578e-19,-8.422462640089807e-17,1.2815986136655004e-07],"qvel":[0.00033108687635175247,0.0017585278840871747,-0.0017438968236123064,0.00013641753327318283,0.01651422785344558,0.009718081055622609,-0.04622497812105173,0.0462362761258776,1.3430438898593943e-16,4.644412853413559e-19,2.1318608473082135e-15,7.33342557669702e-16,-9.311946959400845e-16,5.278607576882034e-08],"joint_position_rad":[-0.11374130180675796,1.7252472844619935,-1.1161868290785455,-8.465521089422859e-05,1.0342042815140586,-0.12140698612735161],"joint_velocity_rad_s":[0.00033108687635175247,0.0017585278840871747,-0.0017438968236123064,0.00013641753327318283,0.01651422785344558,0.009718081055622609],"gripper_joint_position_m":[0.025786004321251048,-0.025787276190222485],"tcp_position_m":[0.30166713300830644,-0.033052403762060784,0.08185343789570729],"tcp_quaternion_wxyz":[0.007333718554615034,-0.0038503275123262615,0.9999652880589059,-0.0009023455429239519],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-9.131407484863578e-19,-8.422462640089807e-17,1.2815986136655004e-07],"object_linear_velocity_m_s":[1.3430438898593943e-16,4.644412853413559e-19,2.1318608473082135e-15],"object_angular_velocity_rad_s":[7.333427874614697e-16,-9.311945078734925e-16,5.278607576882039e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11358270538969674,1.7260678046381295,-1.1176016134682778,-4.459810634104897e-05,1.0495281285581122,-0.1135867469691899,0.019999999999999574],"actuator_force_native":[0.01103227898313719,0.05684897467043015,-0.10446326706052389,0.0009201965157612706,0.12846712866036647,0.06362526999818341,-0.0003152822448003745],"issued_joint_targets_rad":[-0.11358385989090745,1.7260701379081835,-1.117600968321612,-4.1981928162124697e-05,1.0495262239004328,-0.1135887503027108],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.939999999999376,"joint_targets_rad":[-0.11358385989090745,1.7260701379081835,-1.117600968321612,-4.1981928162124697e-05,1.0495262239004328,-0.1135887503027108],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.959999999999365,"qpos":[-0.11373485472427763,1.7252817386623234,-1.1162212507198388,-8.191236185913247e-05,1.0345308294982953,-0.12121516780186449,0.0248547348037323,-0.024855801551116784,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,4.7876089068748454e-18,-7.421775803559531e-17,1.2845607409521923e-07],"qvel":[0.00031517240575837477,0.0016896330873192736,-0.0017007358881547645,0.00013511696160412823,0.016160129632157228,0.009477385789510686,-0.04685170050556952,0.04686113813137468,2.0247913747676215e-16,4.142361316209092e-17,2.0985541565694583e-15,3.4381330657923393e-15,-6.49139360697056e-15,9.637404420953929e-08],"joint_position_rad":[-0.11373485472427763,1.7252817386623234,-1.1162212507198388,-8.191236185913247e-05,1.0345308294982953,-0.12121516780186449],"joint_velocity_rad_s":[0.00031517240575837477,0.0016896330873192736,-0.0017007358881547645,0.00013511696160412823,0.016160129632157228,0.009477385789510686],"gripper_joint_position_m":[0.0248547348037323,-0.024855801551116784],"tcp_position_m":[0.301608375572352,-0.033043224574890395,0.08184994542069544],"tcp_quaternion_wxyz":[0.007171785908046122,-0.003756950850252138,0.9999668365020842,-0.0008813076716163234],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,4.7876089068748454e-18,-7.421775803559531e-17,1.2845607409521923e-07],"object_linear_velocity_m_s":[2.0247913747676215e-16,4.142361316209092e-17,2.0985541565694583e-15],"object_angular_velocity_rad_s":[3.4381347192047742e-15,-6.491392724595004e-15,9.637404420953937e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11358385989090745,1.7260701379081835,-1.117600968321612,-4.1981928162124697e-05,1.0495262239004328,-0.1135887503027108,0.018999999999999545],"actuator_force_native":[0.010503724640821943,0.0546237742322262,-0.10187372870106515,0.0009216325398596697,0.12571374957313886,0.06204809630727093,6.9110378537518e-05],"issued_joint_targets_rad":[-0.11358494585526663,1.7260723807870084,-1.1176003885366423,-3.9505981564544165e-05,1.0495244501995844,-0.11359062527433848],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.959999999999365,"joint_targets_rad":[-0.11358494585526663,1.7260723807870084,-1.1176003885366423,-3.9505981564544165e-05,1.0495244501995844,-0.11359062527433848],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.979999999999354,"qpos":[-0.11372871706201874,1.7253148431037546,-1.1162548211490806,-7.919928736125072e-05,1.0348503771748028,-0.1210280994724169,0.023912054764690386,-0.023912950237650884,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,1.4818958299161906e-17,-7.443604909188671e-17,1.2882164380118966e-07],"qvel":[0.00030006071114062777,0.001623442199126632,-0.001658696081384712,0.00013360231451057947,0.015813740868211707,0.009242715987542265,-0.0473743735863352,0.04738225835674135,9.07229400823688e-17,1.62802471328542e-17,2.0763496960769556e-15,-2.629745459659711e-16,2.7170022959011917e-15,1.0441338466918967e-08],"joint_position_rad":[-0.11372871706201874,1.7253148431037546,-1.1162548211490806,-7.919928736125072e-05,1.0348503771748028,-0.1210280994724169],"joint_velocity_rad_s":[0.00030006071114062777,0.001623442199126632,-0.001658696081384712,0.00013360231451057947,0.015813740868211707,0.009242715987542265],"gripper_joint_position_m":[0.023912054764690386,-0.023912950237650884],"tcp_position_m":[0.3015508615342598,-0.033034287844626586,0.08184670850533558],"tcp_quaternion_wxyz":[0.007013568858260127,-0.0036658019803189287,0.9999683149083578,-0.0008607711955370271],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,1.4818958299161906e-17,-7.443604909188671e-17,1.2882164380118966e-07],"object_linear_velocity_m_s":[9.07229400823688e-17,1.62802471328542e-17,2.0763496960769556e-15],"object_angular_velocity_rad_s":[-2.6297524753779053e-16,2.717002227838018e-15,1.0441338466918979e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11358494585526663,1.7260723807870084,-1.1176003885366423,-3.9505981564544165e-05,1.0495244501995844,-0.11359062527433848,0.017999999999999516],"actuator_force_native":[0.01000139298446534,0.052485803664694686,-0.09935191059801696,0.0009197206593153648,0.12302011894549736,0.06051066799947091,0.00038967734404127263],"issued_joint_targets_rad":[-0.11358596684148962,1.7260745371392445,-1.1175998704142418,-3.7162988079572406e-05,1.0495228005242467,-0.11359237895964025],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.979999999999354,"joint_targets_rad":[-0.11358596684148962,1.7260745371392445,-1.1175998704142418,-3.7162988079572406e-05,1.0495228005242467,-0.11359237895964025],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.999999999999343,"qpos":[-0.1137228732367155,1.7253466507650672,-1.116287562456151,-7.652006583270987e-05,1.0351630768582567,-0.12084566223023822,0.02295985858019018,-0.022960611018639034,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,3.885156049424843e-18,-1.008605167491604e-16,1.2928946840216086e-07],"qvel":[0.00028570906458226823,0.0015598494537664162,-0.0016177468746826533,0.000131885939155256,0.015474885923192764,0.009013921753953179,-0.047810273062153054,0.04781686221754108,1.2430032448347036e-16,5.0873620558042235e-18,1.9833685177645977e-15,-6.417302291697145e-16,1.6248378640610851e-15,1.9063247274236554e-08],"joint_position_rad":[-0.1137228732367155,1.7253466507650672,-1.116287562456151,-7.652006583270987e-05,1.0351630768582567,-0.12084566223023822],"joint_velocity_rad_s":[0.00028570906458226823,0.0015598494537664162,-0.0016177468746826533,0.000131885939155256,0.015474885923192764,0.009013921753953179],"gripper_joint_position_m":[0.02295985858019018,-0.022960611018639034],"tcp_position_m":[0.3014945642266072,-0.03302558644622741,0.08184371426316168],"tcp_quaternion_wxyz":[0.006858976592080724,-0.003576830283796794,0.9999697264955993,-0.0008407244178753402],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,3.885156049424843e-18,-1.008605167491604e-16,1.2928946840216086e-07],"object_linear_velocity_m_s":[1.2430032448347036e-16,5.0873620558042235e-18,1.9833685177645977e-15],"object_angular_velocity_rad_s":[-6.41730653163999e-16,1.6248376979749842e-15,1.9063247274236574e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11358596684148962,1.7260745371392445,-1.1175998704142418,-3.7162988079572406e-05,1.0495228005242467,-0.11359237895964025,0.016999999999999488],"actuator_force_native":[0.00952396629515917,0.05043166266537469,-0.09689590227385736,0.0009148534143492188,0.12038490777511157,0.05901195007504989,0.0006570221031376722],"issued_joint_targets_rad":[-0.11358692623165666,1.7260766106496845,-1.1175994104380829,-3.4946050016056754e-05,1.0495212682860187,-0.11359401805868291],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.999999999999343,"joint_targets_rad":[-0.11358692623165666,1.7260766106496845,-1.1175994104380829,-3.4946050016056754e-05,1.0495212682860187,-0.11359401805868291],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.019999999999332,"qpos":[-0.11371730849092616,1.7253772125524918,-1.1163194961289182,-7.387850948665328e-05,1.0354690774022195,-0.12066774013198756,0.02199972610609076,-0.022000359066551383,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,2.652809927123946e-18,-9.281219338551431e-17,1.2975095208424557e-07],"qvel":[0.0002720773453000354,0.0014987532115008303,-0.00157785850473718,0.0001299822648072194,0.015143393933525698,0.008790856195745817,-0.048173805455710816,0.04817931365355143,1.2305884582955492e-16,6.299338581635071e-18,1.9375718179988103e-15,-1.0962573740737266e-16,2.096543458160493e-15,3.48046754532555e-08],"joint_position_rad":[-0.11371730849092616,1.7253772125524918,-1.1163194961289182,-7.387850948665328e-05,1.0354690774022195,-0.12066774013198756],"joint_velocity_rad_s":[0.0002720773453000354,0.0014987532115008303,-0.00157785850473718,0.0001299822648072194,0.015143393933525698,0.008790856195745817],"gripper_joint_position_m":[0.02199972610609076,-0.022000359066551383],"tcp_position_m":[0.3014394575771502,-0.033017113532686264,0.08184095038660835],"tcp_quaternion_wxyz":[0.006707920739620732,-0.0034899861417010767,0.9999710743311391,-0.0008211559592508509],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,2.652809927123946e-18,-9.281219338551431e-17,1.2975095208424557e-07],"object_linear_velocity_m_s":[1.2305884582955492e-16,6.299338581635071e-18,1.9375718179988103e-15],"object_angular_velocity_rad_s":[-1.0962628792498519e-16,2.096543429527676e-15,3.480467545325555e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11358692623165666,1.7260766106496845,-1.1175994104380829,-3.4946050016056754e-05,1.0495212682860187,-0.11359401805868291,0.01599999999999946],"actuator_force_native":[0.009070194015061261,0.04845808171791077,-0.09450385220948476,0.0009073870547877639,0.1178068179377032,0.05755093643942755,0.0008799830349021098],"issued_joint_targets_rad":[-0.11358782724006625,1.7260786048322592,-1.117599005265816,-3.284863005774036e-05,1.0495198472222513,-0.11359554891581299],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.019999999999332,"joint_targets_rad":[-0.11358782724006625,1.7260786048322592,-1.117599005265816,-3.284863005774036e-05,1.0495198472222513,-0.11359554891581299],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.03999999999932,"qpos":[-0.11371200884337114,1.7254065773805218,-1.116350643068585,-7.127813089233245e-05,1.0357685242920387,-0.1204942201386754,0.02103297490777915,-0.021033508040710195,0.2988766532603013,-0.03267397597297194,0.07989224457978372,0.9999999999999922,-2.295415633388219e-18,-8.718849653949369e-17,1.3012400580866545e-07],"qvel":[0.0002591278147811241,0.001440055793434518,-0.001539001978379055,0.0001279070322893959,0.01481909857357355,0.00857337551947689,-0.048476985139522005,0.04848159137026749,1.6700624458047155e-16,-1.2183599052249257e-17,1.915367357506308e-15,-9.37278441367956e-16,-3.1032487598401333e-15,6.354454810244216e-08],"joint_position_rad":[-0.11371200884337114,1.7254065773805218,-1.116350643068585,-7.127813089233245e-05,1.0357685242920387,-0.1204942201386754],"joint_velocity_rad_s":[0.0002591278147811241,0.001440055793434518,-0.001539001978379055,0.0001279070322893959,0.01481909857357355,0.00857337551947689],"gripper_joint_position_m":[0.02103297490777915,-0.021033508040710195],"tcp_position_m":[0.30138551609355885,-0.03300886251145249,0.08183840512175639],"tcp_quaternion_wxyz":[0.006560315298319296,-0.0034052209209509067,0.9999723613389931,-0.0008020547265878169],"object_position_m":[0.2988766532603013,-0.03267397597297194,0.07989224457978372],"object_quaternion_wxyz":[0.9999999999999922,-2.295415633388219e-18,-8.718849653949369e-17,1.3012400580866545e-07],"object_linear_velocity_m_s":[1.6700624458047155e-16,-1.2183599052249257e-17,1.915367357506308e-15],"object_angular_velocity_rad_s":[-9.372776448343135e-16,-3.1032490034731624e-15,6.354454810244223e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11358782724006625,1.7260786048322592,-1.117599005265816,-3.284863005774036e-05,1.0495198472222513,-0.11359554891581299,0.014999999999999453],"actuator_force_native":[0.008638889190486054,0.04656191717182878,-0.09217396588660165,0.0008976448719367038,0.11528458144176668,0.056126648949409,0.0010659293864221375],"issued_joint_targets_rad":[-0.11358867292159075,1.7260805230385554,-1.1175986517207248,-3.0864531959676654e-05,1.049518531379863,-0.11359697753845185],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.03999999999932,"joint_targets_rad":[-0.11358867292159075,1.7260805230385554,-1.1175986517207248,-3.0864531959676654e-05,1.049518531379863,-0.11359697753845185],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.05999999999931,"qpos":[-0.11370401394421613,1.7254336220945188,-1.1163824495873478,-6.165131228317794e-05,1.0360573687760704,-0.1203229440743025,0.020137582359603983,-0.020169308265281287,0.2988748232213369,-0.032677763469282355,0.07989149812760975,0.9999999966560287,7.51809641644007e-05,-2.884578319248257e-05,1.4271929588570727e-05],"qvel":[0.0009382290317175992,0.0011185220889409382,-0.0018351170183883944,0.0017657052001760697,0.013477532550468732,0.008804288637975537,-0.030778652822429347,0.023677859567167957,-0.00040253328135165785,-0.0008191567608138832,-0.00015339846926376693,0.03255211503476814,-0.012314836880975366,0.005954360634947965],"joint_position_rad":[-0.11370401394421613,1.7254336220945188,-1.1163824495873478,-6.165131228317794e-05,1.0360573687760704,-0.1203229440743025],"joint_velocity_rad_s":[0.0009382290317175992,0.0011185220889409382,-0.0018351170183883944,0.0017657052001760697,0.013477532550468732,0.008804288637975537],"gripper_joint_position_m":[0.020137582359603983,-0.020169308265281287],"tcp_position_m":[0.30133433822365496,-0.03299882102578822,0.08183677150446851],"tcp_quaternion_wxyz":[0.006419805301650704,-0.0033211544930487817,0.9999735728760522,-0.000780757468506238],"object_position_m":[0.2988748232213369,-0.032677763469282355,0.07989149812760975],"object_quaternion_wxyz":[0.9999999966560287,7.51809641644007e-05,-2.884578319248257e-05,1.4271929588570727e-05],"object_linear_velocity_m_s":[-0.00040253328135165785,-0.0008191567608138832,-0.00015339846926376693],"object_angular_velocity_rad_s":[0.03255212303010424,-0.012314803028998192,0.005954386937608742],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":5},"pad_normal_forces_n":{"left":0.0,"right":0.24137088675649324},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.057303228392187516},{"geom_ids":[1,90],"normal_force_n":0.0970817315235044},{"geom_ids":[1,90],"normal_force_n":0.17397009920726894},{"geom_ids":[1,90],"normal_force_n":0.1330679865252107},{"geom_ids":[88,90],"normal_force_n":0.0269123568977971},{"geom_ids":[88,90],"normal_force_n":0.11629395138143134},{"geom_ids":[88,90],"normal_force_n":0.03239039020864761},{"geom_ids":[89,90],"normal_force_n":0.028630174085784714},{"geom_ids":[89,90],"normal_force_n":0.03714401418283247}],"native_actuator_controls":[-0.11358867292159075,1.7260805230385554,-1.1175986517207248,-3.0864531959676654e-05,1.049518531379863,-0.11359697753845185,0.013999999999999459],"actuator_force_native":[0.004536136651442035,0.0461594650782331,-0.08812058557822411,-0.007597054787940297,0.11439532721222179,0.05405323240154325,-0.09161003027203418],"issued_joint_targets_rad":[-0.11358946328953196,1.7260823223401354,-1.1175983575002226,-2.899671193266489e-05,1.0495173399908038,-0.11359825461124053],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.05999999999931,"joint_targets_rad":[-0.11358946328953196,1.7260823223401354,-1.1175983575002226,-2.899671193266489e-05,1.0495173399908038,-0.11359825461124053],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.079999999999298,"qpos":[-0.11367594178087516,1.7254524736673642,-1.1164232795051607,-6.0015677076221755e-06,1.0363061334089847,-0.1201460354009491,0.019787961347266028,-0.020021235101200928,0.2988633008048587,-0.032698603265132034,0.07988915373373827,0.9999998647668835,0.0004714838962983905,-0.00019262820425538385,0.00010518329684297926],"qvel":[0.0014048133104004588,0.0009463093421689409,-0.002126178103408363,0.0026824927923790854,0.011599808713695568,0.008728160498166663,-0.008339230873852783,-0.0009615057903524416,-0.000634395297688792,-0.0007941277316592752,1.5094180739428057e-05,0.0290228932770663,-0.019344728524367073,0.00907898210045768],"joint_position_rad":[-0.11367594178087516,1.7254524736673642,-1.1164232795051607,-6.0015677076221755e-06,1.0363061334089847,-0.1201460354009491],"joint_velocity_rad_s":[0.0014048133104004588,0.0009463093421689409,-0.002126178103408363,0.0026824927923790854,0.011599808713695568,0.008728160498166663],"gripper_joint_position_m":[0.019787961347266028,-0.020021235101200928],"tcp_position_m":[0.3012963818012188,-0.03297575259747112,0.0818398860795663],"tcp_quaternion_wxyz":[0.006310071982230468,-0.003232714990687333,0.9999745899215334,-0.0007430051338555522],"object_position_m":[0.2988633008048587,-0.032698603265132034,0.07988915373373827],"object_quaternion_wxyz":[0.9999998647668835,0.0004714838962983905,-0.00019262820425538385,0.00010518329684297926],"object_linear_velocity_m_s":[-0.000634395297688792,-0.0007941277316592752,1.5094180739428057e-05],"object_angular_velocity_rad_s":[0.029023466643894092,-0.01934718087563852,0.009071920853378771],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":4},"pad_normal_forces_n":{"left":0.1024882794085247,"right":0.17150138948697502},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":14,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.05219551839823133},{"geom_ids":[1,90],"normal_force_n":0.09913827054442628},{"geom_ids":[1,90],"normal_force_n":0.14206526023589866},{"geom_ids":[1,90],"normal_force_n":0.09250873227729516},{"geom_ids":[85,90],"normal_force_n":0.0441480083178667},{"geom_ids":[86,90],"normal_force_n":0.058340271090658},{"geom_ids":[88,90],"normal_force_n":0.018898826443484756},{"geom_ids":[88,90],"normal_force_n":0.09488877379113021},{"geom_ids":[89,90],"normal_force_n":0.025555760340290723},{"geom_ids":[89,90],"normal_force_n":0.03215802891206932}],"native_actuator_controls":[-0.11358946328953196,1.7260823223401354,-1.1175983575002226,-2.899671193266489e-05,1.0495173399908038,-0.11359825461124053,0.012999999999999465],"actuator_force_native":[-0.00010578724454646249,0.04565634711084954,-0.0833753490879161,-0.014332269730897134,0.11471235274764524,0.052385567149835666,-0.22982229952139865],"issued_joint_targets_rad":[-0.11359016189756364,1.7260837246898442,-1.1175981915165472,-2.731567182674866e-05,1.0495164329928879,-0.11359906036576532],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.079999999999298,"joint_targets_rad":[-0.11359016189756364,1.7260837246898442,-1.1175981915165472,-2.731567182674866e-05,1.0495164329928879,-0.11359906036576532],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.099999999999287,"qpos":[-0.1136558226998177,1.7254734593459582,-1.1164664632072423,2.9484884688172273e-05,1.036522157812022,-0.11997514032335045,0.019734469902418488,-0.020088100167887177,0.29885117096723707,-0.0327059869321519,0.07989160619231953,0.9999997260645663,0.0006035858077214701,-0.0003899705058301288,0.00017742032006383909],"qvel":[0.0007291082455403913,0.0010988240790029925,-0.002186831419355676,0.0011952883739637832,0.010225753829321052,0.008411815394071518,0.00022427937416319186,-0.0038798325687400717,-0.0005763316346256396,-0.00014185042753930504,0.00016904228745209,0.004812044627218181,-0.018461927105596222,0.006479016778334847],"joint_position_rad":[-0.1136558226998177,1.7254734593459582,-1.1164664632072423,2.9484884688172273e-05,1.036522157812022,-0.11997514032335045],"joint_velocity_rad_s":[0.0007291082455403913,0.0010988240790029925,-0.002186831419355676,0.0011952883739637832,0.010225753829321052,0.008411815394071518],"gripper_joint_position_m":[0.019734469902418488,-0.020088100167887177],"tcp_position_m":[0.3012652509181421,-0.03295957450551296,0.08184297034109304],"tcp_quaternion_wxyz":[0.006215678634457829,-0.0031483908118942494,0.9999754699406569,-0.0007158850263850158],"object_position_m":[0.29885117096723707,-0.0327059869321519,0.07989160619231953],"object_quaternion_wxyz":[0.9999997260645663,0.0006035858077214701,-0.0003899705058301288,0.00017742032006383909],"object_linear_velocity_m_s":[-0.0005763316346256396,-0.00014185042753930504,0.00016904228745209],"object_angular_velocity_rad_s":[0.004813550730206187,-0.018468029427717823,0.006460480073904161],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":4},"pad_normal_forces_n":{"left":0.14130993372975037,"right":0.16929337410336326},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":15,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04978644179086047},{"geom_ids":[1,90],"normal_force_n":0.10104389014062509},{"geom_ids":[1,90],"normal_force_n":0.1424980315360869},{"geom_ids":[1,90],"normal_force_n":0.08696113610351885},{"geom_ids":[85,90],"normal_force_n":0.021030305852286466},{"geom_ids":[85,90],"normal_force_n":0.053034174506144595},{"geom_ids":[86,90],"normal_force_n":0.06724545337131932},{"geom_ids":[88,90],"normal_force_n":0.021972623017178006},{"geom_ids":[88,90],"normal_force_n":0.08615363883293631},{"geom_ids":[89,90],"normal_force_n":0.027680132349529336},{"geom_ids":[89,90],"normal_force_n":0.0334869799037196}],"native_actuator_controls":[-0.11359016189756364,1.7260837246898442,-1.1175981915165472,-2.731567182674866e-05,1.0495164329928879,-0.11359906036576532,0.011999999999999471],"actuator_force_native":[0.0016073229526227806,0.04332710711585719,-0.0796041076476115,-0.008248464130415753,0.11460412106467821,0.05114307648474403,-0.31050019296757664],"issued_joint_targets_rad":[-0.11359072348714543,1.7260849784852066,-1.1175981805040993,-2.58518862249649e-05,1.0495158088474343,-0.11359976266266968],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.099999999999287,"joint_targets_rad":[-0.11359072348714543,1.7260849784852066,-1.1175981805040993,-2.58518862249649e-05,1.0495158088474343,-0.11359976266266968],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.119999999999276,"qpos":[-0.1136447643716319,1.7254957367425519,-1.1165105712595915,4.680376493759266e-05,1.0367176425779998,-0.1198093164453257,0.01975280643084384,-0.02015108572927505,0.2988401049374944,-0.03270707409727897,0.0798952670105069,0.999999625753467,0.0006149716276828321,-0.0005583890648829898,0.0002418769850313111],"qvel":[0.00042843168021241244,0.0011186883000130563,-0.0022178016671172175,0.0006335488310714699,0.009412635578796584,0.008184253012185115,0.0010386062252844904,-0.0023793097020586786,-0.0005346710142636487,-1.5996243839026152e-06,0.00018533003667726175,-0.00034393866445413224,-0.014635736507426434,0.0069435760982277245],"joint_position_rad":[-0.1136447643716319,1.7254957367425519,-1.1165105712595915,4.680376493759266e-05,1.0367176425779998,-0.1198093164453257],"joint_velocity_rad_s":[0.00042843168021241244,0.0011186883000130563,-0.0022178016671172175,0.0006335488310714699,0.009412635578796584,0.008184253012185115],"gripper_joint_position_m":[0.01975280643084384,-0.02015108572927505],"tcp_position_m":[0.30123797837072414,-0.03294992152701411,0.08184591568492734],"tcp_quaternion_wxyz":[0.006130378793275977,-0.003066650696542553,0.9999762633156658,-0.000697792658471559],"object_position_m":[0.2988401049374944,-0.03270707409727897,0.0798952670105069],"object_quaternion_wxyz":[0.999999625753467,0.0006149716276828321,-0.0005583890648829898,0.0002418769850313111],"object_linear_velocity_m_s":[-0.0005346710142636487,-1.5996243839026152e-06,0.00018533003667726175],"object_angular_velocity_rad_s":[-0.00034460063045693565,-0.014644431947165519,0.00692518514567861],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":4},"pad_normal_forces_n":{"left":0.1687921925999653,"right":0.17474542053670436},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04721895886471488},{"geom_ids":[1,90],"normal_force_n":0.10354465776434502},{"geom_ids":[1,90],"normal_force_n":0.14152347142897514},{"geom_ids":[1,90],"normal_force_n":0.0809866423152454},{"geom_ids":[85,90],"normal_force_n":0.029498723527144177},{"geom_ids":[85,90],"normal_force_n":0.06295554225225362},{"geom_ids":[86,90],"normal_force_n":0.0763379268205675},{"geom_ids":[88,90],"normal_force_n":0.02570557622197571},{"geom_ids":[88,90],"normal_force_n":0.08232058092213626},{"geom_ids":[89,90],"normal_force_n":0.030769911403976613},{"geom_ids":[89,90],"normal_force_n":0.03594935198861579}],"native_actuator_controls":[-0.11359072348714543,1.7260849784852066,-1.1175981805040993,-2.58518862249649e-05,1.0495158088474343,-0.11359976266266968,0.010999999999999477],"actuator_force_native":[0.0021811123578547864,0.041545897912328655,-0.07591973122504214,-0.006073970201859652,0.11386270932615083,0.04981915830828276,-0.35530528836019704],"issued_joint_targets_rad":[-0.1135911986184954,1.7260861478088816,-1.1175982726945426,-2.4552148230022323e-05,1.0495153715708656,-0.1136004181013784],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.119999999999276,"joint_targets_rad":[-0.1135911986184954,1.7260861478088816,-1.1175982726945426,-2.4552148230022323e-05,1.0495153715708656,-0.1136004181013784],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.139999999999265,"qpos":[-0.11363806462933368,1.7255180200486264,-1.116555013307401,5.591229572737412e-05,1.036899417191793,-0.11964804738340672,0.019766787536360464,-0.02018381214460308,0.29882956045778764,-0.03270626673078209,0.07989912690287941,0.9999995339676225,0.0006042140332084958,-0.0006813387515444871,0.00032057361893730554],"qvel":[0.0002624372084175123,0.0011081038883088779,-0.002222146573139146,0.00031202846889492576,0.008819355424960939,0.007953332112514444,0.0003351931478222458,-0.0010687214975034815,-0.0005227977542434164,7.658902186712714e-05,0.00020069348785759663,-0.0016517821397435519,-0.01027505845996173,0.008749099063762615],"joint_position_rad":[-0.11363806462933368,1.7255180200486264,-1.116555013307401,5.591229572737412e-05,1.036899417191793,-0.11964804738340672],"joint_velocity_rad_s":[0.0002624372084175123,0.0011081038883088779,-0.002222146573139146,0.00031202846889492576,0.008819355424960939,0.007953332112514444],"gripper_joint_position_m":[0.019766787536360464,-0.02018381214460308],"tcp_position_m":[0.30121336629791073,-0.032943402622649456,0.08184896774896815],"tcp_quaternion_wxyz":[0.006051631337860917,-0.002987077424778141,0.9999769933153888,-0.0006840807873337839],"object_position_m":[0.29882956045778764,-0.03270626673078209,0.07989912690287941],"object_quaternion_wxyz":[0.9999995339676225,0.0006042140332084958,-0.0006813387515444871,0.00032057361893730554],"object_linear_velocity_m_s":[-0.0005227977542434164,7.658902186712714e-05,0.00020069348785759663],"object_angular_velocity_rad_s":[-0.0016571027900130844,-0.010286682994703268,0.00873442089266095],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.1946827089448973,"right":0.19410458428251195},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04711144311274318},{"geom_ids":[1,90],"normal_force_n":0.10519136378791501},{"geom_ids":[1,90],"normal_force_n":0.13754996200858624},{"geom_ids":[1,90],"normal_force_n":0.07721653948826002},{"geom_ids":[85,90],"normal_force_n":0.03780686183712814},{"geom_ids":[85,90],"normal_force_n":0.07220758074056544},{"geom_ids":[86,90],"normal_force_n":0.08466826636720375},{"geom_ids":[88,90],"normal_force_n":0.029100105961326696},{"geom_ids":[88,90],"normal_force_n":0.08023904702902698},{"geom_ids":[88,90],"normal_force_n":0.012936327015494593},{"geom_ids":[89,90],"normal_force_n":0.03355694622768577},{"geom_ids":[89,90],"normal_force_n":0.0382721580489779}],"native_actuator_controls":[-0.1135911986184954,1.7260861478088816,-1.1175982726945426,-2.4552148230022323e-05,1.0495153715708656,-0.1136004181013784,0.009999999999999483],"actuator_force_native":[0.0024370948249750057,0.03990970137886052,-0.0723500181056238,-0.004778720102770487,0.11293051065328541,0.04854629465151139,-0.39234746719355046],"issued_joint_targets_rad":[-0.1135916163509996,1.7260872467619186,-1.117598423636731,-2.336869587568736e-05,1.049515048497371,-0.11360101691627979],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.139999999999265,"joint_targets_rad":[-0.1135916163509996,1.7260872467619186,-1.117598423636731,-2.336869587568736e-05,1.049515048497371,-0.11360101691627979],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.159999999999254,"qpos":[-0.11363407712811573,1.7255400701580998,-1.1165993168229897,5.958914444557437e-05,1.0370706216268812,-0.11949143177933114,0.019765773410479113,-0.020196999413975084,0.29881917425037785,-0.03270398785593593,0.07990326125475468,0.9999994512582655,0.0005823159764833893,-0.0007644665062738437,0.00041711177390682595],"qvel":[0.00014844326060415276,0.0010980649843079435,-0.002205936277344349,7.74081354800147e-05,0.008339540812286338,0.007720268568552398,-0.0003641072232829281,-0.0003698578406650999,-0.0005162534783922873,0.0001461092473546554,0.00021042326834201126,-0.0026243316956589685,-0.0066503558148992255,0.010433681892677323],"joint_position_rad":[-0.11363407712811573,1.7255400701580998,-1.1165993168229897,5.958914444557437e-05,1.0370706216268812,-0.11949143177933114],"joint_velocity_rad_s":[0.00014844326060415276,0.0010980649843079435,-0.002205936277344349,7.74081354800147e-05,0.008339540812286338,0.007720268568552398],"gripper_joint_position_m":[0.019765773410479113,-0.020196999413975084],"tcp_position_m":[0.3011907308856647,-0.03293892970102891,0.08185208388735095],"tcp_quaternion_wxyz":[0.005977902392122647,-0.002909842780041392,0.999977671796654,-0.0006733543858486412],"object_position_m":[0.29881917425037785,-0.03270398785593593,0.07990326125475468],"object_quaternion_wxyz":[0.9999994512582655,0.0005823159764833893,-0.0007644665062738437,0.00041711177390682595],"object_linear_velocity_m_s":[-0.0005162534783922873,0.0001461092473546554,0.00021042326834201126],"object_angular_velocity_rad_s":[-0.0026347212372244662,-0.006664693978829553,0.010421907950171996],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.21960448674005473,"right":0.20667039706866552},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04757852881187455},{"geom_ids":[1,90],"normal_force_n":0.10579334112053461},{"geom_ids":[1,90],"normal_force_n":0.13255248075376821},{"geom_ids":[1,90],"normal_force_n":0.07392317651691153},{"geom_ids":[85,90],"normal_force_n":0.04607041811521625},{"geom_ids":[85,90],"normal_force_n":0.0809583612999976},{"geom_ids":[86,90],"normal_force_n":0.09257570732484087},{"geom_ids":[88,90],"normal_force_n":0.03243823213690258},{"geom_ids":[88,90],"normal_force_n":0.07927164083633126},{"geom_ids":[88,90],"normal_force_n":0.018062315499337928},{"geom_ids":[89,90],"normal_force_n":0.03625406043349271},{"geom_ids":[89,90],"normal_force_n":0.04064414816260104}],"native_actuator_controls":[-0.1135916163509996,1.7260872467619186,-1.117598423636731,-2.336869587568736e-05,1.049515048497371,-0.11360101691627979,0.00899999999999949],"actuator_force_native":[0.0026546458662703998,0.03828380338396187,-0.06889886371257603,-0.003705354290250543,0.11193495748646676,0.047323745777684945,-0.4288104003027703],"issued_joint_targets_rad":[-0.11359198773452252,1.7260882877935866,-1.1175986132160018,-2.2278621800855087e-05,1.049514805810366,-0.11360156424293276],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.159999999999254,"joint_targets_rad":[-0.11359198773452252,1.7260882877935866,-1.1175986132160018,-2.2278621800855087e-05,1.049514805810366,-0.11360156424293276],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.179999999999243,"qpos":[-0.1136320199391728,1.7255620038308055,-1.1166431276514122,5.92356274768788e-05,1.0372330328998938,-0.11933944680180837,0.019753371134885688,-0.02020062346667187,0.2988089205637178,-0.032700456020100674,0.07990746448291419,0.9999993753636877,0.0005523105871548565,-0.0008154780389809167,0.0005284134902016113],"qvel":[6.625433224906915e-05,0.0010963511088223597,-0.0021744248272154015,-9.560399135857013e-05,0.007932104591697423,0.007490699669781275,-0.0008128849664149657,-5.240329008162911e-05,-0.0005094286531679849,0.00020139076396381912,0.00020818283354610026,-0.0032705258629694128,-0.003807361600044061,0.011692322862566456],"joint_position_rad":[-0.1136320199391728,1.7255620038308055,-1.1166431276514122,5.92356274768788e-05,1.0372330328998938,-0.11933944680180837],"joint_velocity_rad_s":[6.625433224906915e-05,0.0010963511088223597,-0.0021744248272154015,-9.560399135857013e-05,0.007932104591697423,0.007490699669781275],"gripper_joint_position_m":[0.019753371134885688,-0.02020062346667187],"tcp_position_m":[0.3011696389340435,-0.03293595870854255,0.08185514322789705],"tcp_quaternion_wxyz":[0.005908147051493725,-0.0028349728801118773,0.9999783070972256,-0.0006648775480842858],"object_position_m":[0.2988089205637178,-0.032700456020100674,0.07990746448291419],"object_quaternion_wxyz":[0.9999993753636877,0.0005523105871548565,-0.0008154780389809167,0.0005284134902016113],"object_linear_velocity_m_s":[-0.0005094286531679849,0.00020139076396381912,0.00020818283354610026],"object_angular_velocity_rad_s":[-0.003285555365499808,-0.0038237362387600737,0.011682761780202664],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.24342115113323232,"right":0.22083162497255543},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.048072907432970484},{"geom_ids":[1,90],"normal_force_n":0.10550546124081248},{"geom_ids":[1,90],"normal_force_n":0.1272690030563733},{"geom_ids":[1,90],"normal_force_n":0.07096854446424768},{"geom_ids":[85,90],"normal_force_n":0.054137402967605},{"geom_ids":[85,90],"normal_force_n":0.0892212467316912},{"geom_ids":[86,90],"normal_force_n":0.10006250143393612},{"geom_ids":[88,90],"normal_force_n":0.03581468711862258},{"geom_ids":[88,90],"normal_force_n":0.07920409181874456},{"geom_ids":[88,90],"normal_force_n":0.02373271364238945},{"geom_ids":[89,90],"normal_force_n":0.03896031745654276},{"geom_ids":[89,90],"normal_force_n":0.04311981493625605}],"native_actuator_controls":[-0.11359198773452252,1.7260882877935866,-1.1175986132160018,-2.2278621800855087e-05,1.049514805810366,-0.11360156424293276,0.007999999999999495],"actuator_force_native":[0.0028713047107764567,0.03662096147837701,-0.06556672103110373,-0.0027825500143165045,0.11091957221717585,0.046142776084084236,-0.46607042056337294],"issued_joint_targets_rad":[-0.11359232058227502,1.7260892800443215,-1.1175988283857972,-2.126725688915512e-05,1.0495146212859041,-0.11360206620434511],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.179999999999243,"joint_targets_rad":[-0.11359232058227502,1.7260892800443215,-1.1175988283857972,-2.126725688915512e-05,1.0495146212859041,-0.11360206620434511],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.199999999999232,"qpos":[-0.11363144692224848,1.7255840580549155,-1.116686214368093,5.5473795207792154e-05,1.0373876061691154,-0.11919229859839169,0.019735456611911728,-0.0202006673186377,0.29879880597722414,-0.03269601834339258,0.0799113506393645,0.9999993007687776,0.0005147987447595859,-0.0008478221983940636,0.000643926802939503],"qvel":[-1.0351710633208038e-05,0.0011137372167457963,-0.0021369107976425927,-0.000301054960793475,0.00753086104337605,0.007217912591975394,-0.000868837711904048,-1.3228682977176648e-05,-0.0005045242362090085,0.0002369004573041899,0.0001715441644686805,-0.004371310610438494,-0.003471532918592948,0.010706013419621751],"joint_position_rad":[-0.11363144692224848,1.7255840580549155,-1.116686214368093,5.5473795207792154e-05,1.0373876061691154,-0.11919229859839169],"joint_velocity_rad_s":[-1.0351710633208038e-05,0.0011137372167457963,-0.0021369107976425927,-0.000301054960793475,0.00753086104337605,0.007217912591975394],"gripper_joint_position_m":[0.019735456611911728,-0.0202006673186377],"tcp_position_m":[0.3011498356036004,-0.03293421083057924,0.0818580182053773],"tcp_quaternion_wxyz":[0.0058416902274000615,-0.002762636840640304,0.9999789043454209,-0.0006582986445608073],"object_position_m":[0.29879880597722414,-0.03269601834339258,0.0799113506393645],"object_quaternion_wxyz":[0.9999993007687776,0.0005147987447595859,-0.0008478221983940636,0.000643926802939503],"object_linear_velocity_m_s":[-0.0005045242362090085,0.0002369004573041899,0.0001715441644686805],"object_angular_velocity_rad_s":[-0.004384973328791409,-0.003488188554499181,0.010695006784148217],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.27095067699658,"right":0.233227785612684},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04467323722799117},{"geom_ids":[1,90],"normal_force_n":0.10588673120714469},{"geom_ids":[1,90],"normal_force_n":0.12513197446084645},{"geom_ids":[1,90],"normal_force_n":0.06476342262050663},{"geom_ids":[85,90],"normal_force_n":0.05362405162781532},{"geom_ids":[85,90],"normal_force_n":0.034419476753101905},{"geom_ids":[85,90],"normal_force_n":0.08635539467014303},{"geom_ids":[86,90],"normal_force_n":0.09655175394551972},{"geom_ids":[88,90],"normal_force_n":0.0389851530848101},{"geom_ids":[88,90],"normal_force_n":0.07945048434739621},{"geom_ids":[88,90],"normal_force_n":0.02697405689571338},{"geom_ids":[89,90],"normal_force_n":0.041966274640455846},{"geom_ids":[89,90],"normal_force_n":0.045851816644308464}],"native_actuator_controls":[-0.11359232058227502,1.7260892800443215,-1.1175988283857972,-2.126725688915512e-05,1.0495146212859041,-0.11360206620434511,0.006999999999999501],"actuator_force_native":[0.003181865751043844,0.03484907306875584,-0.06232456742813497,-0.001564367279910516,0.1099738596028228,0.045075455052502544,-0.5050740759169688],"issued_joint_targets_rad":[-0.11359261938466617,1.726090229946839,-1.1175990609720676,-2.0325551550373278e-05,1.0495144806842525,-0.11360252804476657],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.199999999999232,"joint_targets_rad":[-0.11359261938466617,1.726090229946839,-1.1175990609720676,-2.0325551550373278e-05,1.0495144806842525,-0.11360252804476657],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.21999999999922,"qpos":[-0.11363235093990036,1.7256065061848296,-1.116728558009382,4.7687226669124604e-05,1.03753419197222,-0.11905067247293451,0.019717974078325373,-0.020200897269339255,0.29878871717250083,-0.032691077870032906,0.07991447029486275,0.9999992231782118,0.0004696273721696114,-0.0008815728385699064,0.0007456020614145031],"qvel":[-7.170884957775889e-05,0.001126624165669597,-0.0020987180698528287,-0.00045415260161300506,0.007158910363981605,0.00696445356242329,-0.0008993732016222354,-5.669276209291094e-07,-0.0005049138079342375,0.00025385233786194875,0.0001461022433277909,-0.0045350177165656294,-0.0030181581632939738,0.009820802213967684],"joint_position_rad":[-0.11363235093990036,1.7256065061848296,-1.116728558009382,4.7687226669124604e-05,1.03753419197222,-0.11905067247293451],"joint_velocity_rad_s":[-7.170884957775889e-05,0.001126624165669597,-0.0020987180698528287,-0.00045415260161300506,0.007158910363981605,0.00696445356242329],"gripper_joint_position_m":[0.019717974078325373,-0.020200897269339255],"tcp_position_m":[0.3011313221961042,-0.03293379685919794,0.08186062064925417],"tcp_quaternion_wxyz":[0.00577843029387221,-0.002693335646568688,0.9999794638562761,-0.0006538747193168358],"object_position_m":[0.29878871717250083,-0.032691077870032906,0.07991447029486275],"object_quaternion_wxyz":[0.9999992231782118,0.0004696273721696114,-0.0008815728385699064,0.0007456020614145031],"object_linear_velocity_m_s":[-0.0005049138079342375,0.00025385233786194875,0.0001461022433277909],"object_angular_velocity_rad_s":[-0.004547811053773814,-0.0030341494914154733,0.009809952701058782],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.29423651479258206,"right":0.24868241176069214},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.044173590414313714},{"geom_ids":[1,90],"normal_force_n":0.10587026449332983},{"geom_ids":[1,90],"normal_force_n":0.12202884755340815},{"geom_ids":[1,90],"normal_force_n":0.061471995542072354},{"geom_ids":[85,90],"normal_force_n":0.05890238781991194},{"geom_ids":[85,90],"normal_force_n":0.043539062405972},{"geom_ids":[85,90],"normal_force_n":0.09112199395983397},{"geom_ids":[86,90],"normal_force_n":0.10067307060686416},{"geom_ids":[88,90],"normal_force_n":0.04243411998138081},{"geom_ids":[88,90],"normal_force_n":0.08042247606850479},{"geom_ids":[88,90],"normal_force_n":0.03223510707630428},{"geom_ids":[89,90],"normal_force_n":0.04494156409044516},{"geom_ids":[89,90],"normal_force_n":0.04864914454405709}],"native_actuator_controls":[-0.11359261938466617,1.726090229946839,-1.1175990609720676,-2.0325551550373278e-05,1.0495144806842525,-0.11360252804476657,0.0059999999999995075],"actuator_force_native":[0.003537068666624066,0.03306478013240621,-0.05914664666558167,-0.00044974812071489005,0.10906452157435176,0.044034763938044286,-0.5442220971249234],"issued_joint_targets_rad":[-0.11359288353831998,1.726091139946825,-1.117599309633891,-1.9452191086434744e-05,1.049514381028023,-0.11360295398130912],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.21999999999922,"joint_targets_rad":[-0.11359288353831998,1.726091139946825,-1.117599309633891,-1.9452191086434744e-05,1.049514381028023,-0.11360295398130912],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.23999999999921,"qpos":[-0.11363420566720425,1.7256290098697524,-1.116770078419339,3.763520874070882e-05,1.0376742803350334,-0.11891382276528735,0.019699237581295416,-0.0202006172525585,0.2987785067045134,-0.03268594501397923,0.07991722405950707,0.9999991461781141,0.0004249274050604111,-0.0009068089119109287,0.0008395101782075078],"qvel":[-0.00010818667152704974,0.0011216112931798938,-0.002054202794130636,-0.0005389785772280865,0.006877769303712202,0.006734789463802728,-0.0009667263884392142,2.378113189303338e-05,-0.0005171881461351198,0.0002573835566636842,0.00012885603346369538,-0.004374707246409969,-0.0021724119187171965,0.008951546043659664],"joint_position_rad":[-0.11363420566720425,1.7256290098697524,-1.116770078419339,3.763520874070882e-05,1.0376742803350334,-0.11891382276528735],"joint_velocity_rad_s":[-0.00010818667152704974,0.0011216112931798938,-0.002054202794130636,-0.0005389785772280865,0.006877769303712202,0.006734789463802728],"gripper_joint_position_m":[0.019699237581295416,-0.0202006172525585],"tcp_position_m":[0.30111382975555656,-0.032934203905814426,0.08186303255110479],"tcp_quaternion_wxyz":[0.005717844586018165,-0.0026265165883795284,0.9999799918780233,-0.000650774561134445],"object_position_m":[0.2987785067045134,-0.03268594501397923,0.07991722405950707],"object_quaternion_wxyz":[0.9999991461781141,0.0004249274050604111,-0.0009068089119109287,0.0008395101782075078],"object_linear_velocity_m_s":[-0.0005171881461351198,0.0002573835566636842,0.00012885603346369538],"object_angular_velocity_rad_s":[-0.004387272973462725,-0.002187371054072391,0.008941748002279249],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.3163351414047957,"right":0.26552280323186006},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04340688053254622},{"geom_ids":[1,90],"normal_force_n":0.10625963108248034},{"geom_ids":[1,90],"normal_force_n":0.12064891192153875},{"geom_ids":[1,90],"normal_force_n":0.05847794971696598},{"geom_ids":[85,90],"normal_force_n":0.06426950955336821},{"geom_ids":[85,90],"normal_force_n":0.051756792909723535},{"geom_ids":[85,90],"normal_force_n":0.09566228727636095},{"geom_ids":[86,90],"normal_force_n":0.10464655166534298},{"geom_ids":[88,90],"normal_force_n":0.0459611562099382},{"geom_ids":[88,90],"normal_force_n":0.08251413654759088},{"geom_ids":[88,90],"normal_force_n":0.03728441869804632},{"geom_ids":[89,90],"normal_force_n":0.04810497743968851},{"geom_ids":[89,90],"normal_force_n":0.051658114336596166}],"native_actuator_controls":[-0.11359288353831998,1.726091139946825,-1.117599309633891,-1.9452191086434744e-05,1.049514381028023,-0.11360295398130912,0.0049999999999995135],"actuator_force_native":[0.0038467036683780265,0.03136234969991847,-0.056067483193501744,0.0004113968930546895,0.10808435297432695,0.0430065036440781,-0.58313587130964],"issued_joint_targets_rad":[-0.11359312109504889,1.726092013648548,-1.1175995673035797,-1.8636484569984015e-05,1.0495143105410596,-0.11360334574110109],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.23999999999921,"joint_targets_rad":[-0.11359312109504889,1.726092013648548,-1.1175995673035797,-1.8636484569984015e-05,1.0495143105410596,-0.11360334574110109],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.259999999999199,"qpos":[-0.11363659899978533,1.7256513121584351,-1.116810659687935,2.6331124125157627e-05,1.0378093980991268,-0.1187814302631376,0.019679503582829095,-0.02019999798876662,0.2987679733941051,-0.03268082748387181,0.07991960589070725,0.9999990723309953,0.0003825455567414335,-0.0009257134318316072,0.0009230659170613379],"qvel":[-0.00012810526939090208,0.00110812586857002,-0.0020055510228281755,-0.0005858521406107272,0.006652702945044797,0.006516873227883212,-0.0009984903174014958,3.576517964354082e-05,-0.0005356447028027593,0.0002536203376370805,0.00011060182024488245,-0.004081945576786546,-0.001664902757250373,0.007778566107627432],"joint_position_rad":[-0.11363659899978533,1.7256513121584351,-1.116810659687935,2.6331124125157627e-05,1.0378093980991268,-0.1187814302631376],"joint_velocity_rad_s":[-0.00012810526939090208,0.00110812586857002,-0.0020055510228281755,-0.0005858521406107272,0.006652702945044797,0.006516873227883212],"gripper_joint_position_m":[0.019679503582829095,-0.02019999798876662],"tcp_position_m":[0.30109704736336795,-0.032935085497455115,0.08186530214178399],"tcp_quaternion_wxyz":[0.005659296181943428,-0.0025619709884932076,0.9999804938823657,-0.0006484798834382377],"object_position_m":[0.2987679733941051,-0.03268082748387181,0.07991960589070725],"object_quaternion_wxyz":[0.9999990723309953,0.0003825455567414335,-0.0009257134318316072,0.0009230659170613379],"object_linear_velocity_m_s":[-0.0005356447028027593,0.0002536203376370805,0.00011060182024488245],"object_angular_velocity_rad_s":[-0.004093252757862956,-0.0016783969441926815,0.00776971924406855],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.337848363183515,"right":0.2831169445107343},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.042551397713607136},{"geom_ids":[1,90],"normal_force_n":0.10645169567928651},{"geom_ids":[1,90],"normal_force_n":0.1197713256186124},{"geom_ids":[1,90],"normal_force_n":0.05607653635628618},{"geom_ids":[85,90],"normal_force_n":0.06952701030822006},{"geom_ids":[85,90],"normal_force_n":0.05942910625445043},{"geom_ids":[85,90],"normal_force_n":0.1001945231563172},{"geom_ids":[86,90],"normal_force_n":0.10869772346452734},{"geom_ids":[88,90],"normal_force_n":0.049463583842540765},{"geom_ids":[88,90],"normal_force_n":0.08496125639853033},{"geom_ids":[88,90],"normal_force_n":0.04267528529329671},{"geom_ids":[89,90],"normal_force_n":0.051295377460514734},{"geom_ids":[89,90],"normal_force_n":0.05472144151585179}],"native_actuator_controls":[-0.11359312109504889,1.726092013648548,-1.1175995673035797,-1.8636484569984015e-05,1.0495143105410596,-0.11360334574110109,0.0039999999999995196],"actuator_force_native":[0.004118758725869753,0.029715489866191547,-0.05308485413742403,0.0011305563552479702,0.10707007000176283,0.04200553537854046,-0.6221876917261755],"issued_joint_targets_rad":[-0.11359333747878918,1.7260928565136004,-1.1175998284464455,-1.786941139773431e-05,1.0495142593766362,-0.11360370695722685],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.259999999999199,"joint_targets_rad":[-0.11359333747878918,1.7260928565136004,-1.1175998284464455,-1.786941139773431e-05,1.0495142593766362,-0.11360370695722685],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.279999999999188,"qpos":[-0.11363943141821825,1.7256732305419342,-1.1168503582768923,1.3604566804805135e-05,1.0379398908523485,-0.11865373634247872,0.019660415559677156,-0.020199448703795024,0.29875696114152417,-0.03267587049663395,0.07992171919644217,0.999999013412768,0.00034522932137755934,-0.0009374198855724401,0.0009875394489766982],"qvel":[-0.00015940072570598985,0.0010801014802054518,-0.001970968702397887,-0.0007073586043517295,0.006394095701107149,0.006251815803495984,-0.000878645514106836,9.683913097953239e-06,-0.0005704128605025858,0.00024147328130170957,0.00010149528565879137,-0.003569963798636758,-0.0007372728851973203,0.0049568317078750755],"joint_position_rad":[-0.11363943141821825,1.7256732305419342,-1.1168503582768923,1.3604566804805135e-05,1.0379398908523485,-0.11865373634247872],"joint_velocity_rad_s":[-0.00015940072570598985,0.0010801014802054518,-0.001970968702397887,-0.0007073586043517295,0.006394095701107149,0.006251815803495984],"gripper_joint_position_m":[0.019660415559677156,-0.020199448703795024],"tcp_position_m":[0.30108092745587106,-0.032936437058280414,0.08186749638758717],"tcp_quaternion_wxyz":[0.005602723720826352,-0.002499912086610648,0.9999809704406266,-0.0006470572536709363],"object_position_m":[0.29875696114152417,-0.03267587049663395,0.07992171919644217],"object_quaternion_wxyz":[0.999999013412768,0.00034522932137755934,-0.0009374198855724401,0.0009875394489766982],"object_linear_velocity_m_s":[-0.0005704128605025858,0.00024147328130170957,0.00010149528565879137],"object_angular_velocity_rad_s":[-0.003577783789615315,-0.000747751575362419,0.004949618586045668],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":5,"right":5},"pad_normal_forces_n":{"left":0.36316247143337227,"right":0.2978916593497636},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":14,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04119473216218402},{"geom_ids":[1,90],"normal_force_n":0.10449920439079434},{"geom_ids":[1,90],"normal_force_n":0.12078003213026411},{"geom_ids":[1,90],"normal_force_n":0.05675005526345107},{"geom_ids":[85,90],"normal_force_n":0.06760391492243462},{"geom_ids":[85,90],"normal_force_n":0.02972833897427997},{"geom_ids":[85,90],"normal_force_n":0.05942747834725386},{"geom_ids":[85,90],"normal_force_n":0.09894720452276858},{"geom_ids":[86,90],"normal_force_n":0.10745553466663527},{"geom_ids":[88,90],"normal_force_n":0.051973234624361445},{"geom_ids":[88,90],"normal_force_n":0.0882197121497744},{"geom_ids":[88,90],"normal_force_n":0.04711480074352415},{"geom_ids":[89,90],"normal_force_n":0.053555772423191435},{"geom_ids":[89,90],"normal_force_n":0.057028139408912173}],"native_actuator_controls":[-0.11359333747878918,1.7260928565136004,-1.1175998284464455,-1.786941139773431e-05,1.0495142593766362,-0.11360370695722685,0.0029999999999995174],"actuator_force_native":[0.00448451878285816,0.02816957033229528,-0.050102770052276924,0.00227783389365707,0.10615254169121613,0.041122570147274606,-0.6620233948165714],"issued_joint_targets_rad":[-0.11359353267633936,1.7260936698638545,-1.117600093335214,-1.7149019020980244e-05,1.0495142275437763,-0.11360403989268424],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.279999999999188,"joint_targets_rad":[-0.11359353267633936,1.7260936698638545,-1.117600093335214,-1.7149019020980244e-05,1.0495142275437763,-0.11360403989268424],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.299999999999176,"qpos":[-0.11364402788966263,1.725694317152455,-1.1168893562665307,-3.920033343821647e-06,1.0380660471862033,-0.11853122520332256,0.01964977918613777,-0.020203102326108655,0.2987450355343667,-0.03267011451219949,0.07992370452546768,0.9999989854832283,0.00029930982566029934,-0.0009451507769391228,0.0010228079730089396],"qvel":[-0.0002954066708557114,0.0010287444419890537,-0.0019303671968548483,-0.001021765104034322,0.006241205890341151,0.0060190581929671794,-0.000264592138667702,-0.00034513533602553416,-0.0006192019784841046,0.0003282587886837188,9.17773022766288e-05,-0.005078501921673741,-0.0006084634871210232,0.002460835320041525],"joint_position_rad":[-0.11364402788966263,1.725694317152455,-1.1168893562665307,-3.920033343821647e-06,1.0380660471862033,-0.11853122520332256],"joint_velocity_rad_s":[-0.0002954066708557114,0.0010287444419890537,-0.0019303671968548483,-0.001021765104034322,0.006241205890341151,0.0060190581929671794],"gripper_joint_position_m":[0.01964977918613777,-0.020203102326108655],"tcp_position_m":[0.30106536956082686,-0.03293926864541439,0.08186978783331395],"tcp_quaternion_wxyz":[0.005548127342898876,-0.0024407684854665167,0.9999814203547416,-0.0006479795526251889],"object_position_m":[0.2987450355343667,-0.03267011451219949,0.07992370452546768],"object_quaternion_wxyz":[0.9999989854832283,0.00029930982566029934,-0.0009451507769391228,0.0010228079730089396],"object_linear_velocity_m_s":[-0.0006192019784841046,0.0003282587886837188,9.17773022766288e-05],"object_angular_velocity_rad_s":[-0.005081887406509893,-0.0006203257463625212,0.002450864421367093],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":6},"pad_normal_forces_n":{"left":0.3972588726673145,"right":0.30705724211265795},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0431738397141583},{"geom_ids":[1,90],"normal_force_n":0.10791140915563951},{"geom_ids":[1,90],"normal_force_n":0.12008614077573111},{"geom_ids":[1,90],"normal_force_n":0.0545783456962486},{"geom_ids":[85,90],"normal_force_n":0.04657663759672924},{"geom_ids":[85,90],"normal_force_n":0.010048705628237307},{"geom_ids":[85,90],"normal_force_n":0.03659341481551567},{"geom_ids":[85,90],"normal_force_n":0.07461506136993498},{"geom_ids":[86,90],"normal_force_n":0.03210634970637994},{"geom_ids":[86,90],"normal_force_n":0.03492929097141673},{"geom_ids":[86,90],"normal_force_n":0.08270578464835622},{"geom_ids":[86,90],"normal_force_n":0.07968362793074447},{"geom_ids":[88,90],"normal_force_n":0.014365615040900068},{"geom_ids":[88,90],"normal_force_n":0.05238646096953617},{"geom_ids":[88,90],"normal_force_n":0.08423963601743811},{"geom_ids":[88,90],"normal_force_n":0.0446704516350764},{"geom_ids":[89,90],"normal_force_n":0.054126665395252196},{"geom_ids":[89,90],"normal_force_n":0.057268413054454965}],"native_actuator_controls":[-0.11359353267633936,1.7260936698638545,-1.117600093335214,-1.7149019020980244e-05,1.0495142275437763,-0.11360403989268424,0.0019999999999995148],"actuator_force_native":[0.005516650420140934,0.026804494702020065,-0.047207129510383083,0.004579666093085266,0.10511999474021749,0.040243265816932494,-0.7046682067521919],"issued_joint_targets_rad":[-0.113593702129195,1.7260944574706027,-1.1176003704038113,-1.6481042380706238e-05,1.0495142272853797,-0.11360435523976958],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.299999999999176,"joint_targets_rad":[-0.113593702129195,1.7260944574706027,-1.1176003704038113,-1.6481042380706238e-05,1.0495142272853797,-0.11360435523976958],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.319999999999165,"qpos":[-0.11365050942128073,1.7257145296745577,-1.1169273992598507,-2.522361250898654e-05,1.038189722329916,-0.11841280025367629,0.019644263237721084,-0.02021102984269664,0.2987323447954754,-0.032663364360628756,0.07992553519332019,0.9999989833314304,0.0002498420940905746,-0.0009458412310206957,0.0010374485042259703],"qvel":[-0.0003388677863839446,0.0009977180459258038,-0.0018735319676568883,-0.001077982114858513,0.0061400088701428455,0.005839404758269801,-0.0003387567861952687,-0.0004159811994501687,-0.0006451165876061986,0.00034086174533739415,9.203894534361878e-05,-0.004705563105319237,0.00036812585422414754,0.0007608332063556128],"joint_position_rad":[-0.11365050942128073,1.7257145296745577,-1.1169273992598507,-2.522361250898654e-05,1.038189722329916,-0.11841280025367629],"joint_velocity_rad_s":[-0.0003388677863839446,0.0009977180459258038,-0.0018735319676568883,-0.001077982114858513,0.0061400088701428455,0.005839404758269801],"gripper_joint_position_m":[0.019644263237721084,-0.02021102984269664],"tcp_position_m":[0.30104992407458414,-0.03294337945878444,0.08187212726647052],"tcp_quaternion_wxyz":[0.0054945320405017,-0.002383674706461093,0.9999818522452545,-0.0006506863298718701],"object_position_m":[0.2987323447954754,-0.032663364360628756,0.07992553519332019],"object_quaternion_wxyz":[0.9999989833314304,0.0002498420940905746,-0.0009458412310206957,0.0010374485042259703],"object_linear_velocity_m_s":[-0.0006451165876061986,0.00034086174533739415,9.203894534361878e-05],"object_angular_velocity_rad_s":[-0.004707747412186958,0.000357982021818142,0.0007521111125925619],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":7},"pad_normal_forces_n":{"left":0.4171028947764725,"right":0.3258074068014619},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":19,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04333015536741183},{"geom_ids":[1,90],"normal_force_n":0.1073824944551064},{"geom_ids":[1,90],"normal_force_n":0.11842479036549482},{"geom_ids":[1,90],"normal_force_n":0.053690793610882234},{"geom_ids":[85,90],"normal_force_n":0.04882104542036965},{"geom_ids":[85,90],"normal_force_n":0.013551504354587074},{"geom_ids":[85,90],"normal_force_n":0.03945118727778219},{"geom_ids":[85,90],"normal_force_n":0.07645318175646852},{"geom_ids":[86,90],"normal_force_n":0.03508903826642785},{"geom_ids":[86,90],"normal_force_n":0.037839731458184096},{"geom_ids":[86,90],"normal_force_n":0.08451444937124816},{"geom_ids":[86,90],"normal_force_n":0.08138275687140499},{"geom_ids":[88,90],"normal_force_n":0.016554672410797246},{"geom_ids":[88,90],"normal_force_n":0.05319901984871771},{"geom_ids":[88,90],"normal_force_n":0.0847526493680391},{"geom_ids":[88,90],"normal_force_n":0.04647164289410814},{"geom_ids":[89,90],"normal_force_n":0.05483547062806055},{"geom_ids":[89,90],"normal_force_n":0.05789287036980892},{"geom_ids":[89,90],"normal_force_n":0.012101081281930225}],"native_actuator_controls":[-0.113593702129195,1.7260944574706027,-1.1176003704038113,-1.6481042380706238e-05,1.0495142272853797,-0.11360435523976958,0.0009999999999995165],"actuator_force_native":[0.006238922298775762,0.025405633453971177,-0.04447003167855712,0.005739613379423777,0.10403503624942445,0.03932534300166224,-0.7440767455778865],"issued_joint_targets_rad":[-0.11359385540605621,1.7260952272476842,-1.1176006521208368,-1.5855562054058778e-05,1.049514245175352,-0.11360465913611127],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.319999999999165,"joint_targets_rad":[-0.11359385540605621,1.7260952272476842,-1.1176006521208368,-1.5855562054058778e-05,1.049514245175352,-0.11360465913611127],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.339999999999154,"qpos":[-0.11365728091939221,1.7257343089260995,-1.116964180725435,-4.6316297314149816e-05,1.0383117152983883,-0.11829767213548015,0.01963564373338245,-0.020219392278366527,0.2987192636883507,-0.03265662590215078,0.07992733289673278,0.99999899645378,0.0002054096634688582,-0.0009397485257164721,0.001040082213929171],"qvel":[-0.00033457157329932124,0.0009815978367800646,-0.0018074334929803694,-0.0010256937360102118,0.0060642019005389125,0.005684819846570965,-0.0005088232169352595,-0.0004077311589437534,-0.0006599772291508169,0.0003338943561328315,8.889390270616109e-05,-0.0041221906389725055,0.0009213029547713867,-0.00022531913158820867],"joint_position_rad":[-0.11365728091939221,1.7257343089260995,-1.116964180725435,-4.6316297314149816e-05,1.0383117152983883,-0.11829767213548015],"joint_velocity_rad_s":[-0.00033457157329932124,0.0009815978367800646,-0.0018074334929803694,-0.0010256937360102118,0.0060642019005389125,0.005684819846570965],"gripper_joint_position_m":[0.01963564373338245,-0.020219392278366527],"tcp_position_m":[0.3010344465545003,-0.03294753677015048,0.08187431339503826],"tcp_quaternion_wxyz":[0.005441370416554475,-0.002328029966051281,0.99998227227991,-0.0006533684829457748],"object_position_m":[0.2987192636883507,-0.03265662590215078,0.07992733289673278],"object_quaternion_wxyz":[0.99999899645378,0.0002054096634688582,-0.0009397485257164721,0.001040082213929171],"object_linear_velocity_m_s":[-0.0006599772291508169,0.0003338943561328315,8.889390270616109e-05],"object_angular_velocity_rad_s":[-0.0041236678650540155,0.0009128206552848192,-0.00023269142564557018],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.43584243388162613,"right":0.3459739286204299},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04356507813874716},{"geom_ids":[1,90],"normal_force_n":0.10693261452258146},{"geom_ids":[1,90],"normal_force_n":0.11651215500276028},{"geom_ids":[1,90],"normal_force_n":0.052599827254883866},{"geom_ids":[85,90],"normal_force_n":0.05110854865954931},{"geom_ids":[85,90],"normal_force_n":0.016951269310138826},{"geom_ids":[85,90],"normal_force_n":0.04199991664096617},{"geom_ids":[85,90],"normal_force_n":0.07835995554962316},{"geom_ids":[86,90],"normal_force_n":0.037762664665725795},{"geom_ids":[86,90],"normal_force_n":0.04042202412774357},{"geom_ids":[86,90],"normal_force_n":0.08611975865606325},{"geom_ids":[86,90],"normal_force_n":0.08311829627181612},{"geom_ids":[88,90],"normal_force_n":0.01851104278042447},{"geom_ids":[88,90],"normal_force_n":0.05432130770100326},{"geom_ids":[88,90],"normal_force_n":0.0849084846032586},{"geom_ids":[88,90],"normal_force_n":0.04779492258275599},{"geom_ids":[89,90],"normal_force_n":0.05566233301146143},{"geom_ids":[89,90],"normal_force_n":0.05890074634987767},{"geom_ids":[89,90],"normal_force_n":0.014193435066989744},{"geom_ids":[89,90],"normal_force_n":0.011681656524658758}],"native_actuator_controls":[-0.11359385540605621,1.7260952272476842,-1.1176006521208368,-1.5855562054058778e-05,1.049514245175352,-0.11360465913611127,0.0],"actuator_force_native":[0.00674689893337721,0.023965476542883835,-0.04188054416725606,0.0063468980904547,0.10292899591883042,0.038402900223832415,-0.7828816332506217],"issued_joint_targets_rad":[-0.1177409528286031,1.6686616796962774,-1.1069578194621772,0.006808011751820644,1.0358473158045676,-0.1253694376060262],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.339999999999154,"joint_targets_rad":[-0.1177409528286031,1.6686616796962774,-1.1069578194621772,0.006808011751820644,1.0358473158045676,-0.1253694376060262],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.359999999999143,"qpos":[-0.11377344774119395,1.7248522475485544,-1.1162488803874622,0.00016880186903662248,1.0381661499973442,-0.11829212661738193,0.0196277817952561,-0.02022892239037207,0.2985721462217595,-0.03262238842006614,0.08002822869858953,0.9999987201910951,0.00022413593460036317,-0.0012144321322191025,0.001017120371805929],"qvel":[-0.008887299080749882,-0.11892845517670952,0.09038652247280461,0.017753479737555783,-0.019071395655910223,-0.004037761054512499,-0.0006234710266919453,-0.0006323828615841724,-0.018817619154962908,0.0036103382063569136,0.015005226779121649,0.005422421581352403,-0.06330993201921431,-0.007062171789099922],"joint_position_rad":[-0.11377344774119395,1.7248522475485544,-1.1162488803874622,0.00016880186903662248,1.0381661499973442,-0.11829212661738193],"joint_velocity_rad_s":[-0.008887299080749882,-0.11892845517670952,0.09038652247280461,0.017753479737555783,-0.019071395655910223,-0.004037761054512499],"gripper_joint_position_m":[0.0196277817952561,-0.02022892239037207],"tcp_position_m":[0.3008765417647911,-0.03292553627089192,0.08197692528197545],"tcp_quaternion_wxyz":[0.00560720873900259,-0.0022130780291127502,0.9999816627224926,-0.0005794087962220175],"object_position_m":[0.2985721462217595,-0.03262238842006614,0.08002822869858953],"object_quaternion_wxyz":[0.9999987201910951,0.00022413593460036317,-0.0012144321322191025,0.001017120371805929],"object_linear_velocity_m_s":[-0.018817619154962908,0.0036103382063569136,0.015005226779121649],"object_angular_velocity_rad_s":[0.005568366126314915,-0.06329558390521728,-0.0070772010882212445],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39444260001920906,"right":0.3861758460940753},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04451835635923915},{"geom_ids":[85,90],"normal_force_n":0.012450268627068248},{"geom_ids":[85,90],"normal_force_n":0.037774314263437546},{"geom_ids":[85,90],"normal_force_n":0.07257198954112869},{"geom_ids":[86,90],"normal_force_n":0.03379627840329726},{"geom_ids":[86,90],"normal_force_n":0.03648233411700469},{"geom_ids":[86,90],"normal_force_n":0.07981488968771924},{"geom_ids":[86,90],"normal_force_n":0.07703416902031424},{"geom_ids":[88,90],"normal_force_n":0.026008778109787432},{"geom_ids":[88,90],"normal_force_n":0.058585364498088474},{"geom_ids":[88,90],"normal_force_n":0.08568331926794731},{"geom_ids":[88,90],"normal_force_n":0.05182030661870041},{"geom_ids":[89,90],"normal_force_n":0.059898163598336725},{"geom_ids":[89,90],"normal_force_n":0.06272840569582294},{"geom_ids":[89,90],"normal_force_n":0.021983799367952528},{"geom_ids":[89,90],"normal_force_n":0.019467708937439477}],"native_actuator_controls":[-0.1177409528286031,1.696095227247683,-1.1069578194621772,0.006808011751820644,1.0358473158045676,-0.1253694376060262,0.0],"actuator_force_native":[-0.2729639115889828,-1.7059193481861428,0.2913522616587727,0.17680099662358195,0.005418751556097945,-0.06471646830467392,-0.7819939166767843],"issued_joint_targets_rad":[-0.11785252292880266,1.6678565249769663,-1.1063873902823835,0.0070094001113450224,1.0357686206364143,-0.125369804306445],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.359999999999143,"joint_targets_rad":[-0.11785252292880266,1.6678565249769663,-1.1063873902823835,0.0070094001113450224,1.0357686206364143,-0.125369804306445],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.379999999999132,"qpos":[-0.1139648793333477,1.7200485597821138,-1.1132623254523861,0.0005497068879708674,1.0377699231524125,-0.11840211089246187,0.019614343552903445,-0.020241851458100167,0.2979262580871534,-0.03252124898363139,0.08078605356875208,0.9999964779419394,0.00019447223987875936,-0.00248112956441402,0.0009221064744325743],"qvel":[-0.009317949013406808,-0.35757049112622685,0.19189914261125376,0.01881805361711623,-0.016988615092494018,-0.006435322403687868,-0.0005212534682359928,-0.0005545340235603942,-0.04153407634628674,0.0058478735905571014,0.06330805853698591,-0.015570528833368576,-0.19777837680883295,-0.008108386509944835],"joint_position_rad":[-0.1139648793333477,1.7200485597821138,-1.1132623254523861,0.0005497068879708674,1.0377699231524125,-0.11840211089246187],"joint_velocity_rad_s":[-0.009317949013406808,-0.35757049112622685,0.19189914261125376,0.01881805361711623,-0.016988615092494018,-0.006435322403687868],"gripper_joint_position_m":[0.019614343552903445,-0.020241851458100167],"tcp_position_m":[0.3002159255573811,-0.032838555861086985,0.08274059025899881],"tcp_quaternion_wxyz":[0.006725413761542484,-0.0020767282748791935,0.999975079211673,-0.0005449449666779787],"object_position_m":[0.2979262580871534,-0.03252124898363139,0.08078605356875208],"object_quaternion_wxyz":[0.9999964779419394,0.00019447223987875936,-0.00248112956441402,0.0009221064744325743],"object_linear_velocity_m_s":[-0.04153407634628674,0.0058478735905571014,0.06330805853698591],"object_angular_velocity_rad_s":[-0.015165142765782047,-0.19780353495595615,-0.008261575933410082],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3914915799507341,"right":0.3900283095734439},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04904809617825898},{"geom_ids":[85,90],"normal_force_n":0.01956488971009519},{"geom_ids":[85,90],"normal_force_n":0.03727687757747172},{"geom_ids":[85,90],"normal_force_n":0.06877400520480753},{"geom_ids":[86,90],"normal_force_n":0.03361980558616958},{"geom_ids":[86,90],"normal_force_n":0.03549894736663621},{"geom_ids":[86,90],"normal_force_n":0.07483537146578573},{"geom_ids":[86,90],"normal_force_n":0.07287358686150913},{"geom_ids":[88,90],"normal_force_n":0.029524972776253613},{"geom_ids":[88,90],"normal_force_n":0.05962858927161956},{"geom_ids":[88,90],"normal_force_n":0.07849611002608646},{"geom_ids":[88,90],"normal_force_n":0.04759518292990706},{"geom_ids":[89,90],"normal_force_n":0.0614688985372491},{"geom_ids":[89,90],"normal_force_n":0.06345845291353544},{"geom_ids":[89,90],"normal_force_n":0.025808199935003624},{"geom_ids":[89,90],"normal_force_n":0.024047903183789045}],"native_actuator_controls":[-0.11785252292880266,1.6678565249769663,-1.1063873902823835,0.0070094001113450224,1.0357686206364143,-0.125369804306445,0.0],"actuator_force_native":[-0.2644217425693629,-2.387510328780678,-0.40950089945607715,0.16429746084938504,0.005469897478759478,-0.06002395053429965,-0.7819674747749579],"issued_joint_targets_rad":[-0.11806220733458994,1.6634284965079305,-1.1040864124995051,0.0073984785936668865,1.0356812295955722,-0.12551465486400007],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.379999999999132,"joint_targets_rad":[-0.11806220733458994,1.6634284965079305,-1.1040864124995051,0.0073984785936668865,1.0356812295955722,-0.12551465486400007],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.399999999999121,"qpos":[-0.1141476288750895,1.710861626750996,-1.109121114883751,0.0009295925330503384,1.0375661957782454,-0.11854941555949007,0.01960661255572148,-0.020248861458116992,0.297049609737351,-0.032399991108244375,0.08258947964151113,0.9999860582417344,-3.2092384319982824e-05,-0.005211906883707089,0.0008475369448773779],"qvel":[-0.008558281487612757,-0.514852204753131,0.19361589811309524,0.018868974223724362,-0.0011623509593089746,-0.00842503577989656,-0.0003210782641466373,-0.00017761149136362868,-0.03962105548316779,0.005696227158822037,0.10969278757001195,-0.026600262109798954,-0.32631830476906243,-0.005636009415621329],"joint_position_rad":[-0.1141476288750895,1.710861626750996,-1.109121114883751,0.0009295925330503384,1.0375661957782454,-0.11854941555949007],"joint_velocity_rad_s":[-0.008558281487612757,-0.514852204753131,0.19361589811309524,0.018868974223724362,-0.0011623509593089746,-0.00842503577989656],"gripper_joint_position_m":[0.01960661255572148,-0.020248861458116992],"tcp_position_m":[0.2993205593196587,-0.03272196593681584,0.08455035085889337],"tcp_quaternion_wxyz":[0.00935134903426973,-0.001964533233974858,0.999954109360674,-0.0006870612148383348],"object_position_m":[0.297049609737351,-0.032399991108244375,0.08258947964151113],"object_quaternion_wxyz":[0.9999860582417344,-3.2092384319982824e-05,-0.005211906883707089,0.0008475369448773779],"object_linear_velocity_m_s":[-0.03962105548316779,0.005696227158822037,0.10969278757001195],"object_angular_velocity_rad_s":[-0.025987013792298473,-0.326363244924508,-0.005889146822940086],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3889277872426621,"right":0.39293615185994224},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04698323539359931},{"geom_ids":[85,90],"normal_force_n":0.015846037378402067},{"geom_ids":[85,90],"normal_force_n":0.03720813014555379},{"geom_ids":[85,90],"normal_force_n":0.06984371370280106},{"geom_ids":[86,90],"normal_force_n":0.03319742569536571},{"geom_ids":[86,90],"normal_force_n":0.035552262606219694},{"geom_ids":[86,90],"normal_force_n":0.07628367056842945},{"geom_ids":[86,90],"normal_force_n":0.07401331175229105},{"geom_ids":[88,90],"normal_force_n":0.02905447397576446},{"geom_ids":[88,90],"normal_force_n":0.05923727861185112},{"geom_ids":[88,90],"normal_force_n":0.08196569583446839},{"geom_ids":[88,90],"normal_force_n":0.050282024395102945},{"geom_ids":[89,90],"normal_force_n":0.06074930607748175},{"geom_ids":[89,90],"normal_force_n":0.06307401394840306},{"geom_ids":[89,90],"normal_force_n":0.025326100491739736},{"geom_ids":[89,90],"normal_force_n":0.02324725852513085}],"native_actuator_controls":[-0.11806220733458994,1.6634284965079305,-1.1040864124995051,0.0073984785936668865,1.0356812295955722,-0.12551465486400007,0.0],"actuator_force_native":[-0.2703748693219712,-1.2203893956796037,-0.5653032998258141,0.16441057130604012,-0.017106135387768617,-0.05701483937525498,-0.782659110908126],"issued_joint_targets_rad":[-0.11830078286595166,1.654880222371696,-1.101053719732946,0.007840507954562244,1.0359488530207592,-0.12574413432395826],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.399999999999121,"joint_targets_rad":[-0.11830078286595166,1.654880222371696,-1.101053719732946,0.007840507954562244,1.0359488530207592,-0.12574413432395826],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.41999999999911,"qpos":[-0.11431614657049122,1.6996953382412956,-1.1055611818853408,0.0013199452759092669,1.0375999516764172,-0.11872568000908518,0.01960188088169482,-0.020250101871143768,0.29636960068763757,-0.03229662485841566,0.08510696289822764,0.999958975286061,-0.00033776394641681204,-0.009017280304296967,0.0007888702567935918],"qvel":[-0.008208600123874789,-0.5777130580680282,0.15133722952016423,0.019652256527393514,0.005767296309876331,-0.009287496354292095,-0.0001776500644858711,-7.269163881530156e-06,-0.026258080383440834,0.004334330592363522,0.1374629959134624,-0.035043524689261446,-0.41833837392559475,-0.005325918485981652],"joint_position_rad":[-0.11431614657049122,1.6996953382412956,-1.1055611818853408,0.0013199452759092669,1.0375999516764172,-0.11872568000908518],"joint_velocity_rad_s":[-0.008208600123874789,-0.5777130580680282,0.15133722952016423,0.019652256527393514,0.005767296309876331,-0.009287496354292095],"gripper_joint_position_m":[0.01960188088169482,-0.020250101871143768],"tcp_position_m":[0.29861711702739807,-0.03262084686260759,0.08707501702711179],"tcp_quaternion_wxyz":[0.013131406964992813,-0.001872883242797726,0.999911564766143,-0.000959742883339233],"object_position_m":[0.29636960068763757,-0.03229662485841566,0.08510696289822764],"object_quaternion_wxyz":[0.999958975286061,-0.00033776394641681204,-0.009017280304296967,0.0007888702567935918],"object_linear_velocity_m_s":[-0.026258080383440834,0.004334330592363522,0.1374629959134624],"object_angular_velocity_rad_s":[-0.034284278656425166,-0.4183967804690112,-0.005668461806518625],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3887663389096189,"right":0.39397121565560544},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04733806965332197},{"geom_ids":[85,90],"normal_force_n":0.016762144087294577},{"geom_ids":[85,90],"normal_force_n":0.037416103681867985},{"geom_ids":[85,90],"normal_force_n":0.06922435079150727},{"geom_ids":[86,90],"normal_force_n":0.03350564820687889},{"geom_ids":[86,90],"normal_force_n":0.03576871855791881},{"geom_ids":[86,90],"normal_force_n":0.075465662942163},{"geom_ids":[86,90],"normal_force_n":0.07328564098866641},{"geom_ids":[88,90],"normal_force_n":0.029605062609298537},{"geom_ids":[88,90],"normal_force_n":0.059144513639465164},{"geom_ids":[88,90],"normal_force_n":0.08142702667334714},{"geom_ids":[88,90],"normal_force_n":0.04995431099245615},{"geom_ids":[89,90],"normal_force_n":0.06076782013880232},{"geom_ids":[89,90],"normal_force_n":0.06313534769191638},{"geom_ids":[89,90],"normal_force_n":0.025968157996694104},{"geom_ids":[89,90],"normal_force_n":0.02396897591362568}],"native_actuator_controls":[-0.11830078286595166,1.654880222371696,-1.101053719732946,0.007840507954562244,1.0359488530207592,-0.12574413432395826,0.0],"actuator_force_native":[-0.277727903017464,-0.6966439792277868,-0.39608917540923017,0.1625612245091515,-0.02516193102139397,-0.05625329861729256,-0.7831869849453634],"issued_joint_targets_rad":[-0.11855236148600533,1.644405982541171,-1.098623476524917,0.00833511637209175,1.0364252068484192,-0.12603610564151965],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.41999999999911,"joint_targets_rad":[-0.11855236148600533,1.644405982541171,-1.098623476524917,0.00833511637209175,1.0364252068484192,-0.12603610564151965],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.439999999999099,"qpos":[-0.11448250991215214,1.6877152474362807,-1.1028851118489098,0.0017273189319552006,1.0376989248628277,-0.11891158587595446,0.019599639051356074,-0.02024948666784983,0.29596143200060876,-0.03222214197765509,0.08805659014138853,0.999907012161943,-0.0007207012658913112,-0.01359844289132435,0.0007279903803080054],"qvel":[-0.008255532047992646,-0.6052865088266902,0.11005148412185851,0.020480800733116512,0.0062503101734723435,-0.009477274607081903,-7.418332875932375e-05,3.899068606325564e-05,-0.013730820934049972,0.002971052552670706,0.1545785784838422,-0.04177093646857852,-0.4845871704044051,-0.006124527344759821],"joint_position_rad":[-0.11448250991215214,1.6877152474362807,-1.1028851118489098,0.0017273189319552006,1.0376989248628277,-0.11891158587595446],"joint_velocity_rad_s":[-0.008255532047992646,-0.6052865088266902,0.11005148412185851,0.020480800733116512,0.0062503101734723435,-0.009477274607081903],"gripper_joint_position_m":[0.019599639051356074,-0.02024948666784983],"tcp_position_m":[0.2981792397349524,-0.032546244934507446,0.09003709040566578],"tcp_quaternion_wxyz":[0.01772271819501228,-0.0017848311559071218,0.9998404754437932,-0.001320341567525579],"object_position_m":[0.29596143200060876,-0.03222214197765509,0.08805659014138853],"object_quaternion_wxyz":[0.999907012161943,-0.0007207012658913112,-0.01359844289132435,0.0007279903803080054],"object_linear_velocity_m_s":[-0.013730820934049972,0.002971052552670706,0.1545785784838422],"object_angular_velocity_rad_s":[-0.04089289913998852,-0.4846564899698881,-0.006550131235457534],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38923124613953447,"right":0.393952252386089},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04772616417903998},{"geom_ids":[85,90],"normal_force_n":0.017765628838653548},{"geom_ids":[85,90],"normal_force_n":0.03766055780167395},{"geom_ids":[85,90],"normal_force_n":0.06873124817534251},{"geom_ids":[86,90],"normal_force_n":0.03383964061805169},{"geom_ids":[86,90],"normal_force_n":0.03601852194053571},{"geom_ids":[86,90],"normal_force_n":0.07479306914946454},{"geom_ids":[86,90],"normal_force_n":0.07269641543677252},{"geom_ids":[88,90],"normal_force_n":0.029996630949080807},{"geom_ids":[88,90],"normal_force_n":0.059142598715324304},{"geom_ids":[88,90],"normal_force_n":0.08053771561383259},{"geom_ids":[88,90],"normal_force_n":0.049517482105681736},{"geom_ids":[89,90],"normal_force_n":0.06076438330957572},{"geom_ids":[89,90],"normal_force_n":0.06304390787415624},{"geom_ids":[89,90],"normal_force_n":0.026435862900645004},{"geom_ids":[89,90],"normal_force_n":0.024513670917792586}],"native_actuator_controls":[-0.11855236148600533,1.644405982541171,-1.098623476524917,0.00833511637209175,1.0364252068484192,-0.12603610564151965,0.0],"actuator_force_native":[-0.2843104656682911,-0.43830864747530995,-0.2093265946898839,0.16190789393987942,-0.02211264540429525,-0.05702928574502919,-0.7836146454104463],"issued_joint_targets_rad":[-0.11882082906567701,1.6330963494689257,-1.0969747366120646,0.008879162106937202,1.036889244332784,-0.12636446396013512],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.439999999999099,"joint_targets_rad":[-0.11882082906567701,1.6330963494689257,-1.0969747366120646,0.008879162106937202,1.036889244332784,-0.12636446396013512],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.459999999999088,"qpos":[-0.11465240668227963,1.6753791891602763,-1.100967600090022,0.0021510318468104805,1.037789239971332,-0.11909970978235702,0.01959882945776295,-0.0202485528402856,0.29577450891790785,-0.0321719028325243,0.09127756996337984,0.999823653391979,-0.0011581504830380535,-0.01873186414560602,0.0006618693273939391],"qvel":[-0.008465572206048327,-0.6173452875359442,0.07694055439512267,0.021246200077144138,0.005019374510277803,-0.009509294295436252,-2.4840148069396245e-05,4.0115576943349254e-05,-0.004394430002587948,0.001953248009712142,0.16546572010660404,-0.046098612538923,-0.531139684736122,-0.0061932514849474835],"joint_position_rad":[-0.11465240668227963,1.6753791891602763,-1.100967600090022,0.0021510318468104805,1.037789239971332,-0.11909970978235702],"joint_velocity_rad_s":[-0.008465572206048327,-0.6173452875359442,0.07694055439512267,0.021246200077144138,0.005019374510277803,-0.009509294295436252],"gripper_joint_position_m":[0.01959882945776295,-0.0202485528402856],"tcp_position_m":[0.2979575205525755,-0.032494456816062424,0.09327566349350248],"tcp_quaternion_wxyz":[0.022872111971039156,-0.0016942495027429526,0.9997354496262669,-0.0017397623897208378],"object_position_m":[0.29577450891790785,-0.0321719028325243,0.09127756996337984],"object_quaternion_wxyz":[0.999823653391979,-0.0011581504830380535,-0.01873186414560602,0.0006618693273939391],"object_linear_velocity_m_s":[-0.004394430002587948,0.001953248009712142,0.16546572010660404],"object_angular_velocity_rad_s":[-0.04515431014793184,-0.5312149957799914,-0.006672306728977013],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3896461215692252,"right":0.39374722579586324},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048049281981459684},{"geom_ids":[85,90],"normal_force_n":0.018675144528153075},{"geom_ids":[85,90],"normal_force_n":0.03788560683034415},{"geom_ids":[85,90],"normal_force_n":0.06828739211850164},{"geom_ids":[86,90],"normal_force_n":0.034145884523852775},{"geom_ids":[86,90],"normal_force_n":0.03624981301854646},{"geom_ids":[86,90],"normal_force_n":0.07418757342175512},{"geom_ids":[86,90],"normal_force_n":0.0721654251466123},{"geom_ids":[88,90],"normal_force_n":0.03034982606438376},{"geom_ids":[88,90],"normal_force_n":0.059084049745343065},{"geom_ids":[88,90],"normal_force_n":0.07969868195423534},{"geom_ids":[88,90],"normal_force_n":0.04914522085702327},{"geom_ids":[89,90],"normal_force_n":0.06070215948952107},{"geom_ids":[89,90],"normal_force_n":0.06290259400238347},{"geom_ids":[89,90],"normal_force_n":0.02685889614837405},{"geom_ids":[89,90],"normal_force_n":0.02500579753459923}],"native_actuator_controls":[-0.11882082906567701,1.6330963494689257,-1.0969747366120646,0.008879162106937202,1.036889244332784,-0.12636446396013512,0.0],"actuator_force_native":[-0.29114592964154973,-0.2959007376283296,-0.06527369373903014,0.16289421001934817,-0.01652901815089791,-0.05838360033462653,-0.783828977570171],"issued_joint_targets_rad":[-0.11910777920423994,1.6213972449872156,-1.0959765540136208,0.00946566503897604,1.0372729276521955,-0.1267176952562502],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.459999999999088,"joint_targets_rad":[-0.11910777920423994,1.6213972449872156,-1.0959765540136208,0.00946566503897604,1.0372729276521955,-0.1267176952562502],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.479999999999077,"qpos":[-0.11483389655847225,1.66290052707945,-1.0996452024093555,0.002590673872250711,1.037856703188245,-0.1192889415175464,0.019598532748945845,-0.02024787140787851,0.2957459922345027,-0.03214046466999621,0.09467404121155537,0.9997045703711778,-0.0016300105178124473,-0.02424396951010684,0.0005873560106998844],"qvel":[-0.009001572313432111,-0.621677688571796,0.05131512456154284,0.021962268973104698,0.0037263475812950864,-0.009558987348133725,-5.337584906439234e-06,3.117006838449465e-05,0.0020557353939482962,0.0011791776131773212,0.1725673319912524,-0.04873153493783892,-0.5625211871940892,-0.006650711604831069],"joint_position_rad":[-0.11483389655847225,1.66290052707945,-1.0996452024093555,0.002590673872250711,1.037856703188245,-0.1192889415175464],"joint_velocity_rad_s":[-0.009001572313432111,-0.621677688571796,0.05131512456154284,0.021962268973104698,0.0037263475812950864,-0.009558987348133725],"gripper_joint_position_m":[0.019598532748945845,-0.02024787140787851],"tcp_position_m":[0.29789048312927596,-0.03246101206638477,0.09669365795519923],"tcp_quaternion_wxyz":[0.02839922669789018,-0.0015968543157667044,0.9995929700178278,-0.0021973325178276906],"object_position_m":[0.2957459922345027,-0.03214046466999621,0.09467404121155537],"object_quaternion_wxyz":[0.9997045703711778,-0.0016300105178124473,-0.02424396951010684,0.0005873560106998844],"object_linear_velocity_m_s":[0.0020557353939482962,0.0011791776131773212,0.1725673319912524],"object_angular_velocity_rad_s":[-0.047735672836244046,-0.5626003756957795,-0.007155648840923248],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38997086015867444,"right":0.3934886212861661},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04830084094268885},{"geom_ids":[85,90],"normal_force_n":0.019478807938351238},{"geom_ids":[85,90],"normal_force_n":0.03810236620634927},{"geom_ids":[85,90],"normal_force_n":0.06787508505961608},{"geom_ids":[86,90],"normal_force_n":0.03443897789006578},{"geom_ids":[86,90],"normal_force_n":0.03647646299221715},{"geom_ids":[86,90],"normal_force_n":0.07362715871207856},{"geom_ids":[86,90],"normal_force_n":0.0716711604173075},{"geom_ids":[88,90],"normal_force_n":0.030689440636956427},{"geom_ids":[88,90],"normal_force_n":0.058977564589825456},{"geom_ids":[88,90],"normal_force_n":0.07891180696555145},{"geom_ids":[88,90],"normal_force_n":0.04886457908885858},{"geom_ids":[89,90],"normal_force_n":0.06058732122979169},{"geom_ids":[89,90],"normal_force_n":0.0627171388898196},{"geom_ids":[89,90],"normal_force_n":0.027266586267581217},{"geom_ids":[89,90],"normal_force_n":0.02547418361778163}],"native_actuator_controls":[-0.11910777920423994,1.6213972449872156,-1.0959765540136208,0.00946566503897604,1.0372729276521955,-0.1267176952562502,0.0],"actuator_force_native":[-0.2969027500942545,-0.21187412451979526,0.03691624885105682,0.16518830180348967,-0.01142727673243904,-0.059949056364837494,-0.7839146220333016],"issued_joint_targets_rad":[-0.11941828186138762,1.609525438629588,-1.0954837584183466,0.01009004491598273,1.037576595288015,-0.12709164194791198],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.479999999999077,"joint_targets_rad":[-0.11941828186138762,1.609525438629588,-1.0954837584183466,0.01009004491598273,1.037576595288015,-0.12709164194791198],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.499999999999066,"qpos":[-0.11503539084525351,1.6503904745160654,-1.0987841161474532,0.0030460959651174265,1.03790440468162,-0.11947996780965188,0.019598337312415254,-0.02024752671507186,0.2958250046119575,-0.03212427248645078,0.09818628090518915,0.9995471702666772,-0.0021273686296464944,-0.03001119487841463,0.0005068496435854531],"qvel":[-0.010232362488975348,-0.6217395232607749,0.03133013611547768,0.02273098454927983,0.0027598487906844585,-0.009658062005837286,-3.3107384193750357e-06,1.9297918684078526e-05,0.006348171126261989,0.00046647298172051554,0.177290399452122,-0.051021019491399054,-0.5840610357519089,-0.007605944950152859],"joint_position_rad":[-0.11503539084525351,1.6503904745160654,-1.0987841161474532,0.0030460959651174265,1.03790440468162,-0.11947996780965188],"joint_velocity_rad_s":[-0.010232362488975348,-0.6217395232607749,0.03133013611547768,0.02273098454927983,0.0027598487906844585,-0.009658062005837286],"gripper_joint_position_m":[0.019598337312415254,-0.02024752671507186],"tcp_position_m":[0.2979282372901116,-0.032442795954831787,0.10023022506674319],"tcp_quaternion_wxyz":[0.03418055933690223,-0.001488992679063974,0.9994109741953972,-0.002678977794847998],"object_position_m":[0.2958250046119575,-0.03212427248645078,0.09818628090518915],"object_quaternion_wxyz":[0.9995471702666772,-0.0021273686296464944,-0.03001119487841463,0.0005068496435854531],"object_linear_velocity_m_s":[0.006348171126261989,0.00046647298172051554,0.177290399452122],"object_angular_velocity_rad_s":[-0.04995553467767051,-0.5841457757630701,-0.00815141247562937],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3901004451528616,"right":0.3933733491336994},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04852269835551338},{"geom_ids":[85,90],"normal_force_n":0.020372729721861053},{"geom_ids":[85,90],"normal_force_n":0.0383542283347628},{"geom_ids":[85,90],"normal_force_n":0.06735006837036457},{"geom_ids":[86,90],"normal_force_n":0.03478502776566923},{"geom_ids":[86,90],"normal_force_n":0.0367460658976748},{"geom_ids":[86,90],"normal_force_n":0.07292475931126215},{"geom_ids":[86,90],"normal_force_n":0.07104486739575361},{"geom_ids":[88,90],"normal_force_n":0.031147806978049287},{"geom_ids":[88,90],"normal_force_n":0.05880000632429305},{"geom_ids":[88,90],"normal_force_n":0.07796970606694932},{"geom_ids":[88,90],"normal_force_n":0.04872075680671101},{"geom_ids":[89,90],"normal_force_n":0.06039324410654014},{"geom_ids":[89,90],"normal_force_n":0.062441803548199795},{"geom_ids":[89,90],"normal_force_n":0.027812075709590486},{"geom_ids":[89,90],"normal_force_n":0.02608794959336637}],"native_actuator_controls":[-0.11941828186138762,1.609525438629588,-1.0954837584183466,0.01009004491598273,1.037576595288015,-0.12709164194791198,0.0],"actuator_force_native":[-0.29946946884585124,-0.16050525461429288,0.10737793775113857,0.16810303528821297,-0.007417867122077482,-0.06162964837384499,-0.7839169388045133],"issued_joint_targets_rad":[-0.11975841397946,1.5975980607101068,-1.0953815933540727,0.010749612416501585,1.0378162695083633,-0.12748489333746227],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.499999999999066,"joint_targets_rad":[-0.11975841397946,1.5975980607101068,-1.0953815933540727,0.010749612416501585,1.0378162695083633,-0.12748489333746227],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.519999999999055,"qpos":[-0.11526724902210281,1.6379114138452109,-1.0982849206541763,0.0035173134696977353,1.0379379031302252,-0.11967378025954442,0.01959813578692988,-0.020247394513840573,0.29597422326461,-0.03212220496316654,0.10177615750012753,0.9993497148851321,-0.0026353171399744703,-0.03595874237374311,0.00041389548905257226],"qvel":[-0.011936025519485005,-0.6198273680117794,0.016463318579645125,0.02352302737885993,0.0018156569951584102,-0.009778465132610987,-7.461906325598053e-07,1.4738903186899064e-05,0.008860150742566195,-0.0001852746618092319,0.18035469875373386,-0.051946370672086704,-0.5986746482166319,-0.009213560976424676],"joint_position_rad":[-0.11526724902210281,1.6379114138452109,-1.0982849206541763,0.0035173134696977353,1.0379379031302252,-0.11967378025954442],"joint_velocity_rad_s":[-0.011936025519485005,-0.6198273680117794,0.016463318579645125,0.02352302737885993,0.0018156569951584102,-0.009778465132610987],"gripper_joint_position_m":[0.01959813578692988,-0.020247394513840573],"tcp_position_m":[0.29803423008965324,-0.0324387673197159,0.10384605590712087],"tcp_quaternion_wxyz":[0.04013269847442459,-0.0013661394239478882,0.9991883792489391,-0.003175366138471511],"object_position_m":[0.29597422326461,-0.03212220496316654,0.10177615750012753],"object_quaternion_wxyz":[0.9993497148851321,-0.0026353171399744703,-0.03595874237374311,0.00041389548905257226],"object_linear_velocity_m_s":[0.008860150742566195,-0.0001852746618092319,0.18035469875373386],"object_angular_velocity_rad_s":[-0.05076801981661445,-0.5987672010401984,-0.009751752230376078],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.390389375419128,"right":0.39310545525891033},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04859443617395753},{"geom_ids":[85,90],"normal_force_n":0.021215991403188927},{"geom_ids":[85,90],"normal_force_n":0.03869610493759796},{"geom_ids":[85,90],"normal_force_n":0.06684428788577515},{"geom_ids":[86,90],"normal_force_n":0.03522982150568209},{"geom_ids":[86,90],"normal_force_n":0.03713104365810082},{"geom_ids":[86,90],"normal_force_n":0.07224885087163918},{"geom_ids":[86,90],"normal_force_n":0.07042883898318637},{"geom_ids":[88,90],"normal_force_n":0.031567621486570996},{"geom_ids":[88,90],"normal_force_n":0.05853993234388815},{"geom_ids":[88,90],"normal_force_n":0.07711672879854554},{"geom_ids":[88,90],"normal_force_n":0.048736165251098064},{"geom_ids":[89,90],"normal_force_n":0.06008996855417801},{"geom_ids":[89,90],"normal_force_n":0.06207429869147422},{"geom_ids":[89,90],"normal_force_n":0.028325218375044495},{"geom_ids":[89,90],"normal_force_n":0.026655521758110853}],"native_actuator_controls":[-0.11975841397946,1.5975980607101068,-1.0953815933540727,0.010749612416501585,1.0378162695083633,-0.12748489333746227,0.0],"actuator_force_native":[-0.2996130689911496,-0.12593141074943048,0.14994959111005812,0.17167682097785436,-0.003939821711355762,-0.06344343308026201,-0.7839217005240325],"issued_joint_targets_rad":[-0.12013615775835337,1.5856827104740683,-1.0955857618236384,0.011443052919885073,1.0380073433133732,-0.12789691417782423],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.519999999999055,"joint_targets_rad":[-0.12013615775835337,1.5856827104740683,-1.0955857618236384,0.011443052919885073,1.0380073433133732,-0.12789691417782423],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.539999999999043,"qpos":[-0.1155367566082589,1.62548835997502,-1.0980462450493496,0.0040046405194525,1.0379573908683561,-0.11987079979300605,0.01959798507484389,-0.020247325249288222,0.2961597501757874,-0.03213258536544408,0.105414199470667,0.9991118625701433,-0.003145173157345883,-0.04201790044343351,0.00029999959091188053],"qvel":[-0.013947645694380744,-0.6177074514456464,0.007781181709405061,0.024358440579586135,0.0005681522471536255,-0.009886015072455137,6.1648048250498046e-06,1.7590241987137796e-05,0.00948115828986526,-0.0007068314576413806,0.1819330408367618,-0.051886582570099565,-0.6070158492151261,-0.011672632887844118],"joint_position_rad":[-0.1155367566082589,1.62548835997502,-1.0980462450493496,0.0040046405194525,1.0379573908683561,-0.11987079979300605],"joint_velocity_rad_s":[-0.013947645694380744,-0.6177074514456464,0.007781181709405061,0.024358440579586135,0.0005681522471536255,-0.009886015072455137],"gripper_joint_position_m":[0.01959798507484389,-0.020247325249288222],"tcp_position_m":[0.2981750119516511,-0.0324472467661473,0.10751120888863344],"tcp_quaternion_wxyz":[0.04619250605544325,-0.0012249294328198618,0.9989250290271503,-0.0036794449730510694],"object_position_m":[0.2961597501757874,-0.03213258536544408,0.105414199470667],"object_quaternion_wxyz":[0.9991118625701433,-0.003145173157345883,-0.04201790044343351,0.00029999959091188053],"object_linear_velocity_m_s":[0.00948115828986526,-0.0007068314576413806,0.1819330408367618],"object_angular_velocity_rad_s":[-0.05051984448805622,-0.6071216142811207,-0.012157293830749209],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3906214829363006,"right":0.3929422812624581},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04854100354051244},{"geom_ids":[85,90],"normal_force_n":0.02185945947014157},{"geom_ids":[85,90],"normal_force_n":0.03903657238475779},{"geom_ids":[85,90],"normal_force_n":0.06641547787644496},{"geom_ids":[86,90],"normal_force_n":0.03566378479774677},{"geom_ids":[86,90],"normal_force_n":0.03752518699487027},{"geom_ids":[86,90],"normal_force_n":0.07167987630324024},{"geom_ids":[86,90],"normal_force_n":0.06990012156858658},{"geom_ids":[88,90],"normal_force_n":0.03194157763697631},{"geom_ids":[88,90],"normal_force_n":0.05826929601021201},{"geom_ids":[88,90],"normal_force_n":0.07645903840656697},{"geom_ids":[88,90],"normal_force_n":0.04886500786454156},{"geom_ids":[89,90],"normal_force_n":0.059764665726610135},{"geom_ids":[89,90],"normal_force_n":0.06170569700255419},{"geom_ids":[89,90],"normal_force_n":0.028785273879032767},{"geom_ids":[89,90],"normal_force_n":0.027151724735964115}],"native_actuator_controls":[-0.12013615775835337,1.5856827104740683,-1.0955857618236384,0.011443052919885073,1.0380073433133732,-0.12789691417782423,0.0],"actuator_force_native":[-0.29821386353565416,-0.0959147028479066,0.15793274950986813,0.17574429311937223,-0.00035270392056041544,-0.06543212123949904,-0.7839502270178809],"issued_joint_targets_rad":[-0.12055688409259584,1.5738123589644433,-1.09601232483399,0.012169730960027415,1.0381594417800803,-0.12832703739556323],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.539999999999043,"joint_targets_rad":[-0.12055688409259584,1.5738123589644433,-1.09601232483399,0.012169730960027415,1.0381594417800803,-0.12832703739556323],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.559999999999032,"qpos":[-0.11584883078454895,1.6131186444921322,-1.097935117566685,0.004508868048752844,1.0379595533403694,-0.12007110229819191,0.019597907203748533,-0.020247233719348088,0.29634103698650477,-0.03215213170945976,0.10906990796956331,0.9988347726908203,-0.003652363734805969,-0.048122050581679954,0.00015921884165557011],"qvel":[-0.016089731573499456,-0.6148583841432723,0.0038660964647444862,0.02518789432531336,-0.00024309066650115524,-0.010063336969755313,1.0368048898327952e-05,1.9632178782157425e-05,0.00851701149105815,-0.001086548851458571,0.1821615926757837,-0.05170672446253179,-0.6085421255780994,-0.014666981966769379],"joint_position_rad":[-0.11584883078454895,1.6131186444921322,-1.097935117566685,0.004508868048752844,1.0379595533403694,-0.12007110229819191],"joint_velocity_rad_s":[-0.016089731573499456,-0.6148583841432723,0.0038660964647444862,0.02518789432531336,-0.00024309066650115524,-0.010063336969755313],"gripper_joint_position_m":[0.019597907203748533,-0.020247233719348088],"tcp_position_m":[0.2983105420386188,-0.03246496445979076,0.11119445082703543],"tcp_quaternion_wxyz":[0.05229670171794924,-0.0010628552158999508,0.9986222609086777,-0.004183939035694307],"object_position_m":[0.29634103698650477,-0.03215213170945976,0.10906990796956331],"object_quaternion_wxyz":[0.9988347726908203,-0.003652363734805969,-0.048122050581679954,0.00015921884165557011],"object_linear_velocity_m_s":[0.00851701149105815,-0.001086548851458571,0.1821615926757837],"object_angular_velocity_rad_s":[-0.05007761817616381,-0.6086672698740423,-0.015119889538308114],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3906450270965654,"right":0.39292419231697767},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048469528837620686},{"geom_ids":[85,90],"normal_force_n":0.02231097993831263},{"geom_ids":[85,90],"normal_force_n":0.03928565624341884},{"geom_ids":[85,90],"normal_force_n":0.0660709948169242},{"geom_ids":[86,90],"normal_force_n":0.03598501658650512},{"geom_ids":[86,90],"normal_force_n":0.03781636911675126},{"geom_ids":[86,90],"normal_force_n":0.07122790487156191},{"geom_ids":[86,90],"normal_force_n":0.06947857668547076},{"geom_ids":[88,90],"normal_force_n":0.03225381111334306},{"geom_ids":[88,90],"normal_force_n":0.0580608442987045},{"geom_ids":[88,90],"normal_force_n":0.07596880965878335},{"geom_ids":[88,90],"normal_force_n":0.048981450936964856},{"geom_ids":[89,90],"normal_force_n":0.05951326192983492},{"geom_ids":[89,90],"normal_force_n":0.06142161465242396},{"geom_ids":[89,90],"normal_force_n":0.02916565347969674},{"geom_ids":[89,90],"normal_force_n":0.027558746247226283}],"native_actuator_controls":[-0.12055688409259584,1.5738123589644433,-1.09601232483399,0.012169730960027415,1.0381594417800803,-0.12832703739556323,0.0],"actuator_force_native":[-0.29619560677625323,-0.07021092149875585,0.13449293629187764,0.18049504482441608,0.0023635203968606078,-0.06746434551907998,-0.783968128394433],"issued_joint_targets_rad":[-0.12102360698727092,1.56200004064225,-1.0965556270236883,0.012928951852447981,1.0382807426826275,-0.12877400449151485],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.559999999999032,"joint_targets_rad":[-0.12102360698727092,1.56200004064225,-1.0965556270236883,0.012928951852447981,1.0382807426826275,-0.12877400449151485],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.579999999999021,"qpos":[-0.11620528456853348,1.6008190777316527,-1.0978728856001585,0.005030123200823221,1.0379516339064834,-0.12027580861490828,0.019597854251073518,-0.020247169919180845,0.29649238924623766,-0.032178397571260293,0.11271895436348696,0.9985203635138757,-0.0041551588004762555,-0.05422009122658273,-3.2925468979180643e-06],"qvel":[-0.01826304995349143,-0.6106609928381825,0.002318147590779326,0.026009883408654406,-0.0005017986330479176,-0.01031590320922038,1.115062937015239e-05,1.842741244407952e-05,0.0066853910271129635,-0.001379483396118389,0.18140172615198127,-0.050906756569777896,-0.6075944857747079,-0.015538440709672457],"joint_position_rad":[-0.11620528456853348,1.6008190777316527,-1.0978728856001585,0.005030123200823221,1.0379516339064834,-0.12027580861490828],"joint_velocity_rad_s":[-0.01826304995349143,-0.6106609928381825,0.002318147590779326,0.026009883408654406,-0.0005017986330479176,-0.01031590320922038],"gripper_joint_position_m":[0.019597854251073518,-0.020247169919180845],"tcp_position_m":[0.29841577167006705,-0.03248953354603084,0.11487082297350913],"tcp_quaternion_wxyz":[0.058394074459983056,-0.000879642132610124,0.9982822373938093,-0.004683246917507043],"object_position_m":[0.29649238924623766,-0.032178397571260293,0.11271895436348696],"object_quaternion_wxyz":[0.9985203635138757,-0.0041551588004762555,-0.05422009122658273,-3.2925468979180643e-06],"object_linear_velocity_m_s":[0.0066853910271129635,-0.001379483396118389,0.18140172615198127],"object_angular_velocity_rad_s":[-0.04920271441849858,-0.6077250521169576,-0.015917099964089094],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39058641077355916,"right":0.39300993335902046},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04842089473725048},{"geom_ids":[85,90],"normal_force_n":0.02276155187709065},{"geom_ids":[85,90],"normal_force_n":0.03951316342310404},{"geom_ids":[85,90],"normal_force_n":0.0657158232589062},{"geom_ids":[86,90],"normal_force_n":0.03628332568182285},{"geom_ids":[86,90],"normal_force_n":0.038080828804000856},{"geom_ids":[86,90],"normal_force_n":0.07076306824313149},{"geom_ids":[86,90],"normal_force_n":0.06904775474825262},{"geom_ids":[88,90],"normal_force_n":0.032589841901900035},{"geom_ids":[88,90],"normal_force_n":0.05787251648567153},{"geom_ids":[88,90],"normal_force_n":0.07546661163802396},{"geom_ids":[88,90],"normal_force_n":0.04907266568887497},{"geom_ids":[89,90],"normal_force_n":0.059287453318220745},{"geom_ids":[89,90],"normal_force_n":0.06115943227378656},{"geom_ids":[89,90],"normal_force_n":0.02956947264801563},{"geom_ids":[89,90],"normal_force_n":0.027991939404527027}],"native_actuator_controls":[-0.12102360698727092,1.56200004064225,-1.0965556270236883,0.012928951852447981,1.0382807426826275,-0.12877400449151485,0.0],"actuator_force_native":[-0.2941505437315399,-0.05221800296131107,0.09378994816371744,0.18590372902171837,0.004043785711013825,-0.06950810395223517,-0.7839699231897915],"issued_joint_targets_rad":[-0.12153638419571645,1.5502748522395535,-1.09715634090115,0.013719451040882048,1.0383854559141183,-0.12923728831799375],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.579999999999021,"joint_targets_rad":[-0.12153638419571645,1.5502748522395535,-1.09715634090115,0.013719451040882048,1.0383854559141183,-0.12923728831799375],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.59999999999901,"qpos":[-0.11660629808329542,1.5886182341833255,-1.0978339814279163,0.005568427787249626,1.0379426594345198,-0.12048612860814989,0.019597780824545222,-0.020247173485280517,0.2966044459139497,-0.03221033554921357,0.11634610884388939,0.9981706060804548,-0.004652899777886689,-0.06028066502894737,-0.00018194587509689984],"qvel":[-0.020434187976053036,-0.6050834578781382,0.0013588835245590461,0.026842004144650922,-0.0004179690773687264,-0.010615849064370058,1.0925893216613576e-05,1.7364372907559173e-05,0.004658940228330885,-0.0016436059804662852,0.1800571236581089,-0.05026301278852526,-0.6027801116595489,-0.017435140285599723],"joint_position_rad":[-0.11660629808329542,1.5886182341833255,-1.0978339814279163,0.005568427787249626,1.0379426594345198,-0.12048612860814989],"joint_velocity_rad_s":[-0.020434187976053036,-0.6050834578781382,0.0013588835245590461,0.026842004144650922,-0.0004179690773687264,-0.010615849064370058],"gripper_joint_position_m":[0.019597780824545222,-0.020247173485280517],"tcp_position_m":[0.29848167779016027,-0.03251992666480231,0.11852472166353893],"tcp_quaternion_wxyz":[0.06445307245924443,-0.0006759163787544243,0.9979070966304892,-0.00517407790044884],"object_position_m":[0.2966044459139497,-0.03221033554921357,0.11634610884388939],"object_quaternion_wxyz":[0.9981706060804548,-0.004652899777886689,-0.06028066502894737,-0.00018194587509689984],"object_linear_velocity_m_s":[0.004658940228330885,-0.0016436059804662852,0.1800571236581089],"object_angular_velocity_rad_s":[-0.0483566742042772,-0.6029262442524046,-0.017770583424491813],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3904605192064947,"right":0.39315695387111355},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048375320068510856},{"geom_ids":[85,90],"normal_force_n":0.023348370657332473},{"geom_ids":[85,90],"normal_force_n":0.039779055511261555},{"geom_ids":[85,90],"normal_force_n":0.06526110870532802},{"geom_ids":[86,90],"normal_force_n":0.03663676420750384},{"geom_ids":[86,90],"normal_force_n":0.03838990968445274},{"geom_ids":[86,90],"normal_force_n":0.0701704673728995},{"geom_ids":[86,90],"normal_force_n":0.06849952299920578},{"geom_ids":[88,90],"normal_force_n":0.033014235455929374},{"geom_ids":[88,90],"normal_force_n":0.05765358379656641},{"geom_ids":[88,90],"normal_force_n":0.07483160206482498},{"geom_ids":[88,90],"normal_force_n":0.0491682482835535},{"geom_ids":[89,90],"normal_force_n":0.05902500458559091},{"geom_ids":[89,90],"normal_force_n":0.0608496840080191},{"geom_ids":[89,90],"normal_force_n":0.03007678245624836},{"geom_ids":[89,90],"normal_force_n":0.028537813220380983}],"native_actuator_controls":[-0.12153638419571645,1.5502748522395535,-1.09715634090115,0.013719451040882048,1.0383854559141183,-0.12923728831799375,0.0],"actuator_force_native":[-0.29223594911341877,-0.04205326611106841,0.04741682451850693,0.19183090942204223,0.0050549184120392,-0.07158782350188342,-0.7839658624478919],"issued_joint_targets_rad":[-0.1220938147276174,1.538672009416502,-1.0977978526826118,0.014540419282985308,1.038484948464355,-0.12971660719020578],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.59999999999901,"joint_targets_rad":[-0.1220938147276174,1.538672009416502,-1.0977978526826118,0.014540419282985308,1.038484948464355,-0.12971660719020578],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.619999999999,"qpos":[-0.11705176176992639,1.5765394318626422,-1.0978129612864507,0.006124161212659287,1.0379368026135316,-0.12070275221930682,0.019597674997881332,-0.0202472109172274,0.296675100953888,-0.03224764364542734,0.1199427676890677,0.9977870247467955,-0.005138833843398046,-0.06629104675447088,-0.0003778278215146662],"qvel":[-0.022599245422301753,-0.5985266767479547,0.0005060544202244667,0.02770046878097039,-0.00021526398735191414,-0.01094046826173599,1.1004994916270519e-05,1.7543870768662645e-05,0.0026143221674465476,-0.001900243019480147,0.1783729908830539,-0.04949193483519558,-0.5965832761627897,-0.019680395157251653],"joint_position_rad":[-0.11705176176992639,1.5765394318626422,-1.0978129612864507,0.006124161212659287,1.0379368026135316,-0.12070275221930682],"joint_velocity_rad_s":[-0.022599245422301753,-0.5985266767479547,0.0005060544202244667,0.02770046878097039,-0.00021526398735191414,-0.01094046826173599],"gripper_joint_position_m":[0.019597674997881332,-0.0202472109172274],"tcp_position_m":[0.29850669667003665,-0.03255581762940121,0.1221472514762372],"tcp_quaternion_wxyz":[0.0704571956334384,-0.0004521168130000194,0.9974986733384309,-0.005654720322800302],"object_position_m":[0.296675100953888,-0.03224764364542734,0.1199427676890677],"object_quaternion_wxyz":[0.9977870247467955,-0.005138833843398046,-0.06629104675447088,-0.0003778278215146662],"object_linear_velocity_m_s":[0.0026143221674465476,-0.001900243019480147,0.1783729908830539],"object_angular_velocity_rad_s":[-0.047309794902393905,-0.59675080756962,-0.01996576909870566],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3903400839095182,"right":0.393261254286813},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04823347464597757},{"geom_ids":[85,90],"normal_force_n":0.02391853726904251},{"geom_ids":[85,90],"normal_force_n":0.04010355014293684},{"geom_ids":[85,90],"normal_force_n":0.06478251251714004},{"geom_ids":[86,90],"normal_force_n":0.03705892334578311},{"geom_ids":[86,90],"normal_force_n":0.03877538215062818},{"geom_ids":[86,90],"normal_force_n":0.06955084367975005},{"geom_ids":[86,90],"normal_force_n":0.06791686015825986},{"geom_ids":[88,90],"normal_force_n":0.03346405551979638},{"geom_ids":[88,90],"normal_force_n":0.057368228751456446},{"geom_ids":[88,90],"normal_force_n":0.07420393626037804},{"geom_ids":[88,90],"normal_force_n":0.049352864423627095},{"geom_ids":[89,90],"normal_force_n":0.05867771464399399},{"geom_ids":[89,90],"normal_force_n":0.06046290830635109},{"geom_ids":[89,90],"normal_force_n":0.03061949278530868},{"geom_ids":[89,90],"normal_force_n":0.0291120535959013}],"native_actuator_controls":[-0.1220938147276174,1.538672009416502,-1.0977978526826118,0.014540419282985308,1.038484948464355,-0.12971660719020578,0.0],"actuator_force_native":[-0.29036800950377106,-0.03676041195143398,-0.0013215837940094843,0.1981479789081888,0.005804354489262309,-0.07372784731638582,-0.7839620248898346],"issued_joint_targets_rad":[-0.12269419846032031,1.527219211258699,-1.0984792917759907,0.015391882391142609,1.038583685662888,-0.13021139307945],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.619999999999,"joint_targets_rad":[-0.12269419846032031,1.527219211258699,-1.0984792917759907,0.015391882391142609,1.038583685662888,-0.13021139307945],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.639999999998988,"qpos":[-0.11754146574850921,1.5645986804402212,-1.0978089353254334,0.006697905910036005,1.0379355454271952,-0.12092604051050483,0.0195975575380147,-0.02024723398499859,0.2967053899146173,-0.03229016835021925,0.12350364208001641,0.9973720336539276,-0.0056100389419428765,-0.07223011531065687,-0.0006036475018107377],"qvel":[-0.024749463820417164,-0.5912882811616066,-0.00033682923463482543,0.028591908269050368,2.0472233503889886e-05,-0.011279714854520466,1.1450488493435966e-05,1.9009322686235328e-05,0.000617632853294003,-0.0021500578227398857,0.1764783946007382,-0.04860319548259404,-0.5897399190426175,-0.022039332258540607],"joint_position_rad":[-0.11754146574850921,1.5645986804402212,-1.0978089353254334,0.006697905910036005,1.0379355454271952,-0.12092604051050483],"joint_velocity_rad_s":[-0.024749463820417164,-0.5912882811616066,-0.00033682923463482543,0.028591908269050368,2.0472233503889886e-05,-0.011279714854520466],"gripper_joint_position_m":[0.0195975575380147,-0.02024723398499859],"tcp_position_m":[0.29849148600506914,-0.032597062543263354,0.12573294603676038],"tcp_quaternion_wxyz":[0.0763972002868481,-0.0002085291656523262,0.9970586334243559,-0.00612419936598176],"object_position_m":[0.2967053899146173,-0.03229016835021925,0.12350364208001641],"object_quaternion_wxyz":[0.9973720336539276,-0.0056100389419428765,-0.07223011531065687,-0.0006036475018107377],"object_linear_velocity_m_s":[0.000617632853294003,-0.0021500578227398857,0.1764783946007382],"object_angular_velocity_rad_s":[-0.04610878551374366,-0.5899317882759009,-0.022262973070970336],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3902336319610452,"right":0.3933825481010854},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04814213991045445},{"geom_ids":[85,90],"normal_force_n":0.02431814427311125},{"geom_ids":[85,90],"normal_force_n":0.040295677061085576},{"geom_ids":[85,90],"normal_force_n":0.06447142952045207},{"geom_ids":[86,90],"normal_force_n":0.03731228723924804},{"geom_ids":[86,90],"normal_force_n":0.0390038729419801},{"geom_ids":[86,90],"normal_force_n":0.06914944186418562},{"geom_ids":[86,90],"normal_force_n":0.0675406391505281},{"geom_ids":[88,90],"normal_force_n":0.033755238945182765},{"geom_ids":[88,90],"normal_force_n":0.05719768945206555},{"geom_ids":[88,90],"normal_force_n":0.07380994832230733},{"geom_ids":[88,90],"normal_force_n":0.04946801078233052},{"geom_ids":[89,90],"normal_force_n":0.05847031400605005},{"geom_ids":[89,90],"normal_force_n":0.060228852117923073},{"geom_ids":[89,90],"normal_force_n":0.030969202286578776},{"geom_ids":[89,90],"normal_force_n":0.029483292188647366}],"native_actuator_controls":[-0.12269419846032031,1.527219211258699,-1.0984792917759907,0.015391882391142609,1.038583685662888,-0.13021139307945,0.0],"actuator_force_native":[-0.28847129784280234,-0.0339161287137415,-0.05194436987140705,0.20479951789901224,0.00645069400667353,-0.07593395340767084,-0.7839595539630552],"issued_joint_targets_rad":[-0.12333551437794754,1.515937023359119,-1.0992038535140547,0.01627424460901046,1.0386828169352302,-0.13072067634954654],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.639999999998988,"joint_targets_rad":[-0.12333551437794754,1.515937023359119,-1.0992038535140547,0.01627424460901046,1.0386828169352302,-0.13072067634954654],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.659999999998977,"qpos":[-0.11807491101131318,1.5528078228184858,-1.0978220677879889,0.0072903419207133,1.0379392051880634,-0.1211562319678314,0.019597448678642333,-0.02024726273153101,0.29669640177863815,-0.032337745668154144,0.127024757109502,0.9969268170542802,-0.006065503576643601,-0.07809868770674194,-0.0008521049624010379],"qvel":[-0.026866598040784128,-0.5835078928604515,-0.0011991577248363994,0.02951782747361344,0.0002683337022229381,-0.011629157909612274,1.3405876565331132e-05,1.9897768973151163e-05,-0.0012921055792565405,-0.002388815024455751,0.1743955000987793,-0.04735023507061334,-0.5824828364084252,-0.024237466489312826],"joint_position_rad":[-0.11807491101131318,1.5528078228184858,-1.0978220677879889,0.0072903419207133,1.0379392051880634,-0.1211562319678314],"joint_velocity_rad_s":[-0.026866598040784128,-0.5835078928604515,-0.0011991577248363994,0.02951782747361344,0.0002683337022229381,-0.011629157909612274],"gripper_joint_position_m":[0.019597448678642333,-0.02024726273153101],"tcp_position_m":[0.29843745291271256,-0.03264349232283343,0.1292779238839864],"tcp_quaternion_wxyz":[0.0822670401428102,5.4494692806725126e-05,0.9965885863791517,-0.006581841328529019],"object_position_m":[0.29669640177863815,-0.032337745668154144,0.127024757109502],"object_quaternion_wxyz":[0.9969268170542802,-0.006065503576643601,-0.07809868770674194,-0.0008521049624010379],"object_linear_velocity_m_s":[-0.0012921055792565405,-0.002388815024455751,0.1743955000987793],"object_angular_velocity_rad_s":[-0.04454008199096207,-0.5826998918886385,-0.0243468959556187],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39013562940630403,"right":0.3934988388850913},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04799736428764346},{"geom_ids":[85,90],"normal_force_n":0.024565867328827803},{"geom_ids":[85,90],"normal_force_n":0.04046687907406175},{"geom_ids":[85,90],"normal_force_n":0.06424276030118176},{"geom_ids":[86,90],"normal_force_n":0.03753218608308838},{"geom_ids":[86,90],"normal_force_n":0.03921287018549932},{"geom_ids":[86,90],"normal_force_n":0.06885744816255374},{"geom_ids":[86,90],"normal_force_n":0.0672602539834478},{"geom_ids":[88,90],"normal_force_n":0.0339742181218},{"geom_ids":[88,90],"normal_force_n":0.05704021015990344},{"geom_ids":[88,90],"normal_force_n":0.07356697046542206},{"geom_ids":[88,90],"normal_force_n":0.049628560326944585},{"geom_ids":[89,90],"normal_force_n":0.058274226046062284},{"geom_ids":[89,90],"normal_force_n":0.06002071785821268},{"geom_ids":[89,90],"normal_force_n":0.031235312319998616},{"geom_ids":[89,90],"normal_force_n":0.029758623586747614}],"native_actuator_controls":[-0.12333551437794754,1.515937023359119,-1.0992038535140547,0.01627424460901046,1.0386828169352302,-0.13072067634954654,0.0],"actuator_force_native":[-0.28651527912682795,-0.03212449244709603,-0.10454706946109127,0.21176697016381918,0.007033616918333152,-0.07820070695273285,-0.7839649765285199],"issued_joint_targets_rad":[-0.12401509503788116,1.5048427685153043,-1.0999763578113897,0.017187985631836628,1.0387819943967278,-0.13124304217885485],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.659999999998977,"joint_targets_rad":[-0.12401509503788116,1.5048427685153043,-1.0999763578113897,0.017187985631836628,1.0387819943967278,-0.13124304217885485],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.679999999998966,"qpos":[-0.11865113501037158,1.541177118502578,-1.0978528978900075,0.007902176882839666,1.037947872358275,-0.12139349245400581,0.019597345614566598,-0.020247296090829956,0.2966498631615592,-0.03239011671931357,0.13050297015449466,0.9964527307279221,-0.006511092920952809,-0.08389468268562622,-0.0011150385280916555],"qvel":[-0.028924447753238408,-0.5752225014377002,-0.002093392593474554,0.030479931086561263,0.0005115617627410678,-0.011987033419947267,1.4780267950600775e-05,2.1005113055670924e-05,-0.003130188548263705,-0.0026129368352546738,0.17216213305900946,-0.04627288435528133,-0.5754413847669884,-0.025604425083722203],"joint_position_rad":[-0.11865113501037158,1.541177118502578,-1.0978528978900075,0.007902176882839666,1.037947872358275,-0.12139349245400581],"joint_velocity_rad_s":[-0.028924447753238408,-0.5752225014377002,-0.002093392593474554,0.030479931086561263,0.0005115617627410678,-0.011987033419947267],"gripper_joint_position_m":[0.019597345614566598,-0.020247296090829956],"tcp_position_m":[0.2983463064046099,-0.032694821649622716,0.1327789239489681],"tcp_quaternion_wxyz":[0.08806178063719716,0.00033641126767612985,0.9960901717365698,-0.007027046910036607],"object_position_m":[0.2966498631615592,-0.03239011671931357,0.13050297015449466],"object_quaternion_wxyz":[0.9964527307279221,-0.006511092920952809,-0.08389468268562622,-0.0011150385280916555],"object_linear_velocity_m_s":[-0.003130188548263705,-0.0026129368352546738,0.17216213305900946],"object_angular_velocity_rad_s":[-0.043248255600673274,-0.5756759228766072,-0.02561979548394647],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3900482363745975,"right":0.39359606798124613},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04784077482123913},{"geom_ids":[85,90],"normal_force_n":0.024935619904139405},{"geom_ids":[85,90],"normal_force_n":0.040692831049352673},{"geom_ids":[85,90],"normal_force_n":0.06393143858992428},{"geom_ids":[86,90],"normal_force_n":0.037823572365532555},{"geom_ids":[86,90],"normal_force_n":0.03948634659903399},{"geom_ids":[86,90],"normal_force_n":0.06845816882560413},{"geom_ids":[86,90],"normal_force_n":0.06687948421977137},{"geom_ids":[88,90],"normal_force_n":0.034265503784623855},{"geom_ids":[88,90],"normal_force_n":0.0568343900827034},{"geom_ids":[88,90],"normal_force_n":0.07320496541556337},{"geom_ids":[88,90],"normal_force_n":0.049807409540029365},{"geom_ids":[89,90],"normal_force_n":0.05802008978351355},{"geom_ids":[89,90],"normal_force_n":0.05974716635543088},{"geom_ids":[89,90],"normal_force_n":0.03158895330230485},{"geom_ids":[89,90],"normal_force_n":0.030127589717076873}],"native_actuator_controls":[-0.12401509503788116,1.5048427685153043,-1.0999763578113897,0.017187985631836628,1.0387819943967278,-0.13124304217885485,0.0],"actuator_force_native":[-0.28449456343457236,-0.0306354917933902,-0.1594098307432006,0.21903269452707214,0.0075738777404161794,-0.08051494711856955,-0.7839677259224169],"issued_joint_targets_rad":[-0.12472931792655448,1.4939535275549005,-1.1008029912433812,0.018133444025854192,1.0388803033619889,-0.13177646526528947],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.679999999998966,"joint_targets_rad":[-0.12472931792655448,1.4939535275549005,-1.1008029912433812,0.018133444025854192,1.0388803033619889,-0.13177646526528947],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.699999999998955,"qpos":[-0.11926854836420439,1.5297167890784371,-1.0979022651269148,0.008534096222332886,1.037961480052702,-0.12163797129819942,0.019597252746055824,-0.020247325826449458,0.29656751396181047,-0.032446871930761255,0.13393508758328473,0.995951542022825,-0.006944943339547597,-0.08961221699003881,-0.0013943710041336972],"qvel":[-0.030888097108614086,-0.5663781973174393,-0.0030929286131863055,0.03147506388336021,0.0007717282813963403,-0.012353063160799555,1.6370486090537553e-05,2.280541697607409e-05,-0.004844237954206286,-0.0028132972587094885,0.1697734165084676,-0.045235611213925345,-0.5670234042852683,-0.0277611637580112],"joint_position_rad":[-0.11926854836420439,1.5297167890784371,-1.0979022651269148,0.008534096222332886,1.037961480052702,-0.12163797129819942],"joint_velocity_rad_s":[-0.030888097108614086,-0.5663781973174393,-0.0030929286131863055,0.03147506388336021,0.0007717282813963403,-0.012353063160799555],"gripper_joint_position_m":[0.019597252746055824,-0.020247325826449458],"tcp_position_m":[0.2982200084684903,-0.03275060486115674,0.136232828913211],"tcp_quaternion_wxyz":[0.09377676046167274,0.0006363686629862788,0.9955651031171784,-0.007459201533748387],"object_position_m":[0.29656751396181047,-0.032446871930761255,0.13393508758328473],"object_quaternion_wxyz":[0.995951542022825,-0.006944943339547597,-0.08961221699003881,-0.0013943710041336972],"object_linear_velocity_m_s":[-0.004844237954206286,-0.0028132972587094885,0.1697734165084676],"object_angular_velocity_rad_s":[-0.04183477787973451,-0.5672881429659452,-0.027685699419622352],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3898910728806326,"right":0.3937717269295749},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04767773487272493},{"geom_ids":[85,90],"normal_force_n":0.0253491156826291},{"geom_ids":[85,90],"normal_force_n":0.04092797351493316},{"geom_ids":[85,90],"normal_force_n":0.06357776904901306},{"geom_ids":[86,90],"normal_force_n":0.038130445726381475},{"geom_ids":[86,90],"normal_force_n":0.039771770511920095},{"geom_ids":[86,90],"normal_force_n":0.06800651694970593},{"geom_ids":[86,90],"normal_force_n":0.06644974657332484},{"geom_ids":[88,90],"normal_force_n":0.03460281090139628},{"geom_ids":[88,90],"normal_force_n":0.056619394416029006},{"geom_ids":[88,90],"normal_force_n":0.0727978303599588},{"geom_ids":[88,90],"normal_force_n":0.04999275174343184},{"geom_ids":[89,90],"normal_force_n":0.05775407718627022},{"geom_ids":[89,90],"normal_force_n":0.05945805817582492},{"geom_ids":[89,90],"normal_force_n":0.031995050832536946},{"geom_ids":[89,90],"normal_force_n":0.03055175331412691}],"native_actuator_controls":[-0.12472931792655448,1.4939535275549005,-1.1008029912433812,0.018133444025854192,1.0388803033619889,-0.13177646526528947,0.0],"actuator_force_native":[-0.2824210794449371,-0.029169935295726646,-0.21659344625139454,0.2265985927240512,0.008030640670774858,-0.08285534492970115,-0.7839719622726856],"issued_joint_targets_rad":[-0.125473307786158,1.4832880269780566,-1.1016914378346367,0.01911066297779434,1.0389761879417483,-0.13231816496354015],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.699999999998955,"joint_targets_rad":[-0.125473307786158,1.4832880269780566,-1.1016914378346367,0.01911066297779434,1.0389761879417483,-0.13231816496354015],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.719999999998944,"qpos":[-0.11992465678045533,1.518440297956857,-1.0979768644507366,0.009186662350699327,1.0379809915395954,-0.12188985664729361,0.01959716827112557,-0.020247346475321355,0.2964528873634498,-0.032507514756940706,0.13731869237681457,0.995425410853146,-0.007367830542098602,-0.09524232221229734,-0.0016930920108403108],"qvel":[-0.03268144437787459,-0.5563370547685436,-0.005472343267780242,0.03247610101268212,0.001335558429154132,-0.012755880847945038,1.6796129490025605e-05,2.287460765030644e-05,-0.006165929882411736,-0.0030067784287728908,0.16739939287204778,-0.0440620564117231,-0.5590369539553339,-0.028963545461686786],"joint_position_rad":[-0.11992465678045533,1.518440297956857,-1.0979768644507366,0.009186662350699327,1.0379809915395954,-0.12188985664729361],"joint_velocity_rad_s":[-0.03268144437787459,-0.5563370547685436,-0.005472343267780242,0.03247610101268212,0.001335558429154132,-0.012755880847945038],"gripper_joint_position_m":[0.01959716827112557,-0.020247346475321355],"tcp_position_m":[0.29806205899969923,-0.032810326450151715,0.13963722907757498],"tcp_quaternion_wxyz":[0.09940812548857086,0.0009530146070304906,0.9950151040092412,-0.007877762593924984],"object_position_m":[0.2964528873634498,-0.032507514756940706,0.13731869237681457],"object_quaternion_wxyz":[0.995425410853146,-0.007367830542098602,-0.09524232221229734,-0.0016930920108403108],"object_linear_velocity_m_s":[-0.006165929882411736,-0.0030067784287728908,0.16739939287204778],"object_angular_velocity_rad_s":[-0.040440199131330665,-0.5593205594919267,-0.028770986991333406],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38963198000920085,"right":0.3940644073775449},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047613725924835766},{"geom_ids":[85,90],"normal_force_n":0.025791714308895892},{"geom_ids":[85,90],"normal_force_n":0.041093316766328485},{"geom_ids":[85,90],"normal_force_n":0.06322351911227601},{"geom_ids":[86,90],"normal_force_n":0.03835907842036151},{"geom_ids":[86,90],"normal_force_n":0.03996869723976411},{"geom_ids":[86,90],"normal_force_n":0.06755355603216986},{"geom_ids":[86,90],"normal_force_n":0.06602837220456922},{"geom_ids":[88,90],"normal_force_n":0.03494958576485225},{"geom_ids":[88,90],"normal_force_n":0.056471645912101645},{"geom_ids":[88,90],"normal_force_n":0.07235737399134991},{"geom_ids":[88,90],"normal_force_n":0.05007564836711957},{"geom_ids":[89,90],"normal_force_n":0.057574689181973025},{"geom_ids":[89,90],"normal_force_n":0.059245239861000415},{"geom_ids":[89,90],"normal_force_n":0.032403433219393825},{"geom_ids":[89,90],"normal_force_n":0.030986791079754293}],"native_actuator_controls":[-0.125473307786158,1.4832880269780566,-1.1016914378346367,0.01911066297779434,1.0389761879417483,-0.13231816496354015,0.0],"actuator_force_native":[-0.2804848585668438,-0.030496404461317184,-0.2698041543731051,0.23457952002038995,0.007948626377796586,-0.08514926189054761,-0.7839707114924729],"issued_joint_targets_rad":[-0.1262405481252237,1.4728690460032043,-1.102655066671674,0.02011925786442033,1.0390681500081131,-0.13286446798423282],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.719999999998944,"joint_targets_rad":[-0.1262405481252237,1.4728690460032043,-1.102655066671674,0.02011925786442033,1.0390681500081131,-0.13286446798423282],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.739999999998933,"qpos":[-0.12061554572436849,1.5073721502547979,-1.0981102995734058,0.009860138836004579,1.0380101599319993,-0.12214954196256345,0.019597084159330157,-0.020247395905870616,0.2963159600185152,-0.032572010356179536,0.14065558320739027,0.9948745818067612,-0.007780791970865724,-0.10079701673009323,-0.0019967897835281496],"qvel":[-0.034255394128176964,-0.5448813407608857,-0.01013011231450151,0.03348718534113264,0.0021220382055609026,-0.013180666438845249,1.652358204316477e-05,2.1424417472101e-05,-0.006818453796500619,-0.003210706087804812,0.16523757682259846,-0.0434232370460549,-0.5511581983557902,-0.02992389479911379],"joint_position_rad":[-0.12061554572436849,1.5073721502547979,-1.0981102995734058,0.009860138836004579,1.0380101599319993,-0.12214954196256345],"joint_velocity_rad_s":[-0.034255394128176964,-0.5448813407608857,-0.01013011231450151,0.03348718534113264,0.0021220382055609026,-0.013180666438845249],"gripper_joint_position_m":[0.019597084159330157,-0.020247395905870616],"tcp_position_m":[0.29788279573981447,-0.03287392528748951,0.14299417019353516],"tcp_quaternion_wxyz":[0.10495849430324133,0.0012840890407404928,0.9944412791741276,-0.008282986385180541],"object_position_m":[0.2963159600185152,-0.032572010356179536,0.14065558320739027],"object_quaternion_wxyz":[0.9948745818067612,-0.007780791970865724,-0.10079701673009323,-0.0019967897835281496],"object_linear_velocity_m_s":[-0.006818453796500619,-0.003210706087804812,0.16523757682259846],"object_angular_velocity_rad_s":[-0.03959423538161644,-0.5514579769492783,-0.02971149262255541],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38941253196605863,"right":0.39426255556917555},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04746884343004476},{"geom_ids":[85,90],"normal_force_n":0.026438879703150103},{"geom_ids":[85,90],"normal_force_n":0.041392963523932264},{"geom_ids":[85,90],"normal_force_n":0.0627130074881562},{"geom_ids":[86,90],"normal_force_n":0.038757547783537606},{"geom_ids":[86,90],"normal_force_n":0.04032815191735659},{"geom_ids":[86,90],"normal_force_n":0.06689972138175447},{"geom_ids":[86,90],"normal_force_n":0.06541341673812663},{"geom_ids":[88,90],"normal_force_n":0.035431204362583256},{"geom_ids":[88,90],"normal_force_n":0.05619484443662169},{"geom_ids":[88,90],"normal_force_n":0.07171137994985406},{"geom_ids":[88,90],"normal_force_n":0.05024599390461529},{"geom_ids":[89,90],"normal_force_n":0.057237579379400425},{"geom_ids":[89,90],"normal_force_n":0.05886668217256713},{"geom_ids":[89,90],"normal_force_n":0.03297916044645729},{"geom_ids":[89,90],"normal_force_n":0.03159571091707644}],"native_actuator_controls":[-0.1262405481252237,1.4728690460032043,-1.102655066671674,0.02011925786442033,1.0390681500081131,-0.13286446798423282,0.0],"actuator_force_native":[-0.2787232214275317,-0.035841636323056036,-0.3129308062889322,0.2429288344309668,0.0073968434527973415,-0.0873782605584259,-0.7839659842834221],"issued_joint_targets_rad":[-0.12702243914529107,1.4627251799800451,-1.1037267215187487,0.021158643386987065,1.0391553602301244,-0.13341102912683298],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.739999999998933,"joint_targets_rad":[-0.12702243914529107,1.4627251799800451,-1.1037267215187487,0.021158643386987065,1.0391553602301244,-0.13341102912683298],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.759999999998922,"qpos":[-0.12133598550395325,1.4965442072370259,-1.0983621759246596,0.010554642223933767,1.0380533146175037,-0.12241737331584289,0.019596990282888332,-0.020247446231082943,0.2961742291251134,-0.03264077200535817,0.14395353502599922,0.9943003495130418,-0.008182546758604522,-0.10627557143486238,-0.002315988553327348],"qvel":[-0.03556993656316461,-0.5320731409081114,-0.01768653776733487,0.034522688622778144,0.0029130844095808877,-0.01359668470034137,1.6370921890323748e-05,2.234064673229814e-05,-0.006593180324220885,-0.0034348967573738045,0.16354294103587763,-0.042158950363674674,-0.5449691509888008,-0.03115082493156359],"joint_position_rad":[-0.12133598550395325,1.4965442072370259,-1.0983621759246596,0.010554642223933767,1.0380533146175037,-0.12241737331584289],"joint_velocity_rad_s":[-0.03556993656316461,-0.5320731409081114,-0.01768653776733487,0.034522688622778144,0.0029130844095808877,-0.01359668470034137],"gripper_joint_position_m":[0.019596990282888332,-0.020247446231082943],"tcp_position_m":[0.2976992765326539,-0.03294181393066042,0.1463114620470397],"tcp_quaternion_wxyz":[0.11043940996842816,0.0016266231430534022,0.9938436573815284,-0.008676145773507182],"object_position_m":[0.2961742291251134,-0.03264077200535817,0.14395353502599922],"object_quaternion_wxyz":[0.9943003495130418,-0.008182546758604522,-0.10627557143486238,-0.002315988553327348],"object_linear_velocity_m_s":[-0.006593180324220885,-0.0034348967573738045,0.16354294103587763],"object_angular_velocity_rad_s":[-0.0380816579426859,-0.5452917010048799,-0.030755075397061675],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38926057993272306,"right":0.39443487217740336},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04741683411505634},{"geom_ids":[85,90],"normal_force_n":0.027063360700438025},{"geom_ids":[85,90],"normal_force_n":0.041634452449927604},{"geom_ids":[85,90],"normal_force_n":0.062261378280427646},{"geom_ids":[86,90],"normal_force_n":0.039083646723696075},{"geom_ids":[86,90],"normal_force_n":0.04061166215114368},{"geom_ids":[86,90],"normal_force_n":0.06631670913834307},{"geom_ids":[86,90],"normal_force_n":0.06487253637369057},{"geom_ids":[88,90],"normal_force_n":0.03585569267239353},{"geom_ids":[88,90],"normal_force_n":0.055982595329186736},{"geom_ids":[88,90],"normal_force_n":0.0710951827586225},{"geom_ids":[88,90],"normal_force_n":0.050329187863348855},{"geom_ids":[89,90],"normal_force_n":0.05698328750524194},{"geom_ids":[89,90],"normal_force_n":0.05856752028988822},{"geom_ids":[89,90],"normal_force_n":0.03348410203860324},{"geom_ids":[89,90],"normal_force_n":0.03213730372011838}],"native_actuator_controls":[-0.12702243914529107,1.4627251799800451,-1.1037267215187487,0.021158643386987065,1.0391553602301244,-0.13341102912683298,0.0],"actuator_force_native":[-0.2770666084912019,-0.045156476017908176,-0.34073095869045744,0.2515466034082412,0.00665082951183571,-0.089541531059389,-0.783961465924985],"issued_joint_targets_rad":[-0.1278081930969808,1.4528845251432434,-1.1049557669592736,0.022228400747641326,1.0392360770316789,-0.13395248742794377],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.759999999998922,"joint_targets_rad":[-0.1278081930969808,1.4528845251432434,-1.1049557669592736,0.022228400747641326,1.0392360770316789,-0.13395248742794377],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.77999999999891,"qpos":[-0.1220796976750001,1.4859858117856954,-1.0988034939246245,0.011270412978803986,1.0381120597445705,-0.12269328312128971,0.019596892007604068,-0.020247500924800026,0.2960478359395674,-0.03271432480395747,0.147225046319553,0.9937009699928012,-0.008574619235455206,-0.11170445218690374,-0.002640738903520467],"qvel":[-0.03658207715943092,-0.5183088785497189,-0.028142716751411976,0.035595319747536276,0.0035129373212186093,-0.013977353734268137,1.7350524232098122e-05,2.3046701764599647e-05,-0.005471647326571867,-0.003670761250017095,0.16245088718099088,-0.04199110497907526,-0.539983542801328,-0.03264544890657279],"joint_position_rad":[-0.1220796976750001,1.4859858117856954,-1.0988034939246245,0.011270412978803986,1.0381120597445705,-0.12269328312128971],"joint_velocity_rad_s":[-0.03658207715943092,-0.5183088785497189,-0.028142716751411976,0.035595319747536276,0.0035129373212186093,-0.013977353734268137],"gripper_joint_position_m":[0.019596892007604068,-0.020247500924800026],"tcp_position_m":[0.2975316386015664,-0.03301449677427285,0.14960183766675542],"tcp_quaternion_wxyz":[0.1158706190083432,0.0019773153554828696,0.9932210320804499,-0.00905932158907487],"object_position_m":[0.2960478359395674,-0.03271432480395747,0.147225046319553],"object_quaternion_wxyz":[0.9937009699928012,-0.008574619235455206,-0.11170445218690374,-0.002640738903520467],"object_linear_velocity_m_s":[-0.005471647326571867,-0.003670761250017095,0.16245088718099088],"object_angular_velocity_rad_s":[-0.037565098340089365,-0.5403322477985758,-0.03226654774819972],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891850763964619,"right":0.39452239865846656},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04732478796145479},{"geom_ids":[85,90],"normal_force_n":0.02772675609062238},{"geom_ids":[85,90],"normal_force_n":0.04192812759448725},{"geom_ids":[85,90],"normal_force_n":0.06178266413399464},{"geom_ids":[86,90],"normal_force_n":0.039471719431499},{"geom_ids":[86,90],"normal_force_n":0.04095859421900504},{"geom_ids":[86,90],"normal_force_n":0.06569789749725873},{"geom_ids":[86,90],"normal_force_n":0.06429452946814007},{"geom_ids":[88,90],"normal_force_n":0.0362990160184276},{"geom_ids":[88,90],"normal_force_n":0.05572204749385367},{"geom_ids":[88,90],"normal_force_n":0.07044353797520046},{"geom_ids":[88,90],"normal_force_n":0.05045686078778616},{"geom_ids":[89,90],"normal_force_n":0.056669217199344236},{"geom_ids":[89,90],"normal_force_n":0.058209954844408066},{"geom_ids":[89,90],"normal_force_n":0.034016420495679725},{"geom_ids":[89,90],"normal_force_n":0.032705343843766665}],"native_actuator_controls":[-0.1278081930969808,1.4528845251432434,-1.1049557669592736,0.022228400747641326,1.0392360770316789,-0.13395248742794377,0.0],"actuator_force_native":[-0.2753692479613026,-0.05655853864757887,-0.3514682590148652,0.26034291201581217,0.005970766889255685,-0.09162601246513846,-0.7839624329253232],"issued_joint_targets_rad":[-0.1285844937077784,1.4433659891026371,-1.1063961876636406,0.023328460949638655,1.0393058790310952,-0.1344815952256959],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.77999999999891,"joint_targets_rad":[-0.1285844937077784,1.4433659891026371,-1.1063961876636406,0.023328460949638655,1.0393058790310952,-0.1344815952256959],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.7999999999989,"qpos":[-0.12284037244945219,1.4757076662865904,-1.0994747600837818,0.012011507573588138,1.0381812843766918,-0.12297628790810049,0.019596823007124627,-0.02024751584914574,0.2959501679050828,-0.03279166619234055,0.15048024822703776,0.9930764216986884,-0.008958118435461813,-0.11709006912839204,-0.0029813573641556345],"qvel":[-0.037213765946269656,-0.5042543885540381,-0.039985102848330054,0.036751152881140906,0.003843271068610504,-0.014314847445861631,2.0963585870779105e-05,2.720474465748833e-05,-0.003902901945219132,-0.003840698491224851,0.1617748166141705,-0.04071762514576079,-0.5385629418211336,-0.03227118268074008],"joint_position_rad":[-0.12284037244945219,1.4757076662865904,-1.0994747600837818,0.012011507573588138,1.0381812843766918,-0.12297628790810049],"joint_velocity_rad_s":[-0.037213765946269656,-0.5042543885540381,-0.039985102848330054,0.036751152881140906,0.003843271068610504,-0.014314847445861631],"gripper_joint_position_m":[0.019596823007124627,-0.02024751584914574],"tcp_position_m":[0.2973926343102259,-0.033090931543681125,0.1528756762727519],"tcp_quaternion_wxyz":[0.12126951376201275,0.0023340917700643824,0.9925720556771509,-0.009432461840297402],"object_position_m":[0.2959501679050828,-0.03279166619234055,0.15048024822703776],"object_quaternion_wxyz":[0.9930764216986884,-0.008958118435461813,-0.11709006912839204,-0.0029813573641556345],"object_linear_velocity_m_s":[-0.003902901945219132,-0.003840698491224851,0.1617748166141705],"object_angular_velocity_rad_s":[-0.03641606232951219,-0.5389079480914284,-0.031646333444132216],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891596454282703,"right":0.3945666641724053},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04744265296383448},{"geom_ids":[85,90],"normal_force_n":0.028331671271984667},{"geom_ids":[85,90],"normal_force_n":0.04207190053767639},{"geom_ids":[85,90],"normal_force_n":0.06142498551930505},{"geom_ids":[86,90],"normal_force_n":0.0396768019913678},{"geom_ids":[86,90],"normal_force_n":0.041112952518405084},{"geom_ids":[86,90],"normal_force_n":0.06522624320395194},{"geom_ids":[86,90],"normal_force_n":0.06387243742174487},{"geom_ids":[88,90],"normal_force_n":0.03662834879248583},{"geom_ids":[88,90],"normal_force_n":0.05560672250853456},{"geom_ids":[88,90],"normal_force_n":0.06984718812146665},{"geom_ids":[88,90],"normal_force_n":0.05036808444795735},{"geom_ids":[89,90],"normal_force_n":0.0565440912876454},{"geom_ids":[89,90],"normal_force_n":0.05803205907123741},{"geom_ids":[89,90],"normal_force_n":0.03440344605520844},{"geom_ids":[89,90],"normal_force_n":0.03313672388786965}],"native_actuator_controls":[-0.1285844937077784,1.4433659891026371,-1.1063961876636406,0.023328460949638655,1.0393058790310952,-0.1344815952256959,0.0],"actuator_force_native":[-0.27346087093475013,-0.06606223194607708,-0.3537886921470488,0.2689223706363161,0.005481039941118482,-0.09358080200716157,-0.7839777382143389],"issued_joint_targets_rad":[-0.12933551866540882,1.4341762985892987,-1.1080797403829807,0.024461113657624704,1.039355372125962,-0.1349876255304997],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.7999999999989,"joint_targets_rad":[-0.12933551866540882,1.4341762985892987,-1.1080797403829807,0.024461113657624704,1.039355372125962,-0.1349876255304997],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.819999999998888,"qpos":[-0.12360969142277785,1.465714454142487,-1.1003956329699411,0.012783952510319923,1.0382567228550839,-0.12326534712947222,0.019596809476448693,-0.020247466180089886,0.2958878821473468,-0.032870111677995806,0.15372544364107346,0.9924244364765078,-0.009326006919182391,-0.1224570160458852,-0.003323055877689669],"qvel":[-0.037321793155063426,-0.4899528433385584,-0.05258946279180437,0.038015689236121204,0.004019928123610977,-0.014616637864233773,2.659910672428366e-05,3.3515864665324475e-05,-0.0020452480663757816,-0.003873567028209956,0.16134167190929993,-0.03959907349674463,-0.5368050907703412,-0.032459470817786065],"joint_position_rad":[-0.12360969142277785,1.465714454142487,-1.1003956329699411,0.012783952510319923,1.0382567228550839,-0.12326534712947222],"joint_velocity_rad_s":[-0.037321793155063426,-0.4899528433385584,-0.05258946279180437,0.038015689236121204,0.004019928123610977,-0.014616637864233773],"gripper_joint_position_m":[0.019596809476448693,-0.020247466180089886],"tcp_position_m":[0.297289115744085,-0.03316842129746666,0.15613931866866254],"tcp_quaternion_wxyz":[0.12664585949668428,0.0026942877016384497,0.9918959899905653,-0.009793473682161451],"object_position_m":[0.2958878821473468,-0.032870111677995806,0.15372544364107346],"object_quaternion_wxyz":[0.9924244364765078,-0.009326006919182391,-0.1224570160458852,-0.003323055877689669],"object_linear_velocity_m_s":[-0.0020452480663757816,-0.003873567028209956,0.16134167190929993],"object_angular_velocity_rad_s":[-0.03528976163444822,-0.5371563850841884,-0.03160791090211427],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891565944570712,"right":0.39461104315319934},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047424818007116516},{"geom_ids":[85,90],"normal_force_n":0.028855689935083806},{"geom_ids":[85,90],"normal_force_n":0.04227708997925088},{"geom_ids":[85,90],"normal_force_n":0.061076024212535523},{"geom_ids":[86,90],"normal_force_n":0.03994981712730718},{"geom_ids":[86,90],"normal_force_n":0.04135004897952017},{"geom_ids":[86,90],"normal_force_n":0.06477072000561533},{"geom_ids":[86,90],"normal_force_n":0.0634523862106418},{"geom_ids":[88,90],"normal_force_n":0.036952505407294396},{"geom_ids":[88,90],"normal_force_n":0.05543161349610203},{"geom_ids":[88,90],"normal_force_n":0.06933686815872978},{"geom_ids":[88,90],"normal_force_n":0.05041764645272049},{"geom_ids":[89,90],"normal_force_n":0.05633711239704052},{"geom_ids":[89,90],"normal_force_n":0.05778737595154777},{"geom_ids":[89,90],"normal_force_n":0.03479160562670799},{"geom_ids":[89,90],"normal_force_n":0.03355631566305638}],"native_actuator_controls":[-0.12933551866540882,1.4341762985892987,-1.1080797403829807,0.024461113657624704,1.039355372125962,-0.1349876255304997,0.0],"actuator_force_native":[-0.27145721363516095,-0.07328822756225861,-0.35178127908415036,0.2770079997115853,0.004956600523366106,-0.09529782721392421,-0.7840053745915692],"issued_joint_targets_rad":[-0.1300399837283333,1.4253242192711835,-1.1100259558723835,0.025628327044308688,1.0393764143124875,-0.13545540161254838],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.819999999998888,"joint_targets_rad":[-0.1300399837283333,1.4253242192711835,-1.1100259558723835,0.025628327044308688,1.0393764143124875,-0.13545540161254838],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.839999999998877,"qpos":[-0.12437546275933486,1.456013278031381,-1.1015788084970497,0.013591246957948153,1.0383360312604368,-0.12355946198404384,0.01959686465442503,-0.020247353086063607,0.29586575641434437,-0.03294603195523825,0.1569640883526238,0.991745117272598,-0.009679007831144162,-0.12780659371211017,-0.003662482364820802],"qvel":[-0.036739243181753305,-0.4752384271751442,-0.06572473477607975,0.03935491725542809,0.004098906514334558,-0.014870288008293183,3.2541404469988514e-05,3.881790976693707e-05,1.5864981542633168e-05,-0.0037170948924009285,0.16102903225798673,-0.038809255648702586,-0.5351365889542947,-0.031805792699343534],"joint_position_rad":[-0.12437546275933486,1.456013278031381,-1.1015788084970497,0.013591246957948153,1.0383360312604368,-0.12355946198404384],"joint_velocity_rad_s":[-0.036739243181753305,-0.4752384271751442,-0.06572473477607975,0.03935491725542809,0.004098906514334558,-0.014870288008293183],"gripper_joint_position_m":[0.01959686465442503,-0.020247353086063607],"tcp_position_m":[0.2972257466780985,-0.03324331495353077,0.15939635838614968],"tcp_quaternion_wxyz":[0.132003728862338,0.003052770496104561,0.9911926497848835,-0.01014037332437009],"object_position_m":[0.29586575641434437,-0.03294603195523825,0.1569640883526238],"object_quaternion_wxyz":[0.991745117272598,-0.009679007831144162,-0.12780659371211017,-0.003662482364820802],"object_linear_velocity_m_s":[1.5864981542633168e-05,-0.0037170948924009285,0.16102903225798673],"object_angular_velocity_rad_s":[-0.03469121041622272,-0.5354764438974724,-0.030829102511293553],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38916292724099544,"right":0.3946456241252669},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04737124025884317},{"geom_ids":[85,90],"normal_force_n":0.02935808261420753},{"geom_ids":[85,90],"normal_force_n":0.04249881147728262},{"geom_ids":[85,90],"normal_force_n":0.06073023498316219},{"geom_ids":[86,90],"normal_force_n":0.040241051774952574},{"geom_ids":[86,90],"normal_force_n":0.041609211517072815},{"geom_ids":[86,90],"normal_force_n":0.0643204261511765},{"geom_ids":[86,90],"normal_force_n":0.06303386846429807},{"geom_ids":[88,90],"normal_force_n":0.037273500711964856},{"geom_ids":[88,90],"normal_force_n":0.055239603057806716},{"geom_ids":[88,90],"normal_force_n":0.06884896754210505},{"geom_ids":[88,90],"normal_force_n":0.05050281742293139},{"geom_ids":[89,90],"normal_force_n":0.05610752249557403},{"geom_ids":[89,90],"normal_force_n":0.05752402304665559},{"geom_ids":[89,90],"normal_force_n":0.03517819173679399},{"geom_ids":[89,90],"normal_force_n":0.03397099811143524}],"native_actuator_controls":[-0.1300399837283333,1.4253242192711835,-1.1100259558723835,0.025628327044308688,1.0393764143124875,-0.13545540161254838,0.0],"actuator_force_native":[-0.26946546161110874,-0.07893256494008938,-0.34714811614630037,0.2847086171772808,0.004255470749004786,-0.09665396427260564,-0.7840372931993512],"issued_joint_targets_rad":[-0.13066700882779653,1.4168273439315562,-1.1122526829959536,0.026827092372848138,1.0393615233996427,-0.13586246936877772],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.839999999998877,"joint_targets_rad":[-0.13066700882779653,1.4168273439315562,-1.1122526829959536,0.026827092372848138,1.0393615233996427,-0.13586246936877772],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.859999999998866,"qpos":[-0.1251211619671633,1.4466153883806079,-1.1030347510281535,0.01443501943259483,1.0384177644351185,-0.12385730109444563,0.019596990389866044,-0.020247168222692066,0.2958879786732305,-0.03301477696270932,0.16019790712780682,0.9910390530655384,-0.010014364753515864,-0.13313657122717565,-0.003995146982864578],"qvel":[-0.03525012425846609,-0.45989732338098344,-0.0793302277715549,0.04073532424843172,0.004107906471269311,-0.015051734138068063,3.8146891930134436e-05,4.479660915812261e-05,0.0022743031002994776,-0.003309569525598018,0.16077388919054758,-0.037254777256911877,-0.5335061562912662,-0.030586574118878978],"joint_position_rad":[-0.1251211619671633,1.4466153883806079,-1.1030347510281535,0.01443501943259483,1.0384177644351185,-0.12385730109444563],"joint_velocity_rad_s":[-0.03525012425846609,-0.45989732338098344,-0.0793302277715549,0.04073532424843172,0.004107906471269311,-0.015051734138068063],"gripper_joint_position_m":[0.019596990389866044,-0.020247168222692066],"tcp_position_m":[0.29720661644853225,-0.03331094104135616,0.1626485052000052],"tcp_quaternion_wxyz":[0.1373435397192894,0.003402064279128396,0.9904622827573772,-0.010471126542164668],"object_position_m":[0.2958879786732305,-0.03301477696270932,0.16019790712780682],"object_quaternion_wxyz":[0.9910390530655384,-0.010014364753515864,-0.13313657122717565,-0.003995146982864578],"object_linear_velocity_m_s":[0.0022743031002994776,-0.003309569525598018,0.16077388919054758],"object_angular_velocity_rad_s":[-0.033511221863649035,-0.5338261089622671,-0.029308004791919612],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38918274779660034,"right":0.39467042583632767},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04731847358628524},{"geom_ids":[85,90],"normal_force_n":0.029787198791019515},{"geom_ids":[85,90],"normal_force_n":0.04269505352489661},{"geom_ids":[85,90],"normal_force_n":0.06043503327630495},{"geom_ids":[86,90],"normal_force_n":0.0404975315790434},{"geom_ids":[86,90],"normal_force_n":0.041838472183091786},{"geom_ids":[86,90],"normal_force_n":0.06393524035872057},{"geom_ids":[86,90],"normal_force_n":0.06267574449723831},{"geom_ids":[88,90],"normal_force_n":0.037548796433851075},{"geom_ids":[88,90],"normal_force_n":0.055069794674679325},{"geom_ids":[88,90],"normal_force_n":0.06843340153741448},{"geom_ids":[88,90],"normal_force_n":0.05058375224340056},{"geom_ids":[89,90],"normal_force_n":0.05590454631957773},{"geom_ids":[89,90],"normal_force_n":0.05729237845117942},{"geom_ids":[89,90],"normal_force_n":0.03551052400523515},{"geom_ids":[89,90],"normal_force_n":0.03432723217098992}],"native_actuator_controls":[-0.13066700882779653,1.4168273439315562,-1.1122526829959536,0.026827092372848138,1.0393615233996427,-0.13586246936877772,0.0],"actuator_force_native":[-0.26741712755832836,-0.08355693901921768,-0.3407834185662324,0.2920062963679737,0.0032757299383394667,-0.09747408153621873,-0.7840703500542924],"issued_joint_targets_rad":[-0.13117178247221906,1.4087155233154398,-1.1147806975553178,0.02804849349838652,1.0393009233023716,-0.13617416439846444],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.859999999998866,"joint_targets_rad":[-0.13117178247221906,1.4087155233154398,-1.1147806975553178,0.02804849349838652,1.0393009233023716,-0.13617416439846444],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.879999999998855,"qpos":[-0.12582433754394223,1.437535564313253,-1.1047735699319603,0.015314919697063275,1.0385007720051391,-0.12415691190868813,0.01959719642576649,-0.02024690674308756,0.29595876695948486,-0.03307031596033941,0.16342744199402187,0.9903069838626843,-0.010331322948609535,-0.1384440586418884,-0.004310928633674279],"qvel":[-0.032540745806930095,-0.4437235051031353,-0.09345055284425421,0.042122295818930997,0.004061651732173515,-0.015122795451281852,4.323421091977645e-05,4.968993422771553e-05,0.00475259615697613,-0.0025665515392786858,0.16051887917297963,-0.03548625610530569,-0.5315740046755509,-0.028222261376175662],"joint_position_rad":[-0.12582433754394223,1.437535564313253,-1.1047735699319603,0.015314919697063275,1.0385007720051391,-0.12415691190868813],"joint_velocity_rad_s":[-0.032540745806930095,-0.4437235051031353,-0.09345055284425421,0.042122295818930997,0.004061651732173515,-0.015122795451281852],"gripper_joint_position_m":[0.01959719642576649,-0.02024690674308756],"tcp_position_m":[0.2972359420723069,-0.03336522762712159,0.16589633397657155],"tcp_quaternion_wxyz":[0.14266359431991776,0.0037317151693764964,0.9897054536920873,-0.010783695551899555],"object_position_m":[0.29595876695948486,-0.03307031596033941,0.16342744199402187],"object_quaternion_wxyz":[0.9903069838626843,-0.010331322948609535,-0.1384440586418884,-0.004310928633674279],"object_linear_velocity_m_s":[0.00475259615697613,-0.0025665515392786858,0.16051887917297963],"object_angular_velocity_rad_s":[-0.03244783662427872,-0.5318504730377334,-0.02662527153479773],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3892205247770096,"right":0.39467461599506826},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0473063319475906},{"geom_ids":[85,90],"normal_force_n":0.030178443906169992},{"geom_ids":[85,90],"normal_force_n":0.042853827959919},{"geom_ids":[85,90],"normal_force_n":0.06018205228645642},{"geom_ids":[86,90],"normal_force_n":0.04070680425536102},{"geom_ids":[86,90],"normal_force_n":0.042020439718997805},{"geom_ids":[86,90],"normal_force_n":0.06360254082474101},{"geom_ids":[86,90],"normal_force_n":0.06237008387777373},{"geom_ids":[88,90],"normal_force_n":0.03778498648066718},{"geom_ids":[88,90],"normal_force_n":0.05493433231459737},{"geom_ids":[88,90],"normal_force_n":0.0680536190710824},{"geom_ids":[88,90],"normal_force_n":0.05062056979731491},{"geom_ids":[89,90],"normal_force_n":0.05574591489417417},{"geom_ids":[89,90],"normal_force_n":0.05710512475856258},{"geom_ids":[89,90],"normal_force_n":0.035794669081068986},{"geom_ids":[89,90],"normal_force_n":0.03463539959760067}],"native_actuator_controls":[-0.13117178247221906,1.4087155233154398,-1.1147806975553178,0.02804849349838652,1.0393009233023716,-0.13617416439846444,0.0],"actuator_force_native":[-0.26509186522749495,-0.08698575430936728,-0.3333174456473387,0.29873147295827474,0.0019090353740640609,-0.09748833172084015,-0.7841040280852585],"issued_joint_targets_rad":[-0.13148641647980938,1.4010367632238834,-1.1176387539196855,0.02927460044491119,1.0391783900104292,-0.13633430942643865],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.879999999998855,"joint_targets_rad":[-0.13148641647980938,1.4010367632238834,-1.1176387539196855,0.02927460044491119,1.0391783900104292,-0.13633430942643865],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.899999999998844,"qpos":[-0.1264535052780194,1.4287943547820008,-1.1068082335985896,0.01622811909206438,1.0385841538835219,-0.12445532125625135,0.01959750656843638,-0.020246557575381866,0.29608337449765243,-0.033104539404372954,0.16665233297145007,0.9895496890064469,-0.010631383582362878,-0.143726485033359,-0.004591750246227236],"qvel":[-0.028138792686162734,-0.4263592681612103,-0.1082882934493467,0.04355025700474392,0.003967655584786347,-0.015016523561303124,4.6989865380090016e-05,5.2823453046323776e-05,0.007526891568032138,-0.001348267563571527,0.16022062557598288,-0.03320243438966528,-0.5295114454412179,-0.024040242490358462],"joint_position_rad":[-0.1264535052780194,1.4287943547820008,-1.1068082335985896,0.01622811909206438,1.0385841538835219,-0.12445532125625135],"joint_velocity_rad_s":[-0.028138792686162734,-0.4263592681612103,-0.1082882934493467,0.04355025700474392,0.003967655584786347,-0.015016523561303124],"gripper_joint_position_m":[0.01959750656843638,-0.020246557575381866],"tcp_position_m":[0.2973190952983757,-0.03339797682319079,0.1691395927472727],"tcp_quaternion_wxyz":[0.14796057788867198,0.004026897930473384,0.9889230373769288,-0.011075993368429862],"object_position_m":[0.29608337449765243,-0.033104539404372954,0.16665233297145007],"object_quaternion_wxyz":[0.9895496890064469,-0.010631383582362878,-0.143726485033359,-0.004591750246227236],"object_linear_velocity_m_s":[0.007526891568032138,-0.001348267563571527,0.16022062557598288],"object_angular_velocity_rad_s":[-0.03142356331629471,-0.5297067099274033,-0.022046924684301056],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38927117380780685,"right":0.3946625426967085},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04736443015826936},{"geom_ids":[85,90],"normal_force_n":0.030666528563506393},{"geom_ids":[85,90],"normal_force_n":0.04300465536561694},{"geom_ids":[85,90],"normal_force_n":0.059892795005069006},{"geom_ids":[86,90],"normal_force_n":0.04091162418421085},{"geom_ids":[86,90],"normal_force_n":0.042186975825644166},{"geom_ids":[86,90],"normal_force_n":0.06321960725376784},{"geom_ids":[86,90],"normal_force_n":0.06202455745172223},{"geom_ids":[88,90],"normal_force_n":0.038051417214762885},{"geom_ids":[88,90],"normal_force_n":0.054810685984634004},{"geom_ids":[88,90],"normal_force_n":0.06757790703287672},{"geom_ids":[88,90],"normal_force_n":0.05059075336991174},{"geom_ids":[89,90],"normal_force_n":0.05560690679793973},{"geom_ids":[89,90],"normal_force_n":0.056926253252368095},{"geom_ids":[89,90],"normal_force_n":0.03611212683810283},{"geom_ids":[89,90],"normal_force_n":0.03498649220611244}],"native_actuator_controls":[-0.13148641647980938,1.4010367632238834,-1.1176387539196855,0.02927460044491119,1.0391783900104292,-0.13633430942643865,0.0],"actuator_force_native":[-0.2619389327123862,-0.08881098384334507,-0.3250001584409432,0.3041079690901528,-9.122108107106897e-06,-0.09626509635991831,-0.7841352120643557],"issued_joint_targets_rad":[-0.13212928756561837,1.3941618100174422,-1.1127060109357207,0.030758978281128002,1.0305586189396503,-0.137108693217362],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.899999999998844,"joint_targets_rad":[-0.13212928756561837,1.3941618100174422,-1.1127060109357207,0.030758978281128002,1.0305586189396503,-0.137108693217362],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.919999999998833,"qpos":[-0.1270638760953598,1.4201163967818402,-1.1083799227913558,0.017282177903125345,1.038456621006137,-0.12474272110022545,0.01959752194614451,-0.020246474177303433,0.2961161882102183,-0.03309451531264124,0.1697324623184336,0.9887816699726218,-0.010839115563373589,-0.1488936707544506,-0.004898725264906209],"qvel":[-0.02789291244194416,-0.4289129929419338,-0.060103359399850946,0.04988575827254635,-0.010764038743425184,-0.014771123711185554,6.757399066651506e-05,7.842396756984733e-05,-0.002414105231755995,0.0011146969457249546,0.14713047971150817,-0.024868790588873035,-0.5025159301784247,-0.027458065752065806],"joint_position_rad":[-0.1270638760953598,1.4201163967818402,-1.1083799227913558,0.017282177903125345,1.038456621006137,-0.12474272110022545],"joint_velocity_rad_s":[-0.02789291244194416,-0.4289129929419338,-0.060103359399850946,0.04988575827254635,-0.010764038743425184,-0.014771123711185554],"gripper_joint_position_m":[0.01959752194614451,-0.020246474177303433],"tcp_position_m":[0.2973085123635283,-0.03338775285887531,0.17223872725188083],"tcp_quaternion_wxyz":[0.15310685186286868,0.004342236207946898,0.9881356567779579,-0.011285419857034724],"object_position_m":[0.2961161882102183,-0.03309451531264124,0.1697324623184336],"object_quaternion_wxyz":[0.9887816699726218,-0.010839115563373589,-0.1488936707544506,-0.004898725264906209],"object_linear_velocity_m_s":[-0.002414105231755995,0.0011146969457249546,0.14713047971150817],"object_angular_velocity_rad_s":[-0.02217306786675004,-0.5028417071020246,-0.0235209452059883],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38950784520139764,"right":0.3945551812956937},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047306427213622756},{"geom_ids":[85,90],"normal_force_n":0.03080484939295992},{"geom_ids":[85,90],"normal_force_n":0.04313284981378717},{"geom_ids":[85,90],"normal_force_n":0.059821127396551155},{"geom_ids":[86,90],"normal_force_n":0.04106440867947289},{"geom_ids":[86,90],"normal_force_n":0.04233399921551822},{"geom_ids":[86,90],"normal_force_n":0.06311671209483441},{"geom_ids":[86,90],"normal_force_n":0.061927471394651094},{"geom_ids":[88,90],"normal_force_n":0.038162891023536115},{"geom_ids":[88,90],"normal_force_n":0.05474490586306359},{"geom_ids":[88,90],"normal_force_n":0.06750375633960345},{"geom_ids":[88,90],"normal_force_n":0.05071049893821286},{"geom_ids":[89,90],"normal_force_n":0.055522512027356745},{"geom_ids":[89,90],"normal_force_n":0.05683613118756917},{"geom_ids":[89,90],"normal_force_n":0.036105851164216954},{"geom_ids":[89,90],"normal_force_n":0.03496863475213492}],"native_actuator_controls":[-0.13212928756561837,1.3941618100174422,-1.1127060109357207,0.030758978281128002,1.0305586189396503,-0.137108693217362,0.0],"actuator_force_native":[-0.265768355410966,0.06819802355782656,-0.045570254549943456,0.2896432237573745,-0.06283396254972828,-0.10150303560458696,-0.784238747799113],"issued_joint_targets_rad":[-0.1331290118328881,1.3876171164493787,-1.1038069574253069,0.032550068766471645,1.0179852173922852,-0.13841026909818194],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.919999999998833,"joint_targets_rad":[-0.1331290118328881,1.3876171164493787,-1.1038069574253069,0.032550068766471645,1.0179852173922852,-0.13841026909818194],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.939999999998822,"qpos":[-0.1277142838041097,1.4115088027178484,-1.1088999655803156,0.018482764980085213,1.0380614553084255,-0.1250406302986499,0.01959725604736622,-0.020246697410294476,0.29593077721983196,-0.03304157164763104,0.17248354257237228,0.9880505839102511,-0.010936432211000848,-0.15365174309627785,-0.005251659602563335],"qvel":[-0.030810138588314988,-0.4192668649524353,-0.006560236329816318,0.056322173673174755,-0.023868431057686983,-0.01582516255494823,5.5479903208722856e-05,6.631254051895995e-05,-0.013199636337883344,0.0027902954579025075,0.12844422239106484,-0.014774523761379287,-0.4527965559089507,-0.033478391138686614],"joint_position_rad":[-0.1277142838041097,1.4115088027178484,-1.1088999655803156,0.018482764980085213,1.0380614553084255,-0.1250406302986499],"joint_velocity_rad_s":[-0.030810138588314988,-0.4192668649524353,-0.006560236329816318,0.056322173673174755,-0.023868431057686983,-0.01582516255494823],"gripper_joint_position_m":[0.01959725604736622,-0.020246697410294476],"tcp_position_m":[0.2970828500798756,-0.033335684871496525,0.17500725994134902],"tcp_quaternion_wxyz":[0.1578384870910189,0.004699612519922477,0.9873881509166389,-0.011382665083422004],"object_position_m":[0.29593077721983196,-0.03304157164763104,0.17248354257237228],"object_quaternion_wxyz":[0.9880505839102511,-0.010936432211000848,-0.15365174309627785,-0.005251659602563335],"object_linear_velocity_m_s":[-0.013199636337883344,0.0027902954579025075,0.12844422239106484],"object_angular_velocity_rad_s":[-0.010135642042800217,-0.45333714016210364,-0.027322451914923395],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38873133825687445,"right":0.3952683452096841},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047255525601513255},{"geom_ids":[85,90],"normal_force_n":0.030844792278143553},{"geom_ids":[85,90],"normal_force_n":0.043058198957895026},{"geom_ids":[85,90],"normal_force_n":0.05965167108754136},{"geom_ids":[86,90],"normal_force_n":0.04100131513207287},{"geom_ids":[86,90],"normal_force_n":0.04225447195056734},{"geom_ids":[86,90],"normal_force_n":0.06291954783594071},{"geom_ids":[86,90],"normal_force_n":0.061745815413200365},{"geom_ids":[88,90],"normal_force_n":0.03832352993453886},{"geom_ids":[88,90],"normal_force_n":0.054821929899233277},{"geom_ids":[88,90],"normal_force_n":0.06746908956042819},{"geom_ids":[88,90],"normal_force_n":0.050761418867536184},{"geom_ids":[89,90],"normal_force_n":0.05560523482725794},{"geom_ids":[89,90],"normal_force_n":0.056902631763327084},{"geom_ids":[89,90],"normal_force_n":0.03627691290200699},{"geom_ids":[89,90],"normal_force_n":0.035107597455355535}],"native_actuator_controls":[-0.1331290118328881,1.3876171164493787,-1.1038069574253069,0.032550068766471645,1.0179852173922852,-0.13841026909818194,0.0],"actuator_force_native":[-0.27912754936069817,0.1849994232846086,0.4402418340497718,0.28108128308958347,-0.16495973257487329,-0.10995864416289791,-0.7841676414106924],"issued_joint_targets_rad":[-0.134203694522644,1.3815011910449382,-1.095537179343484,0.03446746262106433,1.0064577238600596,-0.13979164179412779],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.939999999998822,"joint_targets_rad":[-0.134203694522644,1.3815011910449382,-1.095537179343484,0.03446746262106433,1.0064577238600596,-0.13979164179412779],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.95999999999881,"qpos":[-0.12844403872100948,1.4031102949636858,-1.108120671083503,0.019819746716780128,1.0369626189048702,-0.12536199655008268,0.019596766581569048,-0.020247141546182162,0.29557359265665845,-0.032966051456127674,0.17480992784073907,0.9873569072712224,-0.01093201260972765,-0.1580339964712008,-0.005664337865008141],"qvel":[-0.03525998733890545,-0.404202447271329,0.06208821045463501,0.06242750748194041,-0.05543403928699965,-0.017030065529044763,6.91798441448021e-05,8.27312153101295e-05,-0.023128762819421386,0.0037723728329712427,0.10432327551320027,-0.00515564791678103,-0.4012857730857466,-0.04039448583841969],"joint_position_rad":[-0.12844403872100948,1.4031102949636858,-1.108120671083503,0.019819746716780128,1.0369626189048702,-0.12536199655008268],"joint_velocity_rad_s":[-0.03525998733890545,-0.404202447271329,0.06208821045463501,0.06242750748194041,-0.05543403928699965,-0.017030065529044763],"gripper_joint_position_m":[0.019596766581569048,-0.020247141546182162],"tcp_position_m":[0.29668710377893925,-0.03326187448363149,0.17734900250504718],"tcp_quaternion_wxyz":[0.16217965558641295,0.005114277122395261,0.9866823566273213,-0.011381151248587436],"object_position_m":[0.29557359265665845,-0.032966051456127674,0.17480992784073907],"object_quaternion_wxyz":[0.9873569072712224,-0.01093201260972765,-0.1580339964712008,-0.005664337865008141],"object_linear_velocity_m_s":[-0.023128762819421386,0.0037723728329712427,0.10432327551320027],"object_angular_velocity_rad_s":[0.0018280799878635787,-0.40206859297915704,-0.03203235139568465],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3888236486420569,"right":0.3952403625228823},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047296942991367365},{"geom_ids":[85,90],"normal_force_n":0.03088357454366898},{"geom_ids":[85,90],"normal_force_n":0.043062130964944906},{"geom_ids":[85,90],"normal_force_n":0.05965687572863925},{"geom_ids":[86,90],"normal_force_n":0.041005066412318734},{"geom_ids":[86,90],"normal_force_n":0.04225009305089684},{"geom_ids":[86,90],"normal_force_n":0.06291777722207824},{"geom_ids":[86,90],"normal_force_n":0.06175118772814256},{"geom_ids":[88,90],"normal_force_n":0.03832115288347621},{"geom_ids":[88,90],"normal_force_n":0.05482871279355687},{"geom_ids":[88,90],"normal_force_n":0.06744601006611342},{"geom_ids":[88,90],"normal_force_n":0.050728604909208073},{"geom_ids":[89,90],"normal_force_n":0.05562099741480943},{"geom_ids":[89,90],"normal_force_n":0.05691067629809476},{"geom_ids":[89,90],"normal_force_n":0.03627350291389475},{"geom_ids":[89,90],"normal_force_n":0.03511070524372876}],"native_actuator_controls":[-0.134203694522644,1.3815011910449382,-1.095537179343484,0.03446746262106433,1.0064577238600596,-0.13979164179412779,0.0],"actuator_force_native":[-0.2844725274362343,0.29228392285683924,0.6962382869283346,0.27377109876166594,-0.22189789151760841,-0.11875135414688387,-0.7842165624834859],"issued_joint_targets_rad":[-0.07801893270174293,1.3865395051468445,-1.082310045810427,0.01585495672632812,0.9785495680647214,-0.07685645341363855],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.95999999999881,"joint_targets_rad":[-0.07801893270174293,1.3865395051468445,-1.082310045810427,0.01585495672632812,0.9785495680647214,-0.07685645341363855],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.9799999999988,"qpos":[-0.12821611096538865,1.3956968713823044,-1.1057509209170908,0.020205781221381777,1.0345932128407012,-0.12557072192401814,0.019611883425068758,-0.020230570625793177,0.2951498566081984,-0.03280237580629594,0.17641794636467048,0.9867555002237276,-0.011350930398777803,-0.16172557765064347,-0.0054384456299491],"qvel":[0.09134226821826363,-0.3318765489984848,0.16629335860437794,-0.03437811228237576,-0.17762148356562912,-0.0001605740495404036,0.0016011105717387514,0.0017206908692594426,-0.017148698125802175,0.020209184766734434,0.05737876282398499,-0.06514999815518945,-0.34240466581382745,0.12257712987268438],"joint_position_rad":[-0.12821611096538865,1.3956968713823044,-1.1057509209170908,0.020205781221381777,1.0345932128407012,-0.12557072192401814],"joint_velocity_rad_s":[0.09134226821826363,-0.3318765489984848,0.16629335860437794,-0.03437811228237576,-0.17762148356562912,-0.0001605740495404036],"gripper_joint_position_m":[0.019611883425068758,-0.020230570625793177],"tcp_position_m":[0.29622838409284113,-0.033068631655981263,0.17896960389677685],"tcp_quaternion_wxyz":[0.1658295141673726,0.004955374870803067,0.9860730627140795,-0.011658965673594599],"object_position_m":[0.2951498566081984,-0.03280237580629594,0.17641794636467048],"object_quaternion_wxyz":[0.9867555002237276,-0.011350930398777803,-0.16172557765064347,-0.0054384456299491],"object_linear_velocity_m_s":[-0.017148698125802175,0.020209184766734434,0.05737876282398499],"object_angular_velocity_rad_s":[-0.10577769398586785,-0.3388746354428687,0.10239966360794427],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.4448894718724954,"right":0.3479402344633554},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.057040275581904505},{"geom_ids":[85,90],"normal_force_n":0.04314228633209909},{"geom_ids":[85,90],"normal_force_n":0.0502059908242535},{"geom_ids":[85,90],"normal_force_n":0.06421189711843582},{"geom_ids":[86,90],"normal_force_n":0.048469210494295666},{"geom_ids":[86,90],"normal_force_n":0.049189059521804336},{"geom_ids":[86,90],"normal_force_n":0.06665259797275656},{"geom_ids":[86,90],"normal_force_n":0.06597815402694587},{"geom_ids":[88,90],"normal_force_n":0.03493026282883285},{"geom_ids":[88,90],"normal_force_n":0.04874276967195634},{"geom_ids":[88,90],"normal_force_n":0.05601928250869901},{"geom_ids":[88,90],"normal_force_n":0.04211314317858962},{"geom_ids":[89,90],"normal_force_n":0.04973912547009625},{"geom_ids":[89,90],"normal_force_n":0.050481180303133366},{"geom_ids":[89,90],"normal_force_n":0.03327740332272644},{"geom_ids":[89,90],"normal_force_n":0.0326370671793216}],"native_actuator_controls":[-0.10420369452264397,1.3865395051468445,-1.082310045810427,0.01585495672632812,0.9785495680647214,-0.10979164179412776,0.0],"actuator_force_native":[1.4642819743282551,0.9267934461556422,1.0438032155112182,-0.002142418390267631,-0.2940042224113526,0.1580316623732141,-0.792480889861444],"issued_joint_targets_rad":[-0.07773588011494643,1.3795287840388224,-1.0794393593085865,0.01623236451894664,0.9753485190569773,-0.07706092332973044],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.9799999999988,"joint_targets_rad":[-0.07773588011494643,1.3795287840388224,-1.0794393593085865,0.01623236451894664,0.9753485190569773,-0.07706092332973044],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.999999999998789,"qpos":[-0.12358260460225967,1.3897069995206905,-1.1016261253875177,0.018967136788431947,1.0302269750828421,-0.12498588205134788,0.019650986515259924,-0.020190108253535444,0.29489276232592354,-0.0316766009043977,0.17717116660891563,0.9862557686497122,-0.012135889228198983,-0.1647499087598673,-0.0031219483374999345],"qvel":[0.3675520737417409,-0.25719289584171184,0.21398091866070412,-0.07250643458610129,-0.20655395785858796,0.0799607648768364,0.001893118688806065,0.0018849707283895107,-0.011298217742902208,0.09518372875397695,0.02173064100970296,0.00877180520900121,-0.24395740687494216,0.31410934870037766],"joint_position_rad":[-0.12358260460225967,1.3897069995206905,-1.1016261253875177,0.018967136788431947,1.0302269750828421,-0.12498588205134788],"joint_velocity_rad_s":[0.3675520737417409,-0.25719289584171184,0.21398091866070412,-0.07250643458610129,-0.20655395785858796,0.0799607648768364],"gripper_joint_position_m":[0.019650986515259924,-0.020190108253535444],"tcp_position_m":[0.2959438952537425,-0.031877107056974094,0.17973268297358785],"tcp_quaternion_wxyz":[0.16883603974594497,0.0027470015038995547,0.9855650079381587,-0.012184448838602053],"object_position_m":[0.29489276232592354,-0.0316766009043977,0.17717116660891563],"object_quaternion_wxyz":[0.9862557686497122,-0.012135889228198983,-0.1647499087598673,-0.0031219483374999345],"object_linear_velocity_m_s":[-0.011298217742902208,0.09518372875397695,0.02173064100970296],"object_angular_velocity_rad_s":[-0.09623504070611834,-0.23605740734095085,0.3054055684765857],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.4798219147711773,"right":0.3155590996324739},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.06605327437080197},{"geom_ids":[85,90],"normal_force_n":0.05652539794119339},{"geom_ids":[85,90],"normal_force_n":0.05483287102275211},{"geom_ids":[85,90],"normal_force_n":0.06434834607873319},{"geom_ids":[86,90],"normal_force_n":0.06554574871666216},{"geom_ids":[86,90],"normal_force_n":0.05365086892167287},{"geom_ids":[86,90],"normal_force_n":0.05347896821057186},{"geom_ids":[86,90],"normal_force_n":0.06538643950878982},{"geom_ids":[88,90],"normal_force_n":0.03513034300312121},{"geom_ids":[88,90],"normal_force_n":0.04435022087713328},{"geom_ids":[88,90],"normal_force_n":0.0428334378783084},{"geom_ids":[88,90],"normal_force_n":0.03380701409466656},{"geom_ids":[89,90],"normal_force_n":0.045672621742755506},{"geom_ids":[89,90],"normal_force_n":0.04551832651897259},{"geom_ids":[89,90],"normal_force_n":0.034061311105975996},{"geom_ids":[89,90],"normal_force_n":0.034185824411540375}],"native_actuator_controls":[-0.07773588011494643,1.3795287840388224,-1.0794393593085865,0.01623236451894664,0.9753485190569773,-0.07979164179412773,0.0],"actuator_force_native":[1.8299775902763553,0.4717072406591001,0.7050366930109817,0.2531412821510941,-0.2389536234707652,0.332001255256947,-0.7955050540544273],"issued_joint_targets_rad":[-0.07312172255565547,1.3741936638213164,-1.0754621217628482,0.014824277494833983,0.9705668556891308,-0.07530291683503107],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.999999999998789,"joint_targets_rad":[-0.07312172255565547,1.3741936638213164,-1.0754621217628482,0.014824277494833983,0.9705668556891308,-0.07530291683503107],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.019999999998777,"qpos":[-0.11413172916721825,1.3849700581737854,-1.0967920116197114,0.017866976080794413,1.0257687819196473,-0.12253580458589564,0.01966063155363697,-0.020177718953532677,0.29469752550954137,-0.02904589505857772,0.17732980756118094,0.9859036381745233,-0.012035318868791627,-0.16687985776280248,0.0005295347318503997],"qvel":[0.527836677815726,-0.20589669522033913,0.2419925125944509,-0.03289666235974521,-0.19966570129403408,0.12472964042310886,-0.0010635477472461152,-0.0009307539225608675,-0.011377475323776053,0.15419558248369072,-0.0029610707970463765,0.12315535784597233,-0.16658360423212343,0.3923075154395966],"joint_position_rad":[-0.11413172916721825,1.3849700581737854,-1.0967920116197114,0.017866976080794413,1.0257687819196473,-0.12253580458589564],"joint_velocity_rad_s":[0.527836677815726,-0.20589669522033913,0.2419925125944509,-0.03289666235974521,-0.19966570129403408,0.12472964042310886],"gripper_joint_position_m":[0.01966063155363697,-0.020177718953532677],"tcp_position_m":[0.29572905531357624,-0.02923018855007244,0.1799004863207816],"tcp_quaternion_wxyz":[0.1709786091749263,-0.0008816610073309373,0.985201877807179,-0.011949805173490851],"object_position_m":[0.29469752550954137,-0.02904589505857772,0.17732980756118094],"object_quaternion_wxyz":[0.9859036381745233,-0.012035318868791627,-0.16687985776280248,0.0005295347318503997],"object_linear_velocity_m_s":[-0.011377475323776053,0.15419558248369072,-0.0029610707970463765],"object_angular_velocity_rad_s":[-0.013295121956097826,-0.15667131364513565,0.4148492078435292],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.41005710756204405,"right":0.37169509558376573},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.059464983566505994},{"geom_ids":[85,90],"normal_force_n":0.05111084612422472},{"geom_ids":[85,90],"normal_force_n":0.0459254110543909},{"geom_ids":[85,90],"normal_force_n":0.05423197671476836},{"geom_ids":[86,90],"normal_force_n":0.055275726425906134},{"geom_ids":[86,90],"normal_force_n":0.044892169536448},{"geom_ids":[86,90],"normal_force_n":0.044367352916337366},{"geom_ids":[86,90],"normal_force_n":0.05478864122346261},{"geom_ids":[88,90],"normal_force_n":0.043469991785978795},{"geom_ids":[88,90],"normal_force_n":0.0516944164191025},{"geom_ids":[88,90],"normal_force_n":0.046704345750635694},{"geom_ids":[88,90],"normal_force_n":0.03851276137576024},{"geom_ids":[89,90],"normal_force_n":0.05272684439948996},{"geom_ids":[89,90],"normal_force_n":0.053233748586363566},{"geom_ids":[89,90],"normal_force_n":0.04290706704518473},{"geom_ids":[89,90],"normal_force_n":0.04244592022125029}],"native_actuator_controls":[-0.07312172255565547,1.3741936638213164,-1.0754621217628482,0.014824277494833983,0.9705668556891308,-0.07530291683503107,0.0],"actuator_force_native":[0.6416171398463932,0.16737192790417055,0.49642862557679734,0.04277536836030893,-0.2525207103641147,0.28523441687398243,-0.7811075234092483],"issued_joint_targets_rad":[-0.06330340208793671,1.3704552195058548,-1.0713880279601298,0.012649902092434027,0.965810169553128,-0.07009993440357495],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.019999999998777,"joint_targets_rad":[-0.06330340208793671,1.3704552195058548,-1.0713880279601298,0.012649902092434027,0.965810169553128,-0.07009993440357495],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.039999999998766,"qpos":[-0.1027050034331914,1.3811155333975789,-1.0915797255885182,0.017320738175559132,1.0215779639956137,-0.11971041749673221,0.01963388061721309,-0.020205750788794857,0.2944530273786782,-0.025684029576579663,0.17708749816563796,0.9856591972159346,-0.011282503376949462,-0.1683004869487799,0.0048577931195729574],"qvel":[0.5906593610866788,-0.16816512851332674,0.25480652383342384,-0.020950433365618113,-0.18532673103721348,0.13769440513444214,-0.001618678589380149,-0.0017731071826170056,-0.014842633041951726,0.17529776061841912,-0.019239513410186072,0.16674181693834125,-0.10506190525657153,0.43065457648643174],"joint_position_rad":[-0.1027050034331914,1.3811155333975789,-1.0915797255885182,0.017320738175559132,1.0215779639956137,-0.11971041749673221],"joint_velocity_rad_s":[0.5906593610866788,-0.16816512851332674,0.25480652383342384,-0.020950433365618113,-0.18532673103721348,0.13769440513444214],"gripper_joint_position_m":[0.01963388061721309,-0.020205750788794857],"tcp_position_m":[0.295464471371802,-0.025896505183004785,0.17966564216237674],"tcp_quaternion_wxyz":[0.17241739864275715,-0.005193776013281903,0.9849472058841411,-0.011147509004801007],"object_position_m":[0.2944530273786782,-0.025684029576579663,0.17708749816563796],"object_quaternion_wxyz":[0.9856591972159346,-0.011282503376949462,-0.1683004869487799,0.0048577931195729574],"object_linear_velocity_m_s":[-0.014842633041951726,0.17529776061841912,-0.019239513410186072],"object_angular_velocity_rad_s":[0.014967979758561819,-0.09392601703306376,0.46395911954287544],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3825574461486522,"right":0.3942546101700962},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.056353715108849935},{"geom_ids":[85,90],"normal_force_n":0.048566449105342684},{"geom_ids":[85,90],"normal_force_n":0.04259407598187185},{"geom_ids":[85,90],"normal_force_n":0.050333428427296295},{"geom_ids":[86,90],"normal_force_n":0.051305065006066956},{"geom_ids":[86,90],"normal_force_n":0.041630593256429364},{"geom_ids":[86,90],"normal_force_n":0.041027550334174774},{"geom_ids":[86,90],"normal_force_n":0.05074656892862039},{"geom_ids":[88,90],"normal_force_n":0.0467171733170342},{"geom_ids":[88,90],"normal_force_n":0.05446329688284236},{"geom_ids":[88,90],"normal_force_n":0.04863750511592726},{"geom_ids":[88,90],"normal_force_n":0.04093266955464702},{"geom_ids":[89,90],"normal_force_n":0.055435711252755315},{"geom_ids":[89,90],"normal_force_n":0.056026316368442686},{"geom_ids":[89,90],"normal_force_n":0.04628923295007816},{"geom_ids":[89,90],"normal_force_n":0.045752704728369245}],"native_actuator_controls":[-0.06330340208793671,1.3704552195058548,-1.0713880279601298,0.012649902092434027,0.965810169553128,-0.07009993440357495,0.0],"actuator_force_native":[0.19883130218698053,-0.011999468771293209,0.341303191103961,-0.08208127649691366,-0.27968784786903633,0.28956322322990935,-0.7772618317416229],"issued_joint_targets_rad":[-0.051234057032897254,1.3678192964449671,-1.067365899119027,0.010415743462344883,0.9615779639956137,-0.06357060987877908],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.039999999998766,"joint_targets_rad":[-0.051234057032897254,1.3678192964449671,-1.067365899119027,0.010415743462344883,0.9615779639956137,-0.06357060987877908],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.059999999998755,"qpos":[-0.09048476004756656,1.3779577326511774,-1.0862550835033116,0.016862533798882806,1.0177131020545236,-0.11653922189879391,0.01961056903817756,-0.02023075038070949,0.2941381135797936,-0.02208332041460751,0.17657951515444084,0.985488511948215,-0.010299501492759607,-0.16916942791520734,0.009381777333484264],"qvel":[0.6175097231611015,-0.13683021115329735,0.25621685629413454,-0.02142946163649337,-0.1710359099204574,0.15803535995659573,-0.0009829326363856037,-0.0010579910159129262,-0.01780376358415091,0.18192737988017926,-0.030005141818125854,0.1822417567295447,-0.05879945694100625,0.43446266193868466],"joint_position_rad":[-0.09048476004756656,1.3779577326511774,-1.0862550835033116,0.016862533798882806,1.0177131020545236,-0.11653922189879391],"joint_velocity_rad_s":[0.6175097231611015,-0.13683021115329735,0.25621685629413454,-0.02142946163649337,-0.1710359099204574,0.15803535995659573],"gripper_joint_position_m":[0.01961056903817756,-0.02023075038070949],"tcp_position_m":[0.2951303925233434,-0.02231700834235644,0.17916273157922732],"tcp_quaternion_wxyz":[0.17330712749449903,-0.009708666192275827,0.9847678935598082,-0.010128039008166657],"object_position_m":[0.2941381135797936,-0.02208332041460751,0.17657951515444084],"object_quaternion_wxyz":[0.985488511948215,-0.010299501492759607,-0.16916942791520734,0.009381777333484264],"object_linear_velocity_m_s":[-0.01780376358415091,0.18192737988017926,-0.030005141818125854],"object_angular_velocity_rad_s":[0.02771471838991306,-0.047331141271537674,0.4716130788069571],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37561702119452317,"right":0.40350058141480144},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05574867262012181},{"geom_ids":[85,90],"normal_force_n":0.04821484486640871},{"geom_ids":[85,90],"normal_force_n":0.04173954675720996},{"geom_ids":[85,90],"normal_force_n":0.04922533716056166},{"geom_ids":[86,90],"normal_force_n":0.050164767538704816},{"geom_ids":[86,90],"normal_force_n":0.0408072757374653},{"geom_ids":[86,90],"normal_force_n":0.040155002360980865},{"geom_ids":[86,90],"normal_force_n":0.04956157415307012},{"geom_ids":[88,90],"normal_force_n":0.04810037750789897},{"geom_ids":[88,90],"normal_force_n":0.05563232245704997},{"geom_ids":[88,90],"normal_force_n":0.049272935111114635},{"geom_ids":[88,90],"normal_force_n":0.04178707450072581},{"geom_ids":[89,90],"normal_force_n":0.05657785092892079},{"geom_ids":[89,90],"normal_force_n":0.057221100419508265},{"geom_ids":[89,90],"normal_force_n":0.04774634847658514},{"geom_ids":[89,90],"normal_force_n":0.04716257201299785}],"native_actuator_controls":[-0.051234057032897254,1.3678192964449671,-1.067365899119027,0.010415743462344883,0.9615779639956137,-0.06357060987877908,0.0],"actuator_force_native":[0.05250762536803677,-0.1269238407303277,0.2300504692721006,-0.15072430527905006,-0.30479751570841174,0.2926330802652548,-0.7795080983451744],"issued_joint_targets_rad":[-0.038297036728945175,1.366049144055695,-1.0635748784519834,0.008008073732031398,0.9577593981434042,-0.056539221898793915],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.059999999998755,"joint_targets_rad":[-0.038297036728945175,1.366049144055695,-1.0635748784519834,0.008008073732031398,0.9577593981434042,-0.056539221898793915],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.079999999998744,"qpos":[-0.0778859275870655,1.3754123504989866,-1.081021986275905,0.016337398746006485,1.0141451362070537,-0.1129362770869182,0.01960032709512846,-0.020241569288547676,0.29378011673355453,-0.018408931102754395,0.1758980493799477,0.9853667392694877,-0.009222959649205435,-0.16963031502458117,0.013888210157846043],"qvel":[0.6321261142456159,-0.10841492176505774,0.24877274651805872,-0.026317093530784694,-0.15923736818738737,0.18021708780866164,-0.0004087941962791602,-0.0004561832055173389,-0.018994796889800637,0.18405862652270769,-0.03688344954630538,0.1875880386350135,-0.025959052435977344,0.428007782762297],"joint_position_rad":[-0.0778859275870655,1.3754123504989866,-1.081021986275905,0.016337398746006485,1.0141451362070537,-0.1129362770869182],"joint_velocity_rad_s":[0.6321261142456159,-0.10841492176505774,0.24877274651805872,-0.026317093530784694,-0.15923736818738737,0.18021708780866164],"gripper_joint_position_m":[0.01960032709512846,-0.020241569288547676],"tcp_position_m":[0.2947541611918153,-0.018648615319501877,0.17848463283930432],"tcp_quaternion_wxyz":[0.1737911694709413,-0.014210035124440497,0.9846387109124723,-0.009017388109065438],"object_position_m":[0.29378011673355453,-0.018408931102754395,0.1758980493799477],"object_quaternion_wxyz":[0.9853667392694877,-0.009222959649205435,-0.16963031502458117,0.013888210157846043],"object_linear_velocity_m_s":[-0.018994796889800637,0.18405862652270769,-0.03688344954630538],"object_angular_velocity_rad_s":[0.0341584661586,-0.014460570851483933,0.46655964016162393],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3746448498660553,"right":0.40693864505880467},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05596374057238658},{"geom_ids":[85,90],"normal_force_n":0.048533834994507294},{"geom_ids":[85,90],"normal_force_n":0.04155703385854462},{"geom_ids":[85,90],"normal_force_n":0.04893711465758642},{"geom_ids":[86,90],"normal_force_n":0.04986311203795261},{"geom_ids":[86,90],"normal_force_n":0.04063776806021304},{"geom_ids":[86,90],"normal_force_n":0.039936707248957384},{"geom_ids":[86,90],"normal_force_n":0.04921553843590738},{"geom_ids":[88,90],"normal_force_n":0.04869049193574207},{"geom_ids":[88,90],"normal_force_n":0.05613680032167019},{"geom_ids":[88,90],"normal_force_n":0.04925680310359173},{"geom_ids":[88,90],"normal_force_n":0.0418608976549325},{"geom_ids":[89,90],"normal_force_n":0.057071585865039166},{"geom_ids":[89,90],"normal_force_n":0.05776587599345147},{"geom_ids":[89,90],"normal_force_n":0.0483928488613584},{"geom_ids":[89,90],"normal_force_n":0.04776334132301913}],"native_actuator_controls":[-0.038297036728945175,1.366049144055695,-1.0635748784519834,0.008008073732031398,0.9577593981434042,-0.056539221898793915,0.0],"actuator_force_native":[0.006480697421545667,-0.20698190663804894,0.15190489332343304,-0.20158753290508002,-0.3250013283554143,0.2936449201682504,-0.7819691128237427],"issued_joint_targets_rad":[-0.02500834852535011,1.3650264592301917,-1.0601484495447075,0.005438874112515946,0.9545846194736509,-0.0529362770869182],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.079999999998744,"joint_targets_rad":[-0.02500834852535011,1.3650264592301917,-1.0601484495447075,0.005438874112515946,0.9545846194736509,-0.0529362770869182],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.099999999998733,"qpos":[-0.06504111967929226,1.3734458354225276,-1.076046496479533,0.015649008182288912,1.010831388382589,-0.10917411441667939,0.019597901101990414,-0.020244453741858716,0.29341631240642535,-0.014715212370426996,0.17510964359457,0.9852722431181078,-0.008156663803208807,-0.1697953416499339,0.018482903738217215],"qvel":[0.6422974731006496,-0.08113740484747521,0.23406578332175604,-0.03406829442628393,-0.1494149725214094,0.17946200578622815,-0.00019114143932086165,-0.00024444820801793667,-0.018424832370628776,0.1846181206409707,-0.040935329509464456,0.1877547594996017,-0.0031884094182489165,0.4431741739182041],"joint_position_rad":[-0.06504111967929226,1.3734458354225276,-1.076046496479533,0.015649008182288912,1.010831388382589,-0.10917411441667939],"joint_velocity_rad_s":[0.6422974731006496,-0.08113740484747521,0.23406578332175604,-0.03406829442628393,-0.1494149725214094,0.17946200578622815],"gripper_joint_position_m":[0.019597901101990414,-0.020244453741858716],"tcp_position_m":[0.2943726464234937,-0.014951630029596139,0.17769846328038352],"tcp_quaternion_wxyz":[0.1739814257830512,-0.01878621566038456,0.9845379129529046,-0.007914514640647482],"object_position_m":[0.29341631240642535,-0.014715212370426996,0.17510964359457],"object_quaternion_wxyz":[0.9852722431181078,-0.008156663803208807,-0.1697953416499339,0.018482903738217215],"object_linear_velocity_m_s":[-0.018424832370628776,0.1846181206409707,-0.040935329509464456],"object_angular_velocity_rad_s":[0.028492711907886544,0.008514080755507325,0.48039675258527426],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37476399161661345,"right":0.4077167479964055},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05611949543267309},{"geom_ids":[85,90],"normal_force_n":0.04918666880119438},{"geom_ids":[85,90],"normal_force_n":0.04170614573778868},{"geom_ids":[85,90],"normal_force_n":0.04858976231298485},{"geom_ids":[86,90],"normal_force_n":0.04945318735835345},{"geom_ids":[86,90],"normal_force_n":0.04084846953526888},{"geom_ids":[86,90],"normal_force_n":0.04009865240281626},{"geom_ids":[86,90],"normal_force_n":0.048761610035533844},{"geom_ids":[88,90],"normal_force_n":0.04914958778708984},{"geom_ids":[88,90],"normal_force_n":0.05610497307279835},{"geom_ids":[88,90],"normal_force_n":0.048712930686105584},{"geom_ids":[88,90],"normal_force_n":0.041808492782801854},{"geom_ids":[89,90],"normal_force_n":0.056977815503700804},{"geom_ids":[89,90],"normal_force_n":0.057721944495211265},{"geom_ids":[89,90],"normal_force_n":0.048957751032344066},{"geom_ids":[89,90],"normal_force_n":0.04828325263635373}],"native_actuator_controls":[-0.02500834852535011,1.3650264592301917,-1.0601484495447075,0.005438874112515946,0.9545846194736509,-0.0529362770869182,0.0],"actuator_force_native":[-0.008865673187875789,-0.2678630711494918,0.10151483817726614,-0.238063890659499,-0.33834523030726693,0.2931853646182697,-0.7829603368830123],"issued_joint_targets_rad":[-0.01157412415060756,1.364703806974428,-1.0572110306358915,0.0027249410646082977,0.9519251031877567,-0.04917411441667939],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.099999999998733,"joint_targets_rad":[-0.01157412415060756,1.364703806974428,-1.0572110306358915,0.0027249410646082977,0.9519251031877567,-0.04917411441667939],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.119999999998722,"qpos":[-0.05200269441952408,1.3720428703249468,-1.0714539929633176,0.014738185441639993,1.0077530317726222,-0.10542564294933858,0.019597966234672585,-0.020244893477603224,0.2930748811765948,-0.011023855038540165,0.1742607545009442,0.9851890524347783,-0.007159718760426247,-0.16974000665363162,0.023229281761616042],"qvel":[0.650094983216608,-0.05443553939100328,0.2141069494976676,-0.042909650919944864,-0.14019651885024584,0.17837939167682826,-0.00017420684275087643,-0.00023052502527243527,-0.016673286156520615,0.1845169744390768,-0.04306675465857002,0.18543335794807078,0.013202437422847312,0.45592247801228775],"joint_position_rad":[-0.05200269441952408,1.3720428703249468,-1.0714539929633176,0.014738185441639993,1.0077530317726222,-0.10542564294933858],"joint_velocity_rad_s":[0.650094983216608,-0.05443553939100328,0.2141069494976676,-0.042909650919944864,-0.14019651885024584,0.17837939167682826],"gripper_joint_position_m":[0.019597966234672585,-0.020244893477603224],"tcp_position_m":[0.29401430511080917,-0.011252957014432803,0.1768512514987951],"tcp_quaternion_wxyz":[0.17395387894033246,-0.023509110726795592,0.9844491086244971,-0.006879116431699885],"object_position_m":[0.2930748811765948,-0.011023855038540165,0.1742607545009442],"object_quaternion_wxyz":[0.9851890524347783,-0.007159718760426247,-0.16974000665363162,0.023229281761616042],"object_linear_velocity_m_s":[-0.016673286156520615,0.1845169744390768,-0.04306675465857002],"object_angular_velocity_rad_s":[0.021339922055586005,0.02496142913883197,0.4912704706500028],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37495636405313776,"right":0.40753448398627273},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.056213823048765654},{"geom_ids":[85,90],"normal_force_n":0.049930303919705966},{"geom_ids":[85,90],"normal_force_n":0.04193828683363344},{"geom_ids":[85,90],"normal_force_n":0.04817431377898198},{"geom_ids":[86,90],"normal_force_n":0.04895623186365727},{"geom_ids":[86,90],"normal_force_n":0.04116105161383404},{"geom_ids":[86,90],"normal_force_n":0.040361956457987305},{"geom_ids":[86,90],"normal_force_n":0.04822039653657213},{"geom_ids":[88,90],"normal_force_n":0.049569188128979993},{"geom_ids":[88,90],"normal_force_n":0.05587293301317692},{"geom_ids":[88,90],"normal_force_n":0.04796987484136124},{"geom_ids":[88,90],"normal_force_n":0.041715325254055365},{"geom_ids":[89,90],"normal_force_n":0.05666356726676147},{"geom_ids":[89,90],"normal_force_n":0.05745713357985201},{"geom_ids":[89,90],"normal_force_n":0.04950287245120644},{"geom_ids":[89,90],"normal_force_n":0.04878358945087936}],"native_actuator_controls":[-0.01157412415060756,1.364703806974428,-1.0572110306358915,0.0027249410646082977,0.9519251031877567,-0.04917411441667939,0.0],"actuator_force_native":[-0.016189294569718515,-0.3149473710864896,0.0689022387057463,-0.26598152048154344,-0.3479845075732868,0.29494619781134956,-0.783047615173149],"issued_joint_targets_rad":[0.0019022423872755087,1.3650559843195127,-1.0548581354290545,-0.00011615290376797496,0.9497579972893854,-0.04542564294933858],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.119999999998722,"joint_targets_rad":[0.0019022423872755087,1.3650559843195127,-1.0548581354290545,-0.00011615290376797496,0.9497579972893854,-0.04542564294933858],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.139999999998711,"qpos":[-0.0388135500047362,1.3712004881593987,-1.0673442529143011,0.013591440545071167,1.0049109472656526,-0.10168988827666474,0.019598104895839602,-0.020245181811953995,0.29277719534442775,-0.007346064970888802,0.17338480938209086,0.9851069094979276,-0.006247593832044003,-0.1695155079298197,0.028104038892059837],"qvel":[0.6556651082147074,-0.027767957905562038,0.18986520970689016,-0.051695528090061935,-0.13108140352876138,0.17734836436995402,-0.00021955366474160645,-0.00027256375924059306,-0.01394855415965581,0.18393917182490016,-0.04377641543252142,0.18186727208742262,0.025014380653145128,0.4664173208045697],"joint_position_rad":[-0.0388135500047362,1.3712004881593987,-1.0673442529143011,0.013591440545071167,1.0049109472656526,-0.10168988827666474],"joint_velocity_rad_s":[0.6556651082147074,-0.027767957905562038,0.18986520970689016,-0.051695528090061935,-0.13108140352876138,0.17734836436995402],"gripper_joint_position_m":[0.019598104895839602,-0.020245181811953995],"tcp_position_m":[0.2937006589265227,-0.007566459239671432,0.1759767386722576],"tcp_quaternion_wxyz":[0.17375988108739698,-0.028361031758804913,0.9843617209261455,-0.005929416277097966],"object_position_m":[0.29277719534442775,-0.007346064970888802,0.17338480938209086],"object_quaternion_wxyz":[0.9851069094979276,-0.006247593832044003,-0.1695155079298197,0.028104038892059837],"object_linear_velocity_m_s":[-0.01394855415965581,0.18393917182490016,-0.04377641543252142],"object_angular_velocity_rad_s":[0.013857113477605649,0.036725383530160784,0.4997056810294686],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3750838914084564,"right":0.40714264262635813},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05626470652360454},{"geom_ids":[85,90],"normal_force_n":0.05060933922243529},{"geom_ids":[85,90],"normal_force_n":0.042164801045340476},{"geom_ids":[85,90],"normal_force_n":0.04777480586766138},{"geom_ids":[86,90],"normal_force_n":0.04847800780463477},{"geom_ids":[86,90],"normal_force_n":0.041465395027725845},{"geom_ids":[86,90],"normal_force_n":0.04062315617980154},{"geom_ids":[86,90],"normal_force_n":0.04770367973725252},{"geom_ids":[88,90],"normal_force_n":0.0499393782217976},{"geom_ids":[88,90],"normal_force_n":0.055608485010357166},{"geom_ids":[88,90],"normal_force_n":0.04726026960483468},{"geom_ids":[88,90],"normal_force_n":0.041637435459547845},{"geom_ids":[89,90],"normal_force_n":0.056319107709834754},{"geom_ids":[89,90],"normal_force_n":0.057155245082968674},{"geom_ids":[89,90],"normal_force_n":0.049990268237328474},{"geom_ids":[89,90],"normal_force_n":0.04923245329968893}],"native_actuator_controls":[0.0019022423872755087,1.3650559843195127,-1.0548581354290545,-0.00011615290376797496,0.9497579972893854,-0.04542564294933858,0.0],"actuator_force_native":[-0.021062149712600342,-0.352720517663073,0.04956335028529679,-0.28982609750325605,-0.354907394469528,0.2966199067183305,-0.7828264275098761],"issued_joint_targets_rad":[0.015347182869371659,1.3660606267793964,-1.0531530610804962,-0.003050488515834589,0.9480600729762617,-0.04168988827666474],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.139999999998711,"joint_targets_rad":[0.015347182869371659,1.3660606267793964,-1.0531530610804962,-0.003050488515834589,0.9480600729762617,-0.04168988827666474],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.1599999999987,"qpos":[-0.025519780745696063,1.370863643180339,-1.0637566078691945,0.01221889176397015,1.002260567180518,-0.0979610537085928,0.019597863884633093,-0.020245696314138584,0.2925389929688883,-0.003690360791601171,0.17251445240917737,0.9850120323927796,-0.005426013941440184,-0.16919708715870688,0.03307869572944216],"qvel":[0.6588904746294357,-0.009606598090653007,0.1672786952524419,-0.060183672826784475,-0.12756181512418416,0.17699158523006492,-0.0002612492349981885,-0.0003096840086630845,-0.010857476993576738,0.18288962860579341,-0.04208886937864626,0.17628523120640602,0.023317908202559797,0.4739129519113119],"joint_position_rad":[-0.025519780745696063,1.370863643180339,-1.0637566078691945,0.01221889176397015,1.002260567180518,-0.0979610537085928],"joint_velocity_rad_s":[0.6588904746294357,-0.009606598090653007,0.1672786952524419,-0.060183672826784475,-0.12756181512418416,0.17699158523006492],"gripper_joint_position_m":[0.019597863884633093,-0.020245696314138584],"tcp_position_m":[0.293446750425074,-0.003901335159789794,0.17510763273754448],"tcp_quaternion_wxyz":[0.17347016410766775,-0.033315294537202854,0.9842623970865496,-0.005072178604636392],"object_position_m":[0.2925389929688883,-0.003690360791601171,0.17251445240917737],"object_quaternion_wxyz":[0.9850120323927796,-0.005426013941440184,-0.16919708715870688,0.03307869572944216],"object_linear_velocity_m_s":[-0.010857476993576738,0.18288962860579341,-0.04208886937864626],"object_angular_velocity_rad_s":[0.006193575305576169,0.03483798664008703,0.5049372712382512],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37523295417689445,"right":0.4067519352626545},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.056296008623946237},{"geom_ids":[85,90],"normal_force_n":0.051192974130497435},{"geom_ids":[85,90],"normal_force_n":0.042373527990038434},{"geom_ids":[85,90],"normal_force_n":0.0474333489227016},{"geom_ids":[86,90],"normal_force_n":0.04806742439469129},{"geom_ids":[86,90],"normal_force_n":0.041742569857170383},{"geom_ids":[86,90],"normal_force_n":0.040865169059605216},{"geom_ids":[86,90],"normal_force_n":0.04726193119824392},{"geom_ids":[88,90],"normal_force_n":0.050253956604477304},{"geom_ids":[88,90],"normal_force_n":0.05536240111460307},{"geom_ids":[88,90],"normal_force_n":0.04665231770482601},{"geom_ids":[88,90],"normal_force_n":0.041586752791830085},{"geom_ids":[89,90],"normal_force_n":0.05600236714349958},{"geom_ids":[89,90],"normal_force_n":0.05687249186435887},{"geom_ids":[89,90],"normal_force_n":0.05040508858628728},{"geom_ids":[89,90],"normal_force_n":0.04961655945277233}],"native_actuator_controls":[0.015347182869371659,1.3660606267793964,-1.0531530610804962,-0.003050488515834589,0.9480600729762617,-0.04168988827666474,0.0],"actuator_force_native":[-0.02509528394176086,-0.3362083216221379,0.011890266833646024,-0.30985684705826716,-0.3506622193562876,0.29722427647418326,-0.7826083092103328],"issued_joint_targets_rad":[0.028699316946776927,1.3676425783808697,-1.052094374703682,-0.006042304590060242,0.9467501856877112,-0.037961053708592804],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.1599999999987,"joint_targets_rad":[0.028699316946776927,1.3676425783808697,-1.052094374703682,-0.006042304590060242,0.9467501856877112,-0.037961053708592804],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.179999999998689,"qpos":[-0.012170153900856963,1.370762503745674,-1.060654115720113,0.010628950514319864,0.9997455327562216,-0.0942314726791732,0.01959741517188655,-0.020246290586290853,0.292350193405536,-6.564649524805267e-05,0.17172152055191908,0.9848788281054601,-0.004704703524992618,-0.16893238982993652,0.03812358037623469],"qvel":[0.6597427788302038,-0.0022541192834561147,0.14206758037159625,-0.06826085249835863,-0.11902979510746062,0.17628566292864659,-0.00029358628464603843,-0.00034011331718887165,-0.008729777439303737,0.18142500480553947,-0.0367432506485172,0.16961104848283076,0.01411387852417981,0.4796232233408983],"joint_position_rad":[-0.012170153900856963,1.370762503745674,-1.060654115720113,0.010628950514319864,0.9997455327562216,-0.0942314726791732],"joint_velocity_rad_s":[0.6597427788302038,-0.0022541192834561147,0.14206758037159625,-0.06826085249835863,-0.11902979510746062,0.17628566292864659],"gripper_joint_position_m":[0.01959741517188655,-0.020246290586290853],"tcp_position_m":[0.2932420962553741,-0.0002666578450583319,0.17431563994678329],"tcp_quaternion_wxyz":[0.17322946555050706,-0.038342671169759875,0.984125377840961,-0.004316540517489972],"object_position_m":[0.292350193405536,-6.564649524805267e-05,0.17172152055191908],"object_quaternion_wxyz":[0.9848788281054601,-0.004704703524992618,-0.16893238982993652,0.03812358037623469],"object_linear_velocity_m_s":[-0.008729777439303737,0.18142500480553947,-0.0367432506485172],"object_angular_velocity_rad_s":[-0.00136967984221191,0.025345528193994358,0.5082925081880025],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3755100860036792,"right":0.40627751423558517},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05635091711396248},{"geom_ids":[85,90],"normal_force_n":0.05171852414058347},{"geom_ids":[85,90],"normal_force_n":0.042567183154362455},{"geom_ids":[85,90],"normal_force_n":0.04715828185327861},{"geom_ids":[86,90],"normal_force_n":0.047733499990000344},{"geom_ids":[86,90],"normal_force_n":0.04199456802189878},{"geom_ids":[86,90],"normal_force_n":0.041086359863179774},{"geom_ids":[86,90],"normal_force_n":0.046900751866413286},{"geom_ids":[88,90],"normal_force_n":0.05050667976443157},{"geom_ids":[88,90],"normal_force_n":0.05513606238257189},{"geom_ids":[88,90],"normal_force_n":0.046110675184790714},{"geom_ids":[88,90],"normal_force_n":0.041520867544855934},{"geom_ids":[89,90],"normal_force_n":0.05571570086394323},{"geom_ids":[89,90],"normal_force_n":0.0566150973729963},{"geom_ids":[89,90],"normal_force_n":0.05074369892432084},{"geom_ids":[89,90],"normal_force_n":0.049928732197674686}],"native_actuator_controls":[0.028699316946776927,1.3676425783808697,-1.052094374703682,-0.006042304590060242,0.9467501856877112,-0.037961053708592804,0.0],"actuator_force_native":[-0.029156226340308233,-0.2383234327670749,-0.02555862054349234,-0.3255459416834111,-0.351408778023913,0.29827569531283404,-0.7824286754522318],"issued_joint_targets_rad":[0.04191299575646301,1.3695294857979627,-1.0515915886127762,-0.009084007709450856,0.9457085195283578,-0.0342314726791732],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.179999999998689,"joint_targets_rad":[0.04191299575646301,1.3695294857979627,-1.0515915886127762,-0.009084007709450856,0.9457085195283578,-0.0342314726791732],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.199999999998678,"qpos":[0.001188232597494055,1.3707798282184607,-1.0581260615634425,0.008841351545862058,0.9974787923286637,-0.09051043939553263,0.019596851117233666,-0.020246927194176208,0.2922042800012663,0.0035215214606956857,0.17106087183223256,0.9847002392135803,-0.004079530316234686,-0.16876325519556476,0.04321758925382067],"qvel":[0.6584627664804229,0.0026638973286669636,0.11228053746468578,-0.07584475568120402,-0.10665203199117455,0.1753608894844305,-0.0003181299282222102,-0.0003646712010007299,-0.006311017099975521,0.17957448749965735,-0.02950275031220965,0.1624313477303429,0.001806479000547636,0.4834077103630083],"joint_position_rad":[0.001188232597494055,1.3707798282184607,-1.0581260615634425,0.008841351545862058,0.9974787923286637,-0.09051043939553263],"joint_velocity_rad_s":[0.6584627664804229,0.0026638973286669636,0.11228053746468578,-0.07584475568120402,-0.10665203199117455,0.1753608894844305],"gripper_joint_position_m":[0.019596851117233666,-0.020246927194176208],"tcp_position_m":[0.29308102400900266,0.0033306923749846307,0.17365583639152765],"tcp_quaternion_wxyz":[0.17308669336970703,-0.043421083079541456,0.9839421837817173,-0.003658564938005645],"object_position_m":[0.2922042800012663,0.0035215214606956857,0.17106087183223256],"object_quaternion_wxyz":[0.9847002392135803,-0.004079530316234686,-0.16876325519556476,0.04321758925382067],"object_linear_velocity_m_s":[-0.006311017099975521,0.17957448749965735,-0.02950275031220965],"object_angular_velocity_rad_s":[-0.008416131739806303,0.01268060801078513,0.5097436526699429],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3757278977504477,"right":0.4058992362664966},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0563739681263984},{"geom_ids":[85,90],"normal_force_n":0.052159255445884366},{"geom_ids":[85,90],"normal_force_n":0.04274175473450825},{"geom_ids":[85,90],"normal_force_n":0.0469172428626758},{"geom_ids":[86,90],"normal_force_n":0.04744029345059648},{"geom_ids":[86,90],"normal_force_n":0.042220889166328865},{"geom_ids":[86,90],"normal_force_n":0.04128827924903792},{"geom_ids":[86,90],"normal_force_n":0.04658621471501764},{"geom_ids":[88,90],"normal_force_n":0.05072905441327412},{"geom_ids":[88,90],"normal_force_n":0.05493394776000588},{"geom_ids":[88,90],"normal_force_n":0.04565959712634188},{"geom_ids":[88,90],"normal_force_n":0.04149102994046189},{"geom_ids":[89,90],"normal_force_n":0.0554601811620481},{"geom_ids":[89,90],"normal_force_n":0.05638235664453477},{"geom_ids":[89,90],"normal_force_n":0.05103924176839025},{"geom_ids":[89,90],"normal_force_n":0.050203827451439725}],"native_actuator_controls":[0.04191299575646301,1.3695294857979627,-1.0515915886127762,-0.009084007709450856,0.9457085195283578,-0.0342314726791732,0.0],"actuator_force_native":[-0.0343327796845978,-0.1133468802831743,-0.03864485127013495,-0.33779059180649645,-0.35772468001629854,0.29974833293694847,-0.7822833950482356],"issued_joint_targets_rad":[0.054947538624824974,1.3715962270582183,-1.0516858597930652,-0.012158152353030364,0.9449911279849483,-0.030510439395532635],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.199999999998678,"joint_targets_rad":[0.054947538624824974,1.3715962270582183,-1.0516858597930652,-0.012158152353030364,0.9449911279849483,-0.030510439395532635],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.219999999998667,"qpos":[0.014509689248587745,1.3708914137132022,-1.056240598783329,0.006876718735267621,0.9954895900777033,-0.08680009390056757,0.01959623224784203,-0.020247579800249053,0.2921131493468586,0.007064630075120135,0.17055923149639876,0.9844711529262483,-0.0035437862310525887,-0.16872390067631043,0.04833462501955235],"qvel":[0.6550896529376546,0.007036589005823607,0.08008875799852808,-0.08313109404234768,-0.09443679089268547,0.1746070981627294,-0.0003330443447446169,-0.00038002775576745536,-0.00316823628675798,0.17731267724699745,-0.02132595939899055,0.15452034080037397,-0.013889310338146896,0.484927134473037],"joint_position_rad":[0.014509689248587745,1.3708914137132022,-1.056240598783329,0.006876718735267621,0.9954895900777033,-0.08680009390056757],"joint_velocity_rad_s":[0.6550896529376546,0.007036589005823607,0.08008875799852808,-0.08313109404234768,-0.09443679089268547,0.1746070981627294],"gripper_joint_position_m":[0.01959623224784203,-0.020247579800249053],"tcp_position_m":[0.2929749961819144,0.006884151371756461,0.1731551824230478],"tcp_quaternion_wxyz":[0.173075569321861,-0.048524337410675446,0.9837076186693994,-0.0030914324427526157],"object_position_m":[0.2921131493468586,0.007064630075120135,0.17055923149639876],"object_quaternion_wxyz":[0.9844711529262483,-0.0035437862310525887,-0.16872390067631043,0.04833462501955235],"object_linear_velocity_m_s":[-0.00316823628675798,0.17731267724699745,-0.02132595939899055],"object_angular_velocity_rad_s":[-0.014956751925152873,-0.0034596541973193934,0.50890873521256],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.375999436385492,"right":0.4055182130517596},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.056383800913246906},{"geom_ids":[85,90],"normal_force_n":0.052537059845175274},{"geom_ids":[85,90],"normal_force_n":0.042911262065080724},{"geom_ids":[85,90],"normal_force_n":0.04672088432715533},{"geom_ids":[86,90],"normal_force_n":0.047198027322712464},{"geom_ids":[86,90],"normal_force_n":0.04243596593927225},{"geom_ids":[86,90],"normal_force_n":0.041484605335351636},{"geom_ids":[86,90],"normal_force_n":0.04632783063749742},{"geom_ids":[88,90],"normal_force_n":0.05091236478740515},{"geom_ids":[88,90],"normal_force_n":0.05474375939289444},{"geom_ids":[88,90],"normal_force_n":0.045278614595168055},{"geom_ids":[88,90],"normal_force_n":0.04148044994317413},{"geom_ids":[89,90],"normal_force_n":0.05522303574157159},{"geom_ids":[89,90],"normal_force_n":0.0561622851244547},{"geom_ids":[89,90],"normal_force_n":0.05128414738254309},{"geom_ids":[89,90],"normal_force_n":0.05043355608454841}],"native_actuator_controls":[0.054947538624824974,1.3715962270582183,-1.0516858597930652,-0.012158152353030364,0.9449911279849483,-0.030510439395532635,0.0],"actuator_force_native":[-0.04042031458929429,0.021202122572148596,-0.03606467077152331,-0.3457393733201809,-0.36332943458852185,0.30098589780625534,-0.7821840681899581],"issued_joint_targets_rad":[0.0677677387278957,1.373803859995302,-1.052405662521377,-0.015251698675639126,0.9445850911078627,-0.026800093900567576],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.219999999998667,"joint_targets_rad":[0.0677677387278957,1.373803859995302,-1.052405662521377,-0.015251698675639126,0.9445850911078627,-0.026800093900567576],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.239999999998656,"qpos":[0.027749126804262572,1.3712484295748604,-1.0551122354329543,0.0047578849840530305,0.993847521992775,-0.0831079598871153,0.019595576592030175,-0.020248251691322987,0.29209945542397403,0.010558439769001494,0.1702038693822625,0.9842020965234767,-0.0030863900814305546,-0.1687590130646362,0.053451874658509535],"qvel":[0.6497767135054423,0.02263712907293752,0.042814123771517915,-0.09019013464423206,-0.08099010602923622,0.17395956379119012,-0.0003360361752334312,-0.0003824755268870362,0.0016216233035120603,0.17472093008457956,-0.014903252870252565,0.1466288563809985,-0.022274212965487417,0.4844466799688502],"joint_position_rad":[0.027749126804262572,1.3712484295748604,-1.0551122354329543,0.0047578849840530305,0.993847521992775,-0.0831079598871153],"joint_velocity_rad_s":[0.6497767135054423,0.02263712907293752,0.042814123771517915,-0.09019013464423206,-0.08099010602923622,0.17395956379119012],"gripper_joint_position_m":[0.019595576592030175,-0.020248251691322987],"tcp_position_m":[0.29294734696556873,0.010388553118172916,0.17280124004460734],"tcp_quaternion_wxyz":[0.1731461633350965,-0.053628884093039175,0.983431525380073,-0.002604573265217869],"object_position_m":[0.29209945542397403,0.010558439769001494,0.1702038693822625],"object_quaternion_wxyz":[0.9842020965234767,-0.0030863900814305546,-0.1687590130646362,0.053451874658509535],"object_linear_velocity_m_s":[0.0016216233035120603,0.17472093008457956,-0.014903252870252565],"object_angular_velocity_rad_s":[-0.021326720777359823,-0.01236297201422333,0.5060405870318441],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37600641552646,"right":0.4054690140240347},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05630571545208451},{"geom_ids":[85,90],"normal_force_n":0.05279281240564081},{"geom_ids":[85,90],"normal_force_n":0.043051564035444356},{"geom_ids":[85,90],"normal_force_n":0.04652965411449361},{"geom_ids":[86,90],"normal_force_n":0.04696521047564502},{"geom_ids":[86,90],"normal_force_n":0.042617572310250054},{"geom_ids":[86,90],"normal_force_n":0.04165654388199815},{"geom_ids":[86,90],"normal_force_n":0.046087342850903545},{"geom_ids":[88,90],"normal_force_n":0.0510984639846417},{"geom_ids":[88,90],"normal_force_n":0.05459143723543346},{"geom_ids":[88,90],"normal_force_n":0.04502882266606377},{"geom_ids":[88,90],"normal_force_n":0.04156595405084494},{"geom_ids":[89,90],"normal_force_n":0.05502820769195905},{"geom_ids":[89,90],"normal_force_n":0.055975351848639734},{"geom_ids":[89,90],"normal_force_n":0.05151902404256169},{"geom_ids":[89,90],"normal_force_n":0.05066175250389032}],"native_actuator_controls":[0.0677677387278957,1.373803859995302,-1.052405662521377,-0.015251698675639126,0.9445850911078627,-0.026800093900567576,0.0],"actuator_force_native":[-0.047394613636560834,0.09124878827063299,0.0024552140686040502,-0.34943267316652593,-0.37113914980526985,0.302139314178692,-0.7821428828050399],"issued_joint_targets_rad":[0.08033194594804012,1.3762739407051554,-1.053840179210968,-0.018335337653183084,0.9445385652015275,-0.02310795988711531],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.239999999998656,"joint_targets_rad":[0.08033194594804012,1.3762739407051554,-1.053840179210968,-0.018335337653183084,0.9445385652015275,-0.02310795988711531],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.259999999998644,"qpos":[0.0408592102747414,1.3719805820722297,-1.0547008139910419,0.002509269611139591,0.9924248079772995,-0.0794239032645984,0.019594935785528712,-0.020248897223097584,0.29218967088673564,0.013998382291318756,0.1699530071524959,0.983897100004692,-0.0026965402469757258,-0.1688579969008443,0.058533769361700926],"qvel":[0.6421091141847964,0.0427741802195731,0.00950926740300808,-0.09622221323501028,-0.07353930609105645,0.17387233139138542,-0.00033308011699380774,-0.0003787332799079425,0.007049967985573395,0.17187457030076747,-0.01065239313407858,0.1390187373575975,-0.02865752117000904,0.4804959475842133],"joint_position_rad":[0.0408592102747414,1.3719805820722297,-1.0547008139910419,0.002509269611139591,0.9924248079772995,-0.0794239032645984],"joint_velocity_rad_s":[0.6421091141847964,0.0427741802195731,0.00950926740300808,-0.09622221323501028,-0.07353930609105645,0.17387233139138542],"gripper_joint_position_m":[0.019594935785528712,-0.020248897223097584],"tcp_position_m":[0.29302332477998727,0.0138393709879646,0.1725523372054788],"tcp_quaternion_wxyz":[0.17327975347411181,-0.05870043681033907,0.9831193206543938,-0.0021879465875617203],"object_position_m":[0.29218967088673564,0.013998382291318756,0.1699530071524959],"object_quaternion_wxyz":[0.983897100004692,-0.0026965402469757258,-0.1688579969008443,0.058533769361700926],"object_linear_velocity_m_s":[0.007049967985573395,0.17187457030076747,-0.01065239313407858],"object_angular_velocity_rad_s":[-0.02639663093867782,-0.019270336576077227,0.49995568854078815],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3755677886370615,"right":0.40590577811516043},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0561368754774195},{"geom_ids":[85,90],"normal_force_n":0.0528817644342435},{"geom_ids":[85,90],"normal_force_n":0.04311964699130395},{"geom_ids":[85,90],"normal_force_n":0.046341884690599036},{"geom_ids":[86,90],"normal_force_n":0.0467453586388166},{"geom_ids":[86,90],"normal_force_n":0.04271754117484349},{"geom_ids":[86,90],"normal_force_n":0.041756314032866906},{"geom_ids":[86,90],"normal_force_n":0.04586840319696854},{"geom_ids":[88,90],"normal_force_n":0.05128560353023449},{"geom_ids":[88,90],"normal_force_n":0.054516079333373935},{"geom_ids":[88,90],"normal_force_n":0.04495188521336548},{"geom_ids":[88,90],"normal_force_n":0.04174873868856444},{"geom_ids":[89,90],"normal_force_n":0.05491989298419037},{"geom_ids":[89,90],"normal_force_n":0.05586529807704791},{"geom_ids":[89,90],"normal_force_n":0.051736716419281285},{"geom_ids":[89,90],"normal_force_n":0.05088156386910254}],"native_actuator_controls":[0.08033194594804012,1.3762739407051554,-1.053840179210968,-0.018335337653183084,0.9445385652015275,-0.02310795988711531,0.0],"actuator_force_native":[-0.052726717060084916,0.1295977895362057,0.021304445390882165,-0.35267322439785564,-0.36855346862113336,0.30235093668775287,-0.7821320308361794],"issued_joint_targets_rad":[0.09260161797445862,1.379104148167856,-1.055940371607818,-0.021388621056535835,0.9447211107192514,-0.019423903264598405],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.259999999998644,"joint_targets_rad":[0.09260161797445862,1.379104148167856,-1.055940371607818,-0.021388621056535835,0.9447211107192514,-0.019423903264598405],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.279999999998633,"qpos":[0.0537893408268778,1.3730268552149463,-1.0546184150495235,0.0001642592742674378,0.9908312167411603,-0.07571695282213228,0.019594418679519346,-0.020249404005341805,0.29237263517485595,0.0173801004373585,0.1697277267802441,0.9835513899459354,-0.002358297958595622,-0.16907128390647821,0.06352954213884918],"qvel":[0.6320665810928205,0.05814532011037322,0.0013344858270100375,-0.10079526207503685,-0.08403545213642843,0.1752549125914563,-0.00032071208839135697,-0.00036520002344104407,0.010072900550168318,0.1687167373855683,-0.011801873923147011,0.1320876197542671,-0.03342434709867929,0.4719001277257988],"joint_position_rad":[0.0537893408268778,1.3730268552149463,-1.0546184150495235,0.0001642592742674378,0.9908312167411603,-0.07571695282213228],"joint_velocity_rad_s":[0.6320665810928205,0.05814532011037322,0.0013344858270100375,-0.10079526207503685,-0.08403545213642843,0.1752549125914563],"gripper_joint_position_m":[0.019594418679519346,-0.020249404005341805],"tcp_position_m":[0.29318927547495094,0.017231818150586758,0.17232985891248143],"tcp_quaternion_wxyz":[0.17350918856815892,-0.06369104230521423,0.9827688816883736,-0.0018269640056808424],"object_position_m":[0.29237263517485595,0.0173801004373585,0.1697277267802441],"object_quaternion_wxyz":[0.9835513899459354,-0.002358297958595622,-0.16907128390647821,0.06352954213884918],"object_linear_velocity_m_s":[0.010072900550168318,0.1687167373855683,-0.011801873923147011],"object_angular_velocity_rad_s":[-0.02946593545189041,-0.02449019270661652,0.48967953390772184],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37546405907246105,"right":0.4060706069139365},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.056038545393503045},{"geom_ids":[85,90],"normal_force_n":0.05288164938012451},{"geom_ids":[85,90],"normal_force_n":0.04316529398897466},{"geom_ids":[85,90],"normal_force_n":0.04628986885828338},{"geom_ids":[86,90],"normal_force_n":0.04668110693976293},{"geom_ids":[86,90],"normal_force_n":0.042775369800683104},{"geom_ids":[86,90],"normal_force_n":0.0418211029197973},{"geom_ids":[86,90],"normal_force_n":0.0458111217913322},{"geom_ids":[88,90],"normal_force_n":0.051344359371503605},{"geom_ids":[88,90],"normal_force_n":0.05447067613326429},{"geom_ids":[88,90],"normal_force_n":0.044971807226895595},{"geom_ids":[88,90],"normal_force_n":0.04187119153024414},{"geom_ids":[89,90],"normal_force_n":0.054861402366187285},{"geom_ids":[89,90],"normal_force_n":0.05579788819614178},{"geom_ids":[89,90],"normal_force_n":0.051799982502467125},{"geom_ids":[89,90],"normal_force_n":0.05095329958723267}],"native_actuator_controls":[0.09260161797445862,1.379104148167856,-1.055940371607818,-0.021388621056535835,0.9447211107192514,-0.019423903264598405,0.0],"actuator_force_native":[-0.05535073365763665,0.19545683568092898,-0.11242895379861295,-0.3581389028569466,-0.3350478820144467,0.3000481266881544,-0.7821731867388171],"issued_joint_targets_rad":[0.10453924056810887,1.3822148591090593,-1.0583440277855931,-0.024401099773005492,0.9447659822278233,-0.015716952822132285],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.279999999998633,"joint_targets_rad":[0.10453924056810887,1.3822148591090593,-1.0583440277855931,-0.024401099773005492,0.9447659822278233,-0.015716952822132285],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.299999999998622,"qpos":[0.06650061690928165,1.3744331375392012,-1.0546477699323271,-0.0022633995595247175,0.9891396385647848,-0.0719916309315432,0.019594059998230728,-0.020249755952054888,0.2925841151366569,0.02069523644349376,0.16943964339435572,0.9831985102170023,-0.0020672972139192352,-0.16921725994011996,0.0684246646148462],"qvel":[0.6202270749643181,0.07821168532312983,-0.0028748132072986725,-0.10477099365931944,-0.08405951662202871,0.17587633800915056,-0.00031664454281457843,-0.00036148279498997185,0.010306782448920478,0.16512729163499698,-0.01634348838884036,0.1265281246537477,-0.017784462039232264,0.462359876959016],"joint_position_rad":[0.06650061690928165,1.3744331375392012,-1.0546477699323271,-0.0022633995595247175,0.9891396385647848,-0.0719916309315432],"joint_velocity_rad_s":[0.6202270749643181,0.07821168532312983,-0.0028748132072986725,-0.10477099365931944,-0.08405951662202871,0.17587633800915056],"gripper_joint_position_m":[0.019594059998230728,-0.020249755952054888],"tcp_position_m":[0.2933849192104705,0.020557280300133342,0.17204513354142853],"tcp_quaternion_wxyz":[0.17367009776588954,-0.06858335324143995,0.9824116867909686,-0.0015160661826650686],"object_position_m":[0.2925841151366569,0.02069523644349376,0.16943964339435572],"object_quaternion_wxyz":[0.9831985102170023,-0.0020672972139192352,-0.16921725994011996,0.0684246646148462],"object_linear_velocity_m_s":[0.010306782448920478,0.16512729163499698,-0.01634348838884036],"object_angular_velocity_rad_s":[-0.03350262074439961,-0.009332327738209613,0.47842741487316454],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37512636212214123,"right":0.4064313173112266},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05588641778290164},{"geom_ids":[85,90],"normal_force_n":0.052752197223696264},{"geom_ids":[85,90],"normal_force_n":0.04316234927269566},{"geom_ids":[85,90],"normal_force_n":0.046264413693364065},{"geom_ids":[86,90],"normal_force_n":0.046652839962207766},{"geom_ids":[86,90],"normal_force_n":0.042775241279852556},{"geom_ids":[86,90],"normal_force_n":0.04183590345544175},{"geom_ids":[86,90],"normal_force_n":0.045796999451981485},{"geom_ids":[88,90],"normal_force_n":0.05137217091312315},{"geom_ids":[88,90],"normal_force_n":0.05447058586674116},{"geom_ids":[88,90],"normal_force_n":0.04511307141807295},{"geom_ids":[88,90],"normal_force_n":0.04203929540102937},{"geom_ids":[89,90],"normal_force_n":0.054857807583938045},{"geom_ids":[89,90],"normal_force_n":0.05577784669242091},{"geom_ids":[89,90],"normal_force_n":0.05181594252385295},{"geom_ids":[89,90],"normal_force_n":0.050984596912048014}],"native_actuator_controls":[0.10453924056810887,1.3822148591090593,-1.0583440277855931,-0.024401099773005492,0.9447659822278233,-0.015716952822132285,0.0],"actuator_force_native":[-0.05804548211541238,0.23147929897299946,-0.28132656222479113,-0.3616530402426338,-0.31764728843657153,0.29893227408038336,-0.7821791772151563],"issued_joint_targets_rad":[0.11607954790395021,1.3856212503777516,-1.0608645052480097,-0.027320582886600924,0.9447641701359656,-0.011991630931543207],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.299999999998622,"joint_targets_rad":[0.11607954790395021,1.3856212503777516,-1.0608645052480097,-0.027320582886600924,0.9447641701359656,-0.011991630931543207],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.319999999998611,"qpos":[0.0789559762681529,1.376376353195163,-1.0549943264581858,-0.0047602818599927835,0.9877523936381137,-0.06828058167914326,0.019593544122625765,-0.02025029304011036,0.2928008829935256,0.02393567798829201,0.16907414515629968,0.9828744134372234,-0.001825526447088244,-0.16909602940797042,0.07321944893321777],"qvel":[0.6063158277217892,0.10490166148086373,-0.019250367228726663,-0.10776832404004488,-0.0709392684268716,0.17551768903551535,-0.0003273383016621383,-0.0003722717523972418,0.011290311913494921,0.16120751331186997,-0.019863634164487907,0.1213431600520293,0.005160733437215106,0.4513909374663485],"joint_position_rad":[0.0789559762681529,1.376376353195163,-1.0549943264581858,-0.0047602818599927835,0.9877523936381137,-0.06828058167914326],"joint_velocity_rad_s":[0.6063158277217892,0.10490166148086373,-0.019250367228726663,-0.10776832404004488,-0.0709392684268716,0.17551768903551535],"gripper_joint_position_m":[0.019593544122625765,-0.02025029304011036],"tcp_position_m":[0.2935903745161877,0.023807231094145252,0.17168267949570015],"tcp_quaternion_wxyz":[0.17357928332821865,-0.07337534408647384,0.9820818241508568,-0.0012577567248527636],"object_position_m":[0.2928008829935256,0.02393567798829201,0.16907414515629968],"object_quaternion_wxyz":[0.9828744134372234,-0.001825526447088244,-0.16909602940797042,0.07321944893321777],"object_linear_velocity_m_s":[0.011290311913494921,0.16120751331186997,-0.019863634164487907],"object_angular_velocity_rad_s":[-0.03779991173443626,0.013087706672764354,0.46573002125124796],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37442283490559847,"right":0.4070779802119064},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.055570548360700904},{"geom_ids":[85,90],"normal_force_n":0.05244362053052634},{"geom_ids":[85,90],"normal_force_n":0.0431426692882331},{"geom_ids":[85,90],"normal_force_n":0.046238220284872136},{"geom_ids":[86,90],"normal_force_n":0.04662583683508367},{"geom_ids":[86,90],"normal_force_n":0.042756380045134185},{"geom_ids":[86,90],"normal_force_n":0.041847260393985494},{"geom_ids":[86,90],"normal_force_n":0.045798299167062656},{"geom_ids":[88,90],"normal_force_n":0.05139190175737926},{"geom_ids":[88,90],"normal_force_n":0.05448039697648974},{"geom_ids":[88,90],"normal_force_n":0.045417424255920505},{"geom_ids":[88,90],"normal_force_n":0.04235250399102643},{"geom_ids":[89,90],"normal_force_n":0.05486639944764575},{"geom_ids":[89,90],"normal_force_n":0.055755509627907436},{"geom_ids":[89,90],"normal_force_n":0.051808259143832636},{"geom_ids":[89,90],"normal_force_n":0.051005585011704636}],"native_actuator_controls":[0.11607954790395021,1.3856212503777516,-1.0608645052480097,-0.027320582886600924,0.9447641701359656,-0.011991630931543207,0.0],"actuator_force_native":[-0.0616934077451603,0.21508346720278837,-0.37336246704226994,-0.3635704208641013,-0.3234733323811749,0.2996129739227275,-0.7821050733967199],"issued_joint_targets_rad":[0.12716398892919775,1.3894574165208058,-1.0636846001247522,-0.030085825778142273,0.9450898356160392,-0.008280581679143265],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.319999999998611,"joint_targets_rad":[0.12716398892919775,1.3894574165208058,-1.0636846001247522,-0.030085825778142273,0.9450898356160392,-0.008280581679143265],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.3399999999986,"qpos":[0.09110907053251179,1.3789029253307334,-1.055796735083365,-0.007296132741459896,0.98665103157835,-0.06459346149932702,0.019592756180130268,-0.020251104690338573,0.29306675746371474,0.02709736495921539,0.16866300956162894,0.9825714374914916,-0.0016280223629785717,-0.1687724362672482,0.07788828233763519],"qvel":[0.5900161312945276,0.13421563177833462,-0.04530478348213578,-0.10937661712227047,-0.05539418662309045,0.17489159413248762,-0.0003324325748423458,-0.0003756260311844426,0.014350067266800767,0.15703407821295554,-0.021255277359600623,0.11577474734887236,0.02382783355067442,0.4377553414070646],"joint_position_rad":[0.09110907053251179,1.3789029253307334,-1.055796735083365,-0.007296132741459896,0.98665103157835,-0.06459346149932702],"joint_velocity_rad_s":[0.5900161312945276,0.13421563177833462,-0.04530478348213578,-0.10937661712227047,-0.05539418662309045,0.17489159413248762],"gripper_joint_position_m":[0.019592756180130268,-0.020251104690338573],"tcp_position_m":[0.2938472843089345,0.026977630514621365,0.17127393436634394],"tcp_quaternion_wxyz":[0.17329187091396617,-0.07804267129827316,0.9817729725971324,-0.0010484319516902724],"object_position_m":[0.29306675746371474,0.02709736495921539,0.16866300956162894],"object_quaternion_wxyz":[0.9825714374914916,-0.0016280223629785717,-0.1687724362672482,0.07788828233763519],"object_linear_velocity_m_s":[0.014350067266800767,0.15703407821295554,-0.021255277359600623],"object_angular_velocity_rad_s":[-0.04115729519863196,0.031214465554560318,0.45048088849351353],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37364683149780875,"right":0.40782463307830924},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05513995458196269},{"geom_ids":[85,90],"normal_force_n":0.05196272081369773},{"geom_ids":[85,90],"normal_force_n":0.0431246040406814},{"geom_ids":[85,90],"normal_force_n":0.04627139532839606},{"geom_ids":[86,90],"normal_force_n":0.04666544509666169},{"geom_ids":[86,90],"normal_force_n":0.04273193703516518},{"geom_ids":[86,90],"normal_force_n":0.041869560258913675},{"geom_ids":[86,90],"normal_force_n":0.04588121434233029},{"geom_ids":[88,90],"normal_force_n":0.05135679045042082},{"geom_ids":[88,90],"normal_force_n":0.05449378072684441},{"geom_ids":[88,90],"normal_force_n":0.045892993031947917},{"geom_ids":[88,90],"normal_force_n":0.0427786457812107},{"geom_ids":[89,90],"normal_force_n":0.05488590098360818},{"geom_ids":[89,90],"normal_force_n":0.05572808633821288},{"geom_ids":[89,90],"normal_force_n":0.05172396873541591},{"geom_ids":[89,90],"normal_force_n":0.05096446703064843}],"native_actuator_controls":[0.12716398892919775,1.3894574165208058,-1.0636846001247522,-0.030085825778142273,0.9450898356160392,-0.008280581679143265,0.0],"actuator_force_native":[-0.06568718473775981,0.17328113631411668,-0.4045052859002993,-0.3647046358559427,-0.3325206796884732,0.300791407003106,-0.7820480843309989],"issued_joint_targets_rad":[0.13777879783418173,1.3937475879227093,-1.0669047953242716,-0.03269645545510989,0.945697296261347,-0.004593461499327017],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.3399999999986,"joint_targets_rad":[0.13777879783418173,1.3937475879227093,-1.0669047953242716,-0.03269645545510989,0.945697296261347,-0.004593461499327017],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.359999999998589,"qpos":[0.10291084024358896,1.3819924197235627,-1.0571307517209494,-0.00984039225626501,0.9857462972694402,-0.060923601967269966,0.019591891315279206,-0.02025197307311463,0.29342106820336866,0.030176423572837674,0.16824196348643616,0.9822774172932766,-0.001467292565154057,-0.16834448029323046,0.082395743112009],"qvel":[0.571401336230433,0.16130522867822025,-0.07294322753318933,-0.10964226839138416,-0.0457781033918539,0.17466338949418678,-0.0003249490681061733,-0.0003658800419396373,0.01907586873477855,0.1526723005127974,-0.021118332186637005,0.10957536194398278,0.032454011240447056,0.4208089298578941],"joint_position_rad":[0.10291084024358896,1.3819924197235627,-1.0571307517209494,-0.00984039225626501,0.9857462972694402,-0.060923601967269966],"joint_velocity_rad_s":[0.571401336230433,0.16130522867822025,-0.07294322753318933,-0.10964226839138416,-0.0457781033918539,0.17466338949418678],"gripper_joint_position_m":[0.019591891315279206,-0.02025197307311463],"tcp_position_m":[0.2941935834847808,0.030065100444844627,0.17085461036531285],"tcp_quaternion_wxyz":[0.17289942051327914,-0.08255080240902879,0.9814735758789529,-0.0008804880346452385],"object_position_m":[0.29342106820336866,0.030176423572837674,0.16824196348643616],"object_quaternion_wxyz":[0.9822774172932766,-0.001467292565154057,-0.16834448029323046,0.082395743112009],"object_linear_velocity_m_s":[0.01907586873477855,0.1526723005127974,-0.021118332186637005],"object_angular_velocity_rad_s":[-0.04263300134617318,0.039343451537792076,0.43217438408147973],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3730965974971103,"right":0.4084131695759448},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.054673214047532254},{"geom_ids":[85,90],"normal_force_n":0.0513651845909503},{"geom_ids":[85,90],"normal_force_n":0.04312540559728893},{"geom_ids":[85,90],"normal_force_n":0.04640372194314478},{"geom_ids":[86,90],"normal_force_n":0.04681427992779891},{"geom_ids":[86,90],"normal_force_n":0.04271636306891395},{"geom_ids":[86,90],"normal_force_n":0.041913584268799105},{"geom_ids":[86,90],"normal_force_n":0.04608484405268212},{"geom_ids":[88,90],"normal_force_n":0.051231806074547824},{"geom_ids":[88,90],"normal_force_n":0.054496653546698345},{"geom_ids":[88,90],"normal_force_n":0.04649164810344737},{"geom_ids":[88,90],"normal_force_n":0.04324865580086823},{"geom_ids":[89,90],"normal_force_n":0.05490485527385193},{"geom_ids":[89,90],"normal_force_n":0.05568739655688365},{"geom_ids":[89,90],"normal_force_n":0.051528546110391114},{"geom_ids":[89,90],"normal_force_n":0.05082360810925641}],"native_actuator_controls":[0.13777879783418173,1.3937475879227093,-1.0669047953242716,-0.03269645545510989,0.945697296261347,-0.004593461499327017,0.0],"actuator_force_native":[-0.06757007390474179,0.13388731254062236,-0.41720735059982417,-0.3660311859968741,-0.3318228549931508,0.30130632043814937,-0.7820509072706373],"issued_joint_targets_rad":[0.14791887393367373,1.398462937787375,-1.0705705905245424,-0.03516729682313925,0.9464760672486984,-0.0009236019672699686],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.359999999998589,"joint_targets_rad":[0.14791887393367373,1.398462937787375,-1.0705705905245424,-0.03516729682313925,0.9464760672486984,-0.0009236019672699686],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.379999999998578,"qpos":[0.11431726595959332,1.385595954596108,-1.0590173413232107,-0.012370150927843618,0.9849605383537196,-0.05726401899112269,0.019591137118309933,-0.02025271511333774,0.2938858092021823,0.03316888257227975,0.16783633761603195,0.9819845552692311,-0.0013374653418188364,-0.167885899902373,0.08671141224268156],"qvel":[0.5508668447992092,0.1858319784011229,-0.10099325578986304,-0.1090134642186954,-0.03977497921333771,0.17467282026319386,-0.0003096484917247679,-0.00034874303147384685,0.024694731750647094,0.14814231428646205,-0.01990615386329612,0.10287182779084862,0.034531077823989995,0.40136909621418293],"joint_position_rad":[0.11431726595959332,1.385595954596108,-1.0590173413232107,-0.012370150927843618,0.9849605383537196,-0.05726401899112269],"joint_velocity_rad_s":[0.5508668447992092,0.1858319784011229,-0.10099325578986304,-0.1090134642186954,-0.03977497921333771,0.17467282026319386],"gripper_joint_position_m":[0.019591137118309933,-0.02025271511333774],"tcp_position_m":[0.29465092283560534,0.03306598136794309,0.17045011555740336],"tcp_quaternion_wxyz":[0.17247449334079415,-0.08686906177165486,0.9811757015741894,-0.0007469231193099035],"object_position_m":[0.2938858092021823,0.03316888257227975,0.16783633761603195],"object_quaternion_wxyz":[0.9819845552692311,-0.0013374653418188364,-0.167885899902373,0.08671141224268156],"object_linear_velocity_m_s":[0.024694731750647094,0.14814231428646205,-0.01990615386329612],"object_angular_velocity_rad_s":[-0.042772847436849136,0.04094513672260658,0.41154117532200546],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37279770788968536,"right":0.40879685778081143},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05420550841624388},{"geom_ids":[85,90],"normal_force_n":0.050700453129048695},{"geom_ids":[85,90],"normal_force_n":0.04314389090157392},{"geom_ids":[85,90],"normal_force_n":0.046619848305741216},{"geom_ids":[86,90],"normal_force_n":0.04705521849971311},{"geom_ids":[86,90],"normal_force_n":0.042710246203615486},{"geom_ids":[86,90],"normal_force_n":0.04197498068181128},{"geom_ids":[86,90],"normal_force_n":0.046387561751937784},{"geom_ids":[88,90],"normal_force_n":0.05102960173022277},{"geom_ids":[88,90],"normal_force_n":0.05448678168549141},{"geom_ids":[88,90],"normal_force_n":0.04716246764213334},{"geom_ids":[88,90],"normal_force_n":0.043726337331291665},{"geom_ids":[89,90],"normal_force_n":0.05491916139520634},{"geom_ids":[89,90],"normal_force_n":0.0556341224048668},{"geom_ids":[89,90],"normal_force_n":0.05124087438797251},{"geom_ids":[89,90],"normal_force_n":0.050597511203626565}],"native_actuator_controls":[0.14791887393367373,1.398462937787375,-1.0705705905245424,-0.03516729682313925,0.9464760672486984,-0.0009236019672699686,0.0],"actuator_force_native":[-0.06620558606961424,0.10019876329573663,-0.4192936571572261,-0.36681851471834825,-0.32518224223020553,0.30139493984373644,-0.7820972422737734],"issued_joint_targets_rad":[0.15757966623027056,1.403554074309279,-1.0746857315224463,-0.03751483421931644,0.9473358950869722,0.002735981008877307],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.379999999998578,"joint_targets_rad":[0.15757966623027056,1.403554074309279,-1.0746857315224463,-0.03751483421931644,0.9473358950869722,0.002735981008877307],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.399999999998567,"qpos":[0.12529542151493048,1.3896632822523545,-1.0614611254953545,-0.014870427463184477,0.9842523137299838,-0.05361005003968698,0.019590574870654194,-0.02025326178268364,0.2944716465250862,0.03607209889430208,0.1674638759890418,0.9816893640761585,-0.0012342118992260457,-0.1674436713245145,0.09081346879237209],"qvel":[0.5289666907279882,0.20777763273543187,-0.1287169827124024,-0.10774611245787748,-0.035978484274937016,0.174828747613217,-0.00029321964468378525,-0.0003310817093398607,0.03074861356374527,0.14353409554781973,-0.017955819101596687,0.09592278521365698,0.03217254907221646,0.38014445303334987],"joint_position_rad":[0.12529542151493048,1.3896632822523545,-1.0614611254953545,-0.014870427463184477,0.9842523137299838,-0.05361005003968698],"joint_velocity_rad_s":[0.5289666907279882,0.20777763273543187,-0.1287169827124024,-0.10774611245787748,-0.035978484274937016,0.174828747613217],"gripper_joint_position_m":[0.019590574870654194,-0.02025326178268364],"tcp_position_m":[0.29522992040554696,0.03597763128056872,0.17007825658124137],"tcp_quaternion_wxyz":[0.17206425388004057,-0.09097508429200547,0.9808756363825738,-0.0006422817515832359],"object_position_m":[0.2944716465250862,0.03607209889430208,0.1674638759890418],"object_quaternion_wxyz":[0.9816893640761585,-0.0012342118992260457,-0.1674436713245145,0.09081346879237209],"object_linear_velocity_m_s":[0.03074861356374527,0.14353409554781973,-0.017955819101596687],"object_angular_velocity_rad_s":[-0.041821072361663464,0.03814470501823965,0.389284007113786],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37267708677177586,"right":0.40901562109642664},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0537484720735692},{"geom_ids":[85,90],"normal_force_n":0.050002239713623005},{"geom_ids":[85,90],"normal_force_n":0.04317252863898582},{"geom_ids":[85,90],"normal_force_n":0.04689037843955127},{"geom_ids":[86,90],"normal_force_n":0.04735612702549798},{"geom_ids":[86,90],"normal_force_n":0.04270878351810947},{"geom_ids":[86,90],"normal_force_n":0.04204493309659795},{"geom_ids":[86,90],"normal_force_n":0.04675362426584119},{"geom_ids":[88,90],"normal_force_n":0.050775501891420355},{"geom_ids":[88,90],"normal_force_n":0.05446760730187257},{"geom_ids":[88,90],"normal_force_n":0.047867553566320026},{"geom_ids":[88,90],"normal_force_n":0.04419554392009473},{"geom_ids":[89,90],"normal_force_n":0.05492951691384664},{"geom_ids":[89,90],"normal_force_n":0.05557300560579311},{"geom_ids":[89,90],"normal_force_n":0.0508926684626303},{"geom_ids":[89,90],"normal_force_n":0.05031422343444895}],"native_actuator_controls":[0.15757966623027056,1.403554074309279,-1.0746857315224463,-0.03751483421931644,0.9473358950869722,0.002735981008877307,0.0],"actuator_force_native":[-0.06209387641273523,0.07237520087679172,-0.414383568605345,-0.3670457079558911,-0.3151964600177095,0.3012171890658174,-0.7821568966027488],"issued_joint_targets_rad":[0.16676032525979984,1.4089745424545284,-1.079246230042131,-0.039753913599128825,0.9482277479402798,0.0063899499603130155],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.399999999998567,"joint_targets_rad":[0.16676032525979984,1.4089745424545284,-1.079246230042131,-0.039753913599128825,0.9482277479402798,0.0063899499603130155],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.419999999998556,"qpos":[0.13582356418698324,1.3941464559934897,-1.0644541778893992,-0.017330864052777048,0.9835981572884367,-0.04995856845145148,0.01959019408971445,-0.02025363177191134,0.2951826896015393,0.03888517709621671,0.16713627904517256,0.9813907319519548,-0.0011534815912823025,-0.16704854248179538,0.09468730207230718],"qvel":[0.5062063828920673,0.22733109281290295,-0.15566281169475665,-0.10600966763141347,-0.033513594052345094,0.1750732864556682,-0.000279155704090668,-0.00031611579805212564,0.03695454513022409,0.1389258965128794,-0.015531138206198346,0.08894583938569219,0.02689397987079252,0.3577277863417926],"joint_position_rad":[0.13582356418698324,1.3941464559934897,-1.0644541778893992,-0.017330864052777048,0.9835981572884367,-0.04995856845145148],"joint_velocity_rad_s":[0.5062063828920673,0.22733109281290295,-0.15566281169475665,-0.10600966763141347,-0.033513594052345094,0.1750732864556682],"gripper_joint_position_m":[0.01959019408971445,-0.02025363177191134],"tcp_position_m":[0.29593464467800346,0.03879898024507158,0.16975079037583668],"tcp_quaternion_wxyz":[0.1716995754038832,-0.09485378857620465,0.9805721284393892,-0.0005617176451614178],"object_position_m":[0.2951826896015393,0.03888517709621671,0.16713627904517256],"object_quaternion_wxyz":[0.9813907319519548,-0.0011534815912823025,-0.16704854248179538,0.09468730207230718],"object_linear_velocity_m_s":[0.03695454513022409,0.1389258965128794,-0.015531138206198346],"object_angular_velocity_rad_s":[-0.03997093285478972,0.03246984454085107,0.36599433238853013],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3726621030235227,"right":0.40912318188397223},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05330581029306723},{"geom_ids":[85,90],"normal_force_n":0.04929230815099484},{"geom_ids":[85,90],"normal_force_n":0.04320477176760005},{"geom_ids":[85,90],"normal_force_n":0.04719088135299886},{"geom_ids":[86,90],"normal_force_n":0.047690333725618816},{"geom_ids":[86,90],"normal_force_n":0.042707658215127786},{"geom_ids":[86,90],"normal_force_n":0.04211640784943368},{"geom_ids":[86,90],"normal_force_n":0.04715393166868145},{"geom_ids":[88,90],"normal_force_n":0.05049158497183867},{"geom_ids":[88,90],"normal_force_n":0.054443666527607716},{"geom_ids":[88,90],"normal_force_n":0.048582463993753384},{"geom_ids":[88,90],"normal_force_n":0.0446493194145882},{"geom_ids":[89,90],"normal_force_n":0.05493825737835947},{"geom_ids":[89,90],"normal_force_n":0.05550917549408752},{"geom_ids":[89,90],"normal_force_n":0.05051070794677892},{"geom_ids":[89,90],"normal_force_n":0.04999800615695836}],"native_actuator_controls":[0.16676032525979984,1.4089745424545284,-1.079246230042131,-0.039753913599128825,0.9482277479402798,0.0063899499603130155,0.0],"actuator_force_native":[-0.05609102863501114,0.04959145281857502,-0.40505011374476396,-0.3668736436970037,-0.30343370240305134,0.30087525443414265,-0.7822119850681246],"issued_joint_targets_rad":[0.17546484145362992,1.4146829627323187,-1.0842418803052138,-0.041897097993765106,0.949124495270324,0.010041431548548516],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.419999999998556,"joint_targets_rad":[0.17546484145362992,1.4146829627323187,-1.0842418803052138,-0.041897097993765106,0.949124495270324,0.010041431548548516],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.439999999998545,"qpos":[0.14588665182576588,1.399000204443872,-1.0679778752702866,-0.01974334137619116,0.9829840237836044,-0.04630744507537164,0.019589932831138735,-0.02025388898190948,0.2960186374955682,0.04160788795500304,0.16686037965406242,0.9810891475300776,-0.0010911573519945801,-0.1667200694147262,0.09832249197760837],"qvel":[0.4829047907824376,0.2447065392459441,-0.18148717458082048,-0.10398303097445782,-0.0318776471765539,0.1753742718838226,-0.0002667569243876772,-0.0003026339543946132,0.04313193262632206,0.1343308635872646,-0.012838192569505517,0.08199489359217609,0.01977540587025625,0.3345479583874802],"joint_position_rad":[0.14588665182576588,1.399000204443872,-1.0679778752702866,-0.01974334137619116,0.9829840237836044,-0.04630744507537164],"joint_velocity_rad_s":[0.4829047907824376,0.2447065392459441,-0.18148717458082048,-0.10398303097445782,-0.0318776471765539,0.1753742718838226],"gripper_joint_position_m":[0.019589932831138735,-0.02025388898190948],"tcp_position_m":[0.2967647460244285,0.0415295703247891,0.16947460518248486],"tcp_quaternion_wxyz":[0.17140000044814627,-0.09849444133264801,0.9802655937158332,-0.0005006494682531635],"object_position_m":[0.2960186374955682,0.04160788795500304,0.16686037965406242],"object_quaternion_wxyz":[0.9810891475300776,-0.0010911573519945801,-0.1667200694147262,0.09832249197760837],"object_linear_velocity_m_s":[0.04313193262632206,0.1343308635872646,-0.012838192569505517],"object_angular_velocity_rad_s":[-0.037470602284932764,0.02499004898260397,0.3420643464759344],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37273484714970023,"right":0.4091390953232859},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05288304982283481},{"geom_ids":[85,90],"normal_force_n":0.04858784319261291},{"geom_ids":[85,90],"normal_force_n":0.04324015340416988},{"geom_ids":[85,90],"normal_force_n":0.047509333199997054},{"geom_ids":[86,90],"normal_force_n":0.048044365691506684},{"geom_ids":[86,90],"normal_force_n":0.042707843605953186},{"geom_ids":[86,90],"normal_force_n":0.042188720274618535},{"geom_ids":[86,90],"normal_force_n":0.04757353795800718},{"geom_ids":[88,90],"normal_force_n":0.05018996923607482},{"geom_ids":[88,90],"normal_force_n":0.054416000733510356},{"geom_ids":[88,90],"normal_force_n":0.04929008868248866},{"geom_ids":[88,90],"normal_force_n":0.045081626857526015},{"geom_ids":[89,90],"normal_force_n":0.054945035584580075},{"geom_ids":[89,90],"normal_force_n":0.055443996968835466},{"geom_ids":[89,90],"normal_force_n":0.05011002076491241},{"geom_ids":[89,90],"normal_force_n":0.04966235649535814}],"native_actuator_controls":[0.17546484145362992,1.4146829627323187,-1.0842418803052138,-0.041897097993765106,0.949124495270324,0.010041431548548516,0.0],"actuator_force_native":[-0.04826878368306353,0.03108796684600179,-0.3936845298900806,-0.36623510983066887,-0.2907788143679717,0.3004273584134677,-0.782263528623611],"issued_joint_targets_rad":[0.18369883302998008,1.420641688214561,-1.0896557012613997,-0.04395391147262227,0.950010945503765,0.013692554924628356],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.439999999998545,"joint_targets_rad":[0.18369883302998008,1.420641688214561,-1.0896557012613997,-0.04395391147262227,0.950010945503765,0.013692554924628356],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.459999999998534,"qpos":[0.15547658390849506,1.4041845178169818,-1.0720107257563387,-0.02210294291815407,0.9824017016755673,-0.042655495097082774,0.019589757647015333,-0.020254063965867767,0.2969773781843136,0.04424063718222993,0.1666402053173636,0.9807858120400574,-0.0010439351141458587,-0.16647078880736121,0.10171321238785458],"qvel":[0.45937079533358643,0.26021485719245463,-0.2062272736406793,-0.10176592733242204,-0.030441513334920584,0.1757276317979737,-0.00025519718810813744,-0.0002898159574612004,0.049159775174181033,0.12977562586954522,-0.0099973383176994,0.0751731167378247,0.011777320986716903,0.3109356867667211],"joint_position_rad":[0.15547658390849506,1.4041845178169818,-1.0720107257563387,-0.02210294291815407,0.9824017016755673,-0.042655495097082774],"joint_velocity_rad_s":[0.45937079533358643,0.26021485719245463,-0.2062272736406793,-0.10176592733242204,-0.030441513334920584,0.1757276317979737],"gripper_joint_position_m":[0.019589757647015333,-0.020254063965867767],"tcp_position_m":[0.29771805887432934,0.04416966329363691,0.16925377222694338],"tcp_quaternion_wxyz":[0.17117815264777445,-0.10189090981759272,0.9799571802813419,-0.00045537641579508024],"object_position_m":[0.2969773781843136,0.04424063718222993,0.1666402053173636],"object_quaternion_wxyz":[0.9807858120400574,-0.0010439351141458587,-0.16647078880736121,0.10171321238785458],"object_linear_velocity_m_s":[0.049159775174181033,0.12977562586954522,-0.0099973383176994],"object_angular_velocity_rad_s":[-0.03449479779587629,0.016665128248559324,0.3178098275703189],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.372863125640289,"right":0.4090979242433002},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.052481605711325846},{"geom_ids":[85,90],"normal_force_n":0.047901208985292036},{"geom_ids":[85,90],"normal_force_n":0.04327688188506641},{"geom_ids":[85,90],"normal_force_n":0.04783303521327693},{"geom_ids":[86,90],"normal_force_n":0.048404154386854754},{"geom_ids":[86,90],"normal_force_n":0.04270890517708987},{"geom_ids":[86,90],"normal_force_n":0.04226012259599926},{"geom_ids":[86,90],"normal_force_n":0.04799721168538388},{"geom_ids":[88,90],"normal_force_n":0.049883407567444346},{"geom_ids":[88,90],"normal_force_n":0.05438696987227518},{"geom_ids":[88,90],"normal_force_n":0.04997859869082766},{"geom_ids":[88,90],"normal_force_n":0.04549104485761263},{"geom_ids":[89,90],"normal_force_n":0.05495090971934964},{"geom_ids":[89,90],"normal_force_n":0.05537984740267322},{"geom_ids":[89,90],"normal_force_n":0.049705824260159404},{"geom_ids":[89,90],"normal_force_n":0.049321321872958145}],"native_actuator_controls":[0.18369883302998008,1.420641688214561,-1.0896557012613997,-0.04395391147262227,0.950010945503765,0.013692554924628356,0.0],"actuator_force_native":[-0.03907404694913197,0.015499345844048662,-0.3804616722014771,-0.365209105516618,-0.27824529171564016,0.29988905252015075,-0.7823143199400726],"issued_joint_targets_rad":[0.19147063099540457,1.4268189835982372,-1.095470308914195,-0.045932931194105006,0.9508796025522552,0.017344504902917224],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.459999999998534,"joint_targets_rad":[0.19147063099540457,1.4268189835982372,-1.095470308914195,-0.045932931194105006,0.9508796025522552,0.017344504902917224],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.479999999998522,"qpos":[0.16459200903441717,1.409662428457659,-1.0765293008913337,-0.024406949748136134,0.9818484014733253,-0.039001681661064345,0.019589655687722262,-0.020254167516968794,0.29805510104081134,0.04678458783735084,0.16647799879357003,0.9804822780621102,-0.0010089292460455286,-0.16630813572107708,0.1048574673587443],"qvel":[0.435892514365681,0.27398584564933615,-0.22978230825129184,-0.09941506635036429,-0.0290971475918685,0.17610092747553327,-0.00024481310209721493,-0.0002781952005512837,0.054983037439223476,0.12529987490880737,-0.007080760113940675,0.06856896617847655,0.0032195352486618974,0.28721652374595624],"joint_position_rad":[0.16459200903441717,1.409662428457659,-1.0765293008913337,-0.024406949748136134,0.9818484014733253,-0.039001681661064345],"joint_velocity_rad_s":[0.435892514365681,0.27398584564933615,-0.22978230825129184,-0.09941506635036429,-0.0290971475918685,0.17610092747553327],"gripper_joint_position_m":[0.019589655687722262,-0.020254167516968794],"tcp_position_m":[0.2987907140197921,0.04672034201642164,0.16909057220168283],"tcp_quaternion_wxyz":[0.1710415192338313,-0.10504095689461311,0.9796484151846544,-0.000422728094596911],"object_position_m":[0.29805510104081134,0.04678458783735084,0.16647799879357003],"object_quaternion_wxyz":[0.9804822780621102,-0.0010089292460455286,-0.16630813572107708,0.1048574673587443],"object_linear_velocity_m_s":[0.054983037439223476,0.12529987490880737,-0.007080760113940675],"object_angular_velocity_rad_s":[-0.03112189517896418,0.007821927769233095,0.2935568856783233],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3730344343952709,"right":0.4090085639363308},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05210371332083729},{"geom_ids":[85,90],"normal_force_n":0.04724307112545335},{"geom_ids":[85,90],"normal_force_n":0.04331524768385111},{"geom_ids":[85,90],"normal_force_n":0.04815383241217538},{"geom_ids":[86,90],"normal_force_n":0.04876048225805976},{"geom_ids":[86,90],"normal_force_n":0.042712182414241635},{"geom_ids":[86,90],"normal_force_n":0.04233100716806351},{"geom_ids":[86,90],"normal_force_n":0.04841489801258887},{"geom_ids":[88,90],"normal_force_n":0.04957930798306402},{"geom_ids":[88,90],"normal_force_n":0.05435601643924578},{"geom_ids":[88,90],"normal_force_n":0.05063731607552068},{"geom_ids":[88,90],"normal_force_n":0.04587489026181424},{"geom_ids":[89,90],"normal_force_n":0.05495431786918984},{"geom_ids":[89,90],"normal_force_n":0.05531608833222784},{"geom_ids":[89,90],"normal_force_n":0.049307327004063664},{"geom_ids":[89,90],"normal_force_n":0.048983299971204715}],"native_actuator_controls":[0.19147063099540457,1.4268189835982372,-1.095470308914195,-0.045932931194105006,0.9508796025522552,0.017344504902917224,0.0],"actuator_force_native":[-0.02917281494941193,0.002595182999570511,-0.36636910057245586,-0.3639639260869336,-0.26604226782289686,0.2993104744265158,-0.7823621619984045],"issued_joint_targets_rad":[0.19879133188176928,1.4331866347877027,-1.1016679461641201,-0.04784156086672839,0.951729320698566,0.020998318338935652],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.479999999998522,"joint_targets_rad":[0.19879133188176928,1.4331866347877027,-1.1016679461641201,-0.04784156086672839,0.951729320698566,0.020998318338935652],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.499999999998511,"qpos":[0.17323501476585496,1.4154004044863948,-1.0815080490730717,-0.026653264063303046,0.981322355851375,-0.03534542418210379,0.019589599199568097,-0.020254226833637538,0.29924718655789717,0.04924113783171077,0.16637436454346277,0.9801802500680385,-0.0009832622730183316,-0.166236308274959,0.10775528007003407],"qvel":[0.41262814847008045,0.2862049486824046,-0.2520926254627716,-0.09700802871744484,-0.02781230770774359,0.176483779106668,-0.00023500060924501798,-0.00026704273971260925,0.06057725518684484,0.12090446312589764,-0.004157677297635884,0.06217741048786034,-0.005623284200416066,0.2636004610229811],"joint_position_rad":[0.17323501476585496,1.4154004044863948,-1.0815080490730717,-0.026653264063303046,0.981322355851375,-0.03534542418210379],"joint_velocity_rad_s":[0.41262814847008045,0.2862049486824046,-0.2520926254627716,-0.09700802871744484,-0.02781230770774359,0.176483779106668],"gripper_joint_position_m":[0.019589599199568097,-0.020254226833637538],"tcp_position_m":[0.29997802604803164,0.049182932447143494,0.16898565136237495],"tcp_quaternion_wxyz":[0.1709943209420214,-0.10794446060043032,0.9793409906011569,-0.0003996993919371069],"object_position_m":[0.29924718655789717,0.04924113783171077,0.16637436454346277],"object_quaternion_wxyz":[0.9801802500680385,-0.0009832622730183316,-0.166236308274959,0.10775528007003407],"object_linear_velocity_m_s":[0.06057725518684484,0.12090446312589764,-0.004157677297635884],"object_angular_velocity_rad_s":[-0.027475754332592365,-0.0012736178291051718,0.26949270040797574],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3732453264041356,"right":0.4088765162593008},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.051750536774068434},{"geom_ids":[85,90],"normal_force_n":0.04661928659700367},{"geom_ids":[85,90],"normal_force_n":0.043356017635285904},{"geom_ids":[85,90],"normal_force_n":0.04846775032435976},{"geom_ids":[86,90],"normal_force_n":0.049108776404776074},{"geom_ids":[86,90],"normal_force_n":0.042719029262774204},{"geom_ids":[86,90],"normal_force_n":0.04240228861517194},{"geom_ids":[86,90],"normal_force_n":0.048821640790695606},{"geom_ids":[88,90],"normal_force_n":0.049281616347666035},{"geom_ids":[88,90],"normal_force_n":0.05432274918025382},{"geom_ids":[88,90],"normal_force_n":0.05126110621528379},{"geom_ids":[88,90],"normal_force_n":0.04623239759998487},{"geom_ids":[89,90],"normal_force_n":0.05495432391887298},{"geom_ids":[89,90],"normal_force_n":0.055252188386850455},{"geom_ids":[89,90],"normal_force_n":0.04891935844907696},{"geom_ids":[89,90],"normal_force_n":0.04865277616131187}],"native_actuator_controls":[0.19879133188176928,1.4331866347877027,-1.1016679461641201,-0.04784156086672839,0.951729320698566,0.020998318338935652,0.0],"actuator_force_native":[-0.018635373077255935,-0.008126319307393715,-0.3523286399700112,-0.3624917285497895,-0.25421188996647537,0.29871175655039245,-0.7824089649364988],"issued_joint_targets_rad":[0.2056725969230774,1.4397195729804848,-1.1082295845127765,-0.04968549590049615,0.952560744014407,0.024654575817896207],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.499999999998511,"joint_targets_rad":[0.2056725969230774,1.4397195729804848,-1.1082295845127765,-0.04968549590049615,0.952560744014407,0.024654575817896207],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.5199999999985,"qpos":[0.18140995087174183,1.4213688925719872,-1.086921320183784,-0.028840815543869094,0.9808223136591571,-0.031686443391666236,0.019589568649692093,-0.020254259920954178,0.3005488387967457,0.051611599827895836,0.1663288032449942,0.9798814448756952,-0.000964491726209449,-0.16625720410866895,0.11040817825685928],"qvel":[0.389684475362475,0.2970556146055358,-0.27317234299622367,-0.0946057727364759,-0.026570853280707362,0.17687234384693482,-0.00022488880902696287,-0.0002554295870215934,0.06593942565922624,0.11658388820288436,-0.001271883593494022,0.055984390703404587,-0.014570068455279094,0.24023145890934358],"joint_position_rad":[0.18140995087174183,1.4213688925719872,-1.086921320183784,-0.028840815543869094,0.9808223136591571,-0.031686443391666236],"joint_velocity_rad_s":[0.389684475362475,0.2970556146055358,-0.27317234299622367,-0.0946057727364759,-0.026570853280707362,0.17687234384693482],"gripper_joint_position_m":[0.019589568649692093,-0.020254259920954178],"tcp_position_m":[0.3012751356231017,0.05155871241550297,0.16893854869276648],"tcp_quaternion_wxyz":[0.1710385194601291,-0.11060283610934576,0.9790366133268088,-0.00038375907639720183],"object_position_m":[0.3005488387967457,0.051611599827895836,0.1663288032449942],"object_quaternion_wxyz":[0.9798814448756952,-0.000964491726209449,-0.16625720410866895,0.11040817825685928],"object_linear_velocity_m_s":[0.06593942565922624,0.11658388820288436,-0.001271883593494022],"object_angular_velocity_rad_s":[-0.023652082350367018,-0.010448683568205623,0.2457419312187433],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37350038334683333,"right":0.4087008986458989},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05142361718459162},{"geom_ids":[85,90],"normal_force_n":0.04603487100049931},{"geom_ids":[85,90],"normal_force_n":0.04340072960489128},{"geom_ids":[85,90],"normal_force_n":0.04877278206510233},{"geom_ids":[86,90],"normal_force_n":0.049446581291239494},{"geom_ids":[86,90],"normal_force_n":0.0427314213769754},{"geom_ids":[86,90],"normal_force_n":0.04247565027669},{"geom_ids":[86,90],"normal_force_n":0.04921473054684397},{"geom_ids":[88,90],"normal_force_n":0.04899254703762825},{"geom_ids":[88,90],"normal_force_n":0.05428614619348381},{"geom_ids":[88,90],"normal_force_n":0.05184588155560382},{"geom_ids":[88,90],"normal_force_n":0.04656274556937636},{"geom_ids":[89,90],"normal_force_n":0.054949499033005465},{"geom_ids":[89,90],"normal_force_n":0.055186969719621545},{"geom_ids":[89,90],"normal_force_n":0.048544742344028946},{"geom_ids":[89,90],"normal_force_n":0.04833236719315069}],"native_actuator_controls":[0.2056725969230774,1.4397195729804848,-1.1082295845127765,-0.04968549590049615,0.952560744014407,0.024654575817896207,0.0],"actuator_force_native":[-0.007410692705530408,-0.017223640347864944,-0.3387994313382876,-0.360758350582703,-0.24275941652643773,0.2981016763252222,-0.782458301942549],"issued_joint_targets_rad":[0.21212613095641436,1.4463961121420241,-1.115136430601897,-0.051469566690649775,0.9533756065101678,0.028313556608333762],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.5199999999985,"joint_targets_rad":[0.21212613095641436,1.4463961121420241,-1.115136430601897,-0.051469566690649775,0.9533756065101678,0.028313556608333762],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.53999999999849,"qpos":[0.18912521384987402,1.4275422215263909,-1.0927454107897723,-0.03097015307677457,0.9803474550401072,-0.02802457878772081,0.019589570551518543,-0.02025425904833189,0.3019554969605848,0.053897766258575217,0.16634040121406227,0.9795872710347473,-0.0009507610713028673,-0.1663715566675322,0.11282012059958284],"qvel":[0.36721817467944756,0.3066981266330743,-0.29310437629402664,-0.09221118318323243,-0.02536569884109705,0.17725541322575464,-0.00021518474176188455,-0.0002443050936789198,0.07107792605571894,0.11236715669230238,0.0015616509398154526,0.0500518022609481,-0.023549737214700436,0.21726229585995158],"joint_position_rad":[0.18912521384987402,1.4275422215263909,-1.0927454107897723,-0.03097015307677457,0.9803474550401072,-0.02802457878772081],"joint_velocity_rad_s":[0.36721817467944756,0.3066981266330743,-0.29310437629402664,-0.09221118318323243,-0.02536569884109705,0.17725541322575464],"gripper_joint_position_m":[0.019589570551518543,-0.02025425904833189],"tcp_position_m":[0.3026774143500841,0.05384949319415371,0.16894838160442816],"tcp_quaternion_wxyz":[0.17117495395252844,-0.11301991470708998,0.9787366831472665,-0.0003729354356625299],"object_position_m":[0.3019554969605848,0.053897766258575217,0.16634040121406227],"object_quaternion_wxyz":[0.9795872710347473,-0.0009507610713028673,-0.1663715566675322,0.11282012059958284],"object_linear_velocity_m_s":[0.07107792605571894,0.11236715669230238,0.0015616509398154526],"object_angular_velocity_rad_s":[-0.019658776059031834,-0.019622551105565104,0.22246610134300912],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3737723690442545,"right":0.40850485970844735},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.051120168966795505},{"geom_ids":[85,90],"normal_force_n":0.045490991241241986},{"geom_ids":[85,90],"normal_force_n":0.043447227440970376},{"geom_ids":[85,90],"normal_force_n":0.049062732903885145},{"geom_ids":[86,90],"normal_force_n":0.04976719093888859},{"geom_ids":[86,90],"normal_force_n":0.04274770136343099},{"geom_ids":[86,90],"normal_force_n":0.04254914737665232},{"geom_ids":[86,90],"normal_force_n":0.04958720881238961},{"geom_ids":[88,90],"normal_force_n":0.048717565924281094},{"geom_ids":[88,90],"normal_force_n":0.054247865966601},{"geom_ids":[88,90],"normal_force_n":0.05239039246203012},{"geom_ids":[88,90],"normal_force_n":0.04686852267072828},{"geom_ids":[89,90],"normal_force_n":0.054941022378354284},{"geom_ids":[89,90],"normal_force_n":0.05512185727614016},{"geom_ids":[89,90],"normal_force_n":0.0481896211868969},{"geom_ids":[89,90],"normal_force_n":0.048028011843415555}],"native_actuator_controls":[0.21212613095641436,1.4463961121420241,-1.115136430601897,-0.051469566690649775,0.9533756065101678,0.028313556608333762,0.0],"actuator_force_native":[0.003982495125988805,-0.0251793839147183,-0.32575970349982697,-0.3589206286388458,-0.23166993703774708,0.2974982341219138,-0.7825068983519323],"issued_joint_targets_rad":[0.21816537640638303,1.4531982372618772,-1.1223720473647134,-0.05319861082839042,0.9541766753782193,0.031975421212279184],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.53999999999849,"joint_targets_rad":[0.21816537640638303,1.4531982372618772,-1.1223720473647134,-0.05319861082839042,0.9541766753782193,0.031975421212279184],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.559999999998478,"qpos":[0.19639164014787902,1.4338975232069855,-1.09895815065238,-0.03304205347140435,0.979897058388673,-0.024359766343952323,0.019589598369884748,-0.020254231410778274,0.3034627621260655,0.05610179108725785,0.16640803090001574,0.9792988533855804,-0.0009401837598448405,-0.1665794559025033,0.11499633334768658],"qvel":[0.3453244580524534,0.31525975511189575,-0.31196449788199515,-0.089839999089432,-0.0241924395569214,0.17762969382143387,-0.00020633686082516573,-0.0002341231727064719,0.07600118839014854,0.10826475263038529,0.004335655583584693,0.04439291948579743,-0.032515482390014915,0.1947974768341382],"joint_position_rad":[0.19639164014787902,1.4338975232069855,-1.09895815065238,-0.03304205347140435,0.979897058388673,-0.024359766343952323],"joint_velocity_rad_s":[0.3453244580524534,0.31525975511189575,-0.31196449788199515,-0.089839999089432,-0.0241924395569214,0.17762969382143387],"gripper_joint_position_m":[0.019589598369884748,-0.020254231410778274],"tcp_position_m":[0.3041803977714084,0.05605743966134775,0.16901405302383776],"tcp_quaternion_wxyz":[0.17140380387872337,-0.1152008558214369,0.9784423158191826,-0.00036530577328130993],"object_position_m":[0.3034627621260655,0.05610179108725785,0.16640803090001574],"object_quaternion_wxyz":[0.9792988533855804,-0.0009401837598448405,-0.1665794559025033,0.11499633334768658],"object_linear_velocity_m_s":[0.07600118839014854,0.10826475263038529,0.004335655583584693],"object_angular_velocity_rad_s":[-0.015528727330418539,-0.028747236844252847,0.1997661129365852],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37404636570890737,"right":0.40829445949776066},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05083886667960095},{"geom_ids":[85,90],"normal_force_n":0.04498677390109794},{"geom_ids":[85,90],"normal_force_n":0.043493683013373},{"geom_ids":[85,90],"normal_force_n":0.049335237518625334},{"geom_ids":[86,90],"normal_force_n":0.05006816855614897},{"geom_ids":[86,90],"normal_force_n":0.04276610420505218},{"geom_ids":[86,90],"normal_force_n":0.042620948539380976},{"geom_ids":[86,90],"normal_force_n":0.04993658329562798},{"geom_ids":[88,90],"normal_force_n":0.0484578695975871},{"geom_ids":[88,90],"normal_force_n":0.05420869361163071},{"geom_ids":[88,90],"normal_force_n":0.052894783925205184},{"geom_ids":[88,90],"normal_force_n":0.04715031269727648},{"geom_ids":[89,90],"normal_force_n":0.05505744653492411},{"geom_ids":[89,90],"normal_force_n":0.05492944414305075},{"geom_ids":[89,90],"normal_force_n":0.047740799156107704},{"geom_ids":[89,90],"normal_force_n":0.04785510983197867}],"native_actuator_controls":[0.21816537640638303,1.4531982372618772,-1.1223720473647134,-0.05319861082839042,0.9541766753782193,0.031975421212279184,0.0],"actuator_force_native":[0.015276610418052172,-0.03224165116813538,-0.31328924757669085,-0.3570622988322827,-0.220915170769155,0.2969073348301643,-0.7825522504912641],"issued_joint_targets_rad":[0.22380437342409995,1.4601103542035554,-1.129921603517782,-0.054876584595893244,0.9549670744745222,0.035640233656047675],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.559999999998478,"joint_targets_rad":[0.22380437342409995,1.4601103542035554,-1.129921603517782,-0.054876584595893244,0.9549670744745222,0.035640233656047675],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.579999999998467,"qpos":[0.20321880983888083,1.4404141506764656,-1.1055385485287603,-0.03505678597769971,0.9794704596406316,-0.020692111024448113,0.01958962526677698,-0.02025420405243834,0.30506646063346227,0.05822524971847303,0.16653040596274232,0.979017245625857,-0.0009308349939965601,-0.16688044621931328,0.11694136557701632],"qvel":[0.32397590087356853,0.3228498814999709,-0.32982100360314115,-0.08755275540809349,-0.023045179618038383,0.1780056251938722,-0.00019682889263678238,-0.0002231045283430411,0.08072382931232533,0.10424155285876331,0.007045928809887711,0.03892357034423378,-0.04142154946426291,0.17284938741419967],"joint_position_rad":[0.20321880983888083,1.4404141506764656,-1.1055385485287603,-0.03505678597769971,0.9794704596406316,-0.020692111024448113],"joint_velocity_rad_s":[0.32397590087356853,0.3228498814999709,-0.32982100360314115,-0.08755275540809349,-0.023045179618038383,0.1780056251938722],"gripper_joint_position_m":[0.01958962526677698,-0.02025420405243834],"tcp_position_m":[0.3057798563396757,0.05818411497258374,0.1691343078483717],"tcp_quaternion_wxyz":[0.17172469677150362,-0.11715022210793989,0.9781545507268297,-0.000358986335333836],"object_position_m":[0.30506646063346227,0.05822524971847303,0.16653040596274232],"object_quaternion_wxyz":[0.979017245625857,-0.0009308349939965601,-0.16688044621931328,0.11694136557701632],"object_linear_velocity_m_s":[0.08072382931232533,0.10424155285876331,0.007045928809887711],"object_angular_velocity_rad_s":[-0.011354836248945881,-0.037795302516682915,0.17762399223995343],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37435048265206755,"right":0.40805882158355267},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05058096839225187},{"geom_ids":[85,90],"normal_force_n":0.044524969145116236},{"geom_ids":[85,90],"normal_force_n":0.04354482777032548},{"geom_ids":[85,90],"normal_force_n":0.04959346655208986},{"geom_ids":[86,90],"normal_force_n":0.05035248704827899},{"geom_ids":[86,90],"normal_force_n":0.04279155401810313},{"geom_ids":[86,90],"normal_force_n":0.04269618908931615},{"geom_ids":[86,90],"normal_force_n":0.0502660206365858},{"geom_ids":[88,90],"normal_force_n":0.048212231767055545},{"geom_ids":[88,90],"normal_force_n":0.05416589563726183},{"geom_ids":[88,90],"normal_force_n":0.05335851489774447},{"geom_ids":[88,90],"normal_force_n":0.04740910006135121},{"geom_ids":[89,90],"normal_force_n":0.0549908517732863},{"geom_ids":[89,90],"normal_force_n":0.05491213514684687},{"geom_ids":[89,90],"normal_force_n":0.047469927746017465},{"geom_ids":[89,90],"normal_force_n":0.04754016455398902}],"native_actuator_controls":[0.22380437342409995,1.4601103542035554,-1.129921603517782,-0.054876584595893244,0.9549670744745222,0.035640233656047675,0.0],"actuator_force_native":[0.026965582449687275,-0.03855312533266897,-0.30153938110602496,-0.35502816768727374,-0.21046608223403496,0.2963150090141496,-0.7826008662078952],"issued_joint_targets_rad":[0.22905522959457578,1.4671181727125115,-1.1377708466621748,-0.05650629665247517,0.955749810327465,0.03930788897555189],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.579999999998467,"joint_targets_rad":[0.22905522959457578,1.4671181727125115,-1.1377708466621748,-0.05650629665247517,0.955749810327465,0.03930788897555189],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.599999999998456,"qpos":[0.2096186290605355,1.4470730337675264,-1.1124657068367216,-0.037016089615940724,0.9790669020401953,-0.01702140776605638,0.01958966486246782,-0.020254161634009768,0.3067622875582863,0.06026980616477421,0.16670594977848815,0.978743200312006,-0.0009214789168111723,-0.1672735098208218,0.1186611631151549],"qvel":[0.30325182753229774,0.32955903742364107,-0.3466980574445019,-0.0853363359175311,-0.021916873116593055,0.1783636745763481,-0.00018717282096587272,-0.00021198754042312597,0.08523964857593713,0.10031174860334624,0.009678709334985004,0.033689747323545106,-0.05020126346361401,0.15150699369771287],"joint_position_rad":[0.2096186290605355,1.4470730337675264,-1.1124657068367216,-0.037016089615940724,0.9790669020401953,-0.01702140776605638],"joint_velocity_rad_s":[0.30325182753229774,0.32955903742364107,-0.3466980574445019,-0.0853363359175311,-0.021916873116593055,0.1783636745763481],"gripper_joint_position_m":[0.01958966486246782,-0.020254161634009768],"tcp_position_m":[0.30747142053563636,0.06023122477231723,0.16930759724382088],"tcp_quaternion_wxyz":[0.17213664746901905,-0.11887390430537599,0.9778741458253759,-0.0003527032952253487],"object_position_m":[0.3067622875582863,0.06026980616477421,0.16670594977848815],"object_quaternion_wxyz":[0.978743200312006,-0.0009214789168111723,-0.1672735098208218,0.1186611631151549],"object_linear_velocity_m_s":[0.08523964857593713,0.10031174860334624,0.009678709334985004],"object_angular_velocity_rad_s":[-0.007141060276323335,-0.04669290273074457,0.15613556020360458],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3746645716401522,"right":0.40781231758824504},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05034461993157353},{"geom_ids":[85,90],"normal_force_n":0.04410394183086674},{"geom_ids":[85,90],"normal_force_n":0.04359806114298418},{"geom_ids":[85,90],"normal_force_n":0.049834523608614345},{"geom_ids":[86,90],"normal_force_n":0.05061720958048049},{"geom_ids":[86,90],"normal_force_n":0.042821484044349795},{"geom_ids":[86,90],"normal_force_n":0.04277222012102477},{"geom_ids":[86,90],"normal_force_n":0.05057251138025839},{"geom_ids":[88,90],"normal_force_n":0.04798281188279863},{"geom_ids":[88,90],"normal_force_n":0.05412135252865399},{"geom_ids":[88,90],"normal_force_n":0.0537826783048088},{"geom_ids":[88,90],"normal_force_n":0.04764628313746179},{"geom_ids":[89,90],"normal_force_n":0.05492388394669027},{"geom_ids":[89,90],"normal_force_n":0.054890831829402784},{"geom_ids":[89,90],"normal_force_n":0.04721751621027804},{"geom_ids":[89,90],"normal_force_n":0.04724695974815073}],"native_actuator_controls":[0.22905522959457578,1.4671181727125115,-1.1377708466621748,-0.05650629665247517,0.955749810327465,0.03930788897555189,0.0],"actuator_force_native":[0.03866890506173348,-0.04418407151938197,-0.29092089881373795,-0.3529266018737225,-0.20029560745241426,0.29574745555156046,-0.7826507303938834],"issued_joint_targets_rad":[0.23393072091413158,1.474208489739017,-1.14590573074508,-0.05809092292434058,0.9565282585277719,0.04297859223394362],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.599999999998456,"joint_targets_rad":[0.23393072091413158,1.474208489739017,-1.14590573074508,-0.05809092292434058,0.9565282585277719,0.04297859223394362],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.619999999998445,"qpos":[0.21560442518667752,1.453857767422992,-1.1197215356275578,-0.03892174456333722,0.9786860986542966,-0.01334784192929046,0.01958971888633494,-0.020254103365553243,0.3085463548123998,0.062237424935594914,0.16693326748395726,0.9784771747378475,-0.0009109020027384249,-0.16775740491049493,0.12016256435461163],"qvel":[0.2831963807536823,0.3354955434842815,-0.36272220765670343,-0.08318384742948565,-0.020800655509898038,0.17870490653501145,-0.00017812156564009308,-0.00020159196706506894,0.08956991066164251,0.09648515060658926,0.012246996400004175,0.028704754951232068,-0.05887500999492335,0.13080415256738961],"joint_position_rad":[0.21560442518667752,1.453857767422992,-1.1197215356275578,-0.03892174456333722,0.9786860986542966,-0.01334784192929046],"joint_velocity_rad_s":[0.2831963807536823,0.3354955434842815,-0.36272220765670343,-0.08318384742948565,-0.020800655509898038,0.17870490653501145],"gripper_joint_position_m":[0.01958971888633494,-0.020254103365553243],"tcp_position_m":[0.3092511506297134,0.06220076135970124,0.16953255096931275],"tcp_quaternion_wxyz":[0.17263853533855236,-0.12037870433973423,0.9776015468813876,-0.000345243051722379],"object_position_m":[0.3085463548123998,0.062237424935594914,0.16693326748395726],"object_quaternion_wxyz":[0.9784771747378475,-0.0009109020027384249,-0.16775740491049493,0.12016256435461163],"object_linear_velocity_m_s":[0.08956991066164251,0.09648515060658926,0.012246996400004175],"object_angular_velocity_rad_s":[-0.002884010469800388,-0.05545631417795086,0.13533748848339092],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37497345321999537,"right":0.4075663147972731},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.050126596726565734},{"geom_ids":[85,90],"normal_force_n":0.0437210921861485},{"geom_ids":[85,90],"normal_force_n":0.04365212322885732},{"geom_ids":[85,90],"normal_force_n":0.05005646708558352},{"geom_ids":[86,90],"normal_force_n":0.05086030652381844},{"geom_ids":[86,90],"normal_force_n":0.04285471704979458},{"geom_ids":[86,90],"normal_force_n":0.042848000434192006},{"geom_ids":[86,90],"normal_force_n":0.050854149985035256},{"geom_ids":[88,90],"normal_force_n":0.04777105616936976},{"geom_ids":[88,90],"normal_force_n":0.05407581570519698},{"geom_ids":[88,90],"normal_force_n":0.054169450344038854},{"geom_ids":[88,90],"normal_force_n":0.04786475192559828},{"geom_ids":[89,90],"normal_force_n":0.05485705991854935},{"geom_ids":[89,90],"normal_force_n":0.054866197313759565},{"geom_ids":[89,90],"normal_force_n":0.046985096423979425},{"geom_ids":[89,90],"normal_force_n":0.04697688699678091}],"native_actuator_controls":[0.23393072091413158,1.474208489739017,-1.14590573074508,-0.05809092292434058,0.9565282585277719,0.04297859223394362,0.0],"actuator_force_native":[0.05012175442791289,-0.04941993213940066,-0.28112457111825506,-0.35084789729270627,-0.19037741800039854,0.29520698182982363,-0.7826981476251971],"issued_joint_targets_rad":[0.2384437893395005,1.4813702955505237,-1.1543149382879556,-0.059633013351397715,0.9573065106654566,0.046652158070709535],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.619999999998445,"joint_targets_rad":[0.2384437893395005,1.4813702955505237,-1.1543149382879556,-0.059633013351397715,0.9573065106654566,0.046652158070709535],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.639999999998434,"qpos":[0.22119002179130812,1.4607537241165542,-1.1272900477053271,-0.04077542176898797,0.9783278122065616,-0.009671568895019004,0.019589780304665717,-0.02025403705366978,0.31041512585618125,0.06413014268493875,0.16721120956548208,0.9782193585934024,-0.0008978657703162536,-0.1683310706980864,0.12145258724212574],"qvel":[0.26382105603821915,0.34073727376721175,-0.3779878055527818,-0.081093198209178,-0.019694869006580837,0.17903015090867466,-0.0001698144896369459,-0.00019201431555255182,0.09373025647457157,0.09276085133170134,0.014762772778429575,0.02396469421573563,-0.06746503060316107,0.11075261946601289],"joint_position_rad":[0.22119002179130812,1.4607537241165542,-1.1272900477053271,-0.04077542176898797,0.9783278122065616,-0.009671568895019004],"joint_velocity_rad_s":[0.26382105603821915,0.34073727376721175,-0.3779878055527818,-0.081093198209178,-0.019694869006580837,0.17903015090867466],"gripper_joint_position_m":[0.019589780304665717,-0.02025403705366978],"tcp_position_m":[0.3111154594537493,0.06409477943206353,0.16980804295929636],"tcp_quaternion_wxyz":[0.17322939386322714,-0.12167163910107641,0.9773369310801585,-0.0003353908969046973],"object_position_m":[0.31041512585618125,0.06413014268493875,0.16721120956548208],"object_quaternion_wxyz":[0.9782193585934024,-0.0008978657703162536,-0.1683310706980864,0.12145258724212574],"object_linear_velocity_m_s":[0.09373025647457157,0.09276085133170134,0.014762772778429575],"object_angular_velocity_rad_s":[0.0014116329557981647,-0.06410695789229214,0.1152401183786124],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3752702712847943,"right":0.40732695170527267},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04992481917966134},{"geom_ids":[85,90],"normal_force_n":0.04337380481586841},{"geom_ids":[85,90],"normal_force_n":0.04370634800263631},{"geom_ids":[85,90],"normal_force_n":0.050259122614542164},{"geom_ids":[86,90],"normal_force_n":0.05108166376948514},{"geom_ids":[86,90],"normal_force_n":0.04289052452968368},{"geom_ids":[86,90],"normal_force_n":0.042922992699841},{"geom_ids":[86,90],"normal_force_n":0.05111099567307626},{"geom_ids":[88,90],"normal_force_n":0.047577070700237985},{"geom_ids":[88,90],"normal_force_n":0.05402981666625295},{"geom_ids":[88,90],"normal_force_n":0.05452133948141286},{"geom_ids":[88,90],"normal_force_n":0.04806660519821253},{"geom_ids":[89,90],"normal_force_n":0.05479076783247442},{"geom_ids":[89,90],"normal_force_n":0.05483881549595221},{"geom_ids":[89,90],"normal_force_n":0.046772720661688},{"geom_ids":[89,90],"normal_force_n":0.046729815669041684}],"native_actuator_controls":[0.2384437893395005,1.4813702955505237,-1.1543149382879556,-0.059633013351397715,0.9573065106654566,0.046652158070709535,0.0],"actuator_force_native":[0.0611961236642955,-0.05436065411849711,-0.2720522188463548,-0.3488376722504998,-0.180670711901179,0.2946920432942734,-0.7827421397384439],"issued_joint_targets_rad":[0.24260689523025644,1.4885938225594924,-1.162989036835634,-0.061134525542974126,0.9580888513007285,0.050328431104980996],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.639999999998434,"joint_targets_rad":[0.24260689523025644,1.4885938225594924,-1.162989036835634,-0.061134525542974126,0.9580888513007285,0.050328431104980996],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.659999999998423,"qpos":[0.22638670609646477,1.4677476919778187,-1.1351570043637798,-0.042578026254727445,0.9779918619379191,-0.005992864862831003,0.0195898276172032,-0.02025398383260063,0.312365482497058,0.06594926891778502,0.16753885538613228,0.9779698911120039,-0.000881049622316855,-0.1689935773787668,0.12253687867194878],"qvel":[0.24504311102419568,0.3453511989771046,-0.39258126052890796,-0.07910282648817024,-0.018595912932220106,0.17935138395895867,-0.0001607603934862382,-0.0001815273653447098,0.0977423396071214,0.08910041085296465,0.01723876519135275,0.019386955757632104,-0.07598868791069634,0.09129644116909398],"joint_position_rad":[0.22638670609646477,1.4677476919778187,-1.1351570043637798,-0.042578026254727445,0.9779918619379191,-0.005992864862831003],"joint_velocity_rad_s":[0.24504311102419568,0.3453511989771046,-0.39258126052890796,-0.07910282648817024,-0.018595912932220106,0.17935138395895867],"gripper_joint_position_m":[0.0195898276172032,-0.02025398383260063],"tcp_position_m":[0.31306118657365445,0.06591458372326636,0.1701331764337585],"tcp_quaternion_wxyz":[0.17390837760465602,-0.1227583975423542,0.9770804206477255,-0.000321898451966493],"object_position_m":[0.312365482497058,0.06594926891778502,0.16753885538613228],"object_quaternion_wxyz":[0.9779698911120039,-0.000881049622316855,-0.1689935773787668,0.12253687867194878],"object_linear_velocity_m_s":[0.0977423396071214,0.08910041085296465,0.01723876519135275],"object_angular_velocity_rad_s":[0.005690405183371088,-0.07267804319943973,0.09576375222195942],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37558348528524793,"right":0.4070733098232201},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04974159713621474},{"geom_ids":[85,90],"normal_force_n":0.04306239823667792},{"geom_ids":[85,90],"normal_force_n":0.04376396709815238},{"geom_ids":[85,90],"normal_force_n":0.050447688549467476},{"geom_ids":[86,90],"normal_force_n":0.05128672634643258},{"geom_ids":[86,90],"normal_force_n":0.04293189314377756},{"geom_ids":[86,90],"normal_force_n":0.04300046564885417},{"geom_ids":[86,90],"normal_force_n":0.05134874912567105},{"geom_ids":[88,90],"normal_force_n":0.04739665184896214},{"geom_ids":[88,90],"normal_force_n":0.05398101502971563},{"geom_ids":[88,90],"normal_force_n":0.054838900004419114},{"geom_ids":[88,90],"normal_force_n":0.04825054120495616},{"geom_ids":[89,90],"normal_force_n":0.05472261841452192},{"geom_ids":[89,90],"normal_force_n":0.054806579257034485},{"geom_ids":[89,90],"normal_force_n":0.04657595277652381},{"geom_ids":[89,90],"normal_force_n":0.046501051287086856}],"native_actuator_controls":[0.24260689523025644,1.4885938225594924,-1.162989036835634,-0.061134525542974126,0.9580888513007285,0.050328431104980996,0.0],"actuator_force_native":[0.07239957558235233,-0.05906554835162581,-0.26365629510378596,-0.3467458390890159,-0.17113623697357738,0.294185883739682,-0.7827893027206967],"issued_joint_targets_rad":[0.24643011269952253,1.4958698026166777,-1.1719196865249801,-0.06259659037899139,0.9588795033389321,0.054007135137168996],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.659999999998423,"joint_targets_rad":[0.24643011269952253,1.4958698026166777,-1.1719196865249801,-0.06259659037899139,0.9588795033389321,0.054007135137168996],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.679999999998412,"qpos":[0.2312069930244161,1.4748277272039296,-1.1433098433723043,-0.044331308499002,0.9776781391311263,-0.00231180754004117,0.019589877053052058,-0.02025392638555083,0.31439455349085965,0.0676962347473817,0.16791553989261906,0.9777285987066563,-0.0008595412587796562,-0.16974423269089675,0.12342181301585528],"qvel":[0.22688925702577595,0.3493948459077069,-0.4065804289795528,-0.0771872152055505,-0.017500421920200793,0.17966005852594927,-0.00015145348575172168,-0.00017087503911293714,0.10161550212282916,0.08551493442526656,0.0196867702733267,0.015005167306747736,-0.0844694731748408,0.07245146776815194],"joint_position_rad":[0.2312069930244161,1.4748277272039296,-1.1433098433723043,-0.044331308499002,0.9776781391311263,-0.00231180754004117],"joint_velocity_rad_s":[0.22688925702577595,0.3493948459077069,-0.4065804289795528,-0.0771872152055505,-0.017500421920200793,0.17966005852594927],"gripper_joint_position_m":[0.019589877053052058,-0.02025392638555083],"tcp_position_m":[0.3150854088992483,0.06766164587241551,0.17050730581243678],"tcp_quaternion_wxyz":[0.17467486595782047,-0.1236453449212666,0.9768318317686386,-0.00030385102340824426],"object_position_m":[0.31439455349085965,0.0676962347473817,0.16791553989261906],"object_quaternion_wxyz":[0.9777285987066563,-0.0008595412587796562,-0.16974423269089675,0.12342181301585528],"object_linear_velocity_m_s":[0.10161550212282916,0.08551493442526656,0.0196867702733267],"object_angular_velocity_rad_s":[0.00998104503045875,-0.08118405486875806,0.07693497319986937],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3758965472468594,"right":0.40681951859893456},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.049574051732816114},{"geom_ids":[85,90],"normal_force_n":0.04278388331767848},{"geom_ids":[85,90],"normal_force_n":0.04382312725403015},{"geom_ids":[85,90],"normal_force_n":0.050620391665467133},{"geom_ids":[86,90],"normal_force_n":0.05147373027296848},{"geom_ids":[86,90],"normal_force_n":0.04297695901448602},{"geom_ids":[86,90],"normal_force_n":0.04307866158671892},{"geom_ids":[86,90],"normal_force_n":0.05156574240269405},{"geom_ids":[88,90],"normal_force_n":0.04723131926123403},{"geom_ids":[88,90],"normal_force_n":0.05393091899182635},{"geom_ids":[88,90],"normal_force_n":0.05512474466841317},{"geom_ids":[88,90],"normal_force_n":0.04841920066477508},{"geom_ids":[89,90],"normal_force_n":0.05465401279684532},{"geom_ids":[89,90],"normal_force_n":0.05477099428706049},{"geom_ids":[89,90],"normal_force_n":0.046396312915608404},{"geom_ids":[89,90],"normal_force_n":0.04629201501317167}],"native_actuator_controls":[0.24643011269952253,1.4958698026166777,-1.1719196865249801,-0.06259659037899139,0.9588795033389321,0.054007135137168996,0.0],"actuator_force_native":[0.08340328887963366,-0.0636081965186861,-0.255885307316305,-0.3446751991718231,-0.16173572504164113,0.29369933898317774,-0.7828378146933237],"issued_joint_targets_rad":[0.2499235930661675,1.5031897988945475,-1.1811002907191268,-0.06402055941097895,0.9596832516901878,0.05768819245995883],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.679999999998412,"joint_targets_rad":[0.2499235930661675,1.5031897988945475,-1.1811002907191268,-0.06402055941097895,0.9596832516901878,0.05768819245995883],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.6999999999984,"qpos":[0.2356636574821896,1.4819824561666382,-1.151736281082525,-0.04603692386142233,0.9773864315208249,0.0013715992153388117,0.019589931539776093,-0.020253863178241068,0.3164994033553997,0.06937248118115345,0.16834062306726502,0.9774951359415059,-0.0008324042327495443,-0.1705823113359281,0.12411382426298431],"qvel":[0.2093537608736709,0.35290792894637935,-0.42001157696091806,-0.07533286363681956,-0.01640270903449455,0.1799483078908825,-0.000142611469439407,-0.00016080748252727314,0.10534841726367644,0.08200130597213057,0.022107369452874098,0.010824838607977283,-0.09288995623962028,0.05421584582709434],"joint_position_rad":[0.2356636574821896,1.4819824561666382,-1.151736281082525,-0.04603692386142233,0.9773864315208249,0.0013715992153388117],"joint_velocity_rad_s":[0.2093537608736709,0.35290792894637935,-0.42001157696091806,-0.07533286363681956,-0.01640270903449455,0.1799483078908825],"gripper_joint_position_m":[0.019589931539776093,-0.020253863178241068],"tcp_position_m":[0.31718514356424987,0.06933742657710076,0.17092981277547897],"tcp_quaternion_wxyz":[0.17552816479295308,-0.12433893345539161,0.9765908121599458,-0.00028035044382771645],"object_position_m":[0.3164994033553997,0.06937248118115345,0.16834062306726502],"object_quaternion_wxyz":[0.9774951359415059,-0.0008324042327495443,-0.1705823113359281,0.12411382426298431],"object_linear_velocity_m_s":[0.10534841726367644,0.08200130597213057,0.022107369452874098],"object_angular_velocity_rad_s":[0.014282465278456575,-0.08960584883446719,0.0587527197673341],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37618476484650837,"right":0.40657384073128316},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04941897693218768},{"geom_ids":[85,90],"normal_force_n":0.04253150307209828},{"geom_ids":[85,90],"normal_force_n":0.04387973794763091},{"geom_ids":[85,90],"normal_force_n":0.05077668080803765},{"geom_ids":[86,90],"normal_force_n":0.043020870625297275},{"geom_ids":[86,90],"normal_force_n":0.04315299524301227},{"geom_ids":[86,90],"normal_force_n":0.051761770487186394},{"geom_ids":[86,90],"normal_force_n":0.05164222973105793},{"geom_ids":[88,90],"normal_force_n":0.04707979588582311},{"geom_ids":[88,90],"normal_force_n":0.05388168470304541},{"geom_ids":[88,90],"normal_force_n":0.05538363699102415},{"geom_ids":[88,90],"normal_force_n":0.048573921145361104},{"geom_ids":[89,90],"normal_force_n":0.054587287090145466},{"geom_ids":[89,90],"normal_force_n":0.05473464617376205},{"geom_ids":[89,90],"normal_force_n":0.046232095152303365},{"geom_ids":[89,90],"normal_force_n":0.04610077358981849}],"native_actuator_controls":[0.2499235930661675,1.5031897988945475,-1.1811002907191268,-0.06402055941097895,0.9596832516901878,0.05768819245995883,0.0],"actuator_force_native":[0.09402604234987777,-0.06795222649914479,-0.24906288612356775,-0.3426811037981672,-0.15242773475463167,0.29324347060987643,-0.7828842042438466],"issued_joint_targets_rad":[0.2530966353795068,1.5105452168014535,-1.1905245807908496,-0.06540714900566934,0.960505367086892,0.06137159921533881],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.6999999999984,"joint_targets_rad":[0.2530966353795068,1.5105452168014535,-1.1905245807908496,-0.06540714900566934,0.960505367086892,0.06137159921533881],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.71999999999839,"qpos":[0.23976908371445488,1.4892017941177664,-1.1604257710589112,-0.047696259023941215,0.9771168355786463,0.00505712952278647,0.019589985231347022,-0.02025380143329002,0.31867735969695893,0.07097936528639384,0.16881369218782774,0.9772690145625794,-0.0007986920757768501,-0.17150711887848444,0.12461919370969719],"qvel":[0.1924073218362703,0.3559471801892347,-0.43296395086917777,-0.073527446205635,-0.015293895118245202,0.18021627493574174,-0.00013438448172713676,-0.00015143982390262986,0.10895688939193447,0.07855263703789275,0.024515330349007207,0.0068398595707331615,-0.10127694998565404,0.036554228227743825],"joint_position_rad":[0.23976908371445488,1.4892017941177664,-1.1604257710589112,-0.047696259023941215,0.9771168355786463,0.00505712952278647],"joint_velocity_rad_s":[0.1924073218362703,0.3559471801892347,-0.43296395086917777,-0.073527446205635,-0.015293895118245202,0.18021627493574174],"gripper_joint_position_m":[0.019589985231347022,-0.02025380143329002],"tcp_position_m":[0.31935768075406634,0.07094329205923659,0.17140030488649188],"tcp_quaternion_wxyz":[0.1764676567045048,-0.12484547858577097,0.976356855797901,-0.00025050019522994236],"object_position_m":[0.31867735969695893,0.07097936528639384,0.16881369218782774],"object_quaternion_wxyz":[0.9772690145625794,-0.0007986920757768501,-0.17150711887848444,0.12461919370969719],"object_linear_velocity_m_s":[0.10895688939193447,0.07855263703789275,0.024515330349007207],"object_angular_velocity_rad_s":[0.01860472709245188,-0.09796878045140767,0.04118249707520519],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3764670171493357,"right":0.4063409554313586},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04927515158514621},{"geom_ids":[85,90],"normal_force_n":0.04230743252075925},{"geom_ids":[85,90],"normal_force_n":0.043938020222078183},{"geom_ids":[85,90],"normal_force_n":0.05091737585666903},{"geom_ids":[86,90],"normal_force_n":0.04306887875367199},{"geom_ids":[86,90],"normal_force_n":0.04322888457207085},{"geom_ids":[86,90],"normal_force_n":0.05193801709312514},{"geom_ids":[86,90],"normal_force_n":0.05179325654581515},{"geom_ids":[88,90],"normal_force_n":0.0469439551522187},{"geom_ids":[88,90],"normal_force_n":0.053831708727566624},{"geom_ids":[88,90],"normal_force_n":0.055615950426575356},{"geom_ids":[88,90],"normal_force_n":0.048718557861560416},{"geom_ids":[89,90],"normal_force_n":0.05452021588382641},{"geom_ids":[89,90],"normal_force_n":0.05469549608471032},{"geom_ids":[89,90],"normal_force_n":0.04608560683845718},{"geom_ids":[89,90],"normal_force_n":0.04592946445644361}],"native_actuator_controls":[0.2530966353795068,1.5105452168014535,-1.1905245807908496,-0.06540714900566934,0.960505367086892,0.06137159921533881,0.0],"actuator_force_native":[0.10416752402280238,-0.07226208625121444,-0.24308502420919353,-0.3407983682409501,-0.1431738422401736,0.2928202845219108,-0.7829274868452453],"issued_joint_targets_rad":[0.25595717714972677,1.5179278877344433,-1.2001880540358767,-0.0667563175176999,0.9613521467466261,0.06505712952278647],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.71999999999839,"joint_targets_rad":[0.25595717714972677,1.5179278877344433,-1.2001880540358767,-0.0667563175176999,0.9613521467466261,0.06505712952278647],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.739999999998378,"qpos":[0.24353381226458232,1.4964767473306704,-1.1693698230778442,-0.049310105841156006,0.9768696464940164,0.00874446194002186,0.019590025631254133,-0.02025375351892459,0.3209262006935389,0.07251779311701499,0.16933472391982432,0.9770496675316305,-0.000757368769356641,-0.17251831139648527,0.12494321030685482],"qvel":[0.17597444187082267,0.3585543204805063,-0.44553147169242496,-0.07177290628032429,-0.0141685981397121,0.18047104471124822,-0.00012612463990324088,-0.00014197168624499067,0.11246255829267827,0.07514481240281806,0.026931861293502637,0.0030108958349066997,-0.10967840547096847,0.019395838221113293],"joint_position_rad":[0.24353381226458232,1.4964767473306704,-1.1693698230778442,-0.049310105841156006,0.9768696464940164,0.00874446194002186],"joint_velocity_rad_s":[0.17597444187082267,0.3585543204805063,-0.44553147169242496,-0.07177290628032429,-0.0141685981397121,0.18047104471124822],"gripper_joint_position_m":[0.019590025631254133,-0.02025375351892459],"tcp_position_m":[0.32160076463796644,0.07248014631208924,0.17191877756398743],"tcp_quaternion_wxyz":[0.17749308635181163,-0.12517031044471918,0.9761293726599601,-0.00021333296407094192],"object_position_m":[0.3209262006935389,0.07251779311701499,0.16933472391982432],"object_quaternion_wxyz":[0.9770496675316305,-0.000757368769356641,-0.17251831139648527,0.12494321030685482],"object_linear_velocity_m_s":[0.11246255829267827,0.07514481240281806,0.026931861293502637],"object_angular_velocity_rad_s":[0.0229447913933533,-0.10632549062552286,0.024146288572776013],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37674164655843784,"right":0.40611452352361405},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04914202759423965},{"geom_ids":[85,90],"normal_force_n":0.042106698469046744},{"geom_ids":[85,90],"normal_force_n":0.04399648125434592},{"geom_ids":[85,90],"normal_force_n":0.051045420080643826},{"geom_ids":[86,90],"normal_force_n":0.04311865672063878},{"geom_ids":[86,90],"normal_force_n":0.043304347729941364},{"geom_ids":[86,90],"normal_force_n":0.0520979991942171},{"geom_ids":[86,90],"normal_force_n":0.051930015515364455},{"geom_ids":[88,90],"normal_force_n":0.04682006861326792},{"geom_ids":[88,90],"normal_force_n":0.053781584972349944},{"geom_ids":[88,90],"normal_force_n":0.055825689051663886},{"geom_ids":[88,90],"normal_force_n":0.04885278733841955},{"geom_ids":[89,90],"normal_force_n":0.05445360778543659},{"geom_ids":[89,90],"normal_force_n":0.05465467945438321},{"geom_ids":[89,90],"normal_force_n":0.04595258033137383},{"geom_ids":[89,90],"normal_force_n":0.045773525976719055}],"native_actuator_controls":[0.25595717714972677,1.5179278877344433,-1.2001880540358767,-0.0667563175176999,0.9613521467466261,0.06505712952278647,0.0],"actuator_force_native":[0.11399698145744708,-0.07668037010068929,-0.2378011181804851,-0.3389839356601345,-0.13392210026433737,0.2924201087607738,-0.782970402050649],"issued_joint_targets_rad":[0.25851085962604387,1.5253296503441152,-1.210088160584026,-0.06806717524252276,0.9622308650554091,0.06874446194002186],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.739999999998378,"joint_targets_rad":[0.25851085962604387,1.5253296503441152,-1.210088160584026,-0.06806717524252276,0.9622308650554091,0.06874446194002186],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.759999999998367,"qpos":[0.24696671487921504,1.5037989275897452,-1.1785615960383036,-0.05087902806220335,0.9766452567891091,0.012433325358333934,0.019590048628981477,-0.020253722346117962,0.32324408038115215,0.07398817760696488,0.16990411514015433,0.9768364237420533,-0.0007074541893387198,-0.17361602361184175,0.12509027581957874],"qvel":[0.15997888327061816,0.36075205151965456,-0.45779088666248746,-0.07006358548133561,-0.01302141162644205,0.1807156170853997,-0.0001173368356293617,-0.00013189773344255936,0.1158823007800803,0.0717542416367882,0.029378520716547774,-0.0006907091981788865,-0.1181440082277659,0.0026647729839939663],"joint_position_rad":[0.24696671487921504,1.5037989275897452,-1.1785615960383036,-0.05087902806220335,0.9766452567891091,0.012433325358333934],"joint_velocity_rad_s":[0.15997888327061816,0.36075205151965456,-0.45779088666248746,-0.07006358548133561,-0.01302141162644205,0.1807156170853997],"gripper_joint_position_m":[0.019590048628981477,-0.020253722346117962],"tcp_position_m":[0.323912511867039,0.07394840567676904,0.1724856450737784],"tcp_quaternion_wxyz":[0.17860466314852738,-0.12531785904955736,0.9759076699689239,-0.0001679305281037488],"object_position_m":[0.32324408038115215,0.07398817760696488,0.16990411514015433],"object_quaternion_wxyz":[0.9768364237420533,-0.0007074541893387198,-0.17361602361184175,0.12509027581957874],"object_linear_velocity_m_s":[0.1158823007800803,0.0717542416367882,0.029378520716547774],"object_angular_velocity_rad_s":[0.027311870445391972,-0.11472758626082726,0.007564883205553133],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3770155276228853,"right":0.4058901702883632},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04901898822249387},{"geom_ids":[85,90],"normal_force_n":0.0419272277784972},{"geom_ids":[85,90],"normal_force_n":0.04405589444162576},{"geom_ids":[85,90],"normal_force_n":0.05116305481316023},{"geom_ids":[86,90],"normal_force_n":0.0431707955660172},{"geom_ids":[86,90],"normal_force_n":0.043380246353113966},{"geom_ids":[86,90],"normal_force_n":0.05224438784050112},{"geom_ids":[86,90],"normal_force_n":0.05205493260747588},{"geom_ids":[88,90],"normal_force_n":0.04670626613718637},{"geom_ids":[88,90],"normal_force_n":0.05373082506007315},{"geom_ids":[88,90],"normal_force_n":0.05601514761210337},{"geom_ids":[88,90],"normal_force_n":0.04897751759195267},{"geom_ids":[89,90],"normal_force_n":0.05438688224606502},{"geom_ids":[89,90],"normal_force_n":0.05461188111866053},{"geom_ids":[89,90],"normal_force_n":0.045830973215433175},{"geom_ids":[89,90],"normal_force_n":0.04563067730688893}],"native_actuator_controls":[0.25851085962604387,1.5253296503441152,-1.210088160584026,-0.06806717524252276,0.9622308650554091,0.06874446194002186,0.0],"actuator_force_native":[0.12363716339321584,-0.08130243724866659,-0.23317073034534985,-0.33720795980609797,-0.12461179989733573,0.2920379401887797,-0.7830152609811123],"issued_joint_targets_rad":[0.26076095934374044,1.532741679450618,-1.2202240971221967,-0.06933820001447165,0.9631501184632125,0.07243332535833394],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.759999999998367,"joint_targets_rad":[0.26076095934374044,1.532741679450618,-1.2202240971221967,-0.06933820001447165,0.9631501184632125,0.07243332535833394],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.779999999998356,"qpos":[0.25007639604817633,1.511160271285649,-1.187995724163608,-0.052403650100824185,0.9764441969633073,0.016123514973643695,0.0195900617184493,-0.020253700439965362,0.32562938556876575,0.07539082679743953,0.17052271603689897,0.9766284142031563,-0.0006480186091696689,-0.17480091434608633,0.12506462724001186],"qvel":[0.14438120258415219,0.36255046021305354,-0.4698133682457529,-0.06836762204084748,-0.01184458788117894,0.18094578476065298,-0.00010855191521233083,-0.00012188875945682472,0.1192266703467766,0.06837471247887826,0.031878690658774085,-0.004251154303320906,-0.12672872669639268,-0.013694173016011222],"joint_position_rad":[0.25007639604817633,1.511160271285649,-1.187995724163608,-0.052403650100824185,0.9764441969633073,0.016123514973643695],"joint_velocity_rad_s":[0.14438120258415219,0.36255046021305354,-0.4698133682457529,-0.06836762204084748,-0.01184458788117894,0.18094578476065298],"gripper_joint_position_m":[0.0195900617184493,-0.020253700439965362],"tcp_position_m":[0.3262912678285838,0.07534839146581972,0.17310177454944847],"tcp_quaternion_wxyz":[0.1798031077245553,-0.1252923846267842,0.9756908567490631,-0.00011341695270510395],"object_position_m":[0.32562938556876575,0.07539082679743953,0.17052271603689897],"object_quaternion_wxyz":[0.9766284142031563,-0.0006480186091696689,-0.17480091434608633,0.12506462724001186],"object_linear_velocity_m_s":[0.1192266703467766,0.06837471247887826,0.031878690658774085],"object_angular_velocity_rad_s":[0.03174846478322358,-0.12322228614401162,-0.008606743806099819],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37727608994806217,"right":0.40567773478268315},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0489030084024438},{"geom_ids":[85,90],"normal_force_n":0.041764738288115166},{"geom_ids":[85,90],"normal_force_n":0.044114665918815694},{"geom_ids":[85,90],"normal_force_n":0.051269956007889535},{"geom_ids":[86,90],"normal_force_n":0.043223543681464055},{"geom_ids":[86,90],"normal_force_n":0.04345508426933151},{"geom_ids":[86,90],"normal_force_n":0.05237724987836475},{"geom_ids":[86,90],"normal_force_n":0.05216784350163764},{"geom_ids":[88,90],"normal_force_n":0.04660257854092178},{"geom_ids":[88,90],"normal_force_n":0.05368066081005309},{"geom_ids":[88,90],"normal_force_n":0.056188192249791},{"geom_ids":[88,90],"normal_force_n":0.04909540793033283},{"geom_ids":[89,90],"normal_force_n":0.054321170696237035},{"geom_ids":[89,90],"normal_force_n":0.05456848347628148},{"geom_ids":[89,90],"normal_force_n":0.04572066657813755},{"geom_ids":[89,90],"normal_force_n":0.04550057450092839}],"native_actuator_controls":[0.26076095934374044,1.532741679450618,-1.2202240971221967,-0.06933820001447165,0.9631501184632125,0.07243332535833394,0.0],"actuator_force_native":[0.13285905072436321,-0.08623964786774252,-0.2292029954583228,-0.3355438863416613,-0.11517390317917986,0.2916794267059229,-0.7830597091619103],"issued_joint_targets_rad":[0.2627085289483997,1.540153932564498,-1.230597081321299,-0.07056698803355997,0.9641206759648975,0.0761235149736437],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.779999999998356,"joint_targets_rad":[0.2627085289483997,1.540153932564498,-1.230597081321299,-0.07056698803355997,0.9641206759648975,0.0761235149736437],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.799999999998345,"qpos":[0.2528702649113239,1.5185527735597468,-1.197668246872813,-0.05388388396962571,0.9762671896312501,0.01981476435301439,0.019590060992603617,-0.020253692742968215,0.3280807245614887,0.07672579965134547,0.17119188533725851,0.9764246480365654,-0.0005778629207022604,-0.1760741768256285,0.12486976029564484],"qvel":[0.1291106648134632,0.36394635106137335,-0.48167010371174146,-0.06665589502664557,-0.010627382266671447,0.18116075854305927,-0.00010009521369823044,-0.00011224687947541919,0.12250775260786545,0.06498849604525068,0.03446020773478906,-0.0076752325007469376,-0.135495369537504,-0.029763933663144098],"joint_position_rad":[0.2528702649113239,1.5185527735597468,-1.197668246872813,-0.05388388396962571,0.9762671896312501,0.01981476435301439],"joint_velocity_rad_s":[0.1291106648134632,0.36394635106137335,-0.48167010371174146,-0.06665589502664557,-0.010627382266671447,0.18116075854305927],"gripper_joint_position_m":[0.019590060992603617,-0.020253692742968215],"tcp_position_m":[0.3287356020917075,0.07668015702626516,0.1737685437141987],"tcp_quaternion_wxyz":[0.18108967372622106,-0.12509742779174837,0.9754779142857755,-4.868565289332312e-05],"object_position_m":[0.3280807245614887,0.07672579965134547,0.17119188533725851],"object_quaternion_wxyz":[0.9764246480365654,-0.0005778629207022604,-0.1760741768256285,0.12486976029564484],"object_linear_velocity_m_s":[0.12250775260786545,0.06498849604525068,0.03446020773478906],"object_angular_velocity_rad_s":[0.0362917511832929,-0.13186783692563028,-0.024445418543250146],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37751446866706123,"right":0.4054843522223198},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048791119610277794},{"geom_ids":[85,90],"normal_force_n":0.04161416536092854},{"geom_ids":[85,90],"normal_force_n":0.04417148074870914},{"geom_ids":[85,90],"normal_force_n":0.05136693002212776},{"geom_ids":[86,90],"normal_force_n":0.04327532266425482},{"geom_ids":[86,90],"normal_force_n":0.043527643704618556},{"geom_ids":[86,90],"normal_force_n":0.05249798505207858},{"geom_ids":[86,90],"normal_force_n":0.05226982150406608},{"geom_ids":[88,90],"normal_force_n":0.04650802271039609},{"geom_ids":[88,90],"normal_force_n":0.05363217443102103},{"geom_ids":[88,90],"normal_force_n":0.056349619389030145},{"geom_ids":[88,90],"normal_force_n":0.04920917183747282},{"geom_ids":[89,90],"normal_force_n":0.05425745699157689},{"geom_ids":[89,90],"normal_force_n":0.05452582828507677},{"geom_ids":[89,90],"normal_force_n":0.045620420372663936},{"geom_ids":[89,90],"normal_force_n":0.04538165820508209}],"native_actuator_controls":[0.2627085289483997,1.540153932564498,-1.230597081321299,-0.07056698803355997,0.9641206759648975,0.0761235149736437,0.0],"actuator_force_native":[0.14150779889874698,-0.0916390349267715,-0.225956237320176,-0.3340446874241425,-0.10552406326351793,0.2913463683917041,-0.7831019636356535],"issued_joint_targets_rad":[0.2643508430647637,1.5475540227037317,-1.2412104567882485,-0.0717492366609679,0.9651564578114019,0.07981476435301439],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.799999999998345,"joint_targets_rad":[0.2643508430647637,1.5475540227037317,-1.2412104567882485,-0.0717492366609679,0.9651564578114019,0.07981476435301439],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.819999999998334,"qpos":[0.25535385961452767,1.525967848966618,-1.2075758629746367,-0.055318761244813074,0.9761150998404684,0.02350683877710061,0.019590036380105022,-0.02025370987105989,0.3305967859474437,0.07799265319246342,0.17191347097967943,0.9762240689094982,-0.0004954930251502498,-0.17743751873838093,0.1245080266987321],"qvel":[0.11406410480447852,0.36490885314584875,-0.4934008407454052,-0.06489186826536436,-0.009355429781383512,0.18135674867244106,-9.196011130758628e-05,-0.00010291413151051886,0.12573077631535018,0.061565197959000145,0.03715009924757445,-0.010973046061225704,-0.1444957661852012,-0.045657057124216326],"joint_position_rad":[0.25535385961452767,1.525967848966618,-1.2075758629746367,-0.055318761244813074,0.9761150998404684,0.02350683877710061],"joint_velocity_rad_s":[0.11406410480447852,0.36490885314584875,-0.4934008407454052,-0.06489186826536436,-0.009355429781383512,0.18135674867244106],"gripper_joint_position_m":[0.019590036380105022,-0.02025370987105989],"tcp_position_m":[0.3312441636492675,0.0779432399195288,0.17448782235896804],"tcp_quaternion_wxyz":[0.18246610321934084,-0.12473540459962747,0.9752677577219927,2.7626663769541264e-05],"object_position_m":[0.3305967859474437,0.07799265319246342,0.17191347097967943],"object_quaternion_wxyz":[0.9762240689094982,-0.0004954930251502498,-0.17743751873838093,0.1245080266987321],"object_linear_velocity_m_s":[0.12573077631535018,0.061565197959000145,0.03715009924757445],"object_angular_velocity_rad_s":[0.0409819302535935,-0.14071192607862945,-0.04005791185878258],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37772290146625503,"right":0.4053175528264289},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04868018321777411},{"geom_ids":[85,90],"normal_force_n":0.041469514140381795},{"geom_ids":[85,90],"normal_force_n":0.044224977443685864},{"geom_ids":[85,90],"normal_force_n":0.05145550719022545},{"geom_ids":[86,90],"normal_force_n":0.043324411820452886},{"geom_ids":[86,90],"normal_force_n":0.04359665281931486},{"geom_ids":[86,90],"normal_force_n":0.05260889398935542},{"geom_ids":[86,90],"normal_force_n":0.05236276084506464},{"geom_ids":[88,90],"normal_force_n":0.04642106482400513},{"geom_ids":[88,90],"normal_force_n":0.053586685915774306},{"geom_ids":[88,90],"normal_force_n":0.05650537637518129},{"geom_ids":[88,90],"normal_force_n":0.049321873108702896},{"geom_ids":[89,90],"normal_force_n":0.05419697128050931},{"geom_ids":[89,90],"normal_force_n":0.05448559459346729},{"geom_ids":[89,90],"normal_force_n":0.045528346140572724},{"geom_ids":[89,90],"normal_force_n":0.04527164058821594}],"native_actuator_controls":[0.2643508430647637,1.5475540227037317,-1.2412104567882485,-0.0717492366609679,0.9651564578114019,0.07981476435301439,0.0],"actuator_force_native":[0.14943815199648824,-0.09765036676013494,-0.22376330136191314,-0.3327596753193709,-0.09555327561858995,0.29104413275047614,-0.7831416546476629],"issued_joint_targets_rad":[0.26567944757039486,1.5549250397454568,-1.2520693233477285,-0.07287791802435456,0.9662762691788532,0.08334943612332527],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.819999999998334,"joint_targets_rad":[0.26567944757039486,1.5549250397454568,-1.2520693233477285,-0.07287791802435456,0.9662762691788532,0.08334943612332527],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.839999999998323,"qpos":[0.25752860362833774,1.5333962015296116,-1.2177164772747087,-0.05670542453638101,0.9759891192002896,0.027186183302012036,0.019589959035163806,-0.02025378138921279,0.3331765588150671,0.07918987765857947,0.17269002231954236,0.9760247998266912,-0.00040005071509071504,-0.17889329171119112,0.12398637128099108],"qvel":[0.09905669783657753,0.36539164892540543,-0.5050779397152403,-0.06304178400294652,-0.008010100948073787,0.18059330651474695,-8.333273756916539e-05,-9.28953555133041e-05,0.12891459420102905,0.05804455010823748,0.03999184437325875,-0.014199842677748282,-0.15382325963284932,-0.06058089756726849],"joint_position_rad":[0.25752860362833774,1.5333962015296116,-1.2177164772747087,-0.05670542453638101,0.9759891192002896,0.027186183302012036],"joint_velocity_rad_s":[0.09905669783657753,0.36539164892540543,-0.5050779397152403,-0.06304178400294652,-0.008010100948073787,0.18059330651474695],"gripper_joint_position_m":[0.019589959035163806,-0.02025378138921279],"tcp_position_m":[0.3338158972875573,0.07913608664538163,0.17526218257215725],"tcp_quaternion_wxyz":[0.18393479803503213,-0.12421280995797138,0.9750585389672404,0.00011619478184806377],"object_position_m":[0.3331765588150671,0.07918987765857947,0.17269002231954236],"object_quaternion_wxyz":[0.9760247998266912,-0.00040005071509071504,-0.17889329171119112,0.12398637128099108],"object_linear_velocity_m_s":[0.12891459420102905,0.05804455010823748,0.03999184437325875],"object_angular_velocity_rad_s":[0.045514432439146,-0.14989256298096879,-0.05471683368893334],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3779034353020683,"right":0.4051789540628641},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04855619063190946},{"geom_ids":[85,90],"normal_force_n":0.04132854840580051},{"geom_ids":[85,90],"normal_force_n":0.04428374480986585},{"geom_ids":[85,90],"normal_force_n":0.0515325413457747},{"geom_ids":[86,90],"normal_force_n":0.04338085333937169},{"geom_ids":[86,90],"normal_force_n":0.04367321738714779},{"geom_ids":[86,90],"normal_force_n":0.052706305725932934},{"geom_ids":[86,90],"normal_force_n":0.05244203365626537},{"geom_ids":[88,90],"normal_force_n":0.04634524717696543},{"geom_ids":[88,90],"normal_force_n":0.05353615281326987},{"geom_ids":[88,90],"normal_force_n":0.056658278104240165},{"geom_ids":[88,90],"normal_force_n":0.049447872279570426},{"geom_ids":[89,90],"normal_force_n":0.054129146278168186},{"geom_ids":[89,90],"normal_force_n":0.05443828130556332},{"geom_ids":[89,90],"normal_force_n":0.04544942482075961},{"geom_ids":[89,90],"normal_force_n":0.04517455128432711}],"native_actuator_controls":[0.26567944757039486,1.5549250397454568,-1.2520693233477285,-0.07287791802435456,0.9662762691788532,0.08334943612332527,0.0],"actuator_force_native":[0.15678402618168263,-0.10465118735940848,-0.22283798726537896,-0.3316908195042094,-0.08511334879225352,0.2907425684410119,-0.7831816977187064],"issued_joint_targets_rad":[0.26667624249291333,1.5622431352961907,-1.263182457901966,-0.07394070025005867,0.9675082563296655,0.08583602792028827],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.839999999998323,"joint_targets_rad":[0.26667624249291333,1.5622431352961907,-1.263182457901966,-0.07394070025005867,0.9675082563296655,0.08583602792028827],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.859999999998312,"qpos":[0.2593906946016075,1.540827999690636,-1.2280915826796843,-0.058037732255895716,0.9758908311113269,0.030756264920970666,0.019589768210591076,-0.020253971406815886,0.33581994063198106,0.08031480040074901,0.1735255119559829,0.975819523126938,-0.0002972719974939321,-0.18044543234422478,0.12335159447603455],"qvel":[0.08384094314481766,0.3653271556298905,-0.5168765375212926,-0.061036916505398484,-0.0065776069296186665,0.17359866278581385,-7.322374980986719e-05,-8.089853510321263e-05,0.13210696149105466,0.05434839382281938,0.0430711027206429,-0.017447130420774535,-0.1637033673235003,-0.06935933605003389],"joint_position_rad":[0.2593906946016075,1.540827999690636,-1.2280915826796843,-0.058037732255895716,0.9758908311113269,0.030756264920970666],"joint_velocity_rad_s":[0.08384094314481766,0.3653271556298905,-0.5168765375212926,-0.061036916505398484,-0.0065776069296186665,0.17359866278581385],"gripper_joint_position_m":[0.019589768210591076,-0.020253971406815886],"tcp_position_m":[0.3364506061733471,0.08025600465361307,0.17609560988782275],"tcp_quaternion_wxyz":[0.18549977288600625,-0.12357330239348645,0.9748432841272293,0.00021115597601141042],"object_position_m":[0.33581994063198106,0.08031480040074901,0.1735255119559829],"object_quaternion_wxyz":[0.975819523126938,-0.0002972719974939321,-0.18044543234422478,0.12335159447603455],"object_linear_velocity_m_s":[0.13210696149105466,0.05434839382281938,0.0430711027206429],"object_angular_velocity_rad_s":[0.04804298000766747,-0.15987630633421573,-0.06360307441613769],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3780393587121767,"right":0.40509008593384627},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048344947983394206},{"geom_ids":[85,90],"normal_force_n":0.04120700634782206},{"geom_ids":[85,90],"normal_force_n":0.044398699152004895},{"geom_ids":[85,90],"normal_force_n":0.05155896272285027},{"geom_ids":[86,90],"normal_force_n":0.04350671789223896},{"geom_ids":[86,90],"normal_force_n":0.04382289241978158},{"geom_ids":[86,90],"normal_force_n":0.05274291327358234},{"geom_ids":[86,90],"normal_force_n":0.05245721892050243},{"geom_ids":[88,90],"normal_force_n":0.0463199063639067},{"geom_ids":[88,90],"normal_force_n":0.05343072161224171},{"geom_ids":[88,90],"normal_force_n":0.05679371685783116},{"geom_ids":[88,90],"normal_force_n":0.04966177882407765},{"geom_ids":[89,90],"normal_force_n":0.05398941385191801},{"geom_ids":[89,90],"normal_force_n":0.05432280358927968},{"geom_ids":[89,90],"normal_force_n":0.04543406751959865},{"geom_ids":[89,90],"normal_force_n":0.0451376773149927}],"native_actuator_controls":[0.26667624249291333,1.5622431352961907,-1.263182457901966,-0.07394070025005867,0.9675082563296655,0.08583602792028827,0.0],"actuator_force_native":[0.16363911558037358,-0.11342492970507578,-0.22288733017606432,-0.3309341372395256,-0.07395933742218475,0.29039963581445527,-0.7832246096745937],"issued_joint_targets_rad":[0.2673056576692326,1.5694754400231041,-1.2745705358061281,-0.07491158226674996,0.9689023370934005,0.08813893532220482],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.859999999998312,"joint_targets_rad":[0.2673056576692326,1.5694754400231041,-1.2745705358061281,-0.07491158226674996,0.9689023370934005,0.08813893532220482],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.8799999999983,"qpos":[0.2609335892840859,1.5482496377067327,-1.23870260741357,-0.05931077579275363,0.9758230725784526,0.03417033875253069,0.01958951986859703,-0.020254214933144717,0.3385264875337949,0.08136314651823456,0.1744252210370727,0.9756046130226164,-0.00018926553132487894,-0.18209921621085476,0.12261924271068504],"qvel":[0.06817791512352304,0.36451005442853085,-0.5287981745687619,-0.05871320857061254,-0.004970368667147224,0.16606465170072518,-6.14159514938161e-05,-6.716978326483845e-05,0.13528114685140558,0.05041476227565322,0.046457290706841466,-0.020651698617784604,-0.17422092406967468,-0.0784884874507898],"joint_position_rad":[0.2609335892840859,1.5482496377067327,-1.23870260741357,-0.05931077579275363,0.9758230725784526,0.03417033875253069],"joint_velocity_rad_s":[0.06817791512352304,0.36451005442853085,-0.5287981745687619,-0.05871320857061254,-0.004970368667147224,0.16606465170072518],"gripper_joint_position_m":[0.01958951986859703,-0.020254214933144717],"tcp_position_m":[0.33914781459512067,0.0812988661845966,0.17699343245391724],"tcp_quaternion_wxyz":[0.1871663091504356,-0.12283507329777317,0.9746179873265526,0.00031026839036508427],"object_position_m":[0.3385264875337949,0.08136314651823456,0.1744252210370727],"object_quaternion_wxyz":[0.9756046130226164,-0.00018926553132487894,-0.18209921621085476,0.12261924271068504],"object_linear_velocity_m_s":[0.13528114685140558,0.05041476227565322,0.046457290706841466],"object_angular_velocity_rad_s":[0.050901976245308726,-0.17044825114545747,-0.07277532684626722],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3781187658415182,"right":0.40506298802392293},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04809149879824787},{"geom_ids":[85,90],"normal_force_n":0.041071999331978255},{"geom_ids":[85,90],"normal_force_n":0.04452705615767681},{"geom_ids":[85,90],"normal_force_n":0.05157003238528846},{"geom_ids":[86,90],"normal_force_n":0.04364954922533192},{"geom_ids":[86,90],"normal_force_n":0.04399224471072304},{"geom_ids":[86,90],"normal_force_n":0.05276296038089208},{"geom_ids":[86,90],"normal_force_n":0.052453424851379785},{"geom_ids":[88,90],"normal_force_n":0.04631016677563686},{"geom_ids":[88,90],"normal_force_n":0.05331260091323389},{"geom_ids":[88,90],"normal_force_n":0.05694427106128673},{"geom_ids":[88,90],"normal_force_n":0.04991897965483824},{"geom_ids":[89,90],"normal_force_n":0.053830635757049},{"geom_ids":[89,90],"normal_force_n":0.0541910754964743},{"geom_ids":[89,90],"normal_force_n":0.04543782559698737},{"geom_ids":[89,90],"normal_force_n":0.04511743276841654}],"native_actuator_controls":[0.2673056576692326,1.5694754400231041,-1.2745705358061281,-0.07491158226674996,0.9689023370934005,0.08813893532220482,0.0],"actuator_force_native":[0.1688758951941196,-0.12448608683294538,-0.2254433985608273,-0.3304662161067906,-0.0617518018498,0.2905889881456536,-0.7832737149864121],"issued_joint_targets_rad":[0.2676184713813754,1.5738984281167605,-1.281875842409294,-0.07587226492777864,0.9688427439674838,0.09039711655368951],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.8799999999983,"joint_targets_rad":[0.2676184713813754,1.5738984281167605,-1.281875842409294,-0.07587226492777864,0.9688427439674838,0.09039711655368951],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.89999999999829,"qpos":[0.26215010916574927,1.5553653243176901,-1.2491919743065787,-0.06052712961869758,0.9757115421255776,0.037498078318194385,0.019589185994724565,-0.0202545463040463,0.3412174796042315,0.08230875752286933,0.17538217807291342,0.9753796483404393,-6.640852902404482e-05,-0.18388028396919187,0.12174801173160091],"qvel":[0.05204800013636523,0.3343310436713184,-0.5024892467216743,-0.05637951461703437,-0.009544132165242945,0.1634032748807303,-5.8287535231266716e-05,-6.286040320185488e-05,0.12971886501363342,0.043904401195497995,0.04815537653602338,-0.023678658752357803,-0.18496909035094455,-0.09299448309837716],"joint_position_rad":[0.26215010916574927,1.5553653243176901,-1.2491919743065787,-0.06052712961869758,0.9757115421255776,0.037498078318194385],"joint_velocity_rad_s":[0.05204800013636523,0.3343310436713184,-0.5024892467216743,-0.05637951461703437,-0.009544132165242945,0.1634032748807303],"gripper_joint_position_m":[0.019589185994724565,-0.0202545463040463],"tcp_position_m":[0.3418274133495288,0.08223799047482314,0.17794894019070495],"tcp_quaternion_wxyz":[0.18894017074616293,-0.12196286676724322,0.9743851882181171,0.00041951098976135783],"object_position_m":[0.3412174796042315,0.08230875752286933,0.17538217807291342],"object_quaternion_wxyz":[0.9753796483404393,-6.640852902404482e-05,-0.18388028396919187,0.12174801173160091],"object_linear_velocity_m_s":[0.12971886501363342,0.043904401195497995,0.04815537653602338],"object_angular_velocity_rad_s":[0.0559095800807188,-0.1809582372344186,-0.08689333912625562],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37809011600258224,"right":0.405097941081749},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047886739118449456},{"geom_ids":[85,90],"normal_force_n":0.040831964451895075},{"geom_ids":[85,90],"normal_force_n":0.04456897207294194},{"geom_ids":[85,90],"normal_force_n":0.05164890946041127},{"geom_ids":[86,90],"normal_force_n":0.04368682855972644},{"geom_ids":[86,90],"normal_force_n":0.04405776297319742},{"geom_ids":[86,90],"normal_force_n":0.05287202155226065},{"geom_ids":[86,90],"normal_force_n":0.052536917813699985},{"geom_ids":[88,90],"normal_force_n":0.0462265059679613},{"geom_ids":[88,90],"normal_force_n":0.053274651328192556},{"geom_ids":[88,90],"normal_force_n":0.05719542899570805},{"geom_ids":[88,90],"normal_force_n":0.05012199439252003},{"geom_ids":[89,90],"normal_force_n":0.05376953166943667},{"geom_ids":[89,90],"normal_force_n":0.054158925200518154},{"geom_ids":[89,90],"normal_force_n":0.045348532266276456},{"geom_ids":[89,90],"normal_force_n":0.04500237126113583}],"native_actuator_controls":[0.2676184713813754,1.5738984281167605,-1.281875842409294,-0.07587226492777864,0.9688427439674838,0.09039711655368951,0.0],"actuator_force_native":[0.17722897656826575,-0.18900691443096207,-0.10226321460885401,-0.33190783927807077,-0.0543717833330728,0.2838854700338559,-0.7832760021128262],"issued_joint_targets_rad":[0.26807486166695377,1.571987271584233,-1.2789103895309757,-0.07714033931046822,0.9647120162745709,0.0934230251148625],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.89999999999829,"joint_targets_rad":[0.26807486166695377,1.571987271584233,-1.2789103895309757,-0.07714033931046822,0.9647120162745709,0.0934230251148625],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.919999999998279,"qpos":[0.26307375394215154,1.5608608749931272,-1.257695082082927,-0.06174640525193262,0.9750633891370518,0.04098330151135962,0.01958915762938414,-0.02025454140300403,0.3435089627294874,0.08304997021695087,0.1762901728695326,0.9751468123509757,7.915055382343277e-05,-0.18582578416397233,0.12065432456719204],"qvel":[0.03878707858091574,0.22553487716706044,-0.36170424361715253,-0.057126480719702645,-0.03943854791590016,0.16991445096347,-4.385153992508008e-05,-4.8150886345984135e-05,0.09948727237086617,0.03126773911997685,0.04231080316258292,-0.027339130208641732,-0.18898331322489306,-0.11034243928009471],"joint_position_rad":[0.26307375394215154,1.5608608749931272,-1.257695082082927,-0.06174640525193262,0.9750633891370518,0.04098330151135962],"joint_velocity_rad_s":[0.03878707858091574,0.22553487716706044,-0.36170424361715253,-0.057126480719702645,-0.03943854791590016,0.16991445096347],"gripper_joint_position_m":[0.01958915762938414,-0.02025454140300403],"tcp_position_m":[0.34410074123027806,0.08297094447204917,0.17885726261003132],"tcp_quaternion_wxyz":[0.19079601838402047,-0.1208812205604382,0.9741582614782687,0.0005398872663780702],"object_position_m":[0.3435089627294874,0.08304997021695087,0.1762901728695326],"object_quaternion_wxyz":[0.9751468123509757,7.915055382343277e-05,-0.18582578416397233,0.12065432456719204],"object_linear_velocity_m_s":[0.09948727237086617,0.03126773911997685,0.04231080316258292],"object_angular_velocity_rad_s":[0.05980806373443547,-0.18494853897817057,-0.10418545035887831],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37876204728249574,"right":0.40450688750938846},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048029834477236695},{"geom_ids":[85,90],"normal_force_n":0.0405589439309989},{"geom_ids":[85,90],"normal_force_n":0.04448707223887234},{"geom_ids":[85,90],"normal_force_n":0.051985585502905884},{"geom_ids":[86,90],"normal_force_n":0.04355299460749558},{"geom_ids":[86,90],"normal_force_n":0.04394233464749655},{"geom_ids":[86,90],"normal_force_n":0.0532789115812718},{"geom_ids":[86,90],"normal_force_n":0.05292637029621808},{"geom_ids":[88,90],"normal_force_n":0.045893993713083656},{"geom_ids":[88,90],"normal_force_n":0.053369023242731524},{"geom_ids":[88,90],"normal_force_n":0.057489832273540334},{"geom_ids":[88,90],"normal_force_n":0.049986100512427745},{"geom_ids":[89,90],"normal_force_n":0.053898432270417525},{"geom_ids":[89,90],"normal_force_n":0.05430712320931291},{"geom_ids":[89,90],"normal_force_n":0.04496308445435523},{"geom_ids":[89,90],"normal_force_n":0.04459929783351954}],"native_actuator_controls":[0.26807486166695377,1.571987271584233,-1.2789103895309757,-0.07714033931046822,0.9647120162745709,0.0934230251148625,0.0],"actuator_force_native":[0.20615322507959988,-0.23756265854684955,0.1112966222418521,-0.3301249587429105,-0.04435590675095824,0.2695255595898238,-0.7833470474757402],"issued_joint_targets_rad":[0.26862980206785125,1.569958363168448,-1.2756454936589994,-0.07858904197870778,0.9602462999142389,0.09707110852116824],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.919999999998279,"joint_targets_rad":[0.26862980206785125,1.569958363168448,-1.2756454936589994,-0.07858904197870778,0.9602462999142389,0.09707110852116824],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.939999999998268,"qpos":[0.26378484728279084,1.5641013818528857,-1.2631593976730084,-0.06302164378399126,0.9736843735500338,0.04453637915511913,0.019589867544911252,-0.020253774032473602,0.34516473691923955,0.0835402921770265,0.17705182946967105,0.9749197559924881,0.00019841138709762946,-0.18777882926673464,0.11945937086592509],"qvel":[0.030309843904290756,0.11943529050561785,-0.2165952368159924,-0.060111165055114095,-0.06060259091415774,0.17097757845239758,-1.0199934198085517e-05,-1.5290634730345867e-05,0.06629694183940066,0.018914651363347346,0.03384381766036566,-0.0319577945056475,-0.16967547797582777,-0.11514725209224658],"joint_position_rad":[0.26378484728279084,1.5641013818528857,-1.2631593976730084,-0.06302164378399126,0.9736843735500338,0.04453637915511913],"joint_velocity_rad_s":[0.030309843904290756,0.11943529050561785,-0.2165952368159924,-0.060111165055114095,-0.06060259091415774,0.17097757845239758],"gripper_joint_position_m":[0.019589867544911252,-0.020253774032473602],"tcp_position_m":[0.34573656310043865,0.08345361723787838,0.17962181185163278],"tcp_quaternion_wxyz":[0.1926283127221108,-0.11969527248865577,0.9739440298251246,0.0006337583892880467],"object_position_m":[0.34516473691923955,0.0835402921770265,0.17705182946967105],"object_quaternion_wxyz":[0.9749197559924881,0.00019841138709762946,-0.18777882926673464,0.11945937086592509],"object_linear_velocity_m_s":[0.06629694183940066,0.018914651363347346,0.03384381766036566],"object_angular_velocity_rad_s":[0.05289700479920854,-0.16706368217346854,-0.11118269245840795],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3800380344872641,"right":0.40342845662967103},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048286033456461944},{"geom_ids":[85,90],"normal_force_n":0.040515751924552756},{"geom_ids":[85,90],"normal_force_n":0.044511781067405436},{"geom_ids":[85,90],"normal_force_n":0.05231094831622171},{"geom_ids":[86,90],"normal_force_n":0.04354037320588173},{"geom_ids":[86,90],"normal_force_n":0.04393533746183845},{"geom_ids":[86,90],"normal_force_n":0.0536482089722548},{"geom_ids":[86,90],"normal_force_n":0.053289600082647264},{"geom_ids":[88,90],"normal_force_n":0.04558718283788245},{"geom_ids":[88,90],"normal_force_n":0.0533719761738848},{"geom_ids":[88,90],"normal_force_n":0.057568023170596186},{"geom_ids":[88,90],"normal_force_n":0.049752288042727105},{"geom_ids":[89,90],"normal_force_n":0.05393415973951152},{"geom_ids":[89,90],"normal_force_n":0.054349173335981896},{"geom_ids":[89,90],"normal_force_n":0.04461789711975372},{"geom_ids":[89,90],"normal_force_n":0.044247756209333335}],"native_actuator_controls":[0.26862980206785125,1.569958363168448,-1.2756454936589994,-0.07858904197870778,0.9602462999142389,0.09707110852116824,0.0],"actuator_force_native":[0.2360471632833807,-0.12861794728311793,0.08408850520069677,-0.32214010251308967,-0.043476849986712196,0.2688809259818947,-0.7835437021254597],"issued_joint_targets_rad":[0.2692682354844271,1.567934154468054,-1.2723156069694779,-0.0801927149680602,0.9557565892986982,0.10109083832045532],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.939999999998268,"joint_targets_rad":[0.2692682354844271,1.567934154468054,-1.2723156069694779,-0.0801927149680602,0.9557565892986982,0.10109083832045532],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.959999999998256,"qpos":[0.2643774850585029,1.5654810129533625,-1.266032867122431,-0.06437489714470498,0.9722221755844029,0.04811333156256516,0.019591183026965667,-0.0202524275914646,0.3461717560011076,0.08379941724562519,0.17763012427598632,0.9747566321754692,0.00022759797610042906,-0.18939500663713177,0.11823276910407686],"qvel":[0.02614923964012333,0.03846448467865568,-0.10115466490407167,-0.06373167006499281,-0.05430188213311841,0.1716969339721357,9.247258548263544e-07,-7.200912129646294e-06,0.03554324135119571,0.008411009688421664,0.024260735030804736,-0.03683437237767214,-0.12588599782566315,-0.11553602550871656],"joint_position_rad":[0.2643774850585029,1.5654810129533625,-1.266032867122431,-0.06437489714470498,0.9722221755844029,0.04811333156256516],"joint_velocity_rad_s":[0.02614923964012333,0.03846448467865568,-0.10115466490407167,-0.06373167006499281,-0.05430188213311841,0.1716969339721357],"gripper_joint_position_m":[0.019591183026965667,-0.0202524275914646],"tcp_position_m":[0.34672934601478755,0.08370794139376492,0.18020436606083173],"tcp_quaternion_wxyz":[0.1941515685232409,-0.11847379086691683,0.9737908973141389,0.0006462396705892253],"object_position_m":[0.3461717560011076,0.08379941724562519,0.17763012427598632],"object_quaternion_wxyz":[0.9747566321754692,0.00022759797610042906,-0.18939500663713177,0.11823276910407686],"object_linear_velocity_m_s":[0.03554324135119571,0.008411009688421664,0.024260735030804736],"object_angular_velocity_rad_s":[0.03851801713006298,-0.125627889888156,-0.11526762019746972],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3814476371713589,"right":0.40211908078322495},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04860163734937076},{"geom_ids":[85,90],"normal_force_n":0.04068541736484915},{"geom_ids":[85,90],"normal_force_n":0.04459583772312973},{"geom_ids":[85,90],"normal_force_n":0.052540646622455396},{"geom_ids":[86,90],"normal_force_n":0.04360632101739029},{"geom_ids":[86,90],"normal_force_n":0.04399185016269833},{"geom_ids":[86,90],"normal_force_n":0.053888326575630315},{"geom_ids":[86,90],"normal_force_n":0.05353760035583496},{"geom_ids":[88,90],"normal_force_n":0.04536543582106708},{"geom_ids":[88,90],"normal_force_n":0.0533031930287428},{"geom_ids":[88,90],"normal_force_n":0.05741701529489508},{"geom_ids":[88,90],"normal_force_n":0.0494479859800198},{"geom_ids":[89,90],"normal_force_n":0.05389384258719409},{"geom_ids":[89,90],"normal_force_n":0.0542997195919522},{"geom_ids":[89,90],"normal_force_n":0.044377221319161074},{"geom_ids":[89,90],"normal_force_n":0.04401466716019285}],"native_actuator_controls":[0.2692682354844271,1.567934154468054,-1.2723156069694779,-0.0801927149680602,0.9557565892986982,0.10109083832045532,0.0],"actuator_force_native":[0.2605138358733221,0.0039288977820319815,0.0031541367566063627,-0.31405436260924446,-0.0832030396573682,0.2722296666206979,-0.7836519447079008],"issued_joint_targets_rad":[0.26331979541657063,1.602726510919828,-1.261040354842147,-0.06332263423491338,0.9725987076431862,0.07477007441330068],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.959999999998256,"joint_targets_rad":[0.26331979541657063,1.602726510919828,-1.261040354842147,-0.06332263423491338,0.9725987076431862,0.07477007441330068],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.979999999998245,"qpos":[0.2646186735791969,1.5664003911399613,-1.2671448197143294,-0.06502119314069836,0.9714954511866046,0.050342328613260635,0.019586782710405926,-0.020257229450962505,0.346611252197296,0.08391069080710303,0.17772428620272376,0.9747576094075251,0.000329994419934622,-0.18989925084203868,0.11741281248415943],"qvel":[0.0037282647685169955,0.089173570125702,-0.03261240269767459,-0.006924750950397284,-0.020638707596073582,0.06383749365873964,-0.00014665962079546762,-0.0001386904021762529,0.015624827572354262,0.005109137744253188,-0.01985618137753175,0.005356588188733879,0.03750292559260889,-0.05180274010581903],"joint_position_rad":[0.2646186735791969,1.5664003911399613,-1.2671448197143294,-0.06502119314069836,0.9714954511866046,0.050342328613260635],"joint_velocity_rad_s":[0.0037282647685169955,0.089173570125702,-0.03261240269767459,-0.006924750950397284,-0.020638707596073582,0.06383749365873964],"gripper_joint_position_m":[0.019586782710405926,-0.020257229450962505],"tcp_position_m":[0.3471692979538525,0.08380551582873468,0.1803065681676454],"tcp_quaternion_wxyz":[0.19463990952250387,-0.11762991632579523,0.9737956992863065,0.0006666766465576025],"object_position_m":[0.346611252197296,0.08391069080710303,0.17772428620272376],"object_quaternion_wxyz":[0.9747576094075251,0.000329994419934622,-0.18989925084203868,0.11741281248415943],"object_linear_velocity_m_s":[0.015624827572354262,0.005109137744253188,-0.01985618137753175],"object_angular_velocity_rad_s":[0.015407470612568792,0.040037722137350545,-0.047731300033359646],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38567050565530736,"right":0.3970521276802828},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04682720254885174},{"geom_ids":[85,90],"normal_force_n":0.039183152987999584},{"geom_ids":[85,90],"normal_force_n":0.0458869800989447},{"geom_ids":[85,90],"normal_force_n":0.053575728458426154},{"geom_ids":[86,90],"normal_force_n":0.044929014430039965},{"geom_ids":[86,90],"normal_force_n":0.04558846655267401},{"geom_ids":[86,90],"normal_force_n":0.055139843153610965},{"geom_ids":[86,90],"normal_force_n":0.054540117424760254},{"geom_ids":[88,90],"normal_force_n":0.044200743807477905},{"geom_ids":[88,90],"normal_force_n":0.05190845551723291},{"geom_ids":[88,90],"normal_force_n":0.05888529834273677},{"geom_ids":[88,90],"normal_force_n":0.05112234106571519},{"geom_ids":[89,90],"normal_force_n":0.05218993690810867},{"geom_ids":[89,90],"normal_force_n":0.05287610532972967},{"geom_ids":[89,90],"normal_force_n":0.043241189320516314},{"geom_ids":[89,90],"normal_force_n":0.04262805738876543}],"native_actuator_controls":[0.26331979541657063,1.5979341544680552,-1.261040354842147,-0.06332263423491338,0.9725987076431862,0.07477007441330068,0.0],"actuator_force_native":[-0.12255157685268259,2.07683321561899,0.6514192032629609,0.10256611098338597,0.041990625959925865,0.14852121751229097,-0.7827380103122596],"issued_joint_targets_rad":[0.26351806690798546,1.6034540487123798,-1.2620316016449658,-0.06385052202280729,0.9720483318481646,0.07672740213733564],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.979999999998245,"joint_targets_rad":[0.26351806690798546,1.6034540487123798,-1.2620316016449658,-0.06385052202280729,0.9720483318481646,0.07672740213733564],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.999999999998234,"qpos":[0.26463363526913375,1.5698588451595308,-1.2678025894672293,-0.06500839549922416,0.9712543310371262,0.051257531920138245,0.01958869662213425,-0.020254813845734597,0.34698027273817905,0.08402171680200272,0.1767164953065201,0.9750506145335658,0.00028694611692579386,-0.18860299031761035,0.11706890621722413],"qvel":[-0.0008844092366582431,0.2314238746067235,-0.020274099766070117,0.003944255415480938,-0.00944469690551662,0.037057637244670844,0.00022290343649855433,0.00024377964910544142,0.018298852606782726,0.005195236769510377,-0.07562331298222032,0.0025384154314398383,0.20503753340915593,-0.02750980943119547],"joint_position_rad":[0.26463363526913375,1.5698588451595308,-1.2678025894672293,-0.06500839549922416,0.9712543310371262,0.051257531920138245],"joint_velocity_rad_s":[-0.0008844092366582431,0.2314238746067235,-0.020274099766070117,0.003944255415480938,-0.00944469690551662,0.037057637244670844],"gripper_joint_position_m":[0.01958869662213425,-0.020254813845734597],"tcp_position_m":[0.34754608019272776,0.08391738525518687,0.17930673923440782],"tcp_quaternion_wxyz":[0.1933958896576431,-0.11726035252884312,0.9740881364283299,0.0005848571816889213],"object_position_m":[0.34698027273817905,0.08402171680200272,0.1767164953065201],"object_quaternion_wxyz":[0.9750506145335658,0.00028694611692579386,-0.18860299031761035,0.11706890621722413],"object_linear_velocity_m_s":[0.018298852606782726,0.005195236769510377,-0.07562331298222032],"object_angular_velocity_rad_s":[-0.034427117798323914,0.2012268058919505,-0.03355844789285729],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3850907178301599,"right":0.39957620176450326},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04515279487164054},{"geom_ids":[85,90],"normal_force_n":0.03802883931917263},{"geom_ids":[85,90],"normal_force_n":0.04646561138646331},{"geom_ids":[85,90],"normal_force_n":0.05364084811411474},{"geom_ids":[86,90],"normal_force_n":0.045571167661395226},{"geom_ids":[86,90],"normal_force_n":0.04639926283989288},{"geom_ids":[86,90],"normal_force_n":0.055291890560325054},{"geom_ids":[86,90],"normal_force_n":0.05454030307715551},{"geom_ids":[88,90],"normal_force_n":0.04436989239558375},{"geom_ids":[88,90],"normal_force_n":0.05156676154086535},{"geom_ids":[88,90],"normal_force_n":0.06032007279466301},{"geom_ids":[88,90],"normal_force_n":0.053056898785204254},{"geom_ids":[89,90],"normal_force_n":0.051611613102992254},{"geom_ids":[89,90],"normal_force_n":0.05247004329803231},{"geom_ids":[89,90],"normal_force_n":0.043473731624186475},{"geom_ids":[89,90],"normal_force_n":0.04270718822297588}],"native_actuator_controls":[0.26351806690798546,1.6034540487123798,-1.2620316016449658,-0.06385052202280729,0.9720483318481646,0.07672740213733564,0.0],"actuator_force_native":[-0.08482342270857046,1.5304969111943052,0.5630495246114435,0.026593661979270156,0.022107053468657156,0.1991122463049677,-0.7846623820678628],"issued_joint_targets_rad":[0.2634833761832164,1.606849699663132,-1.2626431727718448,-0.06375261032243477,0.9717808626349727,0.07760761411267521],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.999999999998234,"joint_targets_rad":[0.2634833761832164,1.606849699663132,-1.2626431727718448,-0.06375261032243477,0.9717808626349727,0.07760761411267521],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.019999999998223,"qpos":[0.2646025098062003,1.5755070563206524,-1.2679855670545646,-0.06491415261282023,0.9711119199246289,0.05194890667582778,0.019593058426773533,-0.02025033863361389,0.34733800288596295,0.08412005867551259,0.1747633049090345,0.9755815392366558,1.9883352129962442e-05,-0.1859784637953745,0.11684464433427134],"qvel":[-0.001916745154613667,0.3191460055075964,-0.0020052703958745215,0.004824953719312766,-0.004664512645623603,0.03306585738930033,0.00017403905744872887,0.00016787869044333404,0.017509464116602796,0.004717495066861842,-0.11329742836153316,-0.0012622528207204343,0.3149124454747817,-0.019859480528018617],"joint_position_rad":[0.2646025098062003,1.5755070563206524,-1.2679855670545646,-0.06491415261282023,0.9711119199246289,0.05194890667582778],"joint_velocity_rad_s":[-0.001916745154613667,0.3191460055075964,-0.0020052703958745215,0.004824953719312766,-0.004664512645623603,0.03306585738930033],"gripper_joint_position_m":[0.019593058426773533,-0.02025033863361389],"tcp_position_m":[0.34791278566908845,0.08402333412434583,0.17735734019098273],"tcp_quaternion_wxyz":[0.1908044847031289,-0.11702668297551568,0.9746272644087522,0.00031553135077261085],"object_position_m":[0.34733800288596295,0.08412005867551259,0.1747633049090345],"object_quaternion_wxyz":[0.9755815392366558,1.9883352129962442e-05,-0.1859784637953745,0.11684464433427134],"object_linear_velocity_m_s":[0.017509464116602796,0.004717495066861842,-0.11329742836153316],"object_angular_velocity_rad_s":[-0.06573106514426051,0.3068897772836588,-0.03261797415108476],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3845938419268385,"right":0.399913024494122},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04472955746987708},{"geom_ids":[85,90],"normal_force_n":0.03790140478372543},{"geom_ids":[85,90],"normal_force_n":0.046614781257381326},{"geom_ids":[85,90],"normal_force_n":0.0534943828766458},{"geom_ids":[86,90],"normal_force_n":0.04575691877625711},{"geom_ids":[86,90],"normal_force_n":0.046610301457668285},{"geom_ids":[86,90],"normal_force_n":0.0551300569216891},{"geom_ids":[86,90],"normal_force_n":0.05435643838359438},{"geom_ids":[88,90],"normal_force_n":0.04450338429509296},{"geom_ids":[88,90],"normal_force_n":0.0513942814290421},{"geom_ids":[88,90],"normal_force_n":0.06041677860861091},{"geom_ids":[88,90],"normal_force_n":0.053461073228595876},{"geom_ids":[89,90],"normal_force_n":0.051376187223528415},{"geom_ids":[89,90],"normal_force_n":0.05225896298362889},{"geom_ids":[89,90],"normal_force_n":0.043645143864677875},{"geom_ids":[89,90],"normal_force_n":0.042857212860945015}],"native_actuator_controls":[0.2634833761832164,1.606849699663132,-1.2626431727718448,-0.06375261032243477,0.9717808626349727,0.07760761411267521,0.0],"actuator_force_native":[-0.07994696406564472,0.9116814398604021,0.4374178945969618,0.02233692301885437,0.013686196071871493,0.20698828828452376,-0.7845925323581849],"issued_joint_targets_rad":[0.2633755995168788,1.6125403369949742,-1.2628551883430528,-0.06353132839203092,0.9714833328834493,0.07836903639488667],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.019999999998223,"joint_targets_rad":[0.2633755995168788,1.6125403369949742,-1.2628551883430528,-0.06353132839203092,0.9714833328834493,0.07836903639488667],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.039999999998212,"qpos":[0.2645594295699637,1.5825952115873652,-1.267969169121687,-0.06481320400277257,0.9710539525778025,0.052604169849651626,0.019595210548360203,-0.020248382786890538,0.3476964319533692,0.08421708004154416,0.1722235489692288,0.9762560972745477,-0.0003822791478139955,-0.18251969131914447,0.11666382763173108],"qvel":[-0.0022742699970990403,0.3774607575721862,0.003100215516617118,0.004958496581038326,-0.0013982904257299903,0.032373457846032225,4.9675621968186516e-05,3.910925255214269e-05,0.017876414983703192,0.00483901631438329,-0.13609733505036503,-0.0030521927262021206,0.3809714790581717,-0.016451642544153575],"joint_position_rad":[0.2645594295699637,1.5825952115873652,-1.267969169121687,-0.06481320400277257,0.9710539525778025,0.052604169849651626],"joint_velocity_rad_s":[-0.0022742699970990403,0.3774607575721862,0.003100215516617118,0.004958496581038326,-0.0013982904257299903,0.032373457846032225],"gripper_joint_position_m":[0.019595210548360203,-0.020248382786890538],"tcp_position_m":[0.34828202586943036,0.08412603684175349,0.17481812347095743],"tcp_quaternion_wxyz":[0.1873740184583493,-0.11684185658116283,0.9753147959684442,-8.076180497746776e-05],"object_position_m":[0.3476964319533692,0.08421708004154416,0.1722235489692288],"object_quaternion_wxyz":[0.9762560972745477,-0.0003822791478139955,-0.18251969131914447,0.11666382763173108],"object_linear_velocity_m_s":[0.017876414983703192,0.00483901631438329,-0.13609733505036503],"object_angular_velocity_rad_s":[-0.0836287752686693,0.37059364950217993,-0.03295170973299008],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38384833199231133,"right":0.4000971083124055},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04457266296064398},{"geom_ids":[85,90],"normal_force_n":0.03795822799016451},{"geom_ids":[85,90],"normal_force_n":0.04661723957209433},{"geom_ids":[85,90],"normal_force_n":0.05328176705442666},{"geom_ids":[86,90],"normal_force_n":0.045786029722704055},{"geom_ids":[86,90],"normal_force_n":0.046632476943954684},{"geom_ids":[86,90],"normal_force_n":0.054883249627728475},{"geom_ids":[86,90],"normal_force_n":0.054116678120594654},{"geom_ids":[88,90],"normal_force_n":0.04465218894820416},{"geom_ids":[88,90],"normal_force_n":0.05132055926380884},{"geom_ids":[88,90],"normal_force_n":0.060275785253096494},{"geom_ids":[88,90],"normal_force_n":0.053545894406116304},{"geom_ids":[89,90],"normal_force_n":0.051282653877306364},{"geom_ids":[89,90],"normal_force_n":0.05215717495540721},{"geom_ids":[89,90],"normal_force_n":0.04382153293998515},{"geom_ids":[89,90],"normal_force_n":0.043041318668481016}],"native_actuator_controls":[0.2633755995168788,1.6125403369949742,-1.2628551883430528,-0.06353132839203092,0.9714833328834493,0.07836903639488667,0.0],"actuator_force_native":[-0.08333505426130117,0.5083062447478142,0.3936173847076532,0.026482541524474712,0.006391238695064416,0.20908847868330205,-0.784056800044249],"issued_joint_targets_rad":[0.2632348130832138,1.6197247099205725,-1.2629047041184656,-0.06326778200371719,0.9711887922460628,0.07915124371267822],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.039999999998212,"joint_targets_rad":[0.2632348130832138,1.6197247099205725,-1.2629047041184656,-0.06326778200371719,0.9711887922460628,0.07915124371267822],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.059999999998201,"qpos":[0.2645105706784819,1.5906028227660103,-1.2678844800397044,-0.06470758109083069,0.9710381271517103,0.053254255589629304,0.01959548299211425,-0.020248251291874672,0.3480575998347442,0.08431569193380775,0.1693281903548504,0.9770064925276072,-0.0008594410263115232,-0.17856391301354654,0.11650108964861895],"qvel":[-0.002523401974810327,0.41293211422963155,0.007312178076185477,0.005271700079267694,-0.000535583377602827,0.03238445850488618,-1.2244823466961569e-05,-1.6579084085536343e-05,0.017400721414804764,0.004754093140593189,-0.15030775487310394,-0.0038348748459391727,0.42052976827674404,-0.014975183097895686],"joint_position_rad":[0.2645105706784819,1.5906028227660103,-1.2678844800397044,-0.06470758109083069,0.9710381271517103,0.053254255589629304],"joint_velocity_rad_s":[-0.002523401974810327,0.41293211422963155,0.007312178076185477,0.005271700079267694,-0.000535583377602827,0.03238445850488618],"gripper_joint_position_m":[0.01959548299211425,-0.020248251291874672],"tcp_position_m":[0.3486543719035724,0.0842279031498256,0.17192118447207622],"tcp_quaternion_wxyz":[0.1834404260237438,-0.11667730052845748,0.9760818166445815,-0.0005521389617109224],"object_position_m":[0.3480575998347442,0.08431569193380775,0.1693281903548504],"object_quaternion_wxyz":[0.9770064925276072,-0.0008594410263115232,-0.17856391301354654,0.11650108964861895],"object_linear_velocity_m_s":[0.017400721414804764,0.004754093140593189,-0.15030775487310394],"object_angular_velocity_rad_s":[-0.09386041896580102,0.4088376029350885,-0.033560163269071935],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3833559101298154,"right":0.4003039361831558},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044495708682858744},{"geom_ids":[85,90],"normal_force_n":0.038051002159348694},{"geom_ids":[85,90],"normal_force_n":0.04662157853698372},{"geom_ids":[85,90],"normal_force_n":0.05311488638176309},{"geom_ids":[86,90],"normal_force_n":0.04581161614327629},{"geom_ids":[86,90],"normal_force_n":0.046647890319641304},{"geom_ids":[86,90],"normal_force_n":0.05468498288789597},{"geom_ids":[86,90],"normal_force_n":0.053928245018047605},{"geom_ids":[88,90],"normal_force_n":0.044786800026961775},{"geom_ids":[88,90],"normal_force_n":0.051280322361242595},{"geom_ids":[88,90],"normal_force_n":0.06013863121085141},{"geom_ids":[88,90],"normal_force_n":0.053586259158988646},{"geom_ids":[89,90],"normal_force_n":0.051231416041525896},{"geom_ids":[89,90],"normal_force_n":0.05209490292507429},{"geom_ids":[89,90],"normal_force_n":0.0439778346336278},{"geom_ids":[89,90],"normal_force_n":0.04320776982488339}],"native_actuator_controls":[0.2632348130832138,1.6197247099205725,-1.2629047041184656,-0.06326778200371719,0.9711887922460628,0.07915124371267822,0.0],"actuator_force_native":[-0.08944359774739397,0.2650904012168098,0.3618211833181846,0.03123346308820185,0.0023100260099280234,0.21039319347315988,-0.7837580955672352],"issued_joint_targets_rad":[0.26307357411107685,1.6278512017918016,-1.262898795366689,-0.06297600495609507,0.9708814385313791,0.07996342802549097],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.059999999998201,"joint_targets_rad":[0.26307357411107685,1.6278512017918016,-1.262898795366689,-0.06297600495609507,0.9708814385313791,0.07996342802549097],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.07999999999819,"qpos":[0.26445681383016906,1.5991652861738404,-1.2677279876989602,-0.0645937923199327,0.9710335472482446,0.053906256890529115,0.019595126645362587,-0.020248630411898293,0.3484025779822976,0.08441046366317949,0.16620806728924462,0.9777941353067301,-0.001380021642658906,-0.1743007195734437,0.11634424633909086],"qvel":[-0.0027651190147467706,0.43392408786382314,0.01250783245203096,0.005742470803479529,-0.0006783165069187722,0.03257252699783306,-2.2978047729326594e-05,-2.2819540915897305e-05,0.015934754705884267,0.004376649653818429,-0.15960164054486298,-0.00420452380847652,0.4457879929396891,-0.014431485668134915],"joint_position_rad":[0.26445681383016906,1.5991652861738404,-1.2677279876989602,-0.0645937923199327,0.9710335472482446,0.053906256890529115],"joint_velocity_rad_s":[-0.0027651190147467706,0.43392408786382314,0.01250783245203096,0.005742470803479529,-0.0006783165069187722,0.03257252699783306],"gripper_joint_position_m":[0.019595126645362587,-0.020248630411898293],"tcp_position_m":[0.34901019233173775,0.08432481459991464,0.16879819873228655],"tcp_quaternion_wxyz":[0.1791931583924432,-0.11651990234011758,0.9768888283643105,-0.0010683449793199812],"object_position_m":[0.3484025779822976,0.08441046366317949,0.16620806728924462],"object_quaternion_wxyz":[0.9777941353067301,-0.001380021642658906,-0.1743007195734437,0.11634424633909086],"object_linear_velocity_m_s":[0.015934754705884267,0.004376649653818429,-0.15960164054486298],"object_angular_velocity_rad_s":[-0.10012333827683731,0.43330565683745986,-0.0342695977974951],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3831064850174113,"right":0.4004994185710351},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044452494367607155},{"geom_ids":[85,90],"normal_force_n":0.038146639262681116},{"geom_ids":[85,90],"normal_force_n":0.04664427015712817},{"geom_ids":[85,90],"normal_force_n":0.05299740686010304},{"geom_ids":[86,90],"normal_force_n":0.04585170516363423},{"geom_ids":[86,90],"normal_force_n":0.046679318007946995},{"geom_ids":[86,90],"normal_force_n":0.054541529860422204},{"geom_ids":[86,90],"normal_force_n":0.05379312133788841},{"geom_ids":[88,90],"normal_force_n":0.04489904750420471},{"geom_ids":[88,90],"normal_force_n":0.05125103723308712},{"geom_ids":[88,90],"normal_force_n":0.06003164808423064},{"geom_ids":[88,90],"normal_force_n":0.053622770195883546},{"geom_ids":[89,90],"normal_force_n":0.051193469053149844},{"geom_ids":[89,90],"normal_force_n":0.05204779341915163},{"geom_ids":[89,90],"normal_force_n":0.04410765148146911},{"geom_ids":[89,90],"normal_force_n":0.04334600159985852}],"native_actuator_controls":[0.26307357411107685,1.6278512017918016,-1.262898795366689,-0.06297600495609507,0.9708814385313791,0.07996342802549097,0.0],"actuator_force_native":[-0.0968335824536446,0.1252528101178143,0.32379622432154065,0.03599914053610753,-0.0005036124082788973,0.21171292085286897,-0.7836901755758569],"issued_joint_targets_rad":[0.26289651855100943,1.6365489479805553,-1.2628305758885185,-0.06266003427329438,0.9705431460991355,0.08080170614893675],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.07999999999819,"joint_targets_rad":[0.26289651855100943,1.6365489479805553,-1.2628305758885185,-0.06266003427329438,0.9705431460991355,0.08080170614893675],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.099999999998179,"qpos":[0.2643980924712885,1.608061562253215,-1.2674797008126708,-0.06446941209440273,0.9710282888411045,0.05456211826179161,0.019594789656243977,-0.02024893749037427,0.34871425050975624,0.08449643319553155,0.1629365575119126,0.9785981598586084,-0.0019280161097612945,-0.1698307793012692,0.11618705038492518],"qvel":[-0.0030147639906633267,0.44725125118180714,0.017018427706115707,0.006300164706013205,-0.0008202975293082555,0.032780156296153176,-1.6050556227617043e-05,-1.4834504785295922e-05,0.014075037907966733,0.0038804028671281386,-0.16592235938724292,-0.00441466594131014,0.46316404262884736,-0.014349137836961701],"joint_position_rad":[0.2643980924712885,1.608061562253215,-1.2674797008126708,-0.06446941209440273,0.9710282888411045,0.05456211826179161],"joint_velocity_rad_s":[-0.0030147639906633267,0.44725125118180714,0.017018427706115707,0.006300164706013205,-0.0008202975293082555,0.032780156296153176],"gripper_joint_position_m":[0.019594789656243977,-0.02024893749037427],"tcp_position_m":[0.34933229770470137,0.08441262268265408,0.16552313331646457],"tcp_quaternion_wxyz":[0.17473512392356835,-0.11636287374678163,0.9777140258010624,-0.0016130197411859948],"object_position_m":[0.34871425050975624,0.08449643319553155,0.1629365575119126],"object_quaternion_wxyz":[0.9785981598586084,-0.0019280161097612945,-0.1698307793012692,0.11618705038492518],"object_linear_velocity_m_s":[0.014075037907966733,0.0038804028671281386,-0.16592235938724292],"object_angular_velocity_rad_s":[-0.10428543661338378,0.4501610393163947,-0.03501290916609716],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3829967899952265,"right":0.4006360415817268},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044424193762941516},{"geom_ids":[85,90],"normal_force_n":0.03823905032066871},{"geom_ids":[85,90],"normal_force_n":0.046678684887272816},{"geom_ids":[85,90],"normal_force_n":0.052909935771674486},{"geom_ids":[86,90],"normal_force_n":0.04590124993954735},{"geom_ids":[86,90],"normal_force_n":0.04672161818681184},{"geom_ids":[86,90],"normal_force_n":0.05443175009332933},{"geom_ids":[86,90],"normal_force_n":0.05369030703298044},{"geom_ids":[88,90],"normal_force_n":0.0449904030305844},{"geom_ids":[88,90],"normal_force_n":0.05122027001426626},{"geom_ids":[88,90],"normal_force_n":0.059940215107739545},{"geom_ids":[88,90],"normal_force_n":0.05365499172148223},{"geom_ids":[89,90],"normal_force_n":0.051154877113935376},{"geom_ids":[89,90],"normal_force_n":0.052001653548002076},{"geom_ids":[89,90],"normal_force_n":0.0442141738086789},{"geom_ids":[89,90],"normal_force_n":0.043459457237038}],"native_actuator_controls":[0.26289651855100943,1.6365489479805553,-1.2628305758885185,-0.06266003427329438,0.9705431460991355,0.08080170614893675,0.0],"actuator_force_native":[-0.10505209366900914,0.042734602278187594,0.28683785540160045,0.04087428931426773,-0.003620981125727951,0.2132256444272218,-0.783711333468621],"issued_joint_targets_rad":[0.2627054542137338,1.6455977190913118,-1.262682367128914,-0.06232148876701943,0.9701679621595434,0.08166231387544681],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.099999999998179,"joint_targets_rad":[0.2627054542137338,1.6455977190913118,-1.262682367128914,-0.06232148876701943,0.9701679621595434,0.08166231387544681],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.119999999998168,"qpos":[0.26433418105295525,1.617176116050784,-1.2671534593387261,-0.06433301656140758,0.971020653273043,0.05522231026041064,0.019594605019813638,-0.02024909090367432,0.3489877039175459,0.08457222608484079,0.15955991220297436,0.9794058132366948,-0.0024940665160745647,-0.16521517870590294,0.11602576160300374],"qvel":[-0.0032767531229774887,0.4564658454032402,0.020245815715156837,0.006914233211787746,-0.0009399732552942876,0.032998632618955144,-8.965146811975137e-06,-8.265370304016996e-06,0.012188964803250118,0.003378665746526429,-0.1703395828475336,-0.00452156404823949,0.4754048660611905,-0.014583775151025772],"joint_position_rad":[0.26433418105295525,1.617176116050784,-1.2671534593387261,-0.06433301656140758,0.971020653273043,0.05522231026041064],"joint_velocity_rad_s":[-0.0032767531229774887,0.4564658454032402,0.020245815715156837,0.006914233211787746,-0.0009399732552942876,0.032998632618955144],"gripper_joint_position_m":[0.019594605019813638,-0.02024909090367432],"tcp_position_m":[0.34961587947944894,0.08449021333804911,0.16214256601482646],"tcp_quaternion_wxyz":[0.17012971886604816,-0.11620210732290784,0.9785439248036085,-0.002176290932850205],"object_position_m":[0.3489877039175459,0.08457222608484079,0.15955991220297436],"object_quaternion_wxyz":[0.9794058132366948,-0.0024940665160745647,-0.16521517870590294,0.11602576160300374],"object_linear_velocity_m_s":[0.012188964803250118,0.003378665746526429,-0.1703395828475336],"object_angular_velocity_rad_s":[-0.10707957997173574,0.46205569006500924,-0.03579693486013335],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38294057457964104,"right":0.4007210858133187},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04440008116946572},{"geom_ids":[85,90],"normal_force_n":0.038327367894617034},{"geom_ids":[85,90],"normal_force_n":0.046717554350180615},{"geom_ids":[85,90],"normal_force_n":0.05283527531674504},{"geom_ids":[86,90],"normal_force_n":0.04595421521907814},{"geom_ids":[86,90],"normal_force_n":0.04676813460771421},{"geom_ids":[86,90],"normal_force_n":0.054336588436750856},{"geom_ids":[86,90],"normal_force_n":0.05360135758508944},{"geom_ids":[88,90],"normal_force_n":0.04506873455510667},{"geom_ids":[88,90],"normal_force_n":0.05118533194297961},{"geom_ids":[88,90],"normal_force_n":0.05985413868422116},{"geom_ids":[88,90],"normal_force_n":0.05368351262730988},{"geom_ids":[89,90],"normal_force_n":0.0511123444925466},{"geom_ids":[89,90],"normal_force_n":0.05195246128995611},{"geom_ids":[89,90],"normal_force_n":0.04430657637189831},{"geom_ids":[89,90],"normal_force_n":0.0435579858493003}],"native_actuator_controls":[0.2627054542137338,1.6455977190913118,-1.262682367128914,-0.06232148876701943,0.9701679621595434,0.08166231387544681,0.0],"actuator_force_native":[-0.11391438152282873,-0.008600983773987991,0.2564582982091821,0.04588994571658711,-0.007116951252054804,0.21490208722192894,-0.7837393750584857],"issued_joint_targets_rad":[0.26250117732756034,1.6548796321104602,-1.2624670811650396,-0.06196133522376337,0.9697577072374858,0.08254223943019078],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.119999999998168,"joint_targets_rad":[0.26250117732756034,1.6548796321104602,-1.2624670811650396,-0.06196133522376337,0.9697577072374858,0.08254223943019078],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.139999999998157,"qpos":[0.2642648166620004,1.626446270886235,-1.2667746193520435,-0.06418364519938731,0.9710096728687636,0.05588716971910998,0.019594522552414922,-0.020249155611913552,0.3492240517999909,0.08463822721333226,0.15610920312743304,0.9802084561681981,-0.003071737032086442,-0.16049592875894245,0.11585768744354512],"qvel":[-0.0035521327292526946,0.46332171669524086,0.022142584563973867,0.0075699654121881245,-0.001114671277142633,0.033234318880354635,-5.25671732282662e-06,-5.203525748306881e-06,0.01042974264086802,0.002915811897359051,-0.17346192806225286,-0.004545518507367081,0.4839921631944673,-0.015063522278960772],"joint_position_rad":[0.2642648166620004,1.626446270886235,-1.2667746193520435,-0.06418364519938731,0.9710096728687636,0.05588716971910998],"joint_velocity_rad_s":[-0.0035521327292526946,0.46332171669524086,0.022142584563973867,0.0075699654121881245,-0.001114671277142633,0.033234318880354635],"gripper_joint_position_m":[0.019594522552414922,-0.020249155611913552],"tcp_position_m":[0.34986213260234744,0.08455799582046614,0.15868772753085464],"tcp_quaternion_wxyz":[0.16542005545551522,-0.11603473145434978,0.9793694786794157,-0.0027514688115014047],"object_position_m":[0.3492240517999909,0.08463822721333226,0.15610920312743304],"object_quaternion_wxyz":[0.9802084561681981,-0.003071737032086442,-0.16049592875894245,0.11585768744354512],"object_linear_velocity_m_s":[0.01042974264086802,0.002915811897359051,-0.17346192806225286],"object_angular_velocity_rad_s":[-0.108890639193468,0.4704223619976649,-0.036628069894338734],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3829034854584258,"right":0.400773044551723},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044376391416458334},{"geom_ids":[85,90],"normal_force_n":0.0384123228422262},{"geom_ids":[85,90],"normal_force_n":0.04675803336163413},{"geom_ids":[85,90],"normal_force_n":0.052766054247768805},{"geom_ids":[86,90],"normal_force_n":0.046008317928501595},{"geom_ids":[86,90],"normal_force_n":0.04681625013640705},{"geom_ids":[86,90],"normal_force_n":0.05424778208341836},{"geom_ids":[86,90],"normal_force_n":0.05351833344201133},{"geom_ids":[88,90],"normal_force_n":0.04513971267479997},{"geom_ids":[88,90],"normal_force_n":0.05114704247270748},{"geom_ids":[88,90],"normal_force_n":0.05977008942651306},{"geom_ids":[88,90],"normal_force_n":0.053709962656579575},{"geom_ids":[89,90],"normal_force_n":0.051066466580774364},{"geom_ids":[89,90],"normal_force_n":0.05190042357827844},{"geom_ids":[89,90],"normal_force_n":0.0443911304262846},{"geom_ids":[89,90],"normal_force_n":0.04364821673578551}],"native_actuator_controls":[0.26250117732756034,1.6548796321104602,-1.2624670811650396,-0.06196133522376337,0.9697577072374858,0.08254223943019078,0.0],"actuator_force_native":[-0.12333048310894412,-0.04193968553818195,0.23389013214043075,0.05104257196401685,-0.01084764939706595,0.21669921879027598,-0.7837546185099827],"issued_joint_targets_rad":[0.26228397022743544,1.6643282637320411,-1.2622076254669612,-0.06158018036887203,0.9693136479384906,0.08343933810785195],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.139999999998157,"joint_targets_rad":[0.26228397022743544,1.6643282637320411,-1.2622076254669612,-0.06158018036887203,0.9693136479384906,0.08343933810785195],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.159999999998146,"qpos":[0.26418973116990424,1.6358365930805636,-1.2663691574582179,-0.06402056533393655,0.9709938759392472,0.05655705556439662,0.019594484980147996,-0.02024918581469591,0.349426631881569,0.08469541708694739,0.15260588636353978,0.9810000638613918,-0.0036563632701161054,-0.15570312052819585,0.11568078478884508],"qvel":[-0.0038410672994810564,0.4687718146272134,0.022884207675416327,0.008259014802513018,-0.0013873265052031648,0.03349013759214612,-3.77143658648641e-06,-4.078916764614337e-06,0.008839509566477187,0.002501939693629677,-0.17569010106633462,-0.004501557406415962,0.4899446650474883,-0.015735421164112386],"joint_position_rad":[0.26418973116990424,1.6358365930805636,-1.2663691574582179,-0.06402056533393655,0.9709938759392472,0.05655705556439662],"joint_velocity_rad_s":[-0.0038410672994810564,0.4687718146272134,0.022884207675416327,0.008259014802513018,-0.0013873265052031648,0.03349013759214612],"gripper_joint_position_m":[0.019594484980147996,-0.02024918581469591],"tcp_position_m":[0.3500744439464126,0.0846169338146948,0.1551801470672193],"tcp_quaternion_wxyz":[0.16063665366657165,-0.11585861886765164,0.9801844376364105,-0.0033337888775174787],"object_position_m":[0.349426631881569,0.08469541708694739,0.15260588636353978],"object_quaternion_wxyz":[0.9810000638613918,-0.0036563632701161054,-0.15570312052819585,0.11568078478884508],"object_linear_velocity_m_s":[0.008839509566477187,0.002501939693629677,-0.17569010106633462],"object_angular_velocity_rad_s":[-0.10998527575619803,0.47624578393168493,-0.03750779533534606],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828757837008084,"right":0.400806647629018},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04435225867833947},{"geom_ids":[85,90],"normal_force_n":0.03849483482167485},{"geom_ids":[85,90],"normal_force_n":0.04679943354912446},{"geom_ids":[85,90],"normal_force_n":0.05269979009553888},{"geom_ids":[86,90],"normal_force_n":0.04606309231833594},{"geom_ids":[86,90],"normal_force_n":0.046865358541597645},{"geom_ids":[86,90],"normal_force_n":0.05416248908993994},{"geom_ids":[86,90],"normal_force_n":0.05343852660625721},{"geom_ids":[88,90],"normal_force_n":0.045206580320271056},{"geom_ids":[88,90],"normal_force_n":0.051106692342274364},{"geom_ids":[88,90],"normal_force_n":0.05968747890041198},{"geom_ids":[88,90],"normal_force_n":0.053735750516814416},{"geom_ids":[89,90],"normal_force_n":0.05101845386418193},{"geom_ids":[89,90],"normal_force_n":0.05184658470359091},{"geom_ids":[89,90],"normal_force_n":0.0444713206599265},{"geom_ids":[89,90],"normal_force_n":0.04373378632154689}],"native_actuator_controls":[0.26228397022743544,1.6643282637320411,-1.2622076254669612,-0.06158018036887203,0.9693136479384906,0.08343933810785195,0.0],"actuator_force_native":[-0.13325553890010156,-0.06452542101786207,0.21850152092345354,0.056320324590015236,-0.014721290249761765,0.21858761904633417,-0.7837605420229874],"issued_joint_targets_rad":[0.26205377449185385,1.6739043391455133,-1.2619272341259602,-0.06117836183835374,0.9688356146585027,0.08435203927537172],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.159999999998146,"joint_targets_rad":[0.26205377449185385,1.6739043391455133,-1.2619272341259602,-0.06117836183835374,0.9688356146585027,0.08435203927537172],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.179999999998135,"qpos":[0.26410865291777197,1.6453250327420414,-1.2659577070108021,-0.06384317818681037,0.9709713246908601,0.05723234548144766,0.019594463144683983,-0.020249205134886563,0.3495987434049477,0.08474473270565683,0.14906481554355197,0.9817764429361217,-0.004244534110810895,-0.15085840312614568,0.1154934726818218],"qvel":[-0.004143653479072897,0.4733048765533392,0.022769058346789377,0.008975709937043113,-0.0017643785796200163,0.03376519824687048,-3.185531142785284e-06,-3.6210585236267107e-06,0.007392570934923308,0.0021284038249997756,-0.17730023530549663,-0.004403719922367796,0.49402061633092864,-0.016556596448936305],"joint_position_rad":[0.26410865291777197,1.6453250327420414,-1.2659577070108021,-0.06384317818681037,0.9709713246908601,0.05723234548144766],"joint_velocity_rad_s":[-0.004143653479072897,0.4733048765533392,0.022769058346789377,0.008975709937043113,-0.0017643785796200163,0.03376519824687048],"gripper_joint_position_m":[0.019594463144683983,-0.020249205134886563],"tcp_position_m":[0.35025613685821844,0.08466795179723735,0.1516347116005389],"tcp_quaternion_wxyz":[0.15580122242265837,-0.11567215517589684,0.9809844884602683,-0.003919822561587424],"object_position_m":[0.3495987434049477,0.08474473270565683,0.14906481554355197],"object_quaternion_wxyz":[0.9817764429361217,-0.004244534110810895,-0.15085840312614568,0.1154934726818218],"object_linear_velocity_m_s":[0.007392570934923308,0.0021284038249997756,-0.17730023530549663],"object_angular_velocity_rad_s":[-0.11056531047227955,0.48025823173621573,-0.03843469740858406],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38285499658321664,"right":0.400829962196997},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04432757799240426},{"geom_ids":[85,90],"normal_force_n":0.03857519721692973},{"geom_ids":[85,90],"normal_force_n":0.04684152337330025},{"geom_ids":[85,90],"normal_force_n":0.052635852884294336},{"geom_ids":[86,90],"normal_force_n":0.046118355900852046},{"geom_ids":[86,90],"normal_force_n":0.04691523880633505},{"geom_ids":[86,90],"normal_force_n":0.054079993933087274},{"geom_ids":[86,90],"normal_force_n":0.05336125647601366},{"geom_ids":[88,90],"normal_force_n":0.04527072103528201},{"geom_ids":[88,90],"normal_force_n":0.051065203888794194},{"geom_ids":[88,90],"normal_force_n":0.0596066002964379},{"geom_ids":[88,90],"normal_force_n":0.053761644312431106},{"geom_ids":[89,90],"normal_force_n":0.050969218683777975},{"geom_ids":[89,90],"normal_force_n":0.05179180869892752},{"geom_ids":[89,90],"normal_force_n":0.044548587661324614},{"geom_ids":[89,90],"normal_force_n":0.043816177620021636}],"native_actuator_controls":[0.26205377449185385,1.6739043391455133,-1.2619272341259602,-0.06117836183835374,0.9688356146585027,0.08435203927537172,0.0],"actuator_force_native":[-0.14367200667808788,-0.0801798704889336,0.2085925390533987,0.06171410425304957,-0.018710532454145223,0.22054914056893482,-0.7837625981316454],"issued_joint_targets_rad":[0.26181024684207754,1.6835828497116656,-1.2616444892664715,-0.06075600197640847,0.9683222196614448,0.08527912480647101],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.179999999998135,"joint_targets_rad":[0.26181024684207754,1.6835828497116656,-1.2616444892664715,-0.06075600197640847,0.9683222196614448,0.08527912480647101],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.199999999998123,"qpos":[0.2640213047862705,1.6548968340638073,-1.265555079030298,-0.06365097756140081,0.9709401623242021,0.05791337939801316,0.01959444708350533,-0.020249220217958514,0.3497429692884825,0.08478688790441087,0.14549625658041845,0.9825347206377305,-0.00483379227123109,-0.1459771519041418,0.11529452855868874],"qvel":[-0.004460203024915166,0.4772112704066343,0.02205239667812654,0.009716007221167727,-0.0022321368066380125,0.03405660878240078,-2.856217941855885e-06,-3.312073126072029e-06,0.006052730574795218,0.001784124951418782,-0.17848337104396853,-0.004264098072736054,0.496775407443354,-0.017493923422382908],"joint_position_rad":[0.2640213047862705,1.6548968340638073,-1.265555079030298,-0.06365097756140081,0.9709401623242021,0.05791337939801316],"joint_velocity_rad_s":[-0.004460203024915166,0.4772112704066343,0.02205239667812654,0.009716007221167727,-0.0022321368066380125,0.03405660878240078],"gripper_joint_position_m":[0.01959444708350533,-0.020249220217958514],"tcp_position_m":[0.3504098085301342,0.08471175817589131,0.14806170410630587],"tcp_quaternion_wxyz":[0.15092909669292265,-0.11547410219398019,0.9817666858178767,-0.004507117941099184],"object_position_m":[0.3497429692884825,0.08478688790441087,0.14549625658041845],"object_quaternion_wxyz":[0.9825347206377305,-0.00483379227123109,-0.1459771519041418,0.11529452855868874],"object_linear_velocity_m_s":[0.006052730574795218,0.001784124951418782,-0.17848337104396853],"object_angular_velocity_rad_s":[-0.11078051693794153,0.48299568105763574,-0.03940652834525485],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828398235626068,"right":0.4008468841098166},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04430231317473205},{"geom_ids":[85,90],"normal_force_n":0.03865339940588443},{"geom_ids":[85,90],"normal_force_n":0.04688410966114347},{"geom_ids":[85,90],"normal_force_n":0.05257402383187222},{"geom_ids":[86,90],"normal_force_n":0.046173918194218094},{"geom_ids":[86,90],"normal_force_n":0.04696569163952487},{"geom_ids":[86,90],"normal_force_n":0.05400006726398512},{"geom_ids":[86,90],"normal_force_n":0.0532863003912466},{"geom_ids":[88,90],"normal_force_n":0.045332692219158366},{"geom_ids":[88,90],"normal_force_n":0.05102309361923612},{"geom_ids":[88,90],"normal_force_n":0.05952775868777261},{"geom_ids":[88,90],"normal_force_n":0.05378799349646125},{"geom_ids":[89,90],"normal_force_n":0.05091928367739924},{"geom_ids":[89,90],"normal_force_n":0.051736606841825405},{"geom_ids":[89,90],"normal_force_n":0.0446234938409573},{"geom_ids":[89,90],"normal_force_n":0.04389596172700634}],"native_actuator_controls":[0.26181024684207754,1.6835828497116656,-1.2616444892664715,-0.06075600197640847,0.9683222196614448,0.08527912480647101,0.0],"actuator_force_native":[-0.15458362041086104,-0.09117510020450936,0.20258519771549288,0.06721898729385511,-0.02283122141761673,0.22257254091097745,-0.7837636022505039],"issued_joint_targets_rad":[0.26155278445672936,1.6933472089955046,-1.2613731717495367,-0.060313054956459264,0.9677715831371677,0.08621952529154621],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.199999999998123,"joint_targets_rad":[0.26155278445672936,1.6933472089955046,-1.2613731717495367,-0.060313054956459264,0.9677715831371677,0.08621952529154621],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.219999999998112,"qpos":[0.26392739827413464,1.6645418194281298,-1.2651716106672743,-0.063443521819778,0.9708988235689515,0.05860043871165009,0.01959443427688916,-0.020249232307571568,0.3498612028176039,0.08482238829776997,0.14190731006714122,0.9832729492605518,-0.005422377354010429,-0.14107023098381088,0.11508299182094739],"qvel":[-0.004791389355484471,0.4806824418400357,0.020917300757590015,0.010477139812488417,-0.002774084781954766,0.034361239693592616,-2.5900303942773297e-06,-3.0335190029645613e-06,0.0047906525527553305,0.0014602033347206667,-0.17937077557506337,-0.004091898048934834,0.498600807227914,-0.018523674502130306],"joint_position_rad":[0.26392739827413464,1.6645418194281298,-1.2651716106672743,-0.063443521819778,0.9708988235689515,0.05860043871165009],"joint_velocity_rad_s":[-0.004791389355484471,0.4806824418400357,0.020917300757590015,0.010477139812488417,-0.002774084781954766,0.034361239693592616],"gripper_joint_position_m":[0.01959443427688916,-0.020249232307571568],"tcp_position_m":[0.35053736217715964,0.0847488553834639,0.1444682351864474],"tcp_quaternion_wxyz":[0.14603109476739934,-0.11526348949866398,0.9825290322973976,-0.005093922100431695],"object_position_m":[0.3498612028176039,0.08482238829776997,0.14190731006714122],"object_quaternion_wxyz":[0.9832729492605518,-0.005422377354010429,-0.14107023098381088,0.11508299182094739],"object_linear_velocity_m_s":[0.0047906525527553305,0.0014602033347206667,-0.17937077557506337],"object_angular_velocity_rad_s":[-0.11073720827479562,0.4848360636078217,-0.04042149482400948],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828290026654306,"right":0.4008593621884405},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044276389224114664},{"geom_ids":[85,90],"normal_force_n":0.03872935335807656},{"geom_ids":[85,90],"normal_force_n":0.04692700473694808},{"geom_ids":[85,90],"normal_force_n":0.052514126920251016},{"geom_ids":[86,90],"normal_force_n":0.04622958963523695},{"geom_ids":[86,90],"normal_force_n":0.04701652389877569},{"geom_ids":[86,90],"normal_force_n":0.05392253168304856},{"geom_ids":[86,90],"normal_force_n":0.05321348320897905},{"geom_ids":[88,90],"normal_force_n":0.045392753558957465},{"geom_ids":[88,90],"normal_force_n":0.05098063719269285},{"geom_ids":[88,90],"normal_force_n":0.059451130387742024},{"geom_ids":[88,90],"normal_force_n":0.05381495939304434},{"geom_ids":[89,90],"normal_force_n":0.05086892983450862},{"geom_ids":[89,90],"normal_force_n":0.051681256773266834},{"geom_ids":[89,90],"normal_force_n":0.044696296888085074},{"geom_ids":[89,90],"normal_force_n":0.043973398160143264}],"native_actuator_controls":[0.26155278445672936,1.6933472089955046,-1.2613731717495367,-0.060313054956459264,0.9677715831371677,0.08621952529154621,0.0],"actuator_force_native":[-0.16601215861500052,-0.09898104381019834,0.19928860963106843,0.07283297547030676,-0.027111277144907575,0.2246490062585722,-0.783764420923595],"issued_joint_targets_rad":[0.2612805303516433,1.703186465729612,-1.261123650269394,-0.05984934595800411,0.967181731699667,0.0871721649882822],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.219999999998112,"joint_targets_rad":[0.2612805303516433,1.703186465729612,-1.261123650269394,-0.05984934595800411,0.967181731699667,0.0871721649882822],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.239999999998101,"qpos":[0.2638266255867467,1.6742528592446644,-1.2648143960589229,-0.06322041109263676,0.9708460007455734,0.0592937493173807,0.019594423915985697,-0.020249241908348724,0.34995479219309156,0.0848515747420308,0.13830288173388805,0.9839898181666836,-0.006009021841017413,-0.13614532712398805,0.11485808331638052],"qvel":[-0.005138292040857614,0.4838508728863228,0.019491749816449994,0.011257338130783008,-0.0033766095280543334,0.03467620722649781,-2.350814865105039e-06,-2.7762888017194676e-06,0.0035845267567153846,0.0011498874571004409,-0.18005373228387533,-0.00389384652742845,0.4997727747131989,-0.019629245839712824],"joint_position_rad":[0.2638266255867467,1.6742528592446644,-1.2648143960589229,-0.06322041109263676,0.9708460007455734,0.0592937493173807],"joint_velocity_rad_s":[-0.005138292040857614,0.4838508728863228,0.019491749816449994,0.011257338130783008,-0.0033766095280543334,0.03467620722649781],"gripper_joint_position_m":[0.019594423915985697,-0.020249241908348724],"tcp_position_m":[0.35064015272731863,0.08477958092411035,0.14085921726013972],"tcp_quaternion_wxyz":[0.14111486616699617,-0.11503953104581575,0.983270181637017,-0.005678974109599459],"object_position_m":[0.34995479219309156,0.0848515747420308,0.13830288173388805],"object_quaternion_wxyz":[0.9839898181666836,-0.006009021841017413,-0.13614532712398805,0.11485808331638052],"object_linear_velocity_m_s":[0.0035845267567153846,0.0011498874571004409,-0.18005373228387533],"object_angular_velocity_rad_s":[-0.11051046995803017,0.48604554107587683,-0.04147847281974104],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38282149795820203,"right":0.40086849879178704},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044249726316994795},{"geom_ids":[85,90],"normal_force_n":0.0388029732948103},{"geom_ids":[85,90],"normal_force_n":0.046970062320298246},{"geom_ids":[85,90],"normal_force_n":0.052456019968578085},{"geom_ids":[86,90],"normal_force_n":0.04628522307104744},{"geom_ids":[86,90],"normal_force_n":0.04706758641844336},{"geom_ids":[86,90],"normal_force_n":0.053847243796095616},{"geom_ids":[86,90],"normal_force_n":0.05314266277193417},{"geom_ids":[88,90],"normal_force_n":0.04545104824612212},{"geom_ids":[88,90],"normal_force_n":0.050937992062511185},{"geom_ids":[88,90],"normal_force_n":0.05937682208674752},{"geom_ids":[88,90],"normal_force_n":0.053842634783928985},{"geom_ids":[89,90],"normal_force_n":0.050818317311236344},{"geom_ids":[89,90],"normal_force_n":0.051625917723889025},{"geom_ids":[89,90],"normal_force_n":0.04476713821897908},{"geom_ids":[89,90],"normal_force_n":0.044048628358372754}],"native_actuator_controls":[0.2612805303516433,1.703186465729612,-1.261123650269394,-0.05984934595800411,0.967181731699667,0.0871721649882822,0.0],"actuator_force_native":[-0.17799615860398532,-0.10456584563578986,0.19780091408004807,0.07855591473139123,-0.03157777616698354,0.2267698458692683,-0.7837652025651024],"issued_joint_targets_rad":[0.2609923550441389,1.7130937214505793,-1.2609041826411846,-0.05936459566187995,0.9665507425028709,0.08813583695612909],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.239999999998101,"joint_targets_rad":[0.2609923550441389,1.7130937214505793,-1.2609041826411846,-0.05936459566187995,0.9665507425028709,0.08813583695612909],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.25999999999809,"qpos":[0.2637186500737822,1.684024590774565,-1.264487345633687,-0.06298126594950565,0.970780443125469,0.059993499406805394,0.019594415119213702,-0.0202492498965491,0.3500244764175236,0.08487460870605697,0.13468620721887262,0.9846844774742576,-0.0065928239256777795,-0.13120771853023552,0.11461914801647831],"qvel":[-0.005502414070292858,0.48680423150970303,0.01789940169700442,0.012055609939870246,-0.00402887018050443,0.034998711534811044,-2.113508385045012e-06,-2.5166572754023746e-06,0.0024092494085051212,0.0008455106789928385,-0.1806044730041507,-0.003675708143052876,0.5005177331090409,-0.020797299453794146],"joint_position_rad":[0.2637186500737822,1.684024590774565,-1.264487345633687,-0.06298126594950565,0.970780443125469,0.059993499406805394],"joint_velocity_rad_s":[-0.005502414070292858,0.48680423150970303,0.01789940169700442,0.012055609939870246,-0.00402887018050443,0.034998711534811044],"gripper_joint_position_m":[0.019594415119213702,-0.0202492498965491],"tcp_position_m":[0.35071892173912983,0.08480409188868397,0.13723789277138437],"tcp_quaternion_wxyz":[0.13618563170518538,-0.11480156998186848,0.9839892622966226,-0.0062613841685454225],"object_position_m":[0.3500244764175236,0.08487460870605697,0.13468620721887262],"object_quaternion_wxyz":[0.9846844774742576,-0.0065928239256777795,-0.13120771853023552,0.11461914801647831],"object_linear_velocity_m_s":[0.0024092494085051212,0.0008455106789928385,-0.1806044730041507],"object_angular_velocity_rad_s":[-0.11016182882051316,0.48684251475398993,-0.04257671840886346],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828167654334005,"right":0.40087491008254017},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04422226095378689},{"geom_ids":[85,90],"normal_force_n":0.038874093653556804},{"geom_ids":[85,90],"normal_force_n":0.047013177139361484},{"geom_ids":[85,90],"normal_force_n":0.05239969907467067},{"geom_ids":[86,90],"normal_force_n":0.04634070030264301},{"geom_ids":[86,90],"normal_force_n":0.04711876793107856},{"geom_ids":[86,90],"normal_force_n":0.0537742189466549},{"geom_ids":[86,90],"normal_force_n":0.05307384743164818},{"geom_ids":[88,90],"normal_force_n":0.04550758052853852},{"geom_ids":[88,90],"normal_force_n":0.05089527483122829},{"geom_ids":[88,90],"normal_force_n":0.059305025651676925},{"geom_ids":[88,90],"normal_force_n":0.053871097884589846},{"geom_ids":[89,90],"normal_force_n":0.050767568394323045},{"geom_ids":[89,90],"normal_force_n":0.05157072040559983},{"geom_ids":[89,90],"normal_force_n":0.044836008109692044},{"geom_ids":[89,90],"normal_force_n":0.04412163427689165}],"native_actuator_controls":[0.2609923550441389,1.7130937214505793,-1.2609041826411846,-0.05936459566187995,0.9665507425028709,0.08813583695612909,0.0],"actuator_force_native":[-0.1905915320200009,-0.10849070346739609,0.19715603091515277,0.08438876180567689,-0.036253700955224843,0.22892530819102042,-0.7837660372266229],"issued_joint_targets_rad":[0.26068680074034956,1.7230650903536928,-1.2607213777808546,-0.058858415906968546,0.9658767133107211,0.08910910033925791],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.25999999999809,"joint_targets_rad":[0.26068680074034956,1.7230650903536928,-1.2607213777808546,-0.058858415906968546,0.9658767133107211,0.08910910033925791],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.27999999999808,"qpos":[0.2636030964557595,1.6938528648011852,-1.2641914047654494,-0.06272571428549036,0.9707009396678252,0.06069983606121893,0.019594407090566736,-0.020249257085161895,0.35007035945822496,0.08489146370095177,0.1310591537116692,0.985356433622563,-0.007173192027021162,-0.12626063238106588,0.1143656274651581],"qvel":[-0.005885769790052856,0.48961619946225166,0.016245585289098727,0.01287148748165887,-0.004719152665721075,0.03532558446064522,-1.833795275787948e-06,-2.204937957899216e-06,0.0012406906073368497,0.0005395448489246943,-0.1810832040539859,-0.0034429655778065965,0.5010328902199073,-0.022016433269310767],"joint_position_rad":[0.2636030964557595,1.6938528648011852,-1.2641914047654494,-0.06272571428549036,0.9707009396678252,0.06069983606121893],"joint_velocity_rad_s":[-0.005885769790052856,0.48961619946225166,0.016245585289098727,0.01287148748165887,-0.004719152665721075,0.03532558446064522],"gripper_joint_position_m":[0.019594407090566736,-0.020249257085161895],"tcp_position_m":[0.3507737736577374,0.08482235772265306,0.13360613789031955],"tcp_quaternion_wxyz":[0.13124655975083316,-0.11454904840140617,0.9846857684622733,-0.006840573935407402],"object_position_m":[0.35007035945822496,0.08489146370095177,0.1310591537116692],"object_quaternion_wxyz":[0.985356433622563,-0.007173192027021162,-0.12626063238106588,0.1143656274651581],"object_linear_velocity_m_s":[0.0012406906073368497,0.0005395448489246943,-0.1810832040539859],"object_angular_velocity_rad_s":[-0.10974493800753689,0.48741719297722264,-0.04371570655853427],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38281474301049395,"right":0.40087885008029855},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04419395204898758},{"geom_ids":[85,90],"normal_force_n":0.03894255314831204},{"geom_ids":[85,90],"normal_force_n":0.04705630939605368},{"geom_ids":[85,90],"normal_force_n":0.05234524446766906},{"geom_ids":[86,90],"normal_force_n":0.04639596631993736},{"geom_ids":[86,90],"normal_force_n":0.04717002375472263},{"geom_ids":[86,90],"normal_force_n":0.053703561840470516},{"geom_ids":[86,90],"normal_force_n":0.05300713203434105},{"geom_ids":[88,90],"normal_force_n":0.04556228618854086},{"geom_ids":[88,90],"normal_force_n":0.0508525509522323},{"geom_ids":[88,90],"normal_force_n":0.05923594318275397},{"geom_ids":[88,90],"normal_force_n":0.05390041944499065},{"geom_ids":[89,90],"normal_force_n":0.05071675306221904},{"geom_ids":[89,90],"normal_force_n":0.05151574654517803},{"geom_ids":[89,90],"normal_force_n":0.04490282620510628},{"geom_ids":[89,90],"normal_force_n":0.044192324499277395}],"native_actuator_controls":[0.26068680074034956,1.7230650903536928,-1.2607213777808546,-0.058858415906968546,0.9658767133107211,0.08910910033925791,0.0],"actuator_force_native":[-0.203874808282535,-0.11110295311064533,0.19637423232209983,0.09033449773257818,-0.04116353457245836,0.23110426608942192,-0.7837671146462905],"issued_joint_targets_rad":[0.2603619899657577,1.7330994984053343,-1.260580993223029,-0.058330290916905454,0.9651579443892562,0.09009014658354192],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.27999999999808,"joint_targets_rad":[0.2603619899657577,1.7330994984053343,-1.260580993223029,-0.058330290916905454,0.9651579443892562,0.09009014658354192],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.299999999998068,"qpos":[0.2634795405589696,1.7037356627009546,-1.2639274327937986,-0.06245339189297603,0.9706066803223646,0.06141282165460974,0.019594399924512156,-0.02024926337335407,0.35009252790034223,0.08490208433658175,0.12742276119021007,0.9860054149305565,-0.007749758921089039,-0.12130593167344315,0.11409703723200906],"qvel":[-0.006291123130170111,0.49238473086959106,0.01451929733548961,0.01370494340494057,-0.0054373999102403725,0.03565354090223938,-1.5048616050469592e-06,-1.8380185107882925e-06,8.314680928286759e-05,0.00023203362651500525,-0.1815230953394402,-0.003198417696859627,0.5014171741385477,-0.023281589143549518],"joint_position_rad":[0.2634795405589696,1.7037356627009546,-1.2639274327937986,-0.06245339189297603,0.9706066803223646,0.06141282165460974],"joint_velocity_rad_s":[-0.006291123130170111,0.49238473086959106,0.01451929733548961,0.01370494340494057,-0.0054373999102403725,0.03565354090223938],"gripper_joint_position_m":[0.019594399924512156,-0.02024926337335407],"tcp_position_m":[0.3508047987215281,0.08483432195199042,0.12996499927547933],"tcp_quaternion_wxyz":[0.1262995444565498,-0.11428147438736078,0.985359411634045,-0.007416170583785239],"object_position_m":[0.35009252790034223,0.08490208433658175,0.12742276119021007],"object_quaternion_wxyz":[0.9860054149305565,-0.007749758921089039,-0.12130593167344315,0.11409703723200906],"object_linear_velocity_m_s":[8.314680928286759e-05,0.00023203362651500525,-0.1815230953394402],"object_angular_velocity_rad_s":[-0.10928690270734007,0.4878649149464889,-0.044895906837817454],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38281522359447706,"right":0.40088054639846255},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044164758690776164},{"geom_ids":[85,90],"normal_force_n":0.039008510000105204},{"geom_ids":[85,90],"normal_force_n":0.04709951004892672},{"geom_ids":[85,90],"normal_force_n":0.05229250483028124},{"geom_ids":[86,90],"normal_force_n":0.04645109705719209},{"geom_ids":[86,90],"normal_force_n":0.047221418839569915},{"geom_ids":[86,90],"normal_force_n":0.05363508451851404},{"geom_ids":[86,90],"normal_force_n":0.05294233960911165},{"geom_ids":[88,90],"normal_force_n":0.04561531495722535},{"geom_ids":[88,90],"normal_force_n":0.050809773994533965},{"geom_ids":[88,90],"normal_force_n":0.0591694240323701},{"geom_ids":[88,90],"normal_force_n":0.053930647786913},{"geom_ids":[89,90],"normal_force_n":0.0506658108650823},{"geom_ids":[89,90],"normal_force_n":0.051460925001380546},{"geom_ids":[89,90],"normal_force_n":0.04496776658984059},{"geom_ids":[89,90],"normal_force_n":0.044260883171116726}],"native_actuator_controls":[0.2603619899657577,1.7330994984053343,-1.260580993223029,-0.058330290916905454,0.9651579443892562,0.09009014658354192,0.0],"actuator_force_native":[-0.21794843180610002,-0.11281679799753874,0.19511867898411595,0.09639932201812007,-0.04633125946572392,0.23329293793596273,-0.7837684726724611],"issued_joint_targets_rad":[0.2600155230092904,1.7431994194273843,-1.26049086626233,-0.05777959363150163,0.9643935663050475,0.09107656198474504],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.299999999998068,"joint_targets_rad":[0.2600155230092904,1.7431994194273843,-1.26049086626233,-0.05777959363150163,0.9643935663050475,0.09107656198474504],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.319999999998057,"qpos":[0.26334748964533317,1.7136722391552375,-1.2636954196421444,-0.062163920003582986,0.9704967984544809,0.06213247090325868,0.01959439311661429,-0.020249269319368896,0.3500908992512723,0.08490634830639157,0.12377734740244027,0.9866312979173828,-0.00832229849602135,-0.11634449223039421,0.11381291862198753],"qvel":[-0.006722088575357704,0.49518424765432073,0.012741153204485892,0.014556610947475268,-0.006177949067449932,0.03597908946167959,-1.1110224368918839e-06,-1.3941921033261771e-06,-0.0010684146642134364,-7.967432067900814e-05,-0.18195793973992117,-0.0029448409376066982,0.5017752233480702,-0.02458805511654909],"joint_position_rad":[0.26334748964533317,1.7136722391552375,-1.2636954196421444,-0.062163920003582986,0.9704967984544809,0.06213247090325868],"joint_velocity_rad_s":[-0.006722088575357704,0.49518424765432073,0.012741153204485892,0.014556610947475268,-0.006177949067449932,0.03597908946167959],"gripper_joint_position_m":[0.01959439311661429,-0.020249269319368896],"tcp_position_m":[0.35081191396183997,0.08483985966069033,0.12631480097511932],"tcp_quaternion_wxyz":[0.12134545941303417,-0.11399838677974021,0.9860100607647025,-0.00798795106669144],"object_position_m":[0.3500908992512723,0.08490634830639157,0.12377734740244027],"object_quaternion_wxyz":[0.9866312979173828,-0.00832229849602135,-0.11634449223039421,0.11381291862198753],"object_linear_velocity_m_s":[-0.0010684146642134364,-7.967432067900814e-05,-0.18195793973992117],"object_angular_velocity_rad_s":[-0.10881574638590394,0.48828666155492423,-0.04611820458987289],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38281827423222237,"right":0.4008799999303843},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04413462697217859},{"geom_ids":[85,90],"normal_force_n":0.0390719665178929},{"geom_ids":[85,90],"normal_force_n":0.047142827181196036},{"geom_ids":[85,90],"normal_force_n":0.05224147065297061},{"geom_ids":[86,90],"normal_force_n":0.04650614757433926},{"geom_ids":[86,90],"normal_force_n":0.047273010673407154},{"geom_ids":[86,90],"normal_force_n":0.053568771578363227},{"geom_ids":[86,90],"normal_force_n":0.052879453081874576},{"geom_ids":[88,90],"normal_force_n":0.04566668042502412},{"geom_ids":[88,90],"normal_force_n":0.0507669054853982},{"geom_ids":[88,90],"normal_force_n":0.059105482523001275},{"geom_ids":[88,90],"normal_force_n":0.05396184996143211},{"geom_ids":[89,90],"normal_force_n":0.050614693704929756},{"geom_ids":[89,90],"normal_force_n":0.05140621071236745},{"geom_ids":[89,90],"normal_force_n":0.04503084929556643},{"geom_ids":[89,90],"normal_force_n":0.04432732782266496}],"native_actuator_controls":[0.2600155230092904,1.7431994194273843,-1.26049086626233,-0.05777959363150163,0.9643935663050475,0.09107656198474504,0.0],"actuator_force_native":[-0.23294688800663366,-0.11374681649985519,0.19265850436272558,0.10259000014587771,-0.051765397893159815,0.23547227662234416,-0.7837701695523871],"issued_joint_targets_rad":[0.2596442763114136,1.7533707798094047,-1.2604613208120787,-0.0572055384583698,0.9635834869384091,0.09206510320520563],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.319999999998057,"joint_targets_rad":[0.2596442763114136,1.7533707798094047,-1.2604613208120787,-0.0572055384583698,0.9635834869384091,0.09206510320520563],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.339999999998046,"qpos":[0.2632063631478514,1.7236638068483003,-1.2634961107368747,-0.06185690184932747,0.9703706408516406,0.06285870760527455,0.01959438649185151,-0.02024927511044126,0.3500655629428724,0.08490414848206151,0.1201227312328505,0.9872340548957577,-0.008890701015468789,-0.11137644562586677,0.11351283473370566],"qvel":[-0.007183486417566456,0.4981126294424413,0.010867305559126442,0.015427611325633249,-0.006934434316679727,0.036297875850078334,-6.420059926921978e-07,-8.618852892221277e-07,-0.0022033546848360206,-0.00039434248798007643,-0.1824110790840019,-0.0026837573944961716,0.5021699266859541,-0.0259341234810279],"joint_position_rad":[0.2632063631478514,1.7236638068483003,-1.2634961107368747,-0.06185690184932747,0.9703706408516406,0.06285870760527455],"joint_velocity_rad_s":[-0.007183486417566456,0.4981126294424413,0.010867305559126442,0.015427611325633249,-0.006934434316679727,0.036297875850078334],"gripper_joint_position_m":[0.01959438649185151,-0.02024927511044126],"tcp_position_m":[0.35079520981045254,0.08483886245304388,0.12265536540128788],"tcp_quaternion_wxyz":[0.11638448347499408,-0.11369934185297642,0.9866376791750889,-0.008555799229377253],"object_position_m":[0.3500655629428724,0.08490414848206151,0.1201227312328505],"object_quaternion_wxyz":[0.9872340548957577,-0.008890701015468789,-0.11137644562586677,0.11351283473370566],"object_linear_velocity_m_s":[-0.0022033546848360206,-0.00039434248798007643,-0.1824110790840019],"object_angular_velocity_rad_s":[-0.10834807857329591,0.4887431312404012,-0.04738419691269257],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828240032119261,"right":0.4008771469329863},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04410350416619779},{"geom_ids":[85,90],"normal_force_n":0.03913309840010944},{"geom_ids":[85,90],"normal_force_n":0.04718637659972919},{"geom_ids":[85,90],"normal_force_n":0.052192026481434284},{"geom_ids":[86,90],"normal_force_n":0.04656126230521017},{"geom_ids":[86,90],"normal_force_n":0.04732493682474128},{"geom_ids":[86,90],"normal_force_n":0.05350447073786744},{"geom_ids":[86,90],"normal_force_n":0.05281832769663654},{"geom_ids":[88,90],"normal_force_n":0.04571650139892584},{"geom_ids":[88,90],"normal_force_n":0.050723836366398004},{"geom_ids":[88,90],"normal_force_n":0.059043950296322575},{"geom_ids":[88,90],"normal_force_n":0.053994088402706204},{"geom_ids":[89,90],"normal_force_n":0.050563270683422396},{"geom_ids":[89,90],"normal_force_n":0.05135146592930541},{"geom_ids":[89,90],"normal_force_n":0.04509222142693381},{"geom_ids":[89,90],"normal_force_n":0.04439181242897213}],"native_actuator_controls":[0.2596442763114136,1.7533707798094047,-1.2604613208120787,-0.0572055384583698,0.9635834869384091,0.09206510320520563,0.0],"actuator_force_native":[-0.24904951482719184,-0.11400531032387562,0.1884466661880566,0.10891647901014068,-0.057469887657296326,0.23761714222419317,-0.7837722496440969],"issued_joint_targets_rad":[0.25924411845290585,1.7636241527613148,-1.26050786854092,-0.05660714189559608,0.9627292148441411,0.0930512855900598],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.339999999998046,"joint_targets_rad":[0.25924411845290585,1.7636241527613148,-1.26050786854092,-0.05660714189559608,0.9627292148441411,0.0930512855900598],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.359999999998035,"qpos":[0.2630554597953419,1.7337129164933678,-1.263329573800166,-0.061531898253046585,0.9702274110236329,0.06359137935457056,0.019594379256326573,-0.02024928157387047,0.3500164487796241,0.08489530016661684,0.11645805033362333,0.9878137522189113,-0.009454970531748319,-0.10640104082556254,0.11319634698467636],"qvel":[-0.007681762125559816,0.5012645109505486,0.008901743383252912,0.016319833765820312,-0.0077001961779517465,0.03660422920851734,-5.9153092898805517e-08,-1.926950682556125e-07,-0.003325329242601295,-0.0007151019965735194,-0.18291888712262752,-0.002418065024534735,0.5027128853811372,-0.02731612436504858],"joint_position_rad":[0.2630554597953419,1.7337129164933678,-1.263329573800166,-0.061531898253046585,0.9702274110236329,0.06359137935457056],"joint_velocity_rad_s":[-0.007681762125559816,0.5012645109505486,0.008901743383252912,0.016319833765820312,-0.0077001961779517465,0.03660422920851734],"gripper_joint_position_m":[0.019594379256326573,-0.02024928157387047],"tcp_position_m":[0.3507546134461389,0.08483114265410815,0.1189858343573991],"tcp_quaternion_wxyz":[0.1114158715426968,-0.11338389974747046,0.9872423337170158,-0.009119723867372073],"object_position_m":[0.3500164487796241,0.08489530016661684,0.11645805033362333],"object_quaternion_wxyz":[0.9878137522189113,-0.009454970531748319,-0.10640104082556254,0.11319634698467636],"object_linear_velocity_m_s":[-0.003325329242601295,-0.0007151019965735194,-0.18291888712262752],"object_angular_velocity_rad_s":[-0.10791290951910337,0.48934219259793615,-0.04869584499301659],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.382833043679828,"right":0.4008715381408746},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04407133185811803},{"geom_ids":[85,90],"normal_force_n":0.039191907983828815},{"geom_ids":[85,90],"normal_force_n":0.04723030087319903},{"geom_ids":[85,90],"normal_force_n":0.05214425331489937},{"geom_ids":[86,90],"normal_force_n":0.0466165912941705},{"geom_ids":[86,90],"normal_force_n":0.04737735816590472},{"geom_ids":[86,90],"normal_force_n":0.05344226390990494},{"geom_ids":[86,90],"normal_force_n":0.05275903627980259},{"geom_ids":[88,90],"normal_force_n":0.045764716505967},{"geom_ids":[88,90],"normal_force_n":0.05068044739056265},{"geom_ids":[88,90],"normal_force_n":0.05898485528720291},{"geom_ids":[88,90],"normal_force_n":0.05402744919255283},{"geom_ids":[89,90],"normal_force_n":0.050511403872649636},{"geom_ids":[89,90],"normal_force_n":0.05129656409152079},{"geom_ids":[89,90],"normal_force_n":0.045151828778137164},{"geom_ids":[89,90],"normal_force_n":0.0444542730222816}],"native_actuator_controls":[0.25924411845290585,1.7636241527613148,-1.26050786854092,-0.05660714189559608,0.9627292148441411,0.0930512855900598,0.0],"actuator_force_native":[-0.26649849676708115,-0.11342365331699966,0.18122770382342424,0.11539108546891885,-0.06343166752798979,0.2396927185421165,-0.7837748744875984],"issued_joint_targets_rad":[0.2588094087747511,1.773975973190608,-1.260652711197451,-0.05598308857095,0.9618344929002943,0.09402883032168886],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.359999999998035,"joint_targets_rad":[0.2588094087747511,1.773975973190608,-1.260652711197451,-0.05598308857095,0.9618344929002943,0.09402883032168886],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.379999999998024,"qpos":[0.2628939151214893,1.7438243835681682,-1.2631961206580873,-0.06118841402248636,0.9700664093720488,0.06433020100215084,0.019594370723815986,-0.020249289421156856,0.34994348943327946,0.08487956882292731,0.11278168769986578,0.9883705458153795,-0.010015258234743021,-0.10141645653555552,0.11286301923513824],"qvel":[-0.008225947819172021,0.5047541671812228,0.006861183452652751,0.017236460794271546,-0.00847594314676319,0.036891511653052364,6.424228482683216e-07,6.21337334158887e-07,-0.004441564392814838,-0.0010466465934503726,-0.1835280337789239,-0.0021500816907166894,0.5035348329531358,-0.02873203861414919],"joint_position_rad":[0.2628939151214893,1.7438243835681682,-1.2631961206580873,-0.06118841402248636,0.9700664093720488,0.06433020100215084],"joint_velocity_rad_s":[-0.008225947819172021,0.5047541671812228,0.006861183452652751,0.017236460794271546,-0.00847594314676319,0.036891511653052364],"gripper_joint_position_m":[0.019594370723815986,-0.020249289421156856],"tcp_position_m":[0.35069005506696094,0.08481646309712808,0.11530459442326992],"tcp_quaternion_wxyz":[0.10643783060068675,-0.113051622022066,0.9878241842141586,-0.009679878967811494],"object_position_m":[0.34994348943327946,0.08487956882292731,0.11278168769986578],"object_quaternion_wxyz":[0.9883705458153795,-0.010015258234743021,-0.10141645653555552,0.11286301923513824],"object_linear_velocity_m_s":[-0.004441564392814838,-0.0010466465934503726,-0.1835280337789239],"object_angular_velocity_rad_s":[-0.10754230974488059,0.49021056928394585,-0.05005726988549809],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828460498492846,"right":0.4008625223974341},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04403799720581447},{"geom_ids":[85,90],"normal_force_n":0.03924840595323641},{"geom_ids":[85,90],"normal_force_n":0.0472747845584004},{"geom_ids":[85,90],"normal_force_n":0.052098211060303184},{"geom_ids":[86,90],"normal_force_n":0.0466723343937519},{"geom_ids":[86,90],"normal_force_n":0.04743048821082008},{"geom_ids":[86,90],"normal_force_n":0.05338220595825642},{"geom_ids":[86,90],"normal_force_n":0.0527016225087017},{"geom_ids":[88,90],"normal_force_n":0.045811263190960856},{"geom_ids":[88,90],"normal_force_n":0.050636554509143755},{"geom_ids":[88,90],"normal_force_n":0.058928193948427625},{"geom_ids":[88,90],"normal_force_n":0.05406205100020161},{"geom_ids":[89,90],"normal_force_n":0.05045887978477769},{"geom_ids":[89,90],"normal_force_n":0.05124130584188932},{"geom_ids":[89,90],"normal_force_n":0.04520962387338836},{"geom_ids":[89,90],"normal_force_n":0.04451465024864491}],"native_actuator_controls":[0.2588094087747511,1.773975973190608,-1.260652711197451,-0.05598308857095,0.9618344929002943,0.09402883032168886,0.0],"actuator_force_native":[-0.28563076864319115,-0.11164366611092191,0.1691668395876178,0.12203071409009647,-0.06960524999739981,0.2416490257158017,-0.7837780410668808],"issued_joint_targets_rad":[0.2583322007961005,1.7844516871000498,-1.2609296719854954,-0.055331550198643255,0.9609071926452917,0.09498867914487072],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.379999999998024,"joint_targets_rad":[0.2583322007961005,1.7844516871000498,-1.2609296719854954,-0.055331550198643255,0.9609071926452917,0.09498867914487072],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.399999999998013,"qpos":[0.26270916726174126,1.754005418478337,-1.263094802421851,-0.060823984087079015,0.969886795436216,0.06507476632483233,0.019594215016426483,-0.02024945404318493,0.3498470518724865,0.08485303961484784,0.1090907738503652,0.9889054717665691,-0.010571298764038225,-0.09641889917861031,0.11250605065401968],"qvel":[-0.009638695840976938,0.5087042301648826,0.004865660953469126,0.01825637942027471,-0.009277933196076922,0.03715004514085511,-2.0415044791423216e-06,-1.462226539256308e-06,-0.005522489137414546,-0.0016692690183260127,-0.18431734466512603,-0.001964207314243521,0.5048940670944775,-0.031023969000278026],"joint_position_rad":[0.26270916726174126,1.754005418478337,-1.263094802421851,-0.060823984087079015,0.969886795436216,0.06507476632483233],"joint_velocity_rad_s":[-0.009638695840976938,0.5087042301648826,0.004865660953469126,0.01825637942027471,-0.009277933196076922,0.03715004514085511],"gripper_joint_position_m":[0.019594215016426483,-0.02024945404318493],"tcp_position_m":[0.35060194664472644,0.08479070549993363,0.11160880055086439],"tcp_quaternion_wxyz":[0.10144663631344215,-0.11269593729676071,0.9883842478640287,-0.010236418892897402],"object_position_m":[0.3498470518724865,0.08485303961484784,0.1090907738503652],"object_quaternion_wxyz":[0.9889054717665691,-0.010571298764038225,-0.09641889917861031,0.11250605065401968],"object_linear_velocity_m_s":[-0.005522489137414546,-0.0016692690183260127,-0.18431734466512603],"object_angular_velocity_rad_s":[-0.10720555252678145,0.49158307189146144,-0.05232032766800565],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3827783924878085,"right":0.4009123213810477},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04398604984879977},{"geom_ids":[85,90],"normal_force_n":0.039277394287171516},{"geom_ids":[85,90],"normal_force_n":0.04730849844594721},{"geom_ids":[85,90],"normal_force_n":0.05205040997632395},{"geom_ids":[86,90],"normal_force_n":0.046716184769192926},{"geom_ids":[86,90],"normal_force_n":0.0474733191730644},{"geom_ids":[86,90],"normal_force_n":0.053322957544924575},{"geom_ids":[86,90],"normal_force_n":0.05264357844238414},{"geom_ids":[88,90],"normal_force_n":0.045856651630454895},{"geom_ids":[88,90],"normal_force_n":0.05060064995076656},{"geom_ids":[88,90],"normal_force_n":0.058896898953774285},{"geom_ids":[88,90],"normal_force_n":0.05411269586545071},{"geom_ids":[89,90],"normal_force_n":0.050413843502985556},{"geom_ids":[89,90],"normal_force_n":0.051195186696096955},{"geom_ids":[89,90],"normal_force_n":0.045265124348669666},{"geom_ids":[89,90],"normal_force_n":0.04457127043284906}],"native_actuator_controls":[0.2583322007961005,1.7844516871000498,-1.2609296719854954,-0.055331550198643255,0.9609071926452917,0.09498867914487072,0.0],"actuator_force_native":[-0.3019638380463796,-0.10781966108737606,0.1488821301410752,0.12841545843605706,-0.07587912811512965,0.2434140604891012,-0.7837583931346637],"issued_joint_targets_rad":[0.2577952829911683,1.7950917119702208,-1.261392260844534,-0.05464911972224886,0.9599637983882672,0.09592289738977698],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.399999999998013,"joint_targets_rad":[0.2577952829911683,1.7950917119702208,-1.261392260844534,-0.05464911972224886,0.9599637983882672,0.09592289738977698],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.419999999998002,"qpos":[0.2624780482536222,1.7642660857428456,-1.2630218678601906,-0.06043623385259805,0.9696877188784314,0.06582444345779677,0.019593863944736202,-0.020249818065604483,0.34972750410313,0.08480769494509063,0.1053806495215273,0.9894202856628358,-0.01112385653608944,-0.09140177349122072,0.11211366525672065],"qvel":[-0.012562766597013272,0.5131169038775175,0.0034259541854281743,0.019421636117273038,-0.010206475155906624,0.03738405049793606,-8.074893672857004e-06,-6.924956726786835e-06,-0.006643641696536689,-0.00283242504353711,-0.1854263573639777,-0.0019032196760896945,0.5071633924164504,-0.034855041660596296],"joint_position_rad":[0.2624780482536222,1.7642660857428456,-1.2630218678601906,-0.06043623385259805,0.9696877188784314,0.06582444345779677],"joint_velocity_rad_s":[-0.012562766597013272,0.5131169038775175,0.0034259541854281743,0.019421636117273038,-0.010206475155906624,0.03738405049793606],"gripper_joint_position_m":[0.019593863944736202,-0.020249818065604483],"tcp_position_m":[0.3504906649330826,0.08474577468450402,0.10789381489643488],"tcp_quaternion_wxyz":[0.09643571406207979,-0.11230521633859712,0.988924294084878,-0.010790366314606543],"object_position_m":[0.34972750410313,0.08480769494509063,0.1053806495215273],"object_quaternion_wxyz":[0.9894202856628358,-0.01112385653608944,-0.09140177349122072,0.11211366525672065],"object_linear_velocity_m_s":[-0.006643641696536689,-0.00283242504353711,-0.1854263573639777],"object_angular_velocity_rad_s":[-0.1069178842045918,0.4938093215342399,-0.056161577477548415],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38244969596374745,"right":0.4011977390690391},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.043888592125117254},{"geom_ids":[85,90],"normal_force_n":0.03924752218893113},{"geom_ids":[85,90],"normal_force_n":0.04730858909281512},{"geom_ids":[85,90],"normal_force_n":0.05198250047768774},{"geom_ids":[86,90],"normal_force_n":0.046724726648934053},{"geom_ids":[86,90],"normal_force_n":0.04748321654326974},{"geom_ids":[86,90],"normal_force_n":0.053247431962935805},{"geom_ids":[86,90],"normal_force_n":0.052567116924056585},{"geom_ids":[88,90],"normal_force_n":0.04591868734780692},{"geom_ids":[88,90],"normal_force_n":0.050595116484203166},{"geom_ids":[88,90],"normal_force_n":0.05892217503891913},{"geom_ids":[88,90],"normal_force_n":0.054205930708430064},{"geom_ids":[89,90],"normal_force_n":0.050398442801050214},{"geom_ids":[89,90],"normal_force_n":0.0511811644512239},{"geom_ids":[89,90],"normal_force_n":0.045335566305071955},{"geom_ids":[89,90],"normal_force_n":0.04464065593233372}],"native_actuator_controls":[0.2577952829911683,1.7950917119702208,-1.261392260844534,-0.05464911972224886,0.9599637983882672,0.09592289738977698,0.0],"actuator_force_native":[-0.3118073880112462,-0.09953442119757483,0.11323879032538287,0.13437638462760182,-0.08192949216778089,0.24490846357289808,-0.7837141833210838],"issued_joint_targets_rad":[0.2571744999945766,1.8059612508866492,-1.2621284504088643,-0.053932420983286745,0.9590360428002105,0.09682567995228283],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.419999999998002,"joint_targets_rad":[0.2571744999945766,1.8059612508866492,-1.2621284504088643,-0.053932420983286745,0.9590360428002105,0.09682567995228283],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.43999999999799,"qpos":[0.2621757345947131,1.7746237555948141,-1.2629737601484277,-0.06002449323935135,0.9694693116241498,0.06657834056526184,0.019593462496627984,-0.020250219741575308,0.3495850156077325,0.08473428263007013,0.10164412202058344,0.9899169111736482,-0.01167540993735328,-0.08635440272753607,0.11167412818011334],"qvel":[-0.016513595797449824,0.5185580463375539,0.0022785270178737834,0.02057697389594106,-0.011181211815811441,0.03757945505107996,-4.224340910078763e-06,-2.105704125555463e-06,-0.007800938481032222,-0.004399897708091284,-0.18698088585921466,-0.0020488687022038807,0.510721573326729,-0.03959519227444953],"joint_position_rad":[0.2621757345947131,1.7746237555948141,-1.2629737601484277,-0.06002449323935135,0.9694693116241498,0.06657834056526184],"joint_velocity_rad_s":[-0.016513595797449824,0.5185580463375539,0.0022785270178737834,0.02057697389594106,-0.011181211815811441,0.03757945505107996],"gripper_joint_position_m":[0.019593462496627984,-0.020250219741575308],"tcp_position_m":[0.3503563386034223,0.0846725959395918,0.10415244877589848],"tcp_quaternion_wxyz":[0.09139458038826036,-0.11186760225655079,0.9894463021303451,-0.011343960578636222],"object_position_m":[0.3495850156077325,0.08473428263007013,0.10164412202058344],"object_quaternion_wxyz":[0.9899169111736482,-0.01167540993735328,-0.08635440272753607,0.11167412818011334],"object_linear_velocity_m_s":[-0.007800938481032222,-0.004399897708091284,-0.18698088585921466],"object_angular_velocity_rad_s":[-0.10698323552326336,0.49723509485086614,-0.0609946746951139],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38227070516196415,"right":0.40138253725185624},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.043804139778674284},{"geom_ids":[85,90],"normal_force_n":0.03922247200201611},{"geom_ids":[85,90],"normal_force_n":0.047326131117484134},{"geom_ids":[85,90],"normal_force_n":0.051940338260851183},{"geom_ids":[86,90],"normal_force_n":0.04674969269870623},{"geom_ids":[86,90],"normal_force_n":0.04751071017272114},{"geom_ids":[86,90],"normal_force_n":0.05319976346803407},{"geom_ids":[86,90],"normal_force_n":0.05251745766347706},{"geom_ids":[88,90],"normal_force_n":0.04596108846804042},{"geom_ids":[88,90],"normal_force_n":0.05057819555932578},{"geom_ids":[88,90],"normal_force_n":0.0589489785656346},{"geom_ids":[88,90],"normal_force_n":0.05429230952868162},{"geom_ids":[89,90],"normal_force_n":0.050371495560630565},{"geom_ids":[89,90],"normal_force_n":0.051156791505918335},{"geom_ids":[89,90],"normal_force_n":0.04538534823776148},{"geom_ids":[89,90],"normal_force_n":0.044688329825863404}],"native_actuator_controls":[0.2571744999945766,1.8059612508866492,-1.2621284504088643,-0.053932420983286745,0.9590360428002105,0.09682567995228283,0.0],"actuator_force_native":[-0.31753078902367093,-0.08579060834094321,0.05623214407569321,0.14079802076287917,-0.08756087051567718,0.24610421129359006,-0.783717378160569],"issued_joint_targets_rad":[0.256444512604557,1.8171703344693826,-1.2632937244740028,-0.05317829055647532,0.9581847941649162,0.09768974130853461],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.43999999999799,"joint_targets_rad":[0.256444512604557,1.8171703344693826,-1.2632937244740028,-0.05317829055647532,0.9581847941649162,0.09768974130853461],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.45999999999798,"qpos":[0.26178416345951955,1.7851095954097547,-1.262953840079818,-0.059588755008754365,0.9692332377964102,0.06733543580302653,0.019593139000848973,-0.02025053547197506,0.34942024310713776,0.08462614109617227,0.09787093647954923,0.9903969583950123,-0.012228841718127773,-0.08126179849006064,0.11117931614424144],"qvel":[-0.02125509906964572,0.5260028372810536,0.0007292580299056483,0.021738299885104197,-0.012045987678845458,0.03772152536208424,3.123204049153421e-06,5.725845721972851e-06,-0.00889482294085967,-0.006245190770441999,-0.18914481866477267,-0.0023303917165123146,0.5160733082265605,-0.04500067036796466],"joint_position_rad":[0.26178416345951955,1.7851095954097547,-1.262953840079818,-0.059588755008754365,0.9692332377964102,0.06733543580302653],"joint_velocity_rad_s":[-0.02125509906964572,0.5260028372810536,0.0007292580299056483,0.021738299885104197,-0.012045987678845458,0.03772152536208424],"gripper_joint_position_m":[0.019593139000848973,-0.02025053547197506],"tcp_position_m":[0.3501996007723921,0.08456464859498278,0.10037444208491364],"tcp_quaternion_wxyz":[0.0863086561801753,-0.1113748524547679,0.9899519442519823,-0.01189983952711404],"object_position_m":[0.34942024310713776,0.08462614109617227,0.09787093647954923],"object_quaternion_wxyz":[0.9903969583950123,-0.012228841718127773,-0.08126179849006064,0.11117931614424144],"object_linear_velocity_m_s":[-0.00889482294085967,-0.006245190770441999,-0.18914481866477267],"object_angular_velocity_rad_s":[-0.10750189125158972,0.50236600458616,-0.06658747131776696],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38220322389001665,"right":0.40147513135019086},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.0437314963841456},{"geom_ids":[85,90],"normal_force_n":0.03920585095103804},{"geom_ids":[85,90],"normal_force_n":0.047357029600806545},{"geom_ids":[85,90],"normal_force_n":0.0519149627086568},{"geom_ids":[86,90],"normal_force_n":0.04678759006845173},{"geom_ids":[86,90],"normal_force_n":0.047551575320776446},{"geom_ids":[86,90],"normal_force_n":0.05316970096254416},{"geom_ids":[86,90],"normal_force_n":0.05248501789359731},{"geom_ids":[88,90],"normal_force_n":0.04598917759552435},{"geom_ids":[88,90],"normal_force_n":0.050550291299407864},{"geom_ids":[88,90],"normal_force_n":0.05896971096813472},{"geom_ids":[88,90],"normal_force_n":0.05436924319393},{"geom_ids":[89,90],"normal_force_n":0.05033354659889696},{"geom_ids":[89,90],"normal_force_n":0.0511218536266071},{"geom_ids":[89,90],"normal_force_n":0.04542040422830717},{"geom_ids":[89,90],"normal_force_n":0.044720903839382695}],"native_actuator_controls":[0.256444512604557,1.8171703344693826,-1.2632937244740028,-0.05317829055647532,0.9581847941649162,0.09768974130853461,0.0],"actuator_force_native":[-0.3208965730487776,-0.06515506163503915,-0.030837041684321775,0.14772707866564128,-0.09241545479667224,0.24696076701195435,-0.7837411760542047],"issued_joint_targets_rad":[0.2555802985727501,1.8289117836066662,-1.2651834695417798,-0.05238047265439632,0.9575330326812058,0.09849728888327884],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.45999999999798,"joint_targets_rad":[0.2555802985727501,1.8289117836066662,-1.2651834695417798,-0.05238047265439632,0.9575330326812058,0.09849728888327884],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.479999999997968,"qpos":[0.26128825908644887,1.7957755044616615,-1.2629754466093608,-0.05912829679608821,0.9689831648877277,0.06809442962510628,0.019592900013342303,-0.02025076823355175,0.34923499846544803,0.084478326962857,0.09404600364171123,0.9908620253511632,-0.012787301325344861,-0.0761024035705597,0.1106225827423567],"qvel":[-0.026703966498909,0.5366727207214713,-0.0016489456220151817,0.02294777911680975,-0.012716180907434312,0.03779496403853939,9.572437652128904e-06,1.239903696862853e-05,-0.009889049615100405,-0.008314068468491963,-0.19224795961533225,-0.00270347400498976,0.5241039635842394,-0.05096984673950256],"joint_position_rad":[0.26128825908644887,1.7957755044616615,-1.2629754466093608,-0.05912829679608821,0.9689831648877277,0.06809442962510628],"joint_velocity_rad_s":[-0.026703966498909,0.5366727207214713,-0.0016489456220151817,0.02294777911680975,-0.012716180907434312,0.03779496403853939],"gripper_joint_position_m":[0.019592900013342303,-0.02025076823355175],"tcp_position_m":[0.3500222770582597,0.08441698815767554,0.0965446944345531],"tcp_quaternion_wxyz":[0.08115700875043512,-0.11082026385816779,0.9904428969484236,-0.012461016551694735],"object_position_m":[0.34923499846544803,0.084478326962857,0.09404600364171123],"object_quaternion_wxyz":[0.9908620253511632,-0.012787301325344861,-0.0761024035705597,0.1106225827423567],"object_linear_velocity_m_s":[-0.009889049615100405,-0.008314068468491963,-0.19224795961533225],"object_angular_velocity_rad_s":[-0.10865064004078114,0.5100739179356639,-0.07286861706896913],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3821932093805037,"right":0.4015081807264684},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.043664725837369675},{"geom_ids":[85,90],"normal_force_n":0.03919453178730082},{"geom_ids":[85,90],"normal_force_n":0.04739529948090568},{"geom_ids":[85,90],"normal_force_n":0.05189754393730821},{"geom_ids":[86,90],"normal_force_n":0.04683278845551264},{"geom_ids":[86,90],"normal_force_n":0.047599908959469625},{"geom_ids":[86,90],"normal_force_n":0.05314779963028857},{"geom_ids":[86,90],"normal_force_n":0.0524606112923485},{"geom_ids":[88,90],"normal_force_n":0.04600910414917943},{"geom_ids":[88,90],"normal_force_n":0.05051473305982386},{"geom_ids":[88,90],"normal_force_n":0.05898479104271049},{"geom_ids":[88,90],"normal_force_n":0.05444001141492889},{"geom_ids":[89,90],"normal_force_n":0.050287847826162496},{"geom_ids":[89,90],"normal_force_n":0.05107932583813824},{"geom_ids":[89,90],"normal_force_n":0.04544723449569337},{"geom_ids":[89,90],"normal_force_n":0.04474513289983164}],"native_actuator_controls":[0.2555802985727501,1.8289117836066662,-1.2651834695417798,-0.05238047265439632,0.9575330326812058,0.09849728888327884,0.0],"actuator_force_native":[-0.32311700860135417,-0.032461272006969466,-0.16839710648345374,0.15517407008362705,-0.09542705070406754,0.24733614652391656,-0.7837638627219528],"issued_joint_targets_rad":[0.2545675049269545,1.841390144336827,-1.2685557071255298,-0.051515359184282794,0.9576615077815205,0.09920717356997],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.479999999997968,"joint_targets_rad":[0.2545675049269545,1.841390144336827,-1.2685557071255298,-0.051515359184282794,0.9576615077815205,0.09920717356997],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.499999999997957,"qpos":[0.2606759253944341,1.806774838455209,-1.2632342274750046,-0.05864228181598961,0.968758418906338,0.0688504960970055,0.019592811797955807,-0.02025084803924195,0.3490723938373939,0.0842977190743367,0.090165430949163,0.991311914640168,-0.013352485040110055,-0.07086960281961703,0.10999953832579143],"qvel":[-0.03273781260069856,0.5560050136034517,-0.016673767960860734,0.024246795498253204,-0.011817053886540344,0.03767805072003633,1.4288571977054515e-05,1.6571710430006413e-05,-0.007841517076879412,-0.009774975572691578,-0.1951491256253115,-0.002965855700571057,0.5299756206142062,-0.05758597856369281],"joint_position_rad":[0.2606759253944341,1.806774838455209,-1.2632342274750046,-0.05864228181598961,0.968758418906338,0.0688504960970055],"joint_velocity_rad_s":[-0.03273781260069856,0.5560050136034517,-0.016673767960860734,0.024246795498253204,-0.011817053886540344,0.03767805072003633],"gripper_joint_position_m":[0.019592811797955807,-0.02025084803924195],"tcp_position_m":[0.3498678988990415,0.08423669664941377,0.09265885995295127],"tcp_quaternion_wxyz":[0.07594101361169861,-0.11019862056901493,0.9909185191102173,-0.013027469467563871],"object_position_m":[0.3490723938373939,0.0842977190743367,0.090165430949163],"object_quaternion_wxyz":[0.991311914640168,-0.013352485040110055,-0.07086960281961703,0.10999953832579143],"object_linear_velocity_m_s":[-0.007841517076879412,-0.009774975572691578,-0.1951491256253115],"object_angular_velocity_rad_s":[-0.10918200372185474,0.5156822772061861,-0.07968800857914993],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38212128095443165,"right":0.40159810646398303},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04359521393020253},{"geom_ids":[85,90],"normal_force_n":0.03920926182489421},{"geom_ids":[85,90],"normal_force_n":0.04743461086282364},{"geom_ids":[85,90],"normal_force_n":0.051852087800330765},{"geom_ids":[86,90],"normal_force_n":0.04688265691692568},{"geom_ids":[86,90],"normal_force_n":0.04765075869506986},{"geom_ids":[86,90],"normal_force_n":0.053092148965765674},{"geom_ids":[86,90],"normal_force_n":0.05240454195841925},{"geom_ids":[88,90],"normal_force_n":0.04605669213612091},{"geom_ids":[88,90],"normal_force_n":0.050477584444264256},{"geom_ids":[88,90],"normal_force_n":0.05897223860567227},{"geom_ids":[88,90],"normal_force_n":0.05451280098222193},{"geom_ids":[89,90],"normal_force_n":0.05023912675249309},{"geom_ids":[89,90],"normal_force_n":0.05103153330627216},{"geom_ids":[89,90],"normal_force_n":0.04550536576902069},{"geom_ids":[89,90],"normal_force_n":0.04480276446791775}],"native_actuator_controls":[0.2545675049269545,1.841390144336827,-1.2685557071255298,-0.051515359184282794,0.9576615077815205,0.09920717356997,0.0],"actuator_force_native":[-0.32498457439487893,-0.010800597487815367,-0.34234953223770503,0.1638429277770066,-0.09324353041836275,0.24704969864959048,-0.7837839147781175],"issued_joint_targets_rad":[0.2542085371746195,1.847762973736718,-1.2788166130329086,-0.05023637890205232,0.9707903653041143,0.09983220422713605],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.499999999997957,"joint_targets_rad":[0.2542085371746195,1.847762973736718,-1.2788166130329086,-0.05023637890205232,0.9707903653041143,0.09983220422713605],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.519999999997946,"qpos":[0.2599942204374835,1.8182257124346364,-1.2643813201297656,-0.05812997476682137,0.9687607511124587,0.06959425112189456,0.01959361227643458,-0.02024998612920007,0.34907126920094317,0.08413653551609164,0.08635268926522682,0.9917336720036,-0.01390515222103506,-0.0657115037173216,0.10932963383810136],"qvel":[-0.03423771538108121,0.5713801040493192,-0.0833927175992775,0.025571481726217194,0.00635548896478134,0.03688779525217207,5.444407559378429e-05,5.6162327174382376e-05,0.0054732655341926005,-0.00671674171370327,-0.18353941932957524,-0.002017266023466545,0.4993078211388528,-0.06141096773806306],"joint_position_rad":[0.2599942204374835,1.8182257124346364,-1.2643813201297656,-0.05812997476682137,0.9687607511124587,0.06959425112189456],"joint_velocity_rad_s":[-0.03423771538108121,0.5713801040493192,-0.0833927175992775,0.025571481726217194,0.00635548896478134,0.03688779525217207],"gripper_joint_position_m":[0.01959361227643458,-0.02024998612920007],"tcp_position_m":[0.349876433649278,0.08407724402812179,0.08883815909545553],"tcp_quaternion_wxyz":[0.07082470098543427,-0.10952717149968523,0.9913644029385541,-0.013575014544615762],"object_position_m":[0.34907126920094317,0.08413653551609164,0.08635268926522682],"object_quaternion_wxyz":[0.9917336720036,-0.01390515222103506,-0.0657115037173216,0.10932963383810136],"object_linear_velocity_m_s":[0.0054732655341926005,-0.00671674171370327,-0.18353941932957524],"object_angular_velocity_rad_s":[-0.10112411822711118,0.48592581889908515,-0.08205905075740126],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3832171583278928,"right":0.4007305697120217},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04373091570528091},{"geom_ids":[85,90],"normal_force_n":0.03953029680207096},{"geom_ids":[85,90],"normal_force_n":0.04763840588482368},{"geom_ids":[85,90],"normal_force_n":0.0518689375521019},{"geom_ids":[86,90],"normal_force_n":0.047109642272432146},{"geom_ids":[86,90],"normal_force_n":0.047866573458600875},{"geom_ids":[86,90],"normal_force_n":0.0530745850733954},{"geom_ids":[86,90],"normal_force_n":0.05239780157918695},{"geom_ids":[88,90],"normal_force_n":0.046069990953408205},{"geom_ids":[88,90],"normal_force_n":0.05030277872594752},{"geom_ids":[88,90],"normal_force_n":0.058674447224478246},{"geom_ids":[88,90],"normal_force_n":0.05440536659476994},{"geom_ids":[89,90],"normal_force_n":0.05005241294130748},{"geom_ids":[89,90],"normal_force_n":0.0508330997117331},{"geom_ids":[89,90],"normal_force_n":0.04554206921238765},{"geom_ids":[89,90],"normal_force_n":0.0448504043479896}],"native_actuator_controls":[0.2542085371746195,1.847762973736718,-1.2788166130329086,-0.05023637890205232,0.9707903653041143,0.09983220422713605,0.0],"actuator_force_native":[-0.29166608412371176,-0.4939196160800634,-0.7378598442550555,0.18788642595967575,0.010762908469382992,0.24704783817415688,-0.7840167114353521],"issued_joint_targets_rad":[0.25384550395105093,1.8538272005973688,-1.2886573125753167,-0.04896630864671127,0.9835567181381127,0.10055169845830604],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.519999999997946,"joint_targets_rad":[0.25384550395105093,1.8538272005973688,-1.2886573125753167,-0.04896630864671127,0.9835567181381127,0.10055169845830604],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.539999999997935,"qpos":[0.2593117758361137,1.8296703036370345,-1.267032032032109,-0.05758802337201853,0.9692182392369197,0.07032772056327999,0.019594607481308098,-0.02024899223371002,0.34938026406912365,0.08405956282296984,0.08292138669427142,0.992101407614714,-0.014377825244380527,-0.06106270811619766,0.10862513902251307],"qvel":[-0.03324064816749658,0.5554648651546237,-0.15968875265255525,0.027191519961599016,0.026518380224712697,0.03656482597682457,4.12693325510468e-05,3.9488220121670605e-05,0.02261248258607478,-0.0016267975577305342,-0.15874427493520057,0.001333356677001157,0.426658768247367,-0.06561652555579713],"joint_position_rad":[0.2593117758361137,1.8296703036370345,-1.267032032032109,-0.05758802337201853,0.9692182392369197,0.07032772056327999],"joint_velocity_rad_s":[-0.03324064816749658,0.5554648651546237,-0.15968875265255525,0.027191519961599016,0.026518380224712697,0.03656482597682457],"gripper_joint_position_m":[0.019594607481308098,-0.02024899223371002],"tcp_position_m":[0.350195832938604,0.08400211713233274,0.08539473001703435],"tcp_quaternion_wxyz":[0.0662259119290383,-0.10881989556339791,0.9917536218540266,-0.014039674432070869],"object_position_m":[0.34938026406912365,0.08405956282296984,0.08292138669427142],"object_quaternion_wxyz":[0.992101407614714,-0.014377825244380527,-0.06106270811619766,0.10862513902251307],"object_linear_velocity_m_s":[0.02261248258607478,-0.0016267975577305342,-0.15874427493520057],"object_angular_velocity_rad_s":[-0.08176337535691287,0.4157019606747264,-0.08277464062039479],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":5,"right":1},"pad_normal_forces_n":{"left":0.9295114855481602,"right":0.2527501090369099},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":17,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.5419864947859119},{"geom_ids":[85,90],"normal_force_n":0.1962384650119547},{"geom_ids":[86,90],"normal_force_n":0.2384644512249287},{"geom_ids":[86,90],"normal_force_n":0.3349878260420066},{"geom_ids":[86,90],"normal_force_n":0.1420840843353432},{"geom_ids":[86,90],"normal_force_n":0.017736658933927056},{"geom_ids":[88,90],"normal_force_n":0.2527501090369099}],"native_actuator_controls":[0.25384550395105093,1.8538272005973688,-1.2886573125753167,-0.04896630864671127,0.9835567181381127,0.10055169845830604,0.0],"actuator_force_native":[-0.2710985099675369,-0.8447725689463823,-0.9315786801938373,0.2089109892042953,0.10360721867486156,0.24739253998502386,-0.783990645915079],"issued_joint_targets_rad":[0.25349268843424744,1.8591323487694447,-1.2973382872400496,-0.047774016786614984,0.9949537158108069,0.10135115178440199],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.539999999997935,"joint_targets_rad":[0.25349268843424744,1.8591323487694447,-1.2973382872400496,-0.047774016786614984,0.9949537158108069,0.10135115178440199],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.559999999997924,"qpos":[0.2584952461736109,1.8402811677497373,-1.2713771142157835,-0.05709882108078022,0.9701432293268645,0.07104245145290891,0.019841256245612292,-0.020370150211241046,0.3502762455081193,0.08404666778090623,0.0809882573693429,0.9933486305698823,-0.013564994972772465,-0.04105485231335425,0.1067192023857786],"qvel":[-0.04676376106931261,0.49268778862965007,-0.24384244437059505,0.022542502488895725,0.04021616949285356,0.03584899576903858,-0.0010485041864133223,0.012426046672573887,0.06040924452565744,0.023654543280619687,-0.05036097143426972,-0.2582953772521854,3.0956163106698704,0.09625292860145294],"joint_position_rad":[0.2584952461736109,1.8402811677497373,-1.2713771142157835,-0.05709882108078022,0.9701432293268645,0.07104245145290891],"joint_velocity_rad_s":[-0.04676376106931261,0.49268778862965007,-0.24384244437059505,0.022542502488895725,0.04021616949285356,0.03584899576903858],"gripper_joint_position_m":[0.019841256245612292,-0.020370150211241046],"tcp_position_m":[0.350937455054134,0.08397553147345224,0.08266696697348323],"tcp_quaternion_wxyz":[0.06264619159128386,-0.10802205169120593,0.9920684172896753,-0.014385633246032172],"object_position_m":[0.3502762455081193,0.08404666778090623,0.0809882573693429],"object_quaternion_wxyz":[0.9933486305698823,-0.013564994972772465,-0.04105485231335425,0.1067192023857786],"object_linear_velocity_m_s":[0.06040924452565744,0.023654543280619687,-0.05036097143426972],"object_angular_velocity_rad_s":[-0.9125513684135347,2.9706645745244016,-0.03497794636454709],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.4795198723850258,"right":0.632957605778863},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.0589903981865543},{"geom_ids":[85,90],"normal_force_n":0.19560206346172979},{"geom_ids":[86,90],"normal_force_n":0.28391780892329604},{"geom_ids":[88,90],"normal_force_n":0.632957605778863}],"native_actuator_controls":[0.25349268843424744,1.8591323487694447,-1.2973382872400496,-0.047774016786614984,0.9949537158108069,0.10135115178440199,0.0],"actuator_force_native":[-0.16638581380251694,-0.9553444615716558,-0.8576816200883144,0.2602796593221308,0.18778061060014473,0.249313509661373,-0.7884077288924252],"issued_joint_targets_rad":[0.25321295692142004,1.863208464767485,-1.3040570634961006,-0.04683118308999315,1.003842837326884,0.1024376800093971],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.559999999997924,"joint_targets_rad":[0.25321295692142004,1.863208464767485,-1.3040570634961006,-0.04683118308999315,1.003842837326884,0.1024376800093971],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.579999999997913,"qpos":[0.25768587093113526,1.8493546440424449,-1.2769146076971343,-0.0565465127202496,0.9713780388359287,0.07178899330142191,0.01990832422298342,-0.02043244606190001,0.35171498309237015,0.08417629028163391,0.07995583801921394,0.9946475261806421,-0.0196980388570161,-0.0017772196956919377,0.10141561722964243],"qvel":[-0.04313216542834602,0.40100115642941747,-0.2801659333199055,0.024882950767237885,0.05370180101436667,0.03806952269029238,0.01501698577244574,-0.009999513175807707,0.055604966296788905,0.001020864338913578,-0.028176533604331384,0.629623837596079,2.294836950544524,0.14096498270545402],"joint_position_rad":[0.25768587093113526,1.8493546440424449,-1.2769146076971343,-0.0565465127202496,0.9713780388359287,0.07178899330142191],"joint_velocity_rad_s":[-0.04313216542834602,0.40100115642941747,-0.2801659333199055,0.024882950767237885,0.05370180101436667,0.03806952269029238],"gripper_joint_position_m":[0.01990832422298342,-0.02043244606190001],"tcp_position_m":[0.3520097497307408,0.0840468842589248,0.08077717750256468],"tcp_quaternion_wxyz":[0.060256485901771635,-0.10715000873290932,0.9923089087845586,-0.014527941426982983],"object_position_m":[0.35171498309237015,0.08417629028163391,0.07995583801921394],"object_quaternion_wxyz":[0.9946475261806421,-0.0196980388570161,-0.0017772196956919377,0.10141561722964243],"object_linear_velocity_m_s":[0.055604966296788905,0.001020864338913578,-0.028176533604331384],"object_angular_velocity_rad_s":[0.152794209219904,2.3783915591549336,0.04981419247844093],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":0},"pad_normal_forces_n":{"left":0.8943731207292853,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.176044019262856},{"geom_ids":[1,90],"normal_force_n":0.04189273526364752},{"geom_ids":[85,90],"normal_force_n":0.38901338119181017},{"geom_ids":[86,90],"normal_force_n":0.5053597395374751}],"native_actuator_controls":[0.25321295692142004,1.863208464767485,-1.3040570634961006,-0.04683118308999315,1.003842837326884,0.1024376800093971,0.0010000000000000002],"actuator_force_native":[-0.1421722936354861,-0.896700124143905,-0.7705667973177839,0.2641984313740686,0.24409528338800435,0.24938258304431338,-0.8314178977815655],"issued_joint_targets_rad":[0.2529495787491666,1.8659356853188618,-1.3085780109757776,-0.04604168054266652,1.0098308159686438,0.10366560670492903],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.579999999997913,"joint_targets_rad":[0.2529495787491666,1.8659356853188618,-1.3085780109757776,-0.04604168054266652,1.0098308159686438,0.10366560670492903],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.599999999997902,"qpos":[0.2567386296752408,1.856398139155994,-1.2827734812690135,-0.05605890488390992,0.9729272222548695,0.07256772675662637,0.02027041596283033,-0.020661812797551214,0.3525513062915834,0.08418125991519941,0.07985697962607291,0.9939064605514693,-0.005886100832091974,0.004300918423143431,0.10998546991199765],"qvel":[-0.04535108492935696,0.297485457538409,-0.2798235173406396,0.02548930505268897,0.07518123089966837,0.03847808278298507,0.023995536488605477,-0.024501936735800464,0.02556523876349457,0.004018068020545971,0.007110362364914737,1.0494452909249283,-0.03253279209226686,0.5118033420469896],"joint_position_rad":[0.2567386296752408,1.856398139155994,-1.2827734812690135,-0.05605890488390992,0.9729272222548695,0.07256772675662637],"joint_velocity_rad_s":[-0.04535108492935696,0.297485457538409,-0.2798235173406396,0.02548930505268897,0.07518123089966837,0.03847808278298507],"gripper_joint_position_m":[0.02027041596283033,-0.020661812797551214],"tcp_position_m":[0.3532035385924333,0.08408301132718381,0.0796835768280868],"tcp_quaternion_wxyz":[0.058876126489283406,-0.10617172447018007,0.9924965339829304,-0.014553236221399691],"object_position_m":[0.3525513062915834,0.08418125991519941,0.07985697962607291],"object_quaternion_wxyz":[0.9939064605514693,-0.005886100832091974,0.004300918423143431,0.10998546991199765],"object_linear_velocity_m_s":[0.02556523876349457,0.004018068020545971,0.007110362364914737],"object_angular_velocity_rad_s":[1.0348438619085099,0.20411674547628256,0.5017678724497479],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.5098090313380275,"right":0.41512391407251714},"table_object_contact_count":3,"unexpected_contact_count":0,"contact_count":6,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.7310620362728965},{"geom_ids":[1,90],"normal_force_n":0.06357816993902324},{"geom_ids":[1,90],"normal_force_n":0.05609278152334145},{"geom_ids":[85,90],"normal_force_n":0.15512083615969696},{"geom_ids":[86,90],"normal_force_n":0.35468819517833056},{"geom_ids":[88,90],"normal_force_n":0.41512391407251714}],"native_actuator_controls":[0.2529495787491666,1.8659356853188618,-1.3085780109757776,-0.04604168054266652,1.0098308159686438,0.10366560670492903,0.0019999999999999987],"actuator_force_native":[-0.07636864943914645,-0.7244235946626247,-0.6652447898379279,0.2732424483862914,0.25626409078824075,0.25326167530854904,-0.8507943209562406],"issued_joint_targets_rad":[0.25275426328116224,1.8675776620202256,-1.3113002646609617,-0.04549770359769764,1.0134151991383251,0.10520525385008465],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.599999999997902,"joint_targets_rad":[0.25275426328116224,1.8675776620202256,-1.3113002646609617,-0.04549770359769764,1.0134151991383251,0.10520525385008465],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.61999999999789,"qpos":[0.2560166540174505,1.8614155111443023,-1.2882447355360598,-0.05549242413062429,0.9747635466997988,0.07334227702276402,0.020581357379919996,-0.021082891508872728,0.3528395849288018,0.08428261319422821,0.07998184589458024,0.9938610456962331,-0.001882902449003187,0.0037968133303511674,0.11055433385667283],"qvel":[-0.027081843971643035,0.2043001653755777,-0.2530022440007017,0.03004550429157881,0.07537156039212294,0.03871705656036277,-0.017003489200965335,0.013670078291801287,-0.0003553612451155041,-0.0012665877860903233,-0.0041012314265109736,0.11277612256499915,-0.7844345385524922,-0.13540883511747878],"joint_position_rad":[0.2560166540174505,1.8614155111443023,-1.2882447355360598,-0.05549242413062429,0.9747635466997988,0.07334227702276402],"joint_velocity_rad_s":[-0.027081843971643035,0.2043001653755777,-0.2530022440007017,0.03004550429157881,0.07537156039212294,0.03871705656036277],"gripper_joint_position_m":[0.020581357379919996,-0.021082891508872728],"tcp_position_m":[0.3542826780920451,0.08418411919445487,0.07921031149399524],"tcp_quaternion_wxyz":[0.05815930850299424,-0.10526066995324969,0.9926374594924875,-0.014441613751463873],"object_position_m":[0.3528395849288018,0.08428261319422821,0.07998184589458024],"object_quaternion_wxyz":[0.9938610456962331,-0.001882902449003187,0.0037968133303511674,0.11055433385667283],"object_linear_velocity_m_s":[-0.0003553612451155041,-0.0012665877860903233,-0.0041012314265109736],"object_angular_velocity_rad_s":[0.2814422741272027,-0.7410932330656101,-0.13402469161016614],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":1},"pad_normal_forces_n":{"left":0.3812368376013412,"right":0.3818533756921612},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.6466650034269762},{"geom_ids":[86,90],"normal_force_n":0.3812368376013412},{"geom_ids":[88,90],"normal_force_n":0.3818533756921612}],"native_actuator_controls":[0.25275426328116224,1.8675776620202256,-1.3113002646609617,-0.04549770359769764,1.0134151991383251,0.10520525385008465,0.0030000000000000014],"actuator_force_native":[-0.125582039044847,-0.5285287568040076,-0.5794311099886471,0.24956129985917186,0.2734591837970797,0.2605541834326621,-0.6182368491919732],"issued_joint_targets_rad":[0.2525380951592644,1.8684874186347,-1.3128039477256401,-0.04498887919584636,1.015359557171426,0.1065649358915347],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.61999999999789,"joint_targets_rad":[0.2525380951592644,1.8684874186347,-1.3128039477256401,-0.04498887919584636,1.015359557171426,0.1065649358915347],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.63999999999788,"qpos":[0.2556259924761646,1.8646970808172731,-1.2930224209017938,-0.054879575191808104,0.9764606701847806,0.07412900603946063,0.020428174925440516,-0.020995599863726993,0.35307634500640445,0.08439272378452338,0.0800855739027743,0.9941899754469521,-0.001341765105194194,0.000229923547685523,0.10763103419717861],"qvel":[-0.013159593961522434,0.12596293040025291,-0.217095587569598,0.03106047893665839,0.07407349938199587,0.03950401712955784,-0.008816365527466893,0.0066105240841855635,0.023389693908261365,0.0009255788499181795,0.0029170023292773273,-0.06823880342154719,-0.15140602674642162,-0.445227078354538],"joint_position_rad":[0.2556259924761646,1.8646970808172731,-1.2930224209017938,-0.054879575191808104,0.9764606701847806,0.07412900603946063],"joint_velocity_rad_s":[-0.013159593961522434,0.12596293040025291,-0.217095587569598,0.03106047893665839,0.07407349938199587,0.03950401712955784],"gripper_joint_position_m":[0.020428174925440516,-0.020995599863726993],"tcp_position_m":[0.3552251322803294,0.08438253683555612,0.07919041141910323],"tcp_quaternion_wxyz":[0.058024277236283714,-0.1044830512440345,0.9927308596492781,-0.014209699291276981],"object_position_m":[0.35307634500640445,0.08439272378452338,0.0800855739027743],"object_quaternion_wxyz":[0.9941899754469521,-0.001341765105194194,0.000229923547685523,0.10763103419717861],"object_linear_velocity_m_s":[0.023389693908261365,0.0009255788499181795,0.0029170023292773273],"object_angular_velocity_rad_s":[-0.034330023307094046,-0.16371128736577117,-0.44477807321903495],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":2},"pad_normal_forces_n":{"left":0.19693125759508354,"right":0.36060911511423827},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[86,90],"normal_force_n":0.19693125759508354},{"geom_ids":[88,90],"normal_force_n":0.21241881848780053},{"geom_ids":[88,90],"normal_force_n":0.14819029662643773}],"native_actuator_controls":[0.2525380951592644,1.8684874186347,-1.3128039477256401,-0.04498887919584636,1.015359557171426,0.1065649358915347,0.0040000000000000036],"actuator_force_native":[-0.18123381554440243,-0.3265876266071359,-0.4970442080597195,0.2403254451551775,0.2778786207934605,0.2651032728264041,-0.6130451693802861],"issued_joint_targets_rad":[0.25230652757652344,1.8687402758470948,-1.3132328521569794,-0.04450488931160711,1.0158622807263797,0.10761789011973516],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.63999999999788,"joint_targets_rad":[0.25230652757652344,1.8687402758470948,-1.3132328521569794,-0.04450488931160711,1.0158622807263797,0.10761789011973516],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.659999999997869,"qpos":[0.2554142833032414,1.8665553007181483,-1.2969634444071207,-0.0542617808516351,0.977781310543446,0.07493161087746407,0.02019838071570876,-0.02074242653008234,0.3536796854704495,0.08446829422646893,0.08020776866935415,0.9945293123901661,-0.00428820351642347,0.00043848536455374344,0.10436889305694193],"qvel":[-0.008688801517004227,0.06527072092290877,-0.1776376426369702,0.030991288713871138,0.05535999245815787,0.040310230946548876,-0.011468551025488367,0.012509633460596768,0.03582760840650114,0.0010052217355958017,0.006486466470672508,-0.5715282129252058,0.0739886470872371,-0.27920116594250477],"joint_position_rad":[0.2554142833032414,1.8665553007181483,-1.2969634444071207,-0.0542617808516351,0.977781310543446,0.07493161087746407],"joint_velocity_rad_s":[-0.008688801517004227,0.06527072092290877,-0.1776376426369702,0.030991288713871138,0.05535999245815787,0.040310230946548876],"gripper_joint_position_m":[0.02019838071570876,-0.02074242653008234],"tcp_position_m":[0.3560385412300014,0.08461783948550619,0.07948356999036961],"tcp_quaternion_wxyz":[0.05836444848096859,-0.10378102067507029,0.9927890533357218,-0.013891957310416146],"object_position_m":[0.3536796854704495,0.08446829422646893,0.08020776866935415],"object_quaternion_wxyz":[0.9945293123901661,-0.00428820351642347,0.00043848536455374344,0.10436889305694193],"object_linear_velocity_m_s":[0.03582760840650114,0.0010052217355958017,0.006486466470672508],"object_angular_velocity_rad_s":[-0.5744304429143301,-0.048677702815295674,-0.2788050513043235],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":2},"pad_normal_forces_n":{"left":0.17776742847206262,"right":0.35413283172489635},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[86,90],"normal_force_n":0.17776742847206262},{"geom_ids":[88,90],"normal_force_n":0.22676655154663464},{"geom_ids":[88,90],"normal_force_n":0.1273662801782617}],"native_actuator_controls":[0.25230652757652344,1.8687402758470948,-1.3132328521569794,-0.04450488931160711,1.0158622807263797,0.10761789011973516,0.0049999999999999975],"actuator_force_native":[-0.20517645055241474,-0.15155559429882715,-0.41336440680383646,0.2353192180317638,0.29776971314210066,0.2663974460028875,-0.5505924735009087],"issued_joint_targets_rad":[0.25207798256506525,1.8684553564940205,-1.3127928390830121,-0.04406600683864684,1.0152095693544958,0.1085047348439606],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.659999999997869,"joint_targets_rad":[0.25207798256506525,1.8684553564940205,-1.3127928390830121,-0.04406600683864684,1.0152095693544958,0.1085047348439606],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.679999999997857,"qpos":[0.25525241133799687,1.867332785946879,-1.3000682190149873,-0.053641864791888226,0.9787143641590604,0.07574575744623013,0.019980494154276406,-0.020491956138407263,0.35431407999813286,0.084569909525794,0.0804243437183205,0.9945273580421339,-0.010424472014194715,-0.0006857196241021339,0.1039528464139201],"qvel":[-0.007424155712568358,0.019881396967569603,-0.13837907025944898,0.03097367586798202,0.041949568527905365,0.04066850685106768,-0.00819487638655013,0.008521624647712877,0.030106001978383475,0.0042733745322805,0.011573131566999423,-0.7497836722376893,-0.10395301114197472,0.0072020862850729825],"joint_position_rad":[0.25525241133799687,1.867332785946879,-1.3000682190149873,-0.053641864791888226,0.9787143641590604,0.07574575744623013],"joint_velocity_rad_s":[-0.007424155712568358,0.019881396967569603,-0.13837907025944898,0.03097367586798202,0.041949568527905365,0.04066850685106768],"gripper_joint_position_m":[0.019980494154276406,-0.020491956138407263],"tcp_position_m":[0.3567219660720318,0.08484087392042382,0.07996747867477912],"tcp_quaternion_wxyz":[0.05901555634073815,-0.10309833100466323,0.9928268568762076,-0.01351778529036455],"object_position_m":[0.35431407999813286,0.084569909525794,0.0804243437183205],"object_quaternion_wxyz":[0.9945273580421339,-0.010424472014194715,-0.0006857196241021339,0.1039528464139201],"object_linear_velocity_m_s":[0.030106001978383475,0.0042733745322805,0.011573131566999423],"object_angular_velocity_rad_s":[-0.7121111237853862,-0.2565773520523689,0.009973140001288933],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":1},"pad_normal_forces_n":{"left":0.273290092681246,"right":0.2641021857165292},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.22878207318990804},{"geom_ids":[85,90],"normal_force_n":0.09217756812796232},{"geom_ids":[85,90],"normal_force_n":0.04160530370008606},{"geom_ids":[86,90],"normal_force_n":0.1395072208531976},{"geom_ids":[88,90],"normal_force_n":0.2641021857165292}],"native_actuator_controls":[0.25207798256506525,1.8684553564940205,-1.3127928390830121,-0.04406600683864684,1.0152095693544958,0.1085047348439606,0.0059999999999999915],"actuator_force_native":[-0.21683352327168848,-0.009601341066513669,-0.3260742541447428,0.22816593878974545,0.30202769916249395,0.26658701370070303,-0.518245384238306],"issued_joint_targets_rad":[0.2518523115894326,1.8678147570734855,-1.3117836247413315,-0.04365672415571072,1.013808824811554,0.10933609716218828],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.679999999997857,"joint_targets_rad":[0.2518523115894326,1.8678147570734855,-1.3117836247413315,-0.04365672415571072,1.013808824811554,0.10933609716218828],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.699999999997846,"qpos":[0.25509611686188377,1.8675182125623488,-1.302500186473617,-0.05303507458150624,0.9794998437858174,0.07656324264280305,0.019765878769925384,-0.02022812961044437,0.3547993341551754,0.08472559984920834,0.08064637104406602,0.9944461981261279,-0.01747834002866291,-0.0017829519397761435,0.10376939695648998],"qvel":[-0.007736341787698994,0.0035772945981296343,-0.10793111125488682,0.029892740475462493,0.03793689467824776,0.0406987376949734,-0.00919892285520385,0.010876313746689674,0.02005494292397186,0.010061274489319486,0.01564872494293913,-0.3975602354394781,0.009420816672451666,-0.03806710454396139],"joint_position_rad":[0.25509611686188377,1.8675182125623488,-1.302500186473617,-0.05303507458150624,0.9794998437858174,0.07656324264280305],"joint_velocity_rad_s":[-0.007736341787698994,0.0035772945981296343,-0.10793111125488682,0.029892740475462493,0.03793689467824776,0.0406987376949734],"gripper_joint_position_m":[0.019765878769925384,-0.02022812961044437],"tcp_position_m":[0.3572596158797935,0.08502650052517909,0.08050046392009923],"tcp_quaternion_wxyz":[0.05969992591029426,-0.10242325469213029,0.9928608726657643,-0.013140900804493335],"object_position_m":[0.3547993341551754,0.08472559984920834,0.08064637104406602],"object_quaternion_wxyz":[0.9944461981261279,-0.01747834002866291,-0.0017829519397761435,0.10376939695648998],"object_linear_velocity_m_s":[0.02005494292397186,0.010061274489319486,0.01564872494293913],"object_angular_velocity_rad_s":[-0.39066644423958774,-0.07417276133033587,-0.038342246408634456],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":4,"right":1},"pad_normal_forces_n":{"left":0.2620730589787844,"right":0.24526629384097295},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":7,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04165264026327118},{"geom_ids":[1,90],"normal_force_n":0.10611515395111898},{"geom_ids":[85,90],"normal_force_n":0.09831212742735067},{"geom_ids":[85,90],"normal_force_n":0.06573833268040222},{"geom_ids":[85,90],"normal_force_n":0.03315678580671042},{"geom_ids":[86,90],"normal_force_n":0.0648658130643211},{"geom_ids":[88,90],"normal_force_n":0.24526629384097295}],"native_actuator_controls":[0.2518523115894326,1.8678147570734855,-1.3117836247413315,-0.04365672415571072,1.013808824811554,0.10933609716218828,0.006999999999999985],"actuator_force_native":[-0.22082271285759703,0.00583708790026094,-0.20301950514271994,0.22567031465450804,0.28618446823999477,0.26668043865139224,-0.46464053652099674],"issued_joint_targets_rad":[0.25162983968103125,1.8671260508466045,-1.3106989763685266,-0.043256404125435764,1.0123208551813452,0.11015091308178163],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.699999999997846,"joint_targets_rad":[0.25162983968103125,1.8671260508466045,-1.3106989763685266,-0.043256404125435764,1.0123208551813452,0.11015091308178163],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.719999999997835,"qpos":[0.25494843334383477,1.867534332806674,-1.304272935261807,-0.052427097415131775,0.9801717914656205,0.07738530139838534,0.019709983618213325,-0.020187188133337804,0.3551510335386386,0.08489446758411696,0.08093840942894528,0.994542012789825,-0.019024471168289408,-0.0023699763792181844,0.10256040905092917],"qvel":[-0.007088506290908143,-0.0004556307906302811,-0.07322903666416668,0.030249261280649746,0.031243823563113383,0.04104154893262495,0.0014736075666504495,-0.0030853004429805485,0.014517470776409695,0.007287170879172517,0.01166662731283245,-0.03706012968576744,-0.06723670946962683,-0.15379203411416362],"joint_position_rad":[0.25494843334383477,1.867534332806674,-1.304272935261807,-0.052427097415131775,0.9801717914656205,0.07738530139838534],"joint_velocity_rad_s":[-0.007088506290908143,-0.0004556307906302811,-0.07322903666416668,0.030249261280649746,0.031243823563113383,0.04104154893262495],"gripper_joint_position_m":[0.019709983618213325,-0.020187188133337804],"tcp_position_m":[0.3576306641560185,0.08517285926134527,0.08092980876871067],"tcp_quaternion_wxyz":[0.060198049505633414,-0.10175831550620268,0.9929037592353711,-0.01278925163274406],"object_position_m":[0.3551510335386386,0.08489446758411696,0.08093840942894528],"object_quaternion_wxyz":[0.994542012789825,-0.019024471168289408,-0.0023699763792181844,0.10256040905092917],"object_linear_velocity_m_s":[0.014517470776409695,0.007287170879172517,0.01166662731283245],"object_angular_velocity_rad_s":[-0.021244624835357908,-0.07908214075705333,-0.15113205814282937],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":7,"right":4},"pad_normal_forces_n":{"left":0.24032289644076146,"right":0.25187186450141996},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":11,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.02072439360948679},{"geom_ids":[85,90],"normal_force_n":0.03175308283131272},{"geom_ids":[85,90],"normal_force_n":0.040601942541429896},{"geom_ids":[85,90],"normal_force_n":0.030923603807107514},{"geom_ids":[86,90],"normal_force_n":0.029812187865866847},{"geom_ids":[86,90],"normal_force_n":0.0419244183945836},{"geom_ids":[86,90],"normal_force_n":0.044583267390974096},{"geom_ids":[88,90],"normal_force_n":0.0536427699731354},{"geom_ids":[88,90],"normal_force_n":0.08741599447019582},{"geom_ids":[88,90],"normal_force_n":0.06198458194612581},{"geom_ids":[89,90],"normal_force_n":0.04882851811196297}],"native_actuator_controls":[0.25162983968103125,1.8671260508466045,-1.3106989763685266,-0.043256404125435764,1.0123208551813452,0.11015091308178163,0.00799999999999998],"actuator_force_native":[-0.23004496156973886,-0.030384402852433823,-0.14793810521673834,0.21558142518459156,0.27462490181257593,0.26609379343502537,-0.4757673825617861],"issued_joint_targets_rad":[0.2513963167566484,1.8666305221617139,-1.309924033383945,-0.042818166608968346,1.0112579731928732,0.11093049793390419],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.719999999997835,"joint_targets_rad":[0.2513963167566484,1.8666305221617139,-1.309924033383945,-0.042818166608968346,1.0112579731928732,0.11093049793390419],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.739999999997824,"qpos":[0.2548072562303287,1.8674984075753642,-1.305383191136307,-0.05181827664024611,0.980758346957508,0.07820957038739593,0.019752769187326085,-0.020248769149780264,0.35534596495950205,0.08499130019018208,0.08087918928366654,0.9948484587928261,-0.017675305312144878,-0.0032189521510595795,0.09976856201585485],"qvel":[-0.006794520520201655,-0.0023988084696934587,-0.04213265020328807,0.030433632118054523,0.02856435358567157,0.04105688872535033,-0.0010094358159430609,0.0006732438957279939,0.006390162488747251,-0.0058628333015191755,-0.02751366359373056,-0.10170290484314884,-0.09626845230901708,-0.016425523448574262],"joint_position_rad":[0.2548072562303287,1.8674984075753642,-1.305383191136307,-0.05181827664024611,0.980758346957508,0.07820957038739593],"joint_velocity_rad_s":[-0.006794520520201655,-0.0023988084696934587,-0.04213265020328807,0.030433632118054523,0.02856435358567157,0.04105688872535033],"gripper_joint_position_m":[0.019752769187326085,-0.020248769149780264],"tcp_position_m":[0.3578245281962826,0.08527621649803252,0.08121037105991766],"tcp_quaternion_wxyz":[0.060436718691044805,-0.10110492753358392,0.992960002809526,-0.012475154620061268],"object_position_m":[0.35534596495950205,0.08499130019018208,0.08087918928366654],"object_quaternion_wxyz":[0.9948484587928261,-0.017675305312144878,-0.0032189521510595795,0.09976856201585485],"object_linear_velocity_m_s":[0.006390162488747251,-0.0058628333015191755,-0.02751366359373056],"object_angular_velocity_rad_s":[-0.08041379244901314,-0.1150594795181754,-0.013260156146946814],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.25853258872913076,"right":0.26636770987332864},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.21528449147970008},{"geom_ids":[85,90],"normal_force_n":0.043248097249430684},{"geom_ids":[88,90],"normal_force_n":0.26636770987332864}],"native_actuator_controls":[0.2513963167566484,1.8666305221617139,-1.309924033383945,-0.042818166608968346,1.0112579731928732,0.11093049793390419,0.008999999999999973],"actuator_force_native":[-0.2389025552934143,-0.05743679074353736,-0.15260412879460716,0.20783624066083783,0.26214973197514446,0.2656239423770571,-0.4250635884133292],"issued_joint_targets_rad":[0.2511494755567605,1.8664126621534116,-1.3095920420880682,-0.04233256801385635,1.01079357308193,0.11167507027093754],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.739999999997824,"joint_targets_rad":[0.2511494755567605,1.8664126621534116,-1.3095920420880682,-0.04233256801385635,1.01079357308193,0.11167507027093754],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.759999999997813,"qpos":[0.25465948375793,1.867444731482748,-1.3059600444221582,-0.05122495700652639,0.9813211143258322,0.07902884574691865,0.019710209713979705,-0.020168599330320208,0.35537850537399895,0.08504456518681555,0.08037844638057788,0.9948346962446568,-0.017068125938532647,-0.0033342846793287867,0.10000744357509109],"qvel":[-0.0076114870332631085,-0.002669754937750213,-0.019401592293445603,0.028728602239449536,0.027819964883432535,0.04052622802032838,-0.00038532658626716493,0.00290390535877462,0.00014388977659464457,-0.0008663350392786512,-0.007772068719170307,0.1382879846404446,0.01573415149765294,-0.032990867682939545],"joint_position_rad":[0.25465948375793,1.867444731482748,-1.3059600444221582,-0.05122495700652639,0.9813211143258322,0.07902884574691865],"joint_velocity_rad_s":[-0.0076114870332631085,-0.002669754937750213,-0.019401592293445603,0.028728602239449536,0.027819964883432535,0.04052622802032838],"gripper_joint_position_m":[0.019710209713979705,-0.020168599330320208],"tcp_position_m":[0.3578678237011862,0.08533524261362667,0.08136101367486676],"tcp_quaternion_wxyz":[0.06043353971968912,-0.1004622091464711,0.9930287876988967,-0.012204860163847302],"object_position_m":[0.35537850537399895,0.08504456518681555,0.08037844638057788],"object_quaternion_wxyz":[0.9948346962446568,-0.017068125938532647,-0.0033342846793287867,0.10000744357509109],"object_linear_velocity_m_s":[0.00014388977659464457,-0.0008663350392786512,-0.007772068719170307],"object_angular_velocity_rad_s":[0.13272121259018893,0.04184441364139411,-0.0330704149556359],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":7,"right":5},"pad_normal_forces_n":{"left":0.2526342782525172,"right":0.13528860374643625},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09481791645852017},{"geom_ids":[1,90],"normal_force_n":0.2360892394410295},{"geom_ids":[85,90],"normal_force_n":0.01107516716862647},{"geom_ids":[85,90],"normal_force_n":0.04374515893514022},{"geom_ids":[85,90],"normal_force_n":0.03357791443260299},{"geom_ids":[86,90],"normal_force_n":0.04501763161143527},{"geom_ids":[86,90],"normal_force_n":0.05183764094093715},{"geom_ids":[86,90],"normal_force_n":0.03507036590394985},{"geom_ids":[86,90],"normal_force_n":0.03231039925982528},{"geom_ids":[88,90],"normal_force_n":0.01520204975773928},{"geom_ids":[88,90],"normal_force_n":0.03984347799861965},{"geom_ids":[88,90],"normal_force_n":0.05015593280400124},{"geom_ids":[89,90],"normal_force_n":0.016462011935180248},{"geom_ids":[89,90],"normal_force_n":0.013625131250895829}],"native_actuator_controls":[0.2511494755567605,1.8664126621534116,-1.3095920420880682,-0.04233256801385635,1.01079357308193,0.11167507027093754,0.009999999999999967],"actuator_force_native":[-0.24274322092724532,-0.06921677165817641,-0.1935518518055801,0.21205254850955413,0.25299464023582985,0.26567290320969617,-0.3864817556278537],"issued_joint_targets_rad":[0.2508983428444024,1.866458443088441,-1.3096792594728275,-0.04182099438104049,1.01089234518135,0.11240605953864027],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.759999999997813,"joint_targets_rad":[0.2508983428444024,1.866458443088441,-1.3096792594728275,-0.04182099438104049,1.01089234518135,0.11240605953864027],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.779999999997802,"qpos":[0.254497647075954,1.8673903038157968,-1.3062668510348676,-0.050659929424649044,0.9818680736427716,0.07983784040377866,0.019736247791664246,-0.020132701250681086,0.3553583474068566,0.08503190801810505,0.08036351328321753,0.99489759183723,-0.016388708646359603,-0.003143760929404696,0.09950029523878011],"qvel":[-0.008326599572577432,-0.002747440601120158,-0.01275313413382963,0.027509244262784265,0.026758282781133166,0.04020014080296437,0.002098954719149741,0.0011398070002248744,-0.0016637043079827023,-0.0004898857627515553,0.0021201154014175425,0.038306590985139354,0.011121240567043411,-0.05838044227929991],"joint_position_rad":[0.254497647075954,1.8673903038157968,-1.3062668510348676,-0.050659929424649044,0.9818680736427716,0.07983784040377866],"joint_velocity_rad_s":[-0.008326599572577432,-0.002747440601120158,-0.01275313413382963,0.027509244262784265,0.026758282781133166,0.04020014080296437],"gripper_joint_position_m":[0.019736247791664246,-0.020132701250681086],"tcp_position_m":[0.35783728415618843,0.08536475613950616,0.08144305438559193],"tcp_quaternion_wxyz":[0.060306978950121916,-0.0998287016760098,0.9931032696446268,-0.01196638762298631],"object_position_m":[0.3553583474068566,0.08503190801810505,0.08036351328321753],"object_quaternion_wxyz":[0.99489759183723,-0.016388708646359603,-0.003143760929404696,0.09950029523878011],"object_linear_velocity_m_s":[-0.0016637043079827023,-0.0004898857627515553,0.0021201154014175425],"object_angular_velocity_rad_s":[0.03590223966616795,0.01661587175630491,-0.05860285776402504],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.24553444424255844,"right":0.10075103331201334},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.12321353029018489},{"geom_ids":[1,90],"normal_force_n":0.267325183760387},{"geom_ids":[85,90],"normal_force_n":0.0438002538205889},{"geom_ids":[85,90],"normal_force_n":0.033567741220109346},{"geom_ids":[86,90],"normal_force_n":0.045082213926415975},{"geom_ids":[86,90],"normal_force_n":0.05469771535706687},{"geom_ids":[86,90],"normal_force_n":0.03605081990684211},{"geom_ids":[86,90],"normal_force_n":0.03233570001153523},{"geom_ids":[88,90],"normal_force_n":0.0458705818584276},{"geom_ids":[88,90],"normal_force_n":0.054880451453585735}],"native_actuator_controls":[0.2508983428444024,1.866458443088441,-1.3096792594728275,-0.04182099438104049,1.01089234518135,0.11240605953864027,0.010999999999999961],"actuator_force_native":[-0.24631134066124005,-0.060811655182845925,-0.20922700436764785,0.21601118043042078,0.2501052912140853,0.2653819801441696,-0.3599446852623201],"issued_joint_targets_rad":[0.2506539514761868,1.866640614558031,-1.3099825451888538,-0.0413152472600287,1.0112813497455684,0.11314111032901805],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.779999999997802,"joint_targets_rad":[0.2506539514761868,1.866640614558031,-1.3099825451888538,-0.0413152472600287,1.0112813497455684,0.11314111032901805],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.799999999997791,"qpos":[0.25432308911162,1.8673442283664197,-1.306499782895294,-0.050108295310954745,0.9824051997371175,0.08064415175043442,0.019779362130865397,-0.020117434668515285,0.3553181292942402,0.08502452100547846,0.08041357188007818,0.9949657030569291,-0.016107966074017932,-0.0030137237503342017,0.09886708571888901],"qvel":[-0.008734340212034944,-0.002056185321512708,-0.01034277325072644,0.027185248940179575,0.026707697516773925,0.04013909369123762,0.002055904179348883,0.00048091669454222437,-0.002297624422779913,-0.0002905664970623262,0.002414362583057747,0.023240685403775486,0.011365793597292683,-0.06843073180136715],"joint_position_rad":[0.25432308911162,1.8673442283664197,-1.306499782895294,-0.050108295310954745,0.9824051997371175,0.08064415175043442],"joint_velocity_rad_s":[-0.008734340212034944,-0.002056185321512708,-0.01034277325072644,0.027185248940179575,0.026707697516773925,0.04013909369123762],"gripper_joint_position_m":[0.019779362130865397,-0.020117434668515285],"tcp_position_m":[0.35778834807618387,0.085382372955423,0.08150339395178292],"tcp_quaternion_wxyz":[0.0601453858769322,-0.09919490290186606,0.9931792832466398,-0.011739468714339618],"object_position_m":[0.3553181292942402,0.08502452100547846,0.08041357188007818],"object_quaternion_wxyz":[0.9949657030569291,-0.016107966074017932,-0.0030137237503342017,0.09886708571888901],"object_linear_velocity_m_s":[-0.002297624422779913,-0.0002905664970623262,0.002414362583057747],"object_angular_velocity_rad_s":[0.021179278170621502,0.013559617735181072,-0.06869971411913856],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.2185293519040362,"right":0.09348281903926792},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":17,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.11497783378684735},{"geom_ids":[1,90],"normal_force_n":0.24304795957082312},{"geom_ids":[85,90],"normal_force_n":0.036195472467871755},{"geom_ids":[85,90],"normal_force_n":0.032593855998860055},{"geom_ids":[86,90],"normal_force_n":0.03679713226217647},{"geom_ids":[86,90],"normal_force_n":0.04500788076414704},{"geom_ids":[86,90],"normal_force_n":0.03553282002155762},{"geom_ids":[86,90],"normal_force_n":0.032402190389423234},{"geom_ids":[88,90],"normal_force_n":0.045735691088400844},{"geom_ids":[88,90],"normal_force_n":0.047747127950867066}],"native_actuator_controls":[0.2506539514761868,1.866640614558031,-1.3099825451888538,-0.0413152472600287,1.0112813497455684,0.11314111032901805,0.011999999999999955],"actuator_force_native":[-0.24985930977448234,-0.04600817806354485,-0.22690711723114987,0.2157956773361438,0.2486999538093464,0.26476094524897986,-0.3214540061313621],"issued_joint_targets_rad":[0.2504139951757207,1.8668626793863115,-1.31034868769059,-0.04081680768152176,1.0117549647355808,0.11388772688498511],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.799999999997791,"joint_targets_rad":[0.2504139951757207,1.8668626793863115,-1.31034868769059,-0.04081680768152176,1.0117549647355808,0.11388772688498511],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.81999999999778,"qpos":[0.2541422514612784,1.867315299989105,-1.306699717729736,-0.04955877893765173,0.9829473801249689,0.08144931989326236,0.019815500857195342,-0.020111265017977022,0.35526916479261933,0.08502006029813783,0.08045538849994226,0.9950399683743819,-0.01592658939844901,-0.0028905358681449544,0.09815013953142822],"qvel":[-0.008921782789534876,-0.001135181644217477,-0.009186709716165952,0.0271646030291427,0.027116531738511706,0.04007133604073331,0.0016415823450232263,0.00019550158823019564,-0.00257434696895653,-0.00019167558935435786,0.0017164534895583456,0.015205865050071819,0.009799106053977347,-0.07377766222120635],"joint_position_rad":[0.2541422514612784,1.867315299989105,-1.306699717729736,-0.04955877893765173,0.9829473801249689,0.08144931989326236],"joint_velocity_rad_s":[-0.008921782789534876,-0.001135181644217477,-0.009186709716165952,0.0271646030291427,0.027116531738511706,0.04007133604073331],"gripper_joint_position_m":[0.019815500857195342,-0.020111265017977022],"tcp_position_m":[0.3577286287077302,0.08539448058831338,0.08154889203868122],"tcp_quaternion_wxyz":[0.05995653096034732,-0.09855983240859177,0.9932565176911224,-0.01151798137245754],"object_position_m":[0.35526916479261933,0.08502006029813783,0.08045538849994226],"object_quaternion_wxyz":[0.9950399683743819,-0.01592658939844901,-0.0028905358681449544,0.09815013953142822],"object_linear_velocity_m_s":[-0.00257434696895653,-0.00019167558935435786,0.0017164534895583456],"object_angular_velocity_rad_s":[0.013654573479659773,0.010280312449846974,-0.07401521501168946],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.1859315571900682,"right":0.08603022198454782},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":14,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.1044176905290621},{"geom_ids":[1,90],"normal_force_n":0.22456078298419893},{"geom_ids":[85,90],"normal_force_n":0.030869992518490333},{"geom_ids":[85,90],"normal_force_n":0.027943357311068125},{"geom_ids":[86,90],"normal_force_n":0.031521350937426675},{"geom_ids":[86,90],"normal_force_n":0.037176772044832614},{"geom_ids":[86,90],"normal_force_n":0.030197190244374884},{"geom_ids":[86,90],"normal_force_n":0.02822289413387557},{"geom_ids":[88,90],"normal_force_n":0.04477532286006327},{"geom_ids":[88,90],"normal_force_n":0.041254899124484545}],"native_actuator_controls":[0.2504139951757207,1.8668626793863115,-1.31034868769059,-0.04081680768152176,1.0117549647355808,0.11388772688498511,0.012999999999999949],"actuator_force_native":[-0.25365158889693973,-0.03053374000236886,-0.24598404828749665,0.21385583509948525,0.24740104849835198,0.26427706585612765,-0.2808279460129318],"issued_joint_targets_rad":[0.2501741768522476,1.8671154979057916,-1.31076332343688,-0.040317329117995446,1.0122935023139172,0.11463906471821085],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.81999999999778,"joint_targets_rad":[0.2501741768522476,1.8671154979057916,-1.31076332343688,-0.040317329117995446,1.0122935023139172,0.11463906471821085],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.839999999997769,"qpos":[0.2539593294885576,1.8673055774115719,-1.3068885135051975,-0.04900920493904458,0.9835004908566621,0.08225277248156009,0.019845271933764036,-0.02010820427153856,0.3552183934090167,0.08501677952337054,0.08048307630334839,0.9951124659697275,-0.015826454131549213,-0.0028242148724884615,0.09743062779036869],"qvel":[-0.008964614245589211,-0.000191938797998448,-0.009069923317549784,0.027172612603522966,0.027732716740452735,0.039965664268489604,0.0014325363974628472,0.00012351182534158558,-0.0024777228797684876,-0.00016942753588843095,0.0010118244911577858,0.004439292459357683,-0.0007428642302932106,-0.06834018703904525],"joint_position_rad":[0.2539593294885576,1.8673055774115719,-1.3068885135051975,-0.04900920493904458,0.9835004908566621,0.08225277248156009],"joint_velocity_rad_s":[-0.008964614245589211,-0.000191938797998448,-0.009069923317549784,0.027172612603522966,0.027732716740452735,0.039965664268489604],"gripper_joint_position_m":[0.019845271933764036,-0.02010820427153856],"tcp_position_m":[0.3576628395883071,0.08540426388890582,0.08158426955029255],"tcp_quaternion_wxyz":[0.05974716399238431,-0.09792498819287086,0.9933344275085659,-0.011299920730797202],"object_position_m":[0.3552183934090167,0.08501677952337054,0.08048307630334839],"object_quaternion_wxyz":[0.9951124659697275,-0.015826454131549213,-0.0028242148724884615,0.09743062779036869],"object_linear_velocity_m_s":[-0.0024777228797684876,-0.00016942753588843095,0.0010118244911577858],"object_angular_velocity_rad_s":[0.005093807882991686,-0.0019821569321283525,-0.0682697920348645],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.1645948398694157,"right":0.07647501192315556},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":10,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09371507666093244},{"geom_ids":[1,90],"normal_force_n":0.21585962792196015},{"geom_ids":[85,90],"normal_force_n":0.03219554173996288},{"geom_ids":[85,90],"normal_force_n":0.020770271069250203},{"geom_ids":[86,90],"normal_force_n":0.03418776081192413},{"geom_ids":[86,90],"normal_force_n":0.03623778351685134},{"geom_ids":[86,90],"normal_force_n":0.020706926761059303},{"geom_ids":[86,90],"normal_force_n":0.02049655597036784},{"geom_ids":[88,90],"normal_force_n":0.040675998335511825},{"geom_ids":[88,90],"normal_force_n":0.03579901358764373}],"native_actuator_controls":[0.2501741768522476,1.8671154979057916,-1.31076332343688,-0.040317329117995446,1.0122935023139172,0.11463906471821085,0.013999999999999943],"actuator_force_native":[-0.2579891396768552,-0.014246666472416791,-0.26463517794687164,0.21181196982435058,0.2463310394618734,0.26391442596377335,-0.240973559337878],"issued_joint_targets_rad":[0.24993388019000845,1.8673913223770564,-1.311214153112298,-0.03981596842675441,1.0128803761490022,0.11539073608392611],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.839999999997769,"joint_targets_rad":[0.24993388019000845,1.8673913223770564,-1.311214153112298,-0.03981596842675441,1.0128803761490022,0.11539073608392611],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.859999999997758,"qpos":[0.2537762982318612,1.8673143131496635,-1.307086156675786,-0.04845957469219071,0.9840670926612554,0.08305376755286915,0.019872389046546098,-0.020104843700236727,0.3551725670020676,0.08501345934218155,0.0804984685194718,0.9951740700377221,-0.015826970798691962,-0.0028829265919322815,0.09679755190168757],"qvel":[-0.00897476608885513,0.0006966409916030281,-0.009870084687784464,0.027151028377414985,0.028420029856936105,0.039838163710238746,0.0014113047902256648,0.00018343987238158231,-0.002146441108872271,-0.00020296277228401929,0.0005177307106492648,-0.002625508781157418,-0.008668468498418727,-0.05950023353402398],"joint_position_rad":[0.2537762982318612,1.8673143131496635,-1.307086156675786,-0.04845957469219071,0.9840670926612554,0.08305376755286915],"joint_velocity_rad_s":[-0.00897476608885513,0.0006966409916030281,-0.009870084687784464,0.027151028377414985,0.028420029856936105,0.039838163710238746],"gripper_joint_position_m":[0.019872389046546098,-0.020104843700236727],"tcp_position_m":[0.3575962126863631,0.08541382091156277,0.08161488958847138],"tcp_quaternion_wxyz":[0.0595262607780602,-0.0972914246397898,0.9934123767477643,-0.011083893435982331],"object_position_m":[0.3551725670020676,0.08501345934218155,0.0804984685194718],"object_quaternion_wxyz":[0.9951740700377221,-0.015826970798691962,-0.0028829265919322815,0.09679755190168757],"object_linear_velocity_m_s":[-0.002146441108872271,-0.00020296277228401929,0.0005177307106492648],"object_angular_velocity_rad_s":[-0.0003832569411481729,-0.010848874341437699,-0.05919855127207232],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":2},"pad_normal_forces_n":{"left":0.13713460297829366,"right":0.06330063869688304},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":7,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.08637356462051145},{"geom_ids":[1,90],"normal_force_n":0.20457024008771327},{"geom_ids":[85,90],"normal_force_n":0.0516212506782077},{"geom_ids":[85,90],"normal_force_n":0.031073045794155815},{"geom_ids":[86,90],"normal_force_n":0.05444030650593017},{"geom_ids":[88,90],"normal_force_n":0.03228794344019603},{"geom_ids":[88,90],"normal_force_n":0.03101269525668702}],"native_actuator_controls":[0.24993388019000845,1.8673913223770564,-1.311214153112298,-0.03981596842675441,1.0128803761490022,0.11539073608392611,0.014999999999999937],"actuator_force_native":[-0.2625196129039473,0.0026775332334523227,-0.28088929148202624,0.20998910873037713,0.24550279009206477,0.26361243974521154,-0.20195208581297475],"issued_joint_targets_rad":[0.24969350217540284,1.8676801734147042,-1.3116853245866327,-0.039314127862983134,1.0134943595732209,0.11614090154337181],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.859999999997758,"joint_targets_rad":[0.24969350217540284,1.8676801734147042,-1.3116853245866327,-0.039314127862983134,1.0134943595732209,0.11614090154337181],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.879999999997747,"qpos":[0.2535908480960553,1.8673399984841195,-1.307306229119206,-0.04791144080769918,0.984648005173199,0.08385211748071668,0.019904842697135963,-0.020102924186202218,0.35513822337681383,0.08500811791233645,0.08050178191844401,0.9952253912713669,-0.015772678330783448,-0.002927686485049196,0.09627601902277558],"qvel":[-0.009256032347217698,0.0014761222680848242,-0.011238693537754899,0.027002103621176672,0.029157936848039016,0.03969075081319819,0.002007875899823066,-5.974720646874348e-05,-0.0013335385370234457,-0.00030516332407739,-0.00025821946223788313,0.010229633834218724,-0.004036403797350371,-0.04289868178444767],"joint_position_rad":[0.2535908480960553,1.8673399984841195,-1.307306229119206,-0.04791144080769918,0.984648005173199,0.08385211748071668],"joint_velocity_rad_s":[-0.009256032347217698,0.0014761222680848242,-0.011238693537754899,0.027002103621176672,0.029157936848039016,0.03969075081319819],"gripper_joint_position_m":[0.019904842697135963,-0.020102924186202218],"tcp_position_m":[0.3575329124246929,0.08542307085560631,0.08164479482870574],"tcp_quaternion_wxyz":[0.05930095810450845,-0.09665827918161421,0.9934900233460808,-0.010869542094333669],"object_position_m":[0.35513822337681383,0.08500811791233645,0.08050178191844401],"object_quaternion_wxyz":[0.9952253912713669,-0.015772678330783448,-0.002927686485049196,0.09627601902277558],"object_linear_velocity_m_s":[-0.0013335385370234457,-0.00030516332407739,-0.00025821946223788313],"object_angular_velocity_rad_s":[0.01119322852112193,-0.0033209007525542944,-0.04271906033969366],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":3,"right":1},"pad_normal_forces_n":{"left":0.1287007250490454,"right":0.037675512198287936},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":6,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.08720758384720532},{"geom_ids":[1,90],"normal_force_n":0.20852822936659865},{"geom_ids":[85,90],"normal_force_n":0.05317678724289434},{"geom_ids":[85,90],"normal_force_n":0.017318213126752028},{"geom_ids":[86,90],"normal_force_n":0.05820572467939903},{"geom_ids":[88,90],"normal_force_n":0.037675512198287936}],"native_actuator_controls":[0.24969350217540284,1.8676801734147042,-1.3116853245866327,-0.039314127862983134,1.0134943595732209,0.11614090154337181,0.015999999999999945],"actuator_force_native":[-0.265507511916109,0.01983338310634508,-0.294134169705373,0.20888199968275845,0.24472663872816014,0.2633517144067541,-0.1662330873845561],"issued_joint_targets_rad":[0.24945407870838882,1.8679745064677258,-1.3121648505743697,-0.03881447201695988,1.0141194541245,0.11689267848346013],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.879999999997747,"joint_targets_rad":[0.24945407870838882,1.8679745064677258,-1.3121648505743697,-0.03881447201695988,1.0141194541245,0.11689267848346013],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.899999999997736,"qpos":[0.2533931785512395,1.8673788492878958,-1.307562812179625,-0.047368740709822575,0.9852432210658902,0.08464708355077638,0.01994943303799609,-0.020100010622376936,0.355121986722186,0.08500389520258592,0.08048858790070129,0.9952573882950316,-0.01564594836615476,-0.002901658036547017,0.0959662217893077],"qvel":[-0.010183111124044181,0.0020336518780266046,-0.01342004397121116,0.026650526830686295,0.02980939376796317,0.039533235612489795,0.002557860777333246,0.00018607028125192693,-0.0003979972056783033,-0.00024363013242686472,-0.0010216280591352329,0.021835696930154115,0.010865155795909574,-0.024585632755371525],"joint_position_rad":[0.2533931785512395,1.8673788492878958,-1.307562812179625,-0.047368740709822575,0.9852432210658902,0.08464708355077638],"joint_velocity_rad_s":[-0.010183111124044181,0.0020336518780266046,-0.01342004397121116,0.026650526830686295,0.02980939376796317,0.039533235612489795],"gripper_joint_position_m":[0.01994943303799609,-0.020100010622376936],"tcp_position_m":[0.3574782586099067,0.08542895753805642,0.08167902261796078],"tcp_quaternion_wxyz":[0.05908029571006696,-0.09602181777045907,0.993567183329078,-0.010657456656745928],"object_position_m":[0.355121986722186,0.08500389520258592,0.08048858790070129],"object_quaternion_wxyz":[0.9952573882950316,-0.01564594836615476,-0.002901658036547017,0.0959662217893077],"object_linear_velocity_m_s":[-0.0003979972056783033,-0.00024363013242686472,-0.0010216280591352329],"object_angular_velocity_rad_s":[0.019574468937768045,0.014080805638184936,-0.024857065137721682],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.12224655779862828,"right":0.019521749665006086},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.10757613322290949},{"geom_ids":[1,90],"normal_force_n":0.19640196877363292},{"geom_ids":[85,90],"normal_force_n":0.055064806640704074},{"geom_ids":[86,90],"normal_force_n":0.0671817511579242},{"geom_ids":[88,90],"normal_force_n":0.019521749665006086}],"native_actuator_controls":[0.24945407870838882,1.8679745064677258,-1.3121648505743697,-0.03881447201695988,1.0141194541245,0.11689267848346013,0.016999999999999973],"actuator_force_native":[-0.2642124318078345,0.03748431499624871,-0.30106285172351477,0.20891811356107648,0.24404823993415192,0.26315609590810274,-0.13076662540651096],"issued_joint_targets_rad":[0.24921791156151837,1.8682653716006552,-1.3126385055267884,-0.03832254479146569,1.0147367482232192,0.11765686953720428],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.899999999997736,"joint_targets_rad":[0.24921791156151837,1.8682653716006552,-1.3126385055267884,-0.03832254479146569,1.0147367482232192,0.11765686953720428],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.919999999997724,"qpos":[0.2531750198092619,1.8674274349961038,-1.3078649266699012,-0.04683199664385291,0.9858493377626848,0.08544071440185859,0.020010563211132603,-0.020105538549257198,0.35512449733250895,0.08498789883881394,0.08045606056950219,0.9952822103645382,-0.015163867512791215,-0.002646192719245674,0.0957934053994639],"qvel":[-0.011007183076107858,0.002443637577139561,-0.015652283125439936,0.026542185211699227,0.030360918189080845,0.03956119272670459,0.0022312798645510623,0.0004193343017794364,0.001245603799475245,-0.004691045389777772,-0.005301155902693644,0.24450425151946928,0.03057151444102184,-0.011187432539746132],"joint_position_rad":[0.2531750198092619,1.8674274349961038,-1.3078649266699012,-0.04683199664385291,0.9858493377626848,0.08544071440185859],"joint_velocity_rad_s":[-0.011007183076107858,0.002443637577139561,-0.015652283125439936,0.026542185211699227,0.030360918189080845,0.03956119272670459],"gripper_joint_position_m":[0.020010563211132603,-0.020105538549257198],"tcp_position_m":[0.3574364574317111,0.08542935379998022,0.08172123339991913],"tcp_quaternion_wxyz":[0.05887209273789854,-0.09537692674577157,0.9936438919632014,-0.010446746163909218],"object_position_m":[0.35512449733250895,0.08498789883881394,0.08045606056950219],"object_quaternion_wxyz":[0.9952822103645382,-0.015163867512791215,-0.002646192719245674,0.0957934053994639],"object_linear_velocity_m_s":[0.001245603799475245,-0.004691045389777772,-0.005301155902693644],"object_angular_velocity_rad_s":[0.23427791880651277,0.0763067793818004,-0.011542847708044607],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.12009326212802379,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.14235655786675044},{"geom_ids":[1,90],"normal_force_n":0.17986666559539705},{"geom_ids":[86,90],"normal_force_n":0.12009326212802379}],"native_actuator_controls":[0.24921791156151837,1.8682653716006552,-1.3126385055267884,-0.03832254479146569,1.0147367482232192,0.11765686953720428,0.018000000000000002],"actuator_force_native":[-0.2615327444389415,0.054816740478401016,-0.3036248929237786,0.2076671480369925,0.2433327273217234,0.2628197622634,-0.09157892776805943],"issued_joint_targets_rad":[0.24898569477760246,1.8685450249927118,-1.3130940621697327,-0.03784040185256047,1.0153299636470765,0.11844366825482537],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.919999999997724,"joint_targets_rad":[0.24898569477760246,1.8685450249927118,-1.3130940621697327,-0.03784040185256047,1.0153299636470765,0.11844366825482537],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.939999999997713,"qpos":[0.2529413136401087,1.8674846833504832,-1.30820522558957,-0.04629942876922586,0.986462730268828,0.08623515454562383,0.020135031801935814,-0.02018426351356589,0.3551463173295647,0.08492379100894733,0.08037999261632406,0.9953166076641087,-0.01349383282530049,-0.0021343767445037476,0.09569854450097821],"qvel":[-0.011819015015567121,0.00293349692209009,-0.01725858899972608,0.026217949358031296,0.030546060634093545,0.03957915164985464,0.009201815048773416,-0.007326714399695269,0.0010978055424973787,-0.002920240060490423,-0.003427106496342465,0.15735919499299408,0.03663204083089927,-0.00826327658540145],"joint_position_rad":[0.2529413136401087,1.8674846833504832,-1.30820522558957,-0.04629942876922586,0.986462730268828,0.08623515454562383],"joint_velocity_rad_s":[-0.011819015015567121,0.00293349692209009,-0.01725858899972608,0.026217949358031296,0.030546060634093545,0.03957915164985464],"gripper_joint_position_m":[0.020135031801935814,-0.02018426351356589],"tcp_position_m":[0.3574056091231093,0.08542598323778765,0.08177000240411446],"tcp_quaternion_wxyz":[0.058674950641646635,-0.09472466854721513,0.9937201314503995,-0.010236585662301134],"object_position_m":[0.3551463173295647,0.08492379100894733,0.08037999261632406],"object_quaternion_wxyz":[0.9953166076641087,-0.01349383282530049,-0.0021343767445037476,0.09569854450097821],"object_linear_velocity_m_s":[0.0010978055424973787,-0.002920240060490423,-0.003427106496342465],"object_angular_velocity_rad_s":[0.1475556344144786,0.06571524742978875,-0.00899696682160151],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.10813988241767818,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.15282194199920193},{"geom_ids":[1,90],"normal_force_n":0.16099130703574016},{"geom_ids":[86,90],"normal_force_n":0.10813988241767818}],"native_actuator_controls":[0.24898569477760246,1.8685450249927118,-1.3130940621697327,-0.03784040185256047,1.0153299636470765,0.11844366825482537,0.01900000000000003],"actuator_force_native":[-0.2573544339226643,0.0701598467678366,-0.30481398141438376,0.20727132987645924,0.24285324283134457,0.2627164096172335,-0.09141034732129849],"issued_joint_targets_rad":[0.24875639099197358,1.868814622702239,-1.3135334165380324,-0.037365620360227454,1.015901630729727,0.11924893436326456],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.939999999997713,"joint_targets_rad":[0.24875639099197358,1.868814622702239,-1.3135334165380324,-0.037365620360227454,1.015901630729727,0.11924893436326456],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.959999999997702,"qpos":[0.2526989998869976,1.8675502231503938,-1.308572954878739,-0.045770178603364,0.987079748660814,0.08703066011636316,0.02036603295107295,-0.02038737784796681,0.35517754931028594,0.08482496493634234,0.0802742785320273,0.9953558129219849,-0.01095356350522401,-0.0015050894292049422,0.09562719192134453],"qvel":[-0.012017307575782189,0.003323974001217878,-0.018409461620824463,0.026071759773312136,0.03069876067212464,0.03963324943610816,0.01447424232615153,-0.013404998442753889,0.0017327891441219522,-0.005813344556334214,-0.006082885122949809,0.3027104211055617,0.03783845629163027,-0.006641308489515125],"joint_position_rad":[0.2526989998869976,1.8675502231503938,-1.308572954878739,-0.045770178603364,0.987079748660814,0.08703066011636316],"joint_velocity_rad_s":[-0.012017307575782189,0.003323974001217878,-0.018409461620824463,0.026071759773312136,0.03069876067212464,0.03963324943610816],"gripper_joint_position_m":[0.02036603295107295,-0.02038737784796681],"tcp_position_m":[0.35738266185615386,0.08542086199584058,0.08182277908187904],"tcp_quaternion_wxyz":[0.05848552203926415,-0.09406831388614927,0.9937957828263686,-0.010026867453844124],"object_position_m":[0.35517754931028594,0.08482496493634234,0.0802742785320273],"object_quaternion_wxyz":[0.9953558129219849,-0.01095356350522401,-0.0015050894292049422,0.09562719192134453],"object_linear_velocity_m_s":[0.0017327891441219522,-0.005813344556334214,-0.006082885122949809],"object_angular_velocity_rad_s":[0.29000464009445626,0.09463024221615964,-0.007202831435541813],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.10972160551933441,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.16496764584353643},{"geom_ids":[1,90],"normal_force_n":0.14772741746084625},{"geom_ids":[86,90],"normal_force_n":0.10972160551933441}],"native_actuator_controls":[0.24875639099197358,1.868814622702239,-1.3135334165380324,-0.037365620360227454,1.015901630729727,0.11924893436326456,0.02000000000000006],"actuator_force_native":[-0.255322173723016,0.08453209414153662,-0.30478962463932646,0.20582353085890115,0.2421706796809442,0.26273286831485165,-0.08701252967367323],"issued_joint_targets_rad":[0.24852924363312062,1.8690771968679545,-1.3139613994614734,-0.036896211300740035,1.016458215881826,0.12006513503354521],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.959999999997702,"joint_targets_rad":[0.24852924363312062,1.8690771968679545,-1.3139613994614734,-0.036896211300740035,1.016458215881826,0.12006513503354521],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.979999999997691,"qpos":[0.25245527124883754,1.8676232983400842,-1.3089592436771484,-0.04524430579283571,0.9876984719338069,0.08782724180100566,0.020706253444650845,-0.020712644438232588,0.3552211644561545,0.08465733375859326,0.08010299222801645,0.9954001572842439,-0.0066847329770833115,-0.0007488290208438387,0.09556819805053106],"qvel":[-0.012009082439928901,0.003695510328637333,-0.019167993871291415,0.02589490403692505,0.030741687157632244,0.03968323282736709,0.019952980884481573,-0.019396670094227162,0.0022989568194450804,-0.009365005965994887,-0.009551683147311125,0.4822770171275644,0.03081438294920115,-0.006054689844940722],"joint_position_rad":[0.25245527124883754,1.8676232983400842,-1.3089592436771484,-0.04524430579283571,0.9876984719338069,0.08782724180100566],"joint_velocity_rad_s":[-0.012009082439928901,0.003695510328637333,-0.019167993871291415,0.02589490403692505,0.030741687157632244,0.03968323282736709],"gripper_joint_position_m":[0.020706253444650845,-0.020712644438232588],"tcp_position_m":[0.357364808092483,0.08541598937050529,0.08187760435819474],"tcp_quaternion_wxyz":[0.05830079267729164,-0.09341156489585668,0.9938706690032044,-0.009817861886867545],"object_position_m":[0.3552211644561545,0.08465733375859326,0.08010299222801645],"object_quaternion_wxyz":[0.9954001572842439,-0.0066847329770833115,-0.0007488290208438387,0.09556819805053106],"object_linear_velocity_m_s":[0.0022989568194450804,-0.009365005965994887,-0.009551683147311125],"object_angular_velocity_rad_s":[0.467621346238601,0.12193054978528095,-0.00636586884699855],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.1154874944640688,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.17375831063211516},{"geom_ids":[1,90],"normal_force_n":0.1400751333282536},{"geom_ids":[86,90],"normal_force_n":0.1154874944640688}],"native_actuator_controls":[0.24852924363312062,1.8690771968679545,-1.3139613994614734,-0.036896211300740035,1.016458215881826,0.12006513503354521,0.021000000000000088],"actuator_force_native":[-0.254036797057708,0.09783433058643709,-0.3043324933895377,0.204449259499202,0.24148490874374495,0.2628540830843449,-0.08801504220843814],"issued_joint_targets_rad":[0.24830390958726964,1.8693354333248575,-1.3143822665005074,-0.03643107557971699,1.0170054184011712,0.12088477293957621],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.979999999997691,"joint_targets_rad":[0.24830390958726964,1.8693354333248575,-1.3143822665005074,-0.03643107557971699,1.0170054184011712,0.12088477293957621],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.99999999999768,"qpos":[0.25221304471088324,1.8677035509037507,-1.3093576393381545,-0.044721887133606295,0.9883172682102709,0.08862477821349689,0.021147800252763145,-0.021147292186183865,0.3552705345076814,0.08444247688533939,0.07988442293407,0.9954277135067274,-0.001199626531410096,3.532454256187424e-05,0.0955103493404305],"qvel":[-0.011494563938763757,0.003967135039573393,-0.019881650201582234,0.025960985936347238,0.030784194846018693,0.03977310912192023,0.020736232345559078,-0.020645001029972295,0.0019736017221283573,-0.009079646929509596,-0.008874140195224216,0.4676331074967165,0.015771881046844648,-0.004841640792266394],"joint_position_rad":[0.25221304471088324,1.8677035509037507,-1.3093576393381545,-0.044721887133606295,0.9883172682102709,0.08862477821349689],"joint_velocity_rad_s":[-0.011494563938763757,0.003967135039573393,-0.019881650201582234,0.025960985936347238,0.030784194846018693,0.03977310912192023],"gripper_joint_position_m":[0.021147800252763145,-0.021147292186183865],"tcp_position_m":[0.3573502452328821,0.08541199794985943,0.08193298841898185],"tcp_quaternion_wxyz":[0.058118579851999995,-0.09275603856882363,0.9939447664576474,-0.009609849970619765],"object_position_m":[0.3552705345076814,0.08444247688533939,0.07988442293407],"object_quaternion_wxyz":[0.9954277135067274,-0.001199626531410096,3.532454256187424e-05,0.0955103493404305],"object_linear_velocity_m_s":[0.0019736017221283573,-0.009079646929509596,-0.008874140195224216],"object_angular_velocity_rad_s":[0.4561031828630011,0.1043916223157229,-0.00501923469109699],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09478535147923997},{"geom_ids":[1,90],"normal_force_n":0.09323438875903822},{"geom_ids":[1,90],"normal_force_n":0.12015876383829338},{"geom_ids":[1,90],"normal_force_n":0.12140364056278784}],"native_actuator_controls":[0.24830390958726964,1.8693354333248575,-1.3143822665005074,-0.03643107557971699,1.0170054184011712,0.12088477293957621,0.022000000000000117],"actuator_force_native":[-0.25525799019527184,0.11071491849065751,-0.3025619219803133,0.2018275324738361,0.24070520963997488,0.26294028357791277,-0.06959317183831648],"issued_joint_targets_rad":[0.24808022150882392,1.8695914512559084,-1.3147993741778496,-0.03596965021843969,1.0175477330946965,0.12170461986696482],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.99999999999768,"joint_targets_rad":[0.24808022150882392,1.8695914512559084,-1.3147993741778496,-0.03596965021843969,1.0175477330946965,0.12170461986696482],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.019999999997669,"qpos":[0.25200740625030765,1.8677851511500108,-1.3097825514280907,-0.04419029069018685,0.9889378935231825,0.08942546972554184,0.021443950439009894,-0.021445071999664236,0.3552844449681315,0.08436878733755417,0.07982859122012664,0.9954299641142846,0.0006739522807640494,0.00022566282951631115,0.09549178712352517],"qvel":[-0.009154711837278867,0.003968238097020818,-0.021465062051727737,0.02645728352508186,0.030817205046942887,0.03992525343798209,0.012721478648762045,-0.012756024891281574,3.982195892523635e-05,-0.0008497873153433957,0.00020987265284500508,0.04203485554146511,-0.005604107967854191,-0.0005226685815294216],"joint_position_rad":[0.25200740625030765,1.8677851511500108,-1.3097825514280907,-0.04419029069018685,0.9889378935231825,0.08942546972554184],"joint_velocity_rad_s":[-0.009154711837278867,0.003968238097020818,-0.021465062051727737,0.02645728352508186,0.030817205046942887,0.03992525343798209],"gripper_joint_position_m":[0.021443950439009894,-0.021445071999664236],"tcp_position_m":[0.3573395011305698,0.08542461824377634,0.08199466018341413],"tcp_quaternion_wxyz":[0.057947251092956724,-0.09211467877542083,0.9940164674147568,-0.00939492166856023],"object_position_m":[0.3552844449681315,0.08436878733755417,0.07982859122012664],"object_quaternion_wxyz":[0.9954299641142846,0.0006739522807640494,0.00022566282951631115,0.09549178712352517],"object_linear_velocity_m_s":[3.982195892523635e-05,-0.0008497873153433957,0.00020987265284500508],"object_angular_velocity_rad_s":[0.042333343848626005,0.0024900716781663117,-0.0005439031025076897],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09683944351305018},{"geom_ids":[1,90],"normal_force_n":0.0967738413087099},{"geom_ids":[1,90],"normal_force_n":0.10202219320405884},{"geom_ids":[1,90],"normal_force_n":0.10235373726198428}],"native_actuator_controls":[0.24808022150882392,1.8695914512559084,-1.3147993741778496,-0.03596965021843969,1.0175477330946965,0.12170461986696482,0.023000000000000145],"actuator_force_native":[-0.2684012201323043,0.1246628179867173,-0.29402050972205984,0.19653920124447732,0.2398725881447259,0.26290362125725664,-0.0013654108042002733],"issued_joint_targets_rad":[0.24785243221775263,1.8698327928822691,-1.3151931921962046,-0.03549975485426901,1.0180588956881353,0.1224879564017172],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.019999999997669,"joint_targets_rad":[0.24785243221775263,1.8698327928822691,-1.3151931921962046,-0.03549975485426901,1.0180588956881353,0.1224879564017172],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.039999999997658,"qpos":[0.25183294519513105,1.8678685486522435,-1.3102281817327475,-0.043654897913622974,0.9895556997788397,0.09022731248325712,0.021721446142970374,-0.021721598398046528,0.35528150334596814,0.0843703005444582,0.07984776992571277,0.9954302002901565,0.0006273655648885543,0.000157686724996583,0.09548977902185965],"qvel":[-0.008399249532400685,0.004117112031956206,-0.022065229640589618,0.02653530549274855,0.030600535785516417,0.03993771392802691,0.015591723231076222,-0.015481599734534245,-0.00021262442009536484,0.00047636274398496075,0.00117039970109741,-0.02558254170121565,-0.005873085547808876,-5.638867949903164e-05],"joint_position_rad":[0.25183294519513105,1.8678685486522435,-1.3102281817327475,-0.043654897913622974,0.9895556997788397,0.09022731248325712],"joint_velocity_rad_s":[-0.008399249532400685,0.004117112031956206,-0.022065229640589618,0.02653530549274855,0.030600535785516417,0.03993771392802691],"gripper_joint_position_m":[0.021721446142970374,-0.021721598398046528],"tcp_position_m":[0.357332500349353,0.08545081997995538,0.08206110367081429],"tcp_quaternion_wxyz":[0.057786348945424115,-0.09148725874652293,0.994085824639542,-0.009175653291524522],"object_position_m":[0.35528150334596814,0.0843703005444582,0.07984776992571277],"object_quaternion_wxyz":[0.9954302002901565,0.0006273655648885543,0.000157686724996583,0.09548977902185965],"object_linear_velocity_m_s":[-0.00021262442009536484,0.00047636274398496075,0.00117039970109741],"object_angular_velocity_rad_s":[-0.023999513961557216,-0.010629327810949695,-5.893492925320049e-05],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09764925916095957},{"geom_ids":[1,90],"normal_force_n":0.09774942892558261},{"geom_ids":[1,90],"normal_force_n":0.09833463315287186},{"geom_ids":[1,90],"normal_force_n":0.09836021582233288}],"native_actuator_controls":[0.24785243221775263,1.8698327928822691,-1.3151931921962046,-0.03549975485426901,1.0180588956881353,0.1224879564017172,0.024000000000000174],"actuator_force_native":[-0.27644479052827364,0.13655397824226156,-0.286874688873624,0.19352919491041587,0.23913115541468244,0.2626998682925604,0.013183538125810856],"issued_joint_targets_rad":[0.2476228814689399,1.8700604277370587,-1.3155651878369925,-0.035026239858206576,1.0185410343886732,0.12323978325975235],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.039999999997658,"joint_targets_rad":[0.2476228814689399,1.8700604277370587,-1.3155651878369925,-0.035026239858206576,1.0185410343886732,0.12323978325975235],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.059999999997647,"qpos":[0.25166514962255815,1.8679551996633335,-1.3106765815781716,-0.043119856953335485,0.9901684217580113,0.09102863769995403,0.022083190503669508,-0.022081057750448066,0.355277701200368,0.08438017203502239,0.07986781776581468,0.995430357060769,0.00037136060605432624,8.65814367326713e-05,0.09548957449284358],"qvel":[-0.008312617696683452,0.004298723791987726,-0.021868825442368327,0.026447280888353346,0.030345031159681783,0.03989259492248119,0.020409886295212485,-0.020296311224521357,-0.0001574735770361411,0.000442238575429094,0.0008078079891450018,-0.023289732289287726,-0.0035299493867804593,-6.0814492173967105e-06],"joint_position_rad":[0.25166514962255815,1.8679551996633335,-1.3106765815781716,-0.043119856953335485,0.9901684217580113,0.09102863769995403],"joint_velocity_rad_s":[-0.008312617696683452,0.004298723791987726,-0.021868825442368327,0.026447280888353346,0.030345031159681783,0.03989259492248119],"gripper_joint_position_m":[0.022083190503669508,-0.022081057750448066],"tcp_position_m":[0.3573266486587892,0.08547989138005492,0.08212724832411007],"tcp_quaternion_wxyz":[0.0576275958458894,-0.09086370836876301,0.9941542327433038,-0.008955904034306949],"object_position_m":[0.355277701200368,0.08438017203502239,0.07986781776581468],"object_quaternion_wxyz":[0.995430357060769,0.00037136060605432624,8.65814367326713e-05,0.09548957449284358],"object_linear_velocity_m_s":[-0.0001574735770361411,0.000442238575429094,0.0008078079891450018],"object_angular_velocity_rad_s":[-0.02219394391217283,-0.007893099682325237,-6.3868732882308e-06],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09793824213147581},{"geom_ids":[1,90],"normal_force_n":0.09800682527892844},{"geom_ids":[1,90],"normal_force_n":0.09781606910857397},{"geom_ids":[1,90],"normal_force_n":0.09778362431265113}],"native_actuator_controls":[0.2476228814689399,1.8700604277370587,-1.3155651878369925,-0.035026239858206576,1.0185410343886732,0.12323978325975235,0.025000000000000203],"actuator_force_native":[-0.2818183638060425,0.1469246269380733,-0.2817443734938365,0.19150827936338954,0.23820857956709496,0.2622725632142614,0.014622948377165268],"issued_joint_targets_rad":[0.24739358050084054,1.870285447563087,-1.3159328588693198,-0.034553392096410125,1.0190176046867845,0.12398401069933102],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.059999999997647,"joint_targets_rad":[0.24739358050084054,1.870285447563087,-1.3159328588693198,-0.034553392096410125,1.0190176046867845,0.12398401069933102],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.079999999997636,"qpos":[0.25149701173443056,1.8680458357045675,-1.3111159618557897,-0.04258743552645363,0.9907763796491944,0.09182882610537765,0.022541217028362696,-0.02253741462771501,0.35527531923838573,0.08438707690707667,0.07987988767749898,0.9954304121381353,0.00019330957470930772,4.369881484540811e-05,0.09548955603794199],"qvel":[-0.008387353235370725,0.004514963133142104,-0.02124255990070066,0.026290928931261538,0.030128473471606243,0.03982988159498366,0.025080766779940932,-0.025015444147415595,-8.80011980661564e-05,0.00026140255047141914,0.00044165406000684545,-0.013701412585167284,-0.0018382261478994927,-6.556662924966571e-07],"joint_position_rad":[0.25149701173443056,1.8680458357045675,-1.3111159618557897,-0.04258743552645363,0.9907763796491944,0.09182882610537765],"joint_velocity_rad_s":[-0.008387353235370725,0.004514963133142104,-0.02124255990070066,0.026290928931261538,0.030128473471606243,0.03982988159498366],"gripper_joint_position_m":[0.022541217028362696,-0.02253741462771501],"tcp_position_m":[0.3573190915109748,0.08550802417284678,0.08218980151272133],"tcp_quaternion_wxyz":[0.05746479664747227,-0.09024155576695655,0.9942222628832444,-0.008737891412935713],"object_position_m":[0.35527531923838573,0.08438707690707667,0.07987988767749898],"object_quaternion_wxyz":[0.9954304121381353,0.00019330957470930772,4.369881484540811e-05,0.09548955603794199],"object_linear_velocity_m_s":[-8.80011980661564e-05,0.00026140255047141914,0.00044165406000684545],"object_angular_velocity_rad_s":[-0.013102088103739163,-0.00440942960849806,-6.922840840987678e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09803849560849638},{"geom_ids":[1,90],"normal_force_n":0.0980745533782614},{"geom_ids":[1,90],"normal_force_n":0.0978714087789629},{"geom_ids":[1,90],"normal_force_n":0.09784431389547281}],"native_actuator_controls":[0.24739358050084054,1.870285447563087,-1.3159328588693198,-0.034553392096410125,1.0190176046867845,0.12398401069933102,0.02600000000000023],"actuator_force_native":[-0.28633773251035066,0.156594133015858,-0.2791389615788944,0.1899070925454327,0.2372195401684909,0.2618070235470582,0.012947484965796896],"issued_joint_targets_rad":[0.24716538179392464,1.8705152629179336,-1.3163078749443626,-0.03408281475655836,1.019504188636332,0.12472771598441643],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.079999999997636,"joint_targets_rad":[0.24716538179392464,1.8705152629179336,-1.3163078749443626,-0.03408281475655836,1.019504188636332,0.12472771598441643],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.099999999997625,"qpos":[0.2513266520845703,1.8681413036943733,-1.3115415772771735,-0.04205840305104487,0.9913807350001276,0.09262769163450138,0.02308666217457584,-0.02308216179306728,0.35527405538588547,0.08439087692520247,0.07988620374939406,0.9954304271649558,9.551946802116245e-05,2.1276989900170593e-05,0.09548955491316356],"qvel":[-0.008502333148932782,0.00477296816468082,-0.02052078849469296,0.026112194039150265,0.029973158025884822,0.03976215179956837,0.0291578586122441,-0.029136179580069713,-4.475688522023408e-05,0.0001359841585916402,0.00022296647213484091,-0.007113640155219058,-0.0009058885954088523,-7.066140608461718e-08],"joint_position_rad":[0.2513266520845703,1.8681413036943733,-1.3115415772771735,-0.04205840305104487,0.9913807350001276,0.09262769163450138],"joint_velocity_rad_s":[-0.008502333148932782,0.00477296816468082,-0.02052078849469296,0.026112194039150265,0.029973158025884822,0.03976215179956837],"gripper_joint_position_m":[0.02308666217457584,-0.02308216179306728],"tcp_position_m":[0.35730836509238467,0.0855339829603346,0.08224721012011013],"tcp_quaternion_wxyz":[0.05729467662476871,-0.08962019803353377,0.9942901518283945,-0.00852256486990724],"object_position_m":[0.35527405538588547,0.08439087692520247,0.07988620374939406],"object_quaternion_wxyz":[0.9954304271649558,9.551946802116245e-05,2.1276989900170593e-05,0.09548955491316356],"object_linear_velocity_m_s":[-4.475688522023408e-05,0.0001359841585916402,0.00022296647213484091],"object_angular_velocity_rad_s":[-0.006811696950568004,-0.002241716988877034,-7.504981322580461e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09807486291290864},{"geom_ids":[1,90],"normal_force_n":0.09809257272066164},{"geom_ids":[1,90],"normal_force_n":0.09796957356182628},{"geom_ids":[1,90],"normal_force_n":0.09795396046771282}],"native_actuator_controls":[0.24716538179392464,1.8705152629179336,-1.3163078749443626,-0.03408281475655836,1.019504188636332,0.12472771598441643,0.02700000000000026],"actuator_force_native":[-0.2903899575069886,0.1660518970614362,-0.2786998709016615,0.188462561583709,0.23627479932321727,0.261357015799798,0.01074421995575614],"issued_joint_targets_rad":[0.24693851941400613,1.8707536536739713,-1.316696181784204,-0.03361488522822237,1.0200086856886792,0.1254729359805719],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.099999999997625,"joint_targets_rad":[0.24693851941400613,1.8707536536739713,-1.316696181784204,-0.03361488522822237,1.0200086856886792,0.1254729359805719],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.119999999997614,"qpos":[0.25115246388503865,1.868242441000399,-1.3119542000254836,-0.04153283939837172,0.9919827425477227,0.09342519010706275,0.023706986283939233,-0.023702512524070123,0.35527342613483265,0.08439279951856846,0.07988933620398725,0.9954304308488339,4.608952103985319e-05,1.0189858997270435e-05,0.09548955498915618],"qvel":[-0.008666081963276331,0.005068843166957695,-0.019933568823342317,0.02592300196904315,0.029875741919738335,0.039693599962710484,0.03260860130351044,-0.03261166751895771,-2.1875017826548156e-05,6.717541846953622e-05,0.00010889678823814336,-0.0035107980875687993,-0.00043589894951581324,-7.611316376179074e-09],"joint_position_rad":[0.25115246388503865,1.868242441000399,-1.3119542000254836,-0.04153283939837172,0.9919827425477227,0.09342519010706275],"joint_velocity_rad_s":[-0.008666081963276331,0.005068843166957695,-0.019933568823342317,0.02592300196904315,0.029875741919738335,0.039693599962710484],"gripper_joint_position_m":[0.023706986283939233,-0.023702512524070123],"tcp_position_m":[0.3572945541572429,0.0855571596538712,0.08229933620320778],"tcp_quaternion_wxyz":[0.05711659118953477,-0.08899886065057863,0.9943580036604974,-0.008310136587138113],"object_position_m":[0.35527342613483265,0.08439279951856846,0.07988933620398725],"object_quaternion_wxyz":[0.9954304308488339,4.608952103985319e-05,1.0189858997270435e-05,0.09548955498915618],"object_linear_velocity_m_s":[-2.1875017826548156e-05,6.717541846953622e-05,0.00010889678823814336],"object_angular_velocity_rad_s":[-0.0033639061944678085,-0.0010953749224254395,-8.137131180015431e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09808906015499762},{"geom_ids":[1,90],"normal_force_n":0.09809755445354569},{"geom_ids":[1,90],"normal_force_n":0.09803303362810534},{"geom_ids":[1,90],"normal_force_n":0.09802501715791034}],"native_actuator_controls":[0.24693851941400613,1.8707536536739713,-1.316696181784204,-0.03361488522822237,1.0200086856886792,0.1254729359805719,0.02800000000000029],"actuator_force_native":[-0.29378514786622034,0.175552798051001,-0.2796906965809285,0.1871031569607582,0.23544581852995705,0.260937058791026,0.008677542124890136],"issued_joint_targets_rad":[0.24671305738077418,1.8710014913527404,-1.317099145926814,-0.033149767783258635,1.0205328781987846,0.12622139926949494],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.119999999997614,"joint_targets_rad":[0.24671305738077418,1.8710014913527404,-1.317099145926814,-0.033149767783258635,1.0205328781987846,0.12622139926949494],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.139999999997602,"qpos":[0.2509727182396519,1.8683498829546612,-1.3123578709591155,-0.04101066337758161,0.9925834152583448,0.09422136232152455,0.02439027170470331,-0.024386235176627098,0.35527312155230184,0.08439373748334938,0.07989085413425853,0.9954304317083839,2.1985623242196618e-05,4.841744915296311e-06,0.09548955504163255],"qvel":[-0.008947565082349604,0.0053902823143067635,-0.01959293532157775,0.025739019537507738,0.029821436182451602,0.039628066653462496,0.03549887221790223,-0.03551276055022237,-1.0497070348847381e-05,3.240966966757972e-05,5.2405347673470956e-05,-0.0016930293239340404,-0.0002074915206923447,-8.193556859691435e-10],"joint_position_rad":[0.2509727182396519,1.8683498829546612,-1.3123578709591155,-0.04101066337758161,0.9925834152583448,0.09422136232152455],"joint_velocity_rad_s":[-0.008947565082349604,0.0053902823143067635,-0.01959293532157775,0.025739019537507738,0.029821436182451602,0.039628066653462496],"gripper_joint_position_m":[0.02439027170470331,-0.024386235176627098],"tcp_position_m":[0.35727876339592485,0.0855771923855986,0.08234696035258131],"tcp_quaternion_wxyz":[0.056931712862599564,-0.08837658984265195,0.9944258349248746,-0.008100448893747425],"object_position_m":[0.35527312155230184,0.08439373748334938,0.07989085413425853],"object_quaternion_wxyz":[0.9954304317083839,2.1985623242196618e-05,4.841744915296311e-06,0.09548955504163255],"object_linear_velocity_m_s":[-1.0497070348847381e-05,3.240966966757972e-05,5.2405347673470956e-05],"object_angular_velocity_rad_s":[-0.0016227089075370228,-0.0005255633399121962,-8.823528140820295e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809502010154214},{"geom_ids":[1,90],"normal_force_n":0.09809905576024346},{"geom_ids":[1,90],"normal_force_n":0.09806706707374592},{"geom_ids":[1,90],"normal_force_n":0.09806313896828238}],"native_actuator_controls":[0.24671305738077418,1.8710014913527404,-1.317099145926814,-0.033149767783258635,1.0205328781987846,0.12622139926949494,0.029000000000000317],"actuator_force_native":[-0.2960350432984704,0.18517726027479853,-0.28133732080800655,0.18574072608538028,0.23476247513071868,0.2605582694995101,0.0068947707223689925],"issued_joint_targets_rad":[0.24648907485779964,1.871257673024344,-1.3175150267401528,-0.032687747801240494,1.0210744131099494,0.12697496546099857],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.139999999997602,"joint_targets_rad":[0.24648907485779964,1.871257673024344,-1.3175150267401528,-0.032687747801240494,1.0210744131099494,0.12697496546099857],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.159999999997591,"qpos":[0.2507857150134123,1.8684639680716142,-1.3127577708027696,-0.04049191992853515,0.9931834080017641,0.0950163200917705,0.02512618161158485,-0.02512274480813958,0.35527297606739316,0.08439418732369071,0.07989158200284148,0.9954304319041988,1.0428321875368992e-05,2.2917810592921343e-06,0.09548955505717771],"qvel":[-0.009364039626792112,0.00572214418967296,-0.019513451353389485,0.025570980129940888,0.02979255756314701,0.039570284026002,0.03790982749691276,-0.03792831225983654,-4.993015100794653e-06,1.5459454238679554e-05,2.50488569234464e-05,-0.0008073805433993407,-9.827545608465811e-05,-8.814127978271706e-11],"joint_position_rad":[0.2507857150134123,1.8684639680716142,-1.3127577708027696,-0.04049191992853515,0.9931834080017641,0.0950163200917705],"joint_velocity_rad_s":[-0.009364039626792112,0.00572214418967296,-0.019513451353389485,0.025570980129940888,0.02979255756314701,0.039570284026002],"gripper_joint_position_m":[0.02512618161158485,-0.02512274480813958],"tcp_position_m":[0.35726251895153327,0.08559381660684602,0.08239127351157727],"tcp_quaternion_wxyz":[0.056742107567857684,-0.08775243089200546,0.9944936102453752,-0.007893242833043292],"object_position_m":[0.35527297606739316,0.08439418732369071,0.07989158200284148],"object_quaternion_wxyz":[0.9954304319041988,1.0428321875368992e-05,2.2917810592921343e-06,0.09548955505717771],"object_linear_velocity_m_s":[-4.993015100794653e-06,1.5459454238679554e-05,2.50488569234464e-05],"object_angular_velocity_rad_s":[-0.0007739739449007146,-0.00024997147785954673,-9.568862284865935e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809766793950447},{"geom_ids":[1,90],"normal_force_n":0.09809957745334283},{"geom_ids":[1,90],"normal_force_n":0.0980841170901506},{"geom_ids":[1,90],"normal_force_n":0.09808223163930518}],"native_actuator_controls":[0.24648907485779964,1.871257673024344,-1.3175150267401528,-0.032687747801240494,1.0210744131099494,0.12697496546099857,0.030000000000000346],"actuator_force_native":[-0.2969110143150502,0.19488567527002942,-0.28301321822370085,0.18431198444208174,0.23422121473713275,0.26023102765327777,0.005403598052056147],"issued_joint_targets_rad":[0.24626673435625177,1.8715201267159964,-1.3179405600571656,-0.03222931398611417,1.0216289198667203,0.12773551589447701],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.159999999997591,"joint_targets_rad":[0.24626673435625177,1.8715201267159964,-1.3179405600571656,-0.03222931398611417,1.0216289198667203,0.12773551589447701],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.17999999999758,"qpos":[0.25059001801175035,1.8685847394973496,-1.3131586354360263,-0.03997671652829837,0.9937830314940113,0.09581024554941184,0.02590599005378347,-0.025903163006573176,0.35527290702233283,0.08439440126733969,0.07989192933146425,0.9954304319482802,4.932347207900216e-06,1.0827509540050517e-06,0.09548955506105651],"qvel":[-0.009804753364624217,0.006051320851738561,-0.019648454933980795,0.02539013889890831,0.02977393061917769,0.03952276539660059,0.039920386518558906,-0.03993659459050687,-2.3647388325388314e-06,7.332705369556638e-06,1.193513216055849e-05,-0.0003829070891363119,-4.6438622075997896e-05,-9.474110098591038e-12],"joint_position_rad":[0.25059001801175035,1.8685847394973496,-1.3131586354360263,-0.03997671652829837,0.9937830314940113,0.09581024554941184],"joint_velocity_rad_s":[-0.009804753364624217,0.006051320851738561,-0.019648454933980795,0.02539013889890831,0.02977393061917769,0.03952276539660059],"gripper_joint_position_m":[0.02590599005378347,-0.025903163006573176],"tcp_position_m":[0.3572472767456646,0.08560683931039335,0.08243346854248577],"tcp_quaternion_wxyz":[0.05654994252305224,-0.08712554722761566,0.994561277041668,-0.007688252738712134],"object_position_m":[0.35527290702233283,0.08439440126733969,0.07989192933146425],"object_quaternion_wxyz":[0.9954304319482802,4.932347207900216e-06,1.0827509540050517e-06,0.09548955506105651],"object_linear_velocity_m_s":[-2.3647388325388314e-06,7.332705369556638e-06,1.193513216055849e-05],"object_angular_velocity_rad_s":[-0.00036709591997599654,-0.00011838483884407322,-1.0378305523669788e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809888977554938},{"geom_ids":[1,90],"normal_force_n":0.09809979162923851},{"geom_ids":[1,90],"normal_force_n":0.09809241048116937},{"geom_ids":[1,90],"normal_force_n":0.09809151399500245}],"native_actuator_controls":[0.24626673435625177,1.8715201267159964,-1.3179405600571656,-0.03222931398611417,1.0216289198667203,0.12773551589447701,0.031000000000000374],"actuator_force_native":[-0.2968389256167647,0.20457437323307204,-0.28431169502124476,0.18294540719282648,0.23379798779832406,0.2599685553557509,0.004158465255881483],"issued_joint_targets_rad":[0.24604621361818024,1.8717866527966391,-1.3183722847822763,-0.031774973452533356,1.0221917759208359,0.12850469072777715],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.17999999999758,"joint_targets_rad":[0.24604621361818024,1.8717866527966391,-1.3183722847822763,-0.031774973452533356,1.0221917759208359,0.12850469072777715],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.19999999999757,"qpos":[0.2503859301512897,1.8687120138729258,-1.3135638887825698,-0.03946531412075869,0.9943823399882123,0.09660338268011785,0.026722395322143502,-0.026720090918768844,0.35527287435845556,0.08439450259497867,0.07989209469537172,0.995430431958145,2.329515681721706e-06,5.110706016036065e-07,0.09548955506196502],"qvel":[-0.010200342193050086,0.006368350100375469,-0.019920470648081813,0.02519767547003415,0.029755010367575708,0.039488251005099125,0.04159614561675716,-0.04160702251010234,-1.1175673856355378e-06,3.4681839649775475e-06,5.678366055643944e-06,-0.00018109338147347543,-2.1920062664535053e-05,-1.0174295597622915e-12],"joint_position_rad":[0.2503859301512897,1.8687120138729258,-1.3135638887825698,-0.03946531412075869,0.9943823399882123,0.09660338268011785],"joint_velocity_rad_s":[-0.010200342193050086,0.006368350100375469,-0.019920470648081813,0.02519767547003415,0.029755010367575708,0.039488251005099125],"gripper_joint_position_m":[0.026722395322143502,-0.026720090918768844],"tcp_position_m":[0.35723402538199595,0.08561657954096259,0.0824744907150882],"tcp_quaternion_wxyz":[0.056356994336035346,-0.08649598986143237,0.994628726404482,-0.007485288123876059],"object_position_m":[0.35527287435845556,0.08439450259497867,0.07989209469537172],"object_quaternion_wxyz":[0.995430431958145,2.329515681721706e-06,5.110706016036065e-07,0.09548955506196502],"object_linear_velocity_m_s":[-1.1175673856355378e-06,3.4681839649775475e-06,5.678366055643944e-06],"object_angular_velocity_rad_s":[-0.0001736237255682809,-5.594733130816028e-05,-1.1257546177602164e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809946666521017},{"geom_ids":[1,90],"normal_force_n":0.09809989225194234},{"geom_ids":[1,90],"normal_force_n":0.09809638962524764},{"geom_ids":[1,90],"normal_force_n":0.09809596523400539}],"native_actuator_controls":[0.24604621361818024,1.8717866527966391,-1.3183722847822763,-0.031774973452533356,1.0221917759208359,0.12850469072777715,0.0320000000000004],"actuator_force_native":[-0.2961756116835055,0.2141293633951875,-0.28506932673610663,0.1816252493788426,0.23346184377487234,0.25978070396894415,0.003123459030490494],"issued_joint_targets_rad":[0.24582768218328666,1.8720553367452468,-1.3188071873836114,-0.031325142945080875,1.0227589637928567,0.12928246484770867],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.19999999999757,"joint_targets_rad":[0.24582768218328666,1.8720553367452468,-1.3188071873836114,-0.031325142945080875,1.0227589637928567,0.12928246484770867],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.219999999997558,"qpos":[0.25017481141450476,1.8688454685971725,-1.3139753562253855,-0.03895790790332396,0.9949812351615744,0.09739599483059291,0.027569301748827935,-0.027567402691982743,0.35527285893022875,0.08439455048449879,0.07989217334155643,0.995430431960346,1.0994039921976817e-06,2.411198344708461e-07,0.09548955506217206],"qvel":[-0.010511617985349053,0.006668089673672024,-0.020249504964917887,0.02499746052994278,0.02973018347442276,0.039466755621015794,0.04299278010967468,-0.04299796332081392,-5.275934472617702e-07,1.638001127449762e-06,2.6997123143127277e-06,-8.55262790738077e-05,-1.0341510526378691e-05,-1.0915072750392394e-13],"joint_position_rad":[0.25017481141450476,1.8688454685971725,-1.3139753562253855,-0.03895790790332396,0.9949812351615744,0.09739599483059291],"joint_velocity_rad_s":[-0.010511617985349053,0.006668089673672024,-0.020249504964917887,0.02499746052994278,0.02973018347442276,0.039466755621015794],"gripper_joint_position_m":[0.027569301748827935,-0.027567402691982743],"tcp_position_m":[0.35722322599744893,0.08562363402451634,0.08251492877739078],"tcp_quaternion_wxyz":[0.05616439430196959,-0.08586432759883911,0.994695842181423,-0.007284202473947738],"object_position_m":[0.35527285893022875,0.08439455048449879,0.07989217334155643],"object_quaternion_wxyz":[0.995430431960346,1.0994039921976817e-06,2.411198344708461e-07,0.09548955506217206],"object_linear_velocity_m_s":[-5.275934472617702e-07,1.638001127449762e-06,2.6997123143127277e-06],"object_angular_velocity_rad_s":[-8.200059068488974e-05,-2.6412012030650023e-05,-1.221283505240996e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809974259019541},{"geom_ids":[1,90],"normal_force_n":0.0980999433492337},{"geom_ids":[1,90],"normal_force_n":0.09809828629426305},{"geom_ids":[1,90],"normal_force_n":0.09809808580129051}],"native_actuator_controls":[0.24582768218328666,1.8720553367452468,-1.3188071873836114,-0.031325142945080875,1.0227589637928567,0.12928246484770867,0.03300000000000043],"actuator_force_native":[-0.2952122485707065,0.22344900347758312,-0.28529896783348363,0.18032329568000938,0.23318201110118864,0.2596645667396338,0.002264029498526332],"issued_joint_targets_rad":[0.24561122311016303,1.8723248709500797,-1.31924321073516,-0.030880000371020826,1.0233277432179135,0.13006774057304682],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.219999999997558,"joint_targets_rad":[0.24561122311016303,1.8723248709500797,-1.31924321073516,-0.030880000371020826,1.0233277432179135,0.13006774057304682],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.239999999997547,"qpos":[0.2499585468401283,1.8689847282012992,-1.3143934333653662,-0.03845461519302443,0.9955795637867112,0.09818832144671856,0.028441631164123623,-0.028440028461641762,0.35527285164874395,0.08439457309376111,0.0798922107265168,0.9954304319608362,5.186621170712706e-07,1.137326091273542e-07,0.09548955506221861],"qvel":[-0.010722868995635492,0.006949341589847808,-0.02057156179677099,0.024793044785623466,0.02969820292502006,0.0394565042030059,0.04415698923641332,-0.044157404063518486,-2.4893803520485955e-07,7.730476719346191e-07,1.2831268648155956e-06,-4.036302669746307e-05,-4.877794121214785e-06,-1.169627413932176e-14],"joint_position_rad":[0.2499585468401283,1.8689847282012992,-1.3143934333653662,-0.03845461519302443,0.9955795637867112,0.09818832144671856],"joint_velocity_rad_s":[-0.010722868995635492,0.006949341589847808,-0.02057156179677099,0.024793044785623466,0.02969820292502006,0.0394565042030059],"gripper_joint_position_m":[0.028441631164123623,-0.028440028461641762],"tcp_position_m":[0.35721488401288104,0.0856286959492932,0.08255502455850805],"tcp_quaternion_wxyz":[0.055972617720109655,-0.08523139869052922,0.994762523829728,-0.007084908377995608],"object_position_m":[0.35527285164874395,0.08439457309376111,0.0798922107265168],"object_quaternion_wxyz":[0.9954304319608362,5.186621170712706e-07,1.137326091273542e-07,0.09548955506221861],"object_linear_velocity_m_s":[-2.4893803520485955e-07,7.730476719346191e-07,1.2831268648155956e-06],"object_angular_velocity_rad_s":[-3.8699645978745786e-05,-1.2462110607309541e-05,-1.3251026951435986e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809987548064017},{"geom_ids":[1,90],"normal_force_n":0.09809997016689348},{"geom_ids":[1,90],"normal_force_n":0.09809918744999992},{"geom_ids":[1,90],"normal_force_n":0.0980990928229388}],"native_actuator_controls":[0.24561122311016303,1.8723248709500797,-1.31924321073516,-0.030880000371020826,1.0233277432179135,0.13006774057304682,0.03400000000000046],"actuator_force_native":[-0.2941715534190408,0.23246471195321305,-0.2851243805996546,0.17901936895202675,0.23293448992449406,0.25960943495877364,0.0015498072530071294],"issued_joint_targets_rad":[0.2453968447148054,1.8725946082971254,-1.319679337478973,-0.03043952644911907,1.0238967592405375,0.13085885370049485],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.239999999997547,"joint_targets_rad":[0.2453968447148054,1.8725946082971254,-1.319679337478973,-0.03043952644911907,1.0238967592405375,0.13085885370049485],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.259999999997536,"qpos":[0.24973914586709917,1.869129431866363,-1.31481750618411,-0.037955487760434,0.9961771911349577,0.09898055381957203,0.029335155301103064,-0.029333763688187808,0.35527284821355737,0.08439458376201002,0.0798922284935064,0.9954304319609453,2.4463970670755716e-07,5.3639775832737215e-08,0.09548955506222899],"qvel":[-0.010835360839235185,0.007213721008743334,-0.020846772775580075,0.0245872703521487,0.029660818927299052,0.03945482879620069,0.045127663514732026,-0.045124618642293245,-1.1742618134932382e-07,3.6469842725276293e-07,6.097544027200617e-07,-1.9041762863466813e-05,-2.3004626513788477e-06,-1.2517036289394212e-15],"joint_position_rad":[0.24973914586709917,1.869129431866363,-1.31481750618411,-0.037955487760434,0.9961771911349577,0.09898055381957203],"joint_velocity_rad_s":[-0.010835360839235185,0.007213721008743334,-0.020846772775580075,0.0245872703521487,0.029660818927299052,0.03945482879620069],"gripper_joint_position_m":[0.029335155301103064,-0.029333763688187808],"tcp_position_m":[0.3572086902113535,0.08563243696432112,0.08259475465685723],"tcp_quaternion_wxyz":[0.05578162088474844,-0.0845981218451941,0.994828695117796,-0.0068873740975311],"object_position_m":[0.35527284821355737,0.08439458376201002,0.0798922284935064],"object_quaternion_wxyz":[0.9954304319609453,2.4463970670755716e-07,5.3639775832737215e-08,0.09548955506222899],"object_linear_velocity_m_s":[-1.1742618134932382e-07,3.6469842725276293e-07,6.097544027200617e-07],"object_angular_velocity_rad_s":[-1.8257174845195774e-05,-5.878471572683074e-06,-1.4379670352679641e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809993970715042},{"geom_ids":[1,90],"normal_force_n":0.0980999843615946},{"geom_ids":[1,90],"normal_force_n":0.09809961493647591},{"geom_ids":[1,90],"normal_force_n":0.09809957029519767}],"native_actuator_controls":[0.2453968447148054,1.8725946082971254,-1.319679337478973,-0.03043952644911907,1.0238967592405375,0.13085885370049485,0.035],"actuator_force_native":[-0.2932072879873253,0.24114550941729362,-0.28471263971114524,0.17770210069185355,0.23270445266484963,0.2596007556149271,0.0009554703822174382],"issued_joint_targets_rad":[0.2541170112049681,1.817476516424807,-1.2981860879845868,-0.047045697442024664,0.9858910418854802,0.12602048452755032],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.259999999997536,"joint_targets_rad":[0.2541170112049681,1.817476516424807,-1.2981860879845868,-0.047045697442024664,0.9858910418854802,0.12602048452755032],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.279999999997525,"qpos":[0.24969511645927392,1.8684527464499372,-1.3141585520857995,-0.03792586198243324,0.9963456474173374,0.09969531328109153,0.030215288396709717,-0.030207666995086337,0.35527284659326713,0.08439458879442835,0.07989223693623157,0.9954304319609696,1.1537865439672468e-07,2.5296688990526415e-08,0.09548955506223136],"qvel":[0.004078054821721648,-0.11305388276321177,0.1285358099822096,-0.019426575907585196,-0.03174838490960285,0.03424692572880097,0.041896390776871566,-0.04173150538684632,-5.5383272377887796e-08,1.7201907384111854e-07,2.897402994575725e-07,-8.981474735413554e-06,-1.0848876376565218e-06,-1.3375530746088767e-16],"joint_position_rad":[0.24969511645927392,1.8684527464499372,-1.3141585520857995,-0.03792586198243324,0.9963456474173374,0.09969531328109153],"joint_velocity_rad_s":[0.004078054821721648,-0.11305388276321177,0.1285358099822096,-0.019426575907585196,-0.03174838490960285,0.03424692572880097],"gripper_joint_position_m":[0.030215288396709717,-0.030207666995086337],"tcp_position_m":[0.35701002207581045,0.0855697436546408,0.08267028356743195],"tcp_quaternion_wxyz":[0.05570776737739138,-0.0842121313966119,0.994865702141547,-0.006869955012455777],"object_position_m":[0.35527284659326713,0.08439458879442835,0.07989223693623157],"object_quaternion_wxyz":[0.9954304319609696,1.1537865439672468e-07,2.5296688990526415e-08,0.09548955506223136],"object_linear_velocity_m_s":[-5.5383272377887796e-08,1.7201907384111854e-07,2.897402994575725e-07],"object_angular_velocity_rad_s":[-8.61143987650196e-06,-2.772539064215992e-06,-1.5607019840525832e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999707982319},{"geom_ids":[1,90],"normal_force_n":0.09809999185671825},{"geom_ids":[1,90],"normal_force_n":0.09809981756777718},{"geom_ids":[1,90],"normal_force_n":0.09809979651221892}],"native_actuator_controls":[0.2541170112049681,1.8425946082971243,-1.2981860879845868,-0.047045697442024664,0.9938967592405369,0.12602048452755032,0.035],"actuator_force_native":[0.33336130554692645,-1.5033816384089675,0.635118078185954,-0.26766053884573093,0.023133695596397885,0.21188132387138636,-0.018093489752746272],"issued_joint_targets_rad":[0.2540907383418386,1.816855025949597,-1.2976554738419164,-0.047037600784796796,0.9861029408575904,0.1266826684577137],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.279999999997525,"joint_targets_rad":[0.2540907383418386,1.816855025949597,-1.2976554738419164,-0.047037600784796796,0.9861029408575904,0.1266826684577137],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.299999999997514,"qpos":[0.2498210882065714,1.8639858791852004,-1.3099301393728442,-0.038439836694700975,0.9954456121489534,0.10038060450912817,0.030991222746977815,-0.030987535704593106,0.355272845829096,0.08439459116796887,0.07989224094793516,0.9954304319609748,5.441281427616322e-08,1.192964884599562e-08,0.09548955506223189],"qvel":[0.0074730661148969466,-0.3208989480829289,0.25986316361479983,-0.028287789847920606,-0.03176369582475694,0.03387929914615838,0.03598902714763992,-0.03637180772237648,-2.6119309622964813e-08,8.112885112394026e-08,1.3767278984807334e-07,-4.235895132933666e-06,-5.116159849957967e-07,-1.4269045170625093e-17],"joint_position_rad":[0.2498210882065714,1.8639858791852004,-1.3099301393728442,-0.038439836694700975,0.9954456121489534,0.10038060450912817],"joint_velocity_rad_s":[0.0074730661148969466,-0.3208989480829289,0.25986316361479983,-0.028287789847920606,-0.03176369582475694,0.03387929914615838],"gripper_joint_position_m":[0.030991222746977815,-0.030987535704593106],"tcp_position_m":[0.35613687150262835,0.08530485606123048,0.08324587380600652],"tcp_quaternion_wxyz":[0.056308185304433,-0.08406422602589869,0.9948437496802329,-0.006964760768472049],"object_position_m":[0.355272845829096,0.08439459116796887,0.07989224094793516],"object_quaternion_wxyz":[0.9954304319609748,5.441281427616322e-08,1.192964884599562e-08,0.09548955506223189],"object_linear_velocity_m_s":[-2.6119309622964813e-08,8.112885112394026e-08,1.3767278984807334e-07],"object_angular_velocity_rad_s":[-4.061385705572205e-06,-1.3075567459533327e-06,-1.6942426782302053e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809998585804687},{"geom_ids":[1,90],"normal_force_n":0.09809999578881544},{"geom_ids":[1,90],"normal_force_n":0.09809991357950998},{"geom_ids":[1,90],"normal_force_n":0.09809990364939257}],"native_actuator_controls":[0.2540907383418386,1.816855025949597,-1.2976554738419164,-0.047037600784796796,0.9861029408575904,0.1266826684577137,0.035],"actuator_force_native":[0.3042066802468888,-2.165973518433617,-0.317342575599767,-0.20247161436422978,-0.04578116917649666,0.21220169076661755,-0.01959404561731204],"issued_joint_targets_rad":[0.25424383556707014,1.812752717919003,-1.2941888853594414,-0.047555225039057125,0.9856099654061947,0.127399863714527],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.299999999997514,"joint_targets_rad":[0.25424383556707014,1.812752717919003,-1.2941888853594414,-0.047555225039057125,0.9856099654061947,0.127399863714527],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.319999999997503,"qpos":[0.2499825705000253,1.8559368224569661,-1.3043606089657802,-0.039024779093836656,0.995061442288937,0.10104857582058115,0.0316518944856392,-0.03165468770801611,0.3552728454687119,0.08439459228736428,0.07989224285411729,0.9954304319609759,2.566049459354223e-08,5.6258114211908565e-09,0.09548955506223199],"qvel":[0.008419246644199815,-0.4465734026802082,0.26581745393420986,-0.02919834755603872,-0.008231738793886273,0.03242382281198403,0.03045593250379923,-0.030638661604282455,-1.2317685565323762e-08,3.826054662105319e-08,6.541545905571534e-08,-1.9976546990496828e-06,-2.412674578115333e-07,-1.5194003156834129e-18],"joint_position_rad":[0.2499825705000253,1.8559368224569661,-1.3043606089657802,-0.039024779093836656,0.995061442288937,0.10104857582058115],"joint_velocity_rad_s":[0.008419246644199815,-0.4465734026802082,0.26581745393420986,-0.02919834755603872,-0.008231738793886273,0.03242382281198403],"gripper_joint_position_m":[0.0316518944856392,-0.03165468770801611],"tcp_position_m":[0.3548988212801508,0.08494473193400555,0.08476763687896091],"tcp_quaternion_wxyz":[0.05776427523527999,-0.08393349907204709,0.9947713966592364,-0.006951591810325825],"object_position_m":[0.3552728454687119,0.08439459228736428,0.07989224285411729],"object_quaternion_wxyz":[0.9954304319609759,2.566049459354223e-08,5.6258114211908565e-09,0.09548955506223199],"object_linear_velocity_m_s":[-1.2317685565323762e-08,3.826054662105319e-08,6.541545905571534e-08],"object_angular_velocity_rad_s":[-1.915357956445134e-06,-6.166345607541231e-07,-1.839684522053563e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999315320947},{"geom_ids":[1,90],"normal_force_n":0.09809999783633298},{"geom_ids":[1,90],"normal_force_n":0.09809995906379707},{"geom_ids":[1,90],"normal_force_n":0.09809995438081841}],"native_actuator_controls":[0.25424383556707014,1.812752717919003,-1.2941888853594414,-0.047555225039057125,0.9856099654061947,0.127399863714527,0.035],"actuator_force_native":[0.29880497214259094,-1.2218613496359865,-0.5153493811639436,-0.19522610002862506,-0.0821671606365939,0.21487714472148256,-0.018355441944564177],"issued_joint_targets_rad":[0.2544639878490702,1.8053220106543857,-1.2898555858948415,-0.048185735901826884,0.985884883039604,0.1282030386573762],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.319999999997503,"joint_targets_rad":[0.2544639878490702,1.8053220106543857,-1.2898555858948415,-0.048185735901826884,0.985884883039604,0.1282030386573762],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.339999999997492,"qpos":[0.2501629190909284,1.8462235506830698,-1.2992802997017203,-0.039615804838675155,0.9949545198991953,0.10169741242100823,0.03220767726608263,-0.032212180097808615,0.35527284529875897,0.08439459281526614,0.07989224375983939,0.9954304319609759,1.2101038559084615e-08,2.6530130431678416e-09,0.09548955506223199],"qvel":[0.00935350252988215,-0.5031155343201431,0.22729167098444167,-0.029185874328530093,-0.0014002241798202037,0.03197894525418317,0.025501502354459197,-0.025487384184310673,-5.808827587868305e-09,1.804326307735454e-08,3.108203283005198e-08,-9.420717931269896e-07,-1.137761523017403e-07,-1.614789701724592e-19],"joint_position_rad":[0.2501629190909284,1.8462235506830698,-1.2992802997017203,-0.039615804838675155,0.9949545198991953,0.10169741242100823],"joint_velocity_rad_s":[0.00935350252988215,-0.5031155343201431,0.22729167098444167,-0.029185874328530093,-0.0014002241798202037,0.03197894525418317],"gripper_joint_position_m":[0.03220767726608263,-0.032212180097808615],"tcp_position_m":[0.35379674609741363,0.08462364653476741,0.08699972303820495],"tcp_quaternion_wxyz":[0.060144727708731624,-0.08379766229829434,0.9946428940593027,-0.006787990830723398],"object_position_m":[0.35527284529875897,0.08439459281526614,0.07989224375983939],"object_quaternion_wxyz":[0.9954304319609759,1.2101038559084615e-08,2.6530130431678416e-09,0.09548955506223199],"object_linear_velocity_m_s":[-5.808827587868305e-09,1.804326307735454e-08,3.108203283005198e-08],"object_angular_velocity_rad_s":[-9.032621144357669e-07,-2.9079516650576377e-07,-1.998573683248286e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999668636916},{"geom_ids":[1,90],"normal_force_n":0.09809999889481685},{"geom_ids":[1,90],"normal_force_n":0.09809998060950126},{"geom_ids":[1,90],"normal_force_n":0.09809997840108572}],"native_actuator_controls":[0.2544639878490702,1.8053220106543857,-1.2898555858948415,-0.048185735901826884,0.985884883039604,0.1282030386573762,0.035],"actuator_force_native":[0.2973179880019323,-0.7565455306940123,-0.38248125037189595,-0.19686787088341884,-0.08859603232618163,0.21708784448240515,-0.015814602415601176],"issued_joint_targets_rad":[0.2547335252819672,1.7963006411175582,-1.2860891092358155,-0.04888504456564169,0.9864772224350731,0.12911206947825757],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.339999999997492,"joint_targets_rad":[0.2547335252819672,1.7963006411175582,-1.2860891092358155,-0.04888504456564169,0.9864772224350731,0.12911206947825757],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.35999999999748,"qpos":[0.25036526054694347,1.8357140395277713,-1.295038934481335,-0.04020795564054785,0.9949097244385305,0.10234597234406434,0.03267183175177883,-0.03267550808943687,0.3552728452186122,0.08439459306421715,0.07989224419019073,0.9954304319609759,5.706594453588864e-09,1.251099685167752e-09,0.09548955506223199],"qvel":[0.0104889874733654,-0.5324296197344035,0.18642376748558254,-0.029252045894577527,-0.000792910965925813,0.03225765022710465,0.021261573191221867,-0.021186942189252798,-2.739325931957363e-09,8.508886853058174e-09,1.4768517571947997e-08,-4.4426437775795857e-07,-5.3654080799698924e-08,-1.711984813713398e-20],"joint_position_rad":[0.25036526054694347,1.8357140395277713,-1.295038934481335,-0.04020795564054785,0.9949097244385305,0.10234597234406434],"joint_velocity_rad_s":[0.0104889874733654,-0.5324296197344035,0.18642376748558254,-0.029252045894577527,-0.000792910965925813,0.03225765022710465],"gripper_joint_position_m":[0.03267183175177883,-0.03267550808943687],"tcp_position_m":[0.3529348995206568,0.08437131391898972,0.08971940620931872],"tcp_quaternion_wxyz":[0.06329917369571106,-0.08365327188059463,0.9944612512630849,-0.006493415847679467],"object_position_m":[0.3552728452186122,0.08439459306421715,0.07989224419019073],"object_quaternion_wxyz":[0.9954304319609759,5.706594453588864e-09,1.251099685167752e-09,0.09548955506223199],"object_linear_velocity_m_s":[-2.739325931957363e-09,8.508886853058174e-09,1.4768517571947997e-08],"object_angular_velocity_rad_s":[-4.259625607618253e-07,-1.3713312714422538e-07,-2.1714706561118248e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999839696006},{"geom_ids":[1,90],"normal_force_n":0.09809999943840951},{"geom_ids":[1,90],"normal_force_n":0.09809999081522527},{"geom_ids":[1,90],"normal_force_n":0.09809998977378316}],"native_actuator_controls":[0.2547335252819672,1.7963006411175582,-1.2860891092358155,-0.04888504456564169,0.9864772224350731,0.12911206947825757,0.035],"actuator_force_native":[0.2970162414350703,-0.4909237741450454,-0.2161328177863595,-0.20082332753086596,-0.08313565358568553,0.21927449600127558,-0.013181136027262674],"issued_joint_targets_rad":[0.2550504118643693,1.7864968183394045,-1.2831207290702171,-0.04964521060261373,0.9871105624211103,0.13013474107788042],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.35999999999748,"joint_targets_rad":[0.2550504118643693,1.7864968183394045,-1.2831207290702171,-0.04964521060261373,0.9871105624211103,0.13013474107788042],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.37999999999747,"qpos":[0.25059340704877114,1.8247851304160467,-1.2915762297833235,-0.040804738063362656,0.9948611603788824,0.1030035799114417,0.0330586532592275,-0.033060942888742,0.35527284518081664,0.08439459318161763,0.07989224439467046,0.9954304319609759,2.6910989293134177e-09,5.89988545026782e-10,0.09548955506223199],"qvel":[0.011826132367302577,-0.5480763248886228,0.15093703074652157,-0.02954446173786242,-0.0016127450451695975,0.03282576054948911,0.017715186235533777,-0.017642627619467503,-1.2918044712417773e-09,4.012611747707025e-09,7.017197322398613e-09,-2.0950567398688534e-07,-2.5301941174825375e-08,-1.8339459060506356e-21],"joint_position_rad":[0.25059340704877114,1.8247851304160467,-1.2915762297833235,-0.040804738063362656,0.9948611603788824,0.1030035799114417],"joint_velocity_rad_s":[0.011826132367302577,-0.5480763248886228,0.15093703074652157,-0.02954446173786242,-0.0016127450451695975,0.03282576054948911],"gripper_joint_position_m":[0.0330586532592275,-0.033060942888742],"tcp_position_m":[0.3522879818127749,0.08418244364230221,0.09277834058477906],"tcp_quaternion_wxyz":[0.06704456174090449,-0.08350253339658015,0.994230941470575,-0.0060982521968763895],"object_position_m":[0.35527284518081664,0.08439459318161763,0.07989224439467046],"object_quaternion_wxyz":[0.9954304319609759,2.6910989293134177e-09,5.89988545026782e-10,0.09548955506223199],"object_linear_velocity_m_s":[-1.2918044712417773e-09,4.012611747707025e-09,7.017197322398613e-09],"object_angular_velocity_rad_s":[-2.0087496020799118e-07,-6.466889531568644e-08,-2.384936942837656e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999922481902},{"geom_ids":[1,90],"normal_force_n":0.09809999971594041},{"geom_ids":[1,90],"normal_force_n":0.0980999956493913},{"geom_ids":[1,90],"normal_force_n":0.09809999515827147}],"native_actuator_controls":[0.2550504118643693,1.7864968183394045,-1.2831207290702171,-0.04964521060261373,0.9871105624211103,0.13013474107788042,0.035],"actuator_force_native":[0.2974297234113372,-0.3226833416882755,-0.07824509668408552,-0.20589659288073103,-0.07508686200996628,0.22207297084015365,-0.010922061546768669],"issued_joint_targets_rad":[0.2554136457915284,1.7762744484091961,-1.280873973662211,-0.05046097265669698,0.9877119651313805,0.13126249667688442],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.37999999999747,"joint_targets_rad":[0.2554136457915284,1.7762744484091961,-1.280873973662211,-0.05046097265669698,0.9877119651313805,0.13126249667688442],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.399999999997458,"qpos":[0.25085170138096946,1.8136429893809154,-1.2887782669853711,-0.04141067843911855,0.9947980845982096,0.10367397132106983,0.03338103210155427,-0.03338206891023789,0.3552728451629931,0.08439459323698109,0.0798922444918281,0.9954304319609759,1.2690578357474633e-09,2.782241339798754e-10,0.09548955506223199],"qvel":[0.013391176861161275,-0.5556745684745634,0.12104161340173683,-0.03005504294241833,-0.00246900781990121,0.033521643187530176,0.014764787964605708,-0.014710090171360088,-6.091843564528385e-10,1.892255643155164e-09,3.3341887007075943e-09,-9.879805804251537e-08,-1.1931765947994788e-08,-1.90439417547719e-22],"joint_position_rad":[0.25085170138096946,1.8136429893809154,-1.2887782669853711,-0.04141067843911855,0.9947980845982096,0.10367397132106983],"joint_velocity_rad_s":[0.013391176861161275,-0.5556745684745634,0.12104161340173683,-0.03005504294241833,-0.00246900781990121,0.033521643187530176],"gripper_joint_position_m":[0.03338103210155427,-0.03338206891023789],"tcp_position_m":[0.3518120737705843,0.08404673449914979,0.09607619324679521],"tcp_quaternion_wxyz":[0.0712285051835548,-0.08334958276300099,0.9939555632595686,-0.005628975741969066],"object_position_m":[0.3552728451629931,0.08439459323698109,0.0798922444918281],"object_quaternion_wxyz":[0.9954304319609759,1.2690578357474633e-09,2.782241339798754e-10,0.09548955506223199],"object_linear_velocity_m_s":[-6.091843564528385e-10,1.892255643155164e-09,3.3341887007075943e-09],"object_angular_velocity_rad_s":[-9.472802095832616e-08,-3.0496317104346355e-08,-2.562609812789962e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999962530146},{"geom_ids":[1,90],"normal_force_n":0.09809999985690213},{"geom_ids":[1,90],"normal_force_n":0.09809999793920161},{"geom_ids":[1,90],"normal_force_n":0.09809999770760126}],"native_actuator_controls":[0.2554136457915284,1.7762744484091961,-1.280873973662211,-0.05046097265669698,0.9877119651313805,0.13126249667688442,0.035],"actuator_force_native":[0.29799966853891036,-0.21111043536473062,0.027135398844123415,-0.2117365539910454,-0.06715768293843993,0.22560278877685058,-0.009065223885199147],"issued_joint_targets_rad":[0.25582367831433417,1.7658380444708253,-1.2792408024824653,-0.05132890789406513,0.9882754865366503,0.13248392016094782],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.399999999997458,"joint_targets_rad":[0.25582367831433417,1.7658380444708253,-1.2792408024824653,-0.05132890789406513,0.9882754865366503,0.13248392016094782],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.419999999997447,"qpos":[0.2511447529825072,1.802413623613192,-1.286540374828991,-0.04202969767136104,0.9947233272225624,0.1043590750573662,0.033649804056133374,-0.033649842307655796,0.355272845154588,0.08439459326308921,0.07989224453799208,0.9954304319609759,5.984566384992492e-10,1.3120361054105946e-10,0.09548955506223199],"qvel":[0.015188000264629695,-0.5580838046764537,0.09570500135118712,-0.030746566539629854,-0.003052642169892544,0.034292371071423244,0.012309418671673091,-0.012271901264825951,-2.872765130053752e-10,8.923424810124836e-10,1.5842234488338304e-09,-4.6590797354077535e-08,-5.6267229448155494e-09,-1.769896703928865e-23],"joint_position_rad":[0.2511447529825072,1.802413623613192,-1.286540374828991,-0.04202969767136104,0.9947233272225624,0.1043590750573662],"joint_velocity_rad_s":[0.015188000264629695,-0.5580838046764537,0.09570500135118712,-0.030746566539629854,-0.003052642169892544,0.034292371071423244],"gripper_joint_position_m":[0.033649804056133374,-0.033649842307655796],"tcp_position_m":[0.3514676924689861,0.08395514644133521,0.0995437189671549],"tcp_quaternion_wxyz":[0.0757359744617959,-0.08319857047863594,0.993637756421825,-0.005105786485495829],"object_position_m":[0.355272845154588,0.08439459326308921,0.07989224453799208],"object_quaternion_wxyz":[0.9954304319609759,5.984566384992492e-10,1.3120361054105946e-10,0.09548955506223199],"object_linear_velocity_m_s":[-2.872765130053752e-10,8.923424810124836e-10,1.5842234488338304e-09],"object_angular_velocity_rad_s":[-4.467146765587731e-08,-1.4381320754935254e-08,-2.5635270396356652e-23],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999981895602},{"geom_ids":[1,90],"normal_force_n":0.09809999992817311},{"geom_ids":[1,90],"normal_force_n":0.09809999902382906},{"geom_ids":[1,90],"normal_force_n":0.09809999891461202}],"native_actuator_controls":[0.25582367831433417,1.7658380444708253,-1.2792408024824653,-0.05132890789406513,0.9882754865366503,0.13248392016094782,0.035],"actuator_force_native":[0.2983740252230085,-0.13562730800705936,0.10544078096613418,-0.21823557621001388,-0.0598994436042819,0.22980989442868105,-0.00753925560370039],"issued_joint_targets_rad":[0.2562821046061857,1.7553148360301238,-1.2781262994512834,-0.05224700992546569,0.988810983968746,0.13378979987266895],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.419999999997447,"joint_targets_rad":[0.2562821046061857,1.7553148360301238,-1.2781262994512834,-0.05224700992546569,0.988810983968746,0.13378979987266895],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.439999999997436,"qpos":[0.2514771131481386,1.7911819760793113,-1.2847849801296938,-0.04266503517350779,0.9946426345072272,0.10506016433923943,0.0338739392321993,-0.03387317919590018,0.3552728451506244,0.08439459327540115,0.07989224455992663,0.9954304319609759,2.8221734912877467e-10,6.187235510602783e-11,0.09548955506223199],"qvel":[0.017202983872118757,-0.556959205078926,0.07370802306122284,-0.03158507727098085,-0.0033611139554815903,0.03512254278004595,0.01026330605743748,-0.010239546102953311,-1.3547251483804192e-10,4.208068949940997e-10,7.527361795189073e-10,-2.1971080306566665e-08,-2.6534218210025755e-09,-4.619945148609523e-25],"joint_position_rad":[0.2514771131481386,1.7911819760793113,-1.2847849801296938,-0.04266503517350779,0.9946426345072272,0.10506016433923943],"joint_velocity_rad_s":[0.017202983872118757,-0.556959205078926,0.07370802306122284,-0.03158507727098085,-0.0033611139554815903,0.03512254278004595],"gripper_joint_position_m":[0.0338739392321993,-0.03387317919590018],"tcp_position_m":[0.3512253433339421,0.08390126822134876,0.10313316856672985],"tcp_quaternion_wxyz":[0.08048405361213834,-0.08305314468028763,0.9932793417774373,-0.004543288572693711],"object_position_m":[0.3552728451506244,0.08439459327540115,0.07989224455992663],"object_quaternion_wxyz":[0.9954304319609759,2.8221734912877467e-10,6.187235510602783e-11,0.09548955506223199],"object_linear_velocity_m_s":[-1.3547251483804192e-10,4.208068949940997e-10,7.527361795189073e-10],"object_angular_velocity_rad_s":[-2.1065971957245214e-08,-6.781876045338085e-09,-1.4381509269051057e-24],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999991255969},{"geom_ids":[1,90],"normal_force_n":0.09809999996406367},{"geom_ids":[1,90],"normal_force_n":0.0980999995375966},{"geom_ids":[1,90],"normal_force_n":0.09809999948609262}],"native_actuator_controls":[0.2562821046061857,1.7553148360301238,-1.2781262994512834,-0.05224700992546569,0.988810983968746,0.13378979987266895,0.035],"actuator_force_native":[0.2983843972831757,-0.0845751785403479,0.1641543389667106,-0.22535360372341207,-0.053274834451590536,0.23461254116422614,-0.006274099575159342],"issued_joint_targets_rad":[0.25679115692402626,1.744790992052183,-1.2774609787309792,-0.05321449075026665,0.9893306531509267,0.1351738306613103],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.439999999997436,"joint_targets_rad":[0.25679115692402626,1.744790992052183,-1.2774609787309792,-0.05321449075026665,0.9893306531509267,0.1351738306613103],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.459999999997425,"qpos":[0.2518529397490659,1.780005435208189,-1.2834537957200967,-0.0433193533578068,0.9945607559489356,0.10577837661311218,0.0340608675794976,-0.03405944992662842,0.35527284514875745,0.08439459328120043,0.07989224457053691,0.9954304319609759,1.290382244687773e-10,2.8289900270827984e-11,0.09548955506223199],"qvel":[0.019413663646018046,-0.5534085226609582,0.054165486231219334,-0.03254659730623478,-0.0034473244951312106,0.036007235429647934,0.0085569465055987,-0.008544195890471696,-6.335357215875864e-11,1.9678987579855712e-10,3.6395817250892505e-10,-1.063517056371437e-08,-1.2843956577159566e-09,-6.899702582604673e-23],"joint_position_rad":[0.2518529397490659,1.780005435208189,-1.2834537957200967,-0.0433193533578068,0.9945607559489356,0.10577837661311218],"joint_velocity_rad_s":[0.019413663646018046,-0.5534085226609582,0.054165486231219334,-0.03254659730623478,-0.0034473244951312106,0.036007235429647934],"gripper_joint_position_m":[0.0340608675794976,-0.03405944992662842],"tcp_position_m":[0.3510632014164089,0.08388060588084821,0.1068114193007142],"tcp_quaternion_wxyz":[0.08541335965514128,-0.0829162631405903,0.9928815809364739,-0.003951902872040132],"object_position_m":[0.35527284514875745,0.08439459328120043,0.07989224457053691],"object_quaternion_wxyz":[0.9954304319609759,1.290382244687773e-10,2.8289900270827984e-11,0.09548955506223199],"object_linear_velocity_m_s":[-6.335357215875864e-11,1.9678987579855712e-10,3.6395817250892505e-10],"object_angular_velocity_rad_s":[-1.0197050308803251e-08,-3.2827869447454765e-09,-6.867851328992017e-23],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999995492037},{"geom_ids":[1,90],"normal_force_n":0.0980999999814864},{"geom_ids":[1,90],"normal_force_n":0.0980999997615117},{"geom_ids":[1,90],"normal_force_n":0.09809999973494565}],"native_actuator_controls":[0.25679115692402626,1.744790992052183,-1.2774609787309792,-0.05321449075026665,0.9893306531509267,0.1351738306613103,0.035],"actuator_force_native":[0.2979890557667382,-0.05011283917568221,0.208597927973301,-0.2330725091672201,-0.047130041237391396,0.23994368733750937,-0.005219435707897402],"issued_joint_targets_rad":[0.25735318500509563,1.7343250028783646,-1.2771931739547584,-0.05423140639229903,0.9898451989336162,0.13663218601359056],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.459999999997425,"joint_targets_rad":[0.25735318500509563,1.7343250028783646,-1.2771931739547584,-0.05423140639229903,0.9898451989336162,0.13663218601359056],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.479999999997414,"qpos":[0.2522759137049176,1.7689234140779904,-1.2825035575716217,-0.04399493013824936,0.9944813379908983,0.10651480375204771,0.034216767437720105,-0.034214792387556016,0.3552728451479579,0.08439459328368393,0.07989224457561103,0.9954304319609759,5.04429748635335e-11,1.1058981375208544e-11,0.09548955506223199],"qvel":[0.021795641794159416,-0.5481674758819934,0.036418200910109104,-0.03361527339772243,-0.0033617179658656264,0.036944987267285026,0.007133483087028153,-0.007129991719622694,-2.614306470298892e-11,8.12058778983534e-11,1.6804919319205285e-10,-4.9319550835925835e-09,-5.956255588356966e-10,-1.418529957960237e-22],"joint_position_rad":[0.2522759137049176,1.7689234140779904,-1.2825035575716217,-0.04399493013824936,0.9944813379908983,0.10651480375204771],"joint_velocity_rad_s":[0.021795641794159416,-0.5481674758819934,0.036418200910109104,-0.03361527339772243,-0.0033617179658656264,0.036944987267285026],"gripper_joint_position_m":[0.034216767437720105,-0.034214792387556016],"tcp_position_m":[0.3509652756134346,0.08389005301756725,0.1105554533662044],"tcp_quaternion_wxyz":[0.09048128502896918,-0.08279027177695818,0.9924453428721328,-0.003339067237823394],"object_position_m":[0.3552728451479579,0.08439459328368393,0.07989224457561103],"object_quaternion_wxyz":[0.9954304319609759,5.04429748635335e-11,1.1058981375208544e-11,0.09548955506223199],"object_linear_velocity_m_s":[-2.614306470298892e-11,8.12058778983534e-11,1.6804919319205285e-10],"object_angular_velocity_rad_s":[-4.728781192637248e-09,-1.5223597423320209e-09,-1.4142781139636964e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998298904},{"geom_ids":[1,90],"normal_force_n":0.09809999999696471},{"geom_ids":[1,90],"normal_force_n":0.09809999988124289},{"geom_ids":[1,90],"normal_force_n":0.09809999986726724}],"native_actuator_controls":[0.25735318500509563,1.7343250028783646,-1.2771931739547584,-0.05423140639229903,0.9898451989336162,0.13663218601359056,0.035],"actuator_force_native":[0.2972034950434477,-0.0270355165600904,0.24273968479852215,-0.24138268317337497,-0.0413188136240219,0.245756341714501,-0.004338112943945038],"issued_joint_targets_rad":[0.2579704024112829,1.7239571707663977,-1.2772849761469156,-0.05529843577206203,0.990363857767595,0.13816284279591284],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.479999999997414,"joint_targets_rad":[0.2579704024112829,1.7239571707663977,-1.2772849761469156,-0.05529843577206203,0.990363857767595,0.13816284279591284],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.499999999997403,"qpos":[0.2527492329046491,1.7579635968351472,-1.2819024904668532,-0.04469379181951259,0.994407092383262,0.10727050328252698,0.0343467865699558,-0.034344331586991544,0.35527284514768753,0.08439459328452338,0.07989224457792073,0.9954304319609759,1.1687115725347458e-11,2.562309352559186e-12,0.09548955506223199],"qvel":[0.024319827186273246,-0.5418974258288778,0.020330825699676425,-0.034775877326821955,-0.0032312663705387013,0.037945542659709265,0.005945120862112454,-0.005951532098204239,-7.1901620845624095e-12,2.2333926356369942e-11,7.657188274326857e-11,-2.3176862064521446e-09,-2.799034206889747e-10,-2.664911673889428e-22],"joint_position_rad":[0.2527492329046491,1.7579635968351472,-1.2819024904668532,-0.04469379181951259,0.994407092383262,0.10727050328252698],"joint_velocity_rad_s":[0.024319827186273246,-0.5418974258288778,0.020330825699676425,-0.034775877326821955,-0.0032312663705387013,0.037945542659709265],"gripper_joint_position_m":[0.0343467865699558,-0.034344331586991544],"tcp_position_m":[0.3509199247045794,0.08392748795210754,0.1143492496740011],"tcp_quaternion_wxyz":[0.09565710270196036,-0.08267701042109393,0.9919712122640425,-0.0027101088359958807],"object_position_m":[0.35527284514768753,0.08439459328452338,0.07989224457792073],"object_quaternion_wxyz":[0.9954304319609759,1.1687115725347458e-11,2.562309352559186e-12,0.09548955506223199],"object_linear_velocity_m_s":[-7.1901620845624095e-12,2.2333926356369942e-11,7.657188274326857e-11],"object_angular_velocity_rad_s":[-2.2222082614699347e-09,-7.1540598204563e-10,-2.661718256323955e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999699982},{"geom_ids":[1,90],"normal_force_n":0.09810000000493556},{"geom_ids":[1,90],"normal_force_n":0.09809999993922487},{"geom_ids":[1,90],"normal_force_n":0.09809999993128912}],"native_actuator_controls":[0.2579704024112829,1.7239571707663977,-1.2772849761469156,-0.05529843577206203,0.990363857767595,0.13816284279591284,0.035],"actuator_force_native":[0.2960944245993353,-0.011026956355578932,0.2677470170966245,-0.25030637146786794,-0.03558544660086227,0.25200508114429465,-0.0035970671087941497],"issued_joint_targets_rad":[0.2586447454873487,1.7137158158160621,-1.2777089239977688,-0.05641671172989481,0.9908947341959676,0.139765033819164],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.499999999997403,"joint_targets_rad":[0.2586447454873487,1.7137158158160621,-1.2777089239977688,-0.05641671172989481,0.9908947341959676,0.139765033819164],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.519999999997392,"qpos":[0.2532754686190307,1.7471367612372515,-1.2816071397736097,-0.04541807147571672,0.9943366703182784,0.10804690702056922,0.0344551982805495,-0.03445238417147769,0.3552728451476564,0.0843945932846199,0.07989224457895423,0.9954304319609759,-5.343343897881026e-12,-1.1713693600983571e-12,0.09548955506223199],"qvel":[0.026916224999166273,-0.5366235809138936,0.009281193251989514,-0.035989366502015584,-0.00375905543503844,0.039087257741766517,0.004948363606087651,-0.004977929239267039,2.6772084505289767e-12,-8.316454954373308e-12,3.4808338731294e-11,-1.4004973038838446e-09,-1.691332517922882e-10,-4.818000399343762e-22],"joint_position_rad":[0.2532754686190307,1.7471367612372515,-1.2816071397736097,-0.04541807147571672,0.9943366703182784,0.10804690702056922],"joint_velocity_rad_s":[0.026916224999166273,-0.5366235809138936,0.009281193251989514,-0.035989366502015584,-0.00375905543503844,0.039087257741766517],"gripper_joint_position_m":[0.0344551982805495,-0.03445238417147769],"tcp_position_m":[0.3509139508304616,0.08399014937952083,0.11817936575630052],"tcp_quaternion_wxyz":[0.10091468137475505,-0.08257785305736212,0.9914599548416186,-0.0020695924536569365],"object_position_m":[0.3552728451476564,0.0843945932846199,0.07989224457895423],"object_quaternion_wxyz":[0.9954304319609759,-5.343343897881026e-12,-1.1713693600983571e-12,0.09548955506223199],"object_linear_velocity_m_s":[2.6772084505289767e-12,-8.316454954373308e-12,3.4808338731294e-11],"object_angular_velocity_rad_s":[-1.3428038037661226e-09,-4.3229237749349294e-10,-4.81593995150336e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000264078},{"geom_ids":[1,90],"normal_force_n":0.09810000000746756},{"geom_ids":[1,90],"normal_force_n":0.09809999996750024},{"geom_ids":[1,90],"normal_force_n":0.09809999996267348}],"native_actuator_controls":[0.2586447454873487,1.7137158158160621,-1.2777089239977688,-0.05641671172989481,0.9908947341959676,0.139765033819164,0.035],"actuator_force_native":[0.2949610244696075,0.009442270874302494,0.2654512958073241,-0.2599987776570456,-0.028780778070549573,0.2585503813732981,-0.002949749252417977],"issued_joint_targets_rad":[0.25937754418163905,1.7036140830340458,-1.27842853041553,-0.0575875517795806,0.9914430579014424,0.14143855092533406],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.519999999997392,"joint_targets_rad":[0.25937754418163905,1.7036140830340458,-1.27842853041553,-0.0575875517795806,0.9914430579014424,0.14143855092533406],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.53999999999738,"qpos":[0.2538574065204909,1.7364137833423858,-1.281485620206432,-0.04617803012191656,0.9942602219343213,0.10884616636369125,0.03454557381354795,-0.034542601716819714,0.3552728451477342,0.08439459328437805,0.07989224457941568,0.9954304319609759,-1.2211179659576527e-11,-2.677039385778941e-12,0.09548955506223199],"qvel":[0.029586114142780392,-0.5320268907864145,0.00390807455422805,-0.037416511233963494,-0.004221043505870091,0.04029410829783716,0.0041178017483771015,-0.004171671649418676,8.850174841019384e-12,-2.7491245272509733e-11,1.5763133041000556e-11,-1.425796154613809e-09,-1.7218517626035968e-10,-8.70881840243496e-22],"joint_position_rad":[0.2538574065204909,1.7364137833423858,-1.281485620206432,-0.04617803012191656,0.9942602219343213,0.10884616636369125],"joint_velocity_rad_s":[0.029586114142780392,-0.5320268907864145,0.00390807455422805,-0.037416511233963494,-0.004221043505870091,0.04029410829783716],"gripper_joint_position_m":[0.03454557381354795,-0.034542601716819714],"tcp_position_m":[0.350913194071921,0.0840684664237069,0.12202139939157755],"tcp_quaternion_wxyz":[0.10620894828504987,-0.0824965423479972,0.9909146976790755,-0.0014288906167709342],"object_position_m":[0.3552728451477342,0.08439459328437805,0.07989224457941568],"object_quaternion_wxyz":[0.9954304319609759,-1.2211179659576527e-11,-2.677039385778941e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.850174841019384e-12,-2.7491245272509733e-11,1.5763133041000556e-11],"object_angular_velocity_rad_s":[-1.3670611013164906e-09,-4.400981194036982e-10,-8.707688710957663e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000446342},{"geom_ids":[1,90],"normal_force_n":0.0981000000075986},{"geom_ids":[1,90],"normal_force_n":0.09809999998163688},{"geom_ids":[1,90],"normal_force_n":0.0980999999785017}],"native_actuator_controls":[0.25937754418163905,1.7036140830340458,-1.27842853041553,-0.0575875517795806,0.9914430579014424,0.14143855092533406,0.035],"actuator_force_native":[0.2936804421779513,0.03615842926487289,0.22502681050100648,-0.2692983101367443,-0.021840075069984977,0.2654826831696724,-0.0024119612838031657],"issued_joint_targets_rad":[0.2601693657708621,1.6936353340872325,-1.2793357002443115,-0.058816645910502445,0.99201107734924,0.14317913968768214],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.53999999999738,"joint_targets_rad":[0.2601693657708621,1.6936353340872325,-1.2793357002443115,-0.058816645910502445,0.99201107734924,0.14317913968768214],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.55999999999737,"qpos":[0.254497746746124,1.7257872387789879,-1.281429167599143,-0.046985049923556385,0.9941799170331516,0.10966911306889533,0.03462094639916897,-0.03461791422382864,0.35527284514785373,0.08439459328400654,0.07989224457962074,0.9954304319609759,-1.3340056806902767e-11,-2.9245360245867135e-12,0.09548955506223199],"qvel":[0.032330469610282304,-0.5266134812060539,0.0018061876755368367,-0.03912515722377264,-0.004124026421526974,0.04151063942943761,0.0034256223359465654,-0.003498970494820645,4.7751405773653316e-12,-1.4832972273095697e-11,6.619190493415785e-12,4.6550633264797266e-10,5.621510782724986e-11,-9.378059559853317e-23],"joint_position_rad":[0.254497746746124,1.7257872387789879,-1.281429167599143,-0.046985049923556385,0.9941799170331516,0.10966911306889533],"joint_velocity_rad_s":[0.032330469610282304,-0.5266134812060539,0.0018061876755368367,-0.03912515722377264,-0.004124026421526974,0.04151063942943761],"gripper_joint_position_m":[0.03462094639916897,-0.03461791422382864],"tcp_position_m":[0.3508884021365829,0.0841537670560235,0.1258477705161954],"tcp_quaternion_wxyz":[0.11148987369931684,-0.08243763570947515,0.9903400439274225,-0.0008010461741023951],"object_position_m":[0.35527284514785373,0.08439459328400654,0.07989224457962074],"object_quaternion_wxyz":[0.9954304319609759,-1.3340056806902767e-11,-2.9245360245867135e-12,0.09548955506223199],"object_linear_velocity_m_s":[4.7751405773653316e-12,-1.4832972273095697e-11,6.619190493415785e-12],"object_angular_velocity_rad_s":[4.463302688488848e-10,1.4368568193343303e-10,-9.376944618850393e-23],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998103545},{"geom_ids":[1,90],"normal_force_n":0.09809999997532068},{"geom_ids":[1,90],"normal_force_n":0.09810000002264087},{"geom_ids":[1,90],"normal_force_n":0.09810000002835546}],"native_actuator_controls":[0.2601693657708621,1.6936353340872325,-1.2793357002443115,-0.058816645910502445,0.99201107734924,0.14317913968768214,0.035],"actuator_force_native":[0.292077173927634,0.06091503068986981,0.1584464500088103,-0.27763805335897906,-0.015502357206825579,0.2728343070437118,-0.0019659676464913733],"issued_joint_targets_rad":[0.2610197944532879,1.6837843866751452,-1.2803433238145083,-0.060108857767912,0.992610409307778,0.14497832221026316],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.55999999999737,"joint_targets_rad":[0.2610197944532879,1.6837843866751452,-1.2803433238145083,-0.060108857767912,0.992610409307778,0.14497832221026316],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.579999999997359,"qpos":[0.2551984418854755,1.7152862259936719,-1.2814070858213304,-0.04784718183312278,0.994106547047276,0.11051563617970749,0.03468382483162389,-0.03468068910785336,0.35527284514802454,0.08439459328347597,0.0798922445797125,0.9954304319609759,-1.6219540218540468e-11,-3.5558222333796803e-12,0.09548955506223199],"qvel":[0.03511448426424919,-0.5195480831432556,0.00029861492009542666,-0.041065502777932555,-0.0036072943286077227,0.04274286138674087,0.0028447510785508247,-0.002938207805677202,6.1281693168793334e-12,-1.90357909445371e-11,2.9311683834890943e-12,5.155661051383339e-10,6.226113803820737e-11,-1.723770704127213e-22],"joint_position_rad":[0.2551984418854755,1.7152862259936719,-1.2814070858213304,-0.04784718183312278,0.994106547047276,0.11051563617970749],"joint_velocity_rad_s":[0.03511448426424919,-0.5195480831432556,0.00029861492009542666,-0.041065502777932555,-0.0036072943286077227,0.04274286138674087],"gripper_joint_position_m":[0.03468382483162389,-0.03468068910785336],"tcp_position_m":[0.35083032628298866,0.08424279365917325,0.12963876042540717],"tcp_quaternion_wxyz":[0.11672344353800851,-0.0824044242815276,0.9897399206384127,-0.00019514642721197526],"object_position_m":[0.35527284514802454,0.08439459328347597,0.0798922445797125],"object_quaternion_wxyz":[0.9954304319609759,-1.6219540218540468e-11,-3.5558222333796803e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.1281693168793334e-12,-1.90357909445371e-11,2.9311683834890943e-12],"object_angular_velocity_rad_s":[4.943277366379652e-10,1.591381376908433e-10,-1.7236851240802027e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000155053},{"geom_ids":[1,90],"normal_force_n":0.09810000000231212},{"geom_ids":[1,90],"normal_force_n":0.09809999999600678},{"geom_ids":[1,90],"normal_force_n":0.09809999999524521}],"native_actuator_controls":[0.2610197944532879,1.6837843866751452,-1.2803433238145083,-0.060108857767912,0.992610409307778,0.14497832221026316,0.035],"actuator_force_native":[0.2901357841037431,0.07759327023416063,0.08360788594529822,-0.28513952350190586,-0.009550435902067278,0.2805125682254457,-0.0015767486577096257],"issued_joint_targets_rad":[0.26192763839141914,1.6740953633224638,-1.2814288349925462,-0.061466765241604375,0.9932554900923636,0.1468280457326366],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.579999999997359,"joint_targets_rad":[0.26192763839141914,1.6740953633224638,-1.2814288349925462,-0.061466765241604375,0.9932554900923636,0.1468280457326366],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.599999999997348,"qpos":[0.2559603352717916,1.7049409117773038,-1.2814141874904152,-0.0487703772550974,0.9940457644866394,0.11139634590417011,0.03473625993237214,-0.03473297190660924,0.3552728451482027,0.08439459328292266,0.07989224457975265,0.9954304319609759,-1.7929510290443632e-11,-3.930705280434125e-12,0.09548955506223199],"qvel":[0.037890721266230214,-0.511134362497782,-0.001123000889184967,-0.04322112998646253,-0.002910180979681446,0.044180392035674386,0.00235620802059559,-0.002474691485321679,7.1336642811859944e-12,-2.2159119813971443e-11,1.2978054941030023e-12,4.190808204308657e-10,5.060939552788783e-11,-3.1914065485816604e-22],"joint_position_rad":[0.2559603352717916,1.7049409117773038,-1.2814141874904152,-0.0487703772550974,0.9940457644866394,0.11139634590417011],"joint_velocity_rad_s":[0.037890721266230214,-0.511134362497782,-0.001123000889184967,-0.04322112998646253,-0.002910180979681446,0.044180392035674386],"gripper_joint_position_m":[0.03473625993237214,-0.03473297190660924],"tcp_position_m":[0.3507381300464265,0.08433444685535149,0.13338159459806986],"tcp_quaternion_wxyz":[0.1218900469705309,-0.08239356780149068,0.9891177731699318,0.00038371059230005665],"object_position_m":[0.3552728451482027,0.08439459328292266,0.07989224457975265],"object_quaternion_wxyz":[0.9954304319609759,-1.7929510290443632e-11,-3.930705280434125e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.1336642811859944e-12,-2.2159119813971443e-11,1.2978054941030023e-12],"object_angular_velocity_rad_s":[4.018170778473344e-10,1.2935641042845253e-10,-3.191316802106948e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000326813},{"geom_ids":[1,90],"normal_force_n":0.09810000000431722},{"geom_ids":[1,90],"normal_force_n":0.09809999999562936},{"geom_ids":[1,90],"normal_force_n":0.09809999999458016}],"native_actuator_controls":[0.26192763839141914,1.6740953633224638,-1.2814288349925462,-0.061466765241604375,0.9932554900923636,0.1468280457326366,0.035],"actuator_force_native":[0.2879306432390507,0.08802793610169601,0.004443204275446533,-0.29174986952796633,-0.0035374724732353258,0.2880464102311535,-0.0012314373978634663],"issued_joint_targets_rad":[0.2628911399943313,1.6646005672544133,-1.2825897417031011,-0.0628925321934881,0.9939530658267935,0.14873206179400145],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.599999999997348,"joint_targets_rad":[0.2628911399943313,1.6646005672544133,-1.2825897417031011,-0.0628925321934881,0.9939530658267935,0.14873206179400145],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.619999999997336,"qpos":[0.25678361958250456,1.6947745499318674,-1.2814499758507538,-0.04976056277540978,0.9940002479097714,0.11234365989132565,0.034779981297349515,-0.03477650076149837,0.3552728451483811,0.08439459328236827,0.07989224457977016,0.9954304319609759,-1.8805775638584756e-11,-4.122801482283255e-12,0.09548955506223199],"qvel":[0.0406395457603207,-0.5016965055381423,-0.0025564927256634833,-0.0456995260754071,-0.002126355466905369,0.04636062535791513,0.0019448034385775,-0.002092990678290023,8.145402636821486e-12,-2.5301875702596423e-11,5.75130796241311e-13,1.8456899795587097e-10,2.2289872375948595e-11,-5.744457359892172e-22],"joint_position_rad":[0.25678361958250456,1.6947745499318674,-1.2814499758507538,-0.04976056277540978,0.9940002479097714,0.11234365989132565],"joint_velocity_rad_s":[0.0406395457603207,-0.5016965055381423,-0.0025564927256634833,-0.0456995260754071,-0.002126355466905369,0.04636062535791513],"gripper_joint_position_m":[0.034779981297349515,-0.03477650076149837],"tcp_position_m":[0.3506132165774998,0.08442797662141356,0.13706747112557988],"tcp_quaternion_wxyz":[0.1269772506156801,-0.08239047714390109,0.9884774739137071,0.0009330955254561266],"object_position_m":[0.3552728451483811,0.08439459328236827,0.07989224457977016],"object_quaternion_wxyz":[0.9954304319609759,-1.8805775638584756e-11,-4.122801482283255e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.145402636821486e-12,-2.5301875702596423e-11,5.75130796241311e-13],"object_angular_velocity_rad_s":[1.7696565573545162e-10,5.6971133981094955e-11,-5.744749658607566e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000048759},{"geom_ids":[1,90],"normal_force_n":0.09810000000628337},{"geom_ids":[1,90],"normal_force_n":0.09809999999462694},{"geom_ids":[1,90],"normal_force_n":0.09809999999321942}],"native_actuator_controls":[0.2628911399943313,1.6646005672544133,-1.2825897417031011,-0.0628925321934881,0.9939530658267935,0.14873206179400145,0.035],"actuator_force_native":[0.28540390414453043,0.09456391349439741,-0.07839880455948389,-0.29678114634609765,0.0027177123705790507,0.29434308098988526,-0.0009232690868679061],"issued_joint_targets_rad":[0.26390851709143665,1.6553243659831447,-1.2838262204170063,-0.06438972525328647,0.9947048111818412,0.1507150986851084],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.619999999997336,"joint_targets_rad":[0.26390851709143665,1.6553243659831447,-1.2838262204170063,-0.06438972525328647,0.9947048111818412,0.1507150986851084],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.639999999997325,"qpos":[0.25766757143938085,1.684808055308992,-1.2815215383741172,-0.05082308815180214,0.993972674965867,0.11338924483269779,0.03481645679540684,-0.034812738287995616,0.3552728451485557,0.08439459328182551,0.07989224457977782,0.9954304319609759,-1.885509223733259e-11,-4.133607889799382e-12,0.09548955506223199],"qvel":[0.04345160796312512,-0.490654104046507,-0.005727577015547573,-0.04890221604949835,-0.0009356956001456172,0.0501686506204891,0.0016058427398870784,-0.0017686157463294506,9.481044826873873e-12,-2.9450782468507316e-11,2.550965193840825e-13,-2.1142055832691455e-10,-2.5531437506306704e-11,-1.0479346153851245e-21],"joint_position_rad":[0.25766757143938085,1.684808055308992,-1.2815215383741172,-0.05082308815180214,0.993972674965867,0.11338924483269779],"joint_velocity_rad_s":[0.04345160796312512,-0.490654104046507,-0.005727577015547573,-0.04890221604949835,-0.0009356956001456172,0.0501686506204891],"gripper_joint_position_m":[0.03481645679540684,-0.034812738287995616],"tcp_position_m":[0.3504592367689056,0.08452297960946421,0.14069071656877874],"tcp_quaternion_wxyz":[0.13197745575530845,-0.08238023238906152,0.9878225248800594,0.001451834516678751],"object_position_m":[0.3552728451485557,0.08439459328182551,0.07989224457977782],"object_quaternion_wxyz":[0.9954304319609759,-1.885509223733259e-11,-4.133607889799382e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.481044826873873e-12,-2.9450782468507316e-11,2.550965193840825e-13],"object_angular_velocity_rad_s":[-2.0271129501458011e-10,-6.525823823789922e-11,-1.0479456518521319e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000595642},{"geom_ids":[1,90],"normal_force_n":0.09810000000762344},{"geom_ids":[1,90],"normal_force_n":0.09809999999381921},{"geom_ids":[1,90],"normal_force_n":0.09809999999215221}],"native_actuator_controls":[0.26390851709143665,1.6553243659831447,-1.2838262204170063,-0.06438972525328647,0.9947048111818412,0.1507150986851084,0.035],"actuator_force_native":[0.28201761234883804,0.09457537416477635,-0.15573667835339222,-0.2981544038118811,0.008724905559958529,0.29800556259337263,-0.0006874855157088522],"issued_joint_targets_rad":[0.2649771813092851,1.6462879774913577,-1.2851445381205624,-0.0659616304550533,0.9955115899729526,0.1528014709262595],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.639999999997325,"joint_targets_rad":[0.2649771813092851,1.6462879774913577,-1.2851445381205624,-0.0659616304550533,0.9955115899729526,0.1528014709262595],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.659999999997314,"qpos":[0.2586103288476881,1.675080597137069,-1.2816906054861699,-0.051960722140076146,0.993971591171091,0.11454597603580348,0.03484689319132572,-0.03484288183781161,0.35527284514873275,0.08439459328127562,0.07989224457978118,0.9954304319609759,-1.902921456719432e-11,-4.171785355216848e-12,0.09548955506223199],"qvel":[0.04624007275712947,-0.4771558175363088,-0.013668268322319264,-0.05246947452366134,0.0008056633719452988,0.05539022314405928,0.001327460110005698,-0.0014913960570015635,1.1674739244705704e-11,-3.626494259705688e-11,1.1288388882350389e-13,-7.959677162121046e-10,-9.612464103821734e-11,-1.9043403100814135e-21],"joint_position_rad":[0.2586103288476881,1.675080597137069,-1.2816906054861699,-0.051960722140076146,0.993971591171091,0.11454597603580348],"joint_velocity_rad_s":[0.04624007275712947,-0.4771558175363088,-0.013668268322319264,-0.05246947452366134,0.0008056633719452988,0.05539022314405928],"gripper_joint_position_m":[0.03484689319132572,-0.03484288183781161],"tcp_position_m":[0.3502928546311183,0.08462250619033328,0.14425534466729],"tcp_quaternion_wxyz":[0.13689779792312606,-0.08235546430822206,0.987153889518546,0.0019413476716832144],"object_position_m":[0.35527284514873275,0.08439459328127562,0.07989224457978118],"object_quaternion_wxyz":[0.9954304319609759,-1.902921456719432e-11,-4.171785355216848e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1674739244705704e-11,-3.626494259705688e-11,1.1288388882350389e-13],"object_angular_velocity_rad_s":[-7.6317813159752e-10,-2.456902344782056e-10,-1.9042933013503323e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000694326},{"geom_ids":[1,90],"normal_force_n":0.09810000000886436},{"geom_ids":[1,90],"normal_force_n":0.09809999999295597},{"geom_ids":[1,90],"normal_force_n":0.09809999999103473}],"native_actuator_controls":[0.2649771813092851,1.6462879774913577,-1.2851445381205624,-0.0659616304550533,0.9955115899729526,0.1528014709262595,0.035],"actuator_force_native":[0.2781478331421141,0.08236951602467002,-0.2079732691397993,-0.2976889599807797,0.01419149296069655,0.2994696141884714,-0.0005130282030572086],"issued_joint_targets_rad":[0.2660935329329673,1.6375237859514846,-1.286595208430985,-0.0676100603385639,0.9963790182350764,0.1550008525408532],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.659999999997314,"joint_targets_rad":[0.2660935329329673,1.6375237859514846,-1.286595208430985,-0.0676100603385639,0.9963790182350764,0.1550008525408532],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.679999999997303,"qpos":[0.25960931126915476,1.665643827344712,-1.28207675892065,-0.05317450837542273,0.9940057104304793,0.11581765953745968,0.034872273822440354,-0.03486790908757335,0.3552728451489024,0.08439459328074857,0.07989224457978265,0.9954304319609759,-1.741439743633394e-11,-3.81777077754633e-12,0.09548955506223199],"qvel":[0.048852773388513175,-0.4621515764588974,-0.026366760948845075,-0.05599300765550156,0.002424734280089581,0.06120144171009613,0.0010909939033673058,-0.0012647035455535154,1.5246175046201544e-11,-4.7359007243379155e-11,4.9992530036050333e-14,-1.6657429248146664e-09,-2.0115588395853254e-10,-3.492639398322012e-21],"joint_position_rad":[0.25960931126915476,1.665643827344712,-1.28207675892065,-0.05317450837542273,0.9940057104304793,0.11581765953745968],"joint_velocity_rad_s":[0.048852773388513175,-0.4621515764588974,-0.026366760948845075,-0.05599300765550156,0.002424734280089581,0.06120144171009613],"gripper_joint_position_m":[0.034872273822440354,-0.03486790908757335],"tcp_position_m":[0.35014502551027094,0.08473350438104346,0.1477790858167706],"tcp_quaternion_wxyz":[0.1417673062919477,-0.08231174731285507,0.9864689619069668,0.0024071383884575496],"object_position_m":[0.3552728451489024,0.08439459328074857,0.07989224457978265],"object_quaternion_wxyz":[0.9954304319609759,-1.741439743633394e-11,-3.81777077754633e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.5246175046201544e-11,-4.7359007243379155e-11,4.9992530036050333e-14],"object_angular_velocity_rad_s":[-1.5971245623127166e-09,-5.141559235082885e-10,-3.492796151849253e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000442748},{"geom_ids":[1,90],"normal_force_n":0.09810000000565006},{"geom_ids":[1,90],"normal_force_n":0.09809999999552702},{"geom_ids":[1,90],"normal_force_n":0.09809999999430447}],"native_actuator_controls":[0.2660935329329673,1.6375237859514846,-1.286595208430985,-0.0676100603385639,0.9963790182350764,0.1550008525408532,0.035],"actuator_force_native":[0.27447386616243463,0.06115457083629394,-0.2296421560825621,-0.2974570402481391,0.02009597662583751,0.30002976746879084,-0.00034592241445041694],"issued_joint_targets_rad":[0.2672540548592098,1.6290667760631874,-1.2882735920095312,-0.06933800929850048,0.9973131027856561,0.15732003205654474],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.679999999997303,"joint_targets_rad":[0.2672540548592098,1.6290667760631874,-1.2882735920095312,-0.06933800929850048,0.9973131027856561,0.15732003205654474],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.699999999997292,"qpos":[0.26066065221827944,1.6565107473325293,-1.2827482258538292,-0.05446392967345374,0.9940702717735034,0.11721202419816466,0.03489340416464034,-0.03488878010551941,0.35527284514909085,0.0843945932801631,0.0798922445797833,0.9954304319609759,-1.7813999637018558e-11,-3.905361605679658e-12,0.09548955506223199],"qvel":[0.05126191605065612,-0.4472141393586911,-0.041162839869180165,-0.05949625230016936,0.003710318963369909,0.06736943679231523,0.0008927248553832372,-0.0010828534806732336,6.849623769995736e-12,-2.1276875509173064e-11,2.04661486961443e-14,6.636143508020474e-10,8.014001048735212e-11,-3.7810189796409537e-22],"joint_position_rad":[0.26066065221827944,1.6565107473325293,-1.2827482258538292,-0.05446392967345374,0.9940702717735034,0.11721202419816466],"joint_velocity_rad_s":[0.05126191605065612,-0.4472141393586911,-0.041162839869180165,-0.05949625230016936,0.003710318963369909,0.06736943679231523],"gripper_joint_position_m":[0.03489340416464034,-0.03488878010551941],"tcp_position_m":[0.350035069376053,0.08485984181409852,0.1512797502647263],"tcp_quaternion_wxyz":[0.14661514705380393,-0.08224195708550713,0.9857647300403161,0.002855898751666521],"object_position_m":[0.35527284514909085,0.0843945932801631,0.0798922445797833],"object_quaternion_wxyz":[0.9954304319609759,-1.7813999637018558e-11,-3.905361605679658e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.849623769995736e-12,-2.1276875509173064e-11,2.04661486961443e-14],"object_angular_velocity_rad_s":[6.362772105511104e-10,2.0483588358642667e-10,-3.781158400069377e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000154688},{"geom_ids":[1,90],"normal_force_n":0.09810000000197419},{"geom_ids":[1,90],"normal_force_n":0.09809999999843554},{"geom_ids":[1,90],"normal_force_n":0.09809999999800822}],"native_actuator_controls":[0.2672540548592098,1.6290667760631874,-1.2882735920095312,-0.06933800929850048,0.9973131027856561,0.15732003205654474,0.035],"actuator_force_native":[0.271162631021145,0.04055299524608813,-0.23621509311026045,-0.2974819235010231,0.02686283167647119,0.30002592339532796,-0.00019979086252974732],"issued_joint_targets_rad":[0.2684543820543551,1.6209181357058136,-1.2902328997249426,-0.07114796815278188,0.9983114878880561,0.1597706169084414],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.699999999997292,"joint_targets_rad":[0.2684543820543551,1.6209181357058136,-1.2902328997249426,-0.07114796815278188,0.9983114878880561,0.1597706169084414],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.719999999997281,"qpos":[0.26176029350052465,1.647674106082814,-1.2837314945460538,-0.05582920796673723,0.9941602035642865,0.11873422595573602,0.03491100615677977,-0.034906276130906,0.35527284514928587,0.0843945932795577,0.07989224457978358,0.9954304319609759,-1.8995815515492857e-11,-4.164469705589602e-12,0.09548955506223199],"qvel":[0.05347343515370432,-0.4327704861830517,-0.0567961906468456,-0.06302960832540577,0.004819732222706056,0.07371495928459004,0.0007281229102219951,-0.0009347416466952899,7.523628562673985e-12,-2.337045416154865e-11,9.309795077442255e-15,5.314647772154789e-10,6.418066861636906e-11,-6.945454184745249e-22],"joint_position_rad":[0.26176029350052465,1.647674106082814,-1.2837314945460538,-0.05582920796673723,0.9941602035642865,0.11873422595573602],"joint_velocity_rad_s":[0.05347343515370432,-0.4327704861830517,-0.0567961906468456,-0.06302960832540577,0.004819732222706056,0.07371495928459004],"gripper_joint_position_m":[0.03491100615677977,-0.034906276130906],"tcp_position_m":[0.34997107042819964,0.08500227101494809,0.1547702056267813],"tcp_quaternion_wxyz":[0.15146015763630288,-0.08214060240167866,0.9850390369836697,0.0032920668523705736],"object_position_m":[0.35527284514928587,0.0843945932795577,0.07989224457978358],"object_quaternion_wxyz":[0.9954304319609759,-1.8995815515492857e-11,-4.164469705589602e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.523628562673985e-12,-2.337045416154865e-11,9.309795077442255e-15],"object_angular_velocity_rad_s":[5.095715573361604e-10,1.6404510233085875e-10,-6.945156455614982e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000310773},{"geom_ids":[1,90],"normal_force_n":0.09810000000396256},{"geom_ids":[1,90],"normal_force_n":0.09809999999688372},{"geom_ids":[1,90],"normal_force_n":0.09809999999602888}],"native_actuator_controls":[0.2684543820543551,1.6209181357058136,-1.2902328997249426,-0.07114796815278188,0.9983114878880561,0.1597706169084414,0.035],"actuator_force_native":[0.2681599085379176,0.023374800755220804,-0.2361314610768801,-0.2976023658147575,0.03428324490363899,0.299791470600169,-8.08608223006324e-05],"issued_joint_targets_rad":[0.26968914266048605,1.6130639304961794,-1.2924933866153367,-0.07304155408635604,0.9993751475288162,0.1623592745773909],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.719999999997281,"joint_targets_rad":[0.26968914266048605,1.6130639304961794,-1.2924933866153367,-0.07304155408635604,0.9993751475288162,0.1623592745773909],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.73999999999727,"qpos":[0.26290420872784753,1.6391241309419002,-1.2850381765288281,-0.057271115851998365,0.9942733995761428,0.12038706965283845,0.03492568727589829,-0.03492098069406784,0.3552728451494766,0.08439459327896513,0.07989224457978368,0.9954304319609759,-1.971895241462416e-11,-4.323005520062629e-12,0.09548955506223199],"qvel":[0.05548594561220298,-0.41880295034801907,-0.07281250981843096,-0.06661077139727677,0.0058678172047633,0.08017693760889955,0.0005910920399689971,-0.0008120627625524221,8.34826562465524e-12,-2.5931998446782283e-11,4.055664613403701e-15,2.9386474996478973e-10,3.5488126364433776e-11,-1.2708967313557244e-21],"joint_position_rad":[0.26290420872784753,1.6391241309419002,-1.2850381765288281,-0.057271115851998365,0.9942733995761428,0.12038706965283845],"joint_velocity_rad_s":[0.05548594561220298,-0.41880295034801907,-0.07281250981843096,-0.06661077139727677,0.0058678172047633,0.08017693760889955],"gripper_joint_position_m":[0.03492568727589829,-0.03492098069406784],"tcp_position_m":[0.34995647236606414,0.08516023971223351,0.15825963345479843],"tcp_quaternion_wxyz":[0.15631372687954814,-0.08200363048080166,0.9842904028881165,0.003718354386519795],"object_position_m":[0.3552728451494766,0.08439459327896513,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.971895241462416e-11,-4.323005520062629e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.34826562465524e-12,-2.5931998446782283e-11,4.055664613403701e-15],"object_angular_velocity_rad_s":[2.817591618516135e-10,9.07065218019208e-11,-1.2708976494612975e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000473709},{"geom_ids":[1,90],"normal_force_n":0.09810000000603891},{"geom_ids":[1,90],"normal_force_n":0.09809999999526019},{"geom_ids":[1,90],"normal_force_n":0.0980999999939585}],"native_actuator_controls":[0.26968914266048605,1.6130639304961794,-1.2924933866153367,-0.07304155408635604,0.9993751475288162,0.1623592745773909,0.035],"actuator_force_native":[0.26536498655006824,0.009198716082437386,-0.2323542578285327,-0.29776367238792334,0.04221575371959041,0.29945664283217543,1.7048764223703827e-05],"issued_joint_targets_rad":[0.27095189637368855,1.6054887459276825,-1.2950628353414158,-0.0750193801831762,1.0005095108563085,0.16508789301689844],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.73999999999727,"joint_targets_rad":[0.27095189637368855,1.6054887459276825,-1.2950628353414158,-0.0750193801831762,1.0005095108563085,0.16508789301689844],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.759999999997259,"qpos":[0.26408814032711597,1.6308520548988639,-1.2866732793870943,-0.05879047307450061,0.9944092987977975,0.12217249494034424,0.03493793965955547,-0.03493335190067797,0.3552728451496616,0.0843945932783902,0.07989224457978368,0.9954304319609759,-1.9814821565190507e-11,-4.344024448824009e-12,0.09548955506223199],"qvel":[0.057282956505508416,-0.40524871676869906,-0.08897033674171638,-0.07023995058067176,0.006908272814568018,0.08672550192101763,0.000476509492216846,-0.0007098994455702715,9.526512666215606e-12,-2.959194011365544e-11,2.9648704917094855e-15,-8.608286463624773e-11,-1.0395974394685875e-11,-2.3123071530733897e-21],"joint_position_rad":[0.26408814032711597,1.6308520548988639,-1.2866732793870943,-0.05879047307450061,0.9944092987977975,0.12217249494034424],"joint_velocity_rad_s":[0.057282956505508416,-0.40524871676869906,-0.08897033674171638,-0.07023995058067176,0.006908272814568018,0.08672550192101763],"gripper_joint_position_m":[0.03493793965955547,-0.03493335190067797],"tcp_position_m":[0.3499926097788656,0.0853325491987908,0.16175473924693778],"tcp_quaternion_wxyz":[0.1611827743617066,-0.08182740189329135,0.9835178078231606,0.00413657384576281],"object_position_m":[0.3552728451496616,0.0843945932783902,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9814821565190507e-11,-4.344024448824009e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.526512666215606e-12,-2.959194011365544e-11,2.9648704917094855e-15],"object_angular_velocity_rad_s":[-8.253667213809506e-11,-2.657129315569885e-11,-2.3122946760925662e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000060178},{"geom_ids":[1,90],"normal_force_n":0.09810000000767091},{"geom_ids":[1,90],"normal_force_n":0.09809999999398174},{"geom_ids":[1,90],"normal_force_n":0.09809999999232863}],"native_actuator_controls":[0.27095189637368855,1.6054887459276825,-1.2950628353414158,-0.0750193801831762,1.0005095108563085,0.16508789301689844,0.035],"actuator_force_native":[0.2626857011982615,-0.002821133851000468,-0.2263127926371311,-0.29795653144366563,0.0506397113632584,0.29906572788401564,9.986615669732579e-05],"issued_joint_targets_rad":[0.27223479448313836,1.5981773420607843,-1.2979420342593655,-0.0770808950916862,1.0017222477814276,0.16795525189664218],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.759999999997259,"joint_targets_rad":[0.27223479448313836,1.5981773420607843,-1.2979420342593655,-0.0770808950916862,1.0017222477814276,0.16795525189664218],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.779999999997248,"qpos":[0.2653072826015595,1.6228510912448284,-1.2886383221524682,-0.06038786486947411,0.9945681187211396,0.12409176251361784,0.034948165321076065,-0.03494377152138464,0.3552728451498389,0.08439459327783953,0.07989224457978368,0.9954304319609759,-1.900713598102783e-11,-4.166951771550401e-12,0.09548955506223199],"qvel":[0.05883191138475331,-0.39203370689079275,-0.10511022143658481,-0.07390655370041137,0.007966410763592235,0.09333658729079518,0.0003804673833149538,-0.0006250943731445047,1.1393178631737515e-11,-3.539036713532942e-11,2.781683692646334e-15,-6.613997918388428e-10,-7.987153133684457e-11,-4.22130808957203e-21],"joint_position_rad":[0.2653072826015595,1.6228510912448284,-1.2886383221524682,-0.06038786486947411,0.9945681187211396,0.12409176251361784],"joint_velocity_rad_s":[0.05883191138475331,-0.39203370689079275,-0.10511022143658481,-0.07390655370041137,0.007966410763592235,0.09333658729079518],"gripper_joint_position_m":[0.034948165321076065,-0.03494377152138464],"tcp_position_m":[0.35007975186101087,0.08551756051363892,0.16526034522021116],"tcp_quaternion_wxyz":[0.16607115472324077,-0.08160836649722272,0.9827205919665443,0.004547989827316268],"object_position_m":[0.3552728451498389,0.08439459327783953,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.900713598102783e-11,-4.166951771550401e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1393178631737515e-11,-3.539036713532942e-11,2.781683692646334e-15],"object_angular_velocity_rad_s":[-6.341540770247757e-10,-2.041512986865631e-10,-4.221358255839159e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000617247},{"geom_ids":[1,90],"normal_force_n":0.09810000000786817},{"geom_ids":[1,90],"normal_force_n":0.09809999999382737},{"geom_ids":[1,90],"normal_force_n":0.09809999999213186}],"native_actuator_controls":[0.27223479448313836,1.5981773420607843,-1.2979420342593655,-0.0770808950916862,1.0017222477814276,0.16795525189664218,0.035],"actuator_force_native":[0.2600413936025454,-0.01373140026956321,-0.2187458613688733,-0.298188440386427,0.059591674457491806,0.29863001289405067,0.0001710502403828862],"issued_joint_targets_rad":[0.2735280255043806,1.5911142889208572,-1.3011260418424102,-0.07922409445764486,1.003022056363905,0.17095702266769652],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.779999999997248,"joint_targets_rad":[0.2735280255043806,1.5911142889208572,-1.3011260418424102,-0.07922409445764486,1.003022056363905,0.17095702266769652],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.799999999997237,"qpos":[0.2665559003575682,1.6151137246650862,-1.290929589484905,-0.06206340919809356,0.9947502512484401,0.12614560033496044,0.03495669639944644,-0.03495257423973554,0.35527284515000485,0.08439459327732411,0.07989224457978368,0.9954304319609759,-1.6890988950968548e-11,-3.703024195547578e-12,0.09548955506223199],"qvel":[0.06008214007059499,-0.37919267197436024,-0.1210279193719429,-0.07759164887408765,0.009064318279483402,0.09996258090396912,0.00030013503635958823,-0.0005552173659464502,1.450842345847033e-11,-4.506702943372475e-11,2.752540338249925e-15,-1.5061855807142387e-09,-1.8189508028198845e-10,-7.728386232866676e-21],"joint_position_rad":[0.2665559003575682,1.6151137246650862,-1.290929589484905,-0.06206340919809356,0.9947502512484401,0.12614560033496044],"joint_velocity_rad_s":[0.06008214007059499,-0.37919267197436024,-0.1210279193719429,-0.07759164887408765,0.009064318279483402,0.09996258090396912],"gripper_joint_position_m":[0.03495669639944644,-0.03495257423973554],"tcp_position_m":[0.35021681337080957,0.08571300956482665,0.1687798013911383],"tcp_quaternion_wxyz":[0.17098040963529532,-0.08134275974728483,0.9818984252806154,0.00495352289685945],"object_position_m":[0.35527284515000485,0.08439459327732411,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6890988950968548e-11,-3.703024195547578e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.450842345847033e-11,-4.506702943372475e-11,2.752540338249925e-15],"object_angular_velocity_rad_s":[-1.4441385897501725e-09,-4.649134945090906e-10,-7.72827100407156e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000382176},{"geom_ids":[1,90],"normal_force_n":0.0981000000048715},{"geom_ids":[1,90],"normal_force_n":0.09809999999617829},{"geom_ids":[1,90],"normal_force_n":0.0980999999951285}],"native_actuator_controls":[0.2735280255043806,1.5911142889208572,-1.3011260418424102,-0.07922409445764486,1.003022056363905,0.17095702266769652,0.035],"actuator_force_native":[0.25735931139201895,-0.02399149966652203,-0.21057659174068988,-0.29846916601161366,0.06912157373542271,0.29817035197140696,0.0002314688403448617],"issued_joint_targets_rad":[0.27481908512151476,1.5842807677709236,-1.3046017181049225,-0.08144513475074429,1.004417808605381,0.17408546152834178],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.799999999997237,"joint_targets_rad":[0.27481908512151476,1.5842807677709236,-1.3046017181049225,-0.08144513475074429,1.004417808605381,0.17408546152834178],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.819999999997226,"qpos":[0.2678269310974928,1.6076311616912191,-1.293539868168496,-0.0638165581679918,0.9949564913045642,0.1283328572866636,0.034963811442454654,-0.034960053214192315,0.35527284515018476,0.08439459327676516,0.07989224457978368,0.9954304319609759,-1.6930994368559297e-11,-3.7118071727617055e-12,0.09548955506223199],"qvel":[0.06096193411205489,-0.3668125569218524,-0.1365495440386197,-0.08126532307848372,0.010217728073685988,0.10654750087909708,0.00023319801060220761,-0.0004980987463679943,6.535000323984148e-12,-2.0299470896431577e-11,2.7469892231267995e-15,6.427654265013887e-10,7.762217763769196e-11,-8.379763951116784e-22],"joint_position_rad":[0.2678269310974928,1.6076311616912191,-1.293539868168496,-0.0638165581679918,0.9949564913045642,0.1283328572866636],"joint_velocity_rad_s":[0.06096193411205489,-0.3668125569218524,-0.1365495440386197,-0.08126532307848372,0.010217728073685988,0.10654750087909708],"gripper_joint_position_m":[0.034963811442454654,-0.034960053214192315],"tcp_position_m":[0.35040177409312767,0.08591599449280996,0.17231566324087444],"tcp_quaternion_wxyz":[0.1759107614381827,-0.08102699865341552,0.9810511535538576,0.005353840687174311],"object_position_m":[0.35527284515018476,0.08439459327676516,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6930994368559297e-11,-3.7118071727617055e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.535000323984148e-12,-2.0299470896431577e-11,2.7469892231267995e-15],"object_angular_velocity_rad_s":[6.162871540565931e-10,1.984004529015827e-10,-8.379534943210886e-22],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000126548},{"geom_ids":[1,90],"normal_force_n":0.09810000000161297},{"geom_ids":[1,90],"normal_force_n":0.09809999999873457},{"geom_ids":[1,90],"normal_force_n":0.09809999999838696}],"native_actuator_controls":[0.27481908512151476,1.5842807677709236,-1.3046017181049225,-0.08144513475074429,1.004417808605381,0.17408546152834178,0.035],"actuator_force_native":[0.25456265136148204,-0.033968729014389965,-0.20220027472103652,-0.2988164479176807,0.07928658089763907,0.2977047910981363,0.0002815522488031075],"issued_joint_targets_rad":[0.2760917736809452,1.5776524129539558,-1.3083472460650187,-0.08373780254939203,1.0059183404426801,0.1773275141318681],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.819999999997226,"joint_targets_rad":[0.2760917736809452,1.5776524129539558,-1.3083472460650187,-0.08373780254939203,1.0059183404426801,0.1773275141318681],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.839999999997215,"qpos":[0.269111484010569,1.600392559681603,-1.296458931538819,-0.06564578484691642,0.9951879215233647,0.1306517613837173,0.03496974310267462,-0.03496646642837396,0.3552728451503686,0.08439459327619415,0.07989224457978368,0.9954304319609759,-1.7862690632416907e-11,-3.916095430319366e-12,0.09548955506223199],"qvel":[0.06137121490159288,-0.35503713146812543,-0.15148515378849012,-0.08488173135569166,0.011431557635697758,0.11302801597723039,0.00017768470494688532,-0.0004520397831479534,7.087336870052334e-12,-2.201505447419152e-11,2.746989223126799e-15,5.073950960248275e-10,6.12745077315482e-11,-1.5284546227568574e-21],"joint_position_rad":[0.269111484010569,1.600392559681603,-1.296458931538819,-0.06564578484691642,0.9951879215233647,0.1306517613837173],"joint_velocity_rad_s":[0.06137121490159288,-0.35503713146812543,-0.15148515378849012,-0.08488173135569166,0.011431557635697758,0.11302801597723039],"gripper_joint_position_m":[0.03496974310267462,-0.03496646642837396],"tcp_position_m":[0.3506318369515468,0.08612287719256048,0.1758700920618289],"tcp_quaternion_wxyz":[0.18086175193332976,-0.08065674692229523,0.9801787884855213,0.0057496492566979345],"object_position_m":[0.3552728451503686,0.08439459327619415,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7862690632416907e-11,-3.916095430319366e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.087336870052334e-12,-2.201505447419152e-11,2.746989223126799e-15],"object_angular_velocity_rad_s":[4.864933029695009e-10,1.566161388031638e-10,-1.5284057928228938e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000280074},{"geom_ids":[1,90],"normal_force_n":0.0981000000035702},{"geom_ids":[1,90],"normal_force_n":0.0980999999971992},{"geom_ids":[1,90],"normal_force_n":0.09809999999642985}],"native_actuator_controls":[0.2760917736809452,1.5776524129539558,-1.3083472460650187,-0.08373780254939203,1.0059183404426801,0.1773275141318681,0.035],"actuator_force_native":[0.25156709912212705,-0.044026080871162776,-0.19363939315351786,-0.2992720513205658,0.09015685273960727,0.2972155035156623,0.0003218523682808616],"issued_joint_targets_rad":[0.2773248486192109,1.5711959723804862,-1.3123290004158532,-0.08609292007543104,1.0075311984011492,0.1806650010752894],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.839999999997215,"joint_targets_rad":[0.2773248486192109,1.5711959723804862,-1.3123290004158532,-0.08609292007543104,1.0075311984011492,0.1806650010752894],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.859999999997203,"qpos":[0.2703981388591472,1.5933830372585056,-1.2996713728822775,-0.06754819475059891,0.9954454685056745,0.13309885061481264,0.034974685165418996,-0.03497204888164907,0.35527284515055896,0.08439459327560331,0.07989224457978368,0.9954304319609759,-1.9456625424932607e-11,-4.265549567468822e-12,0.09548955506223199],"qvel":[0.0611742291795715,-0.3441072676644042,-0.16553645609689888,-0.08838066452116314,0.01270167907817785,0.11931223268638158,0.0001321132604883069,-0.0004156515277433918,8.066655262792078e-12,-2.505701066504897e-11,2.7456014443460178e-15,3.2081884684553394e-10,3.874352461776744e-11,-2.7914103799594013e-21],"joint_position_rad":[0.2703981388591472,1.5933830372585056,-1.2996713728822775,-0.06754819475059891,0.9954454685056745,0.13309885061481264],"joint_velocity_rad_s":[0.0611742291795715,-0.3441072676644042,-0.16553645609689888,-0.08838066452116314,0.01270167907817785,0.11931223268638158],"gripper_joint_position_m":[0.034974685165418996,-0.03497204888164907],"tcp_position_m":[0.3509029924016927,0.08632896109491368,0.1794448656316754],"tcp_quaternion_wxyz":[0.18583234150332867,-0.08022704739863958,0.9792814923190072,0.006141703228372377],"object_position_m":[0.35527284515055896,0.08439459327560331,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9456625424932607e-11,-4.265549567468822e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.066655262792078e-12,-2.505701066504897e-11,2.7456014443460178e-15],"object_angular_velocity_rad_s":[3.076028379668725e-10,9.902669976239396e-11,-2.7913900918857947e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000479792},{"geom_ids":[1,90],"normal_force_n":0.09810000000611589},{"geom_ids":[1,90],"normal_force_n":0.09809999999520211},{"geom_ids":[1,90],"normal_force_n":0.09809999999388415}],"native_actuator_controls":[0.2773248486192109,1.5711959723804862,-1.3123290004158532,-0.08609292007543104,1.0075311984011492,0.1806650010752894,0.035],"actuator_force_native":[0.2482656349072414,-0.054428851919524845,-0.18492792220155252,-0.29988569038746915,0.10180478033747953,0.29669315557519527,0.0003520270807988446],"issued_joint_targets_rad":[0.27848984418765244,1.5648639747353974,-1.3164944368312936,-0.08849717377237533,1.0092605372550676,0.1840718537482755],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.859999999997203,"joint_targets_rad":[0.27848984418765244,1.5648639747353974,-1.3164944368312936,-0.08849717377237533,1.0092605372550676,0.1840718537482755],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.879999999997192,"qpos":[0.2716720118444842,1.586581364695314,-1.3031538361115187,-0.0695190201827772,0.9957298842394204,0.13566834801722255,0.03497879876817856,-0.03497702244567897,0.3552728451507473,0.08439459327501828,0.07989224457978368,0.9954304319609759,-2.0171277237140245e-11,-4.422219162217001e-12,0.09548955506223199],"qvel":[0.06018432486452549,-0.3343942928976106,-0.17824277104988565,-0.09167932563440662,0.014017821518783048,0.12527443880120098,9.538679446684295e-05,-0.0003879017496696065,9.331974539535386e-12,-2.8987440669871995e-11,2.7456014443460178e-15,-6.4817047434333266e-12,-7.821202710032954e-13,-5.0937569938571895e-21],"joint_position_rad":[0.2716720118444842,1.586581364695314,-1.3031538361115187,-0.0695190201827772,0.9957298842394204,0.13566834801722255],"joint_velocity_rad_s":[0.06018432486452549,-0.3343942928976106,-0.17824277104988565,-0.09167932563440662,0.014017821518783048,0.12527443880120098],"gripper_joint_position_m":[0.03497879876817856,-0.03497702244567897],"tcp_position_m":[0.3512093706071152,0.08652803489674803,0.18304125325709553],"tcp_quaternion_wxyz":[0.1908206558042001,-0.07973211064890173,0.9783596560449317,0.006530794252528198],"object_position_m":[0.3552728451507473,0.08439459327501828,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-2.0171277237140245e-11,-4.422219162217001e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.331974539535386e-12,-2.8987440669871995e-11,2.7456014443460178e-15],"object_angular_velocity_rad_s":[-6.214814985196026e-12,-2.000070798532671e-12,-5.093783560703296e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000621233},{"geom_ids":[1,90],"normal_force_n":0.09810000000791895},{"geom_ids":[1,90],"normal_force_n":0.0980999999937877},{"geom_ids":[1,90],"normal_force_n":0.09809999999208106}],"native_actuator_controls":[0.27848984418765244,1.5648639747353974,-1.3164944368312936,-0.08849717377237533,1.0092605372550676,0.1840718537482755,0.035],"actuator_force_native":[0.24450496313083292,-0.06541973230527276,-0.17603420233255918,-0.30072951541189186,0.11427979787829656,0.2961233991087282,0.0003711153005234724],"issued_joint_targets_rad":[0.2795476940920521,1.5585867896957726,-1.3207605751697182,-0.09093137576984366,1.0111036882248332,0.1875106324083856],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.879999999997192,"joint_targets_rad":[0.2795476940920521,1.5585867896957726,-1.3207605751697182,-0.09093137576984366,1.0111036882248332,0.1875106324083856],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.899999999997181,"qpos":[0.27291338151745476,1.579956562864286,-1.3068705014819098,-0.07155086283550087,0.9960413530502819,0.13835130457447692,0.03498221666471298,-0.03498160946075241,0.3552728451509308,0.08439459327444847,0.07989224457978368,0.9954304319609759,-1.9830502393625808e-11,-4.34750667439382e-12,0.09548955506223199],"qvel":[0.0581391016935265,-0.3264656149196186,-0.18887956957071753,-0.09466144605587123,0.015352079404553383,0.13074101533949453,6.679650270033087e-05,-0.0003682433426853246,1.114611499184548e-11,-3.462261138113857e-11,2.742825886784455e-15,-5.312781421813388e-10,-6.415990938816632e-11,-9.300972127842653e-21],"joint_position_rad":[0.27291338151745476,1.579956562864286,-1.3068705014819098,-0.07155086283550087,0.9960413530502819,0.13835130457447692],"joint_velocity_rad_s":[0.0581391016935265,-0.3264656149196186,-0.18887956957071753,-0.09466144605587123,0.015352079404553383,0.13074101533949453],"gripper_joint_position_m":[0.03498221666471298,-0.03498160946075241],"tcp_position_m":[0.35154226166832864,0.08671169967786028,0.1866597062595407],"tcp_quaternion_wxyz":[0.19582357718619894,-0.07916498556716071,0.9774140251239394,0.006917743069178735],"object_position_m":[0.3552728451509308,0.08439459327444847,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9830502393625808e-11,-4.34750667439382e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.114611499184548e-11,-3.462261138113857e-11,2.742825886784455e-15],"object_angular_velocity_rad_s":[-5.093922723362496e-10,-1.6398924116070407e-10,-9.300981467416783e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000667866},{"geom_ids":[1,90],"normal_force_n":0.09810000000851342},{"geom_ids":[1,90],"normal_force_n":0.09809999999332128},{"geom_ids":[1,90],"normal_force_n":0.09809999999148666}],"native_actuator_controls":[0.2795476940920521,1.5585867896957726,-1.3207605751697182,-0.09093137576984366,1.0111036882248332,0.1875106324083856,0.035],"actuator_force_native":[0.2400494975001557,-0.07725377888297658,-0.16680804717107378,-0.3019132870943553,0.1275952326386829,0.2954817553298452,0.0003773508979791895],"issued_joint_targets_rad":[0.28044313847170377,1.5522594663504683,-1.32499349684562,-0.0933677111747083,1.013043980292083,0.19092698308690403],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.899999999997181,"joint_targets_rad":[0.28044313847170377,1.5522594663504683,-1.32499349684562,-0.0933677111747083,1.013043980292083,0.19092698308690403],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.91999999999717,"qpos":[0.27409557228522163,1.5734625537615563,-1.3107655617794445,-0.07363252195192706,0.9963788739217961,0.14113437088028302,0.034985045891333104,-0.03498605369174106,0.35527284515110497,0.08439459327390729,0.07989224457978368,0.9954304319609759,-1.813666680642725e-11,-3.9761666988189486e-12,0.09548955506223199],"qvel":[0.05465781144672811,-0.32120485447908226,-0.19627406299356226,-0.09715916446580276,0.01664502228084761,0.13546783053023762,4.608404865790753e-05,-0.0003568709812054859,1.4037559136472416e-11,-4.360395693726873e-11,2.7469892231267995e-15,-1.3215118253055962e-09,-1.5959856778312808e-10,-1.697596251322966e-20],"joint_position_rad":[0.27409557228522163,1.5734625537615563,-1.3107655617794445,-0.07363252195192706,0.9963788739217961,0.14113437088028302],"joint_velocity_rad_s":[0.05465781144672811,-0.32120485447908226,-0.19627406299356226,-0.09715916446580276,0.01664502228084761,0.13546783053023762],"gripper_joint_position_m":[0.034985045891333104,-0.03498605369174106],"tcp_position_m":[0.35188848799730243,0.08686830353625098,0.19029922120403991],"tcp_quaternion_wxyz":[0.20083590065068366,-0.07851702006439101,0.9764459429572643,0.007303358976226168],"object_position_m":[0.35527284515110497,0.08439459327390729,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.813666680642725e-11,-3.9761666988189486e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.4037559136472416e-11,-4.360395693726873e-11,2.7469892231267995e-15],"object_angular_velocity_rad_s":[-1.267071349302293e-09,-4.0791592643363916e-10,-1.6975778599394174e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000500815},{"geom_ids":[1,90],"normal_force_n":0.098100000006384},{"geom_ids":[1,90],"normal_force_n":0.09809999999499185},{"geom_ids":[1,90],"normal_force_n":0.09809999999361602}],"native_actuator_controls":[0.28044313847170377,1.5522594663504683,-1.32499349684562,-0.0933677111747083,1.013043980292083,0.19092698308690403,0.035],"actuator_force_native":[0.23451623768493235,-0.09022272049162439,-0.1568644903262424,-0.3036117465822361,0.14168353028159686,0.2947243762708538,0.00036774410338646923],"issued_joint_targets_rad":[0.2810948471960413,1.5457186850159472,-1.3289698992115453,-0.09576508272095502,1.0150358025906938,0.19424015830149133],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.91999999999717,"joint_targets_rad":[0.2810948471960413,1.5457186850159472,-1.3289698992115453,-0.09576508272095502,1.0150358025906938,0.19424015830149133],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.939999999997159,"qpos":[0.27518150805728625,1.567029173554615,-1.3147500042024742,-0.07574707818315159,0.9967390818978373,0.14399794820469225,0.03498736816347559,-0.03499065589912705,0.3552728451512844,0.08439459327335024,0.07989224457978368,0.9954304319609759,-1.7250322250911394e-11,-3.781867620724218e-12,0.09548955506223199],"qvel":[0.04916407091358906,-0.32003581104427115,-0.19845482775297185,-0.09892047226936827,0.01777546751610653,0.13910175341643125,3.3593007889756185e-05,-0.00035525244149084797,6.6338927294078844e-12,-2.060645025085119e-11,2.745601444346018e-15,6.871134140114849e-10,8.297970088084702e-11,-1.8404584009858508e-21],"joint_position_rad":[0.27518150805728625,1.567029173554615,-1.3147500042024742,-0.07574707818315159,0.9967390818978373,0.14399794820469225],"joint_velocity_rad_s":[0.04916407091358906,-0.32003581104427115,-0.19845482775297185,-0.09892047226936827,0.01777546751610653,0.13910175341643125],"gripper_joint_position_m":[0.03498736816347559,-0.03499065589912705],"tcp_position_m":[0.35222758188479075,0.08698116942775538,0.19395607496281086],"tcp_quaternion_wxyz":[0.20584871275979336,-0.07777692990205885,0.9754578134773664,0.007688351975686191],"object_position_m":[0.3552728451512844,0.08439459327335024,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7250322250911394e-11,-3.781867620724218e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.6338927294078844e-12,-2.060645025085119e-11,2.745601444346018e-15],"object_angular_velocity_rad_s":[6.588078894842346e-10,2.120911106720877e-10,-1.8404286534451163e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000097858},{"geom_ids":[1,90],"normal_force_n":0.09810000000124754},{"geom_ids":[1,90],"normal_force_n":0.0980999999990214},{"geom_ids":[1,90],"normal_force_n":0.09809999999875249}],"native_actuator_controls":[0.2810948471960413,1.5457186850159472,-1.3289698992115453,-0.09576508272095502,1.0150358025906938,0.19424015830149133,0.035],"actuator_force_native":[0.2272467765324535,-0.10466002787205753,-0.14531746196082906,-0.3061178201652961,0.1563040056544054,0.2937694708433438,0.00033730842152768226],"issued_joint_targets_rad":[0.2813765668375094,1.5386995785311537,-1.332299151411317,-0.09806066836080099,1.016970731030585,0.1973255594175867],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.939999999997159,"joint_targets_rad":[0.2813765668375094,1.5386995785311537,-1.332299151411317,-0.09806066836080099,1.016970731030585,0.1973255594175867],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.959999999997148,"qpos":[0.2761177143964636,1.5605460744682904,-1.3186769782412406,-0.07786852894982468,0.9971138219160682,0.1469132703660774,0.03498923568919825,-0.034995841152549965,0.3552728451514761,0.08439459327275464,0.07989224457978368,0.9954304319609759,-1.830880786349822e-11,-4.013930345716304e-12,0.09548955506223199],"qvel":[0.0407350103384442,-0.3253678949255045,-0.19193458378994552,-0.09954596027380626,0.018492211318822897,0.14111192095299882,3.059394126108468e-05,-0.0003673524155130302,7.191828746471813e-12,-2.233950119002046e-11,2.7469892231267995e-15,5.67843779397846e-10,6.857664356325811e-11,-3.3636774115442003e-21],"joint_position_rad":[0.2761177143964636,1.5605460744682904,-1.3186769782412406,-0.07786852894982468,0.9971138219160682,0.1469132703660774],"joint_velocity_rad_s":[0.0407350103384442,-0.3253678949255045,-0.19193458378994552,-0.09954596027380626,0.018492211318822897,0.14111192095299882],"gripper_joint_position_m":[0.03498923568919825,-0.034995841152549965],"tcp_position_m":[0.35252660310134976,0.0870254626123729,0.19762124014884547],"tcp_quaternion_wxyz":[0.21084619115900397,-0.07692906420336361,0.9744540146711991,0.008073168257764404],"object_position_m":[0.3552728451514761,0.08439459327275464,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.830880786349822e-11,-4.013930345716304e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.191828746471813e-12,-2.233950119002046e-11,2.7469892231267995e-15],"object_angular_velocity_rad_s":[5.444514304211203e-10,1.7527679183402016e-10,-3.363667566009868e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000251376},{"geom_ids":[1,90],"normal_force_n":0.09810000000320433},{"geom_ids":[1,90],"normal_force_n":0.09809999999748627},{"geom_ids":[1,90],"normal_force_n":0.09809999999679567}],"native_actuator_controls":[0.2813765668375094,1.5386995785311537,-1.332299151411317,-0.09806066836080099,1.016970731030585,0.1973255594175867,0.035],"actuator_force_native":[0.21703314359144343,-0.1208802003434215,-0.13010093465638306,-0.30995577507002103,0.1708307741669337,0.29245500908559463,0.000277602725764714],"issued_joint_targets_rad":[0.28227934903113466,1.5328436479623637,-1.3280998517794522,-0.10113082464292159,1.0105032792595756,0.2021386053188492],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.959999999997148,"joint_targets_rad":[0.28227934903113466,1.5328436479623637,-1.3280998517794522,-0.10113082464292159,1.0105032792595756,0.2021386053188492],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.979999999997137,"qpos":[0.276950802670796,1.5536543874345448,-1.3216866984082523,-0.0801281258280155,0.9973135310415474,0.1501183166321948,0.0349913843322366,-0.034999603889704814,0.3552728451516631,0.08439459327217402,0.07989224457978368,0.9954304319609759,-1.9040265130160315e-11,-4.174306344622079e-12,0.09548955506223199],"qvel":[0.03695266868426678,-0.35040455083425476,-0.12343148861766996,-0.10680314214879708,0.006624986349113615,0.15702217942786695,1.5025228387091966e-05,-0.00029915159118259577,7.89698189091603e-12,-2.4529802941085506e-11,2.7400503292228923e-15,3.5956643221165224e-10,4.3423350181141515e-11,-6.146737052713028e-21],"joint_position_rad":[0.276950802670796,1.5536543874345448,-1.3216866984082523,-0.0801281258280155,0.9973135310415474,0.1501183166321948],"joint_velocity_rad_s":[0.03695266868426678,-0.35040455083425476,-0.12343148861766996,-0.10680314214879708,0.006624986349113615,0.15702217942786695],"gripper_joint_position_m":[0.0349913843322366,-0.034999603889704814],"tcp_position_m":[0.3526253738882552,0.08695061409630697,0.2011508662366963],"tcp_quaternion_wxyz":[0.21568996525147488,-0.0759184064412486,0.9734699131519501,0.008400157211247665],"object_position_m":[0.3552728451516631,0.08439459327217402,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9040265130160315e-11,-4.174306344622079e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.89698189091603e-12,-2.4529802941085506e-11,2.7400503292228923e-15],"object_angular_velocity_rad_s":[3.4475413772009885e-10,1.1098734630236623e-10,-6.146707694824904e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000041485},{"geom_ids":[1,90],"normal_force_n":0.09810000000528821},{"geom_ids":[1,90],"normal_force_n":0.09809999999585149},{"geom_ids":[1,90],"normal_force_n":0.09809999999471182}],"native_actuator_controls":[0.28227934903113466,1.5328436479623637,-1.3280998517794522,-0.10113082464292159,1.0105032792595756,0.2021386053188492,0.035],"actuator_force_native":[0.24152036540575494,0.08716359639679183,0.10410517339234104,-0.3060922418522578,0.12196000265661056,0.28466961772474364,0.0002695005686008667],"issued_joint_targets_rad":[0.2838534699854314,1.528130428719096,-1.3201484964547625,-0.1049112419016846,0.9996503906390375,0.2085277158183791],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.979999999997137,"joint_targets_rad":[0.2838534699854314,1.528130428719096,-1.3201484964547625,-0.1049112419016846,0.9996503906390375,0.2085277158183791],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.999999999997126,"qpos":[0.27780803650148544,1.5463020903675928,-1.3229499214527436,-0.08263641010208014,0.9972348580948673,0.15374895050892934,0.03499374647434392,-0.03500008687944878,0.35527284515184426,0.08439459327161113,0.07989224457978368,0.9954304319609759,-1.9261386258208973e-11,-4.2228110966237275e-12,0.09548955506223199],"qvel":[0.04070026236160702,-0.36811468635568717,-0.024272710571706393,-0.11895863325259566,-0.008171806761669441,0.17869349192697276,-1.589078796150952e-05,-0.00015300067321894655,8.906696135392862e-12,-2.7666049492397558e-11,2.7386625504421105e-15,2.713281307000288e-11,3.274321475577805e-12,-1.1210080182214978e-20],"joint_position_rad":[0.27780803650148544,1.5463020903675928,-1.3229499214527436,-0.08263641010208014,0.9972348580948673,0.15374895050892934],"joint_velocity_rad_s":[0.04070026236160702,-0.36811468635568717,-0.024272710571706393,-0.11895863325259566,-0.008171806761669441,0.17869349192697276],"gripper_joint_position_m":[0.03499374647434392,-0.03500008687944878],"tcp_position_m":[0.35237564182810105,0.08674258971537888,0.2042870670412925],"tcp_quaternion_wxyz":[0.22006790807056115,-0.07478216031786224,0.9725759926689722,0.008583869733616098],"object_position_m":[0.35527284515184426,0.08439459327161113,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9261386258208973e-11,-4.2228110966237275e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.906696135392862e-12,-2.7666049492397558e-11,2.7386625504421105e-15],"object_angular_velocity_rad_s":[2.601553571890053e-11,8.372731183774924e-12,-1.120998267967897e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000055514},{"geom_ids":[1,90],"normal_force_n":0.09810000000707653},{"geom_ids":[1,90],"normal_force_n":0.09809999999444859},{"geom_ids":[1,90],"normal_force_n":0.09809999999292346}],"native_actuator_controls":[0.2838534699854314,1.528130428719096,-1.3201484964547625,-0.1049112419016846,0.9996503906390375,0.2085277158183791,0.035],"actuator_force_native":[0.2801333669076378,0.38684049989868186,0.3454775526970195,-0.2962001057212009,0.036413035584207165,0.27974741520403845,0.00032959496605089456],"issued_joint_targets_rad":[0.2855121032833251,1.523867690549518,-1.3130094146405529,-0.10881862939350248,0.9900920587336911,0.21374895050892934],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.999999999997126,"joint_targets_rad":[0.2855121032833251,1.523867690549518,-1.3130094146405529,-0.10881862939350248,0.9900920587336911,0.21374895050892934],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.019999999997115,"qpos":[0.27878556343178224,1.5391554100855716,-1.322977778191517,-0.08538428485064871,0.9970055547203728,0.1575565158463459,0.03499535923160733,-0.034996216635099685,0.3552728451520181,0.08439459327107073,0.07989224457978368,0.9954304319609759,-1.870854330855749e-11,-4.101616823948272e-12,0.09548955506223199],"qvel":[0.04806183189509773,-0.33901252503525375,0.01095744698642063,-0.13002462126037992,-0.012919303063746135,0.18329262717304765,-6.466826227683827e-05,2.8621395547814266e-05,1.0495950404911562e-11,-3.260259772923577e-11,2.7428258867844546e-15,-4.781190464229323e-10,-5.774228349165924e-11,-2.047791732812276e-20],"joint_position_rad":[0.27878556343178224,1.5391554100855716,-1.322977778191517,-0.08538428485064871,0.9970055547203728,0.1575565158463459],"joint_velocity_rad_s":[0.04806183189509773,-0.33901252503525375,0.01095744698642063,-0.13002462126037992,-0.012919303063746135,0.18329262717304765],"gripper_joint_position_m":[0.03499535923160733,-0.034996216635099685],"tcp_position_m":[0.35190823607892,0.08647467751046843,0.20694368891881515],"tcp_quaternion_wxyz":[0.22384759620018457,-0.07369070694960062,0.9717964200356871,0.008582038830582835],"object_position_m":[0.3552728451520181,0.08439459327107073,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.870854330855749e-11,-4.101616823948272e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0495950404911562e-11,-3.260259772923577e-11,2.7428258867844546e-15],"object_angular_velocity_rad_s":[-4.5842264484443225e-10,-1.4758276508129245e-10,-2.0477919933701547e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000608424},{"geom_ids":[1,90],"normal_force_n":0.09810000000775566},{"geom_ids":[1,90],"normal_force_n":0.09809999999391578},{"geom_ids":[1,90],"normal_force_n":0.09809999999224434}],"native_actuator_controls":[0.2855121032833251,1.523867690549518,-1.3130094146405529,-0.10881862939350248,0.9900920587336911,0.21374895050892934,0.035],"actuator_force_native":[0.29781402864794515,0.47204506229198273,0.7426818491450291,-0.2872506754122517,-0.04975600527119717,0.2869854058662631,0.0005089720470912162],"issued_joint_targets_rad":[0.28718515554958474,1.5202243484245421,-1.3069239446077616,-0.11269078358291207,0.9820949226016912,0.2175565158463459],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.019999999997115,"joint_targets_rad":[0.28718515554958474,1.5202243484245421,-1.3069239446077616,-0.11269078358291207,0.9820949226016912,0.2175565158463459],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.039999999997104,"qpos":[0.27991518880638583,1.5325295893396682,-1.3219756853299842,-0.08831209482121279,0.9965729357134684,0.16144884123576547,0.034995837920396004,-0.03499249369833599,0.35527284515219126,0.08439459327053288,0.07989224457978368,0.9954304319609759,-1.8185591387091596e-11,-3.986966562844328e-12,0.09548955506223199],"qvel":[0.05583946444670644,-0.3130793159179017,0.07178809256490469,-0.13788968466573392,-0.02369987246840306,0.18507172694223006,-0.00010993704473343518,-4.800079032725148e-05,1.3204474789607216e-11,-4.101574956601012e-11,2.749764780688362e-15,-1.21037072791754e-09,-1.461773811214946e-10,-3.742263807288364e-20],"joint_position_rad":[0.27991518880638583,1.5325295893396682,-1.3219756853299842,-0.08831209482121279,0.9965729357134684,0.16144884123576547],"joint_velocity_rad_s":[0.05583946444670644,-0.3130793159179017,0.07178809256490469,-0.13788968466573392,-0.02369987246840306,0.18507172694223006],"gripper_joint_position_m":[0.034995837920396004,-0.03499249369833599],"tcp_position_m":[0.35130265255761806,0.08619251376297665,0.2090769832217014],"tcp_quaternion_wxyz":[0.22699897902769722,-0.07269987043072272,0.9711413337545146,0.008408462002184307],"object_position_m":[0.35527284515219126,0.08439459327053288,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8185591387091596e-11,-3.986966562844328e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.3204474789607216e-11,-4.101574956601012e-11,2.749764780688362e-15],"object_angular_velocity_rad_s":[-1.1605085313988855e-09,-3.736108594534836e-10,-3.742259766877816e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000615246},{"geom_ids":[1,90],"normal_force_n":0.09810000000784266},{"geom_ids":[1,90],"normal_force_n":0.09809999999384743},{"geom_ids":[1,90],"normal_force_n":0.09809999999215739}],"native_actuator_controls":[0.28718515554958474,1.5202243484245421,-1.3069239446077616,-0.11269078358291207,0.9820949226016912,0.2175565158463459,0.035],"actuator_force_native":[0.3024000172223822,0.5809773063794239,0.8451987949532764,-0.2856991271393019,-0.10923032241516673,0.2834691556924591,0.0007161684078271779],"issued_joint_targets_rad":[0.2888147167246885,1.5172367022228261,-1.3019275244906303,-0.11640744754236984,0.9756487962420527,0.22144884123576547],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.039999999997104,"joint_targets_rad":[0.2888147167246885,1.5172367022228261,-1.3019275244906303,-0.11640744754236984,0.9756487962420527,0.22144884123576547],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.059999999997093,"qpos":[0.2811916099608686,1.5265538969202488,-1.3198278267667893,-0.09136310268268355,0.9959050783717732,0.16533021721281363,0.03499597500884792,-0.034990499141720637,0.3552728451523636,0.0843945932699976,0.07989224457978368,0.9954304319609759,-1.6939759219217847e-11,-3.713837250315169e-12,0.09548955506223199],"qvel":[0.0628457216043199,-0.27427811022813053,0.12270324605055098,-0.14318884866738174,-0.03167534686364287,0.18391414904961872,-0.00010674292024189429,-0.00012206500206625395,6.472197633995232e-12,-2.0103958420751943e-11,2.7442136655652364e-15,6.875684558485738e-10,8.30376753247257e-11,-4.0532791597310895e-21],"joint_position_rad":[0.2811916099608686,1.5265538969202488,-1.3198278267667893,-0.09136310268268355,0.9959050783717732,0.16533021721281363],"joint_velocity_rad_s":[0.0628457216043199,-0.27427811022813053,0.12270324605055098,-0.14318884866738174,-0.03167534686364287,0.18391414904961872],"gripper_joint_position_m":[0.03499597500884792,-0.034990499141720637],"tcp_position_m":[0.3505602910888386,0.08590475113923104,0.210600756383019],"tcp_quaternion_wxyz":[0.22941794855470776,-0.0718540692951588,0.9706387210065227,0.00805424667476873],"object_position_m":[0.3552728451523636,0.0843945932699976,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6939759219217847e-11,-3.713837250315169e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.472197633995232e-12,-2.0103958420751943e-11,2.7442136655652364e-15],"object_angular_velocity_rad_s":[6.5924361163233e-10,2.122345342381548e-10,-4.0532784652948725e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000093039},{"geom_ids":[1,90],"normal_force_n":0.09810000000118585},{"geom_ids":[1,90],"normal_force_n":0.09809999999906964},{"geom_ids":[1,90],"normal_force_n":0.09809999999881415}],"native_actuator_controls":[0.2888147167246885,1.5172367022228261,-1.3019275244906303,-0.11640744754236984,0.9756487962420527,0.22144884123576547,0.035],"actuator_force_native":[0.29561993308398726,0.626014975346834,0.8185079518399618,-0.28582955105054353,-0.15504980100174137,0.2853150166550906,0.000694714247292616],"issued_joint_targets_rad":[0.2903492942453383,1.5150060266603227,-1.298171585239279,-0.11984841559015691,0.9709018637567933,0.22533021721281363],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.059999999997093,"joint_targets_rad":[0.2903492942453383,1.5150060266603227,-1.298171585239279,-0.11984841559015691,0.9709018637567933,0.22533021721281363],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.079999999997082,"qpos":[0.2825835795702845,1.5215175616445795,-1.3169062856920795,-0.0944737396177265,0.9951701822337069,0.16916660372805112,0.034996171253852154,-0.03498996006163123,0.35527284515255964,0.08439459326938867,0.07989224457978368,0.9954304319609759,-1.8429874435395485e-11,-4.040533657685583e-12,0.09548955506223199],"qvel":[0.06776119693272711,-0.22272458048303842,0.15290331290728668,-0.14545103398998707,-0.033709884150481755,0.18197680200940936,-9.628802976593197e-05,-0.00017651756178738932,7.161816126740954e-12,-2.224603234918032e-11,2.7442136655652364e-15,6.038316956328169e-10,7.292485548982974e-11,-7.398480957491982e-21],"joint_position_rad":[0.2825835795702845,1.5215175616445795,-1.3169062856920795,-0.0944737396177265,0.9951701822337069,0.16916660372805112],"joint_velocity_rad_s":[0.06776119693272711,-0.22272458048303842,0.15290331290728668,-0.14545103398998707,-0.033709884150481755,0.18197680200940936],"gripper_joint_position_m":[0.034996171253852154,-0.03498996006163123],"tcp_position_m":[0.3497527598189002,0.08562966487335631,0.21152203677803622],"tcp_quaternion_wxyz":[0.23106095126204165,-0.07114263704336632,0.970305580285626,0.007526145292988906],"object_position_m":[0.35527284515255964,0.08439459326938867,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8429874435395485e-11,-4.040533657685583e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.161816126740954e-12,-2.224603234918032e-11,2.7442136655652364e-15],"object_angular_velocity_rad_s":[5.789564296582829e-10,1.863872413990503e-10,-7.398475085752304e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000237139},{"geom_ids":[1,90],"normal_force_n":0.09810000000302282},{"geom_ids":[1,90],"normal_force_n":0.0980999999976286},{"geom_ids":[1,90],"normal_force_n":0.09809999999697717}],"native_actuator_controls":[0.2903492942453383,1.5150060266603227,-1.298171585239279,-0.11984841559015691,0.9709018637567933,0.22533021721281363,0.035],"actuator_force_native":[0.2824511893406658,0.5927001036746447,0.7342594716875936,-0.2877318689472812,-0.1921183585434143,0.288670931833511,0.0006345899947435285],"issued_joint_targets_rad":[0.29176276660412936,1.5135638187295828,-1.2956953753145228,-0.1229517511430049,0.9678651531137374,0.22916660372805112],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.079999999997082,"joint_targets_rad":[0.29176276660412936,1.5135638187295828,-1.2956953753145228,-0.1229517511430049,0.9678651531137374,0.22916660372805112],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.09999999999707,"qpos":[0.2840402390077391,1.5176268024146176,-1.3136485020068849,-0.09758161856413142,0.9944875230762543,0.1729503496068447,0.03499644046008316,-0.03499058096786049,0.35527284515275287,0.08439459326878854,0.07989224457978368,0.9954304319609759,-1.9459445216331656e-11,-4.2662659515083475e-12,0.09548955506223199],"qvel":[0.06993516781468008,-0.1639345659649814,0.16228832420998135,-0.14487057198355094,-0.032355353894780364,0.1800274426829169,-8.517399950501557e-05,-0.00021585365882578926,7.918690074378239e-12,-2.459698502651285e-11,2.7400503292228923e-15,4.2567048351246045e-10,5.140807704436998e-11,-1.3494723410699093e-20],"joint_position_rad":[0.2840402390077391,1.5176268024146176,-1.3136485020068849,-0.09758161856413142,0.9944875230762543,0.1729503496068447],"joint_velocity_rad_s":[0.06993516781468008,-0.1639345659649814,0.16228832420998135,-0.14487057198355094,-0.032355353894780364,0.1800274426829169],"gripper_joint_position_m":[0.03499644046008316,-0.03499058096786049],"tcp_position_m":[0.34896428490194903,0.08538242696355364,0.21190712546709548],"tcp_quaternion_wxyz":[0.23197770180095997,-0.07052871168373376,0.9701366447610706,0.006851071967954021],"object_position_m":[0.35527284515275287,0.08439459326878854,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9459445216331656e-11,-4.2662659515083475e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.918690074378239e-12,-2.459698502651285e-11,2.7400503292228923e-15],"object_angular_velocity_rad_s":[4.081347339882941e-10,1.3139326402611155e-10,-1.3494701181540933e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000398729},{"geom_ids":[1,90],"normal_force_n":0.09810000000508265},{"geom_ids":[1,90],"normal_force_n":0.09809999999601274},{"geom_ids":[1,90],"normal_force_n":0.09809999999491738}],"native_actuator_controls":[0.29176276660412936,1.5135638187295828,-1.2956953753145228,-0.1229517511430049,0.9678651531137374,0.22916660372805112,0.035],"actuator_force_native":[0.268126368637823,0.4946341350221388,0.6248085143390512,-0.2904524432371849,-0.21769066878299803,0.29212137718768894,0.0005682515941987099],"issued_joint_targets_rad":[0.29305093760191614,1.5128452225702316,-1.294389457168776,-0.12571252801609437,0.9663701942360233,0.2329503496068447],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.09999999999707,"joint_targets_rad":[0.29305093760191614,1.5128452225702316,-1.294389457168776,-0.12571252801609437,0.9663701942360233,0.2329503496068447],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.11999999999706,"qpos":[0.2855055033982076,1.514960335239256,-1.3104294321039873,-0.10063401975097522,0.9938471475516903,0.1766840146661434,0.034996797541275514,-0.03499203064634385,0.35527284515294144,0.08439459326820249,0.07989224457978368,0.9954304319609759,-1.9928107990616075e-11,-4.369006018677299e-12,0.09548955506223199],"qvel":[0.06946146149310661,-0.10384168378499625,0.15409958281058525,-0.14201040019454375,-0.030716597600491675,0.1785189568028707,-7.421328032117552e-05,-0.00023713977649355994,8.906108996325846e-12,-2.7664142384344862e-11,2.746989223126799e-15,1.2306249150299468e-10,1.4863118325482253e-11,-2.4630112861032486e-20],"joint_position_rad":[0.2855055033982076,1.514960335239256,-1.3104294321039873,-0.10063401975097522,0.9938471475516903,0.1766840146661434],"joint_velocity_rad_s":[0.06946146149310661,-0.10384168378499625,0.15409958281058525,-0.14201040019454375,-0.030716597600491675,0.1785189568028707],"gripper_joint_position_m":[0.034996797541275514,-0.03499203064634385],"tcp_position_m":[0.3482775601759903,0.08517606687855395,0.21185998044918375],"tcp_quaternion_wxyz":[0.23230992703343484,-0.06996890068777782,0.9701028577795981,0.0060742132100407645],"object_position_m":[0.35527284515294144,0.08439459326820249,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9928107990616075e-11,-4.369006018677299e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.906108996325846e-12,-2.7664142384344862e-11,2.746989223126799e-15],"object_angular_velocity_rad_s":[1.179926869286111e-10,3.798703637622487e-11,-2.4630145073042787e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000550359},{"geom_ids":[1,90],"normal_force_n":0.09810000000701545},{"geom_ids":[1,90],"normal_force_n":0.09809999999449644},{"geom_ids":[1,90],"normal_force_n":0.09809999999298456}],"native_actuator_controls":[0.29305093760191614,1.5128452225702316,-1.294389457168776,-0.12571252801609437,0.9663701942360233,0.2329503496068447,0.035],"actuator_force_native":[0.25632742883114545,0.3499994054030111,0.5127000807639774,-0.293088329632047,-0.22869463675593238,0.29488491420270657,0.0004991647505854235],"issued_joint_targets_rad":[0.2942249083743762,1.5126980723576164,-1.2940083340552997,-0.12817094022070358,0.966082766892325,0.2366840146661434],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.11999999999706,"joint_targets_rad":[0.2942249083743762,1.5126980723576164,-1.2940083340552997,-0.12817094022070358,0.966082766892325,0.2366840146661434],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.139999999997048,"qpos":[0.28693256064557293,1.513473921226188,-1.3075400862104414,-0.10359448556803283,0.9932538773126499,0.18038127683150906,0.03499721775364058,-0.0349939672072468,0.35527284515312374,0.08439459326763647,0.07989224457978368,0.9954304319609759,-1.9627130571105798e-11,-4.303024254603447e-12,0.09548955506223199],"qvel":[0.06691932759963654,-0.04862366798213262,0.13391322436039366,-0.13758026558290948,-0.028631775102554605,0.17765863573785387,-6.586735257344299e-05,-0.00024450249371232565,1.038925105629964e-11,-3.227102451021107e-11,2.7456014443460178e-15,-3.479501324704553e-10,-4.202312153002889e-11,-4.4951610773796367e-20],"joint_position_rad":[0.28693256064557293,1.513473921226188,-1.3075400862104414,-0.10359448556803283,0.9932538773126499,0.18038127683150906],"joint_velocity_rad_s":[0.06691932759963654,-0.04862366798213262,0.13391322436039366,-0.13758026558290948,-0.028631775102554605,0.17765863573785387],"gripper_joint_position_m":[0.03499721775364058,-0.0349939672072468],"tcp_position_m":[0.3477445561725128,0.08501551538668256,0.2114984299668085],"tcp_quaternion_wxyz":[0.23221165902778068,-0.06941937461343044,0.9701707315300443,0.005239038299601362],"object_position_m":[0.35527284515312374,0.08439459326763647,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9627130571105798e-11,-4.303024254603447e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.038925105629964e-11,-3.227102451021107e-11,2.7456014443460178e-15],"object_angular_velocity_rad_s":[-3.336158712015876e-10,-1.0740431980018409e-10,-4.4951573747622266e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000634392},{"geom_ids":[1,90],"normal_force_n":0.0981000000080868},{"geom_ids":[1,90],"normal_force_n":0.09809999999365605},{"geom_ids":[1,90],"normal_force_n":0.09809999999191331}],"native_actuator_controls":[0.2942249083743762,1.5126980723576164,-1.2940083340552997,-0.12817094022070358,0.966082766892325,0.2366840146661434,0.035],"actuator_force_native":[0.24879118030608183,0.18105043042493207,0.412974050609364,-0.295156858192283,-0.2287634415494164,0.2965394247395623,0.00044062661724431074],"issued_joint_targets_rad":[0.29530428906853023,1.5129618728082412,-1.294296560897892,-0.13038451039565171,0.9666654864907358,0.24038127683150906],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.139999999997048,"joint_targets_rad":[0.29530428906853023,1.5129618728082412,-1.294296560897892,-0.13038451039565171,0.9666654864907358,0.24038127683150906],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.159999999997037,"qpos":[0.28828897404319515,1.5129623711126592,-1.3051147635562874,-0.10644267104444255,0.9927079514455128,0.1840647231772532,0.03499759974936962,-0.03499624031833586,0.3552728451532966,0.0843945932670993,0.07989224457978368,0.9954304319609759,-1.8225319894704846e-11,-3.995697491762371e-12,0.09548955506223199],"qvel":[0.06306043973488601,-0.01141921497740337,0.11302133435595828,-0.13229386358713977,-0.026841817671202778,0.17826247819389385,-6.926626094564103e-05,-0.0002621700157487012,1.280624225054432e-11,-3.9778670264726074e-11,2.746989223126799e-15,-1.0500200829857767e-09,-1.2681257508766077e-10,-8.20736437584904e-20],"joint_position_rad":[0.28828897404319515,1.5129623711126592,-1.3051147635562874,-0.10644267104444255,0.9927079514455128,0.1840647231772532],"joint_velocity_rad_s":[0.06306043973488601,-0.01141921497740337,0.11302133435595828,-0.13229386358713977,-0.026841817671202778,0.17826247819389385],"gripper_joint_position_m":[0.03499759974936962,-0.03499624031833586],"tcp_position_m":[0.34737384237199365,0.08489566403102515,0.21094348605007504],"tcp_quaternion_wxyz":[0.23184210133443497,-0.06884067110114184,0.9703045706694152,0.0043865919823664465],"object_position_m":[0.3552728451532966,0.0843945932670993,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8225319894704846e-11,-3.995697491762371e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.280624225054432e-11,-3.9778670264726074e-11,2.746989223126799e-15],"object_angular_velocity_rad_s":[-1.0067634965593663e-09,-3.2411551315754053e-10,-8.207361998195181e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000054603},{"geom_ids":[1,90],"normal_force_n":0.09810000000696029},{"geom_ids":[1,90],"normal_force_n":0.09809999999453976},{"geom_ids":[1,90],"normal_force_n":0.0980999999930397}],"native_actuator_controls":[0.29530428906853023,1.5129618728082412,-1.294296560897892,-0.13038451039565171,0.9666654864907358,0.24038127683150906,0.035],"actuator_force_native":[0.24592300335237738,0.057056210533588114,0.30034954089184396,-0.29620425611266743,-0.22016192304096727,0.2957718192517178,0.00044234132994369624],"issued_joint_targets_rad":[0.29631329146170593,1.5134745250250936,-1.29499511430625,-0.13242037167032694,0.9677811510864878,0.2440647231772532],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.159999999997037,"joint_targets_rad":[0.29631329146170593,1.5134745250250936,-1.29499511430625,-0.13242037167032694,0.9677811510864878,0.2440647231772532],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.179999999997026,"qpos":[0.2895577009016984,1.5128783700265844,-1.3030579989380606,-0.10917079715331551,0.9922051011060815,0.1877539208747951,0.034997905203252654,-0.03499911755882642,0.35527284515346486,0.08439459326657647,0.07989224457978368,0.9954304319609759,-1.645947144971681e-11,-3.6085571512736567e-12,0.09548955506223199],"qvel":[0.05866303292127543,-7.899000704456682e-05,0.09397660235915604,-0.12664591411532372,-0.024163628711783798,0.17794525051296017,-5.524369970117132e-05,-0.0002684264704023702,6.3231844599186414e-12,-1.9641028979167985e-11,2.7414381080036737e-15,6.877172070518758e-10,8.305650625182888e-11,-8.892494247924581e-21],"joint_position_rad":[0.2895577009016984,1.5128783700265844,-1.3030579989380606,-0.10917079715331551,0.9922051011060815,0.1877539208747951],"joint_velocity_rad_s":[0.05866303292127543,-7.899000704456682e-05,0.09397660235915604,-0.12664591411532372,-0.024163628711783798,0.17794525051296017],"gripper_joint_position_m":[0.034997905203252654,-0.03499911755882642],"tcp_position_m":[0.34710225311719806,0.08479354620723688,0.21035855789554375],"tcp_quaternion_wxyz":[0.23141683134342098,-0.06820010113789145,0.9704546719809737,0.0035673528073811413],"object_position_m":[0.35527284515346486,0.08439459326657647,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.645947144971681e-11,-3.6085571512736567e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.3231844599186414e-12,-1.9641028979167985e-11,2.7414381080036737e-15],"object_angular_velocity_rad_s":[6.593860702526872e-10,2.1228130031330863e-10,-8.892499301375963e-21],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000057376},{"geom_ids":[1,90],"normal_force_n":0.09810000000073149},{"geom_ids":[1,90],"normal_force_n":0.0980999999994262},{"geom_ids":[1,90],"normal_force_n":0.0980999999992686}],"native_actuator_controls":[0.29631329146170593,1.5134745250250936,-1.29499511430625,-0.13242037167032694,0.9677811510864878,0.2440647231772532,0.035],"actuator_force_native":[0.24713208019422694,0.04808734991597419,0.17514775874906263,-0.2967534101038378,-0.20799405712826236,0.2961901472551407,0.00036001036839983236],"issued_joint_targets_rad":[0.29728426249945483,1.5140227632512435,-1.2957570669697815,-0.13437030808273775,0.9689786479191159,0.24775392087479509],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.179999999997026,"joint_targets_rad":[0.29728426249945483,1.5140227632512435,-1.2957570669697815,-0.13437030808273775,0.9689786479191159,0.24775392087479509],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.199999999997015,"qpos":[0.29073870110389505,1.512933868668514,-1.30145268208669,-0.11178510491498349,0.9917623637478251,0.19142928814668797,0.03499838026801631,-0.03500139053941994,0.3552728451536518,0.08439459326599558,0.07989224457978368,0.9954304319609759,-1.7512502548903263e-11,-3.839376623481673e-12,0.09548955506223199],"qvel":[0.05451928550706261,0.00427674594889098,0.0685843342114196,-0.1213827201113393,-0.021167363540869757,0.17733700577020434,-7.260215255192036e-05,-0.00017641772363142627,6.828538603284534e-12,-2.1210923844832563e-11,2.748377001907581e-15,5.874398574518428e-10,7.094590342154855e-11,-1.6233529561031405e-20],"joint_position_rad":[0.29073870110389505,1.512933868668514,-1.30145268208669,-0.11178510491498349,0.9917623637478251,0.19142928814668797],"joint_velocity_rad_s":[0.05451928550706261,0.00427674594889098,0.0685843342114196,-0.1213827201113393,-0.021167363540869757,0.17733700577020434],"gripper_joint_position_m":[0.03499838026801631,-0.03500139053941994],"tcp_position_m":[0.34691852452921645,0.08470480674666062,0.2098734185088246],"tcp_quaternion_wxyz":[0.2311042088334539,-0.06749583561222151,0.9705808789272495,0.002813235731167987],"object_position_m":[0.3552728451536518,0.08439459326599558,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7512502548903263e-11,-3.839376623481673e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.828538603284534e-12,-2.1210923844832563e-11,2.748377001907581e-15],"object_angular_velocity_rad_s":[5.632397328916109e-10,1.8132818486800838e-10,-1.623358812254318e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000202575},{"geom_ids":[1,90],"normal_force_n":0.09810000000258223},{"geom_ids":[1,90],"normal_force_n":0.09809999999797425},{"geom_ids":[1,90],"normal_force_n":0.0980999999974178}],"native_actuator_controls":[0.29728426249945483,1.5140227632512435,-1.2957570669697815,-0.13437030808273775,0.9689786479191159,0.24775392087479509,0.035],"actuator_force_native":[0.25104848410947156,0.06572783687389006,0.11272753829558724,-0.2964945261534746,-0.19608611297578626,0.29724081862576446,0.0004278000421071848],"issued_joint_targets_rad":[0.2982397588708892,1.5144468480850213,-1.2963197396393107,-0.13630445226185628,0.9699129688003566,0.25142928814668797],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.199999999997015,"joint_targets_rad":[0.2982397588708892,1.5144468480850213,-1.2963197396393107,-0.13630445226185628,0.9699129688003566,0.25142928814668797],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.219999999997004,"qpos":[0.2918430317006512,1.5130433562453247,-1.3003658171600505,-0.11430113310938293,0.9913662279569866,0.19510017944398717,0.03499819826713807,-0.035001621364386046,0.35527284515383395,0.08439459326542939,0.07989224457978368,0.9954304319609759,-1.829898099828137e-11,-4.0117409878440916e-12,0.09548955506223199],"qvel":[0.05104302899553942,0.005932971819135332,0.04263031271809404,-0.11686749354703484,-0.019319586279999735,0.177388079338762,-8.014597907558997e-05,-0.00011915570016840641,7.457218880632945e-12,-2.3163995484719596e-11,2.7442136655652368e-15,4.0907783887759386e-10,4.940540131106755e-11,-2.962806950242687e-20],"joint_position_rad":[0.2918430317006512,1.5130433562453247,-1.3003658171600505,-0.11430113310938293,0.9913662279569866,0.19510017944398717],"joint_velocity_rad_s":[0.05104302899553942,0.005932971819135332,0.04263031271809404,-0.11686749354703484,-0.019319586279999735,0.177388079338762],"gripper_joint_position_m":[0.03499819826713807,-0.035001621364386046],"tcp_position_m":[0.34683081712276753,0.08463364672331385,0.20954280870029737],"tcp_quaternion_wxyz":[0.2309840429614825,-0.06672599882655166,0.9706644328473971,0.002138172773074799],"object_position_m":[0.35527284515383395,0.08439459326542939,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.829898099828137e-11,-4.0117409878440916e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.457218880632945e-12,-2.3163995484719596e-11,2.7442136655652368e-15],"object_angular_velocity_rad_s":[3.9222540279766585e-10,1.2627274187123058e-10,-2.9628179952722205e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000361466},{"geom_ids":[1,90],"normal_force_n":0.09810000000460761},{"geom_ids":[1,90],"normal_force_n":0.0980999999963853},{"geom_ids":[1,90],"normal_force_n":0.09809999999539247}],"native_actuator_controls":[0.2982397588708892,1.5144468480850213,-1.2963197396393107,-0.13630445226185628,0.9699129688003566,0.25142928814668797,0.035],"actuator_force_native":[0.2565230286413467,0.08261448808005412,0.11053463806872799,-0.2957952983637604,-0.18555321214630105,0.297208968018865,0.0004727992098552125],"issued_joint_targets_rad":[0.2991926541719575,1.514673753117129,-1.2965611332180007,-0.13826362419683472,0.9704216934420419,0.25510017944398716],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.219999999997004,"joint_targets_rad":[0.2991926541719575,1.514673753117129,-1.2965611332180007,-0.13826362419683472,0.9704216934420419,0.25510017944398716],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.239999999996993,"qpos":[0.2928870011700399,1.5131660990051603,-1.299745468291323,-0.11673755743008715,0.9909895206680518,0.19878073007030594,0.03499795891187672,-0.03500112098741124,0.3552728451540217,0.08439459326484615,0.07989224457978368,0.9954304319609759,-1.9691271612724548e-11,-4.316937828386021e-12,0.09548955506223199],"qvel":[0.04841942720465618,0.0060277684557463905,0.021585808580466215,-0.11322741486753252,-0.018810066284600285,0.17799055806493816,-7.772970164156673e-05,-0.00010217527046586143,8.571691209954427e-12,-2.6626010019452496e-11,2.744213665565237e-15,1.5938426966044103e-10,1.924995911058641e-11,-5.408208084720001e-20],"joint_position_rad":[0.2928870011700399,1.5131660990051603,-1.299745468291323,-0.11673755743008715,0.9909895206680518,0.19878073007030594],"joint_velocity_rad_s":[0.04841942720465618,0.0060277684557463905,0.021585808580466215,-0.11322741486753252,-0.018810066284600285,0.17799055806493816],"gripper_joint_position_m":[0.03499795891187672,-0.03500112098741124],"tcp_position_m":[0.3468306016861674,0.0845808216375035,0.20936589814147577],"tcp_quaternion_wxyz":[0.23106518933664832,-0.06589498892094582,0.970703021428173,0.0015404227158799825],"object_position_m":[0.3552728451540217,0.08439459326484615,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9691271612724548e-11,-4.316937828386021e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.571691209954427e-12,-2.6626010019452496e-11,2.744213665565237e-15],"object_angular_velocity_rad_s":[1.528181160179466e-10,4.919887963843024e-11,-5.4082167630296255e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000564366},{"geom_ids":[1,90],"normal_force_n":0.09810000000719388},{"geom_ids":[1,90],"normal_force_n":0.0980999999943563},{"geom_ids":[1,90],"normal_force_n":0.0980999999928062}],"native_actuator_controls":[0.2991926541719575,1.514673753117129,-1.2965611332180007,-0.13826362419683472,0.9704216934420419,0.25510017944398716,0.035],"actuator_force_native":[0.2623551041301262,0.09047348667876065,0.14681776296345106,-0.29490559633223956,-0.17746317283319968,0.29620865663940465,0.00047029203313897483],"issued_joint_targets_rad":[0.30014715263804587,1.5146984380490909,-1.2964710690486483,-0.14026024020004063,0.9704903204833827,0.25878073007030594],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.239999999996993,"joint_targets_rad":[0.30014715263804587,1.5146984380490909,-1.2964710690486483,-0.14026024020004063,0.9704903204833827,0.25878073007030594],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.259999999996982,"qpos":[0.2938879467468451,1.5132775434460581,-1.299460510032297,-0.1191118147669566,0.9906087779502781,0.20247951862570818,0.034997752328433475,-0.03500043648801753,0.3552728451542069,0.08439459326427068,0.07989224457978368,0.9954304319609759,-2.006261758559384e-11,-4.3983517465085804e-12,0.09548955506223199],"qvel":[0.046635901710167876,0.00508923141493523,0.008573719326575168,-0.1103958063740709,-0.019389185684861622,0.17898717334543485,-7.635058705835513e-05,-0.00010236418500852916,1.0115004999446707e-11,-3.141989739678439e-11,2.7372747716613304e-15,-2.5388453933865573e-10,-3.0661524562447547e-11,-9.87274938195213e-20],"joint_position_rad":[0.2938879467468451,1.5132775434460581,-1.299460510032297,-0.1191118147669566,0.9906087779502781,0.20247951862570818],"joint_velocity_rad_s":[0.046635901710167876,0.00508923141493523,0.008573719326575168,-0.1103958063740709,-0.019389185684861622,0.17898717334543485],"gripper_joint_position_m":[0.034997752328433475,-0.03500043648801753],"tcp_position_m":[0.3468946612837355,0.08454316480552646,0.20930861231322767],"tcp_quaternion_wxyz":[0.23130947982601988,-0.06501342707792558,0.9707049828987389,0.0010074808973910539],"object_position_m":[0.3552728451542069,0.08439459326427068,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-2.006261758559384e-11,-4.3983517465085804e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0115004999446707e-11,-3.141989739678439e-11,2.7372747716613304e-15],"object_angular_velocity_rad_s":[-2.4342561872654535e-10,-7.836744573669179e-11,-9.872743200246371e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000672248},{"geom_ids":[1,90],"normal_force_n":0.09810000000856903},{"geom_ids":[1,90],"normal_force_n":0.09809999999327759},{"geom_ids":[1,90],"normal_force_n":0.09809999999143093}],"native_actuator_controls":[0.30014715263804587,1.5146984380490909,-1.2964710690486483,-0.14026024020004063,0.9704903204833827,0.25878073007030594,0.035],"actuator_force_native":[0.2675569627452212,0.08822541116794014,0.196286682059025,-0.2939579854530061,-0.17210079614166318,0.2945313544278254,0.00047165979795305013],"issued_joint_targets_rad":[0.3011009818223769,1.5145602086127457,-1.296113104108776,-0.1422850980407795,0.9702028589165803,0.2624795186257082],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.259999999996982,"joint_targets_rad":[0.3011009818223769,1.5145602086127457,-1.296113104108776,-0.1422850980407795,0.9702028589165803,0.2624795186257082],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.27999999999697,"qpos":[0.29486087191980925,1.5133618230289656,-1.2993348097596802,-0.12143710455253287,0.9902068261661467,0.20620151457198835,0.03499756919546673,-0.034999862772322754,0.3552728451543861,0.08439459326371407,0.07989224457978368,0.9954304319609759,-1.9178781761552164e-11,-4.204591953419387e-12,0.09548955506223199],"qvel":[0.04552372914431394,0.003537429223368394,0.004984099834146591,-0.10813230756141415,-0.020643234220900267,0.18007261671307512,-7.130463979680314e-05,-0.00011875790638979625,1.2429744333610302e-11,-3.861016414838399e-11,2.7344992140997676e-15,-8.989755977714529e-10,-1.0856335909383035e-10,-1.8021041503244574e-19],"joint_position_rad":[0.29486087191980925,1.5133618230289656,-1.2993348097596802,-0.12143710455253287,0.9902068261661467,0.20620151457198835],"joint_velocity_rad_s":[0.04552372914431394,0.003537429223368394,0.004984099834146591,-0.10813230756141415,-0.020643234220900267,0.18007261671307512],"gripper_joint_position_m":[0.03499756919546673,-0.034999862772322754],"tcp_position_m":[0.3469906806746401,0.08451447724184377,0.20931774481550736],"tcp_quaternion_wxyz":[0.23165003307011953,-0.06409376188119538,0.9706853147749616,0.0005211014900058117],"object_position_m":[0.3552728451543861,0.08439459326371407,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9178781761552164e-11,-4.204591953419387e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.2429744333610302e-11,-3.861016414838399e-11,2.7344992140997676e-15],"object_angular_velocity_rad_s":[-8.619428287336346e-10,-2.7748457312242467e-10,-1.802104295038105e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000629872},{"geom_ids":[1,90],"normal_force_n":0.09810000000802915},{"geom_ids":[1,90],"normal_force_n":0.0980999999937013},{"geom_ids":[1,90],"normal_force_n":0.09809999999197089}],"native_actuator_controls":[0.3011009818223769,1.5145602086127457,-1.296113104108776,-0.1422850980407795,0.9702028589165803,0.2624795186257082,0.035],"actuator_force_native":[0.2715901464838417,0.07818370058556923,0.2328159529016034,-0.2932582017227938,-0.1690748211643136,0.2926711154675856,0.0004537553803147798],"issued_joint_targets_rad":[0.30204756588484794,1.5143242587987278,-1.295594265086337,-0.1443143436312428,0.9697013756496851,0.2662015145719884],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.27999999999697,"joint_targets_rad":[0.30204756588484794,1.5143242587987278,-1.295594265086337,-0.1443143436312428,0.9697013756496851,0.2662015145719884],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.29999999999696,"qpos":[0.2958163864149491,1.5134185158431839,-1.2992385782488558,-0.12372038932238813,0.989785183185713,0.20993676550622706,0.03499782605892401,-0.03499997270599704,0.3552728451545538,0.08439459326319328,0.07989224457978368,0.9954304319609759,-1.667301131227319e-11,-3.655246867044238e-12,0.09548955506223199],"qvel":[0.0448601980335536,0.002377469759578507,0.004670811564148432,-0.10617597422543229,-0.021330501686406947,0.18041464758893394,-5.837575086367402e-05,-0.00013416467199253577,6.390078821580081e-12,-1.9849310384063045e-11,2.7372747716613304e-15,7.215887244096773e-10,8.71419053330337e-11,-1.9524587159116342e-20],"joint_position_rad":[0.2958163864149491,1.5134185158431839,-1.2992385782488558,-0.12372038932238813,0.989785183185713,0.20993676550622706],"joint_velocity_rad_s":[0.0448601980335536,0.002377469759578507,0.004670811564148432,-0.10617597422543229,-0.021330501686406947,0.18041464758893394],"gripper_joint_position_m":[0.03499782605892401,-0.03499997270599704],"tcp_position_m":[0.34709312946080806,0.08448973801981517,0.20934873352618377],"tcp_quaternion_wxyz":[0.2320253462761152,-0.0631513106536134,0.9706575845957796,6.414722903165671e-05],"object_position_m":[0.3552728451545538,0.08439459326319328,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.667301131227319e-11,-3.655246867044238e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.390078821580081e-12,-1.9849310384063045e-11,2.7372747716613304e-15],"object_angular_velocity_rad_s":[6.918632287511608e-10,2.2273138881233943e-10,-1.952459229774608e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997912007},{"geom_ids":[1,90],"normal_force_n":0.09809999997338409},{"geom_ids":[1,90],"normal_force_n":0.0981000000208799},{"geom_ids":[1,90],"normal_force_n":0.09810000002661572}],"native_actuator_controls":[0.30204756588484794,1.5143242587987278,-1.295594265086337,-0.1443143436312428,0.9697013756496851,0.2662015145719884,0.035],"actuator_force_native":[0.27419336742413236,0.060572087645610395,0.26819099518075973,-0.2928783012270255,-0.16884232283066858,0.29202551927421183,0.0003788363973582509],"issued_joint_targets_rad":[0.30297918191567386,1.514049993038905,-1.2950127273799927,-0.14632160204350583,0.9691158833113992,0.269936765506227],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.29999999999696,"joint_targets_rad":[0.30297918191567386,1.514049993038905,-1.2950127273799927,-0.14632160204350583,0.9691158833113992,0.269936765506227],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.319999999996949,"qpos":[0.29676040265989156,1.5134535146748629,-1.2991215070549555,-0.125964045682014,0.9893511440510333,0.2136779384273883,0.034998001308190696,-0.03499999959592305,0.35527284515474844,0.08439459326258884,0.07989224457978368,0.9954304319609759,-1.7875988189205188e-11,-3.91898256645699e-12,0.09548955506223199],"qvel":[0.04439849990017502,0.0014687464892098648,0.006049733834379916,-0.10429581978544915,-0.02174102705522383,0.1805247071971341,-6.065934536846738e-05,-0.00012921671816729593,6.924138675804959e-12,-2.150821852910794e-11,2.7358869928805486e-15,6.382521391164329e-10,7.707766165181072e-11,-3.5648007378944276e-20],"joint_position_rad":[0.29676040265989156,1.5134535146748629,-1.2991215070549555,-0.125964045682014,0.9893511440510333,0.2136779384273883],"joint_velocity_rad_s":[0.04439849990017502,0.0014687464892098648,0.006049733834379916,-0.10429581978544915,-0.02174102705522383,0.1805247071971341],"gripper_joint_position_m":[0.034998001308190696,-0.03499999959592305],"tcp_position_m":[0.3471912440662921,0.08446733907441985,0.20938149686358765],"tcp_quaternion_wxyz":[0.2324054827260966,-0.06219461106023728,0.970628344831747,-0.00037170297146699193],"object_position_m":[0.35527284515474844,0.08439459326258884,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7875988189205188e-11,-3.91898256645699e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.924138675804959e-12,-2.150821852910794e-11,2.7358869928805486e-15],"object_angular_velocity_rad_s":[6.119596892669699e-10,1.9700786208851044e-10,-3.564799856406525e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000174326},{"geom_ids":[1,90],"normal_force_n":0.09810000000222208},{"geom_ids":[1,90],"normal_force_n":0.0980999999982568},{"geom_ids":[1,90],"normal_force_n":0.0980999999977779}],"native_actuator_controls":[0.30297918191567386,1.514049993038905,-1.2950127273799927,-0.14632160204350583,0.9691158833113992,0.269936765506227,0.035],"actuator_force_native":[0.27550984096170694,0.040374536677333595,0.29845370482513545,-0.2928231555324281,-0.1697410668135042,0.2918012099926859,0.00038324439921466613],"issued_joint_targets_rad":[0.303891555385515,1.5137660260256143,-1.2944160271932053,-0.14829272231899615,0.9685090808593864,0.2736779384273883],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.319999999996949,"joint_targets_rad":[0.303891555385515,1.5137660260256143,-1.2944160271932053,-0.14829272231899615,0.9685090808593864,0.2736779384273883],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.339999999996937,"qpos":[0.2976948456472926,1.5134689560623866,-1.29894490993468,-0.12816799151566075,0.9889061641751836,0.21742461139444982,0.03499810843707416,-0.035000055088517626,0.35527284515493857,0.08439459326199811,0.07989224457978368,0.9954304319609759,-1.880545733859905e-11,-4.12275658238105e-12,0.09548955506223199],"qvel":[0.04396719551926662,0.0005198537387929047,0.010034124996524486,-0.10240458813379467,-0.022272929420004497,0.1807811456536197,-6.177939242820906e-05,-0.00013092493450986926,7.549505550387216e-12,-2.3450752777166273e-11,2.7386625504421113e-15,4.782602985228519e-10,5.775669470712357e-11,-6.508665885306079e-20],"joint_position_rad":[0.2976948456472926,1.5134689560623866,-1.29894490993468,-0.12816799151566075,0.9889061641751836,0.21742461139444982],"joint_velocity_rad_s":[0.04396719551926662,0.0005198537387929047,0.010034124996524486,-0.10240458813379467,-0.022272929420004497,0.1807811456536197],"gripper_joint_position_m":[0.03499810843707416,-0.035000055088517626],"tcp_position_m":[0.3472774153985731,0.08444564421921363,0.20940177085816555],"tcp_quaternion_wxyz":[0.23277030983057026,-0.06122617137226857,0.970602242464479,-0.0007910268000375138],"object_position_m":[0.35527284515493857,0.08439459326199811,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.880545733859905e-11,-4.12275658238105e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.549505550387216e-12,-2.3450752777166273e-11,2.7386625504421113e-15],"object_angular_velocity_rad_s":[4.585585813344313e-10,1.4762376641724116e-10,-6.508665613707538e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000335722},{"geom_ids":[1,90],"normal_force_n":0.09810000000427932},{"geom_ids":[1,90],"normal_force_n":0.09809999999664282},{"geom_ids":[1,90],"normal_force_n":0.09809999999572062}],"native_actuator_controls":[0.303891555385515,1.5137660260256143,-1.2944160271932053,-0.14829272231899615,0.9685090808593864,0.2736779384273883,0.035],"actuator_force_native":[0.2759008014614608,0.021166328364245146,0.3121399943353538,-0.29296629146444264,-0.17056143902796528,0.2913615518489552,0.00038455947917470645],"issued_joint_targets_rad":[0.3047820411229405,1.5134905782189472,-1.2938345508921754,-0.1502185592447917,0.9679209180267425,0.27742461139444985],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.339999999996937,"joint_targets_rad":[0.3047820411229405,1.5134905782189472,-1.2938345508921754,-0.1502185592447917,0.9679209180267425,0.27742461139444985],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.359999999996926,"qpos":[0.298618904178305,1.5134677579829894,-1.2986803074526898,-0.13033060636234542,0.9884531908012439,0.22117377307213704,0.03499800946815079,-0.03499995554599928,0.3552728451551236,0.08439459326142343,0.07989224457978368,0.9954304319609759,-1.9317119871559058e-11,-4.234943401560106e-12,0.09548955506223199],"qvel":[0.04346090601603396,-0.00021208780989534615,0.014627075056867675,-0.1004449105183859,-0.022565210299721174,0.1808540881505643,-6.467292881715332e-05,-0.00012744203420709648,8.387990984067739e-12,-2.605523076866126e-11,2.7456014443460186e-15,2.1218741638743858e-10,2.5623612500701477e-11,-1.1882328639696322e-19],"joint_position_rad":[0.298618904178305,1.5134677579829894,-1.2986803074526898,-0.13033060636234542,0.9884531908012439,0.22117377307213704],"joint_velocity_rad_s":[0.04346090601603396,-0.00021208780989534615,0.014627075056867675,-0.1004449105183859,-0.022565210299721174,0.1808540881505643],"gripper_joint_position_m":[0.03499800946815079,-0.03499995554599928],"tcp_position_m":[0.3473459302236563,0.08442280602491548,0.20939835025945783],"tcp_quaternion_wxyz":[0.2331033224827609,-0.06024784815339788,0.9705831255369776,-0.001197607303985028],"object_position_m":[0.3552728451551236,0.08439459326142343,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9317119871559058e-11,-4.234943401560106e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.387990984067739e-12,-2.605523076866126e-11,2.7456014443460186e-15],"object_angular_velocity_rad_s":[2.0344664520220006e-10,6.549451692113089e-11,-1.1882323928359638e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000493684},{"geom_ids":[1,90],"normal_force_n":0.09810000000629322},{"geom_ids":[1,90],"normal_force_n":0.09809999999506308},{"geom_ids":[1,90],"normal_force_n":0.0980999999937069}],"native_actuator_controls":[0.3047820411229405,1.5134905782189472,-1.2938345508921754,-0.1502185592447917,0.9679209180267425,0.27742461139444985,0.035],"actuator_force_native":[0.2757464254906701,0.002886057926104968,0.31452514955682886,-0.2932935627059212,-0.17147491229543377,0.29122725099728175,0.00040298591805409956],"issued_joint_targets_rad":[0.30564845339122054,1.5132380544512634,-1.2932924505510779,-0.152091372828001,0.9673830178869429,0.28117377307213703],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.359999999996926,"joint_targets_rad":[0.30564845339122054,1.5132380544512634,-1.2932924505510779,-0.152091372828001,0.9673830178869429,0.28117377307213703],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.379999999996915,"qpos":[0.2995302384321473,1.5134546290427182,-1.2983292849796755,-0.13244977222270446,0.987997365541697,0.22492211900895623,0.03499810774724986,-0.03500019193299063,0.3552728451553023,0.0843945932608684,0.07989224457978368,0.9954304319609759,-1.91921469955034e-11,-4.207561852390123e-12,0.09548955506223199],"qvel":[0.042819591717969736,-0.0007197946053379728,0.018657912151624923,-0.09838811393467256,-0.022620224525730506,0.18080875417772407,-6.044959534270667e-05,-0.00012856861350286287,9.650450983007186e-12,-2.997666955299936e-11,2.7469892231268e-15,-2.013597729783108e-10,-2.431886855940346e-11,-2.1691829090365963e-19],"joint_position_rad":[0.2995302384321473,1.5134546290427182,-1.2983292849796755,-0.13244977222270446,0.987997365541697,0.22492211900895623],"joint_velocity_rad_s":[0.042819591717969736,-0.0007197946053379728,0.018657912151624923,-0.09838811393467256,-0.022620224525730506,0.18080875417772407],"gripper_joint_position_m":[0.03499810774724986,-0.03500019193299063],"tcp_position_m":[0.3473966398097892,0.08439815387714311,0.20936952834035472],"tcp_quaternion_wxyz":[0.23340031975904357,-0.059259788355970205,0.9705720130310009,-0.001592401121714744],"object_position_m":[0.3552728451553023,0.0843945932608684,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.91921469955034e-11,-4.207561852390123e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.650450983007186e-12,-2.997666955299936e-11,2.7469892231268e-15],"object_angular_velocity_rad_s":[-1.9306450042030799e-10,-6.2155162451265e-11,-2.169182328503389e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000601422},{"geom_ids":[1,90],"normal_force_n":0.09810000000766646},{"geom_ids":[1,90],"normal_force_n":0.0980999999939858},{"geom_ids":[1,90],"normal_force_n":0.09809999999233356}],"native_actuator_controls":[0.30564845339122054,1.5132380544512634,-1.2932924505510779,-0.152091372828001,0.9673830178869429,0.28117377307213703,0.035],"actuator_force_native":[0.2753592381360086,-0.013726994289697814,0.3096571935296737,-0.29372345453849835,-0.17221313975894503,0.29130340936522225,0.000377938086719265],"issued_joint_targets_rad":[0.30649027563062314,1.513011344176934,-1.292794803809803,-0.15390906435551124,0.9669018037713473,0.28492211900895625],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.379999999996915,"joint_targets_rad":[0.30649027563062314,1.513011344176934,-1.292794803809803,-0.15390906435551124,0.9669018037713473,0.28492211900895625],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.399999999996904,"qpos":[0.30042593967203374,1.5134334876835749,-1.2979099056327676,-0.1345235669103961,0.9875427045399897,0.22866787220335158,0.03499800650303385,-0.03500015294301815,0.3552728451554724,0.0843945932603397,0.07989224457978368,0.9954304319609759,-1.8117684212840175e-11,-3.972018135305668e-12,0.09548955506223199],"qvel":[0.042030939336470514,-0.0010616258697875689,0.021560212948366436,-0.0962478140082872,-0.02251112125640512,0.18070734853577283,-6.332794247749089e-05,-0.00011931423674366164,1.1700382507111963e-11,-3.6344085779357766e-11,2.7456014443460186e-15,-8.196362497950723e-10,-9.89878228879853e-11,-3.960549751857547e-19],"joint_position_rad":[0.30042593967203374,1.5134334876835749,-1.2979099056327676,-0.1345235669103961,0.9875427045399897,0.22866787220335158],"joint_velocity_rad_s":[0.042030939336470514,-0.0010616258697875689,0.021560212948366436,-0.0962478140082872,-0.02251112125640512,0.18070734853577283],"gripper_joint_position_m":[0.03499800650303385,-0.03500015294301815],"tcp_position_m":[0.3474327062538361,0.08437180614222252,0.20931966371587238],"tcp_quaternion_wxyz":[0.23366580198396086,-0.05826055636589325,0.9705679280544918,-0.0019742307717253195],"object_position_m":[0.3552728451554724,0.0843945932603397,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8117684212840175e-11,-3.972018135305668e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1700382507111963e-11,-3.6344085779357766e-11,2.7456014443460186e-15],"object_angular_velocity_rad_s":[-7.858707244793626e-10,-2.530007420236402e-10,-3.960548598111199e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000572017},{"geom_ids":[1,90],"normal_force_n":0.09810000000729155},{"geom_ids":[1,90],"normal_force_n":0.09809999999427983},{"geom_ids":[1,90],"normal_force_n":0.09809999999270845}],"native_actuator_controls":[0.30649027563062314,1.513011344176934,-1.292794803809803,-0.15390906435551124,0.9669018037713473,0.28492211900895625,0.035],"actuator_force_native":[0.2749921800048014,-0.02846335118233867,0.3014070810953342,-0.294180827763169,-0.17264232580181726,0.2914814452523875,0.0003963795910335577],"issued_joint_targets_rad":[0.3073082743684773,1.512805340273777,-1.2923333714288865,-0.15567388025885076,0.9664661789725308,0.28866787220335155],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.399999999996904,"joint_targets_rad":[0.3073082743684773,1.512805340273777,-1.2923333714288865,-0.15567388025885076,0.9664661789725308,0.28866787220335155],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.419999999996893,"qpos":[0.3013033122211131,1.513406806918992,-1.2974461320727526,-0.13655087108487346,0.9870914893071945,0.23241052739257814,0.03499788491184631,-0.035000075066693025,0.3552728451556394,0.08439459325982089,0.07989224457978368,0.9954304319609759,-1.683726870786e-11,-3.691319718430928e-12,0.09548955506223199],"qvel":[0.04111755355096234,-0.0013105658351853934,0.02323762577608444,-0.0940624962309024,-0.022322335982747105,0.18059908730803284,-5.8278198524262174e-05,-0.00012032759867120339,1.5153072413987586e-11,-4.706888813522829e-11,2.742825886784456e-15,-1.7194152882799372e-09,-2.076514556442776e-10,-7.23097020324899e-19],"joint_position_rad":[0.3013033122211131,1.513406806918992,-1.2974461320727526,-0.13655087108487346,0.9870914893071945,0.23241052739257814],"joint_velocity_rad_s":[0.04111755355096234,-0.0013105658351853934,0.02323762577608444,-0.0940624962309024,-0.022322335982747105,0.18059908730803284],"gripper_joint_position_m":[0.03499788491184631,-0.035000075066693025],"tcp_position_m":[0.3474586177104257,0.08434426258202664,0.20925584174834344],"tcp_quaternion_wxyz":[0.23390862057611836,-0.05724809188630878,0.9705688708117218,-0.002340984154844095],"object_position_m":[0.3552728451556394,0.08439459325982089,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.683726870786e-11,-3.691319718430928e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.5153072413987586e-11,-4.706888813522829e-11,2.742825886784456e-15],"object_angular_velocity_rad_s":[-1.6485832793048031e-09,-5.307364994030251e-10,-7.230969430863449e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000441302},{"geom_ids":[1,90],"normal_force_n":0.09810000000562523},{"geom_ids":[1,90],"normal_force_n":0.09809999999558698},{"geom_ids":[1,90],"normal_force_n":0.0980999999943748}],"native_actuator_controls":[0.3073082743684773,1.512805340273777,-1.2923333714288865,-0.15567388025885076,0.9664661789725308,0.28866787220335155,0.035],"actuator_force_native":[0.2748092040343231,-0.0415645024412612,0.29283272262885873,-0.29460788580457997,-0.1727695993725149,0.2916748171456849,0.00037599451876912937],"issued_joint_targets_rad":[0.3081039784168006,1.5126111497943098,-1.2918935394596656,-0.1573905761153084,0.9660567153651162,0.2924105273925781],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.419999999996893,"joint_targets_rad":[0.3081039784168006,1.5126111497943098,-1.2918935394596656,-0.1573905761153084,0.9660567153651162,0.2924105273925781],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.439999999996882,"qpos":[0.3021603845457254,1.5133756406963939,-1.2969602979465062,-0.13853156796578395,0.9866443828339897,0.23615046132628134,0.03499781966586742,-0.035000041875559426,0.3552728451558255,0.08439459325924267,0.07989224457978368,0.9954304319609759,-1.7567622509921102e-11,-3.851446044110236e-12,0.09548955506223199],"qvel":[0.04012115548391649,-0.001530690082951265,0.02389694472356348,-0.09187825372329506,-0.02212542640223954,0.1805152302745865,-5.476226090909961e-05,-0.00011852430562222,6.746114381196122e-12,-2.0954972509306448e-11,2.7456014443460186e-15,6.426249935923229e-10,7.760796771503281e-11,-7.833991910031627e-20],"joint_position_rad":[0.3021603845457254,1.5133756406963939,-1.2969602979465062,-0.13853156796578395,0.9866443828339897,0.23615046132628134],"joint_velocity_rad_s":[0.04012115548391649,-0.001530690082951265,0.02389694472356348,-0.09187825372329506,-0.02212542640223954,0.1805152302745865],"gripper_joint_position_m":[0.03499781966586742,-0.035000041875559426],"tcp_position_m":[0.34747871389189944,0.08431610612984083,0.20918526599680615],"tcp_quaternion_wxyz":[0.23413837691080538,-0.05622044854844347,0.9705726364211018,-0.002690548861618496],"object_position_m":[0.3552728451558255,0.08439459325924267,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7567622509921102e-11,-3.851446044110236e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.746114381196122e-12,-2.0954972509306448e-11,2.7456014443460186e-15],"object_angular_velocity_rad_s":[6.161519835512112e-10,1.983598049209998e-10,-7.833990508179459e-20],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000169891},{"geom_ids":[1,90],"normal_force_n":0.0981000000021656},{"geom_ids":[1,90],"normal_force_n":0.09809999999830109},{"geom_ids":[1,90],"normal_force_n":0.09809999999783442}],"native_actuator_controls":[0.3081039784168006,1.5126111497943098,-1.2918935394596656,-0.1573905761153084,0.9660567153651162,0.2924105273925781,0.035],"actuator_force_native":[0.2748817322664294,-0.05350582175196905,0.2858559553294384,-0.2949690573645034,-0.17268853508537596,0.29182781525108803,0.0003610246698486641],"issued_joint_targets_rad":[0.3088791772084565,1.5124194568925207,-1.291459897385137,-0.15906470198296108,0.9656530034533772,0.2961504613262813],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.439999999996882,"joint_targets_rad":[0.3088791772084565,1.5124194568925207,-1.291459897385137,-0.15906470198296108,0.9656530034533772,0.2961504613262813],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.459999999996871,"qpos":[0.30299609273407807,1.5133399623399808,-1.2964689104465361,-0.14046645656214207,0.9862008609599456,0.23988850941917045,0.034997788968897874,-0.035000013406134664,0.35527284515601976,0.08439459325863946,0.07989224457978368,0.9954304319609759,-1.8963387689158938e-11,-4.157453581983177e-12,0.09548955506223199],"qvel":[0.0390875320401186,-0.001766621003980537,0.02388432460401715,-0.08973609819225359,-0.02196864234512478,0.18046956809784384,-5.224250882019192e-05,-0.00011572859040444037,7.50070619901315e-12,-2.329888379181841e-11,2.7456014443460186e-15,5.212512679070224e-10,6.295006901289229e-11,-1.4302218629239646e-19],"joint_position_rad":[0.30299609273407807,1.5133399623399808,-1.2964689104465361,-0.14046645656214207,0.9862008609599456,0.23988850941917045],"joint_velocity_rad_s":[0.0390875320401186,-0.001766621003980537,0.02388432460401715,-0.08973609819225359,-0.02196864234512478,0.18046956809784384],"gripper_joint_position_m":[0.034997788968897874,-0.035000013406134664],"tcp_position_m":[0.3474963245150181,0.08428781201199467,0.20911365040555488],"tcp_quaternion_wxyz":[0.23436307622971136,-0.05517623509782706,0.9705773553895515,-0.0030213880254032206],"object_position_m":[0.35527284515601976,0.08439459325863946,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8963387689158938e-11,-4.157453581983177e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.50070619901315e-12,-2.329888379181841e-11,2.7456014443460186e-15],"object_angular_velocity_rad_s":[4.997782516776321e-10,1.6089529089894085e-10,-1.4302216972561277e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000324552},{"geom_ids":[1,90],"normal_force_n":0.09810000000413731},{"geom_ids":[1,90],"normal_force_n":0.09809999999675438},{"geom_ids":[1,90],"normal_force_n":0.09809999999586279}],"native_actuator_controls":[0.3088791772084565,1.5124194568925207,-1.291459897385137,-0.15906470198296108,0.9656530034533772,0.2961504613262813,0.035],"actuator_force_native":[0.2752090977496806,-0.06480733077690104,0.28129942189184476,-0.29524932587149255,-0.1725256115479965,0.2919151669243427,0.0003496537881861883],"issued_joint_targets_rad":[0.30963555208179067,1.5122226274354647,-1.2910197551246192,-0.16070136586956849,0.9652382732364407,0.29988850941917045],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.459999999996871,"joint_targets_rad":[0.30963555208179067,1.5122226274354647,-1.2910197551246192,-0.16070136586956849,0.9652382732364407,0.29988850941917045],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.47999999999686,"qpos":[0.30381022705054833,1.5132991027620568,-1.2959813482181985,-0.14235699288226825,0.9857597265238577,0.2436256107018594,0.034997807021007576,-0.035000013249558495,0.35527284515621094,0.08439459325804552,0.07989224457978368,0.9954304319609759,-1.9802947168461753e-11,-4.341523861923208e-12,0.09548955506223199],"qvel":[0.03805660734662043,-0.002041677892778964,0.023556732716007656,-0.08766441892358143,-0.021875951389396367,0.18046227433673298,-4.955495722171992e-05,-0.00011381806371567106,8.379424275436673e-12,-2.6028336784751936e-11,2.749764780688363e-15,2.8876430771040177e-10,3.487292409776036e-11,-2.611249111803927e-19],"joint_position_rad":[0.30381022705054833,1.5132991027620568,-1.2959813482181985,-0.14235699288226825,0.9857597265238577,0.2436256107018594],"joint_velocity_rad_s":[0.03805660734662043,-0.002041677892778964,0.023556732716007656,-0.08766441892358143,-0.021875951389396367,0.18046227433673298],"gripper_joint_position_m":[0.034997807021007576,-0.035000013249558495],"tcp_position_m":[0.34751345918964555,0.08425966566165934,0.20904456205610958],"tcp_quaternion_wxyz":[0.23458804638857908,-0.054114779113801234,0.9705817491862112,-0.003332764571475624],"object_position_m":[0.35527284515621094,0.08439459325804552,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9802947168461753e-11,-4.341523861923208e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.379424275436673e-12,-2.6028336784751936e-11,2.749764780688363e-15],"object_angular_velocity_rad_s":[2.768686877640034e-10,8.913291187005076e-11,-2.611248829225745e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000484659},{"geom_ids":[1,90],"normal_force_n":0.09810000000617802},{"geom_ids":[1,90],"normal_force_n":0.09809999999515345},{"geom_ids":[1,90],"normal_force_n":0.09809999999382193}],"native_actuator_controls":[0.30963555208179067,1.5122226274354647,-1.2910197551246192,-0.16070136586956849,0.9652382732364407,0.29988850941917045,0.035],"actuator_force_native":[0.275742965766284,-0.07590963666346795,0.27914378390630645,-0.2954528248741033,-0.17240060579007555,0.2919355756680111,0.000335493945805565],"issued_joint_targets_rad":[0.31037446061065954,1.5120156028714833,-1.290564662640441,-0.1623045432888235,0.9648013793043236,0.3036256107018594],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.47999999999686,"joint_targets_rad":[0.31037446061065954,1.5120156028714833,-1.290564662640441,-0.1623045432888235,0.9648013793043236,0.3036256107018594],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.499999999996849,"qpos":[0.3046032398467999,1.5132521509877637,-1.2955005853574544,-0.14420497897822948,0.9853195617408234,0.24736256927764513,0.03499784160096242,-0.03500000573078196,0.3552728451563972,0.08439459325746722,0.07989224457978368,0.9954304319609759,-1.99552508006383e-11,-4.37493422600446e-12,0.09548955506223199],"qvel":[0.03705699085251862,-0.00236145074398437,0.0232020110364928,-0.0856774125735491,-0.021851581707122553,0.1804851807894233,-4.809088217156483e-05,-0.0001111207004570215,9.59419859622718e-12,-2.9801581614797284e-11,2.7400503292228935e-15,-9.087376863920923e-11,-1.0976923661286069e-11,-4.7676729745919415e-19],"joint_position_rad":[0.3046032398467999,1.5132521509877637,-1.2955005853574544,-0.14420497897822948,0.9853195617408234,0.24736256927764513],"joint_velocity_rad_s":[0.03705699085251862,-0.00236145074398437,0.0232020110364928,-0.0856774125735491,-0.021851581707122553,0.1804851807894233],"gripper_joint_position_m":[0.03499784160096242,-0.03500000573078196],"tcp_position_m":[0.34753089700583567,0.08423176272920396,0.20897947963272753],"tcp_quaternion_wxyz":[0.2348158526928368,-0.053036082967124275,0.9705851589469418,-0.0036247013090944663],"object_position_m":[0.3552728451563972,0.08439459325746722,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.99552508006383e-11,-4.37493422600446e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.59419859622718e-12,-2.9801581614797284e-11,2.7400503292228935e-15],"object_angular_velocity_rad_s":[-8.71297645869269e-11,-2.8052429534443144e-11,-4.767672102790711e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000610998},{"geom_ids":[1,90],"normal_force_n":0.09810000000778854},{"geom_ids":[1,90],"normal_force_n":0.09809999999388998},{"geom_ids":[1,90],"normal_force_n":0.09809999999221154}],"native_actuator_controls":[0.31037446061065954,1.5120156028714833,-1.290564662640441,-0.1623045432888235,0.9648013793043236,0.3036256107018594,0.035],"actuator_force_native":[0.27641270684618036,-0.08711659558251483,0.2788637621786165,-0.29559550955601477,-0.1724044518043133,0.29190264305800717,0.00032679037236116315],"issued_joint_targets_rad":[0.31109686067811776,1.5117958763806707,-1.2900904040862333,-0.16387687070052306,0.9643367755565957,0.30736256927764516],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.499999999996849,"joint_targets_rad":[0.31109686067811776,1.5117958763806707,-1.2900904040862333,-0.16387687070052306,0.9643367755565957,0.30736256927764516],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.519999999996838,"qpos":[0.305375994515659,1.5131982446128327,-1.2950249843991897,-0.14601228745804806,0.9848790474368267,0.2510999370777788,0.03499787957230911,-0.0349999860516662,0.35527284515657587,0.08439459325691226,0.07989224457978368,0.9954304319609759,-1.91669339391147e-11,-4.202119302381501e-12,0.09548955506223199],"qvel":[0.03610455368591027,-0.0027197911448224635,0.023005361033438382,-0.08377696442532781,-0.021887034868192067,0.18052677263532452,-4.703682777950746e-05,-0.00010867656521726305,1.1491863421641115e-11,-3.5696028701375545e-11,2.740050329222893e-15,-6.697444575221262e-10,-8.088657245130101e-11,-8.70457026904895e-19],"joint_position_rad":[0.305375994515659,1.5131982446128327,-1.2950249843991897,-0.14601228745804806,0.9848790474368267,0.2510999370777788],"joint_velocity_rad_s":[0.03610455368591027,-0.0027197911448224635,0.023005361033438382,-0.08377696442532781,-0.021887034868192067,0.18052677263532452],"gripper_joint_position_m":[0.03499787957230911,-0.0349999860516662],"tcp_position_m":[0.3475484998538947,0.08420405345939615,0.2089182719301582],"tcp_quaternion_wxyz":[0.2350468322658844,-0.05194065498096523,0.9705874315261034,-0.003897789820283947],"object_position_m":[0.35527284515657587,0.08439459325691226,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.91669339391147e-11,-4.202119302381501e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1491863421641115e-11,-3.5696028701375545e-11,2.740050329222893e-15],"object_angular_velocity_rad_s":[-6.421535992962966e-10,-2.0673420349650976e-10,-8.704569703818122e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000624977},{"geom_ids":[1,90],"normal_force_n":0.09810000000796672},{"geom_ids":[1,90],"normal_force_n":0.09809999999375024},{"geom_ids":[1,90],"normal_force_n":0.09809999999203328}],"native_actuator_controls":[0.31109686067811776,1.5117958763806707,-1.2900904040862333,-0.16387687070052306,0.9643367755565957,0.30736256927764516,0.035],"actuator_force_native":[0.2771465245671507,-0.09859050284885029,0.27973961986931783,-0.2956985075723608,-0.17259216650002251,0.29183616304567694,0.00032000124653319695],"issued_joint_targets_rad":[0.31180334018709854,1.5115629243356827,-1.2895960767452144,-0.16541978832350565,0.9638432860108792,0.3110999370777788],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.519999999996838,"joint_targets_rad":[0.31180334018709854,1.5115629243356827,-1.2895960767452144,-0.16541978832350565,0.9638432860108792,0.3110999370777788],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.539999999996827,"qpos":[0.30612952626207046,1.5131367313145612,-1.2945503523770912,-0.1477806655588063,0.9844371324625786,0.2548379958981489,0.03499806845187269,-0.035000161086211255,0.35527284515674323,0.08439459325639236,0.07989224457978368,0.9954304319609759,-1.7043327210584036e-11,-3.73655181428953e-12,0.09548955506223199],"qvel":[0.035204079519963204,-0.00310494820998449,0.02305099494536874,-0.08195635194774295,-0.021968102766793184,0.18057593094098698,-4.546882395775734e-05,-0.0001064606866336788,1.464383826086812e-11,-4.5486580076321525e-11,2.745601444346019e-15,-1.5217575599355939e-09,-1.8378632984331445e-10,-1.5892401034264475e-18],"joint_position_rad":[0.30612952626207046,1.5131367313145612,-1.2945503523770912,-0.1477806655588063,0.9844371324625786,0.2548379958981489],"joint_velocity_rad_s":[0.035204079519963204,-0.00310494820998449,0.02305099494536874,-0.08195635194774295,-0.021968102766793184,0.18057593094098698],"gripper_joint_position_m":[0.03499806845187269,-0.035000161086211255],"tcp_position_m":[0.347565594874016,0.08417640281390809,0.20885982807953946],"tcp_quaternion_wxyz":[0.23527988884504,-0.05082929734260589,0.9705887437353742,-0.004152947255928601],"object_position_m":[0.35527284515674323,0.08439459325639236,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7043327210584036e-11,-3.73655181428953e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.464383826086812e-11,-4.5486580076321525e-11,2.745601444346019e-15],"object_angular_velocity_rad_s":[-1.459067051733002e-09,-4.69730587470695e-10,-1.5892400059323129e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000386751},{"geom_ids":[1,90],"normal_force_n":0.09810000000493012},{"geom_ids":[1,90],"normal_force_n":0.09809999999613246},{"geom_ids":[1,90],"normal_force_n":0.09809999999506995}],"native_actuator_controls":[0.31180334018709854,1.5115629243356827,-1.2895960767452144,-0.16541978832350565,0.9638432860108792,0.3110999370777788,0.035],"actuator_force_native":[0.2778847164024292,-0.11037981726035184,0.28108707582330794,-0.29578315084925944,-0.17298631036680412,0.2917555153848186,0.0003046060448812504],"issued_joint_targets_rad":[0.3124942059971287,1.5113174326224221,-1.2890828164393757,-0.1669338688786371,0.9633224134437701,0.31483799589814887],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.539999999996827,"joint_targets_rad":[0.3124942059971287,1.5113174326224221,-1.2890828164393757,-0.1669338688786371,0.9633224134437701,0.31483799589814887],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.559999999996815,"qpos":[0.30686486513257416,1.5130672180757958,-1.29407171773326,-0.14951162829778614,0.9839930739301458,0.2585768040537909,0.034998071402882885,-0.03500007475877631,0.3552728451569248,0.08439459325582824,0.07989224457978368,0.9954304319609759,-1.7090011718643546e-11,-3.746796829410385e-12,0.09548955506223199],"qvel":[0.034352070540253916,-0.0035045054782792424,0.0233446739430092,-0.08020520214969308,-0.02208013885137856,0.1806241629285362,-4.672966347441937e-05,-0.00010238019835473587,6.595974124102079e-12,-2.0488369793775157e-11,2.7428258867844562e-15,6.485785845787608e-10,7.832913245310863e-11,-1.7218124271243075e-19],"joint_position_rad":[0.30686486513257416,1.5130672180757958,-1.29407171773326,-0.14951162829778614,0.9839930739301458,0.2585768040537909],"joint_velocity_rad_s":[0.034352070540253916,-0.0035045054782792424,0.0233446739430092,-0.08020520214969308,-0.02208013885137856,0.1806241629285362],"gripper_joint_position_m":[0.034998071402882885,-0.03500007475877631],"tcp_position_m":[0.3475813172415935,0.0841486491661677,0.2088026453388474],"tcp_quaternion_wxyz":[0.2355132764061684,-0.049702914664356966,0.9705894262505068,-0.004391191297480087],"object_position_m":[0.3552728451569248,0.08439459325582824,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7090011718643546e-11,-3.746796829410385e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.595974124102079e-12,-2.0488369793775157e-11,2.7428258867844562e-15],"object_angular_velocity_rad_s":[6.218599037693829e-10,2.0019963398812143e-10,-1.721812276258475e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000128151},{"geom_ids":[1,90],"normal_force_n":0.09810000000163359},{"geom_ids":[1,90],"normal_force_n":0.09809999999871842},{"geom_ids":[1,90],"normal_force_n":0.09809999999836648}],"native_actuator_controls":[0.3124942059971287,1.5113174326224221,-1.2890828164393757,-0.1669338688786371,0.9633224134437701,0.31483799589814887,0.035],"actuator_force_native":[0.2785869164630945,-0.12246030887850168,0.28238873379569895,-0.29586361248557225,-0.17358639658669084,0.2916756740507753,0.0003107922020568754],"issued_joint_targets_rad":[0.3131695887387445,1.5110605649994548,-1.2885525824330708,-0.1684191875401466,0.9627767309077857,0.3185768040537909],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.559999999996815,"joint_targets_rad":[0.3131695887387445,1.5110605649994548,-1.2885525824330708,-0.1684191875401466,0.9627767309077857,0.3185768040537909],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.579999999996804,"qpos":[0.3075828878113062,1.5129895408579268,-1.2935845587689756,-0.15120634016268547,0.9835463981315854,0.26231627204827435,0.03499805880835287,-0.034999985171441664,0.3552728451571104,0.0843945932552518,0.07989224457978368,0.9954304319609759,-1.8033730994097423e-11,-3.953695007480115e-12,0.09548955506223199],"qvel":[0.033541313779735835,-0.003908450234018319,0.023844083837213325,-0.07851208107480144,-0.022211783349687084,0.18066666449651214,-4.5884862944733415e-05,-0.00010111265451918754,7.155083993433833e-12,-2.222507894442898e-11,2.740050329222893e-15,5.121228085338783e-10,6.184959200049959e-11,-3.1435750613596223e-19],"joint_position_rad":[0.3075828878113062,1.5129895408579268,-1.2935845587689756,-0.15120634016268547,0.9835463981315854,0.26231627204827435],"joint_velocity_rad_s":[0.033541313779735835,-0.003908450234018319,0.023844083837213325,-0.07851208107480144,-0.022211783349687084,0.18066666449651214],"gripper_joint_position_m":[0.03499805880835287,-0.034999985171441664],"tcp_position_m":[0.34759485327571255,0.08412064727532127,0.20874526320651812],"tcp_quaternion_wxyz":[0.2357451946911827,-0.048562337850573865,0.9705898303028768,-0.0046134407046913364],"object_position_m":[0.3552728451571104,0.0843945932552518,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8033730994097423e-11,-3.953695007480115e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.155083993433833e-12,-2.222507894442898e-11,2.740050329222893e-15],"object_angular_velocity_rad_s":[4.910254712904436e-10,1.5807950403278813e-10,-3.143575059450248e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000282974},{"geom_ids":[1,90],"normal_force_n":0.09810000000360734},{"geom_ids":[1,90],"normal_force_n":0.09809999999717021},{"geom_ids":[1,90],"normal_force_n":0.09809999999639275}],"native_actuator_controls":[0.3131695887387445,1.5110605649994548,-1.2885525824330708,-0.1684191875401466,0.9627767309077857,0.3185768040537909,0.035],"actuator_force_native":[0.2792295052963816,-0.1347758175076592,0.28333768768631273,-0.2959534897244378,-0.1743789972134664,0.29160532331039724,0.000307071980608864],"issued_joint_targets_rad":[0.3138295179379941,1.5107934106381524,-1.2880072372989209,-0.16987560156034195,0.9622086618284859,0.32231627204827434],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.579999999996804,"joint_targets_rad":[0.3138295179379941,1.5107934106381524,-1.2880072372989209,-0.16987560156034195,0.9622086618284859,0.32231627204827434],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.599999999996793,"qpos":[0.30828429978790917,1.512903694376647,-1.2930854394674778,-0.15286574724789712,0.983096809821729,0.2660562402745971,0.03499822287947446,-0.03500014464603155,0.355272845157291,0.08439459325469092,0.07989224457978368,0.9954304319609759,-1.8631194232799332e-11,-4.084671290495743e-12,0.09548955506223199],"qvel":[0.03276261455519116,-0.004310585407352502,0.024487349290689363,-0.07686716709122318,-0.022356091620006444,0.18070141042355123,-4.316724782644402e-05,-0.00010095424958341605,7.892546527444844e-12,-2.4515818700432586e-11,2.7386625504421113e-15,2.8237005374660125e-10,3.41027209001385e-11,-5.739364660947309e-19],"joint_position_rad":[0.30828429978790917,1.512903694376647,-1.2930854394674778,-0.15286574724789712,0.983096809821729,0.2660562402745971],"joint_velocity_rad_s":[0.03276261455519116,-0.004310585407352502,0.024487349290689363,-0.07686716709122318,-0.022356091620006444,0.18070141042355123],"gripper_joint_position_m":[0.03499822287947446,-0.03500014464603155],"tcp_position_m":[0.34760557986926954,0.08409228347405494,0.20868651854805137],"tcp_quaternion_wxyz":[0.2359741776846118,-0.047408275089376985,0.9705902358943325,-0.0048204673741258],"object_position_m":[0.355272845157291,0.08439459325469092,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8631194232799332e-11,-4.084671290495743e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.892546527444844e-12,-2.4515818700432586e-11,2.7386625504421113e-15],"object_angular_velocity_rad_s":[2.707374632492662e-10,8.716116577354353e-11,-5.739364948569721e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000440827},{"geom_ids":[1,90],"normal_force_n":0.09810000000561936},{"geom_ids":[1,90],"normal_force_n":0.09809999999559176},{"geom_ids":[1,90],"normal_force_n":0.09809999999438064}],"native_actuator_controls":[0.3138295179379941,1.5107934106381524,-1.2880072372989209,-0.16987560156034195,0.9622086618284859,0.32231627204827434,0.035],"actuator_force_native":[0.27980437923083556,-0.14726977204279024,0.2838194270311192,-0.2960583370416776,-0.17534734250242145,0.2915482021014455,0.00028692106015393293],"issued_joint_targets_rad":[0.31447402073056213,1.5105166646785042,-1.2874480020201506,-0.17130303681034062,0.9616197710124063,0.3260562402745971],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.599999999996793,"joint_targets_rad":[0.31447402073056213,1.5105166646785042,-1.2874480020201506,-0.17130303681034062,0.9616197710124063,0.3260562402745971],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.619999999996782,"qpos":[0.30896964361580515,1.5128097514375398,-1.2925721521370703,-0.15449072824487278,0.9826440971931725,0.26979653862627084,0.03499822107999431,-0.03500007482963878,0.35527284515747615,0.08439459325411613,0.07989224457978368,0.9954304319609759,-1.9757370470843653e-11,-4.331566010201042e-12,0.09548955506223199],"qvel":[0.03200621535887951,-0.004708564183874161,0.025214450829798875,-0.07526336058989087,-0.022510331548897422,0.18072841744958143,-4.396693428509695e-05,-9.743543561474845e-05,9.194262517317606e-12,-2.8559234828725143e-11,2.7400503292228927e-15,-4.2937810808888235e-11,-5.185248896174612e-12,-1.0478508399301578e-18],"joint_position_rad":[0.30896964361580515,1.5128097514375398,-1.2925721521370703,-0.15449072824487278,0.9826440971931725,0.26979653862627084],"joint_velocity_rad_s":[0.03200621535887951,-0.004708564183874161,0.025214450829798875,-0.07526336058989087,-0.022510331548897422,0.18072841744958143],"gripper_joint_position_m":[0.03499822107999431,-0.03500007482963878],"tcp_position_m":[0.34761310922394345,0.08406346782585701,0.20862563572808124],"tcp_quaternion_wxyz":[0.23619925931641314,-0.0462413059290646,0.9705908109217587,-0.00501291118965924],"object_position_m":[0.35527284515747615,0.08439459325411613,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9757370470843653e-11,-4.331566010201042e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.194262517317606e-12,-2.8559234828725143e-11,2.7400503292228927e-15],"object_angular_velocity_rad_s":[-4.116902588733502e-11,-1.3253441464883423e-11,-1.0478508542743009e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000636368},{"geom_ids":[1,90],"normal_force_n":0.09810000000811189},{"geom_ids":[1,90],"normal_force_n":0.09809999999363625},{"geom_ids":[1,90],"normal_force_n":0.0980999999918882}],"native_actuator_controls":[0.31447402073056213,1.5105166646785042,-1.2874480020201506,-0.17130303681034062,0.9616197710124063,0.3260562402745971,0.035],"actuator_force_native":[0.2803190923861614,-0.1599041198034712,0.2838597552045883,-0.29617553966925936,-0.17647776448431607,0.2915043903088903,0.00029099147165312367],"issued_joint_targets_rad":[0.3151031892093536,1.5102305130622382,-1.2868752512663566,-0.17270166491995753,0.9610105057874848,0.32979653862627084],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.619999999996782,"joint_targets_rad":[0.3151031892093536,1.5102305130622382,-1.2868752512663566,-0.17270166491995753,0.9610105057874848,0.32979653862627084],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.639999999996771,"qpos":[0.3096392869798332,1.512707792513228,-1.2920435312151415,-0.15608206789224693,0.9821880581522262,0.2735370264291106,0.03499820870109799,-0.035000006712207245,0.3552728451576577,0.08439459325355207,0.07989224457978368,0.9954304319609759,-1.969786859919727e-11,-4.318521544755236e-12,0.09548955506223199],"qvel":[0.03126478114012417,-0.005103038068094433,0.025979826762327022,-0.07369604967416485,-0.022675350288134426,0.18074938489692877,-4.299463201153037e-05,-9.619190617829812e-05,1.1113531203306886e-11,-3.452085676882209e-11,2.7497647806883623e-15,-5.58517423891564e-10,-6.745269028573565e-11,-1.913117978434451e-18],"joint_position_rad":[0.3096392869798332,1.512707792513228,-1.2920435312151415,-0.15608206789224693,0.9821880581522262,0.2735370264291106],"joint_velocity_rad_s":[0.03126478114012417,-0.005103038068094433,0.025979826762327022,-0.07369604967416485,-0.022675350288134426,0.18074938489692877],"gripper_joint_position_m":[0.03499820870109799,-0.035000006712207245],"tcp_position_m":[0.34761726014402755,0.08403412751366166,0.20856219357150196],"tcp_quaternion_wxyz":[0.23641994813777104,-0.04506185672128778,0.9705916175054777,-0.005191263763696699],"object_position_m":[0.3552728451576577,0.08439459325355207,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.969786859919727e-11,-4.318521544755236e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1113531203306886e-11,-3.452085676882209e-11,2.7497647806883623e-15],"object_angular_velocity_rad_s":[-5.355088258243288e-10,-1.7240033550286335e-10,-1.9131179608991408e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000687816},{"geom_ids":[1,90],"normal_force_n":0.09810000000876776},{"geom_ids":[1,90],"normal_force_n":0.09809999999312183},{"geom_ids":[1,90],"normal_force_n":0.09809999999123223}],"native_actuator_controls":[0.3151031892093536,1.5102305130622382,-1.2868752512663566,-0.17270166491995753,0.9610105057874848,0.32979653862627084,0.035],"actuator_force_native":[0.28078827266101314,-0.17266716573871577,0.2835632620911639,-0.2963036327375992,-0.17776249821521084,0.29147104462620943,0.00028662511613819497],"issued_joint_targets_rad":[0.3157171726251527,1.509934654680258,-1.28628854859987,-0.1740718891544383,0.9603802411659014,0.33334545395313603],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.639999999996771,"joint_targets_rad":[0.3157171726251527,1.509934654680258,-1.28628854859987,-0.1740718891544383,0.9603802411659014,0.33334545395313603],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.65999999999676,"qpos":[0.3102931663225356,1.512597871466383,-1.2914994012030172,-0.15764008493911966,0.9817283723729447,0.27726163194939546,0.03499821915291241,-0.03500000553351802,0.3552728451578316,0.08439459325301202,0.07989224457978368,0.9954304319609759,-1.814876583554494e-11,-3.978895319061286e-12,0.09548955506223199],"qvel":[0.030522539068773454,-0.005496636578500668,0.026740500540047528,-0.07216538021707834,-0.02285787621891021,0.17961982237852442,-4.0727445359063564e-05,-9.629160008984396e-05,1.4097105709030403e-11,-4.3788602999231045e-11,2.7386625504421113e-15,-1.3461961343384549e-09,-1.6257603204952814e-10,-3.492828348477062e-18],"joint_position_rad":[0.3102931663225356,1.512597871466383,-1.2914994012030172,-0.15764008493911966,0.9817283723729447,0.27726163194939546],"joint_velocity_rad_s":[0.030522539068773454,-0.005496636578500668,0.026740500540047528,-0.07216538021707834,-0.02285787621891021,0.17961982237852442],"gripper_joint_position_m":[0.03499821915291241,-0.03500000553351802],"tcp_position_m":[0.3476180682563336,0.08400418505835491,0.20849612157497208],"tcp_quaternion_wxyz":[0.23663618558519267,-0.04387776031221271,0.9705922696786262,-0.005357598507506294],"object_position_m":[0.3552728451578316,0.08439459325301202,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.814876583554494e-11,-3.978895319061286e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.4097105709030403e-11,-4.3788602999231045e-11,2.7386625504421113e-15],"object_angular_velocity_rad_s":[-1.2907394676137448e-09,-4.155317377156025e-10,-3.49282849733939e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000514961},{"geom_ids":[1,90],"normal_force_n":0.09810000000656434},{"geom_ids":[1,90],"normal_force_n":0.09809999999485043},{"geom_ids":[1,90],"normal_force_n":0.09809999999343569}],"native_actuator_controls":[0.3157171726251527,1.509934654680258,-1.28628854859987,-0.1740718891544383,0.9603802411659014,0.33334545395313603,0.035],"actuator_force_native":[0.281307808865499,-0.1855741599975005,0.2831657055515393,-0.29644526752735434,-0.17919449774206875,0.2914084864696189,0.00027487111029911304],"issued_joint_targets_rad":[0.31631484412073974,1.5096300187080094,-1.2856896245007943,-0.17541120248940326,0.9597309550077584,0.3367832439034361],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.65999999999676,"joint_targets_rad":[0.31631484412073974,1.5096300187080094,-1.2856896245007943,-0.17541120248940326,0.9597309550077584,0.3367832439034361],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.679999999996749,"qpos":[0.31093130595960367,1.5124800036877593,-1.290939975445966,-0.1591653700922456,0.9812647769464824,0.28095456267321905,0.034998243492719336,-0.03500003646118761,0.3552728451580116,0.08439459325245288,0.07989224457978368,0.9954304319609759,-1.733752128699496e-11,-3.801026656701104e-12,0.09548955506223199],"qvel":[0.029779408200213003,-0.005889527307571089,0.02748443692719663,-0.07065302151826544,-0.02305227452471878,0.17790331590894057,-3.901740492135626e-05,-9.485150014640605e-05,6.660807538000014e-12,-2.068987123697335e-11,2.733111435318986e-15,6.877603003041023e-10,8.306072776994602e-11,-3.7842103869363376e-19],"joint_position_rad":[0.31093130595960367,1.5124800036877593,-1.290939975445966,-0.1591653700922456,0.9812647769464824,0.28095456267321905],"joint_velocity_rad_s":[0.029779408200213003,-0.005889527307571089,0.02748443692719663,-0.07065302151826544,-0.02305227452471878,0.17790331590894057],"gripper_joint_position_m":[0.034998243492719336,-0.03500003646118761],"tcp_position_m":[0.34761563799583006,0.08397356802296856,0.2084274996746812],"tcp_quaternion_wxyz":[0.23684811913671688,-0.04269678637071147,0.9705923698417848,-0.005514027559035709],"object_position_m":[0.3552728451580116,0.08439459325245288,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.733752128699496e-11,-3.801026656701104e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.660807538000014e-12,-2.068987123697335e-11,2.733111435318986e-15],"object_angular_velocity_rad_s":[6.594275750966896e-10,2.1229363714949185e-10,-3.784210543280905e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000103594},{"geom_ids":[1,90],"normal_force_n":0.09810000000132049},{"geom_ids":[1,90],"normal_force_n":0.09809999999896409},{"geom_ids":[1,90],"normal_force_n":0.09809999999867951}],"native_actuator_controls":[0.31631484412073974,1.5096300187080094,-1.2856896245007943,-0.17541120248940326,0.9597309550077584,0.3367832439034361,0.035],"actuator_force_native":[0.281786011889821,-0.19855116184214694,0.2826058909777629,-0.29656818829497844,-0.18075980760016108,0.29143183843875997,0.00026534731583338633],"issued_joint_targets_rad":[0.3168951609486953,1.5093175928452265,-1.2850802899731786,-0.17671725051674683,0.9590647443386782,0.3401750472247697],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.679999999996749,"joint_targets_rad":[0.3168951609486953,1.5093175928452265,-1.2850802899731786,-0.17671725051674683,0.9590647443386782,0.3401750472247697],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.699999999996738,"qpos":[0.31155360334086063,1.5123542316772884,-1.2903657933513737,-0.16065800411897516,0.9807970931786857,0.28461067659591327,0.034998254287489136,-0.03500004990829175,0.3552728451582047,0.08439459325185317,0.07989224457978368,0.9954304319609759,-1.8448008474363436e-11,-4.0444599085644954e-12,0.09548955506223199],"qvel":[0.029026268225516193,-0.006279709663584191,0.02819282865813031,-0.06913511964728061,-0.023255414651342683,0.17609105014951618,-3.8235750943174847e-05,-9.203985955159337e-05,7.24322795395174e-12,-2.2499097193806775e-11,2.737274771661329e-15,5.704071811320908e-10,6.888772161794559e-11,-6.908980474381744e-19],"joint_position_rad":[0.31155360334086063,1.5123542316772884,-1.2903657933513737,-0.16065800411897516,0.9807970931786857,0.28461067659591327],"joint_velocity_rad_s":[0.029026268225516193,-0.006279709663584191,0.02819282865813031,-0.06913511964728061,-0.023255414651342683,0.17609105014951618],"gripper_joint_position_m":[0.034998254287489136,-0.03500004990829175],"tcp_position_m":[0.34761010542833964,0.08394225870889946,0.2083564904613129],"tcp_quaternion_wxyz":[0.23705596008645624,-0.04152137014769777,0.9705917776339346,-0.005661165776161541],"object_position_m":[0.3552728451582047,0.08439459325185317,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8448008474363436e-11,-4.0444599085644954e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.24322795395174e-12,-2.2499097193806775e-11,2.737274771661329e-15],"object_angular_velocity_rad_s":[5.469089467186368e-10,1.7606951603238875e-10,-6.908980805010013e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000256304},{"geom_ids":[1,90],"normal_force_n":0.098100000003267},{"geom_ids":[1,90],"normal_force_n":0.09809999999743697},{"geom_ids":[1,90],"normal_force_n":0.09809999999673302}],"native_actuator_controls":[0.3168951609486953,1.5093175928452265,-1.2850802899731786,-0.17671725051674683,0.9590647443386782,0.3401750472247697,0.035],"actuator_force_native":[0.2821932674991956,-0.2115325582470291,0.2818761269649599,-0.29669425767446356,-0.1824403664230605,0.29150713106429027,0.0002610072551505471],"issued_joint_targets_rad":[0.31745781308469984,1.5089972170121153,-1.2844603925728846,-0.17798943684620605,0.9583812363605572,0.3435150303212363],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.699999999996738,"joint_targets_rad":[0.31745781308469984,1.5089972170121153,-1.2844603925728846,-0.17798943684620605,0.9583812363605572,0.3435150303212363],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.719999999996727,"qpos":[0.3121597417611359,1.5122205977929914,-1.2897776908147505,-0.1621177593699647,0.9803251087094357,0.28822809645891867,0.03499826383983602,-0.03500006599687451,0.35527284515839314,0.08439459325126777,0.07989224457978368,0.9954304319609759,-1.9206771024932853e-11,-4.210805559253436e-12,0.09548955506223199],"qvel":[0.02825492468863508,-0.006668443102748577,0.028856230823220034,-0.06760720109729924,-0.023470483036466386,0.1741867264479192,-3.696471439995317e-05,-8.991918743822991e-05,7.964716039378955e-12,-2.474021840735788e-11,2.740050329222892e-15,3.6164072753886016e-10,4.367452940575028e-11,-1.2614025973153964e-18],"joint_position_rad":[0.3121597417611359,1.5122205977929914,-1.2897776908147505,-0.1621177593699647,0.9803251087094357,0.28822809645891867],"joint_velocity_rad_s":[0.02825492468863508,-0.006668443102748577,0.028856230823220034,-0.06760720109729924,-0.023470483036466386,0.1741867264479192],"gripper_joint_position_m":[0.03499826383983602,-0.03500006599687451],"tcp_position_m":[0.34760166948833127,0.08391023701783598,0.2082833542094114],"tcp_quaternion_wxyz":[0.23726004294153752,-0.04035219320468833,0.9705904095729811,-0.005799083712459672],"object_position_m":[0.35527284515839314,0.08439459325126777,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9206771024932853e-11,-4.210805559253436e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.964716039378955e-12,-2.474021840735788e-11,2.740050329222892e-15],"object_angular_velocity_rad_s":[3.4674285435661833e-10,1.1162828174917985e-10,-1.2614025973240856e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000420123},{"geom_ids":[1,90],"normal_force_n":0.09810000000535533},{"geom_ids":[1,90],"normal_force_n":0.09809999999579884},{"geom_ids":[1,90],"normal_force_n":0.09809999999464461}],"native_actuator_controls":[0.31745781308469984,1.5089972170121153,-1.2844603925728846,-0.17798943684620605,0.9583812363605572,0.3435150303212363,0.035],"actuator_force_native":[0.2825710824419403,-0.22452824695633922,0.2811027052331667,-0.2968310935631573,-0.18423299893408362,0.291589248951297,0.00025426997855904077],"issued_joint_targets_rad":[0.3180027304492725,1.5086682469951143,-1.283828954989895,-0.17922777093470793,0.9576790054678144,0.3468012287975424],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.719999999996727,"joint_targets_rad":[0.3180027304492725,1.5086682469951143,-1.283828954989895,-0.17922777093470793,0.9576790054678144,0.3468012287975424],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.739999999996716,"qpos":[0.31274933734012283,1.5120790921398106,-1.2891764787427025,-0.16354447097896802,0.9798485342403509,0.2918049637348927,0.034998274847764466,-0.035000087363203286,0.355272845158576,0.0843945932506998,0.07989224457978368,0.9954304319609759,-1.9439763140895724e-11,-4.261869147490386e-12,0.09548955506223199],"qvel":[0.027464255314854222,-0.0070587553390499365,0.02948312704188764,-0.06607263983409963,-0.023701172255033525,0.17219185581368712,-3.767949045734665e-05,-8.485428616754647e-05,8.988832449164674e-12,-2.7921445791590804e-11,2.742825886784455e-15,2.671595975509771e-11,3.227998070712757e-12,-2.303014818956978e-18],"joint_position_rad":[0.31274933734012283,1.5120790921398106,-1.2891764787427025,-0.16354447097896802,0.9798485342403509,0.2918049637348927],"joint_velocity_rad_s":[0.027464255314854222,-0.0070587553390499365,0.02948312704188764,-0.06607263983409963,-0.023701172255033525,0.17219185581368712],"gripper_joint_position_m":[0.034998274847764466,-0.035000087363203286],"tcp_position_m":[0.3475905428354583,0.08387745304554696,0.20820837026795963],"tcp_quaternion_wxyz":[0.23746075780861078,-0.03918990725752563,0.9705881722215789,-0.005927867549281749],"object_position_m":[0.355272845158576,0.0843945932506998,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9439763140895724e-11,-4.261869147490386e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.988832449164674e-12,-2.7921445791590804e-11,2.742825886784455e-15],"object_angular_velocity_rad_s":[2.5615090730318668e-11,8.248006065593408e-12,-2.3030148819575535e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000561148},{"geom_ids":[1,90],"normal_force_n":0.09810000000715306},{"geom_ids":[1,90],"normal_force_n":0.09809999999438852},{"geom_ids":[1,90],"normal_force_n":0.09809999999284694}],"native_actuator_controls":[0.3180027304492725,1.5086682469951143,-1.283828954989895,-0.17922777093470793,0.9576790054678144,0.3468012287975424,0.035],"actuator_force_native":[0.282950172157701,-0.23757383488045036,0.28038626501516717,-0.29696879905909856,-0.1861435293428162,0.2916748669059661,0.0002574035417082232],"issued_joint_targets_rad":[0.31852988437476704,1.5083300171907383,-1.2831849531413166,-0.18043235899175256,0.9569565741659668,0.3500318189835357],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.739999999996716,"joint_targets_rad":[0.31852988437476704,1.5083300171907383,-1.2831849531413166,-0.18043235899175256,0.9569565741659668,0.3500318189835357],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.759999999996705,"qpos":[0.3133220193999605,1.511929648766663,-1.2885627044804535,-0.1649380435426617,0.9793670181593748,0.29533945088710517,0.034998269671754435,-0.03500008897149345,0.3552728451587516,0.0843945932501543,0.07989224457978368,0.9954304319609759,-1.8886233361032816e-11,-4.140482984386937e-12,0.09548955506223199],"qvel":[0.026656026586058815,-0.007453124904486385,0.030089739565003285,-0.06453446953818198,-0.023950017778927336,0.1701076297061705,-3.666181915454973e-05,-8.23106300770274e-05,1.0595721262709846e-11,-3.291312314219475e-11,2.733111435318985e-15,-4.830993231209001e-10,-5.83356953140262e-11,-4.204737429778255e-18],"joint_position_rad":[0.3133220193999605,1.511929648766663,-1.2885627044804535,-0.1649380435426617,0.9793670181593748,0.29533945088710517],"joint_velocity_rad_s":[0.026656026586058815,-0.007453124904486385,0.030089739565003285,-0.06453446953818198,-0.023950017778927336,0.1701076297061705],"gripper_joint_position_m":[0.034998269671754435,-0.03500008897149345],"tcp_position_m":[0.3475768973591086,0.08384383813412945,0.20813175513677185],"tcp_quaternion_wxyz":[0.23765843527007027,-0.03803517742149855,0.9705849882565352,-0.006047643719541042],"object_position_m":[0.3552728451587516,0.0843945932501543,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8886233361032816e-11,-4.140482984386937e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0595721262709846e-11,-3.291312314219475e-11,2.733111435318985e-15],"object_angular_velocity_rad_s":[-4.631992872793394e-10,-1.491121377070086e-10,-4.20473765592146e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000614658},{"geom_ids":[1,90],"normal_force_n":0.09810000000783493},{"geom_ids":[1,90],"normal_force_n":0.0980999999938534},{"geom_ids":[1,90],"normal_force_n":0.09809999999216516}],"native_actuator_controls":[0.31852988437476704,1.5083300171907383,-1.2831849531413166,-0.18043235899175256,0.9569565741659668,0.3500318189835357,0.035],"actuator_force_native":[0.2833490650542245,-0.25070490155152925,0.2797714093059369,-0.29710027027272456,-0.1881794132656882,0.29176223640504917,0.000252522225595575],"issued_joint_targets_rad":[0.3190392561546564,1.5079819380277093,-1.2825274831960904,-0.18160331333337815,0.9562126308610486,0.3532048974472515],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.759999999996705,"joint_targets_rad":[0.3190392561546564,1.5079819380277093,-1.2825274831960904,-0.18160331333337815,0.9562126308610486,0.3532048974472515],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.779999999996694,"qpos":[0.31387746959938606,1.5117721634775878,-1.2879365748382807,-0.1662984280067111,0.978880171652534,0.2988297353770633,0.03499826717534273,-0.035000096158031284,0.35527284515891716,0.0843945932496404,0.07989224457978368,0.9954304319609759,-1.7175365442542803e-11,-3.765380770062448e-12,0.09548955506223199],"qvel":[0.025833459831222715,-0.007853047728535817,0.030693339528631944,-0.06299445309369071,-0.024218431351776575,0.16793375683127584,-3.515655884381189e-05,-8.03193100063804e-05,1.3262639050254401e-11,-4.119735828930756e-11,2.744213665565236e-15,-1.2351802818349274e-09,-1.491624341974059e-10,-7.676817935443088e-18],"joint_position_rad":[0.31387746959938606,1.5117721634775878,-1.2879365748382807,-0.1662984280067111,0.978880171652534,0.2988297353770633],"joint_velocity_rad_s":[0.025833459831222715,-0.007853047728535817,0.030693339528631944,-0.06299445309369071,-0.024218431351776575,0.16793375683127584],"gripper_joint_position_m":[0.03499826717534273,-0.035000096158031284],"tcp_position_m":[0.3475608420329238,0.08380931596410318,0.20805362673989783],"tcp_quaternion_wxyz":[0.23785328815392714,-0.036888712944138376,0.9705808096260872,-0.006158584030375623],"object_position_m":[0.35527284515891716,0.0843945932496404,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7175365442542803e-11,-3.765380770062448e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.3262639050254401e-11,-4.119735828930756e-11,2.744213665565236e-15],"object_angular_velocity_rad_s":[-1.1842981678838514e-09,-3.812579310079373e-10,-7.676818029892249e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000463816},{"geom_ids":[1,90],"normal_force_n":0.09810000000591235},{"geom_ids":[1,90],"normal_force_n":0.0980999999953618},{"geom_ids":[1,90],"normal_force_n":0.09809999999408775}],"native_actuator_controls":[0.3190392561546564,1.5079819380277093,-1.2825274831960904,-0.18160331333337815,0.9562126308610486,0.3532048974472515,0.035],"actuator_force_native":[0.28377562526551614,-0.26395279734758503,0.2792606337320649,-0.29722314759822765,-0.19034776088718885,0.291850985454968,0.0002450957805097964],"issued_joint_targets_rad":[0.31953081261370697,1.5076235447001716,-1.281855847293445,-0.1827406872229338,0.9554461394096864,0.3563183313982881],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.779999999996694,"joint_targets_rad":[0.31953081261370697,1.5076235447001716,-1.281855847293445,-0.1827406872229338,0.9554461394096864,0.3563183313982881],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.799999999996682,"qpos":[0.31441543875604017,1.5116056085013578,-1.2872975435112393,-0.1676255853491175,0.978387583525828,0.3022739701709174,0.03499826914530053,-0.035000111258334174,0.3552728451590867,0.08439459324911391,0.07989224457978368,0.9954304319609759,-1.6284163800833682e-11,-3.5699931128285014e-12,0.09548955506223199],"qvel":[0.024999973218611936,-0.008278112568870722,0.03130512276162538,-0.06145326647363417,-0.024503566959444577,0.16566363482728486,-3.352261075731542e-05,-7.815930721860396e-05,6.267261684718037e-12,-1.9467819529446437e-11,2.7428258867844546e-15,6.505686991469e-10,7.856509238853532e-11,-8.317200690158158e-19],"joint_position_rad":[0.31441543875604017,1.5116056085013578,-1.2872975435112393,-0.1676255853491175,0.978387583525828,0.3022739701709174],"joint_velocity_rad_s":[0.024999973218611936,-0.008278112568870722,0.03130512276162538,-0.06145326647363417,-0.024503566959444577,0.16566363482728486],"gripper_joint_position_m":[0.03499826914530053,-0.035000111258334174],"tcp_position_m":[0.3475422668908722,0.0837737642571973,0.2079741755144609],"tcp_quaternion_wxyz":[0.2380456213203099,-0.03575126422577266,0.9705755670047226,-0.006260831410290285],"object_position_m":[0.3552728451590867,0.08439459324911391,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6284163800833682e-11,-3.5699931128285014e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.267261684718037e-12,-1.9467819529446437e-11,2.7428258867844546e-15],"object_angular_velocity_rad_s":[6.237688680946616e-10,2.0080962438989778e-10,-8.31720076360738e-19],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000088678},{"geom_ids":[1,90],"normal_force_n":0.09810000000113017},{"geom_ids":[1,90],"normal_force_n":0.0980999999991133},{"geom_ids":[1,90],"normal_force_n":0.09809999999886979}],"native_actuator_controls":[0.31953081261370697,1.5076235447001716,-1.281855847293445,-0.1827406872229338,0.9554461394096864,0.3563183313982881,0.035],"actuator_force_native":[0.2842300425202815,-0.2771745412505453,0.2788100836154257,-0.29733774258448076,-0.19265909072225007,0.29194816003277957,0.00023684724176575855],"issued_joint_targets_rad":[0.3200045249461961,1.5072543365419706,-1.2811692872941283,-0.18384454741314477,0.9546559878112741,0.359369960374472],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.799999999996682,"joint_targets_rad":[0.3200045249461961,1.5072543365419706,-1.2811692872941283,-0.18384454741314477,0.9546559878112741,0.359369960374472],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.819999999996671,"qpos":[0.31493575621325026,1.5114254250376231,-1.2866432356393556,-0.16891945397234845,0.9778888097043907,0.30567031148045837,0.03499826946349708,-0.035000134697610936,0.35527284515928,0.08439459324851327,0.07989224457978368,0.9954304319609759,-1.814573756077468e-11,-3.978114154217959e-12,0.09548955506223199],"qvel":[0.024158778332169225,-0.008830359702967047,0.03193193162968188,-0.059910528916642176,-0.024792227373290024,0.16327523663092214,-3.1454595653056116e-05,-7.537468664899968e-05,7.0442491634276e-12,-2.1881343272330527e-11,2.73866255044211e-15,5.795992655175812e-10,6.999430845261087e-11,-1.5185106103304944e-18],"joint_position_rad":[0.31493575621325026,1.5114254250376231,-1.2866432356393556,-0.16891945397234845,0.9778888097043907,0.30567031148045837],"joint_velocity_rad_s":[0.024158778332169225,-0.008830359702967047,0.03193193162968188,-0.059910528916642176,-0.024792227373290024,0.16327523663092214],"gripper_joint_position_m":[0.03499826946349708,-0.035000134697610936],"tcp_position_m":[0.3475204275942375,0.08373688847777565,0.20789422294768994],"tcp_quaternion_wxyz":[0.23823654727047505,-0.03462354729883907,0.9705689984368094,-0.006354273401161288],"object_position_m":[0.35527284515928,0.08439459324851327,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.814573756077468e-11,-3.978114154217959e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.0442491634276e-12,-2.1881343272330527e-11,2.73866255044211e-15],"object_angular_velocity_rad_s":[5.55723030303554e-10,1.7890339682217536e-10,-1.5185106010327953e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000253094},{"geom_ids":[1,90],"normal_force_n":0.0981000000032262},{"geom_ids":[1,90],"normal_force_n":0.09809999999746907},{"geom_ids":[1,90],"normal_force_n":0.09809999999677382}],"native_actuator_controls":[0.3200045249461961,1.5072543365419706,-1.2811692872941283,-0.18384454741314477,0.9546559878112741,0.359369960374472,0.035],"actuator_force_native":[0.2847076069748198,-0.28953528113736127,0.2782562094697738,-0.29745109304864137,-0.195139877871231,0.2920836339937529,0.00022649443838229644],"issued_joint_targets_rad":[0.3204604748903444,1.5068732341361115,-1.280466072207375,-0.18491532145145373,0.953839791504491,0.3623585336657639],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.819999999996671,"joint_targets_rad":[0.3204604748903444,1.5068732341361115,-1.280466072207375,-0.18491532145145373,0.953839791504491,0.3623585336657639],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.83999999999666,"qpos":[0.31543834035015966,1.5112243597057835,-1.2859704799902536,-0.17018003723627015,0.9773833718830754,0.30901699681722133,0.03499826301764346,-0.03500017141798387,0.3552728451594722,0.08439459324791616,0.07989224457978368,0.9954304319609759,-1.9408592801337563e-11,-4.255008062038705e-12,0.09548955506223199],"qvel":[0.023313068939576808,-0.009757931559679559,0.03266336625096561,-0.05836337325577603,-0.02508356511051498,0.1607616902404826,-2.974026032586503e-05,-7.120526573875367e-05,7.88924657893624e-12,-2.4505984671501172e-11,2.7344992140997656e-15,4.128501515659613e-10,4.985630453551117e-11,-2.772416005531587e-18],"joint_position_rad":[0.31543834035015966,1.5112243597057835,-1.2859704799902536,-0.17018003723627015,0.9773833718830754,0.30901699681722133],"joint_velocity_rad_s":[0.023313068939576808,-0.009757931559679559,0.03266336625096561,-0.05836337325577603,-0.02508356511051498,0.1607616902404826],"gripper_joint_position_m":[0.03499826301764346,-0.03500017141798387],"tcp_position_m":[0.347494214601455,0.08369829602071667,0.2078152807393239],"tcp_quaternion_wxyz":[0.2384280879823938,-0.033506217807583207,0.9705606243119211,-0.006438537453815036],"object_position_m":[0.3552728451594722,0.08439459324791616,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9408592801337563e-11,-4.255008062038705e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.88924657893624e-12,-2.4505984671501172e-11,2.7344992140997656e-15],"object_angular_velocity_rad_s":[3.958432020701155e-10,1.274325630474876e-10,-2.772415935913146e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000413968},{"geom_ids":[1,90],"normal_force_n":0.09810000000527669},{"geom_ids":[1,90],"normal_force_n":0.0980999999958604},{"geom_ids":[1,90],"normal_force_n":0.09809999999472327}],"native_actuator_controls":[0.3204604748903444,1.5068732341361115,-1.280466072207375,-0.18491532145145373,0.953839791504491,0.3623585336657639,0.035],"actuator_force_native":[0.2852054185168953,-0.29930038777536083,0.27703579137545375,-0.2975945023284625,-0.19781045612007198,0.2922728331247022,0.00021818059589095995],"issued_joint_targets_rad":[0.32089889514115666,1.5064785475660947,-1.279743428028855,-0.1859539106632261,0.9529938024635046,0.3652840063207552],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.83999999999666,"joint_targets_rad":[0.32089889514115666,1.5064785475660947,-1.279743428028855,-0.1859539106632261,0.9529938024635046,0.3652840063207552],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.85999999999665,"qpos":[0.315923202226715,1.5109946848580973,-1.2852772466494191,-0.17140750888824274,0.9768709395884777,0.3123119795072023,0.034998244444945315,-0.03500020621564733,0.3552728451596612,0.08439459324732922,0.07989224457978368,0.9954304319609759,-2.000272873141289e-11,-4.38528682600582e-12,0.09548955506223199],"qvel":[0.02247083487433129,-0.01140879920214903,0.03371134745507311,-0.056822104300180275,-0.02542299286236981,0.15821511544083214,-2.8836267160383246e-05,-6.865722275663958e-05,8.937017704074523e-12,-2.7760494486420855e-11,2.7386625504421097e-15,1.154621581658522e-10,1.3942259554394413e-11,-5.061731900298437e-18],"joint_position_rad":[0.315923202226715,1.5109946848580973,-1.2852772466494191,-0.17140750888824274,0.9768709395884777,0.3123119795072023],"joint_velocity_rad_s":[0.02247083487433129,-0.01140879920214903,0.03371134745507311,-0.056822104300180275,-0.02542299286236981,0.15821511544083214],"gripper_joint_position_m":[0.034998244444945315,-0.03500020621564733],"tcp_position_m":[0.34746267554912663,0.08365764453691969,0.2077394128717106],"tcp_quaternion_wxyz":[0.23862297103776986,-0.0324000721639835,0.9705497885201848,-0.006513142121974987],"object_position_m":[0.3552728451596612,0.08439459324732922,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-2.000272873141289e-11,-4.38528682600582e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.937017704074523e-12,-2.7760494486420855e-11,2.7386625504421097e-15],"object_angular_velocity_rad_s":[1.1070601831082504e-10,3.563809870856736e-11,-5.061731830109671e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000005626},{"geom_ids":[1,90],"normal_force_n":0.09810000000717155},{"geom_ids":[1,90],"normal_force_n":0.09809999999437412},{"geom_ids":[1,90],"normal_force_n":0.09809999999282842}],"native_actuator_controls":[0.32089889514115666,1.5064785475660947,-1.279743428028855,-0.1859539106632261,0.9529938024635046,0.3652840063207552,0.035],"actuator_force_native":[0.2857012587836749,-0.3042469873494582,0.27414875236975433,-0.29774554949843335,-0.2006368819561768,0.29239759497428075,0.00021440353798940492],"issued_joint_targets_rad":[0.321320132549499,1.5060682478754714,-1.2789979751345442,-0.18696157019377727,0.9521134782020195,0.36814703304056773],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.85999999999665,"joint_targets_rad":[0.321320132549499,1.5060682478754714,-1.2789979751345442,-0.18696157019377727,0.9521134782020195,0.36814703304056773],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.879999999996638,"qpos":[0.31639043030725544,1.5107277347141155,-1.2845622529544947,-0.1726021459631343,0.9763512905383566,0.3155534169582197,0.034998226984945056,-0.035000236574821625,0.3552728451598443,0.08439459324676012,0.07989224457978368,0.9954304319609759,-1.9760250334865612e-11,-4.332152253539489e-12,0.09548955506223199],"qvel":[0.02163419394263518,-0.013352770391858974,0.03472577832445916,-0.05530020733268762,-0.0257752258031227,0.15559206038250473,-2.7127267554419866e-05,-6.579160513623736e-05,1.0462299527893173e-11,-3.249821729014103e-11,2.7386625504421094e-15,-3.557147581465424e-10,-4.29622542164069e-11,-9.24140910327595e-18],"joint_position_rad":[0.31639043030725544,1.5107277347141155,-1.2845622529544947,-0.1726021459631343,0.9763512905383566,0.3155534169582197],"joint_velocity_rad_s":[0.02163419394263518,-0.013352770391858974,0.03472577832445916,-0.05530020733268762,-0.0257752258031227,0.15559206038250473],"gripper_joint_position_m":[0.034998226984945056,-0.035000236574821625],"tcp_position_m":[0.3474249077316525,0.08361461458065954,0.20766926645865685],"tcp_quaternion_wxyz":[0.23882467185454745,-0.03130578917398957,0.9705356570575652,-0.006577389877581807],"object_position_m":[0.3552728451598443,0.08439459324676012,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9760250334865612e-11,-4.332152253539489e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0462299527893173e-11,-3.249821729014103e-11,2.7386625504421094e-15],"object_angular_velocity_rad_s":[-3.410603620508146e-10,-1.0980243115876411e-10,-9.241408970149435e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000644305},{"geom_ids":[1,90],"normal_force_n":0.09810000000821319},{"geom_ids":[1,90],"normal_force_n":0.0980999999935569},{"geom_ids":[1,90],"normal_force_n":0.09809999999178695}],"native_actuator_controls":[0.321320132549499,1.5060682478754714,-1.2789979751345442,-0.18696157019377727,0.9521134782020195,0.36814703304056773,0.035],"actuator_force_native":[0.2862052096663099,-0.3059950951322321,0.27151333397374344,-0.2978759325622802,-0.2037152846586867,0.29254807024972296,0.00020655693996984859],"issued_joint_targets_rad":[0.3217246835197165,1.5056398740460788,-1.278225567626744,-0.187940006815385,0.9511932747672198,0.3709496490693346],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.879999999996638,"joint_targets_rad":[0.3217246835197165,1.5056398740460788,-1.278225567626744,-0.187940006815385,0.9511932747672198,0.3709496490693346],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.899999999996627,"qpos":[0.31684020382644623,1.5104203757383792,-1.2838270990902498,-0.17376454822698267,0.9758239465618874,0.3187401720412435,0.034998221263409734,-0.03500025259142257,0.35527284516001856,0.08439459324621895,0.07989224457978368,0.9954304319609759,-1.8374996160258094e-11,-4.028477766824751e-12,0.09548955506223199],"qvel":[0.020806509478888745,-0.015354412249360303,0.03564348108914976,-0.05380754085632963,-0.026160807212841423,0.15292588195054174,-2.4990926880308815e-05,-6.297914717797477e-05,1.2917112786801432e-11,-4.0123166167519614e-11,2.745601444346016e-15,-1.0623776322935082e-09,-1.2830808911993147e-10,-1.687265221758859e-17],"joint_position_rad":[0.31684020382644623,1.5104203757383792,-1.2838270990902498,-0.17376454822698267,0.9758239465618874,0.3187401720412435],"joint_velocity_rad_s":[0.020806509478888745,-0.015354412249360303,0.03564348108914976,-0.05380754085632963,-0.026160807212841423,0.15292588195054174],"gripper_joint_position_m":[0.034998221263409734,-0.03500025259142257],"tcp_position_m":[0.34738105948207615,0.08356921121231221,0.2076065420744413],"tcp_quaternion_wxyz":[0.23903559089128013,-0.03022392160361451,0.9705176616671738,-0.006630930721727375],"object_position_m":[0.35527284516001856,0.08439459324621895,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8374996160258094e-11,-4.028477766824751e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.2917112786801432e-11,-4.0123166167519614e-11,2.745601444346016e-15],"object_angular_velocity_rad_s":[-1.0186113804765847e-09,-3.279330036680526e-10,-1.6872652006265728e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000553282},{"geom_ids":[1,90],"normal_force_n":0.09810000000705293},{"geom_ids":[1,90],"normal_force_n":0.09809999999446711},{"geom_ids":[1,90],"normal_force_n":0.09809999999294713}],"native_actuator_controls":[0.3217246835197165,1.5056398740460788,-1.278225567626744,-0.187940006815385,0.9511932747672198,0.3709496490693346,0.035],"actuator_force_native":[0.28672582806717983,-0.3056680741372304,0.26990511163471353,-0.29798063925444485,-0.2070655071274139,0.2927059473550986,0.00019610409801229522],"issued_joint_targets_rad":[0.32211296785781546,1.5051918475297887,-1.2774235003390186,-0.18889060129808524,0.9502295553578154,0.3736932985955496],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.899999999996627,"joint_targets_rad":[0.32211296785781546,1.5051918475297887,-1.2774235003390186,-0.18889060129808524,0.9502295553578154,0.3736932985955496],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.919999999996616,"qpos":[0.31727277075714516,1.510072638280828,-1.2830730749922326,-0.17489545535245526,0.9752880205656035,0.32187175679131674,0.03499822879891261,-0.03500025526760143,0.35527284516018837,0.08439459324569162,0.07989224457978368,0.9954304319609759,-1.660654258561698e-11,-3.640784949745192e-12,0.09548955506223199],"qvel":[0.019991229531511473,-0.01730769778475131,0.036525649153107444,-0.052349219857443306,-0.026595771448039963,0.15024177437270875,-2.2997818557235845e-05,-6.0397043130922016e-05,6.378368493525524e-12,-1.9812513284436998e-11,2.7386625504421094e-15,6.933931873550565e-10,8.374063076135211e-11,-1.8280134118885396e-18],"joint_position_rad":[0.31727277075714516,1.510072638280828,-1.2830730749922326,-0.17489545535245526,0.9752880205656035,0.32187175679131674],"joint_velocity_rad_s":[0.019991229531511473,-0.01730769778475131,0.036525649153107444,-0.052349219857443306,-0.026595771448039963,0.15024177437270875],"gripper_joint_position_m":[0.03499822879891261,-0.03500025526760143],"tcp_position_m":[0.3473315484095268,0.0835215385072198,0.20755174750380645],"tcp_quaternion_wxyz":[0.23925671825120556,-0.029154922452677933,0.9704955815673966,-0.006673786526553847],"object_position_m":[0.35527284516018837,0.08439459324569162,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.660654258561698e-11,-3.640784949745192e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.378368493525524e-12,-1.9812513284436998e-11,2.7386625504421094e-15],"object_angular_velocity_rad_s":[6.648284840228482e-10,2.1403198906376876e-10,-1.8280133924721983e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000058819},{"geom_ids":[1,90],"normal_force_n":0.09810000000074966},{"geom_ids":[1,90],"normal_force_n":0.0980999999994119},{"geom_ids":[1,90],"normal_force_n":0.0980999999992503}],"native_actuator_controls":[0.32211296785781546,1.5051918475297887,-1.2774235003390186,-0.18889060129808524,0.9502295553578154,0.3736932985955496,0.035],"actuator_force_native":[0.287259620396064,-0.30392477115940153,0.26933772649157106,-0.2980597385379822,-0.21069099490582133,0.2928527564832657,0.0001858371362819522],"issued_joint_targets_rad":[0.3224852381435082,1.504723621827787,-1.2765908021989414,-0.18981413551854934,0.9492209778613776,0.37637819441688974],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.919999999996616,"joint_targets_rad":[0.3224852381435082,1.504723621827787,-1.2765908021989414,-0.18981413551854934,0.9492209778613776,0.37637819441688974],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.939999999996605,"qpos":[0.31768841166415934,1.509686163584814,-1.2823001505916551,-0.17599559881238078,0.9747424820831583,0.3249478908928892,0.034998246348221865,-0.03500025038090549,0.35527284516037705,0.08439459324510534,0.07989224457978368,0.9954304319609759,-1.7676778162135312e-11,-3.875448199352745e-12,0.09548955506223199],"qvel":[0.01918961447222588,-0.01915191207852131,0.03743883891057285,-0.05092438693786542,-0.027082004192493046,0.1475439492817318,-2.119106437445369e-05,-5.8166953230633274e-05,6.892050579203862e-12,-2.140800762160638e-11,2.7400503292228903e-15,5.926744233176311e-10,7.157738389305218e-11,-3.3374841759152364e-18],"joint_position_rad":[0.31768841166415934,1.509686163584814,-1.2823001505916551,-0.17599559881238078,0.9747424820831583,0.3249478908928892],"joint_velocity_rad_s":[0.01918961447222588,-0.01915191207852131,0.03743883891057285,-0.05092438693786542,-0.027082004192493046,0.1475439492817318],"gripper_joint_position_m":[0.034998246348221865,-0.03500025038090549],"tcp_position_m":[0.34727669166576575,0.08347168641427048,0.20750437536602223],"tcp_quaternion_wxyz":[0.2394877475633594,-0.028099284964657786,0.9704695122419341,-0.006706322420403257],"object_position_m":[0.35527284516037705,0.08439459324510534,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7676778162135312e-11,-3.875448199352745e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.892050579203862e-12,-2.140800762160638e-11,2.7400503292228903e-15],"object_angular_velocity_rad_s":[5.682587900527938e-10,1.8294327390640354e-10,-3.337484144445705e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000204966},{"geom_ids":[1,90],"normal_force_n":0.09810000000261283},{"geom_ids":[1,90],"normal_force_n":0.09809999999795029},{"geom_ids":[1,90],"normal_force_n":0.09809999999738726}],"native_actuator_controls":[0.3224852381435082,1.504723621827787,-1.2765908021989414,-0.18981413551854934,0.9492209778613776,0.37637819441688974,0.035],"actuator_force_native":[0.28779804598677927,-0.3012437801695427,0.26955367686423415,-0.29811953355741494,-0.21459203592906562,0.29298711131740784,0.00017610139299795158],"issued_joint_targets_rad":[0.3228415482007587,1.5042355832894663,-1.275728094368102,-0.19071072043928297,0.9481683015067217,0.3790029535070058],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.939999999996605,"joint_targets_rad":[0.3228415482007587,1.5042355832894663,-1.275728094368102,-0.19071072043928297,0.9481683015067217,0.3790029535070058],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.959999999996594,"qpos":[0.31808738687509375,1.509263629968198,-1.281507302482482,-0.1770655914432825,0.9741863687603451,0.3279681544445775,0.03499827120803285,-0.035000244219053074,0.3552728451605612,0.08439459324453376,0.07989224457978368,0.9954304319609759,-1.8474209078436896e-11,-4.0502821274893835e-12,0.09548955506223199],"qvel":[0.0184001590234805,-0.020844541349638052,0.03842043658361231,-0.04952742224098626,-0.02761386779743842,0.1448226557390893,-1.9505090408150063e-05,-5.6125849092005984e-05,7.528536429832523e-12,-2.3385032176562733e-11,2.738662550442109e-15,4.128313709135453e-10,4.985846562075503e-11,-6.0933890336952085e-18],"joint_position_rad":[0.31808738687509375,1.509263629968198,-1.281507302482482,-0.1770655914432825,0.9741863687603451,0.3279681544445775],"joint_velocity_rad_s":[0.0184001590234805,-0.020844541349638052,0.03842043658361231,-0.04952742224098626,-0.02761386779743842,0.1448226557390893],"gripper_joint_position_m":[0.03499827120803285,-0.035000244219053074],"tcp_position_m":[0.3472166828136263,0.08341971846815359,0.2074631979764363],"tcp_quaternion_wxyz":[0.23972738510542102,-0.027057621774237737,0.970439789095698,-0.006729165946574667],"object_position_m":[0.3552728451605612,0.08439459324453376,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8474209078436896e-11,-4.0502821274893835e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.528536429832523e-12,-2.3385032176562733e-11,2.738662550442109e-15],"object_angular_velocity_rad_s":[3.95824353075085e-10,1.2743111439951813e-10,-6.093389034642084e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000365182},{"geom_ids":[1,90],"normal_force_n":0.09810000000465512},{"geom_ids":[1,90],"normal_force_n":0.0980999999963481},{"geom_ids":[1,90],"normal_force_n":0.098099999995345}],"native_actuator_controls":[0.3228415482007587,1.5042355832894663,-1.275728094368102,-0.19071072043928297,0.9481683015067217,0.3790029535070058,0.035],"actuator_force_native":[0.28833211093579436,-0.2980210275503623,0.2702344662323384,-0.2981680486350875,-0.21875987084007775,0.2931140070156495,0.00016667713072693324],"issued_joint_targets_rad":[0.3231817666262991,1.5037288285833283,-1.2748372235487446,-0.19157986849860006,0.947073895699543,0.3815646374454729],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.959999999996594,"joint_targets_rad":[0.3231817666262991,1.5037288285833283,-1.2748372235487446,-0.19157986849860006,0.947073895699543,0.3815646374454729],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.979999999996583,"qpos":[0.31846988622723316,1.508808463283022,-1.280693141788023,-0.17810585536866538,0.9736188768524839,0.3309317752472219,0.03499830150223661,-0.03500024068747141,0.35527284516073976,0.0843945932439789,0.07989224457978368,0.9954304319609759,-1.8830302271706818e-11,-4.1283613727625584e-12,0.09548955506223199],"qvel":[0.017618995497942283,-0.022355068490588374,0.03947596000000008,-0.048149563527480115,-0.02818304337498772,0.1420594109386501,-1.7897662456675597e-05,-5.416150334489457e-05,8.418487227477091e-12,-2.614930752445779e-11,2.7400503292228903e-15,1.2179891692615963e-10,1.4709252268055433e-11,-1.1125041716014165e-17],"joint_position_rad":[0.31846988622723316,1.508808463283022,-1.280693141788023,-0.17810585536866538,0.9736188768524839,0.3309317752472219],"joint_velocity_rad_s":[0.017618995497942283,-0.022355068490588374,0.03947596000000008,-0.048149563527480115,-0.02818304337498772,0.1420594109386501],"gripper_joint_position_m":[0.03499830150223661,-0.03500024068747141],"tcp_position_m":[0.3471516722493244,0.08336569007290796,0.207426576698521],"tcp_quaternion_wxyz":[0.2399737262343055,-0.026030689955033656,0.9704068963498599,-0.0067431012390510164],"object_position_m":[0.35527284516073976,0.0843945932439789,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8830302271706818e-11,-4.1283613727625584e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.418487227477091e-12,-2.614930752445779e-11,2.7400503292228903e-15],"object_angular_velocity_rad_s":[1.1678140646754317e-10,3.759576266194419e-11,-1.1125041689342325e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000051268},{"geom_ids":[1,90],"normal_force_n":0.09810000000653535},{"geom_ids":[1,90],"normal_force_n":0.0980999999948732},{"geom_ids":[1,90],"normal_force_n":0.09809999999346465}],"native_actuator_controls":[0.3231817666262991,1.5037288285833283,-1.2748372235487446,-0.19157986849860006,0.947073895699543,0.3815646374454729,0.035],"actuator_force_native":[0.2888554544355628,-0.29459543352254514,0.27109365914225236,-0.29821270755998697,-0.2231752464669281,0.29323950557453493,0.00015742822281916702],"issued_joint_targets_rad":[0.32350561829189933,1.503204903186478,-1.273920819044889,-0.1924206450389096,0.9459411510437509,0.3840590562187495],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.979999999996583,"joint_targets_rad":[0.32350561829189933,1.503204903186478,-1.273920819044889,-0.1924206450389096,0.9459411510437509,0.3840590562187495],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.999999999996572,"qpos":[0.3188359951958553,1.5083245860220287,-1.2798564531718708,-0.17911658890339505,0.9730393800732638,0.3338375155213294,0.034998335301910204,-0.03500024305213771,0.3552728451609217,0.08439459324341382,0.07989224457978368,0.9954304319609759,-1.961323968343112e-11,-4.3000215836923525e-12,0.09548955506223199],"qvel":[0.016840839343850122,-0.023665414908920723,0.04058774847814571,-0.04678061646107621,-0.028781070813057197,0.1392311742945379,-1.6469528679634343e-05,-5.2407286087989224e-05,9.977382504550583e-12,-3.099147495503225e-11,2.7400503292228907e-15,-2.9384415933297987e-10,-3.5489321808264014e-11,-2.031143932696302e-17],"joint_position_rad":[0.3188359951958553,1.5083245860220287,-1.2798564531718708,-0.17911658890339505,0.9730393800732638,0.3338375155213294],"joint_velocity_rad_s":[0.016840839343850122,-0.023665414908920723,0.04058774847814571,-0.04678061646107621,-0.028781070813057197,0.1392311742945379],"gripper_joint_position_m":[0.034998335301910204,-0.03500024305213771],"tcp_position_m":[0.3470818473276885,0.08330966750042337,0.20739273452347423],"tcp_quaternion_wxyz":[0.24022460955167918,-0.02501939013053029,0.9703713817407283,-0.006748968945632945],"object_position_m":[0.3552728451609217,0.08439459324341382,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.961323968343112e-11,-4.3000215836923525e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.977382504550583e-12,-3.099147495503225e-11,2.7400503292228907e-15],"object_angular_velocity_rad_s":[-2.8173871945952715e-10,-9.070378103376786e-11,-2.0311439290023765e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000685765},{"geom_ids":[1,90],"normal_force_n":0.09810000000874167},{"geom_ids":[1,90],"normal_force_n":0.09809999999314244},{"geom_ids":[1,90],"normal_force_n":0.0980999999912583}],"native_actuator_controls":[0.32350561829189933,1.503204903186478,-1.273920819044889,-0.1924206450389096,0.9459411510437509,0.3840590562187495,0.035],"actuator_force_native":[0.289365650964271,-0.29124755229945265,0.2719119877678082,-0.29825916311520206,-0.2278106840755445,0.29336864553239383,0.0001489355669901382],"issued_joint_targets_rad":[0.3238127378146016,1.5026655679110987,-1.2729818912280266,-0.19323184258159623,0.9447739490074502,0.3864811734879255],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.999999999996572,"joint_targets_rad":[0.3238127378146016,1.5026655679110987,-1.2729818912280266,-0.19323184258159623,0.9447739490074502,0.3864811734879255],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.019999999996596,"qpos":[0.3191856933747689,1.50781614810966,-1.2789965308942466,-0.1800978083473051,0.9724474142598796,0.33668364430077985,0.034998372280817605,-0.035000252996844436,0.3552728451610988,0.08439459324286361,0.07989224457978368,0.9954304319609759,-1.9018840008871204e-11,-4.169700244988212e-12,0.09548955506223199],"qvel":[0.016068994050340523,-0.02477097928632709,0.041726489810663694,-0.04544485736840045,-0.029400639821051355,0.13632201924835788,-1.4682035108225107e-05,-4.983824302567948e-05,1.2401510172478908e-11,-3.852137409751382e-11,2.737274771661328e-15,-9.309887018211939e-10,-1.1243543168244591e-10,-3.7083341114040106e-17],"joint_position_rad":[0.3191856933747689,1.50781614810966,-1.2789965308942466,-0.1800978083473051,0.9724474142598796,0.33668364430077985],"joint_velocity_rad_s":[0.016068994050340523,-0.02477097928632709,0.041726489810663694,-0.04544485736840045,-0.029400639821051355,0.13632201924835788],"gripper_joint_position_m":[0.034998372280817605,-0.035000252996844436],"tcp_position_m":[0.3470074800247127,0.0832517356828254,0.2073599705214873],"tcp_quaternion_wxyz":[0.2404779105603888,-0.02402476172020117,0.9703337854681681,-0.006747602226902933],"object_position_m":[0.3552728451610988,0.08439459324286361,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9018840008871204e-11,-4.169700244988212e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.2401510172478908e-11,-3.852137409751382e-11,2.737274771661328e-15],"object_angular_velocity_rad_s":[-8.926360196327817e-10,-2.8737192916231525e-10,-3.708334121069927e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000064984},{"geom_ids":[1,90],"normal_force_n":0.09810000000828362},{"geom_ids":[1,90],"normal_force_n":0.09809999999350152},{"geom_ids":[1,90],"normal_force_n":0.0980999999917165}],"native_actuator_controls":[0.3238127378146016,1.5026655679110987,-1.2729818912280266,-0.19323184258159623,0.9447739490074502,0.3864811734879255,0.035],"actuator_force_native":[0.2898185849349204,-0.2881915194532496,0.27253872424429915,-0.2981370825296432,-0.23263369279271728,0.2934922629989192,0.00013851894283711808],"issued_joint_targets_rad":[0.3241027284862062,1.5021126271201324,-1.272023530079374,-0.19401215348374146,0.9435762689055904,0.3888255170129494],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.019999999996596,"joint_targets_rad":[0.3241027284862062,1.5021126271201324,-1.272023530079374,-0.19401215348374146,0.9435762689055904,0.3888255170129494],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.03999999999662,"qpos":[0.3195189818723201,1.507287257778542,-1.278113313839438,-0.18104990905105317,0.9718426484887005,0.33946803826050015,0.03499841620141394,-0.0350002617363723,0.3552728451612659,0.08439459324234452,0.07989224457978368,0.9954304319609759,-1.665970514464161e-11,-3.652472464772938e-12,0.09548955506223199],"qvel":[0.015336536791736653,-0.025679826409035076,0.04286146180301131,-0.044294207981475,-0.030036115988635228,0.1333359002394835,-1.1654544785249834e-05,-4.4403165152842074e-05,6.373285216483856e-12,-1.9796581957641467e-11,2.737274771661328e-15,7.158770031274478e-10,8.645835429150539e-11,-4.017684122751268e-18],"joint_position_rad":[0.3195189818723201,1.507287257778542,-1.278113313839438,-0.18104990905105317,0.9718426484887005,0.33946803826050015],"joint_velocity_rad_s":[0.015336536791736653,-0.025679826409035076,0.04286146180301131,-0.044294207981475,-0.030036115988635228,0.1333359002394835],"gripper_joint_position_m":[0.03499841620141394,-0.0350002617363723],"tcp_position_m":[0.34692895809153823,0.0831919553523889,0.20732682161034288],"tcp_quaternion_wxyz":[0.2407318212837679,-0.023048080913068928,0.9702945680500826,-0.0067399851727066385],"object_position_m":[0.3552728451612659,0.08439459324234452,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.665970514464161e-11,-3.652472464772938e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.373285216483856e-12,-1.9796581957641467e-11,2.737274771661328e-15],"object_angular_velocity_rad_s":[6.863856167727355e-10,2.2097446848231336e-10,-4.017684137389783e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999789359},{"geom_ids":[1,90],"normal_force_n":0.09809999997314925},{"geom_ids":[1,90],"normal_force_n":0.0981000000210641},{"geom_ids":[1,90],"normal_force_n":0.09810000002685085}],"native_actuator_controls":[0.3241027284862062,1.5021126271201324,-1.272023530079374,-0.19401215348374146,0.9435762689055904,0.3888255170129494,0.035],"actuator_force_native":[0.2900170451522044,-0.2855713206275823,0.27287539179006615,-0.2970187374001565,-0.23760962184814716,0.2935709371652666,0.00012162466736875821],"issued_joint_targets_rad":[0.3243752505957538,1.501547877170907,-1.271048792638053,-0.19476038417837901,0.9423520612850236,0.39108646180902273],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.03999999999662,"joint_targets_rad":[0.3243752505957538,1.501547877170907,-1.271048792638053,-0.19476038417837901,0.9423520612850236,0.39108646180902273],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.059999999996645,"qpos":[0.31983587772022415,1.506741763768208,-1.2772074125146429,-0.18197404623004815,0.9712248596912854,0.34218809168546854,0.03499847179008934,-0.03500026832897495,0.3552728451614611,0.0843945932417378,0.07989224457978368,0.9954304319609759,-1.7963708063149782e-11,-3.9383524359914914e-12,0.09548955506223199],"qvel":[0.014619995251090766,-0.026408623930934978,0.043957237795000874,-0.043284090855541114,-0.03068230226190233,0.13022423718829604,-8.039682486466281e-06,-3.830337228847847e-05,6.951396261803455e-12,-2.1592335768110195e-11,2.7428258867844535e-15,6.38013560947791e-10,7.705420357635394e-11,-7.335264959503365e-18],"joint_position_rad":[0.31983587772022415,1.506741763768208,-1.2772074125146429,-0.18197404623004815,0.9712248596912854,0.34218809168546854],"joint_velocity_rad_s":[0.014619995251090766,-0.026408623930934978,0.043957237795000874,-0.043284090855541114,-0.03068230226190233,0.13022423718829604],"gripper_joint_position_m":[0.03499847179008934,-0.03500026832897495],"tcp_position_m":[0.3468467999612301,0.08313029783071668,0.20729216350942062],"tcp_quaternion_wxyz":[0.24098502926079332,-0.022090961331755903,0.9702540632792932,-0.006727390997637633],"object_position_m":[0.3552728451614611,0.0843945932417378,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7963708063149782e-11,-3.9383524359914914e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.951396261803455e-12,-2.1592335768110195e-11,2.7428258867844535e-15],"object_angular_velocity_rad_s":[6.117299214622465e-10,1.96939476565413e-10,-7.335264971752224e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000181122},{"geom_ids":[1,90],"normal_force_n":0.09810000000230878},{"geom_ids":[1,90],"normal_force_n":0.09809999999818882},{"geom_ids":[1,90],"normal_force_n":0.0980999999976912}],"native_actuator_controls":[0.3243752505957538,1.501547877170907,-1.271048792638053,-0.19476038417837901,0.9423520612850236,0.39108646180902273,0.035],"actuator_force_native":[0.2900498537869183,-0.28346780812940153,0.2729034011521776,-0.29503306365552984,-0.24270453066976394,0.2936473454530977,0.00010132680885899248],"issued_joint_targets_rad":[0.32463004168298937,1.500973132827214,-1.270060732964578,-0.19547550203857483,0.9411052947014567,0.39325835138916876],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.059999999996645,"joint_targets_rad":[0.32463004168298937,1.500973132827214,-1.270060732964578,-0.19547550203857483,0.9411052947014567,0.39325835138916876],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.07999999999667,"qpos":[0.32013619785702735,1.5061831088492579,-1.276280084303152,-0.18287130854628675,0.9705939191298328,0.34484070900673475,0.03499854282513105,-0.03500028591571034,0.35527284516165264,0.08439459324114314,0.07989224457978368,0.9954304319609759,-1.8946889045625803e-11,-4.153917606871215e-12,0.09548955506223199],"qvel":[0.013894928677031071,-0.026979821496637284,0.044981710437945764,-0.04234790308598771,-0.03133455993390243,0.12695579694888107,-4.618505481817633e-06,-3.2632503795301336e-05,7.603273695405315e-12,-2.3617148918279803e-11,2.738662550442109e-15,4.797473495104401e-10,5.793925016889321e-11,-1.339236003734907e-17],"joint_position_rad":[0.32013619785702735,1.5061831088492579,-1.276280084303152,-0.18287130854628675,0.9705939191298328,0.34484070900673475],"joint_velocity_rad_s":[0.013894928677031071,-0.026979821496637284,0.044981710437945764,-0.04234790308598771,-0.03133455993390243,0.12695579694888107],"gripper_joint_position_m":[0.03499854282513105,-0.03500028591571034],"tcp_position_m":[0.3467616109476693,0.08306669968170738,0.20725523138373564],"tcp_quaternion_wxyz":[0.24123666351543757,-0.0211550989667534,0.970212500522449,-0.00671102031165366],"object_position_m":[0.35527284516165264,0.08439459324114314,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8946889045625803e-11,-4.153917606871215e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.603273695405315e-12,-2.3617148918279803e-11,2.738662550442109e-15],"object_angular_velocity_rad_s":[4.5998380873649993e-10,1.480856906412234e-10,-1.3392360003082657e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000341647},{"geom_ids":[1,90],"normal_force_n":0.09810000000435494},{"geom_ids":[1,90],"normal_force_n":0.09809999999658353},{"geom_ids":[1,90],"normal_force_n":0.09809999999564505}],"native_actuator_controls":[0.32463004168298937,1.500973132827214,-1.270060732964578,-0.19547550203857483,0.9411052947014567,0.39325835138916876,0.035],"actuator_force_native":[0.29003286269180606,-0.28189897428030974,0.2726395548961875,-0.29242822426158455,-0.24788440438290849,0.29374272840101856,8.137952216746847e-05],"issued_joint_targets_rad":[0.3248668458359735,1.5003901202341168,-1.2690622430971126,-0.19615649984358854,0.9398397178138256,0.3953359327784081],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.07999999999667,"joint_targets_rad":[0.3248668458359735,1.5003901202341168,-1.2690622430971126,-0.19615649984358854,0.9398397178138256,0.3953359327784081],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.099999999996694,"qpos":[0.32041957701590396,1.505614245816005,-1.275333140088128,-0.18374240301808445,0.9699497768740845,0.3474224918961314,0.03499863044878661,-0.03500032545859841,0.3552728451618391,0.0843945932405637,0.07989224457978368,0.9954304319609759,-1.948528278746935e-11,-4.271954411063272e-12,0.09548955506223199],"qvel":[0.013149119687218198,-0.027418800195689583,0.045909345861992835,-0.04144228805116619,-0.03198917235373902,0.12351664700196709,-1.4333366351635275e-06,-2.7214865470876485e-05,8.460145003641306e-12,-2.6278757329960597e-11,2.7344992140997645e-15,2.1272479366687405e-10,2.569120646274957e-11,-2.4451103213398188e-17],"joint_position_rad":[0.32041957701590396,1.505614245816005,-1.275333140088128,-0.18374240301808445,0.9699497768740845,0.3474224918961314],"joint_velocity_rad_s":[0.013149119687218198,-0.027418800195689583,0.045909345861992835,-0.04144228805116619,-0.03198917235373902,0.12351664700196709],"gripper_joint_position_m":[0.03499863044878661,-0.03500032545859841],"tcp_position_m":[0.34667404169967797,0.08300111292718207,0.20721560935241173],"tcp_quaternion_wxyz":[0.24148625175459332,-0.02024213325937449,0.97017001892575,-0.006691833249272194],"object_position_m":[0.3552728451618391,0.0843945932405637,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.948528278746935e-11,-4.271954411063272e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.460145003641306e-12,-2.6278757329960597e-11,2.7344992140997645e-15],"object_angular_velocity_rad_s":[2.0396137254936068e-10,6.566303707495179e-11,-2.4451103212356756e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000499834},{"geom_ids":[1,90],"normal_force_n":0.09810000000637145},{"geom_ids":[1,90],"normal_force_n":0.09809999999500174},{"geom_ids":[1,90],"normal_force_n":0.09809999999362849}],"native_actuator_controls":[0.3248668458359735,1.5003901202341168,-1.2690622430971126,-0.19615649984358854,0.9398397178138256,0.3953359327784081,0.035],"actuator_force_native":[0.29003590716946803,-0.2808360455725989,0.27212502997127785,-0.28935243276433287,-0.25311683207197966,0.29385943831981676,6.19487317117251e-05],"issued_joint_targets_rad":[0.3250854151932749,1.499800433054474,-1.2680559822080717,-0.19680240526861578,0.938558762989962,0.39731468601213993],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.099999999996694,"joint_targets_rad":[0.3250854151932749,1.499800433054474,-1.2680559822080717,-0.19680240526861578,0.938558762989962,0.39731468601213993],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.11999999999672,"qpos":[0.32068557756560034,1.5050376081483878,-1.274368811783612,-0.18458769478573722,0.9692924451091355,0.3499299037544608,0.03499873431706655,-0.03500038956274929,0.3552728451620194,0.08439459324000367,0.07989224457978368,0.9954304319609759,-1.9369514650837126e-11,-4.24657507132484e-12,0.09548955506223199],"qvel":[0.012379322796147337,-0.02775117062698022,0.04672185299076193,-0.040543446899384265,-0.03264321491473721,0.11990179855191103,1.3630095466187546e-06,-2.1931916010680492e-05,9.739899390255336e-12,-3.025389092677308e-11,2.7386625504421086e-15,-2.0404675289563053e-10,-2.464341402198803e-11,-4.464138712750864e-17],"joint_position_rad":[0.32068557756560034,1.5050376081483878,-1.274368811783612,-0.18458769478573722,0.9692924451091355,0.3499299037544608],"joint_velocity_rad_s":[0.012379322796147337,-0.02775117062698022,0.04672185299076193,-0.040543446899384265,-0.03264321491473721,0.11990179855191103],"gripper_joint_position_m":[0.03499873431706655,-0.03500038956274929],"tcp_position_m":[0.34658475674039396,0.08293352873563523,0.2071731975774906],"tcp_quaternion_wxyz":[0.24173368456584643,-0.01935363178938588,0.9701266755067633,-0.006670543679171094],"object_position_m":[0.3552728451620194,0.08439459324000367,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9369514650837126e-11,-4.24657507132484e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.739899390255336e-12,-3.025389092677308e-11,2.7386625504421086e-15],"object_angular_velocity_rad_s":[-1.9564078102542044e-10,-6.298460146474651e-11,-4.4641387118455263e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000607934},{"geom_ids":[1,90],"normal_force_n":0.09810000000774949},{"geom_ids":[1,90],"normal_force_n":0.09809999999392068},{"geom_ids":[1,90],"normal_force_n":0.09809999999225055}],"native_actuator_controls":[0.3250854151932749,1.499800433054474,-1.2680559822080717,-0.19680240526861578,0.938558762989962,0.39731468601213993,0.035],"actuator_force_native":[0.29009039623322863,-0.2802181543782041,0.27141710108941197,-0.2858711848182214,-0.25837199881962825,0.29399512474892475,4.3812269605147947e-05],"issued_joint_targets_rad":[0.3252855375368834,1.4992055622119984,-1.2670444196333621,-0.1974123328020398,0.9372656124746975,0.3991909689423033],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.11999999999672,"joint_targets_rad":[0.3252855375368834,1.4992055622119984,-1.2670444196333621,-0.1974123328020398,0.9372656124746975,0.3991909689423033],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.139999999996743,"qpos":[0.3209338505861824,1.5044551362838108,-1.2733896161286533,-0.18540772068891687,0.9686219852784423,0.35235941173951923,0.034998853207321254,-0.03500047121946101,0.35527284516219115,0.08439459323947004,0.07989224457978368,0.9954304319609759,-1.8289547076085374e-11,-4.009814519560778e-12,0.09548955506223199],"qvel":[0.0115864737707687,-0.0280000316064148,0.047407107287972566,-0.03964728404439433,-0.033294293329063675,0.11610986803420445,3.609725053871829e-06,-1.6539531736412766e-05,1.1812236212813133e-11,-3.6690768349652446e-11,2.7386625504421086e-15,-8.279561386428754e-10,-9.999853740835328e-11,-8.150382630138615e-17],"joint_position_rad":[0.3209338505861824,1.5044551362838108,-1.2733896161286533,-0.18540772068891687,0.9686219852784423,0.35235941173951923],"joint_velocity_rad_s":[0.0115864737707687,-0.0280000316064148,0.047407107287972566,-0.03964728404439433,-0.033294293329063675,0.11610986803420445],"gripper_joint_position_m":[0.034998853207321254,-0.03500047121946101],"tcp_position_m":[0.3464944294727714,0.08286394341557644,0.20712817232166236],"tcp_quaternion_wxyz":[0.24197921870598224,-0.018491199459527447,0.9700824396075665,-0.006647828368937131],"object_position_m":[0.35527284516219115,0.08439459323947004,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8289547076085374e-11,-4.009814519560778e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1812236212813133e-11,-3.6690768349652446e-11,2.7386625504421086e-15],"object_angular_velocity_rad_s":[-7.938467442717221e-10,-2.5557468890603113e-10,-8.150382615620871e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000577897},{"geom_ids":[1,90],"normal_force_n":0.09810000000736677},{"geom_ids":[1,90],"normal_force_n":0.09809999999422098},{"geom_ids":[1,90],"normal_force_n":0.09809999999263329}],"native_actuator_controls":[0.3252855375368834,1.4992055622119984,-1.2670444196333621,-0.1974123328020398,0.9372656124746975,0.3991909689423033,0.035],"actuator_force_native":[0.29020258720223424,-0.27996576771290904,0.2705801831834407,-0.28194806430294594,-0.26362228804385346,0.2941507699765342,2.7823081880429257e-05],"issued_joint_targets_rad":[0.3254670614028841,1.498607010394238,-1.2660300138343314,-0.1979855183472088,0.935963449896725,0.400961962572305],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.139999999996743,"joint_targets_rad":[0.3254670614028841,1.498607010394238,-1.2660300138343314,-0.1979855183472088,0.935963449896725,0.400961962572305],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.159999999996767,"qpos":[0.32116410348311464,1.5038683596693783,-1.2723982678503791,-0.18620312957564553,0.9679385072330148,0.354707544329127,0.03499896063331696,-0.03500053898339254,0.3552728451623504,0.08439459323897501,0.07989224457978368,0.9954304319609759,-1.5806415954900808e-11,-3.4654230105138046e-12,0.09548955506223199],"qvel":[0.01077072456936165,-0.02818348466374412,0.047956662023244494,-0.03874725511729408,-0.03393991758329269,0.11214513577944232,4.47196919358759e-06,-1.0614162913405282e-05,6.068633812610707e-12,-1.8850193999620063e-11,2.74005032922289e-15,6.879162921856458e-10,8.308152944077428e-11,-8.830272517046628e-18],"joint_position_rad":[0.32116410348311464,1.5038683596693783,-1.2723982678503791,-0.18620312957564553,0.9679385072330148,0.354707544329127],"joint_velocity_rad_s":[0.01077072456936165,-0.02818348466374412,0.047956662023244494,-0.03874725511729408,-0.03393991758329269,0.11214513577944232],"gripper_joint_position_m":[0.03499896063331696,-0.03500053898339254],"tcp_position_m":[0.34640373180064055,0.0827923535516308,0.20708092503071707],"tcp_quaternion_wxyz":[0.2422233904863136,-0.017656430981651244,0.9700372147160042,-0.006624319762965639],"object_position_m":[0.3552728451623504,0.08439459323897501,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.5806415954900808e-11,-3.4654230105138046e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.068633812610707e-12,-1.8850193999620063e-11,2.74005032922289e-15],"object_angular_velocity_rad_s":[6.595767676995548e-10,2.1234371452828766e-10,-8.830272497792147e-18],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998034959},{"geom_ids":[1,90],"normal_force_n":0.09809999997495125},{"geom_ids":[1,90],"normal_force_n":0.0981000000196504},{"geom_ids":[1,90],"normal_force_n":0.09810000002504873}],"native_actuator_controls":[0.3254670614028841,1.498607010394238,-1.2660300138343314,-0.1979855183472088,0.935963449896725,0.400961962572305,0.035],"actuator_force_native":[0.29038301073475026,-0.27999051869250025,0.26967701116758747,-0.27755927527605984,-0.268840696987958,0.29432647876261653,1.9214821354029965e-05],"issued_joint_targets_rad":[0.3256298857924163,1.4980063238322137,-1.2650152684895335,-0.19852128706124741,0.9346555336592745,0.40262573782219035],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.159999999996767,"joint_targets_rad":[0.3256298857924163,1.4980063238322137,-1.2650152684895335,-0.19852128706124741,0.9346555336592745,0.40262573782219035],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.17999999999679,"qpos":[0.32137618469259566,1.5032784771319496,-1.2713974731689128,-0.18697532309063114,0.9672413896495102,0.3569709956504387,0.03499904069317051,-0.035000567482588965,0.3552728451625344,0.08439459323840381,0.07989224457978368,0.9954304319609759,-1.6877044281163974e-11,-3.700141878025564e-12,0.09548955506223199],"qvel":[0.009931151917978828,-0.028309897332067922,0.048359845687280904,-0.037848624250193676,-0.03459064582739405,0.10801398839150489,4.744813036083756e-06,-4.9155217243571966e-06,6.54263147337299e-12,-2.0322528140877172e-11,2.737274771661327e-15,6.048978564933375e-10,7.305565641930605e-11,-1.6121888402832465e-17],"joint_position_rad":[0.32137618469259566,1.5032784771319496,-1.2713974731689128,-0.18697532309063114,0.9672413896495102,0.3569709956504387],"joint_velocity_rad_s":[0.009931151917978828,-0.028309897332067922,0.048359845687280904,-0.037848624250193676,-0.03459064582739405,0.10801398839150489],"gripper_joint_position_m":[0.03499904069317051,-0.035000567482588965],"tcp_position_m":[0.34631346595705514,0.08271873426481355,0.20703205328380736],"tcp_quaternion_wxyz":[0.24246732766232523,-0.016851065736807995,0.9699907558688373,-0.0066007672907117424],"object_position_m":[0.3552728451625344,0.08439459323840381,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6877044281163974e-11,-3.700141878025564e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.54263147337299e-12,-2.0322528140877172e-11,2.737274771661327e-15],"object_angular_velocity_rad_s":[5.799782813691551e-10,1.8671834099833307e-10,-1.612188841030612e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000160359},{"geom_ids":[1,90],"normal_force_n":0.09810000000204411},{"geom_ids":[1,90],"normal_force_n":0.09809999999839641},{"geom_ids":[1,90],"normal_force_n":0.0980999999979559}],"native_actuator_controls":[0.3256298857924163,1.4980063238322137,-1.2650152684895335,-0.19852128706124741,0.9346555336592745,0.40262573782219035,0.035],"actuator_force_native":[0.2906403283957566,-0.28022277731854217,0.26877714591392987,-0.2725954375736821,-0.27397259116126627,0.2945264391302591,1.4648207999456986e-05],"issued_joint_targets_rad":[0.3257381084026056,1.4976364793525783,-1.2643840827862227,-0.19887741918901355,0.9338461280435362,0.4036516697435092],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.17999999999679,"joint_targets_rad":[0.3257381084026056,1.4976364793525783,-1.2643840827862227,-0.19887741918901355,0.9338461280435362,0.4036516697435092],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.199999999996816,"qpos":[0.3215664683842935,1.502723495390539,-1.2704449255729906,-0.18772312799697244,0.9665447575630823,0.35908877276113393,0.034999191469436156,-0.03500054230057165,0.3552728451627258,0.08439459323780937,0.07989224457978368,0.9954304319609759,-1.8655656082610825e-11,-4.0900835566308845e-12,0.09548955506223199],"qvel":[0.008984016386737638,-0.025663738775780348,0.04458228030939633,-0.036631115468869005,-0.03442933469799798,0.10031884602514911,1.1180787258017605e-05,6.269673178484601e-06,7.377837245643957e-12,-2.2916828552029956e-11,2.7358869928805462e-15,4.948342668134858e-10,5.976296104066555e-11,-2.943446652008748e-17],"joint_position_rad":[0.3215664683842935,1.502723495390539,-1.2704449255729906,-0.18772312799697244,0.9665447575630823,0.35908877276113393],"joint_velocity_rad_s":[0.008984016386737638,-0.025663738775780348,0.04458228030939633,-0.036631115468869005,-0.03442933469799798,0.10031884602514911],"gripper_joint_position_m":[0.034999191469436156,-0.03500054230057165],"tcp_position_m":[0.34623544669373896,0.08264554814659936,0.20698666073252728],"tcp_quaternion_wxyz":[0.24271334450547755,-0.016101236089542687,0.9699420761807235,-0.006584181770118955],"object_position_m":[0.3552728451627258,0.08439459323780937,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8655656082610825e-11,-4.0900835566308845e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.377837245643957e-12,-2.2916828552029956e-11,2.7358869928805462e-15],"object_angular_velocity_rad_s":[4.744488941760195e-10,1.5274426319943856e-10,-2.943446653271715e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000340854},{"geom_ids":[1,90],"normal_force_n":0.09810000000434493},{"geom_ids":[1,90],"normal_force_n":0.09809999999659139},{"geom_ids":[1,90],"normal_force_n":0.09809999999565516}],"native_actuator_controls":[0.3257381084026056,1.4976364793525783,-1.2643840827862227,-0.19887741918901355,0.9338461280435362,0.4036516697435092,0.035],"actuator_force_native":[0.2888111195312817,-0.27864258915796825,0.26195602139443963,-0.2630160703372999,-0.2753422931484657,0.29515070078602834,-2.356271373615826e-05],"issued_joint_targets_rad":[0.3257790329728538,1.497646153898938,-1.264379441667671,-0.19898336485455453,0.9338570484874322,0.4037678093231286],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.199999999996816,"joint_targets_rad":[0.3257790329728538,1.497646153898938,-1.264379441667671,-0.19898336485455453,0.9338570484874322,0.4037678093231286],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.21999999999684,"qpos":[0.32173960852635497,1.5022841937084748,-1.2696624787362973,-0.18843799735719988,0.9658697753076787,0.36096496204533884,0.03499947008426145,-0.0350001022980972,0.3552728451629159,0.08439459323721904,0.07989224457978368,0.9954304319609759,-1.973913558049292e-11,-4.327615923687768e-12,0.09548955506223199],"qvel":[0.0084125571094474,-0.01851079853831965,0.03395271494216244,-0.03481442385965201,-0.03320913919126119,0.08784393889641767,1.16098525821618e-05,3.226673906778422e-05,8.34800730889318e-12,-2.593039604648447e-11,2.737274771661327e-15,2.735937327987112e-10,3.304320925804757e-11,-5.373987028816482e-17],"joint_position_rad":[0.32173960852635497,1.5022841937084748,-1.2696624787362973,-0.18843799735719988,0.9658697753076787,0.36096496204533884],"joint_velocity_rad_s":[0.0084125571094474,-0.01851079853831965,0.03395271494216244,-0.03481442385965201,-0.03320913919126119,0.08784393889641767],"gripper_joint_position_m":[0.03499947008426145,-0.0350001022980972],"tcp_position_m":[0.3461948057619548,0.08258395420220471,0.20695599521753044],"tcp_quaternion_wxyz":[0.24296931978675174,-0.0154514339756667,0.9698885863591858,-0.006579732565932895],"object_position_m":[0.3552728451629159,0.08439459323721904,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.973913558049292e-11,-4.327615923687768e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.34800730889318e-12,-2.593039604648447e-11,2.737274771661327e-15],"object_angular_velocity_rad_s":[2.6232261173151606e-10,8.445254098699286e-11,-5.373987031271478e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000501194},{"geom_ids":[1,90],"normal_force_n":0.09810000000638888},{"geom_ids":[1,90],"normal_force_n":0.098099999994988},{"geom_ids":[1,90],"normal_force_n":0.0980999999936112}],"native_actuator_controls":[0.3257790329728538,1.497646153898938,-1.264379441667671,-0.19898336485455453,0.9338570484874322,0.4037678093231286,0.035],"actuator_force_native":[0.2810911701726688,-0.2784891920713477,0.25287939077928456,-0.2477425805959257,-0.27031355941557145,0.2962625644332717,-3.6852633368722465e-05],"issued_joint_targets_rad":[0.32581498530249786,1.497655659877683,-1.264374059039863,-0.19907912780397607,0.9338646545713973,0.40387223465598876],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.21999999999684,"joint_targets_rad":[0.32581498530249786,1.497655659877683,-1.264374059039863,-0.19907912780397607,0.9338646545713973,0.40387223465598876],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.239999999996865,"qpos":[0.3219043813309559,1.5019850355878355,-1.269092360784769,-0.1891154426310116,0.9652139275471449,0.3626108536277035,0.03499960364092581,-0.034999407258389646,0.35527284516310226,0.08439459323664024,0.07989224457978368,0.9954304319609759,-2.0021636977818807e-11,-4.3895491897772e-12,0.09548955506223199],"qvel":[0.008081893894279563,-0.011994586424216467,0.023855142894503002,-0.03293554498262262,-0.03248053453931522,0.0772148410971309,1.378191232241322e-06,3.129837122517598e-05,9.628015916297279e-12,-2.9906324166562465e-11,2.7358869928805454e-15,-1.0114090453932225e-10,-1.2215111509533521e-11,-9.811489538552946e-17],"joint_position_rad":[0.3219043813309559,1.5019850355878355,-1.269092360784769,-0.1891154426310116,0.9652139275471449,0.3626108536277035],"joint_velocity_rad_s":[0.008081893894279563,-0.011994586424216467,0.023855142894503002,-0.03293554498262262,-0.03248053453931522,0.0772148410971309],"gripper_joint_position_m":[0.03499960364092581,-0.034999407258389646],"tcp_position_m":[0.3462009867395782,0.08254125630091104,0.20694609984100693],"tcp_quaternion_wxyz":[0.24324396975283594,-0.014898923894865301,0.9698283849165461,-0.0065800498341616245],"object_position_m":[0.35527284516310226,0.08439459323664024,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-2.0021636977818807e-11,-4.3895491897772e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.628015916297279e-12,-2.9906324166562465e-11,2.7358869928805454e-15],"object_angular_velocity_rad_s":[-9.697427630119033e-11,-3.1219885587282216e-11,-9.811489538210116e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000624286},{"geom_ids":[1,90],"normal_force_n":0.09810000000795777},{"geom_ids":[1,90],"normal_force_n":0.09809999999375713},{"geom_ids":[1,90],"normal_force_n":0.09809999999204223}],"native_actuator_controls":[0.32581498530249786,1.497655659877683,-1.264374059039863,-0.19907912780397607,0.9338646545713973,0.40387223465598876,0.035],"actuator_force_native":[0.27243884825195863,-0.2863771246911142,0.258188425119954,-0.23386968200546665,-0.2647719279485017,0.29679154863715596,8.96340680656138e-06],"issued_joint_targets_rad":[0.3258463955884985,1.497665571691912,-1.2643682061361396,-0.19916593212959144,0.9338690204158004,0.40396599728496074],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.239999999996865,"joint_targets_rad":[0.3258463955884985,1.497665571691912,-1.2643682061361396,-0.19916593212959144,0.9338690204158004,0.40396599728496074],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.25999999999689,"qpos":[0.3220633238953931,1.5017844324831031,-1.2686936813275675,-0.18975560692320026,0.9645686816411229,0.36406107858636466,0.03499955292777042,-0.034999013355473424,0.3552728451632818,0.0843945932360825,0.07989224457978368,0.9954304319609759,-1.9291306147883492e-11,-4.229421620351506e-12,0.09548955506223199],"qvel":[0.00781623502548972,-0.008906852072715844,0.01688991543615619,-0.03110008070218664,-0.03207492637286205,0.06813918951921463,-5.213963976119808e-06,6.274041606185906e-06,1.1573591129596484e-11,-3.5949770747645574e-11,2.7344992140997637e-15,-6.80944716965257e-10,-8.22363053032408e-11,-1.7913280581748588e-16],"joint_position_rad":[0.3220633238953931,1.5017844324831031,-1.2686936813275675,-0.18975560692320026,0.9645686816411229,0.36406107858636466],"joint_velocity_rad_s":[0.00781623502548972,-0.008906852072715844,0.01688991543615619,-0.03110008070218664,-0.03207492637286205,0.06813918951921463],"gripper_joint_position_m":[0.03499955292777042,-0.034999013355473424],"tcp_position_m":[0.3462441461177355,0.08251530555046917,0.20695841791312186],"tcp_quaternion_wxyz":[0.24354154985145737,-0.01442846353605082,0.9697608200903316,-0.006579114960713018],"object_position_m":[0.3552728451632818,0.0843945932360825,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9291306147883492e-11,-4.229421620351506e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.1573591129596484e-11,-3.5949770747645574e-11,2.7344992140997637e-15],"object_angular_velocity_rad_s":[-6.528930122154119e-10,-2.1018856313583327e-10,-1.7913280592243266e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000635094},{"geom_ids":[1,90],"normal_force_n":0.09810000000809563},{"geom_ids":[1,90],"normal_force_n":0.09809999999364909},{"geom_ids":[1,90],"normal_force_n":0.09809999999190444}],"native_actuator_controls":[0.3258463955884985,1.497665571691912,-1.2643682061361396,-0.19916593212959144,0.9338690204158004,0.40396599728496074,0.035],"actuator_force_native":[0.2635645603209795,-0.28497460293171173,0.2615884381334581,-0.22091260474471408,-0.25888422269393097,0.29684040270713874,4.395270906409898e-05],"issued_joint_targets_rad":[0.32587422080905676,1.49767592318703,-1.2643618560710184,-0.19924554082443388,0.9338703932112977,0.4040511347666266],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.25999999999689,"joint_targets_rad":[0.32587422080905676,1.49767592318703,-1.2643618560710184,-0.19924554082443388,0.9338703932112977,0.4040511347666266],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.279999999996914,"qpos":[0.3222171168873895,1.5016173733180869,-1.268411266946211,-0.19035988658486508,0.9639321861155843,0.3653396295436215,0.03499948955446981,-0.034999093917877803,0.35527284516345037,0.08439459323555883,0.07989224457978368,0.9954304319609759,-1.7179380916382674e-11,-3.766392391736273e-12,0.09548955506223199],"qvel":[0.007562811323567798,-0.00799796769884918,0.011762027614010963,-0.029354661056344027,-0.03158116351970359,0.05999813199460112,-1.4150539936293841e-06,-1.1782951653088045e-05,1.477140540288465e-11,-4.588295739455229e-11,2.741438108003671e-15,-1.5388497711369895e-09,-1.8584433176162466e-10,-3.270529167475228e-16],"joint_position_rad":[0.3222171168873895,1.5016173733180869,-1.268411266946211,-0.19035988658486508,0.9639321861155843,0.3653396295436215],"joint_velocity_rad_s":[0.007562811323567798,-0.00799796769884918,0.011762027614010963,-0.029354661056344027,-0.03158116351970359,0.05999813199460112],"gripper_joint_position_m":[0.03499948955446981,-0.034999093917877803],"tcp_position_m":[0.34630892660467405,0.08250102837097802,0.20699717414321453],"tcp_quaternion_wxyz":[0.24386767101783702,-0.014028618278846544,0.9696847709327769,-0.006572816943286932],"object_position_m":[0.35527284516345037,0.08439459323555883,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7179380916382674e-11,-3.766392391736273e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.477140540288465e-11,-4.588295739455229e-11,2.741438108003671e-15],"object_angular_velocity_rad_s":[-1.4754563212764891e-09,-4.750003976646024e-10,-3.270529169044387e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000392623},{"geom_ids":[1,90],"normal_force_n":0.09810000000500488},{"geom_ids":[1,90],"normal_force_n":0.0980999999960738},{"geom_ids":[1,90],"normal_force_n":0.09809999999499512}],"native_actuator_controls":[0.32587422080905676,1.49767592318703,-1.2643618560710184,-0.19924554082443388,0.9338703932112977,0.4040511347666266,0.035],"actuator_force_native":[0.2547542571155397,-0.27532617199030085,0.2651427319453603,-0.20865286430103236,-0.2532461837633093,0.2971178542381492,2.7493091175889717e-05],"issued_joint_targets_rad":[0.32589931714687714,1.4976866341994766,-1.2643548390310058,-0.19931934789335817,0.9338688957385292,0.40412933956045316],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.279999999996914,"joint_targets_rad":[0.32589931714687714,1.4976866341994766,-1.2643548390310058,-0.19931934789335817,0.9338688957385292,0.40412933956045316],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.29999999999694,"qpos":[0.3223658433550987,1.5014620501891374,-1.2682214120690596,-0.19093026034651342,0.9633061117215472,0.3664652370137258,0.034999513509241215,-0.0349993826390653,0.35527284516363355,0.08439459323498985,0.07989224457978368,0.9954304319609759,-1.724216065233452e-11,-3.780140543656983e-12,0.09548955506223199],"qvel":[0.00731095459992972,-0.007596927646382536,0.007567403616336197,-0.02770940078027862,-0.031051451381234392,0.05282025551097722,2.3594757490671244e-06,-1.6237421899371573e-05,6.653310355531311e-12,-2.066650324366751e-11,2.734499214099764e-15,6.537954596863036e-10,7.895979351777917e-11,-3.543347051030614e-17],"joint_position_rad":[0.3223658433550987,1.5014620501891374,-1.2682214120690596,-0.19093026034651342,0.9633061117215472,0.3664652370137258],"joint_velocity_rad_s":[0.00731095459992972,-0.007596927646382536,0.007567403616336197,-0.02770940078027862,-0.031051451381234392,0.05282025551097722],"gripper_joint_position_m":[0.034999513509241215,-0.0349993826390653],"tcp_position_m":[0.3463888841108191,0.0824959055321833,0.20706183525304594],"tcp_quaternion_wxyz":[0.24422100453532442,-0.013690651668211259,0.9696007573609129,-0.006560360188362662],"object_position_m":[0.35527284516363355,0.08439459323498985,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.724216065233452e-11,-3.780140543656983e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.653310355531311e-12,-2.066650324366751e-11,2.734499214099764e-15],"object_angular_velocity_rad_s":[6.268617485645124e-10,2.018105554361213e-10,-3.5433470533640343e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000013035},{"geom_ids":[1,90],"normal_force_n":0.09810000000166157},{"geom_ids":[1,90],"normal_force_n":0.09809999999869656},{"geom_ids":[1,90],"normal_force_n":0.09809999999833835}],"native_actuator_controls":[0.32589931714687714,1.4976866341994766,-1.2643548390310058,-0.19931934789335817,0.9338688957385292,0.40412933956045316,0.035],"actuator_force_native":[0.24612313034262812,-0.26404864094094194,0.27148882496263127,-0.19701649797239718,-0.24779498275832879,0.2974106422008078,7.662251606310733e-06],"issued_joint_targets_rad":[0.3259221150521728,1.4976976293248725,-1.2643472702654606,-0.19938801853479052,0.9338649497179081,0.4042014938802601],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.29999999999694,"joint_targets_rad":[0.3259221150521728,1.4976976293248725,-1.2643472702654606,-0.19938801853479052,0.9338649497179081,0.4042014938802601],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.319999999996963,"qpos":[0.32250956248358,1.5013121854985683,-1.2681000366350486,-0.1914687176137273,0.9626892880572983,0.3674590512725217,0.03499957358636539,-0.03499970605354896,0.35527284516382085,0.08439459323440812,0.07989224457978368,0.9954304319609759,-1.8202518256511337e-11,-3.990684433664545e-12,0.09548955506223199],"qvel":[0.007063125956333365,-0.007452281039150424,0.005202244900775829,-0.026161448211696886,-0.03070136325070789,0.04709543996923572,2.513289794810949e-06,-1.739754684143748e-05,7.221426916428878e-12,-2.243119761667905e-11,2.735886992880545e-15,5.165864539213906e-10,6.238836477880764e-11,-6.469224143249744e-17],"joint_position_rad":[0.32250956248358,1.5013121854985683,-1.2681000366350486,-0.1914687176137273,0.9626892880572983,0.3674590512725217],"joint_velocity_rad_s":[0.007063125956333365,-0.007452281039150424,0.005202244900775829,-0.026161448211696886,-0.03070136325070789,0.04709543996923572],"gripper_joint_position_m":[0.03499957358636539,-0.03499970605354896],"tcp_position_m":[0.3464792297086357,0.08249802432555473,0.20714648888525933],"tcp_quaternion_wxyz":[0.24459417297368546,-0.01340544853830281,0.9695107943156296,-0.006542492054440289],"object_position_m":[0.35527284516382085,0.08439459323440812,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8202518256511337e-11,-3.990684433664545e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.221426916428878e-12,-2.243119761667905e-11,2.735886992880545e-15],"object_angular_velocity_rad_s":[4.953052912000387e-10,1.5945701911203035e-10,-6.469224143653034e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000286195},{"geom_ids":[1,90],"normal_force_n":0.09810000000364812},{"geom_ids":[1,90],"normal_force_n":0.09809999999713814},{"geom_ids":[1,90],"normal_force_n":0.0980999999963518}],"native_actuator_controls":[0.3259221150521728,1.4976976293248725,-1.2643472702654606,-0.19938801853479052,0.9338649497179081,0.4042014938802601,0.035],"actuator_force_native":[0.2376885757057572,-0.25190308869990474,0.27421008506316014,-0.18596479578404423,-0.24219133851784136,0.29678126612353006,4.490096410236788e-06],"issued_joint_targets_rad":[0.32594290000626935,1.4977086842206326,-1.264339321008718,-0.19945197065878642,0.9338591245465329,0.40426822355228265],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.319999999996963,"joint_targets_rad":[0.32594290000626935,1.4977086842206326,-1.264339321008718,-0.19945197065878642,0.9338591245465329,0.40426822355228265],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.339999999996987,"qpos":[0.3226483448403641,1.5011643225337703,-1.2680031230102582,-0.19197695481782456,0.9620790711780073,0.36837396583604926,0.034999643275958996,-0.03500003538981268,0.35527284516400315,0.08439459323384191,0.07989224457978368,0.9954304319609759,-1.8809325982095688e-11,-4.123712760403937e-12,0.09548955506223199],"qvel":[0.006818076263935489,-0.0073221849666863185,0.004634785747616303,-0.024685887104844522,-0.030302259533916503,0.044863357495428864,3.8135423708783145e-06,-1.5548107154934923e-05,7.967769047836279e-12,-2.4749538169834985e-11,2.7372747716613264e-15,2.848721573607238e-10,3.440440430638319e-11,-1.1811168241923768e-16],"joint_position_rad":[0.3226483448403641,1.5011643225337703,-1.2680031230102582,-0.19197695481782456,0.9620790711780073,0.36837396583604926],"joint_velocity_rad_s":[0.006818076263935489,-0.0073221849666863185,0.004634785747616303,-0.024685887104844522,-0.030302259533916503,0.044863357495428864],"gripper_joint_position_m":[0.034999643275958996,-0.03500003538981268],"tcp_position_m":[0.3465718427804538,0.08250444871560038,0.20723744497922036],"tcp_quaternion_wxyz":[0.24497002567490883,-0.013149494257207765,0.9694195580394858,-0.0065190346020141225],"object_position_m":[0.35527284516400315,0.08439459323384191,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8809325982095688e-11,-4.123712760403937e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.967769047836279e-12,-2.4749538169834985e-11,2.7372747716613264e-15],"object_angular_velocity_rad_s":[2.7313658527342097e-10,8.793301348302005e-11,-1.1811168243591225e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000044534},{"geom_ids":[1,90],"normal_force_n":0.09810000000567672},{"geom_ids":[1,90],"normal_force_n":0.09809999999554668},{"geom_ids":[1,90],"normal_force_n":0.09809999999432323}],"native_actuator_controls":[0.32594290000626935,1.4977086842206326,-1.264339321008718,-0.19945197065878642,0.9338591245465329,0.40426822355228265,0.035],"actuator_force_native":[0.22947403195274418,-0.23984014021759492,0.26993023138514616,-0.17557119811425181,-0.23674607701386918,0.29164754091919054,-4.798750214085601e-06],"issued_joint_targets_rad":[0.3259622895021301,1.4977193058731162,-1.264331181356518,-0.1995121056329011,0.9338523064214224,0.4043307827419109],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.339999999996987,"joint_targets_rad":[0.3259622895021301,1.4977193058731162,-1.264331181356518,-0.1995121056329011,0.9338523064214224,0.4043307827419109],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.35999999999701,"qpos":[0.3227823041244944,1.501020363556391,-1.267912721010246,-0.1924565640921584,0.9614786226937547,0.36925847812531615,0.03499971717436077,-0.03500027596141307,0.3552728451641795,0.08439459323329412,0.07989224457978368,0.9954304319609759,-1.886156725938288e-11,-4.1351498436654215e-12,0.09548955506223199],"qvel":[0.006581223438116676,-0.007078023540997389,0.004437477465662472,-0.02329774066585843,-0.029752343812147662,0.043681884953655006,3.0402727640412215e-06,-9.651363163286045e-06,9.068762052527985e-12,-2.81695380598997e-11,2.740050329222889e-15,-7.90639505236273e-11,-9.546694424318803e-12,-2.1564067278158022e-16],"joint_position_rad":[0.3227823041244944,1.501020363556391,-1.267912721010246,-0.1924565640921584,0.9614786226937547,0.36925847812531615],"joint_velocity_rad_s":[0.006581223438116676,-0.007078023540997389,0.004437477465662472,-0.02329774066585843,-0.029752343812147662,0.043681884953655006],"gripper_joint_position_m":[0.03499971717436077,-0.03500027596141307],"tcp_position_m":[0.3466629981639825,0.08251360283114027,0.20732757533441235],"tcp_quaternion_wxyz":[0.24533834977239916,-0.012900286196299083,0.9693299639403983,-0.006488278224299603],"object_position_m":[0.3552728451641795,0.08439459323329412,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.886156725938288e-11,-4.1351498436654215e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.068762052527985e-12,-2.81695380598997e-11,2.740050329222889e-15],"object_angular_velocity_rad_s":[-7.58072120977664e-11,-2.440316046740959e-11,-2.1564067284988438e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000569337},{"geom_ids":[1,90],"normal_force_n":0.09810000000725738},{"geom_ids":[1,90],"normal_force_n":0.09809999999430673},{"geom_ids":[1,90],"normal_force_n":0.09809999999274255}],"native_actuator_controls":[0.3259622895021301,1.4977193058731162,-1.264331181356518,-0.1995121056329011,0.9338523064214224,0.4043307827419109,0.035],"actuator_force_native":[0.22149271302027174,-0.22869449695699018,0.26433578496994414,-0.16573295830041612,-0.2316346470051016,0.28520021873546586,-3.888338250712664e-06],"issued_joint_targets_rad":[0.32598092572916304,1.4977292974740763,-1.264323020532571,-0.1995694645941933,0.9338451350606535,0.40439047043757365],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.35999999999701,"joint_targets_rad":[0.32598092572916304,1.4977292974740763,-1.264323020532571,-0.1995694645941933,0.9338451350606535,0.40439047043757365],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.379999999997036,"qpos":[0.32291161033977334,1.5008818572560048,-1.2678252623044832,-0.19290925432406122,0.9608898118464493,0.37012146190125045,0.034999766976834934,-0.03500040370694475,0.3552728451643578,0.08439459323274047,0.07989224457978368,0.9954304319609759,-1.920916795481655e-11,-4.2113649685191154e-12,0.09548955506223199],"qvel":[0.006352616272622439,-0.006788350429382558,0.004318000013964874,-0.021991356694874578,-0.0291524618787734,0.04265989929973195,1.799997860304012e-06,-4.762412468860057e-06,1.0978164627907212e-11,-3.4100384782286256e-11,2.741438108003671e-15,-6.023764115397181e-10,-7.275177086154355e-11,-3.937055399185295e-16],"joint_position_rad":[0.32291161033977334,1.5008818572560048,-1.2678252623044832,-0.19290925432406122,0.9608898118464493,0.37012146190125045],"joint_velocity_rad_s":[0.006352616272622439,-0.006788350429382558,0.004318000013964874,-0.021991356694874578,-0.0291524618787734,0.04265989929973195],"gripper_joint_position_m":[0.034999766976834934,-0.03500040370694475],"tcp_position_m":[0.3467519087054763,0.08252492320134257,0.20741496852473035],"tcp_quaternion_wxyz":[0.2456962139034416,-0.012654028018981415,0.9692428130971557,-0.006450992785698063],"object_position_m":[0.3552728451643578,0.08439459323274047,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.920916795481655e-11,-4.2113649685191154e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0978164627907212e-11,-3.4100384782286256e-11,2.741438108003671e-15],"object_angular_velocity_rad_s":[-5.775605893671766e-10,-1.8594065438412475e-10,-3.9370553979707934e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000698847},{"geom_ids":[1,90],"normal_force_n":0.09810000000890826},{"geom_ids":[1,90],"normal_force_n":0.09809999999301147},{"geom_ids":[1,90],"normal_force_n":0.09809999999109181}],"native_actuator_controls":[0.32598092572916304,1.4977292974740763,-1.264323020532571,-0.1995694645941933,0.9338451350606535,0.40439047043757365,0.035],"actuator_force_native":[0.21378214978806298,-0.21826303040735695,0.2585893416831482,-0.15645162733091045,-0.22671807503979835,0.2787002364136342,3.209373011792138e-07],"issued_joint_targets_rad":[0.3259989027453982,1.4977386336677676,-1.264314917939381,-0.19962423596795645,0.9338378170938904,0.40444752395847017],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.379999999997036,"joint_targets_rad":[0.3259989027453982,1.4977386336677676,-1.264314917939381,-0.19962423596795645,0.9338378170938904,0.40444752395847017],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.39999999999706,"qpos":[0.32303642364280055,1.5007492515960161,-1.2677399516641767,-0.19333659158092434,0.9603131038211936,0.37096447022126405,0.034999796196076294,-0.035000456540539425,0.3552728451645294,0.08439459323220748,0.07989224457978368,0.9954304319609759,-1.7956302926310273e-11,-3.936703085624466e-12,0.09548955506223199],"qvel":[0.0061318338031788435,-0.0064917758109594974,0.004217739217640286,-0.02076041130228122,-0.028546245725703637,0.0416773358269363,9.84262041091091e-07,-1.9313702039682106e-06,1.4075804227998451e-11,-4.3722213788123344e-11,2.7344992140997637e-15,-1.383743176094611e-09,-1.6711700687393793e-10,-7.188051969704255e-16],"joint_position_rad":[0.32303642364280055,1.5007492515960161,-1.2677399516641767,-0.19333659158092434,0.9603131038211936,0.37096447022126405],"joint_velocity_rad_s":[0.0061318338031788435,-0.0064917758109594974,0.004217739217640286,-0.02076041130228122,-0.028546245725703637,0.0416773358269363],"gripper_joint_position_m":[0.034999796196076294,-0.035000456540539425],"tcp_position_m":[0.34683846137037905,0.08253812826346667,0.20749918722075836],"tcp_quaternion_wxyz":[0.24604306503072804,-0.012410346442279861,0.9691582592873988,-0.0064079564984955905],"object_position_m":[0.3552728451645294,0.08439459323220748,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7956302926310273e-11,-3.936703085624466e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.4075804227998451e-11,-4.3722213788123344e-11,2.7344992140997637e-15],"object_angular_velocity_rad_s":[-1.3267385138994933e-09,-4.2712783462408826e-10,-7.188051968913088e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000534125},{"geom_ids":[1,90],"normal_force_n":0.09810000000680863},{"geom_ids":[1,90],"normal_force_n":0.09809999999465872},{"geom_ids":[1,90],"normal_force_n":0.0980999999931915}],"native_actuator_controls":[0.3259989027453982,1.4977386336677676,-1.264314917939381,-0.19962423596795645,0.9338378170938904,0.40444752395847017,0.035],"actuator_force_native":[0.20633915919191992,-0.2083905552050851,0.2529140018954479,-0.14770371896987822,-0.22193349868447854,0.2723145336316568,3.2308467430297583e-06],"issued_joint_targets_rad":[0.3260162384198653,1.4977473396035423,-1.264306904358897,-0.19967651972045303,0.9338304261925309,0.4045020511572312],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.39999999999706,"joint_targets_rad":[0.3260162384198653,1.4977473396035423,-1.264306904358897,-0.19967651972045303,0.9338304261925309,0.4045020511572312],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.419999999997085,"qpos":[0.32315689789892715,1.5006225112469156,-1.267656570486223,-0.19374003447385837,0.9597484533688321,0.37178807238227246,0.034999812959045355,-0.03500046878592355,0.3552728451647088,0.08439459323165016,0.07989224457978368,0.9954304319609759,-1.7318222224601653e-11,-3.796818855668351e-12,0.09548955506223199],"qvel":[0.005918626585551945,-0.006202378254936022,0.004123797948388911,-0.01960017173609615,-0.027947459592361484,0.04071807689250828,5.196058032448818e-07,-4.6710307921797916e-07,6.641203257773039e-12,-2.062889614236179e-11,2.735886992880545e-15,6.808913219278203e-10,8.223129276601649e-11,-7.787663834289426e-17],"joint_position_rad":[0.32315689789892715,1.5006225112469156,-1.267656570486223,-0.19374003447385837,0.9597484533688321,0.37178807238227246],"joint_velocity_rad_s":[0.005918626585551945,-0.006202378254936022,0.004123797948388911,-0.01960017173609615,-0.027947459592361484,0.04071807689250828],"gripper_joint_position_m":[0.034999812959045355,-0.03500046878592355],"tcp_position_m":[0.34692269601595715,0.08255301779715227,0.20758020935931049],"tcp_quaternion_wxyz":[0.24637905144972372,-0.01216930312463958,0.9690762737674204,-0.006359771163056425],"object_position_m":[0.3552728451647088,0.08439459323165016,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7318222224601653e-11,-3.796818855668351e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.641203257773039e-12,-2.062889614236179e-11,2.735886992880545e-15],"object_angular_velocity_rad_s":[6.5284154383262e-10,2.1017349127048474e-10,-7.787663833177967e-17],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000011417},{"geom_ids":[1,90],"normal_force_n":0.09810000000145529},{"geom_ids":[1,90],"normal_force_n":0.09809999999885839},{"geom_ids":[1,90],"normal_force_n":0.0980999999985447}],"native_actuator_controls":[0.3260162384198653,1.4977473396035423,-1.264306904358897,-0.19967651972045303,0.9338304261925309,0.4045020511572312,0.035],"actuator_force_native":[0.19915410874729034,-0.1990018401951943,0.24735430044414386,-0.1394585511833064,-0.21725908237446845,0.2660626724108246,4.8836091697257444e-06],"issued_joint_targets_rad":[0.32603294913166253,1.4977554532668962,-1.2642989933028703,-0.19972642432474663,0.9338229986317436,0.40455416188029103],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.419999999997085,"joint_targets_rad":[0.32603294913166253,1.4977554532668962,-1.2642989933028703,-0.19972642432474663,0.9338229986317436,0.40455416188029103],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.43999999999711,"qpos":[0.3232731822398968,1.5005014395303267,-1.2675750321727899,-0.19412095400022367,0.9591956636952668,0.37259270371296344,0.03499982275278285,-0.035000460872443136,0.35527284516490254,0.08439459323104845,0.07989224457978368,0.9954304319609759,-1.8534860908015898e-11,-4.063576473011025e-12,0.09548955506223199],"qvel":[0.00571275820919343,-0.005924374262732542,0.004033045697588772,-0.018506479962683422,-0.02735990656367521,0.03977977946112577,2.6541565162804645e-07,2.4499100288960965e-07,7.270543091156991e-12,-2.258366819821399e-11,2.7344992140997637e-15,5.69054835810186e-10,6.872475204328023e-11,-1.42182541152277e-16],"joint_position_rad":[0.3232731822398968,1.5005014395303267,-1.2675750321727899,-0.19412095400022367,0.9591956636952668,0.37259270371296344],"joint_velocity_rad_s":[0.00571275820919343,-0.005924374262732542,0.004033045697588772,-0.018506479962683422,-0.02735990656367521,0.03977977946112577],"gripper_joint_position_m":[0.03499982275278285,-0.035000460872443136],"tcp_position_m":[0.3470046857829736,0.08256942125309812,0.20765812783898052],"tcp_quaternion_wxyz":[0.2467045126591233,-0.011931002293364643,0.968996778669346,-0.006306944294258505],"object_position_m":[0.35527284516490254,0.08439459323104845,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8534860908015898e-11,-4.063576473011025e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.270543091156991e-12,-2.258366819821399e-11,2.7344992140997637e-15],"object_angular_velocity_rad_s":[5.456122450181558e-10,1.7565242892887886e-10,-1.4218254111423643e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000264234},{"geom_ids":[1,90],"normal_force_n":0.09810000000336822},{"geom_ids":[1,90],"normal_force_n":0.09809999999735769},{"geom_ids":[1,90],"normal_force_n":0.09809999999663181}],"native_actuator_controls":[0.32603294913166253,1.4977554532668962,-1.2642989933028703,-0.19972642432474663,0.9338229986317436,0.40455416188029103,0.035],"actuator_force_native":[0.19221756029528692,-0.19005702976077998,0.2419178811056213,-0.1316864131675013,-0.21268679078971964,0.25994491248158713,5.762810427967224e-06],"issued_joint_targets_rad":[0.3260490534100192,1.4977630141019458,-1.2642911926245897,-0.19977406131094352,0.9338155590096381,0.40460396799942133],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.43999999999711,"joint_targets_rad":[0.3260490534100192,1.4977630141019458,-1.2642911926245897,-0.19977406131094352,0.9338155590096381,0.40460396799942133],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.459999999997134,"qpos":[0.3233854209897178,1.500385796622235,-1.2674952835816464,-0.1944806411606899,0.9586544987321055,0.3733787768118602,0.0349998287319462,-0.035000443624376876,0.35527284516509217,0.08439459323045928,0.07989224457978368,0.9954304319609759,-1.9348848475470444e-11,-4.242057767995957e-12,0.09548955506223199],"qvel":[0.005513984860173989,-0.005658645145802782,0.003944635309602326,-0.017475461324181447,-0.02678445225377304,0.03886185406372837,1.2879841489060637e-07,5.703348069084723e-07,8.020887549900714e-12,-2.4914264790513002e-11,2.7386625504421078e-15,3.6176006781503416e-10,4.3689534614704185e-11,-2.5958864110941956e-16],"joint_position_rad":[0.3233854209897178,1.500385796622235,-1.2674952835816464,-0.1944806411606899,0.9586544987321055,0.3733787768118602],"joint_velocity_rad_s":[0.005513984860173989,-0.005658645145802782,0.003944635309602326,-0.017475461324181447,-0.02678445225377304,0.03886185406372837],"gripper_joint_position_m":[0.0349998287319462,-0.035000443624376876],"tcp_position_m":[0.3470845089642244,0.0825871841606376,0.20773306433567246],"tcp_quaternion_wxyz":[0.24701983010654527,-0.011695541904249328,0.9689196851101571,-0.0062499311782685816],"object_position_m":[0.35527284516509217,0.08439459323045928,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9348848475470444e-11,-4.242057767995957e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.020887549900714e-12,-2.4914264790513002e-11,2.7386625504421078e-15],"object_angular_velocity_rad_s":[3.4685716569609556e-10,1.1166570066792374e-10,-2.5958864105885544e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000427063},{"geom_ids":[1,90],"normal_force_n":0.09810000000544393},{"geom_ids":[1,90],"normal_force_n":0.09809999999572928},{"geom_ids":[1,90],"normal_force_n":0.09809999999455615}],"native_actuator_controls":[0.3260490534100192,1.4977630141019458,-1.2642911926245897,-0.19977406131094352,0.9338155590096381,0.40460396799942133,0.035],"actuator_force_native":[0.18552066932324607,-0.18152937589411522,0.2366041000165211,-0.12435949938923851,-0.20821271884401504,0.25395913078001886,6.206730077451539e-06],"issued_joint_targets_rad":[0.3260645705704007,1.4977700598993349,-1.264283508140628,-0.19981953956175486,0.9338081273159303,0.40465157862993184],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.459999999997134,"joint_targets_rad":[0.3260645705704007,1.4977700598993349,-1.264283508140628,-0.19981953956175486,0.9338081273159303,0.40465157862993184],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.47999999999716,"qpos":[0.3234937535937121,1.5002753379891138,-1.2674172811932267,-0.19482031184117915,0.9581247154874385,0.3741466953107244,0.03499983264410367,-0.035000422506044564,0.35527284516527646,0.08439459322988668,0.07989224457978368,0.9954304319609759,-1.9607425981866334e-11,-4.29875939454761e-12,0.09548955506223199],"qvel":[0.00532206360191236,-0.005405034595741217,0.0038582975512878506,-0.01650346765203831,-0.026221135427862485,0.03796391414153946,5.694705072593557e-08,7.030575605714499e-07,9.065989892499082e-12,-2.8160475706242518e-11,2.7358869928805446e-15,2.5337081844914772e-11,3.0594504754297758e-12,-4.739445496728654e-16],"joint_position_rad":[0.3234937535937121,1.5002753379891138,-1.2674172811932267,-0.19482031184117915,0.9581247154874385,0.3741466953107244],"joint_velocity_rad_s":[0.00532206360191236,-0.005405034595741217,0.0038582975512878506,-0.01650346765203831,-0.026221135427862485,0.03796391414153946],"gripper_joint_position_m":[0.03499983264410367,-0.035000422506044564],"tcp_position_m":[0.34716224229406967,0.08260616412345641,0.20780514451363355],"tcp_quaternion_wxyz":[0.24732538455405081,-0.011463008837686452,0.9688449039962819,-0.006189150508194361],"object_position_m":[0.35527284516527646,0.08439459322988668,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9607425981866334e-11,-4.29875939454761e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.065989892499082e-12,-2.8160475706242518e-11,2.7358869928805446e-15],"object_angular_velocity_rad_s":[2.429340072089738e-11,7.820398649775953e-12,-4.739445496490892e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000568043},{"geom_ids":[1,90],"normal_force_n":0.0981000000072412},{"geom_ids":[1,90],"normal_force_n":0.09809999999431954},{"geom_ids":[1,90],"normal_force_n":0.09809999999275891}],"native_actuator_controls":[0.3260645705704007,1.4977700598993349,-1.264283508140628,-0.19981953956175486,0.9338081273159303,0.40465157862993184,0.035],"actuator_force_native":[0.17905504012552953,-0.1733970742036206,0.23141035645146246,-0.11745177056283662,-0.20383417857328645,0.248102961979765,6.409500599824369e-06],"issued_joint_targets_rad":[0.3260795199742245,1.497776626071237,-1.2642759446943572,-0.19986296334012474,0.9338007209568976,0.4046970983132271],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.47999999999716,"joint_targets_rad":[0.3260795199742245,1.497776626071237,-1.2642759446943572,-0.19986296334012474,0.9338007209568976,0.4046970983132271],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.499999999997183,"qpos":[0.32359831469907097,1.500169825967015,-1.2673409849078385,-0.1951411111527752,0.957606073044573,0.37489685536474116,0.03499983545316931,-0.0350004002030017,0.3552728451654536,0.08439459322933632,0.07989224457978368,0.9954304319609759,-1.9059690423817902e-11,-4.178685201893344e-12,0.09548955506223199],"qvel":[0.005136757849956939,-0.005163089059130182,0.0037739192024969217,-0.015587062139960906,-0.025669768675101713,0.03708559186706579,2.0830974642792447e-08,7.417758212424918e-07,1.0694030107020538e-11,-3.321732185014923e-11,2.737274771661326e-15,-4.885742832368318e-10,-5.900918431522537e-11,-8.653037404948702e-16],"joint_position_rad":[0.32359831469907097,1.500169825967015,-1.2673409849078385,-0.1951411111527752,0.957606073044573,0.37489685536474116],"joint_velocity_rad_s":[0.005136757849956939,-0.005163089059130182,0.0037739192024969217,-0.015587062139960906,-0.025669768675101713,0.03708559186706579],"gripper_joint_position_m":[0.03499983545316931,-0.0350004002030017],"tcp_position_m":[0.34723795940969276,0.08262622927083334,0.20787449100352812],"tcp_quaternion_wxyz":[0.24762154438419406,-0.011233479257896722,0.968772349002644,-0.006124990485558908],"object_position_m":[0.3552728451654536,0.08439459322933632,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9059690423817902e-11,-4.178685201893344e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0694030107020538e-11,-3.321732185014923e-11,2.737274771661326e-15],"object_angular_velocity_rad_s":[-4.68446368647349e-10,-1.5081416967594022e-10,-8.6530374041436595e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000621329},{"geom_ids":[1,90],"normal_force_n":0.09810000000792042},{"geom_ids":[1,90],"normal_force_n":0.09809999999378671},{"geom_ids":[1,90],"normal_force_n":0.09809999999207959}],"native_actuator_controls":[0.3260795199742245,1.497776626071237,-1.2642759446943572,-0.19986296334012474,0.9338007209568976,0.4046970983132271,0.035],"actuator_force_native":[0.17281263276250058,-0.1656405463665891,0.22633362106603272,-0.11093877679417741,-0.19954886786410064,0.24237404168426036,6.477718354602757e-06],"issued_joint_targets_rad":[0.32609392074637955,1.4977827455890016,-1.2642685064650836,-0.1999044318641488,0.9337933554004088,0.4047406266082532],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.499999999997183,"joint_targets_rad":[0.32609392074637955,1.4977827455890016,-1.2642685064650836,-0.1999044318641488,0.9337933554004088,0.4047406266082532],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.519999999997207,"qpos":[0.3236992343037777,1.5000690328677253,-1.2672663563290816,-0.19544411754479155,0.9570983349742853,0.3756296457800406,0.03499983769305422,-0.035000378004714554,0.3552728451656206,0.08439459322881762,0.07989224457978368,0.9954304319609759,-1.733749900789273e-11,-3.8011203584026805e-12,0.09548955506223199],"qvel":[0.00495783915123607,-0.004932285942506484,0.0036914317851493832,-0.014723008677475927,-0.025130106531082212,0.03622652131773099,4.507295861273916e-09,7.355902943621635e-07,1.3389585958543645e-11,-4.159004100448143e-11,2.7303358777574188e-15,-1.2475480223484815e-09,-1.506758408971155e-10,-1.579818596863908e-15],"joint_position_rad":[0.3236992343037777,1.5000690328677253,-1.2672663563290816,-0.19544411754479155,0.9570983349742853,0.3756296457800406],"joint_velocity_rad_s":[0.00495783915123607,-0.004932285942506484,0.0036914317851493832,-0.014723008677475927,-0.025130106531082212,0.03622652131773099],"gripper_joint_position_m":[0.03499983769305422,-0.035000378004714554],"tcp_position_m":[0.34731173059833664,0.08264725737125836,0.20794122154717254],"tcp_quaternion_wxyz":[0.24790866282192794,-0.011007019396630026,0.968701937304356,-0.006057811868458136],"object_position_m":[0.3552728451656206,0.08439459322881762,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.733749900789273e-11,-3.8011203584026805e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.3389585958543645e-11,-4.159004100448143e-11,2.7303358777574188e-15],"object_angular_velocity_rad_s":[-1.1961526556439462e-09,-3.8509492529971e-10,-1.5798185967386023e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000468674},{"geom_ids":[1,90],"normal_force_n":0.09810000000597423},{"geom_ids":[1,90],"normal_force_n":0.09809999999531337},{"geom_ids":[1,90],"normal_force_n":0.09809999999402577}],"native_actuator_controls":[0.32609392074637955,1.4977827455890016,-1.2642685064650836,-0.1999044318641488,0.9337933554004088,0.4047406266082532,0.035],"actuator_force_native":[0.16678571965196554,-0.1582415525853662,0.22137083019408976,-0.10479752938691078,-0.19535463594214164,0.23677002630553012,6.469741352210789e-06],"issued_joint_targets_rad":[0.32610779166547266,1.4977884490960298,-1.2642611970641264,-0.19994403937499458,0.9337860444378495,0.4047822581507719],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.519999999997207,"joint_targets_rad":[0.32610779166547266,1.4977884490960298,-1.2642611970641264,-0.19994403937499458,0.9337860444378495,0.4047822581507719],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.53999999999723,"qpos":[0.32379663792249014,1.4999727415095099,-1.2671933582545967,-0.1957303467072202,0.9566012699068139,0.3763454480504786,0.03499983966058772,-0.035000356509487275,0.3552728451657916,0.08439459322828616,0.07989224457978368,0.9954304319609759,-1.6440135306947164e-11,-3.6043910358510635e-12,0.09548955506223199],"qvel":[0.00478508739727504,-0.004712101699909271,0.0036107808725951724,-0.013908261065937845,-0.024601892395878837,0.03538633876314686,-8.591486239891145e-10,7.087149785698936e-07,6.327305331519797e-12,-1.9653549649012925e-11,2.7372747716613256e-15,6.567154851721731e-10,7.93146815231355e-11,-1.7116033893031129e-16],"joint_position_rad":[0.32379663792249014,1.4999727415095099,-1.2671933582545967,-0.1957303467072202,0.9566012699068139,0.3763454480504786],"joint_velocity_rad_s":[0.00478508739727504,-0.004712101699909271,0.0036107808725951724,-0.013908261065937845,-0.024601892395878837,0.03538633876314686],"gripper_joint_position_m":[0.03499983966058772,-0.035000356509487275],"tcp_position_m":[0.3473836228692744,0.08266913514897814,0.20800544864450526],"tcp_quaternion_wxyz":[0.24818707770593768,-0.010783686283581178,0.9686335896634486,-0.005987950035357846],"object_position_m":[0.3552728451657916,0.08439459322828616,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6440135306947164e-11,-3.6043910358510635e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.327305331519797e-12,-1.9653549649012925e-11,2.7372747716613256e-15],"object_angular_velocity_rad_s":[6.296610564881526e-10,2.0271408710857025e-10,-1.7116033891729276e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000089679},{"geom_ids":[1,90],"normal_force_n":0.09810000000114327},{"geom_ids":[1,90],"normal_force_n":0.09809999999910322},{"geom_ids":[1,90],"normal_force_n":0.09809999999885677}],"native_actuator_controls":[0.32610779166547266,1.4977884490960298,-1.2642611970641264,-0.19994403937499458,0.9337860444378495,0.4047822581507719,0.035],"actuator_force_native":[0.16096686245222713,-0.15118288457885853,0.216518990874647,-0.09900640138128569,-0.19124941609582535,0.2312885928582129,6.417872234321109e-06],"issued_joint_targets_rad":[0.32612115111296985,1.4977937650600952,-1.2642540195736864,-0.19998187534263775,0.9337788003366572,0.40482208284718385],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.53999999999723,"joint_targets_rad":[0.32612115111296985,1.4977937650600952,-1.2642540195736864,-0.19998187534263775,0.9337788003366572,0.40482208284718385],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.559999999997256,"qpos":[0.32389064675083096,1.499880744992945,-1.267121954504512,-0.19600075525762867,0.9561146515908723,0.3770446364125802,0.03499984152048008,-0.035000335976119144,0.35527284516597396,0.08439459322771921,0.07989224457978368,0.9954304319609759,-1.7419237595469072e-11,-3.819051638680213e-12,0.09548955506223199],"qvel":[0.004618290560954465,-0.0045020311738377975,0.00353191735520612,-0.01313995223839032,-0.02408487156720775,0.034564683584696755,-2.213919320079208e-10,6.730267488876248e-07,6.844808747550499e-12,-2.126098506793414e-11,2.7386625504421066e-15,5.413677652906434e-10,6.538403724635435e-11,-3.124954372242313e-16],"joint_position_rad":[0.32389064675083096,1.499880744992945,-1.267121954504512,-0.19600075525762867,0.9561146515908723,0.3770446364125802],"joint_velocity_rad_s":[0.004618290560954465,-0.0045020311738377975,0.00353191735520612,-0.01313995223839032,-0.02408487156720775,0.034564683584696755],"gripper_joint_position_m":[0.03499984152048008,-0.035000335976119144],"tcp_position_m":[0.34745370010452226,0.08269175768229589,0.2080672796323792],"tcp_quaternion_wxyz":[0.248457111969646,-0.010563528410682362,0.968567230333172,-0.0059157166892814285],"object_position_m":[0.35527284516597396,0.08439459322771921,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7419237595469072e-11,-3.819051638680213e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.844808747550499e-12,-2.126098506793414e-11,2.7386625504421066e-15],"object_angular_velocity_rad_s":[5.190651813678827e-10,1.6710914730781142e-10,-3.12495437230096e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000023721},{"geom_ids":[1,90],"normal_force_n":0.0981000000030238},{"geom_ids":[1,90],"normal_force_n":0.09809999999762792},{"geom_ids":[1,90],"normal_force_n":0.09809999999697623}],"native_actuator_controls":[0.32612115111296985,1.4977937650600952,-1.2642540195736864,-0.19998187534263775,0.9337788003366572,0.40482208284718385,0.035],"actuator_force_native":[0.15534889616633762,-0.1444482387587982,0.21177520769002456,-0.09354504220841253,-0.1872312051913383,0.22592743896899137,6.340287756589902e-06],"issued_joint_targets_rad":[0.32613401704385425,1.4977987199277947,-1.2642469765722533,-0.20001802470177502,0.9337716339591668,0.404860186099556],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.559999999997256,"joint_targets_rad":[0.32613401704385425,1.4977987199277947,-1.2642469765722533,-0.20001802470177502,0.9337716339591668,0.404860186099556],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.57999999999728,"qpos":[0.32398137782312475,1.4997928462719199,-1.2670521098471617,-0.1962562442158134,0.9556382588114296,0.37772757791419637,0.034999843362965063,-0.03500031649767758,0.35527284516616325,0.08439459322713137,0.07989224457978368,0.9954304319609759,-1.9074715887152312e-11,-4.181970936247443e-12,0.09548955506223199],"qvel":[0.004457244333200032,-0.004301592341981558,0.0034547948802404675,-0.012415383824535572,-0.023578794752455036,0.03376119876791016,3.613788019213131e-09,6.343199753528361e-07,7.761255065146798e-12,-2.4107744082372863e-11,2.7442136655652325e-15,3.8401309004779565e-10,4.6380250868664064e-11,-5.705371461974185e-16],"joint_position_rad":[0.32398137782312475,1.4997928462719199,-1.2670521098471617,-0.1962562442158134,0.9556382588114296,0.37772757791419637],"joint_velocity_rad_s":[0.004457244333200032,-0.004301592341981558,0.0034547948802404675,-0.012415383824535572,-0.023578794752455036,0.03376119876791016],"gripper_joint_position_m":[0.034999843362965063,-0.03500031649767758],"tcp_position_m":[0.3475220232235593,0.08271502784999801,0.20812681688174828],"tcp_quaternion_wxyz":[0.24871907429981902,-0.0103465863459247,0.9685027869140237,-0.005841401389821901],"object_position_m":[0.35527284516616325,0.08439459322713137,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9074715887152312e-11,-4.181970936247443e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.761255065146798e-12,-2.4107744082372863e-11,2.7442136655652325e-15],"object_angular_velocity_rad_s":[3.68192848031644e-10,1.185377899956075e-10,-5.705371462591024e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000430356},{"geom_ids":[1,90],"normal_force_n":0.09810000000548563},{"geom_ids":[1,90],"normal_force_n":0.09809999999569653},{"geom_ids":[1,90],"normal_force_n":0.09809999999451431}],"native_actuator_controls":[0.32613401704385425,1.4977987199277947,-1.2642469765722533,-0.20001802470177502,0.9337716339591668,0.404860186099556,0.035],"actuator_force_native":[0.14992491599236146,-0.13802214582010208,0.20713668759147197,-0.08839430031578743,-0.18329805639394436,0.22068428370173088,6.247412457360824e-06],"issued_joint_targets_rad":[0.3261464069670192,1.4978033382713043,-1.2642400701582768,-0.20005256808686087,0.9337645548687116,0.4048966490314931],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.57999999999728,"joint_targets_rad":[0.3261464069670192,1.4978033382713043,-1.2642400701582768,-0.20005256808686087,0.9337645548687116,0.4048966490314931],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.599999999997305,"qpos":[0.32406894416287607,1.499708857683373,-1.266983789953863,-0.19649766227481452,0.9551718752709686,0.37839463249035477,0.034999845235877715,-0.03500029808708346,0.35527284516635077,0.0843945932265486,0.07989224457978368,0.9954304319609759,-1.9923192632774446e-11,-4.367958834256761e-12,0.09548955506223199],"qvel":[0.004301751763737577,-0.004110326768583272,0.003379369060745715,-0.011732016215792456,-0.02308341889135352,0.03297553117406801,9.042896342250637e-09,5.953935644329879e-07,8.903833254273489e-12,-2.765693476955553e-11,2.7400503292228884e-15,9.754295192874864e-11,1.1782838031010436e-11,-1.0416614695946495e-15],"joint_position_rad":[0.32406894416287607,1.499708857683373,-1.266983789953863,-0.19649766227481452,0.9551718752709686,0.37839463249035477],"joint_velocity_rad_s":[0.004301751763737577,-0.004110326768583272,0.003379369060745715,-0.011732016215792456,-0.02308341889135352,0.03297553117406801],"gripper_joint_position_m":[0.034999845235877715,-0.03500029808708346],"tcp_position_m":[0.3475886503448338,0.0827388558153899,0.20818415802151558],"tcp_quaternion_wxyz":[0.2489732598194928,-0.010132893305600082,0.9684401902005495,-0.005765272971495959],"object_position_m":[0.35527284516635077,0.0843945932265486,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9923192632774446e-11,-4.367958834256761e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.903833254273489e-12,-2.765693476955553e-11,2.7400503292228884e-15],"object_angular_velocity_rad_s":[9.352411575292146e-11,3.011150138523992e-11,-1.041661469690996e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000058034},{"geom_ids":[1,90],"normal_force_n":0.09810000000739773},{"geom_ids":[1,90],"normal_force_n":0.09809999999419658},{"geom_ids":[1,90],"normal_force_n":0.09809999999260237}],"native_actuator_controls":[0.3261464069670192,1.4978033382713043,-1.2642400701582768,-0.20005256808686087,0.9337645548687116,0.4048966490314931,0.035],"actuator_force_native":[0.14468826551276237,-0.1318899191225853,0.20260073834316472,-0.0835361514028925,-0.17944807568554033,0.2155568686502809,6.145350409880734e-06],"issued_joint_targets_rad":[0.3261583379315014,1.4978076429252802,-1.2642333019748289,-0.20008558205783594,0.9337575714287216,0.40493154870633924],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.599999999997305,"joint_targets_rad":[0.3261583379315014,1.4978076429252802,-1.2642333019748289,-0.20008558205783594,0.9337575714287216,0.40493154870633924],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.61999999999733,"qpos":[0.3241534549263449,1.4996286004833272,-1.2669169613631086,-0.19672580887882252,0.9547152894638062,0.3790461530434528,0.03499984716275758,-0.03500028071925634,0.355272845166534,0.08439459322597945,0.07989224457978368,0.9954304319609759,-1.981537444944864e-11,-4.344309947661262e-12,0.09548955506223199],"qvel":[0.004151622927199947,-0.003927798835417779,0.0033055971965629395,-0.011087459174244396,-0.02259850722001412,0.032207331723447814,1.514645344026328e-08,5.575695483619435e-07,1.0500163458233266e-11,-3.261547409574534e-11,2.737274771661325e-15,-3.691830293037861e-10,-4.458648984757115e-11,-1.901814802913503e-15],"joint_position_rad":[0.3241534549263449,1.4996286004833272,-1.2669169613631086,-0.19672580887882252,0.9547152894638062,0.3790461530434528],"joint_velocity_rad_s":[0.004151622927199947,-0.003927798835417779,0.0033055971965629395,-0.011087459174244396,-0.02259850722001412,0.032207331723447814],"gripper_joint_position_m":[0.03499984716275758,-0.03500028071925634],"tcp_position_m":[0.347653636939664,0.08276315854363761,0.20823939616238282],"tcp_quaternion_wxyz":[0.24921995075198403,-0.009922475689603963,0.9683793740302526,-0.0056875808692301655],"object_position_m":[0.355272845166534,0.08439459322597945,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.981537444944864e-11,-4.344309947661262e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.0500163458233266e-11,-3.261547409574534e-11,2.737274771661325e-15],"object_angular_velocity_rad_s":[-3.539742413250534e-10,-1.1395745118771333e-10,-1.90181480292532e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000658384},{"geom_ids":[1,90],"normal_force_n":0.0981000000083927},{"geom_ids":[1,90],"normal_force_n":0.09809999999341615},{"geom_ids":[1,90],"normal_force_n":0.09809999999160735}],"native_actuator_controls":[0.3261583379315014,1.4978076429252802,-1.2642333019748289,-0.20008558205783594,0.9337575714287216,0.40493154870633924,0.035],"actuator_force_native":[0.13963252577651986,-0.12603761046668183,0.19816476507955372,-0.07895363128931532,-0.17567941952082577,0.2105429590436927,6.037757429799839e-06],"issued_joint_targets_rad":[0.32616982651702836,1.4978116551138663,-1.2642266732355285,-0.20011713931458752,0.9337506908963569,0.4049649583355413],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.61999999999733,"joint_targets_rad":[0.32616982651702836,1.4978116551138663,-1.2642266732355285,-0.20011713931458752,0.9337506908963569,0.4049649583355413],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.639999999997354,"qpos":[0.32423501553973777,1.4995519044022636,-1.2668515914484788,-0.19694143711885712,0.9542682945517666,0.3796824855266328,0.03499984915320235,-0.035000264351893,0.355272845166709,0.08439459322543583,0.07989224457978368,0.9954304319609759,-1.848688223273952e-11,-4.05305175448313e-12,0.09548955506223199],"qvel":[0.004006674614967178,-0.003753594663505218,0.0032334381445094373,-0.010479462982277532,-0.022123829125641786,0.03145625553976145,2.1398744812853186e-08,5.214404234510014e-07,1.3010218423377842e-11,-4.0412159566967614e-11,2.735886992880543e-15,-1.0777141658660877e-09,-1.3015760641835618e-10,-3.4722503879943352e-15],"joint_position_rad":[0.32423501553973777,1.4995519044022636,-1.2668515914484788,-0.19694143711885712,0.9542682945517666,0.3796824855266328],"joint_velocity_rad_s":[0.004006674614967178,-0.003753594663505218,0.0032334381445094373,-0.010479462982277532,-0.022123829125641786,0.03145625553976145],"gripper_joint_position_m":[0.03499984915320235,-0.035000264351893],"tcp_position_m":[0.34771703597767434,0.08278785934985507,0.20829262011318256],"tcp_quaternion_wxyz":[0.24945941705477645,-0.009715353582758846,0.9683202751378303,-0.00560855636059723],"object_position_m":[0.355272845166709,0.08439459322543583,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.848688223273952e-11,-4.05305175448313e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.3010218423377842e-11,-4.0412159566967614e-11,2.735886992880543e-15],"object_angular_velocity_rad_s":[-1.0333166240886453e-09,-3.326643656886533e-10,-3.4722503879759994e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000563017},{"geom_ids":[1,90],"normal_force_n":0.09810000000717696},{"geom_ids":[1,90],"normal_force_n":0.09809999999436982},{"geom_ids":[1,90],"normal_force_n":0.09809999999282318}],"native_actuator_controls":[0.32616982651702836,1.4978116551138663,-1.2642266732355285,-0.20011713931458752,0.9337506908963569,0.4049649583355413,0.035],"actuator_force_native":[0.1347515051084116,-0.12045196975427075,0.19382626631347932,-0.07463077291782838,-0.17199029286563494,0.20564034477944304,5.926878181794493e-06],"issued_joint_targets_rad":[0.3261808888280909,1.4978153945683266,-1.2642201847513719,-0.20014730890007235,0.9337439195110533,0.4049969474768883],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.639999999997354,"joint_targets_rad":[0.3261808888280909,1.4978153945683266,-1.2642201847513719,-0.20014730890007235,0.9337439195110533,0.4049969474768883],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.65999999999738,"qpos":[0.3243137278304931,1.4994786072226816,-1.2667876483885951,-0.19714525645683403,0.9538306882434298,0.3803039690297675,0.03499985120885866,-0.03500024893571963,0.35527284516688,0.08439459322490478,0.07989224457978368,0.9954304319609759,-1.673591459803857e-11,-3.669172264389002e-12,0.09548955506223199],"qvel":[0.0038667300493927226,-0.003587320992544245,0.0031628522325235857,-0.009905910112328867,-0.02165915994875167,0.030721962072529266,2.7503157650811265e-08,4.872379751133366e-07,6.425112061556462e-12,-1.9957600875758047e-11,2.7456014443460126e-15,6.976817301769302e-10,8.426005563354236e-11,-3.7618969438135887e-16],"joint_position_rad":[0.3243137278304931,1.4994786072226816,-1.2667876483885951,-0.19714525645683403,0.9538306882434298,0.3803039690297675],"joint_velocity_rad_s":[0.0038667300493927226,-0.003587320992544245,0.0031628522325235857,-0.009905910112328867,-0.02165915994875167,0.030721962072529266],"gripper_joint_position_m":[0.03499985120885866,-0.03500024893571963],"tcp_position_m":[0.3477788980638891,0.08281288747590769,0.20834391458778984],"tcp_quaternion_wxyz":[0.24969191702136412,-0.009511541224463549,0.9682628330155767,-0.00552841373099865],"object_position_m":[0.35527284516688,0.08439459322490478,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.673591459803857e-11,-3.669172264389002e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.425112061556462e-12,-1.9957600875758047e-11,2.7456014443460126e-15],"object_angular_velocity_rad_s":[6.689400727876676e-10,2.1535722095363013e-10,-3.7618969437968826e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000061439},{"geom_ids":[1,90],"normal_force_n":0.0981000000007832},{"geom_ids":[1,90],"normal_force_n":0.09809999999938551},{"geom_ids":[1,90],"normal_force_n":0.09809999999921692}],"native_actuator_controls":[0.3261808888280909,1.4978153945683266,-1.2642201847513719,-0.20014730890007235,0.9337439195110533,0.4049969474768883,0.035],"actuator_force_native":[0.13003922956085745,-0.11512040738567464,0.18958282981525088,-0.07055254716788895,-0.16837894740063675,0.20084684136241382,5.814129865555628e-06],"issued_joint_targets_rad":[0.3261915404910065,1.497818879635932,-1.264213836958026,-0.20017615639251204,0.9337372625781267,0.4050275822228438],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.65999999999738,"joint_targets_rad":[0.3261915404910065,1.497818879635932,-1.264213836958026,-0.20017615639251204,0.9337372625781267,0.4050275822228438],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.679999999997403,"qpos":[0.32438969015307206,1.4994085543787339,-1.2667251011386234,-0.19733793528815205,0.9534022726774443,0.380910935867686,0.034999853326921494,-0.03500023441953984,0.3552728451670705,0.08439459322431347,0.07989224457978368,0.9954304319609759,-1.7833303869178228e-11,-3.909752186804144e-12,0.09548955506223199],"qvel":[0.003731618617262413,-0.0034286040940969572,0.0030938011874435357,-0.009364807390372718,-0.02120428077747459,0.030004115203191337,3.329745174094525e-08,4.550161294421471e-07,6.951643740885246e-12,-2.1593145448461823e-11,2.7414381080036685e-15,5.97258476438646e-10,7.213206136918457e-11,-6.868226722923481e-16],"joint_position_rad":[0.32438969015307206,1.4994085543787339,-1.2667251011386234,-0.19733793528815205,0.9534022726774443,0.380910935867686],"joint_velocity_rad_s":[0.003731618617262413,-0.0034286040940969572,0.0030938011874435357,-0.009364807390372718,-0.02120428077747459,0.030004115203191337],"gripper_joint_position_m":[0.034999853326921494,-0.03500023441953984],"tcp_position_m":[0.3478392715678552,0.08283817769412194,0.20839336040236983],"tcp_quaternion_wxyz":[0.2499176978517652,-0.009311047448678847,0.968206989780062,-0.0054473513668005435],"object_position_m":[0.3552728451670705,0.08439459322431347,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7833303869178228e-11,-3.909752186804144e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.951643740885246e-12,-2.1593145448461823e-11,2.7414381080036685e-15],"object_angular_velocity_rad_s":[5.726537982938908e-10,1.8435929392021126e-10,-6.868226723136485e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000207983},{"geom_ids":[1,90],"normal_force_n":0.09810000000265105},{"geom_ids":[1,90],"normal_force_n":0.0980999999979202},{"geom_ids":[1,90],"normal_force_n":0.09809999999734897}],"native_actuator_controls":[0.3261915404910065,1.497818879635932,-1.264213836958026,-0.20017615639251204,0.9337372625781267,0.4050275822228438,0.035],"actuator_force_native":[0.12548993394844388,-0.1100309589536721,0.18543212851056978,-0.06670480722253647,-0.16484367982696213,0.19616029074679142,5.700435881772492e-06],"issued_joint_targets_rad":[0.32620179665353904,1.4978221273807453,-1.2642076299431853,-0.20020374408719765,0.9337307245474828,0.4050569253793439],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.679999999997403,"joint_targets_rad":[0.32620179665353904,1.4978221273807453,-1.2642076299431853,-0.20020374408719765,0.9337307245474828,0.4050569253793439],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.699999999997427,"qpos":[0.3244629975096088,1.4993415985770147,-1.2666639194031573,-0.19752010335239306,0.9529828543099031,0.38150371167034375,0.034999855502191604,-0.03500022075269665,0.35527284516725616,0.08439459322373666,0.07989224457978368,0.9954304319609759,-1.864647875736356e-11,-4.088014695412094e-12,0.09548955506223199],"qvel":[0.0036011756200449714,-0.00327708873816804,0.0030262480678643093,-0.008854278625554438,-0.020758978246432802,0.02930238333731354,3.869857804547974e-08,4.247421180966956e-07,7.59811458625836e-12,-2.3601276351830072e-11,2.741438108003668e-15,4.1628388035339673e-10,5.0275407532584513e-11,-1.2539593314824971e-15],"joint_position_rad":[0.3244629975096088,1.4993415985770147,-1.2666639194031573,-0.19752010335239306,0.9529828543099031,0.38150371167034375],"joint_velocity_rad_s":[0.0036011756200449714,-0.00327708873816804,0.0030262480678643093,-0.008854278625554438,-0.020758978246432802,0.02930238333731354],"gripper_joint_position_m":[0.034999855502191604,-0.03500022075269665],"tcp_position_m":[0.34789820274523514,0.08286366993621994,0.2084410346631922],"tcp_quaternion_wxyz":[0.2501369961931349,-0.00911387609608345,0.9681526900449827,-0.00536555278089189],"object_position_m":[0.35527284516725616,0.08439459322373666,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.864647875736356e-11,-4.088014695412094e-12,0.09548955506223199],"object_linear_velocity_m_s":[7.59811458625836e-12,-2.3601276351830072e-11,2.741438108003668e-15],"object_angular_velocity_rad_s":[3.991346374577334e-10,1.2849679694891873e-10,-1.2539593315118585e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000036923},{"geom_ids":[1,90],"normal_force_n":0.0981000000047066},{"geom_ids":[1,90],"normal_force_n":0.09809999999630771},{"geom_ids":[1,90],"normal_force_n":0.09809999999529342}],"native_actuator_controls":[0.32620179665353904,1.4978221273807453,-1.2642076299431853,-0.20020374408719765,0.9337307245474828,0.4050569253793439,0.035],"actuator_force_native":[0.12109805341419744,-0.10517225201071767,0.18137191645844553,-0.06307423626441278,-0.1613828302545528,0.19157856208403112,5.586419445924307e-06],"issued_joint_targets_rad":[0.3262116719867177,1.4978251536768958,-1.2642015634736377,-0.2002301311684688,0.9337243090875462,0.40508503663548096],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.699999999997427,"joint_targets_rad":[0.3262116719867177,1.4978251536768958,-1.2642015634736377,-0.2002301311684688,0.9337243090875462,0.40508503663548096],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.71999999999745,"qpos":[0.32453374166573684,1.4992775994373866,-1.2666040736104032,-0.1976923540011757,0.9525722438056539,0.3820826154746761,0.03499985772828852,-0.03500020788624249,0.3552728451674365,0.08439459322317654,0.07989224457978368,0.9954304319609759,-1.9009810863884475e-11,-4.167679718467868e-12,0.09548955506223199],"qvel":[0.0034752420390860165,-0.003132437216334818,0.0029601571998407396,-0.008372557678932748,-0.020323044343447824,0.02861643948417009,4.3670185893702526e-08,3.963422160205481e-07,8.498523337617748e-12,-2.639809034034243e-11,2.741438108003668e-15,1.2271899761643854e-10,1.4819888911307683e-11,-2.289411666874951e-15],"joint_position_rad":[0.32453374166573684,1.4992775994373866,-1.2666040736104032,-0.1976923540011757,0.9525722438056539,0.3820826154746761],"joint_velocity_rad_s":[0.0034752420390860165,-0.003132437216334818,0.0029601571998407396,-0.008372557678932748,-0.020323044343447824,0.02861643948417009],"gripper_joint_position_m":[0.03499985772828852,-0.03500020788624249],"tcp_position_m":[0.34795573585229234,0.08288930894590593,0.2084870109453717],"tcp_quaternion_wxyz":[0.25035003865202593,-0.008920026400110647,0.9680998808000133,-0.005283187574815522],"object_position_m":[0.3552728451674365,0.08439459322317654,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9009810863884475e-11,-4.167679718467868e-12,0.09548955506223199],"object_linear_velocity_m_s":[8.498523337617748e-12,-2.639809034034243e-11,2.741438108003668e-15],"object_angular_velocity_rad_s":[1.1766367536092337e-10,3.787929492329712e-11,-2.289411666838306e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000051791},{"geom_ids":[1,90],"normal_force_n":0.09810000000660178},{"geom_ids":[1,90],"normal_force_n":0.09809999999482091},{"geom_ids":[1,90],"normal_force_n":0.09809999999339819}],"native_actuator_controls":[0.3262116719867177,1.4978251536768958,-1.2642015634736377,-0.2002301311684688,0.9337243090875462,0.40508503663548096,0.035],"actuator_force_native":[0.11685821548303821,-0.10053347475758301,0.17740002494204532,-0.05964829829706009,-0.1579947806659039,0.1870995523817931,5.472517529803156e-06],"issued_joint_targets_rad":[0.32622118068851425,1.4978279732949185,-1.2641956370217875,-0.2002553738723773,0.9337180191545115,0.4051119727244673],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.71999999999745,"joint_targets_rad":[0.32622118068851425,1.4978279732949185,-1.2641956370217875,-0.2002553738723773,0.9337180191545115,0.4051119727244673],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.739999999997476,"qpos":[0.3246020112618701,1.4992164231527334,-1.2665455348876251,-0.19785524633167503,0.9521702559333726,0.38264795981788924,0.03499985999836437,-0.03500019577345987,0.35527284516761004,0.08439459322263715,0.07989224457978368,0.9954304319609759,-1.868414405117198e-11,-4.096288286233796e-12,0.09548955506223199],"qvel":[0.003353664314234004,-0.002994328419830208,0.0028954941149703737,-0.007917981945323593,-0.019896276224748724,0.027945961324604657,4.820332115669114e-08,3.6972481766320293e-07,9.888838172374829e-12,-3.07166431335356e-11,2.7442136655652313e-15,-3.278111782288564e-10,-3.95907214103291e-11,-4.179899453972625e-15],"joint_position_rad":[0.3246020112618701,1.4992164231527334,-1.2665455348876251,-0.19785524633167503,0.9521702559333726,0.38264795981788924],"joint_velocity_rad_s":[0.003353664314234004,-0.002994328419830208,0.0028954941149703737,-0.007917981945323593,-0.019896276224748724,0.027945961324604657],"gripper_joint_position_m":[0.03499985999836437,-0.03500019577345987],"tcp_position_m":[0.34801191325369174,0.08291504395362692,0.2085313594629338],"tcp_quaternion_wxyz":[0.2505570422798334,-0.008729493348454189,0.9680485112954522,-0.005200412341332892],"object_position_m":[0.35527284516761004,0.08439459322263715,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.868414405117198e-11,-4.096288286233796e-12,0.09548955506223199],"object_linear_velocity_m_s":[9.888838172374829e-12,-3.07166431335356e-11,2.7442136655652313e-15],"object_angular_velocity_rad_s":[-3.1430659607958935e-10,-1.0118773371532158e-10,-4.179899453947083e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000600233},{"geom_ids":[1,90],"normal_force_n":0.09810000000765136},{"geom_ids":[1,90],"normal_force_n":0.0980999999939977},{"geom_ids":[1,90],"normal_force_n":0.09809999999234867}],"native_actuator_controls":[0.32622118068851425,1.4978279732949185,-1.2641956370217875,-0.2002553738723773,0.9337180191545115,0.4051119727244673,0.035],"actuator_force_native":[0.11276523256035986,-0.09610434652603317,0.17351435869215948,-0.056415191901472816,-0.15467795345148794,0.18272118707887408,5.359048819597589e-06],"issued_joint_targets_rad":[0.3262303364891187,1.497830599981658,-1.2641898497913961,-0.20027952564057847,0.9337118570570629,0.4051377875763092],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.739999999997476,"joint_targets_rad":[0.3262303364891187,1.497830599981658,-1.2641898497913961,-0.20027952564057847,0.9337118570570629,0.4051377875763092],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.7599999999975,"qpos":[0.3246678919201943,1.4991579421665682,-1.2664882750377946,-0.19800930719381538,0.9517767094642362,0.38320005083197006,0.03499986230552021,-0.03500018437005468,0.35527284516778385,0.08439459322209725,0.07989224457978368,0.9954304319609759,-1.84869076229231e-11,-4.053052066802158e-12,0.09548955506223199],"qvel":[0.0032362941347030072,-0.0028624569697935517,0.0028322254908766152,-0.007488986223740487,-0.019478476038610422,0.02729063126796979,5.230488304373687e-08,3.4479212065297306e-07,1.2272390166711144e-11,-3.812035576459324e-11,2.7469892231267944e-15,-9.79205103416312e-10,-1.1826049930948781e-10,-7.631461293713142e-15],"joint_position_rad":[0.3246678919201943,1.4991579421665682,-1.2664882750377946,-0.19800930719381538,0.9517767094642362,0.38320005083197006],"joint_velocity_rad_s":[0.0032362941347030072,-0.0028624569697935517,0.0028322254908766152,-0.007488986223740487,-0.019478476038610422,0.02729063126796979],"gripper_joint_position_m":[0.03499986230552021,-0.03500018437005468],"tcp_position_m":[0.3480667755240009,0.082940828372119,0.20857414723059226],"tcp_quaternion_wxyz":[0.25075821503288753,-0.008542268021540693,0.9679985329324555,-0.005117371511070839],"object_position_m":[0.35527284516778385,0.08439459322209725,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.84869076229231e-11,-4.053052066802158e-12,0.09548955506223199],"object_linear_velocity_m_s":[1.2272390166711144e-11,-3.812035576459324e-11,2.7469892231267944e-15],"object_angular_velocity_rad_s":[-9.388657395842077e-10,-3.022570152841371e-10,-7.63146129368555e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000657203},{"geom_ids":[1,90],"normal_force_n":0.09810000000837737},{"geom_ids":[1,90],"normal_force_n":0.09809999999342797},{"geom_ids":[1,90],"normal_force_n":0.09809999999162264}],"native_actuator_controls":[0.3262303364891187,1.497830599981658,-1.2641898497913961,-0.20027952564057847,0.9337118570570629,0.4051377875763092,0.035],"actuator_force_native":[0.10881409484043303,-0.09187508994385496,0.1697128922574791,-0.053363806751820064,-0.1514308100138173,0.1784414205414362,5.246254776380965e-06],"issued_joint_targets_rad":[0.32623915265754444,1.4978330465342409,-1.2641842007424047,-0.20030263726589287,0.9337058245167332,0.40516253246255723],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.7599999999975,"joint_targets_rad":[0.32623915265754444,1.4978330465342409,-1.2641842007424047,-0.20030263726589287,0.9337058245167332,0.40516253246255723],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.779999999997525,"qpos":[0.32473146634759986,1.4991020348674857,-1.2664322665173997,-0.19815503307866567,0.9513914270740219,0.383739188339201,0.03499986464304426,-0.03500017363418437,0.3552728451679484,0.08439459322158593,0.07989224457978368,0.9954304319609759,-1.6429134627180008e-11,-3.6019096158525074e-12,0.09548955506223199],"qvel":[0.0031229882410939097,-0.0027365323966377433,0.002770319094168231,-0.007084096953119138,-0.019069450757133434,0.026650136498842004,5.5990690390140406e-08,3.214460245151304e-07,6.271984969542649e-12,-1.9481975389045657e-11,2.7428258867844503e-15,6.964896954846129e-10,8.41160294170398e-11,-8.26805720252158e-16],"joint_position_rad":[0.32473146634759986,1.4991020348674857,-1.2664322665173997,-0.19815503307866567,0.9513914270740219,0.383739188339201],"joint_velocity_rad_s":[0.0031229882410939097,-0.0027365323966377433,0.002770319094168231,-0.007084096953119138,-0.019069450757133434,0.026650136498842004],"gripper_joint_position_m":[0.03499986464304426,-0.03500017363418437],"tcp_position_m":[0.3481203615432644,0.0829666195114429,0.2086154382176249],"tcp_quaternion_wxyz":[0.25095375620857696,-0.00835833790936995,0.9679498991586388,-0.005034198146650032],"object_position_m":[0.3552728451679484,0.08439459322158593,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.6429134627180008e-11,-3.6019096158525074e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.271984969542649e-12,-1.9481975389045657e-11,2.7428258867844503e-15],"object_angular_velocity_rad_s":[6.677971569563673e-10,2.149892078271098e-10,-8.268057202544448e-16],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997882518},{"geom_ids":[1,90],"normal_force_n":0.09809999997300786},{"geom_ids":[1,90],"normal_force_n":0.0981000000211749},{"geom_ids":[1,90],"normal_force_n":0.09810000002699208}],"native_actuator_controls":[0.32623915265754444,1.4978330465342409,-1.2641842007424047,-0.20030263726589287,0.9337058245167332,0.40516253246255723,0.035],"actuator_force_native":[0.104999963590096,-0.08783640467639486,0.16599366652877734,-0.050483682723492684,-0.1482518494371874,0.17425823648529937,5.134324777555932e-06],"issued_joint_targets_rad":[0.3262476420093505,1.4978353248685445,-1.2641786886146982,-0.2003247570300336,0.9336999227240631,0.4051862561335398],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.779999999997525,"joint_targets_rad":[0.3262476420093505,1.4978353248685445,-1.2641786886146982,-0.2003247570300336,0.9336999227240631,0.4051862561335398],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.79999999999755,"qpos":[0.3247928144347701,1.499048585299516,-1.2663774824153584,-0.1982928918951162,0.9510142352484803,0.38426566594848455,0.03499986700454282,-0.03500016352640412,0.35527284516814317,0.084394593220981,0.07989224457978368,0.9954304319609759,-1.7937331807475825e-11,-3.932558017965896e-12,0.09548955506223199],"qvel":[0.0030136082376578965,-0.002616278365608473,0.0027097437259739725,-0.0067019267915627255,-0.01866901201584823,0.026024169014205543,5.928130978041746e-08,2.9959106813818316e-07,6.9290129276643724e-12,-2.152286187794502e-11,2.738662550442106e-15,6.297905070695774e-10,7.6060509367147e-11,-1.5095327787474474e-15],"joint_position_rad":[0.3247928144347701,1.499048585299516,-1.2663774824153584,-0.1982928918951162,0.9510142352484803,0.38426566594848455],"joint_velocity_rad_s":[0.0030136082376578965,-0.002616278365608473,0.0027097437259739725,-0.0067019267915627255,-0.01866901201584823,0.026024169014205543],"gripper_joint_position_m":[0.03499986700454282,-0.03500016352640412],"tcp_position_m":[0.348172708587002,0.08299237831228272,0.20865529349421374],"tcp_quaternion_wxyz":[0.25114385685881013,-0.008177687208036813,0.9679025653688356,-0.004951014687515662],"object_position_m":[0.35527284516814317,0.084394593220981,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7937331807475825e-11,-3.932558017965896e-12,0.09548955506223199],"object_linear_velocity_m_s":[6.9290129276643724e-12,-2.152286187794502e-11,2.738662550442106e-15],"object_angular_velocity_rad_s":[6.038457350371714e-10,1.9440064855231825e-10,-1.5095327787529052e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000019292},{"geom_ids":[1,90],"normal_force_n":0.09810000000245928},{"geom_ids":[1,90],"normal_force_n":0.09809999999807073},{"geom_ids":[1,90],"normal_force_n":0.0980999999975408}],"native_actuator_controls":[0.3262476420093505,1.4978353248685445,-1.2641786886146982,-0.2003247570300336,0.9336999227240631,0.4051862561335398,0.035],"actuator_force_native":[0.10131816477814581,-0.08397944264966384,0.16235478542296278,-0.047764971438881254,-0.14513960722039876,0.17016964832924497,5.023411738358519e-06],"issued_joint_targets_rad":[0.3262558169152885,1.4978374460825827,-1.2641733119507308,-0.20034593083389712,0.9336941523907573,0.4052090049484285],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.79999999999755,"joint_targets_rad":[0.3262558169152885,1.4978374460825827,-1.2641733119507308,-0.20034593083389712,0.9336941523907573,0.4052090049484285],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.819999999997574,"qpos":[0.3248520133516184,1.498997482887479,-1.2663238964329908,-0.19842332464149268,0.9506449641918258,0.38477977115229567,0.0349998693840072,-0.03500015400957339,0.3552728451683351,0.08439459322038463,0.07989224457978368,0.9954304319609759,-1.9031917337764178e-11,-4.1725255378144535e-12,0.09548955506223197],"qvel":[0.0029080204139882546,-0.0025014319457264934,0.002650469170101514,-0.006341169518472562,-0.018276975960793654,0.025412425651732743,6.219954767353888e-08,2.7913583277197007e-07,7.630866698251314e-12,-2.3702980332123554e-11,2.735886992880544e-15,4.77034990953856e-10,5.761227844441175e-11,-2.7560269877823472e-15],"joint_position_rad":[0.3248520133516184,1.498997482887479,-1.2663238964329908,-0.19842332464149268,0.9506449641918258,0.38477977115229567],"joint_velocity_rad_s":[0.0029080204139882546,-0.0025014319457264934,0.002650469170101514,-0.006341169518472562,-0.018276975960793654,0.025412425651732743],"gripper_joint_position_m":[0.0349998693840072,-0.03500015400957339],"tcp_position_m":[0.34822385241095394,0.08301806909636832,0.20869377137060738],"tcp_quaternion_wxyz":[0.2513287001820514,-0.008000297097170532,0.9678564888107903,-0.00486793364846844],"object_position_m":[0.3552728451683351,0.08439459322038463,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9031917337764178e-11,-4.1725255378144535e-12,0.09548955506223197],"object_linear_velocity_m_s":[7.630866698251314e-12,-2.3702980332123554e-11,2.735886992880544e-15],"object_angular_velocity_rad_s":[4.573830735578969e-10,1.4724904497018835e-10,-2.7560269878029724e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000035078},{"geom_ids":[1,90],"normal_force_n":0.09810000000447129},{"geom_ids":[1,90],"normal_force_n":0.09809999999649223},{"geom_ids":[1,90],"normal_force_n":0.09809999999552872}],"native_actuator_controls":[0.3262558169152885,1.4978374460825827,-1.2641733119507308,-0.20034593083389712,0.9336941523907573,0.4052090049484285,0.035],"actuator_force_native":[0.09776418302366707,-0.08029578466306475,0.15879441273030181,-0.04519840010381415,-0.14209265406949356,0.16617369948372884,4.913641973747218e-06],"issued_joint_targets_rad":[0.32626368931069744,1.4978394205151988,-1.2641680691169725,-0.20036620232085273,0.9336885137980278,0.4052308229985005],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.819999999997574,"joint_targets_rad":[0.32626368931069744,1.4978394205151988,-1.2641680691169725,-0.20036620232085273,0.9336885137980278,0.4052308229985005],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.839999999997598,"qpos":[0.32490913763925416,1.4989486221765094,-1.2662714828649937,-0.19854674697836416,0.9502834477382007,0.3852817854240909,0.03499987177584173,-0.0350001450487449,0.35527284516852287,0.08439459321980161,0.07989224457978368,0.9954304319609759,-1.9626823829496756e-11,-4.302954937646089e-12,0.09548955506223195],"qvel":[0.0028060955754035098,-0.0023917429194868943,0.002592466143820116,-0.00600059524028919,-0.017893163102722563,0.024814608109776714,6.476895308186992e-08,2.599935443024541e-07,8.519361693991176e-12,-2.64628156742333e-11,2.740050329222888e-15,2.1114959933979044e-10,2.550024781101439e-11,-5.031847343382179e-15],"joint_position_rad":[0.32490913763925416,1.4989486221765094,-1.2662714828649937,-0.19854674697836416,0.9502834477382007,0.3852817854240909],"joint_velocity_rad_s":[0.0028060955754035098,-0.0023917429194868943,0.002592466143820116,-0.00600059524028919,-0.017893163102722563,0.024814608109776714],"gripper_joint_position_m":[0.03499987177584173,-0.0350001450487449],"tcp_position_m":[0.3482738273308926,0.08304365933294536,0.2087309275294486],"tcp_quaternion_wxyz":[0.2515084618950985,-0.007826145999449837,0.9678116284955788,-0.004785058274733626],"object_position_m":[0.35527284516852287,0.08439459321980161,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9626823829496756e-11,-4.302954937646089e-12,0.09548955506223195],"object_linear_velocity_m_s":[8.519361693991176e-12,-2.64628156742333e-11,2.740050329222888e-15],"object_angular_velocity_rad_s":[2.0245120673505587e-10,6.517610629131408e-11,-5.03184734336529e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000507775},{"geom_ids":[1,90],"normal_force_n":0.09810000000647275},{"geom_ids":[1,90],"normal_force_n":0.09809999999492226},{"geom_ids":[1,90],"normal_force_n":0.09809999999352728}],"native_actuator_controls":[0.32626368931069744,1.4978394205151988,-1.2641680691169725,-0.20036620232085273,0.9336885137980278,0.4052308229985005,0.035],"actuator_force_native":[0.09433365583844378,-0.07677741830741525,0.15531076912259323,-0.04277523749809742,-0.13910959474764617,0.16226846357943137,4.805121565309989e-06],"issued_joint_targets_rad":[0.3262712707055017,1.4978412578004017,-1.2641629583241185,-0.2003856129933972,0.9336830068413197,0.4052517522239333],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.839999999997598,"joint_targets_rad":[0.3262712707055017,1.4978412578004017,-1.2641629583241185,-0.2003856129933972,0.9336830068413197,0.4052517522239333],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.859999999997623,"qpos":[0.32496425929864536,1.498901902584957,-1.266220216581359,-0.1986635507084286,0.9499295232659748,0.38577198431601545,0.03499987417486933,-0.035000136611047686,0.3552728451687046,0.08439459321923716,0.07989224457978368,0.9954304319609759,-1.9535025291808206e-11,-4.282835739792489e-12,0.09548955506223189],"qvel":[0.0027077088813655015,-0.002286973130877159,0.002535706251270247,-0.005679045881630567,-0.017517398178091732,0.024230422959651984,6.701293422070875e-08,2.420822554640369e-07,9.823370936098681e-12,-3.0513291867918805e-11,2.705355859703352e-15,-2.0779887224685783e-10,-2.5096593478467685e-11,-9.186903236210526e-15],"joint_position_rad":[0.32496425929864536,1.498901902584957,-1.266220216581359,-0.1986635507084286,0.9499295232659748,0.38577198431601545],"joint_velocity_rad_s":[0.0027077088813655015,-0.002286973130877159,0.002535706251270247,-0.005679045881630567,-0.017517398178091732,0.024230422959651984],"gripper_joint_position_m":[0.03499987417486933,-0.035000136611047686],"tcp_position_m":[0.34832266629778325,0.0830691194202866,0.20876681515158899],"tcp_quaternion_wxyz":[0.2516833105856914,-0.0076552098232855435,0.9677679451125426,-0.004702483156223562],"object_position_m":[0.3552728451687046,0.08439459321923716,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9535025291808206e-11,-4.282835739792489e-12,0.09548955506223189],"object_linear_velocity_m_s":[9.823370936098681e-12,-3.0513291867918805e-11,2.705355859703352e-15],"object_angular_velocity_rad_s":[-1.9923832249041057e-10,-6.41428184795181e-11,-9.186903236189689e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000615414},{"geom_ids":[1,90],"normal_force_n":0.0981000000078448},{"geom_ids":[1,90],"normal_force_n":0.09809999999384572},{"geom_ids":[1,90],"normal_force_n":0.09809999999215518}],"native_actuator_controls":[0.3262712707055017,1.4978412578004017,-1.2641629583241185,-0.2003856129933972,0.9336830068413197,0.4052517522239333,0.035],"actuator_force_native":[0.09102236814168307,-0.07341671711004949,0.1519021293228775,-0.040487261990591605,-0.1361890669794139,0.15845204463969997,4.697940555908886e-06],"issued_joint_targets_rad":[0.3262785721946792,1.4978429669176838,-1.2641579776460745,-0.20040420232354839,0.9336776310716122,0.40527183252446164],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.859999999997623,"joint_targets_rad":[0.3262785721946792,1.4978429669176838,-1.2641579776460745,-0.20040420232354839,0.9336776310716122,0.40527183252446164],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.879999999997647,"qpos":[0.3250174478761299,1.4988572281699288,-1.2661700730102021,-0.19877410516900507,0.9495830316147444,0.38625063755676114,0.03499987657632345,-0.035000128665570264,0.35527284516887797,0.08439459321869885,0.07989224457978368,0.9954304319609759,-1.8456626212714956e-11,-4.046415988862132e-12,0.09548955506223183],"qvel":[0.002612739691345422,-0.002186895869401099,0.0024801619394465894,-0.005375430944766499,-0.017149510016500367,0.023659581650756732,6.895424803053245e-08,2.2532480800424957e-07,1.1921658867952384e-11,-3.703087876316788e-11,2.662334717499128e-15,-8.36859248517573e-10,-1.010703998289328e-10,-1.6772963383548423e-14],"joint_position_rad":[0.3250174478761299,1.4988572281699288,-1.2661700730102021,-0.19877410516900507,0.9495830316147444,0.38625063755676114],"joint_velocity_rad_s":[0.002612739691345422,-0.002186895869401099,0.0024801619394465894,-0.005375430944766499,-0.017149510016500367,0.023659581650756732],"gripper_joint_position_m":[0.03499987657632345,-0.035000128665570264],"tcp_position_m":[0.3483704009685757,0.08309442248130246,0.20880148503571613],"tcp_quaternion_wxyz":[0.25185340804700534,-0.007487462189689467,0.9677254009485313,-0.004620294803483327],"object_position_m":[0.35527284516887797,0.08439459321869885,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.8456626212714956e-11,-4.046415988862132e-12,0.09548955506223183],"object_linear_velocity_m_s":[1.1921658867952384e-11,-3.703087876316788e-11,2.662334717499128e-15],"object_angular_velocity_rad_s":[-8.023837245664572e-10,-2.583195426247007e-10,-1.6772963383481228e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000584311},{"geom_ids":[1,90],"normal_force_n":0.09810000000744827},{"geom_ids":[1,90],"normal_force_n":0.0980999999941569},{"geom_ids":[1,90],"normal_force_n":0.0980999999925517}],"native_actuator_controls":[0.3262785721946792,1.4978429669176838,-1.2641579776460745,-0.20040420232354839,0.9336776310716122,0.40527183252446164,0.035],"actuator_force_native":[0.08782624702721975,-0.07020642083259077,0.1485668194329861,-0.03832673145790011,-0.13332974040657142,0.15472257720087024,4.592175821827027e-06],"issued_joint_targets_rad":[0.32628560446908333,1.497844556238628,-1.2641531250377134,-0.20042200785732134,0.9336723857334918,0.4052911018642053],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.879999999997647,"joint_targets_rad":[0.32628560446908333,1.497844556238628,-1.2641531250377134,-0.20042200785732134,0.9336723857334918,0.4052911018642053],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.89999999999767,"qpos":[0.32506877054591915,1.4988145074047725,-1.2661210281214275,-0.19887875854233372,0.9492438170049136,0.38671800914943905,0.03499987897583276,-0.03500012118324691,0.35527284516903884,0.08439459321819921,0.07989224457978368,0.9954304319609759,-1.5955086769449066e-11,-3.497985887710989e-12,0.09548955506223182],"qvel":[0.0025210714175994474,-0.0020912952879483405,0.0024258064566927257,-0.005088723521371301,-0.01678933141424928,0.023101800509050936,7.0614719656708e-08,2.0964868364099537e-07,6.125158437262226e-12,-1.902588566175944e-11,2.6637224962799092e-15,6.942103604742795e-10,8.384077765287925e-11,-1.8172137624327657e-15],"joint_position_rad":[0.32506877054591915,1.4988145074047725,-1.2661210281214275,-0.19887875854233372,0.9492438170049136,0.38671800914943905],"joint_velocity_rad_s":[0.0025210714175994474,-0.0020912952879483405,0.0024258064566927257,-0.005088723521371301,-0.01678933141424928,0.023101800509050936],"gripper_joint_position_m":[0.03499987897583276,-0.03500012118324691],"tcp_position_m":[0.34841706177288373,0.08311954417236284,0.2088349857120822],"tcp_quaternion_wxyz":[0.2520189095949936,-0.007322874644292766,0.9676839598112555,-0.004538572187670653],"object_position_m":[0.35527284516903884,0.08439459321819921,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.5955086769449066e-11,-3.497985887710989e-12,0.09548955506223182],"object_linear_velocity_m_s":[6.125158437262226e-12,-1.902588566175944e-11,2.6637224962799092e-15],"object_angular_velocity_rad_s":[6.656117161892742e-10,2.1428565948013386e-10,-1.8172137624274768e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998015845},{"geom_ids":[1,90],"normal_force_n":0.09809999997470731},{"geom_ids":[1,90],"normal_force_n":0.09810000001984152},{"geom_ids":[1,90],"normal_force_n":0.09810000002529268}],"native_actuator_controls":[0.32628560446908333,1.497844556238628,-1.2641531250377134,-0.20042200785732134,0.9336723857334918,0.4052911018642053,0.035],"actuator_force_native":[0.08474135676513583,-0.06713961685181857,0.14530321441364435,-0.036286354992648207,-0.13053031559284456,0.1510782263840862,4.487893091376094e-06],"issued_joint_targets_rad":[0.3262923778265249,1.4978460335700665,-1.2641483983514192,-0.20043906531360972,0.9336672698001923,0.40530959637097025],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.89999999999767,"joint_targets_rad":[0.3262923778265249,1.4978460335700665,-1.2641483983514192,-0.20043906531360972,0.9336672698001923,0.40530959637097025],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.919999999997696,"qpos":[0.32511829218972593,1.4987736529678486,-1.2660730584111957,-0.1989778390885711,0.9489117269597306,0.3871743574693386,0.03499988136940177,-0.03500011413674869,0.3552728451692245,0.08439459321762259,0.07989224457978368,0.9954304319609759,-1.7038854314540282e-11,-3.7356052287701795e-12,0.09548955506223172],"qvel":[0.002432591384382517,-0.001999965852514147,0.002372613813636723,-0.004817956541461877,-0.01643669901369165,0.02255680072939198,7.201509863090239e-08,1.9498579844153594e-07,6.605098149561136e-12,-2.0516617897365672e-11,2.6609469387183465e-15,6.105952624949619e-10,7.374252183377862e-11,-3.3177663718134363e-15],"joint_position_rad":[0.32511829218972593,1.4987736529678486,-1.2660730584111957,-0.1989778390885711,0.9489117269597306,0.3871743574693386],"joint_velocity_rad_s":[0.002432591384382517,-0.001999965852514147,0.002372613813636723,-0.004817956541461877,-0.01643669901369165,0.02255680072939198],"gripper_joint_position_m":[0.03499988136940177,-0.03500011413674869],"tcp_position_m":[0.34846267797579594,0.08314446250450247,0.2088673635506283],"tcp_quaternion_wxyz":[0.25217996436950973,-0.007161416855417966,0.967643586956555,-0.004457387246766587],"object_position_m":[0.3552728451692245,0.08439459321762259,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7038854314540282e-11,-3.7356052287701795e-12,0.09548955506223172],"object_linear_velocity_m_s":[6.605098149561136e-12,-2.0516617897365672e-11,2.6609469387183465e-15],"object_angular_velocity_rad_s":[5.854412090441684e-10,1.8847579383198705e-10,-3.317766371792919e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000162084},{"geom_ids":[1,90],"normal_force_n":0.0981000000020662},{"geom_ids":[1,90],"normal_force_n":0.09809999999837914},{"geom_ids":[1,90],"normal_force_n":0.09809999999793378}],"native_actuator_controls":[0.3262923778265249,1.4978460335700665,-1.2641483983514192,-0.20043906531360972,0.9336672698001923,0.40530959637097025,0.035],"actuator_force_native":[0.08176389402200712,-0.06420972255999402,0.14210973571393026,-0.034359266294234025,-0.1277895230748456,0.14751718792222857,4.385148436147901e-06],"issued_joint_targets_rad":[0.3262989021830207,1.497847406194064,-1.2641437953524528,-0.20045540867778475,0.933662282005781,0.40532735043030976],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.919999999997696,"joint_targets_rad":[0.3262989021830207,1.497847406194064,-1.2641437953524528,-0.20045540867778475,0.933662282005781,0.40532735043030976],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.93999999999772,"qpos":[0.32516607547364135,1.4987345815419761,-1.266026140887146,-0.19907165630607726,0.9485866122296753,0.38761993536145767,0.03499988375338962,-0.03500010750037973,0.35527284516940555,0.08439459321706021,0.07989224457978368,0.9954304319609759,-1.7893412004221472e-11,-3.922971803885845e-12,0.09548955506223161],"qvel":[0.002347190693157237,-0.00191271182187571,0.002320558746474342,-0.004562219245346566,-0.016091453188076543,0.02202430836219299,7.317500037868758e-08,1.8127227408455284e-07,7.185763902554009e-12,-2.2320214972906017e-11,2.655395823595221e-15,4.564068034119016e-10,5.512111188593494e-11,-6.057409158089187e-15],"joint_position_rad":[0.32516607547364135,1.4987345815419761,-1.266026140887146,-0.19907165630607726,0.9485866122296753,0.38761993536145767],"joint_velocity_rad_s":[0.002347190693157237,-0.00191271182187571,0.002320558746474342,-0.004562219245346566,-0.016091453188076543,0.02202430836219299],"gripper_joint_position_m":[0.03499988375338962,-0.03500010750037973],"tcp_position_m":[0.34850727773704926,0.08316915767623087,0.2088986628637825],"tcp_quaternion_wxyz":[0.2523367156200883,-0.007003056799050285,0.967604249019389,-0.004376805360085509],"object_position_m":[0.35527284516940555,0.08439459321706021,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7893412004221472e-11,-3.922971803885845e-12,0.09548955506223161],"object_linear_velocity_m_s":[7.185763902554009e-12,-2.2320214972906017e-11,2.655395823595221e-15],"object_angular_velocity_rad_s":[4.3760465892082036e-10,1.4088175775097214e-10,-6.057409158067418e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000317222},{"geom_ids":[1,90],"normal_force_n":0.09810000000404369},{"geom_ids":[1,90],"normal_force_n":0.09809999999682778},{"geom_ids":[1,90],"normal_force_n":0.0980999999959563}],"native_actuator_controls":[0.3262989021830207,1.497847406194064,-1.2641437953524528,-0.20045540867778475,0.933662282005781,0.40532735043030976,0.035],"actuator_force_native":[0.07889018328456032,-0.06141046872357947,0.1389848490430836,-0.03253899864156562,-0.12510612245682928,0.14403768814523188,4.283989413655931e-06],"issued_joint_targets_rad":[0.32630518708413403,1.497848680904965,-1.264139313733167,-0.20047107029029235,0.933657420874675,0.4053443967746108],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.93999999999772,"joint_targets_rad":[0.32630518708413403,1.497848680904965,-1.264139313733167,-0.20047107029029235,0.933657420874675,0.4053443967746108],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.959999999997745,"qpos":[0.3252121809223748,1.498697213623972,-1.2659802530543152,-0.19916050202331673,0.9482683267190833,0.3880549902376951,0.03499988612448833,-0.03500010124997937,0.35527284516959245,0.0843945932164795,0.07989224457978368,0.9954304319609759,-1.937734446993304e-11,-4.248311504999512e-12,0.09548955506223146],"qvel":[0.0022647640934036,-0.0018293467554428428,0.0022696166825111833,-0.0043206538652303715,-0.01575343793158118,0.021504054294838797,7.411289798940721e-08,1.6844820281768327e-07,8.215703455349323e-12,-2.5519376089573283e-11,2.649844708472095e-15,2.42090643159048e-10,2.9238133152829724e-11,-1.1059305045657948e-14],"joint_position_rad":[0.3252121809223748,1.498697213623972,-1.2659802530543152,-0.19916050202331673,0.9482683267190833,0.3880549902376951],"joint_velocity_rad_s":[0.0022647640934036,-0.0018293467554428428,0.0022696166825111833,-0.0043206538652303715,-0.01575343793158118,0.021504054294838797],"gripper_joint_position_m":[0.03499988612448833,-0.03500010124997937],"tcp_position_m":[0.34855088816678015,0.0831936119172149,0.2089289260041835],"tcp_quaternion_wxyz":[0.2524893009771951,-0.006847760931506993,0.9675659139483748,-0.004296885793027973],"object_position_m":[0.35527284516959245,0.0843945932164795,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.937734446993304e-11,-4.248311504999512e-12,0.09548955506223146],"object_linear_velocity_m_s":[8.215703455349323e-12,-2.5519376089573283e-11,2.649844708472095e-15],"object_angular_velocity_rad_s":[2.3211739789794572e-10,7.47279166611155e-11,-1.1059305045660422e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000517378},{"geom_ids":[1,90],"normal_force_n":0.09810000000659509},{"geom_ids":[1,90],"normal_force_n":0.09809999999482624},{"geom_ids":[1,90],"normal_force_n":0.09809999999340492}],"native_actuator_controls":[0.32630518708413403,1.497848680904965,-1.264139313733167,-0.20047107029029235,0.933657420874675,0.4053443967746108,0.035],"actuator_force_native":[0.07611667247371656,-0.0587358837433527,0.13592706227930762,-0.030819461352874278,-0.12247890154671026,0.14063798392689897,4.184455976830037e-06],"issued_joint_targets_rad":[0.32631124171635034,1.4978498640437115,-1.2641349511261248,-0.20048608093053447,0.9336526847486633,0.4053607665674759],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.959999999997745,"joint_targets_rad":[0.32631124171635034,1.4978498640437115,-1.2641349511261248,-0.20048608093053447,0.9336526847486633,0.4053607665674759],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.97999999999777,"qpos":[0.32525666699096617,1.4986614733437353,-1.265935372901727,-0.19924465142643535,0.9479567274149135,0.38847976417360514,0.03499988847970135,-0.035000095362829504,0.35527284516977725,0.08439459321590546,0.07989224457978368,0.9954304319609759,-1.9924237216324346e-11,-4.3682113200089885e-12,0.09548955506223131],"qvel":[0.0021852098586837084,-0.001749693047656589,0.002219763707849196,-0.004092452503974376,-0.015422500754243831,0.02099577422828789,7.484614205367458e-08,1.5645741482248893e-07,9.594109258965694e-12,-2.980095090409915e-11,2.6359669206642803e-15,-1.2226408828035744e-10,-1.476593522905076e-11,-2.0191472613950526e-14],"joint_position_rad":[0.32525666699096617,1.4986614733437353,-1.265935372901727,-0.19924465142643535,0.9479567274149135,0.38847976417360514],"joint_velocity_rad_s":[0.0021852098586837084,-0.001749693047656589,0.002219763707849196,-0.004092452503974376,-0.015422500754243831,0.02099577422828789],"gripper_joint_position_m":[0.03499988847970135,-0.035000095362829504],"tcp_position_m":[0.34859353537805926,0.08321780934215253,0.20895819345759564],"tcp_quaternion_wxyz":[0.2526378527097437,-0.006695494350553337,0.9675285509436907,-0.004217682113893756],"object_position_m":[0.35527284516977725,0.08439459321590546,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.9924237216324346e-11,-4.3682113200089885e-12,0.09548955506223131],"object_linear_velocity_m_s":[9.594109258965694e-12,-2.980095090409915e-11,2.6359669206642803e-15],"object_angular_velocity_rad_s":[-1.1722731892488965e-10,-3.773984398348393e-11,-2.0191472613962015e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000064306},{"geom_ids":[1,90],"normal_force_n":0.09810000000819734},{"geom_ids":[1,90],"normal_force_n":0.09809999999356923},{"geom_ids":[1,90],"normal_force_n":0.09809999999180255}],"native_actuator_controls":[0.32631124171635034,1.4978498640437115,-1.2641349511261248,-0.20048608093053447,0.9336526847486633,0.4053607665674759,0.035],"actuator_force_native":[0.07343992873731509,-0.05618027876361964,0.13293492350892677,-0.029194917644093543,-0.11990667553113532,0.13731636259627633,4.086581236073528e-06],"issued_joint_targets_rad":[0.32631707491842415,1.4978509615296547,-1.2641307051161537,-0.20050046989628936,0.9336480718116008,0.4053764894836427],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.97999999999777,"joint_targets_rad":[0.32631707491842415,1.4978509615296547,-1.2641307051161537,-0.20050046989628936,0.9336480718116008,0.4053764894836427],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.999999999997794,"qpos":[0.32529959013407095,1.4986272882923721,-1.265891478889592,-0.19932436402633502,0.9476516743175613,0.3888944940046246,0.03499989081632262,-0.03500008981756764,0.3552728451699567,0.08439459321534808,0.07989224457978368,0.9954304319609759,-1.933248071327016e-11,-4.238471524884927e-12,0.09548955506223115],"qvel":[0.002108429667630479,-0.0016735814873653737,0.0021709765371265184,-0.0038768541992238235,-0.015098492581528435,0.020499208649246647,7.539099880763167e-08,1.452472519345105e-07,1.1617771711276605e-11,-3.608680948053731e-11,2.586006884556149e-15,-6.982402917312698e-10,-8.432820942384322e-11,-3.6864342863058254e-14],"joint_position_rad":[0.32529959013407095,1.4986272882923721,-1.265891478889592,-0.19932436402633502,0.9476516743175613,0.3888944940046246],"joint_velocity_rad_s":[0.002108429667630479,-0.0016735814873653737,0.0021709765371265184,-0.0038768541992238235,-0.015098492581528435,0.020499208649246647],"gripper_joint_position_m":[0.03499989081632262,-0.03500008981756764],"tcp_position_m":[0.34863524453639666,0.0832417358141937,0.20898650393123683],"tcp_quaternion_wxyz":[0.2527824979695925,-0.006546220945671665,0.9674921303981807,-0.004139242584476782],"object_position_m":[0.3552728451699567,0.08439459321534808,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.933248071327016e-11,-4.238471524884927e-12,0.09548955506223115],"object_linear_velocity_m_s":[1.1617771711276605e-11,-3.608680948053731e-11,2.586006884556149e-15],"object_angular_velocity_rad_s":[-6.694754916555418e-10,-2.1553031799301215e-10,-3.6864342863073457e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000006496},{"geom_ids":[1,90],"normal_force_n":0.0981000000082807},{"geom_ids":[1,90],"normal_force_n":0.09809999999350397},{"geom_ids":[1,90],"normal_force_n":0.09809999999171927}],"native_actuator_controls":[0.32631707491842415,1.4978509615296547,-1.2641307051161537,-0.20050046989628936,0.9336480718116008,0.4053764894836427,0.035],"actuator_force_native":[0.07085663441010226,-0.0537382335805745,0.1300070191894349,-0.027659963802054932,-0.11738828618731212,0.1340711418163103,3.990392101194118e-06],"issued_joint_targets_rad":[0.3263226951926498,1.4978519788900388,-1.2641265732514015,-0.20051426507891051,0.9336435801119362,0.40539159378467343],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.999999999997794,"joint_targets_rad":[0.3263226951926498,1.4978519788900388,-1.2641265732514015,-0.20051426507891051,0.9336435801119362,0.40539159378467343],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.019999999997818,"qpos":[0.3253410048729131,1.498594589358869,-1.2658485499370968,-0.1993998845688367,0.9473530303736257,0.3892994114216862,0.03499989313191661,-0.03500008459410504,0.35527284517012603,0.08439459321482229,0.07989224457978368,0.9954304319609759,-1.7275042483892792e-11,-3.787395325566897e-12,0.09548955506223102],"qvel":[0.0020343284895617607,-0.0016008508407273061,0.0021232324851890574,-0.0036731421618155617,-0.014781267658254741,0.02001410279828558,7.57626972536369e-08,1.3476835290736312e-07,1.488028434272282e-11,-4.6220723467977736e-11,2.5762924330906796e-15,-1.5591938565806164e-09,-1.883082418127184e-10,-6.730511057067253e-14],"joint_position_rad":[0.3253410048729131,1.498594589358869,-1.2658485499370968,-0.1993998845688367,0.9473530303736257,0.3892994114216862],"joint_velocity_rad_s":[0.0020343284895617607,-0.0016008508407273061,0.0021232324851890574,-0.0036731421618155617,-0.014781267658254741,0.02001410279828558],"gripper_joint_position_m":[0.03499989313191661,-0.03500008459410504],"tcp_position_m":[0.3486760399064071,0.08326537881730671,0.20901389443776308],"tcp_quaternion_wxyz":[0.2529233590237376,-0.006399903538142798,0.9674566238414964,-0.004061610526043406],"object_position_m":[0.35527284517012603,0.08439459321482229,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7275042483892792e-11,-3.787395325566897e-12,0.09548955506223102],"object_linear_velocity_m_s":[1.488028434272282e-11,-4.6220723467977736e-11,2.5762924330906796e-15],"object_angular_velocity_rad_s":[-1.494960996483055e-09,-4.812869158077268e-10,-6.730511057067945e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000401145},{"geom_ids":[1,90],"normal_force_n":0.0981000000051137},{"geom_ids":[1,90],"normal_force_n":0.09809999999598851},{"geom_ids":[1,90],"normal_force_n":0.09809999999488642}],"native_actuator_controls":[0.3263226951926498,1.4978519788900388,-1.2641265732514015,-0.20051426507891051,0.9336435801119362,0.40539159378467343,0.035],"actuator_force_native":[0.06836358313112711,-0.051404583302769424,0.1271419724296834,-0.02620950959387436,-0.11492260112951413,0.13090066943244372,3.895909849616075e-06],"issued_joint_targets_rad":[0.32632811071602247,1.4978529212873237,-1.2641225530534208,-0.2005274930345406,0.9336392075832198,0.40540610639064706],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.019999999997818,"joint_targets_rad":[0.32632811071602247,1.4978529212873237,-1.2641225530534208,-0.2005274930345406,0.9336392075832198,0.40540610639064706],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.039999999997843,"qpos":[0.32538096385999676,1.4985633105748628,-1.2658065654107264,-0.19947144389131105,0.9470606614105523,0.3896947430661436,0.03499989542429935,-0.03500007967354984,0.35527284517031055,0.08439459321424925,0.07989224457978368,0.9954304319609759,-1.7375593495426074e-11,-3.8094397298829076e-12,0.09548955506223077],"qvel":[0.001962814474462984,-0.0015313474563040446,0.0020765094406074787,-0.003480641178074928,-0.01447068345665162,0.019540206634251944,7.597547891377339e-08,1.2497444972069172e-07,6.701705735883503e-12,-2.0816655906635983e-11,2.577680211871461e-15,6.575303676555173e-10,7.941183204656762e-11,-7.291964903216556e-15],"joint_position_rad":[0.32538096385999676,1.4985633105748628,-1.2658065654107264,-0.19947144389131105,0.9470606614105523,0.3896947430661436],"joint_velocity_rad_s":[0.001962814474462984,-0.0015313474563040446,0.0020765094406074787,-0.003480641178074928,-0.01447068345665162,0.019540206634251944],"gripper_joint_position_m":[0.03499989542429935,-0.03500007967354984],"tcp_position_m":[0.3487159448957928,0.08328872733702544,0.20904040037511445],"tcp_quaternion_wxyz":[0.2530605534748423,-0.006256504011563296,0.9674220038871202,-0.003984824662207301],"object_position_m":[0.35527284517031055,0.08439459321424925,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609759,-1.7375593495426074e-11,-3.8094397298829076e-12,0.09548955506223077],"object_linear_velocity_m_s":[6.701705735883503e-12,-2.0816655906635983e-11,2.577680211871461e-15],"object_angular_velocity_rad_s":[6.304426094207107e-10,2.0296438033555415e-10,-7.291964903215385e-15],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000133817},{"geom_ids":[1,90],"normal_force_n":0.09810000000170566},{"geom_ids":[1,90],"normal_force_n":0.09809999999866183},{"geom_ids":[1,90],"normal_force_n":0.09809999999829433}],"native_actuator_controls":[0.32632811071602247,1.4978529212873237,-1.2641225530534208,-0.2005274930345406,0.9336392075832198,0.40540610639064706,0.035],"actuator_force_native":[0.06595767610974335,-0.04917440572160103,0.12433844138142547,-0.02483875983880779,-0.11250851308834875,0.12780332329365596,3.803150631531693e-06],"issued_joint_targets_rad":[0.3263333293512479,1.4978537935445313,-1.2641186420263684,-0.20054017905155663,0.9336349520627496,0.405420052948055],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.039999999997843,"joint_targets_rad":[0.3263333293512479,1.4978537935445313,-1.2641186420263684,-0.20054017905155663,0.9336349520627496,0.405420052948055],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.059999999997867,"qpos":[0.3254195179416586,1.4985333889670789,-1.2657655051131032,-0.19953925972895137,0.9467744360730652,0.3900807106239358,0.03499989769152044,-0.03500007503813474,0.3552728451704994,0.08439459321366259,0.07989224457978368,0.995430431960977,-1.8363379121986035e-11,-4.025998557171308e-12,0.09548955506223054],"qvel":[0.001893798847086265,-0.0014649248910245502,0.0020307858409040775,-0.003298715166211457,-0.01416660058829017,0.019077274795298613,7.604265137536687e-08,1.1582217542548818e-07,7.283864939168851e-12,-2.2624963265690178e-11,3.4103474803403283e-15,5.203499427970151e-10,6.284407650755558e-11,-1.3313370120343153e-14],"joint_position_rad":[0.3254195179416586,1.4985333889670789,-1.2657655051131032,-0.19953925972895137,0.9467744360730652,0.3900807106239358],"joint_velocity_rad_s":[0.001893798847086265,-0.0014649248910245502,0.0020307858409040775,-0.003298715166211457,-0.01416660058829017,0.019077274795298613],"gripper_joint_position_m":[0.03499989769152044,-0.03500007503813474],"tcp_position_m":[0.3487549820968149,0.08331177174904907,0.20906605560243752],"tcp_quaternion_wxyz":[0.25319419447073266,-0.006115983433385736,0.9673882441821227,-0.003908919440117379],"object_position_m":[0.3552728451704994,0.08439459321366259,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.8363379121986035e-11,-4.025998557171308e-12,0.09548955506223054],"object_linear_velocity_m_s":[7.283864939168851e-12,-2.2624963265690178e-11,3.4103474803403283e-15],"object_angular_velocity_rad_s":[4.989135134477688e-10,1.6061988363881753e-10,-1.331337012034337e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000290103},{"geom_ids":[1,90],"normal_force_n":0.09810000000369778},{"geom_ids":[1,90],"normal_force_n":0.09809999999709935},{"geom_ids":[1,90],"normal_force_n":0.09809999999630263}],"native_actuator_controls":[0.3263333293512479,1.4978537935445313,-1.2641186420263684,-0.20054017905155663,0.9336349520627496,0.405420052948055,0.035],"actuator_force_native":[0.06363591853171968,-0.047043009348683995,0.12159511773427312,-0.023543197073153443,-0.11014493922072077,0.12477751104824364,3.7121259255368244e-06],"issued_joint_targets_rad":[0.32633835865757843,1.4978546001687394,-1.264114837665333,-0.20055234721445983,0.9336308113084725,0.4054334578941214],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.059999999997867,"joint_targets_rad":[0.32633835865757843,1.4978546001687394,-1.264114837665333,-0.20055234721445983,0.9336308113084725,0.4054334578941214],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.07999999999789,"qpos":[0.32545671621854383,1.4985047644170304,-1.265725349272292,-0.19960353747367668,0.9464942257613196,0.39045753091893043,0.03499989993184621,-0.03500007067114923,0.3552728451706834,0.0843945932130912,0.07989224457978368,0.995430431960977,-1.8984838980765143e-11,-4.162220996105932e-12,0.09548955506223021],"qvel":[0.001827195804948266,-0.00140144355586461,0.001986040649420577,-0.0031267648776394396,-0.013868882719687918,0.018625066556851873,7.59766403147809e-08,1.0727088192396158e-07,8.04164164822035e-12,-2.497886862958618e-11,3.5616153674455064e-15,2.870382185003538e-10,3.466779380640456e-11,-2.4307002609842286e-14],"joint_position_rad":[0.32545671621854383,1.4985047644170304,-1.265725349272292,-0.19960353747367668,0.9464942257613196,0.39045753091893043],"joint_velocity_rad_s":[0.001827195804948266,-0.00140144355586461,0.001986040649420577,-0.0031267648776394396,-0.013868882719687918,0.018625066556851873],"gripper_joint_position_m":[0.03499989993184621,-0.03500007067114923],"tcp_position_m":[0.34879317332539583,0.08333450371519488,0.20909089251227356],"tcp_quaternion_wxyz":[0.2533243909034401,-0.00597830216802736,0.9673553193595117,-0.0038339253312967983],"object_position_m":[0.3552728451706834,0.0843945932130912,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.8984838980765143e-11,-4.162220996105932e-12,0.09548955506223021],"object_linear_velocity_m_s":[8.04164164822035e-12,-2.497886862958618e-11,3.5616153674455064e-15],"object_angular_velocity_rad_s":[2.7521307298246215e-10,8.860338180233414e-11,-2.4307002609911892e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000450216},{"geom_ids":[1,90],"normal_force_n":0.09810000000573914},{"geom_ids":[1,90],"normal_force_n":0.09809999999549789},{"geom_ids":[1,90],"normal_force_n":0.09809999999426094}],"native_actuator_controls":[0.32633835865757843,1.4978546001687394,-1.264114837665333,-0.20055234721445983,0.9336308113084725,0.4054334578941214,0.035],"actuator_force_native":[0.0613954160980299,-0.04500592208395915,0.118910725309604,-0.02231856524312903,-0.10783082044893888,0.12182166991663168,3.62284295007953e-06],"issued_joint_targets_rad":[0.3263432059014463,1.4978553453728785,-1.2641111374638823,-0.20056402046438507,0.933626783014294,0.40544634451771316],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.07999999999789,"joint_targets_rad":[0.3263432059014463,1.4978553453728785,-1.2641111374638823,-0.20056402046438507,0.933626783014294,0.40544634451771316],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.099999999997916,"qpos":[0.3254926061040793,1.4984773795276007,-1.2656860785315545,-0.19966447088847217,0.9462199045706979,0.39082541600538506,0.03499990214374384,-0.03500006655687575,0.35527284517086144,0.08439459321253824,0.07989224457978368,0.995430431960977,-1.9041788108408376e-11,-4.174694601899106e-12,0.09548955506222982],"qvel":[0.001762922420018011,-0.0013407703800937768,0.0019422533336893447,-0.00296422573452436,-0.013577396491350204,0.018183345786785536,7.578903986233043e-08,9.928247006700334e-08,9.15542192980282e-12,-2.8438542521383975e-11,3.519982004022063e-15,-8.01299629575421e-11,-9.676695552588282e-12,-4.4378389406439985e-14],"joint_position_rad":[0.3254926061040793,1.4984773795276007,-1.2656860785315545,-0.19966447088847217,0.9462199045706979,0.39082541600538506],"joint_velocity_rad_s":[0.001762922420018011,-0.0013407703800937768,0.0019422533336893447,-0.00296422573452436,-0.013577396491350204,0.018183345786785536],"gripper_joint_position_m":[0.03499990214374384,-0.03500006655687575],"tcp_position_m":[0.3488305396579996,0.08335691608624402,0.20911494209920523],"tcp_quaternion_wxyz":[0.25345124759834775,-0.005843419982070498,0.9673232049930388,-0.0037598691133741468],"object_position_m":[0.35527284517086144,0.08439459321253824,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.9041788108408376e-11,-4.174694601899106e-12,0.09548955506222982],"object_linear_velocity_m_s":[9.15542192980282e-12,-2.8438542521383975e-11,3.519982004022063e-15],"object_angular_velocity_rad_s":[-7.682907013615854e-11,-2.4733446634219396e-11,-4.437838940646549e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000575153},{"geom_ids":[1,90],"normal_force_n":0.09810000000733152},{"geom_ids":[1,90],"normal_force_n":0.09809999999424844},{"geom_ids":[1,90],"normal_force_n":0.09809999999266844}],"native_actuator_controls":[0.3263432059014463,1.4978553453728785,-1.2641111374638823,-0.20056402046438507,0.933626783014294,0.40544634451771316,0.035],"actuator_force_native":[0.05923337168926679,-0.043058880477317985,0.11628401874533267,-0.021160854363895254,-0.10556512082701452,0.11893426644310301,3.535305047153159e-06],"issued_joint_targets_rad":[0.3263478780668785,1.4978560330959465,-1.2641075389208434,-0.20057522065644293,0.9336228648238982,0.4054587350170505],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.099999999997916,"joint_targets_rad":[0.3263478780668785,1.4978560330959465,-1.2641075389208434,-0.20057522065644293,0.9336228648238982,0.4054587350170505],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.11999999999794,"qpos":[0.3255272333810161,1.4984511794961461,-1.2656476739395126,-0.19972224277980818,0.9459513492331898,0.39118457325947575,0.0349999043258665,-0.035000062680529985,0.3552728451710416,0.08439459321197924,0.07989224457978368,0.995430431960977,-1.939480579794275e-11,-4.252078488031071e-12,0.09548955506222935],"qvel":[0.0017008985439109412,-0.0012827784930499692,0.0018994038452447113,-0.002810565795503988,-0.013292011440078274,0.017751880898096453,7.549066196383831e-08,9.182122961821983e-08,1.1084389826123968e-11,-3.443035864356349e-11,3.5116553313373756e-15,-6.083980356227169e-10,-7.34745777789299e-11,-8.102387931706485e-14],"joint_position_rad":[0.3255272333810161,1.4984511794961461,-1.2656476739395126,-0.19972224277980818,0.9459513492331898,0.39118457325947575],"joint_velocity_rad_s":[0.0017008985439109412,-0.0012827784930499692,0.0018994038452447113,-0.002810565795503988,-0.013292011440078274,0.017751880898096453],"gripper_joint_position_m":[0.0349999043258665,-0.035000062680529985],"tcp_position_m":[0.34886710146641764,0.08337900281123671,0.20913823402513598],"tcp_quaternion_wxyz":[0.25357486549396185,-0.00571129614203644,0.9672918775543309,-0.0036867741338949284],"object_position_m":[0.3552728451710416,0.08439459321197924,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.939480579794275e-11,-4.252078488031071e-12,0.09548955506222935],"object_linear_velocity_m_s":[1.1084389826123968e-11,-3.443035864356349e-11,3.5116553313373756e-15],"object_angular_velocity_rad_s":[-5.833349898068206e-10,-1.8779502921123575e-10,-8.102387931713422e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000705789},{"geom_ids":[1,90],"normal_force_n":0.09810000000899691},{"geom_ids":[1,90],"normal_force_n":0.098099999992942},{"geom_ids":[1,90],"normal_force_n":0.09809999999100315}],"native_actuator_controls":[0.3263478780668785,1.4978560330959465,-1.2641075389208434,-0.20057522065644293,0.9336228648238982,0.4054587350170505,0.035],"actuator_force_native":[0.05714708214943798,-0.04119781955073165,0.11371378226732531,-0.020066286087869756,-0.10334682693279795,0.11611379622860252,3.4495120304622873e-06],"issued_joint_targets_rad":[0.32635238186567417,1.4978566670217726,-1.2641040395463972,-0.20058596861403388,0.9336190543432022,0.40547065055436504],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.11999999999794,"joint_targets_rad":[0.32635238186567417,1.4978566670217726,-1.2641040395463972,-0.20058596861403388,0.9336190543432022,0.40547065055436504],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.139999999997965,"qpos":[0.32556064225611014,1.4984261119937814,-1.2656101169407032,-0.19977702563062133,0.9456884390602874,0.39153520546984594,0.03499990647703941,-0.03500005902820465,0.35527284517121477,0.08439459321144108,0.07989224457978368,0.995430431960977,-1.8130700442842143e-11,-3.974926520434938e-12,0.0954895550622289],"qvel":[0.0016410467164112534,-0.001227346922444359,0.001857472600754133,-0.002665283841859749,-0.01301259992433717,0.017330444799316037,7.5091583023097e-08,8.485368999467366e-08,1.4212719169582681e-11,-4.414775887326162e-11,3.495001985967999e-15,-1.397330439392862e-09,-1.6875062389725808e-10,-1.479290505135306e-13],"joint_position_rad":[0.32556064225611014,1.4984261119937814,-1.2656101169407032,-0.19977702563062133,0.9456884390602874,0.39153520546984594],"joint_velocity_rad_s":[0.0016410467164112534,-0.001227346922444359,0.001857472600754133,-0.002665283841859749,-0.01301259992433717,0.017330444799316037],"gripper_joint_position_m":[0.03499990647703941,-0.03500005902820465],"tcp_position_m":[0.348902878450591,0.083400758852813,0.2091607966813716],"tcp_quaternion_wxyz":[0.25369534181280406,-0.005581889505191205,0.9672613143722288,-0.003614660557303053],"object_position_m":[0.35527284517121477,0.08439459321144108,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.8130700442842143e-11,-3.974926520434938e-12,0.0954895550622289],"object_linear_velocity_m_s":[1.4212719169582681e-11,-4.414775887326162e-11,3.495001985967999e-15],"object_angular_velocity_rad_s":[-1.3397674318504838e-09,-4.3131468613104393e-10,-1.479290505136898e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000539396},{"geom_ids":[1,90],"normal_force_n":0.0981000000068757},{"geom_ids":[1,90],"normal_force_n":0.09809999999460597},{"geom_ids":[1,90],"normal_force_n":0.0980999999931241}],"native_actuator_controls":[0.32635238186567417,1.4978566670217726,-1.2641040395463972,-0.20058596861403388,0.9336190543432022,0.40547065055436504,0.035],"actuator_force_native":[0.055133935183064864,-0.03941886314848375,0.11119882854072216,-0.01903130012720311,-0.1011749472843455,0.11335878364621754,3.3654605084976197e-06],"issued_joint_targets_rad":[0.3263567237473421,1.497857250596422,-1.2641006368675163,-0.20059628418033407,0.9336153491515556,0.40548211130769296],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.139999999997965,"joint_targets_rad":[0.3263567237473421,1.497857250596422,-1.2641006368675163,-0.20059628418033407,0.9336153491515556,0.40548211130769296],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.15999999999799,"qpos":[0.3255928754130059,1.498402127050527,-1.2655733893664887,-0.19982898219619272,0.9454310558873404,0.3918775109271338,0.03499990859624685,-0.035000055586816715,0.3552728451713959,0.08439459321087833,0.07989224457978368,0.995430431960977,-1.748689578057814e-11,-3.833766961107106e-12,0.09548955506222834],"qvel":[0.0015832920771818666,-0.0011743603082773264,0.001816440464391481,-0.002527907577043103,-0.012739037052511946,0.016918814842911755,7.460118833691993e-08,7.834847986938495e-08,6.7058096106922285e-12,-2.0829684030307787e-11,3.3867552410670455e-15,6.875051052922632e-10,8.302965902982806e-11,-1.6026922116828117e-14],"joint_position_rad":[0.3255928754130059,1.498402127050527,-1.2655733893664887,-0.19982898219619272,0.9454310558873404,0.3918775109271338],"joint_velocity_rad_s":[0.0015832920771818666,-0.0011743603082773264,0.001816440464391481,-0.002527907577043103,-0.012739037052511946,0.016918814842911755],"gripper_joint_position_m":[0.03499990859624685,-0.035000055586816715],"tcp_position_m":[0.3489378896695794,0.08342218010821328,0.20918265724766433],"tcp_quaternion_wxyz":[0.2538127702238896,-0.005455158603815016,0.9672314935942123,-0.0035435455961402773],"object_position_m":[0.3552728451713959,0.08439459321087833,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.748689578057814e-11,-3.833766961107106e-12,0.09548955506222834],"object_linear_velocity_m_s":[6.7058096106922285e-12,-2.0829684030307787e-11,3.3867552410670455e-15],"object_angular_velocity_rad_s":[6.591829403182012e-10,2.122146207851521e-10,-1.6026922116846006e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000115306},{"geom_ids":[1,90],"normal_force_n":0.09810000000146986},{"geom_ids":[1,90],"normal_force_n":0.09809999999884687},{"geom_ids":[1,90],"normal_force_n":0.09809999999853003}],"native_actuator_controls":[0.3263567237473421,1.497857250596422,-1.2641006368675163,-0.20059628418033407,0.9336153491515556,0.40548211130769296,0.035],"actuator_force_native":[0.05319140636098396,-0.03771831478701415,0.10873799759583846,-0.018052541480438222,-0.09904851177907936,0.11066778154122403,3.2831441845182496e-06],"issued_joint_targets_rad":[0.32636090990876965,1.4978577870443606,-1.2640973284328039,-0.20060618626707483,0.933611746811776,0.40549313651993246],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.15999999999799,"joint_targets_rad":[0.32636090990876965,1.4978577870443606,-1.2640973284328039,-0.20060618626707483,0.933611746811776,0.40549313651993246],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.179999999998014,"qpos":[0.32562397406338334,1.4983791769460169,-1.2655374734263107,-0.19987826606511985,0.9451790840193117,0.392211683512439,0.03499991068261991,-0.03500005234405794,0.3552728451715916,0.08439459321027076,0.07989224457978368,0.995430431960977,-1.871568891949065e-11,-4.103155521009039e-12,0.09548955506222753],"qvel":[0.0015275622804865076,-0.0011237086314828356,0.0017762887313603464,-0.0023979919327232783,-0.01247120061389214,0.01651677277188559,7.402821469191827e-08,7.227619503682579e-08,7.34137829247449e-12,-2.280393920407246e-11,3.342346320082039e-15,5.745953537543126e-10,6.939336756161031e-11,-2.9261063250093965e-14],"joint_position_rad":[0.32562397406338334,1.4983791769460169,-1.2655374734263107,-0.19987826606511985,0.9451790840193117,0.392211683512439],"joint_velocity_rad_s":[0.0015275622804865076,-0.0011237086314828356,0.0017762887313603464,-0.0023979919327232783,-0.01247120061389214,0.01651677277188559],"gripper_joint_position_m":[0.03499991068261991,-0.03500005234405794],"tcp_position_m":[0.34897215357079675,0.08344326333557782,0.20920384174837559],"tcp_quaternion_wxyz":[0.25392724099723873,-0.00533106172333793,0.9672023941497996,-0.003473443727428461],"object_position_m":[0.3552728451715916,0.08439459321027076,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.871568891949065e-11,-4.103155521009039e-12,0.09548955506222753],"object_linear_velocity_m_s":[7.34137829247449e-12,-2.280393920407246e-11,3.342346320082039e-15],"object_angular_velocity_rad_s":[5.509246151487288e-10,1.7736213925415155e-10,-2.926106325010985e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000266822},{"geom_ids":[1,90],"normal_force_n":0.09810000000340123},{"geom_ids":[1,90],"normal_force_n":0.09809999999733178},{"geom_ids":[1,90],"normal_force_n":0.09809999999659873}],"native_actuator_controls":[0.32636090990876965,1.4978577870443606,-1.2640973284328039,-0.20060618626707483,0.933611746811776,0.40549313651993246,0.035],"actuator_force_native":[0.05131705622847349,-0.03609264897509945,0.10633015582374128,-0.01712684841458234,-0.09696657115451757,0.10803937091710658,3.2025541303326577e-06],"issued_joint_targets_rad":[0.3263649463036394,1.497858279383455,-1.26409411181676,-0.20061569290078804,0.933608244879118,0.40550374454534066],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.179999999998014,"joint_targets_rad":[0.3263649463036394,1.497858279383455,-1.26409411181676,-0.20061569290078804,0.933608244879118,0.40550374454534066],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.199999999998038,"qpos":[0.3256539779964304,1.4983572161054761,-1.2655023516992547,-0.1999250221874465,0.944932410177886,0.39253791278469796,0.03499991273542517,-0.03500004928834829,0.3552728451717831,0.08439459320967582,0.07989224457978368,0.995430431960977,-1.953778039891548e-11,-4.283363739575527e-12,0.0954895550622266],"qvel":[0.001473787412818913,-0.0010752869564954854,0.001736999112502157,-0.002275117475075675,-0.012208971012231987,0.016124104664795656,7.338078981080174e-08,6.660927604075312e-08,8.099045596828699e-12,-2.5157529094254448e-11,3.2715696022621854e-15,3.6528457458324926e-10,4.4115651640089576e-11,-5.342345516332866e-14],"joint_position_rad":[0.3256539779964304,1.4983572161054761,-1.2655023516992547,-0.1999250221874465,0.944932410177886,0.39253791278469796],"joint_velocity_rad_s":[0.001473787412818913,-0.0010752869564954854,0.001736999112502157,-0.002275117475075675,-0.012208971012231987,0.016124104664795656],"gripper_joint_position_m":[0.03499991273542517,-0.03500004928834829],"tcp_position_m":[0.3490056880176076,0.08346400608520976,0.20922437510589506],"tcp_quaternion_wxyz":[0.25403884115083564,-0.005209556974723314,0.9671739957158231,-0.003404366895153404],"object_position_m":[0.3552728451717831,0.08439459320967582,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.953778039891548e-11,-4.283363739575527e-12,0.0954895550622266],"object_linear_velocity_m_s":[8.099045596828699e-12,-2.5157529094254448e-11,3.2715696022621854e-15],"object_angular_velocity_rad_s":[3.502363901791195e-10,1.1275407816302921e-10,-5.3423455163378626e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000043125},{"geom_ids":[1,90],"normal_force_n":0.09810000000549715},{"geom_ids":[1,90],"normal_force_n":0.09809999999568744},{"geom_ids":[1,90],"normal_force_n":0.0980999999945028}],"native_actuator_controls":[0.3263649463036394,1.497858279383455,-1.26409411181676,-0.20061569290078804,0.933608244879118,0.40550374454534066,0.035],"actuator_force_native":[0.04950852751262147,-0.0345385029792169,0.10397419503706828,-0.016251241158283136,-0.0949281964693327,0.10547216060923326,3.1236790440924977e-06],"issued_joint_targets_rad":[0.3263688386515685,1.4978587304389064,-1.264090984623549,-0.20062482126663372,0.9336048409092785,0.40551395289358017],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.199999999998038,"joint_targets_rad":[0.3263688386515685,1.4978587304389064,-1.264090984623549,-0.20062482126663372,0.9336048409092785,0.40551395289358017],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.219999999998063,"qpos":[0.3256829256266949,1.4983362010007093,-1.2654680071259132,-0.19996938737189446,0.9446909234498769,0.39285638406693657,0.034999914754054055,-0.035000046408792285,0.35527284517196916,0.08439459320909763,0.07989224457978368,0.995430431960977,-1.9798970109722925e-11,-4.340611878925174e-12,0.09548955506222559],"qvel":[0.0014218999132899874,-0.0010289951869616935,0.0016985537198806534,-0.0021588889052839887,-0.011952231201719881,0.015740600879375746,7.266647062898039e-08,6.132189175101034e-08,9.154344119273904e-12,-2.843559119429359e-11,3.204956220784676e-15,2.5578292321276633e-11,3.0899310896968594e-12,-9.753771199589505e-14],"joint_position_rad":[0.3256829256266949,1.4983362010007093,-1.2654680071259132,-0.19996938737189446,0.9446909234498769,0.39285638406693657],"joint_velocity_rad_s":[0.0014218999132899874,-0.0010289951869616935,0.0016985537198806534,-0.0021588889052839887,-0.011952231201719881,0.015740600879375746],"gripper_joint_position_m":[0.034999914754054055,-0.035000046408792285],"tcp_position_m":[0.34903851031538735,0.08348440663548239,0.20924428119146066],"tcp_quaternion_wxyz":[0.2541476545904247,-0.005090602361454175,0.9671462786834686,-0.003336324699706087],"object_position_m":[0.35527284517196916,0.08439459320909763,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.9798970109722925e-11,-4.340611878925174e-12,0.09548955506222559],"object_linear_velocity_m_s":[9.154344119273904e-12,-2.843559119429359e-11,3.204956220784676e-15],"object_angular_velocity_rad_s":[2.4524417799536117e-11,7.896179063670558e-12,-9.753771199593238e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000573613},{"geom_ids":[1,90],"normal_force_n":0.09810000000731174},{"geom_ids":[1,90],"normal_force_n":0.09809999999426391},{"geom_ids":[1,90],"normal_force_n":0.09809999999268808}],"native_actuator_controls":[0.3263688386515685,1.4978587304389064,-1.264090984623549,-0.20062482126663372,0.9336048409092785,0.40551395289358017,0.035],"actuator_force_native":[0.04776354242344283,-0.03305266900942172,0.10166903158972218,-0.015422911263151207,-0.09293247860340337,0.10296478694737221,3.0465054847717e-06],"issued_joint_targets_rad":[0.3263725924469839,1.4978591428561967,-1.2640879444902795,-0.20063358774996157,0.9336015324654855,0.4055237782714717],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.219999999998063,"joint_targets_rad":[0.3263725924469839,1.4978591428561967,-1.2640879444902795,-0.20063358774996157,0.9336015324654855,0.4055237782714717],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.239999999998087,"qpos":[0.32571085404036976,1.4983160900558308,-1.2654344230005221,-0.20001149075402172,0.944454515236888,0.3931672785313751,0.03499991673801289,-0.035000043695137976,0.35527284517214813,0.08439459320854191,0.07989224457978368,0.995430431960977,-1.924593571391581e-11,-4.219362090603595e-12,0.09548955506222455],"qvel":[0.0013718344966751543,-0.000984737833864872,0.001660935053299796,-0.002048933648704685,-0.011700866625259094,0.015366055994950306,7.189227827176393e-08,5.638983119164544e-08,1.0798241211209142e-11,-3.354196245781767e-11,3.1022605910068487e-15,-4.933537359977252e-10,-5.957993490449826e-11,-1.7808048370627212e-13],"joint_position_rad":[0.32571085404036976,1.4983160900558308,-1.2654344230005221,-0.20001149075402172,0.944454515236888,0.3931672785313751],"joint_velocity_rad_s":[0.0013718344966751543,-0.000984737833864872,0.001660935053299796,-0.002048933648704685,-0.011700866625259094,0.015366055994950306],"gripper_joint_position_m":[0.03499991673801289,-0.035000043695137976],"tcp_position_m":[0.34907063723614074,0.08350446393309774,0.2092635828735071],"tcp_quaternion_wxyz":[0.2542537622425335,-0.004974155841463444,0.9671192241269972,-0.003269324575087209],"object_position_m":[0.35527284517214813,0.08439459320854191,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.924593571391581e-11,-4.219362090603595e-12,0.09548955506222455],"object_linear_velocity_m_s":[1.0798241211209142e-11,-3.354196245781767e-11,3.1022605910068487e-15],"object_angular_velocity_rad_s":[-4.730301575188225e-10,-1.522831164110283e-10,-1.7808048370629292e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000627413},{"geom_ids":[1,90],"normal_force_n":0.09810000000799766},{"geom_ids":[1,90],"normal_force_n":0.09809999999372583},{"geom_ids":[1,90],"normal_force_n":0.09809999999200229}],"native_actuator_controls":[0.3263725924469839,1.4978591428561967,-1.2640879444902795,-0.20063358774996157,0.9336015324654855,0.4055237782714717,0.035],"actuator_force_native":[0.04607990004575768,-0.03163208680139462,0.09941360555291112,-0.014639211594071,-0.09097852777613546,0.10051591340854049,2.9710180931008523e-06],"issued_joint_targets_rad":[0.32637621296771996,1.4978595191131043,-1.2640849890898407,-0.20064200797570902,0.9335983171247892,0.40553323662256147],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.239999999998087,"joint_targets_rad":[0.32637621296771996,1.4978595191131043,-1.2640849890898407,-0.20064200797570902,0.9335983171247892,0.40553323662256147],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.25999999999811,"qpos":[0.32573779904006694,1.4982968435575126,-1.2654015829633585,-0.20005145423702705,0.9442230792061821,0.3934707732833643,0.03499991868691366,-0.03500004113773846,0.3552728451723168,0.08439459320801813,0.07989224457978368,0.995430431960977,-1.7506952753876058e-11,-3.838114211888261e-12,0.09548955506222354],"qvel":[0.001323528078998873,-0.0009424237954161047,0.0016241259876785972,-0.0019449005273620146,-0.011454765154891012,0.015000268753806927,7.106473190210118e-08,5.179040344932998e-08,1.3520081723289192e-11,-4.199671655242513e-11,3.012054970256055e-15,-1.2597546100363732e-09,-1.5213474405383725e-10,-3.2513129270094125e-13],"joint_position_rad":[0.32573779904006694,1.4982968435575126,-1.2654015829633585,-0.20005145423702705,0.9442230792061821,0.3934707732833643],"joint_velocity_rad_s":[0.001323528078998873,-0.0009424237954161047,0.0016241259876785972,-0.0019449005273620146,-0.011454765154891012,0.015000268753806927],"gripper_joint_position_m":[0.03499991868691366,-0.03500004113773846],"tcp_position_m":[0.3491020850417558,0.08352417753741402,0.20928230206366527],"tcp_quaternion_wxyz":[0.2543572421810542,-0.004860175384319347,0.9670928137740464,-0.0032033719546344774],"object_position_m":[0.3552728451723168,0.08439459320801813,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.7506952753876058e-11,-3.838114211888261e-12,0.09548955506222354],"object_linear_velocity_m_s":[1.3520081723289192e-11,-4.199671655242513e-11,3.012054970256055e-15],"object_angular_velocity_rad_s":[-1.2078592909168703e-09,-3.888477738164548e-10,-3.251312927009696e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000047325},{"geom_ids":[1,90],"normal_force_n":0.09810000000603254},{"geom_ids":[1,90],"normal_force_n":0.0980999999952673},{"geom_ids":[1,90],"normal_force_n":0.09809999999396726}],"native_actuator_controls":[0.32637621296771996,1.4978595191131043,-1.2640849890898407,-0.20064200797570902,0.9335983171247892,0.40553323662256147,0.035],"actuator_force_native":[0.04445547381724424,-0.030273836575574364,0.09720687994303034,-0.013897646910468353,-0.0890654730815914,0.09812423026126194,2.8971997940718808e-06],"issued_joint_targets_rad":[0.3263797052833471,1.4978598615308887,-1.2640821161333529,-0.20065009684576549,0.933595192483587,0.40554234316462623],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.25999999999811,"joint_targets_rad":[0.3263797052833471,1.4978598615308887,-1.2640821161333529,-0.20065009684576549,0.933595192483587,0.40554234316462623],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.279999999998136,"qpos":[0.32576379518812504,1.4982784235695006,-1.265369470993379,-0.20008939290681527,0.9439965112427223,0.3937670414441329,0.03499992060046536,-0.03500003872751556,0.35527284517248947,0.08439459320748148,0.07989224457978368,0.995430431960977,-1.660086459651019e-11,-3.6394659297774286e-12,0.09548955506222234],"qvel":[0.0012769197055637017,-0.000901966148019571,0.0015881097612009457,-0.001846458510848724,-0.011213817034276702,0.01464304200168086,7.018988050571932e-08,4.7502340866051186e-08,6.388966463295627e-12,-1.9845707640081694e-11,2.8663381982740034e-15,6.631340585484702e-10,8.008416870279887e-11,-3.522529985127557e-14],"joint_position_rad":[0.32576379518812504,1.4982784235695006,-1.265369470993379,-0.20008939290681527,0.9439965112427223,0.3937670414441329],"joint_velocity_rad_s":[0.0012769197055637017,-0.000901966148019571,0.0015881097612009457,-0.001846458510848724,-0.011213817034276702,0.01464304200168086],"gripper_joint_position_m":[0.03499992060046536,-0.03500003872751556],"tcp_position_m":[0.3491328695059856,0.08354354756858592,0.20930045976053502],"tcp_quaternion_wxyz":[0.2544581697477393,-0.004748619023966437,0.9670670299774371,-0.0031384704259761914],"object_position_m":[0.35527284517248947,0.08439459320748148,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.660086459651019e-11,-3.6394659297774286e-12,0.09548955506222234],"object_linear_velocity_m_s":[6.388966463295627e-12,-1.9845707640081694e-11,2.8663381982740034e-15],"object_angular_velocity_rad_s":[6.35816293033785e-10,2.0468975352117414e-10,-3.522529985128333e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000090552},{"geom_ids":[1,90],"normal_force_n":0.09810000000115439},{"geom_ids":[1,90],"normal_force_n":0.09809999999909444},{"geom_ids":[1,90],"normal_force_n":0.09809999999884556}],"native_actuator_controls":[0.3263797052833471,1.4978598615308887,-1.2640821161333529,-0.20065009684576549,0.933595192483587,0.40554234316462623,0.035],"actuator_force_native":[0.04288820908994495,-0.02897513234884741,0.09504783999608435,-0.013195865003766016,-0.08719246203993869,0.09578845420241189,2.8250319832334725e-06],"issued_joint_targets_rad":[0.32638307426322855,1.4978601722846647,-1.2640793233722316,-0.2006578685744126,0.9335921561624806,0.4055511124252311],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.279999999998136,"joint_targets_rad":[0.32638307426322855,1.4978601722846647,-1.2640793233722316,-0.2006578685744126,0.9335921561624806,0.4055511124252311],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.29999999999816,"qpos":[0.3257888758485022,1.498260793851209,-1.2653380714010853,-0.20012541542284307,0.9437747094023357,0.39405625223233104,0.034999922478465915,-0.03500003645592592,0.3552728451726739,0.08439459320690901,0.07989224457978368,0.995430431960977,-1.758957416963385e-11,-3.856225135646664e-12,0.09548955506222057],"qvel":[0.0012319504813258716,-0.0008632819477690837,0.0015528699642092315,-0.0017532955409709724,-0.010977914823098737,0.014294182627507009,6.927333250532838e-08,4.35057108499683e-08,6.91152383092453e-12,-2.1468902935948153e-11,2.7206214262919516e-15,5.466598824920888e-10,6.601777866860359e-11,-6.431252742919915e-14],"joint_position_rad":[0.3257888758485022,1.498260793851209,-1.2653380714010853,-0.20012541542284307,0.9437747094023357,0.39405625223233104],"joint_velocity_rad_s":[0.0012319504813258716,-0.0008632819477690837,0.0015528699642092315,-0.0017532955409709724,-0.010977914823098737,0.014294182627507009],"gripper_joint_position_m":[0.034999922478465915,-0.03500003645592592],"tcp_position_m":[0.34916300593522365,0.08356257465926774,0.2093180760913388],"tcp_quaternion_wxyz":[0.25455661766690935,-0.004639444907300356,0.9670418556883954,-0.003074621875889651],"object_position_m":[0.3552728451726739,0.08439459320690901,0.07989224457978368],"object_quaternion_wxyz":[0.995430431960977,-1.758957416963385e-11,-3.856225135646664e-12,0.09548955506222057],"object_linear_velocity_m_s":[6.91152383092453e-12,-2.1468902935948153e-11,2.7206214262919516e-15],"object_angular_velocity_rad_s":[5.241403105079569e-10,1.6873739694336438e-10,-6.431252742919597e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000239519},{"geom_ids":[1,90],"normal_force_n":0.09810000000305334},{"geom_ids":[1,90],"normal_force_n":0.09809999999760471},{"geom_ids":[1,90],"normal_force_n":0.09809999999694657}],"native_actuator_controls":[0.32638307426322855,1.4978601722846647,-1.2640793233722316,-0.2006578685744126,0.9335921561624806,0.4055511124252311,0.035],"actuator_force_native":[0.04137612077148134,-0.027733315584683282,0.09293549248725697,-0.012531648357924752,-0.08535866016390159,0.09350732798773986,2.7544947009960907e-06],"issued_joint_targets_rad":[0.3263863245843087,1.4978604534130713,-1.264076608599926,-0.20066533672193024,0.9335892058104928,0.4055595582754361],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.29999999999816,"joint_targets_rad":[0.3263863245843087,1.4978604534130713,-1.264076608599926,-0.20066533672193024,0.9335892058104928,0.4055595582754361],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.319999999998185,"qpos":[0.32581307322729836,1.4982439197801645,-1.2653073688216043,-0.20015962438617477,0.9435575738659708,0.39433857104435655,0.034999924320794754,-0.03500003431492906,0.355272845172865,0.08439459320631545,0.07989224457978368,0.9954304319609781,-1.9261242773519774e-11,-4.222711727821484e-12,0.09548955506221844],"qvel":[0.0011885635035282708,-0.0008262920418519196,0.0015183905287627485,-0.0016651174257168756,-0.01074695334330595,0.013953501502564034,6.832028377875479e-08,3.978183250809265e-08,7.836950272151634e-12,-2.434350827564009e-11,3.3409585413012576e-15,3.8776756847087674e-10,4.682905352374991e-11,-1.1741809958508505e-13],"joint_position_rad":[0.32581307322729836,1.4982439197801645,-1.2653073688216043,-0.20015962438617477,0.9435575738659708,0.39433857104435655],"joint_velocity_rad_s":[0.0011885635035282708,-0.0008262920418519196,0.0015183905287627485,-0.0016651174257168756,-0.01074695334330595,0.013953501502564034],"gripper_joint_position_m":[0.034999924320794754,-0.03500003431492906],"tcp_position_m":[0.3491925091881527,0.08358125990965551,0.20933517035156302],"tcp_quaternion_wxyz":[0.25465265615468546,-0.004532611338839974,0.9670172744311196,-0.0030118266256776477],"object_position_m":[0.355272845172865,0.08439459320631545,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609781,-1.9261242773519774e-11,-4.222711727821484e-12,0.09548955506221844],"object_linear_velocity_m_s":[7.836950272151634e-12,-2.434350827564009e-11,3.3409585413012576e-15],"object_angular_velocity_rad_s":[3.7179353760529095e-10,1.1969215850125423e-10,-1.1741809958508293e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000434577},{"geom_ids":[1,90],"normal_force_n":0.09810000000553948},{"geom_ids":[1,90],"normal_force_n":0.09809999999565452},{"geom_ids":[1,90],"normal_force_n":0.09809999999446092}],"native_actuator_controls":[0.3263863245843087,1.4978604534130713,-1.264076608599926,-0.20066533672193024,0.9335892058104928,0.4055595582754361,0.035],"actuator_force_native":[0.03991729104318509,-0.026545849158182477,0.09086886509045655,-0.01190290630163382,-0.08356325053981983,0.091279620056949,2.685566791171823e-06],"issued_joint_targets_rad":[0.32638946073863834,1.4978607068272445,-1.2640739696533523,-0.200672514226486,0.9335863391087411,0.40556769396176034],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.319999999998185,"joint_targets_rad":[0.32638946073863834,1.4978607068272445,-1.2640739696533523,-0.200672514226486,0.9335863391087411,0.40556769396176034],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.33999999999821,"qpos":[0.325836418411952,1.4982277682781315,-1.265277348207969,-0.20019211668609252,0.9433450068950112,0.39461415953345363,0.034999926127405726,-0.035000032296957334,0.3552728451730545,0.084394593205727,0.07989224457978368,0.9954304319609781,-2.0117988981194372e-11,-4.4105334236703356e-12,0.09548955506221593],"qvel":[0.0011467037965102913,-0.0007909208893776048,0.001484655718812605,-0.0015816467984726944,-0.010520829627070228,0.013620813419145825,6.733554373886182e-08,3.631319802732285e-08,8.990701751169277e-12,-2.7927358854084582e-11,3.3895307986286082e-15,9.849844283050606e-11,1.1895936616540012e-11,-2.1437538294251738e-13],"joint_position_rad":[0.325836418411952,1.4982277682781315,-1.265277348207969,-0.20019211668609252,0.9433450068950112,0.39461415953345363],"joint_velocity_rad_s":[0.0011467037965102913,-0.0007909208893776048,0.001484655718812605,-0.0015816467984726944,-0.010520829627070228,0.013620813419145825],"gripper_joint_position_m":[0.034999926127405726,-0.035000032296957334],"tcp_position_m":[0.34922139369433103,0.08359960484565039,0.20935176104269138],"tcp_quaternion_wxyz":[0.2547463530230199,-0.004428076821746452,0.9669932702786169,-0.002950083557663773],"object_position_m":[0.3552728451730545,0.084394593205727,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609781,-2.0117988981194372e-11,-4.4105334236703356e-12,0.09548955506221593],"object_linear_velocity_m_s":[8.990701751169277e-12,-2.7927358854084582e-11,3.3895307986286082e-15],"object_angular_velocity_rad_s":[9.444068106807142e-11,3.040418240009116e-11,-2.1437538294254626e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000058601},{"geom_ids":[1,90],"normal_force_n":0.09810000000746984},{"geom_ids":[1,90],"normal_force_n":0.09809999999413979},{"geom_ids":[1,90],"normal_force_n":0.09809999999253007}],"native_actuator_controls":[0.32638946073863834,1.4978607068272445,-1.2640739696533523,-0.200672514226486,0.9335863391087411,0.40556769396176034,0.035],"actuator_force_native":[0.03850986715235649,-0.02541031162407137,0.08884700577529259,-0.011307667623373874,-0.08180543342209567,0.08910412415434843,2.6182260526308454e-06],"issued_joint_targets_rad":[0.3263924870406357,1.4978609343191729,-1.2640714044140313,-0.20067941343438375,0.9335835537735716,0.4055755321364968],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.33999999999821,"joint_targets_rad":[0.3263924870406357,1.4978609343191729,-1.2640714044140313,-0.20067941343438375,0.9335835537735716,0.4055755321364968],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.359999999998234,"qpos":[0.3258589414091539,1.4982123077407106,-1.2652479948245887,-0.20022298382652404,0.9431369127876076,0.3948831756875756,0.03499992789832061,-0.0350000303948878,0.3552728451732396,0.08439459320515227,0.07989224457978368,0.9954304319609781,-2.000912316322503e-11,-4.3866679003838194e-12,0.09548955506221327],"qvel":[0.001106318248608198,-0.0007570963910988014,0.001451650120965994,-0.001502622138574092,-0.010299442866406966,0.013295937028878742,6.632356073988906e-08,3.30834003441596e-08,1.0602637952148899e-11,-3.293441429764933e-11,3.2382629115234306e-15,-3.72794876410166e-10,-4.502167280160982e-11,-3.9139653591620727e-13],"joint_position_rad":[0.3258589414091539,1.4982123077407106,-1.2652479948245887,-0.20022298382652404,0.9431369127876076,0.3948831756875756],"joint_velocity_rad_s":[0.001106318248608198,-0.0007570963910988014,0.001451650120965994,-0.001502622138574092,-0.010299442866406966,0.013295937028878742],"gripper_joint_position_m":[0.03499992789832061,-0.0350000303948878],"tcp_position_m":[0.34924967347177616,0.08361761137994138,0.20936786590812126],"tcp_quaternion_wxyz":[0.2548377737787993,-0.004325800095414164,0.9669698278297413,-0.002889390233347844],"object_position_m":[0.3552728451732396,0.08439459320515227,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609781,-2.000912316322503e-11,-4.3866679003838194e-12,0.09548955506221327],"object_linear_velocity_m_s":[1.0602637952148899e-11,-3.293441429764933e-11,3.2382629115234306e-15],"object_angular_velocity_rad_s":[-3.5743748987204436e-10,-1.1507133323942178e-10,-3.913965359161729e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000664815},{"geom_ids":[1,90],"normal_force_n":0.09810000000847438},{"geom_ids":[1,90],"normal_force_n":0.09809999999335153},{"geom_ids":[1,90],"normal_force_n":0.0980999999915253}],"native_actuator_controls":[0.3263924870406357,1.4978609343191729,-1.2640714044140313,-0.20067941343438375,0.9335835537735716,0.4055755321364968,0.035],"actuator_force_native":[0.03715205927550258,-0.024324391767535758,0.08686898223974993,-0.010744073621518524,-0.08008442584074871,0.08697965894589377,2.5524493718620533e-06],"issued_joint_targets_rad":[0.32639540763409547,1.4978611375694753,-1.2640689108089975,-0.2006860461287702,0.9335808475592445,0.40558308488645556],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.359999999998234,"joint_targets_rad":[0.32639540763409547,1.4978611375694753,-1.2640689108089975,-0.2006860461287702,0.9335808475592445,0.40558308488645556],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.379999999998258,"qpos":[0.3258806711815185,1.4981975079702603,-1.2652192942408946,-0.20025231223347845,0.9429331978360033,0.3951457739060081,0.03499992963362313,-0.0350000286020156,0.35527284517341623,0.08439459320460332,0.07989224457978368,0.9954304319609781,-1.866767093539239e-11,-4.092574262378948e-12,0.09548955506221066],"qvel":[0.0010673555510823866,-0.0007247497275495524,0.0014193586357527394,-0.0014277968495718019,-0.010082694364334408,0.012978694780778392,6.528844511661721e-08,3.007706276978669e-08,1.3137189152331152e-11,-4.0807496919552616e-11,3.00789163391371e-15,-1.0882645461341401e-09,-1.3142182585866637e-10,-7.145916256150602e-13],"joint_position_rad":[0.3258806711815185,1.4981975079702603,-1.2652192942408946,-0.20025231223347845,0.9429331978360033,0.3951457739060081],"joint_velocity_rad_s":[0.0010673555510823866,-0.0007247497275495524,0.0014193586357527394,-0.0014277968495718019,-0.010082694364334408,0.012978694780778392],"gripper_joint_position_m":[0.03499992963362313,-0.0350000286020156],"tcp_position_m":[0.34927736214361194,0.08363528177582116,0.2093835019673554],"tcp_quaternion_wxyz":[0.2549269817182672,-0.0042257401698636956,0.9669469321873687,-0.0028297430037481685],"object_position_m":[0.35527284517341623,0.08439459320460332,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609781,-1.866767093539239e-11,-4.092574262378948e-12,0.09548955506221066],"object_linear_velocity_m_s":[1.3137189152331152e-11,-4.0807496919552616e-11,3.00789163391371e-15],"object_angular_velocity_rad_s":[-1.0434342660093107e-09,-3.35911225180373e-10,-7.145916256151757e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000568521},{"geom_ids":[1,90],"normal_force_n":0.09810000000724689},{"geom_ids":[1,90],"normal_force_n":0.09809999999431451},{"geom_ids":[1,90],"normal_force_n":0.09809999999275267}],"native_actuator_controls":[0.32639540763409547,1.4978611375694753,-1.2640689108089975,-0.2006860461287702,0.9335808475592445,0.40558308488645556,0.035],"actuator_force_native":[0.035842138450746575,-0.02328588342506066,0.08493388137300428,-0.010210371563809773,-0.07839946122108543,0.08490506763330741,2.48821284931644e-06],"issued_joint_targets_rad":[0.32639822649894407,1.4978613181546334,-1.264066486811461,-0.20069242355687728,0.9335782182601899,0.40559036376024254],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.379999999998258,"joint_targets_rad":[0.32639822649894407,1.4978613181546334,-1.264066486811461,-0.20069242355687728,0.9335782182601899,0.40559036376024254],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.399999999998283,"qpos":[0.3259016356830531,1.4981833401119657,-1.2651912323251575,-0.20028018354460822,0.9427337702848176,0.3954021050747457,0.03499993133345322,-0.035000026912029275,0.3552728451735888,0.08439459320406707,0.07989224457978368,0.9954304319609792,-1.6899616982863215e-11,-3.704948554224259e-12,0.09548955506220808],"qvel":[0.0010297661389921677,-0.0006938152051796093,0.0013877664693926852,-0.0013569383917755899,-0.00987048748751973,0.012668912859171754,6.423399042995907e-08,2.727977638841329e-08,6.487819304195124e-12,-2.0152823924829346e-11,2.8649504194932212e-15,7.045043003777078e-10,8.507997025143527e-11,-7.742014119951166e-14],"joint_position_rad":[0.3259016356830531,1.4981833401119657,-1.2651912323251575,-0.20028018354460822,0.9427337702848176,0.3954021050747457],"joint_velocity_rad_s":[0.0010297661389921677,-0.0006938152051796093,0.0013877664693926852,-0.0013569383917755899,-0.00987048748751973,0.012668912859171754],"gripper_joint_position_m":[0.03499993133345322,-0.035000026912029275],"tcp_position_m":[0.34930447295383116,0.08365261861355526,0.20939868554855584],"tcp_quaternion_wxyz":[0.2550140380170117,-0.004127856357130163,0.9669245689376484,-0.002771137112415429],"object_position_m":[0.3552728451735888,0.08439459320406707,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609792,-1.6899616982863215e-11,-3.704948554224259e-12,0.09548955506220808],"object_linear_velocity_m_s":[6.487819304195124e-12,-2.0152823924829346e-11,2.8649504194932212e-15],"object_angular_velocity_rad_s":[6.75482352085902e-10,2.174591975731684e-10,-7.742014119952826e-14],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000062129},{"geom_ids":[1,90],"normal_force_n":0.09810000000079168},{"geom_ids":[1,90],"normal_force_n":0.09809999999938036},{"geom_ids":[1,90],"normal_force_n":0.09809999999921}],"native_actuator_controls":[0.32639822649894407,1.4978613181546334,-1.264066486811461,-0.20069242355687728,0.9335782182601899,0.40559036376024254,0.035],"actuator_force_native":[0.03457843457631782,-0.022292680560696,0.08304080874876263,-0.00970490853188366,-0.07674978901499685,0.08287921756621142,2.42549191908914e-06],"issued_joint_targets_rad":[0.3264009474577499,1.4978614775537273,-1.2640641304412699,-0.20069855645587123,0.9335756637128826,0.4055973797941217],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.399999999998283,"joint_targets_rad":[0.3264009474577499,1.4978614775537273,-1.2640641304412699,-0.20069855645587123,0.9335756637128826,0.4055973797941217],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.419999999998307,"qpos":[0.32592186189346367,1.4981697765928992,-1.2651637952384613,-0.20030667488194956,0.9425385402902614,0.39565231664062206,0.03499993299800182,-0.03500002531898716,0.35527284517378105,0.08439459320346995,0.07989224457978368,0.9954304319609792,-1.8007862107163153e-11,-3.947901057531735e-12,0.09548955506220372],"qvel":[0.000993502133953911,-0.0006642301100411366,0.0013568591260021752,-0.001289827465832987,-0.00966272762032679,0.012366421121547334,6.316369487505384e-08,2.46780386706418e-08,7.0195341639257775e-12,-2.1804508266873613e-11,3.2465895842081184e-15,6.030999163117032e-10,7.283341212654102e-11,-1.4135073647109318e-13],"joint_position_rad":[0.32592186189346367,1.4981697765928992,-1.2651637952384613,-0.20030667488194956,0.9425385402902614,0.39565231664062206],"joint_velocity_rad_s":[0.000993502133953911,-0.0006642301100411366,0.0013568591260021752,-0.001289827465832987,-0.00966272762032679,0.012366421121547334],"gripper_joint_position_m":[0.03499993299800182,-0.03500002531898716],"tcp_position_m":[0.3493310187822245,0.08366962475914103,0.20941343231954251],"tcp_quaternion_wxyz":[0.2550990018157399,-0.00403210829985084,0.9669027241302712,-0.0027135667915718364],"object_position_m":[0.35527284517378105,0.08439459320346995,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609792,-1.8007862107163153e-11,-3.947901057531735e-12,0.09548955506220372],"object_linear_velocity_m_s":[7.0195341639257775e-12,-2.1804508266873613e-11,3.2465895842081184e-15],"object_angular_velocity_rad_s":[5.782553794085262e-10,1.8615834969798914e-10,-1.4135073647110727e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000210024},{"geom_ids":[1,90],"normal_force_n":0.098100000002677},{"geom_ids":[1,90],"normal_force_n":0.09809999999789977},{"geom_ids":[1,90],"normal_force_n":0.098099999997323}],"native_actuator_controls":[0.3264009474577499,1.4978614775537273,-1.2640641304412699,-0.20069855645587123,0.9335756637128826,0.4055973797941217,0.035],"actuator_force_native":[0.03335933447312911,-0.02134277258353734,0.08118888814530578,-0.009226125627701975,-0.0751346743432979,0.08090099985267551,2.3642614530583472e-06],"issued_joint_targets_rad":[0.3264035741819947,1.4978616171547101,-1.264061839765183,-0.20070445507740042,0.9335731817973668,0.4056041435365694],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.419999999998307,"joint_targets_rad":[0.3264035741819947,1.4978616171547101,-1.264061839765183,-0.20070445507740042,0.9335731817973668,0.4056041435365694],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.43999999999833,"qpos":[0.3259413758513334,1.4981567910639324,-1.2651369694288301,-0.20033185910882997,0.942347419880256,0.3958965526841946,0.03499993462750598,-0.03500002381729553,0.3552728451739687,0.08439459320288754,0.07989224457978368,0.9954304319609794,-1.882906570545573e-11,-4.1279397524388065e-12,0.09548955506219878],"qvel":[0.0009585172887201711,-0.0006359345686416624,0.0013266224002135294,-0.0012262572443612623,-0.009459322120205829,0.012071053036447501,6.208078111656264e-08,2.2259197065172347e-08,7.67237342828626e-12,-2.3832380790675233e-11,3.071729457829656e-15,4.203564352872732e-10,5.076401487570688e-11,-2.580700612305979e-13],"joint_position_rad":[0.3259413758513334,1.4981567910639324,-1.2651369694288301,-0.20033185910882997,0.942347419880256,0.3958965526841946],"joint_velocity_rad_s":[0.0009585172887201711,-0.0006359345686416624,0.0013266224002135294,-0.0012262572443612623,-0.009459322120205829,0.012071053036447501],"gripper_joint_position_m":[0.03499993462750598,-0.03500002381729553],"tcp_position_m":[0.3493570121585296,0.08368630333529986,0.20942775731731106],"tcp_quaternion_wxyz":[0.2551819303020583,-0.003938455997225849,0.9668813842596996,-0.002657025351807773],"object_position_m":[0.3552728451739687,0.08439459320288754,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609794,-1.882906570545573e-11,-4.1279397524388065e-12,0.09548955506219878],"object_linear_velocity_m_s":[7.67237342828626e-12,-2.3832380790675233e-11,3.071729457829656e-15],"object_angular_velocity_rad_s":[4.0304003580996656e-10,1.2975071263012346e-10,-2.5807006123059014e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000372833},{"geom_ids":[1,90],"normal_force_n":0.09810000000475258},{"geom_ids":[1,90],"normal_force_n":0.09809999999627134},{"geom_ids":[1,90],"normal_force_n":0.0980999999952471}],"native_actuator_controls":[0.3264035741819947,1.4978616171547101,-1.264061839765183,-0.20070445507740042,0.9335731817973668,0.4056041435365694,0.035],"actuator_force_native":[0.03218328000930626,-0.02043423989458404,0.07937726109069843,-0.008772552521010724,-0.07355339764858293,0.07896932896907671,2.304495855254274e-06],"issued_joint_targets_rad":[0.32640611019811244,1.4978617382602522,-1.2640596128969843,-0.20071012921089412,0.9335707704384838,0.40561066507156773],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.43999999999833,"joint_targets_rad":[0.32640611019811244,1.4978617382602522,-1.2640596128969843,-0.20071012921089412,0.9335707704384838,0.40561066507156773],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.459999999998356,"qpos":[0.3259602026862102,1.4981443583443577,-1.2651107416254952,-0.2003558050718757,0.9421603229154305,0.3961349539913826,0.034999936222244406,-0.03500002240168789,0.3552728451741508,0.08439459320232194,0.07989224457978368,0.9954304319609796,-1.919598351791086e-11,-4.208378270963347e-12,0.09548955506219332],"qvel":[0.0009247669335198741,-0.0006088714155838966,0.0012970423701664593,-0.001166032648742323,-0.009260180274344198,0.011782645621463453,6.098821321312484e-08,2.001139539952114e-08,8.581580223785519e-12,-2.6656628623190028e-11,2.8330315075352482e-15,1.2391921099436048e-10,1.4965340397433045e-11,-4.711684343120706e-13],"joint_position_rad":[0.3259602026862102,1.4981443583443577,-1.2651107416254952,-0.2003558050718757,0.9421603229154305,0.3961349539913826],"joint_velocity_rad_s":[0.0009247669335198741,-0.0006088714155838966,0.0012970423701664593,-0.001166032648742323,-0.009260180274344198,0.011782645621463453],"gripper_joint_position_m":[0.034999936222244406,-0.03500002240168789],"tcp_position_m":[0.3493824652758432,0.08370265769455709,0.2094416749761447],"tcp_quaternion_wxyz":[0.2552628787884567,-0.003846859828527105,0.9668605362473129,-0.0026015052657412624],"object_position_m":[0.3552728451741508,0.08439459320232194,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609796,-1.919598351791086e-11,-4.208378270963347e-12,0.09548955506219332],"object_linear_velocity_m_s":[8.581580223785519e-12,-2.6656628623190028e-11,2.8330315075352482e-15],"object_angular_velocity_rad_s":[1.1881434977425025e-10,3.825026214809431e-11,-4.711684343120809e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000052296},{"geom_ids":[1,90],"normal_force_n":0.09810000000666613},{"geom_ids":[1,90],"normal_force_n":0.09809999999476987},{"geom_ids":[1,90],"normal_force_n":0.09809999999333331}],"native_actuator_controls":[0.32640611019811244,1.4978617382602522,-1.2640596128969843,-0.20071012921089412,0.9335707704384838,0.40561066507156773,0.035],"actuator_force_native":[0.031048766284580864,-0.019565249650511873,0.07760508643004016,-0.008342802317024223,-0.07200525435795058,0.07708314236965652,2.2461691577824183e-06],"issued_joint_targets_rad":[0.326408558893298,1.4978618420931824,-1.2640574479974387,-0.20071558820568303,0.9335684276068064,0.40561695404071113],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.459999999998356,"joint_targets_rad":[0.326408558893298,1.4978618420931824,-1.2640574479974387,-0.20071558820568303,0.9335684276068064,0.40561695404071113],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.47999999999838,"qpos":[0.3259783666496373,1.498132454369083,-1.2650850988333007,-0.20037857782899338,0.9419771650509708,0.3963676581238652,0.03499993778253314,-0.03500002106720563,0.35527284517432606,0.08439459320177731,0.07989224457978368,0.9954304319609811,-1.8867095472664794e-11,-4.136286970686178e-12,0.0954895550621876],"qvel":[0.0008922079240971507,-0.0005829860676553478,0.0012681053908484851,-0.0011089696684063437,-0.00906521325753841,0.011501039381409605,5.988871454347527e-08,1.792352537427454e-08,9.985477318854232e-12,-3.10173889595582e-11,3.453368622544555e-15,-3.310145298278953e-10,-3.997702004915093e-11,-8.602318024897712e-13],"joint_position_rad":[0.3259783666496373,1.498132454369083,-1.2650850988333007,-0.20037857782899338,0.9419771650509708,0.3963676581238652],"joint_velocity_rad_s":[0.0008922079240971507,-0.0005829860676553478,0.0012681053908484851,-0.0011089696684063437,-0.00906521325753841,0.011501039381409605],"gripper_joint_position_m":[0.03499993778253314,-0.03500002106720563],"tcp_position_m":[0.3494073900033403,0.08371869139427368,0.2094551991543944],"tcp_quaternion_wxyz":[0.25534190078669533,-0.0037572805743146323,0.9668401674244085,-0.002546998246011636],"object_position_m":[0.35527284517432606,0.08439459320177731,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609811,-1.8867095472664794e-11,-4.136286970686178e-12,0.0954895550621876],"object_linear_velocity_m_s":[9.985477318854232e-12,-3.10173889595582e-11,3.453368622544555e-15],"object_angular_velocity_rad_s":[-3.173780918738131e-10,-1.0217596531342515e-10,-8.602318024896949e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000606126},{"geom_ids":[1,90],"normal_force_n":0.09810000000772626},{"geom_ids":[1,90],"normal_force_n":0.09809999999393902},{"geom_ids":[1,90],"normal_force_n":0.09809999999227402}],"native_actuator_controls":[0.326408558893298,1.4978618420931824,-1.2640574479974387,-0.20071558820568303,0.9335684276068064,0.40561695404071113,0.035],"actuator_force_native":[0.029954339872368507,-0.01873405173377307,0.07587153991471496,-0.007935566725555177,-0.07048955455533878,0.07524140009634506,2.189255101869847e-06],"issued_joint_targets_rad":[0.32641092352109735,1.497861929801569,-1.2640553432741188,-0.20072084099200957,0.9335661513193289,0.4056230196641957],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.47999999999838,"joint_targets_rad":[0.32641092352109735,1.497861929801569,-1.2640553432741188,-0.20072084099200957,0.9335661513193289,0.4056230196641957],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.499999999998405,"qpos":[0.3259958911451623,1.498121056138283,-1.2650600283272344,-0.20040023886415045,0.941797863699302,0.39659479948824017,0.03499993930872179,-0.035000019809179696,0.35527284517450153,0.0843945932012321,0.07989224457978368,0.9954304319609816,-1.8667854764043413e-11,-4.092607989234073e-12,0.09548955506218085],"qvel":[0.0008607985913972262,-0.0005582264040065622,0.0012397980877531366,-0.001054894720105191,-0.008874334091222888,0.011226078246749788,5.8784783423809865e-08,1.5985179125571723e-08,1.2392176166017687e-11,-3.849335860076236e-11,3.3936941349709527e-15,-9.887705489908778e-10,-1.194069222650733e-10,-1.5705572953188577e-12],"joint_position_rad":[0.3259958911451623,1.498121056138283,-1.2650600283272344,-0.20040023886415045,0.941797863699302,0.39659479948824017],"joint_velocity_rad_s":[0.0008607985913972262,-0.0005582264040065622,0.0012397980877531366,-0.001054894720105191,-0.008874334091222888,0.011226078246749788],"gripper_joint_position_m":[0.03499993930872179,-0.035000019809179696],"tcp_position_m":[0.34943179789834106,0.08373440817349993,0.20946834315998264],"tcp_quaternion_wxyz":[0.2554190480787667,-0.003669679435510883,0.9668202655160248,-0.0024934953179711183],"object_position_m":[0.35527284517450153,0.0843945932012321,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609816,-1.8667854764043413e-11,-4.092607989234073e-12,0.09548955506218085],"object_linear_velocity_m_s":[1.2392176166017687e-11,-3.849335860076236e-11,3.3936941349709527e-15],"object_angular_velocity_rad_s":[-9.480388024508038e-10,-3.052009840812839e-10,-1.5705572953189403e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000663625},{"geom_ids":[1,90],"normal_force_n":0.09810000000845932},{"geom_ids":[1,90],"normal_force_n":0.09809999999336376},{"geom_ids":[1,90],"normal_force_n":0.09809999999154081}],"native_actuator_controls":[0.32641092352109735,1.497861929801569,-1.2640553432741188,-0.20072084099200957,0.9335661513193289,0.4056230196641957,0.035],"actuator_force_native":[0.028898597117819946,-0.017938974917072414,0.07417581381047,-0.007549611513837817,-0.06900562266289612,0.0734430843894307,2.133727211139913e-06],"issued_joint_targets_rad":[0.3264132072067848,1.4978620024634506,-1.2640532969811231,-0.20072589610097794,0.9335639396399384,0.4056288707607408],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.499999999998405,"joint_targets_rad":[0.3264132072067848,1.4978620024634506,-1.2640532969811231,-0.20072589610097794,0.9335639396399384,0.4056288707607408],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.51999999999843,"qpos":[0.3260127987573539,1.4981101416693803,-1.2650355176470856,-0.20042084628972867,0.9416223379935731,0.3968165094039527,0.034999940801189816,-0.03500001862321341,0.35527284517466773,0.08439459320071584,0.07989224457978368,0.9954304319609818,-1.6589880987788236e-11,-3.637040852523041e-12,0.0954895550621749],"qvel":[0.0008304986928498089,-0.0005345426521294753,0.0012121073508215459,-0.0010036440447844144,-0.008687457603595728,0.010957609512328104,5.767870861788269e-08,1.4186605099676875e-08,6.333220324138728e-12,-1.967261928001356e-11,3.2007928844423313e-15,7.033064733718483e-10,8.493466945733499e-11,-1.701569141388707e-13],"joint_position_rad":[0.3260127987573539,1.4981101416693803,-1.2650355176470856,-0.20042084628972867,0.9416223379935731,0.3968165094039527],"joint_velocity_rad_s":[0.0008304986928498089,-0.0005345426521294753,0.0012121073508215459,-0.0010036440447844144,-0.008687457603595728,0.010957609512328104],"gripper_joint_position_m":[0.034999940801189816,-0.03500001862321341],"tcp_position_m":[0.3494557002177672,0.08374981193153502,0.2094811197747073],"tcp_quaternion_wxyz":[0.2554943707846159,-0.00358401805047538,0.9668008186255339,-0.002440986887399073],"object_position_m":[0.35527284517466773,0.08439459320071584,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609818,-1.6589880987788236e-11,-3.637040852523041e-12,0.0954895550621749],"object_linear_velocity_m_s":[6.333220324138728e-12,-1.967261928001356e-11,3.2007928844423313e-15],"object_angular_velocity_rad_s":[6.743339918780411e-10,2.1708883195686984e-10,-1.701569141388698e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997861811},{"geom_ids":[1,90],"normal_force_n":0.09809999997274464},{"geom_ids":[1,90],"normal_force_n":0.09810000002138254},{"geom_ids":[1,90],"normal_force_n":0.09810000002725616}],"native_actuator_controls":[0.3264132072067848,1.4978620024634506,-1.2640532969811231,-0.20072589610097794,0.9335639396399384,0.4056288707607408,0.035],"actuator_force_native":[0.027880182490218175,-0.017178423213735527,0.07251711652288861,-0.007183772226047935,-0.06755279713095241,0.07168719929938883,2.0795588644428875e-06],"issued_joint_targets_rad":[0.3264154129525311,1.4978620610912448,-1.2640513074186706,-0.20073076168350928,0.9335617906796757,0.40563451576651127],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.51999999999843,"joint_targets_rad":[0.3264154129525311,1.4978620610912448,-1.2640513074186706,-0.20073076168350928,0.9335617906796757,0.40563451576651127],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.539999999998454,"qpos":[0.32602911127986056,1.498099689951248,-1.2650115545922191,-0.20044045503718091,0.9414505087519317,0.3970329161699994,0.034999942260343225,-0.03500001750516654,0.35527284517486435,0.08439459320010499,0.07989224457978368,0.9954304319609827,-1.8112786386826052e-11,-3.970876869727579e-12,0.09548955506216408],"qvel":[0.0008012693651937824,-0.0005118872793331377,0.0011850203286685205,-0.0009550631398463421,-0.00850450039081162,0.010695483776470349,5.6572583069759095e-08,1.2518668276874154e-08,6.996615848864987e-12,-2.173341546702302e-11,3.077280572952783e-15,6.359519960262171e-10,7.6800628675687e-11,-3.106635221142113e-13],"joint_position_rad":[0.32602911127986056,1.498099689951248,-1.2650115545922191,-0.20044045503718091,0.9414505087519317,0.3970329161699994],"joint_velocity_rad_s":[0.0008012693651937824,-0.0005118872793331377,0.0011850203286685205,-0.0009550631398463421,-0.00850450039081162,0.010695483776470349],"gripper_joint_position_m":[0.034999942260343225,-0.03500001750516654],"tcp_position_m":[0.3494791079290178,0.08376490670807693,0.20949354127739472],"tcp_quaternion_wxyz":[0.2555679174267762,-0.0035002585102135836,0.9667818152199659,-0.002389462803558596],"object_position_m":[0.35527284517486435,0.08439459320010499,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609827,-1.8112786386826052e-11,-3.970876869727579e-12,0.09548955506216408],"object_linear_velocity_m_s":[6.996615848864987e-12,-2.173341546702302e-11,3.077280572952783e-15],"object_angular_velocity_rad_s":[6.097541585066132e-10,1.96298609263034e-10,-3.106635221142535e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000194795},{"geom_ids":[1,90],"normal_force_n":0.09810000000248302},{"geom_ids":[1,90],"normal_force_n":0.09809999999805173},{"geom_ids":[1,90],"normal_force_n":0.09809999999751666}],"native_actuator_controls":[0.3264154129525311,1.4978620610912448,-1.2640513074186706,-0.20073076168350928,0.9335617906796757,0.40563451576651127,0.035],"actuator_force_native":[0.02689778698767853,-0.01645087240359544,0.07089467224054147,-0.006836950153902066,-0.0661304301363419,0.06997277030041271,2.0267233558080022e-06],"issued_joint_targets_rad":[0.32641754364236836,1.4978621066358695,-1.2640493729326245,-0.20073544552834205,0.9335597025968306,0.40563996275307984],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.539999999998454,"joint_targets_rad":[0.32641754364236836,1.4978621066358695,-1.2640493729326245,-0.20073544552834205,0.9335597025968306,0.40563996275307984],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.559999999998478,"qpos":[0.32604484974254017,1.4980896809005264,-1.2649881272164607,-0.2004591170366759,0.9412822984425612,0.39724414513041395,0.03499994368661147,-0.03500001645113992,0.3552728451750583,0.08439459319950278,0.07989224457978368,0.9954304319609837,-1.9218063510161626e-11,-4.213175741763583e-12,0.09548955506215183],"qvel":[0.0007730730787916617,-0.0004902148894253398,0.0011585244230377597,-0.0009090062246822088,-0.008325380779174949,0.010439554880495227,5.546831766291732e-08,1.0972811199796822e-08,7.705299469808508e-12,-2.3934838966354648e-11,2.9204615707244794e-15,4.81700730044468e-10,5.817181937762193e-11,-5.67195962776704e-13],"joint_position_rad":[0.32604484974254017,1.4980896809005264,-1.2649881272164607,-0.2004591170366759,0.9412822984425612,0.39724414513041395],"joint_velocity_rad_s":[0.0007730730787916617,-0.0004902148894253398,0.0011585244230377597,-0.0009090062246822088,-0.008325380779174949,0.010439554880495227],"gripper_joint_position_m":[0.03499994368661147,-0.03500001645113992],"tcp_position_m":[0.34950203172030375,0.08377969666485824,0.2095056194659644],"tcp_quaternion_wxyz":[0.25563973499207515,-0.003418363371844056,0.9667632441160251,-0.002338912417885993],"object_position_m":[0.3552728451750583,0.08439459319950278,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609837,-1.9218063510161626e-11,-4.213175741763583e-12,0.09548955506215183],"object_linear_velocity_m_s":[7.705299469808508e-12,-2.3934838966354648e-11,2.9204615707244794e-15],"object_angular_velocity_rad_s":[4.6185735352719525e-10,1.486853687755816e-10,-5.671959627767216e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000354191},{"geom_ids":[1,90],"normal_force_n":0.09810000000451478},{"geom_ids":[1,90],"normal_force_n":0.09809999999645773},{"geom_ids":[1,90],"normal_force_n":0.09809999999548485}],"native_actuator_controls":[0.32641754364236836,1.4978621066358695,-1.2640493729326245,-0.20073544552834205,0.9335597025968306,0.40563996275307984,0.035],"actuator_force_native":[0.02595014659229733,-0.01575486672543036,0.06930772059169499,-0.006508108543235025,-0.06473788728854224,0.06829884390591623,1.9751939530632256e-06],"issued_joint_targets_rad":[0.32641960204696413,1.4978621399905845,-1.2640474919139237,-0.20073995507913844,0.9335576735968732,0.4056452194444932],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.559999999998478,"joint_targets_rad":[0.32641960204696413,1.4978621399905845,-1.2640474919139237,-0.20073995507913844,0.9335576735968732,0.4056452194444932],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.579999999998503,"qpos":[0.3260600344376901,1.498080095319953,-1.264965223823094,-0.2004768813863767,0.941117631149465,0.39745031873854814,0.03499994508044458,-0.035000015457461266,0.35527284517524776,0.08439459319891406,0.07989224457978368,0.9954304319609849,-1.981876824020245e-11,-4.3448746764250506e-12,0.09548955506213817],"qvel":[0.0007458735933975612,-0.00046948212434431915,0.0011326072834959705,-0.0008653357375280538,-0.00815001878830747,0.010189679848691709,5.436765283744667e-08,9.54101679263224e-09,8.602455925919839e-12,-2.672162993263059e-11,2.612374681390998e-15,2.1321582031772403e-10,2.5748022128009312e-11,-1.035556110456048e-12],"joint_position_rad":[0.3260600344376901,1.498080095319953,-1.264965223823094,-0.2004768813863767,0.941117631149465,0.39745031873854814],"joint_velocity_rad_s":[0.0007458735933975612,-0.00046948212434431915,0.0011326072834959705,-0.0008653357375280538,-0.00815001878830747,0.010189679848691709],"gripper_joint_position_m":[0.03499994508044458,-0.035000015457461266],"tcp_position_m":[0.3495244820104682,0.08379418606866983,0.20951736567845586],"tcp_quaternion_wxyz":[0.2557098689905554,-0.0033382956704407366,0.9667450944667623,-0.0022893246385891257],"object_position_m":[0.35527284517524776,0.08439459319891406,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609849,-1.981876824020245e-11,-4.3448746764250506e-12,0.09548955506213817],"object_linear_velocity_m_s":[8.602455925919839e-12,-2.672162993263059e-11,2.612374681390998e-15],"object_angular_velocity_rad_s":[2.0443264356506997e-10,6.581216393844922e-11,-1.0355561104560259e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000512742},{"geom_ids":[1,90],"normal_force_n":0.09810000000653607},{"geom_ids":[1,90],"normal_force_n":0.09809999999487268},{"geom_ids":[1,90],"normal_force_n":0.09809999999346401}],"native_actuator_controls":[0.32641960204696413,1.4978621399905845,-1.2640474919139237,-0.20073995507913844,0.9335576735968732,0.4056452194444932,0.035],"actuator_force_native":[0.025036040774935486,-0.015089015727753008,0.06775551631614007,-0.006196269022829881,-0.06337454734345549,0.06666448728641372,1.924943952902325e-06],"issued_joint_targets_rad":[0.3264215908282071,1.4978621619945798,-1.2640456627979544,-0.2007442974507409,0.9335557019322437,0.40565029323348367],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.579999999998503,"joint_targets_rad":[0.3264215908282071,1.4978621619945798,-1.2640456627979544,-0.2007442974507409,0.9335557019322437,0.40565029323348367],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.599999999998527,"qpos":[0.32607468494540687,1.4980709148586087,-1.264942832959955,-0.20049379451196092,0.9409564325389745,0.3976515566201519,0.03499994644231045,-0.03500001452067186,0.35527284517543134,0.08439459319834411,0.07989224457978368,0.9954304319609871,-1.9726076618389944e-11,-4.3245491197334954e-12,0.09548955506212356],"qvel":[0.0007196359153279628,-0.0004496475704880095,0.0011072568023225682,-0.0008239218617866558,-0.007978336095245607,0.009945718828802718,5.327217153923775e-08,8.215776109668185e-09,9.919166727096902e-12,-3.081175039043313e-11,3.30626407178172e-15,-2.0983254961682257e-10,-2.5339019135824755e-11,-1.8906703745822793e-12],"joint_position_rad":[0.32607468494540687,1.4980709148586087,-1.264942832959955,-0.20049379451196092,0.9409564325389745,0.3976515566201519],"joint_velocity_rad_s":[0.0007196359153279628,-0.0004496475704880095,0.0011072568023225682,-0.0008239218617866558,-0.007978336095245607,0.009945718828802718],"gripper_joint_position_m":[0.03499994644231045,-0.03500001452067186],"tcp_position_m":[0.3495464689583288,0.0838083792756811,0.20952879081306983],"tcp_quaternion_wxyz":[0.2557783635117557,-0.003260018929365229,0.966727355748868,-0.0022406879814146036],"object_position_m":[0.35527284517543134,0.08439459319834411,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609871,-1.9726076618389944e-11,-4.3245491197334954e-12,0.09548955506212356],"object_linear_velocity_m_s":[9.919166727096902e-12,-3.081175039043313e-11,3.30626407178172e-15],"object_angular_velocity_rad_s":[-2.0118882600878744e-10,-6.476743825926607e-11,-1.8906703745823145e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000621462},{"geom_ids":[1,90],"normal_force_n":0.09810000000792171},{"geom_ids":[1,90],"normal_force_n":0.09809999999378581},{"geom_ids":[1,90],"normal_force_n":0.09809999999207872}],"native_actuator_controls":[0.3264215908282071,1.4978621619945798,-1.2640456627979544,-0.2007442974507409,0.9335557019322437,0.40565029323348367,0.035],"actuator_force_native":[0.024154291047381093,-0.014451991269865516,0.06623732894843215,-0.005900508242266511,-0.06203980192444014,0.06506878789011372,1.8759467246276529e-06],"issued_joint_targets_rad":[0.3264235125436085,1.4978621734363213,-1.26404388406385,-0.2007484794446176,0.9335537859020285,0.4056551911968697],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.599999999998527,"joint_targets_rad":[0.3264235125436085,1.4978621734363213,-1.26404388406385,-0.2007484794446176,0.9335537859020285,0.4056551911968697],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.61999999999855,"qpos":[0.3260888201581015,1.4980621219739882,-1.264920943414633,-0.20050990031695218,0.9407986298269697,0.3978479756352692,0.03499994777269251,-0.03500001363751385,0.3552728451756063,0.0843945931978005,0.07989224457978368,0.9954304319609883,-1.8637148199562045e-11,-4.0858045318675455e-12,0.09548955506210872],"qvel":[0.0006943262559886053,-0.00043067166951308146,0.0010824611096062924,-0.0007846420800557997,-0.007810255999424783,0.009707535033049447,5.218330915444396e-08,6.990055845571349e-09,1.2037828225770597e-11,-3.739314947855763e-11,3.3936941349709508e-15,-8.450469464005864e-10,-1.0204360530042838e-10,-3.451883914650743e-12],"joint_position_rad":[0.3260888201581015,1.4980621219739882,-1.264920943414633,-0.20050990031695218,0.9407986298269697,0.3978479756352692],"joint_velocity_rad_s":[0.0006943262559886053,-0.00043067166951308146,0.0010824611096062924,-0.0007846420800557997,-0.007810255999424783,0.009707535033049447],"gripper_joint_position_m":[0.03499994777269251,-0.03500001363751385],"tcp_position_m":[0.349568002471563,0.083822280716968,0.20953990534727346],"tcp_quaternion_wxyz":[0.2558452612784763,-0.0031834971691865597,0.9667100177505539,-0.0021929906168259303],"object_position_m":[0.3552728451756063,0.0843945931978005,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609883,-1.8637148199562045e-11,-4.0858045318675455e-12,0.09548955506210872],"object_linear_velocity_m_s":[1.2037828225770597e-11,-3.739314947855763e-11,3.3936941349709508e-15],"object_angular_velocity_rad_s":[-8.102370948068639e-10,-2.6083153414147853e-10,-3.4518839146509514e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000059003},{"geom_ids":[1,90],"normal_force_n":0.098100000007521},{"geom_ids":[1,90],"normal_force_n":0.0980999999940996},{"geom_ids":[1,90],"normal_force_n":0.09809999999247888}],"native_actuator_controls":[0.3264235125436085,1.4978621734363213,-1.26404388406385,-0.2007484794446176,0.9335537859020285,0.4056551911968697,0.035],"actuator_force_native":[0.023303759560622694,-0.013842524665790279,0.0647524425146031,-0.005619954706338248,-0.06073305525027628,0.06351085306643078,1.8281757541149801e-06],"issued_joint_targets_rad":[0.3264253696505299,1.4978621750566816,-1.2640421542337517,-0.20075250756354412,0.9335519238515233,0.40565992011019053],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.61999999999855,"joint_targets_rad":[0.3264253696505299,1.4978621750566816,-1.2640421542337517,-0.20075250756354412,0.9335519238515233,0.40565992011019053],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.639999999998576,"qpos":[0.3261024583041997,1.4980536998958083,-1.2648995442097615,-0.2005252403244013,0.940644151746787,0.3980396899389558,0.034999949072087394,-0.03500001280491849,0.3552728451757687,0.08439459319729598,0.07989224457978368,0.9954304319609893,-1.6111153393623526e-11,-3.5320156146594495e-12,0.09548955506209568],"qvel":[0.0006699119917194752,-0.0004125166333590211,0.0010582085685045364,-0.0007473807542410275,-0.00764570338852438,0.009474994679733287,5.110236367774977e-08,5.8572686375775285e-09,6.184849041926164e-12,-1.921200732785004e-11,3.1869150966345157e-15,7.009994948018243e-10,8.465368523859681e-11,-3.739830826102993e-13],"joint_position_rad":[0.3261024583041997,1.4980536998958083,-1.2648995442097615,-0.2005252403244013,0.940644151746787,0.3980396899389558],"joint_velocity_rad_s":[0.0006699119917194752,-0.0004125166333590211,0.0010582085685045364,-0.0007473807542410275,-0.00764570338852438,0.009474994679733287],"gripper_joint_position_m":[0.034999949072087394,-0.03500001280491849],"tcp_position_m":[0.3495890922151664,0.08383589488516917,0.209550719356012],"tcp_quaternion_wxyz":[0.25591060369815566,-0.003108694915291196,0.9666930705599913,-0.002146220413820017],"object_position_m":[0.3552728451757687,0.08439459319729598,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609893,-1.6111153393623526e-11,-3.5320156146594495e-12,0.09548955506209568],"object_linear_velocity_m_s":[6.184849041926164e-12,-1.921200732785004e-11,3.1869150966345157e-15],"object_angular_velocity_rad_s":[6.721225014497599e-10,2.1637440047705424e-10,-3.739830826103203e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997996456},{"geom_ids":[1,90],"normal_force_n":0.09809999997446084},{"geom_ids":[1,90],"normal_force_n":0.09810000002003656},{"geom_ids":[1,90],"normal_force_n":0.0981000000255402}],"native_actuator_controls":[0.3264253696505299,1.4978621750566816,-1.2640421542337517,-0.20075250756354412,0.9335519238515233,0.40565992011019053,0.035],"actuator_force_native":[0.022483347747819238,-0.013259403963346017,0.06330015523825239,-0.00535378579450807,-0.059453723869850705,0.06198980969274759,1.7816046860019696e-06],"issued_joint_targets_rad":[0.32642716451024395,1.4978621675518624,-1.2640404718720268,-0.20075638802556303,0.9335501141717071,0.40566448646161746],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.639999999998576,"joint_targets_rad":[0.32642716451024395,1.4978621675518624,-1.2640404718720268,-0.20075638802556303,0.9335501141717071,0.40566448646161746],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.6599999999986,"qpos":[0.32611561697105196,1.498045632591474,-1.2648786245984078,-0.20053985381042275,0.9404929285178023,0.39822681104083457,0.03499995034100282,-0.03500001201999493,0.3552728451759561,0.08439459319671364,0.07989224457978368,0.9954304319609916,-1.7205526701301947e-11,-3.771925613759997e-12,0.09548955506207188],"qvel":[0.000646361624921466,-0.0003951463633058527,0.001034487770667409,-0.0007120287302142557,-0.007484604705132107,0.009247966935449551,5.003050595098293e-08,4.811245603259593e-09,6.6694418235299116e-12,-2.0717333466726737e-11,3.0467494397755893e-15,6.165668921523744e-10,7.445696004871491e-11,-6.828005930267566e-13],"joint_position_rad":[0.32611561697105196,1.498045632591474,-1.2648786245984078,-0.20053985381042275,0.9404929285178023,0.39822681104083457],"joint_velocity_rad_s":[0.000646361624921466,-0.0003951463633058527,0.001034487770667409,-0.0007120287302142557,-0.007484604705132107,0.009247966935449551],"gripper_joint_position_m":[0.03499995034100282,-0.03500001201999493],"tcp_position_m":[0.3496097476195092,0.08384922632219716,0.2095612425290771],"tcp_quaternion_wxyz":[0.2559744309119789,-0.0030355772042751548,0.9666765045542763,-0.0021003649805965323],"object_position_m":[0.3552728451759561,0.08439459319671364,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609916,-1.7205526701301947e-11,-3.771925613759997e-12,0.09548955506207188],"object_linear_velocity_m_s":[6.6694418235299116e-12,-2.0717333466726737e-11,3.0467494397755893e-15],"object_angular_velocity_rad_s":[5.911681177261955e-10,1.9031244831119078e-10,-6.828005930267663e-13],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000163667},{"geom_ids":[1,90],"normal_force_n":0.09810000000208616},{"geom_ids":[1,90],"normal_force_n":0.0980999999983631},{"geom_ids":[1,90],"normal_force_n":0.09809999999791358}],"native_actuator_controls":[0.32642716451024395,1.4978621675518624,-1.2640404718720268,-0.20075638802556303,0.9335501141717071,0.40566448646161746,0.035],"actuator_force_native":[0.021691995010751697,-0.012701471352386307,0.061879779257139944,-0.005101224954540129,-0.05820123640325292,0.060504803804654284,1.7362073576610015e-06],"issued_joint_targets_rad":[0.32642889939182546,1.4978621515761295,-1.2640388355844383,-0.2007601267772526,0.9335483552986276,0.40566889646517645],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.6599999999986,"joint_targets_rad":[0.32642889939182546,1.4978621515761295,-1.2640388355844383,-0.2007601267772526,0.9335483552986276,0.40566889646517645],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.679999999998625,"qpos":[0.32612831312707574,1.4980379047331192,-1.2648581740595464,-0.20055377793006202,0.940344891814675,0.3984094478634998,0.03499995157995572,-0.03500001128001987,0.35527284517613883,0.08439459319614573,0.07989224457978368,0.9954304319609942,-1.8068452240113924e-11,-3.961124706841114e-12,0.09548955506204483],"qvel":[0.0006236447464111059,-0.0003785263728483751,0.0010112875318199102,-0.0006784829655524737,-0.007326887914213975,0.009026323857938045,4.896878878652828e-08,3.846210162486377e-09,7.2557793172747406e-12,-2.2538587635673178e-11,2.8663381982740002e-15,4.6087059694009587e-10,5.56542365282234e-11,-1.2466181125369508e-12],"joint_position_rad":[0.32612831312707574,1.4980379047331192,-1.2648581740595464,-0.20055377793006202,0.940344891814675,0.3984094478634998],"joint_velocity_rad_s":[0.0006236447464111059,-0.0003785263728483751,0.0010112875318199102,-0.0006784829655524737,-0.007326887914213975,0.009026323857938045],"gripper_joint_position_m":[0.03499995157995572,-0.03500001128001987],"tcp_position_m":[0.34962997788801287,0.08386227960792594,0.20957148418766325],"tcp_quaternion_wxyz":[0.25603678184182344,-0.0029641095891952372,0.9666603103888978,-0.002055411702282876],"object_position_m":[0.35527284517613883,0.08439459319614573,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609942,-1.8068452240113924e-11,-3.961124706841114e-12,0.09548955506204483],"object_linear_velocity_m_s":[7.2557793172747406e-12,-2.2538587635673178e-11,2.8663381982740002e-15],"object_angular_velocity_rad_s":[4.418856980165036e-10,1.4225375585877018e-10,-1.24661811253691e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000320349},{"geom_ids":[1,90],"normal_force_n":0.09810000000408357},{"geom_ids":[1,90],"normal_force_n":0.09809999999679697},{"geom_ids":[1,90],"normal_force_n":0.09809999999591688}],"native_actuator_controls":[0.32642889939182546,1.4978621515761295,-1.2640388355844383,-0.2007601267772526,0.9335483552986276,0.40566889646517645,0.035],"actuator_force_native":[0.020928677447919597,-0.012167620694938819,0.0604906403495562,-0.0048615390598616415,-0.05697503328915232,0.0590550002298591,1.6919578273988378e-06],"issued_joint_targets_rad":[0.32643057647589624,1.4978621277443622,-1.2640372440173007,-0.20076372950634458,0.9335466457127297,0.40567315607331617],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.679999999998625,"joint_targets_rad":[0.32643057647589624,1.4978621277443622,-1.2640372440173007,-0.20076372950634458,0.9335466457127297,0.40567315607331617],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.69999999999865,"qpos":[0.3261405631431596,1.4980305016661533,-1.2648381822936234,-0.20056704783594165,0.9401999747372286,0.39858770679978184,0.03499995278947053,-0.03500001058242755,0.35527284517632746,0.08439459319555935,0.07989224457978368,0.9954304319609972,-1.9566878138514726e-11,-4.289633708430182e-12,0.09548955506201072],"qvel":[0.0006017319989921558,-0.00036262371421622296,0.0009885968874725776,-0.0006466461790075547,-0.007172482471333564,0.00880994033959286,4.7918154484639975e-08,2.9567532668146764e-09,8.295748030511348e-12,-2.576900755177748e-11,2.805275931919617e-15,2.4445961960127657e-10,2.952084920861662e-11,-2.276001973233601e-12],"joint_position_rad":[0.3261405631431596,1.4980305016661533,-1.2648381822936234,-0.20056704783594165,0.9401999747372286,0.39858770679978184],"joint_velocity_rad_s":[0.0006017319989921558,-0.00036262371421622296,0.0009885968874725776,-0.0006466461790075547,-0.007172482471333564,0.00880994033959286],"gripper_joint_position_m":[0.03499995278947053,-0.03500001058242755],"tcp_position_m":[0.349649792004468,0.08387505934979916,0.20958145330016198],"tcp_quaternion_wxyz":[0.2560976942351561,-0.0028942581437774594,0.9666444789876775,-0.002011347775899569],"object_position_m":[0.35527284517632746,0.08439459319555935,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319609972,-1.9566878138514726e-11,-4.289633708430182e-12,0.09548955506201072],"object_linear_velocity_m_s":[8.295748030511348e-12,-2.576900755177748e-11,2.805275931919617e-15],"object_angular_velocity_rad_s":[2.34389426340359e-10,7.54558345884262e-11,-2.276001973233576e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000522424},{"geom_ids":[1,90],"normal_force_n":0.09810000000665954},{"geom_ids":[1,90],"normal_force_n":0.09809999999477566},{"geom_ids":[1,90],"normal_force_n":0.09809999999334033}],"native_actuator_controls":[0.32643057647589624,1.4978621277443622,-1.2640372440173007,-0.20076372950634458,0.9335466457127297,0.40567315607331617,0.035],"actuator_force_native":[0.020192406623969816,-0.011656795172200418,0.05913207766845119,-0.004634035921078805,-0.0557745665379894,0.05763958222595367,1.6488304064310455e-06],"issued_joint_targets_rad":[0.3264321978582054,1.4978620966344494,-1.2640356958566057,-0.2007672016537216,0.933544983938116,0.40567727098886264],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.69999999999865,"joint_targets_rad":[0.3264321978582054,1.4978620966344494,-1.2640356958566057,-0.2007672016537216,0.933544983938116,0.40567727098886264],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.719999999998674,"qpos":[0.32615238281334835,1.4980234093792373,-1.2648186392182028,-0.200579696790107,0.9400581117809642,0.39876169176888987,0.034999953970077415,-0.03500000992480058,0.3552728451765141,0.08439459319497972,0.07989224457978368,0.9954304319610007,-2.011914111481508e-11,-4.41071178292647e-12,0.0954895550619737],"qvel":[0.0005805950421715917,-0.0003474069083359562,0.0009664050887618845,-0.0006164265204108123,-0.007021319291619573,0.008598694051659656,4.6879443677112485e-08,2.1378101063496697e-09,9.687618225819458e-12,-3.0092524526503296e-11,2.631803584321936e-15,-1.2346303408413516e-10,-1.491007235456926e-11,-4.155426642831161e-12],"joint_position_rad":[0.32615238281334835,1.4980234093792373,-1.2648186392182028,-0.200579696790107,0.9400581117809642,0.39876169176888987],"joint_velocity_rad_s":[0.0005805950421715917,-0.0003474069083359562,0.0009664050887618845,-0.0006164265204108123,-0.007021319291619573,0.008598694051659656],"gripper_joint_position_m":[0.034999953970077415,-0.03500000992480058],"tcp_position_m":[0.34966919874001634,0.08388757017328675,0.20959115849722407],"tcp_quaternion_wxyz":[0.25615720470797293,-0.002825989465637795,0.9666290015331614,-0.001968160242744972],"object_position_m":[0.3552728451765141,0.08439459319497972,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610007,-2.011914111481508e-11,-4.41071178292647e-12,0.0954895550619737],"object_linear_velocity_m_s":[9.687618225819458e-12,-3.0092524526503296e-11,2.631803584321936e-15],"object_angular_velocity_rad_s":[-1.1837699874854716e-10,-3.8109279843172394e-11,-4.155426642831136e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000649378},{"geom_ids":[1,90],"normal_force_n":0.09810000000827754},{"geom_ids":[1,90],"normal_force_n":0.09809999999350627},{"geom_ids":[1,90],"normal_force_n":0.09809999999172253}],"native_actuator_controls":[0.3264321978582054,1.4978620966344494,-1.2640356958566057,-0.2007672016537216,0.933544983938116,0.40567727098886264,0.035],"actuator_force_native":[0.019482228377704303,-0.011167985041353745,0.05780344348396227,-0.004418061942528695,-0.05459929949105202,0.05625775112223863,1.6067996853053046e-06],"issued_joint_targets_rad":[0.3264337655530772,1.4978620587895182,-1.2640341898271283,-0.2007705484248334,0.933543368541759,0.4056812466763865],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.719999999998674,"joint_targets_rad":[0.3264337655530772,1.4978620587895182,-1.2640341898271283,-0.2007705484248334,0.933543368541759,0.4056812466763865],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.739999999998698,"qpos":[0.32616378737483526,1.4980166144756288,-1.2647995349636958,-0.20059175626946846,0.9399192388081847,0.3989315042714417,0.034999955122310925,-0.035000009304861246,0.3552728451766953,0.08439459319441688,0.07989224457978368,0.9954304319610054,-1.952163488395153e-11,-4.27972033452955e-12,0.09548955506193567],"qvel":[0.0005602065180221856,-0.00033284587809291594,0.0009447015984158525,-0.000587737259832572,-0.006873330719446184,0.008392465389134688,4.5853402619171743e-08,1.3846389599766714e-09,1.1731037501305586e-11,-3.6439993669136623e-11,3.4755730830370546e-15,-7.050789943707863e-10,-8.514641412577632e-11,-7.586738717829921e-12],"joint_position_rad":[0.32616378737483526,1.4980166144756288,-1.2647995349636958,-0.20059175626946846,0.9399192388081847,0.3989315042714417],"joint_velocity_rad_s":[0.0005602065180221856,-0.00033284587809291594,0.0009447015984158525,-0.000587737259832572,-0.006873330719446184,0.008392465389134688],"gripper_joint_position_m":[0.034999955122310925,-0.035000009304861246],"tcp_position_m":[0.3496882066598138,0.08389981671313912,0.20960060808612752],"tcp_quaternion_wxyz":[0.25621534878588487,-0.002759270678604891,0.9666138694574374,-0.0019258360183666194],"object_position_m":[0.3552728451766953,0.08439459319441688,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610054,-1.952163488395153e-11,-4.27972033452955e-12,0.09548955506193567],"object_linear_velocity_m_s":[1.1731037501305586e-11,-3.6439993669136623e-11,3.4755730830370546e-15],"object_angular_velocity_rad_s":[-6.760339342591548e-10,-2.1763368275955518e-10,-7.586738717829937e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000655991},{"geom_ids":[1,90],"normal_force_n":0.09810000000836189},{"geom_ids":[1,90],"normal_force_n":0.09809999999344049},{"geom_ids":[1,90],"normal_force_n":0.0980999999916386}],"native_actuator_controls":[0.3264337655530772,1.4978620587895182,-1.2640341898271283,-0.2007705484248334,0.933543368541759,0.4056812466763865,0.035],"actuator_force_native":[0.018797221669242248,-0.010700225498382565,0.0565041029333031,-0.004212999915433002,-0.0534487065850886,0.054908725965745475,1.5658405501106643e-06],"issued_joint_targets_rad":[0.32643528149670753,1.4978620147200317,-1.2640327246915284,-0.2007737748005468,0.9335417981326787,0.4056850883730122],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.739999999998698,"joint_targets_rad":[0.32643528149670753,1.4978620147200317,-1.2640327246915284,-0.2007737748005468,0.9335417981326787,0.4056850883730122],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.759999999998723,"qpos":[0.3261747915272803,1.4980101041458254,-1.2647808598691699,-0.20060325606521273,0.9397832930197189,0.39909724344339914,0.03499995624670856,-0.03500000872046327,0.35527284517686625,0.08439459319388597,0.07989224457978368,0.9954304319610088,-1.7444095232000987e-11,-3.824260320480248e-12,0.09548955506190054],"qvel":[0.0005405400181257349,-0.0003189118847028828,0.000923476086817538,-0.000560496494818661,-0.006728450498795306,0.008191137416383018,4.4840689525152196e-08,6.928007685355268e-10,1.502537882875712e-11,-4.6673159170473336e-11,3.0717294578296524e-15,-1.5744580230893643e-09,-1.901338488030453e-10,-1.3851518236041959e-11],"joint_position_rad":[0.3261747915272803,1.4980101041458254,-1.2647808598691699,-0.20060325606521273,0.9397832930197189,0.39909724344339914],"joint_velocity_rad_s":[0.0005405400181257349,-0.0003189118847028828,0.000923476086817538,-0.000560496494818661,-0.006728450498795306,0.008191137416383018],"gripper_joint_position_m":[0.03499995624670856,-0.03500000872046327],"tcp_position_m":[0.3497068241293937,0.08391180360537917,0.20960981006448637],"tcp_quaternion_wxyz":[0.25627216094343136,-0.0026940694341979284,0.9665990744333562,-0.0018843619202716813],"object_position_m":[0.35527284517686625,0.08439459319388597,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610088,-1.7444095232000987e-11,-3.824260320480248e-12,0.09548955506190054],"object_linear_velocity_m_s":[1.502537882875712e-11,-4.6673159170473336e-11,3.0717294578296524e-15],"object_angular_velocity_rad_s":[-1.5095997382571889e-09,-4.859810461169829e-10,-1.385151823604199e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000405149},{"geom_ids":[1,90],"normal_force_n":0.09810000000516424},{"geom_ids":[1,90],"normal_force_n":0.09809999999594983},{"geom_ids":[1,90],"normal_force_n":0.09809999999483696}],"native_actuator_controls":[0.32643528149670753,1.4978620147200317,-1.2640327246915284,-0.2007737748005468,0.9335417981326787,0.4056850883730122,0.035],"actuator_force_native":[0.01813649746354784,-0.010252594639979407,0.05523343377723222,-0.0040182669392692105,-0.05232227312220772,0.05359174317155624,1.5259282100110738e-06],"issued_joint_targets_rad":[0.32643674755033514,1.4978619649057436,-1.2640312992494305,-0.20077688554747924,0.9335402713610735,0.40568880109870825],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.759999999998723,"joint_targets_rad":[0.32643674755033514,1.4978619649057436,-1.2640312992494305,-0.20077688554747924,0.9335402713610735,0.40568880109870825],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.779999999998747,"qpos":[0.32618540945147984,1.4980038661414459,-1.2647626044782319,-0.20061422437653464,0.9396502129272295,0.39925900610892107,0.03499995734380958,-0.035000008169584144,0.3552728451770526,0.08439459319330735,0.07989224457978368,0.9954304319610138,-1.754565259338725e-11,-3.8465222932528345e-12,0.09548955506184822],"qvel":[0.0005215700515887675,-0.0003055774670636329,0.0009027184281826017,-0.0005346268746930972,-0.0065866137442970405,0.007994595813496805,4.384188111004092e-08,5.814067728058444e-11,6.76704873630776e-12,-2.1020409265469144e-11,3.554676473541596e-15,6.639646750359011e-10,8.018181310252186e-11,-1.5006971360445174e-12],"joint_position_rad":[0.32618540945147984,1.4980038661414459,-1.2647626044782319,-0.20061422437653464,0.9396502129272295,0.39925900610892107],"joint_velocity_rad_s":[0.0005215700515887675,-0.0003055774670636329,0.0009027184281826017,-0.0005346268746930972,-0.0065866137442970405,0.007994595813496805],"gripper_joint_position_m":[0.03499995734380958,-0.035000008169584144],"tcp_position_m":[0.3497250593207464,0.08392353547998535,0.20961877213332958],"tcp_quaternion_wxyz":[0.2563276746417171,-0.0026303539123320938,0.9665846083661381,-0.0018437246935252417],"object_position_m":[0.3552728451770526,0.08439459319330735,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610138,-1.754565259338725e-11,-3.8465222932528345e-12,0.09548955506184822],"object_linear_velocity_m_s":[6.76704873630776e-12,-2.1020409265469144e-11,3.554676473541596e-15],"object_angular_velocity_rad_s":[6.366131991482212e-10,2.0494352275250132e-10,-1.500697136044526e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000135137},{"geom_ids":[1,90],"normal_force_n":0.09810000000172259},{"geom_ids":[1,90],"normal_force_n":0.09809999999864882},{"geom_ids":[1,90],"normal_force_n":0.09809999999827772}],"native_actuator_controls":[0.32643674755033514,1.4978619649057436,-1.2640312992494305,-0.20077688554747924,0.9335402713610735,0.40568880109870825,0.035],"actuator_force_native":[0.017499197650479914,-0.009824211520864878,0.05399082616320072,-0.003833312464319505,-0.05121949504511569,0.05230605617762585,1.4870382112341929e-06],"issued_joint_targets_rad":[0.3264381655032756,1.4978619097975339,-1.264029912336513,-0.20077988522782014,0.9335387869174395,0.4056923896660708],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.779999999998747,"joint_targets_rad":[0.3264381655032756,1.4978619097975339,-1.264029912336513,-0.20077988522782014,0.9335387869174395,0.4056923896660708],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.79999999999877,"qpos":[0.3261956548274052,1.4979978887503014,-1.264744759534992,-0.2006246878990193,0.9395199383260964,0.39941688683215015,0.03499995841415376,-0.03500000765031787,0.35527284517724317,0.08439459319271495,0.07989224457978368,0.9954304319610202,-1.8543078689760452e-11,-4.065177893648882e-12,0.09548955506178128],"qvel":[0.0005032720140782346,-0.0002928163839261706,0.0008824186968219822,-0.0005100553408664285,-0.006447756912902785,0.007802728823396642,4.285747984209144e-08,-5.232306553925587e-10,7.354868136728877e-12,-2.2846389583245315e-11,3.60602428843051e-15,5.254427081727896e-10,6.345339871628173e-11,-2.73989586851071e-12],"joint_position_rad":[0.3261956548274052,1.4979978887503014,-1.264744759534992,-0.2006246878990193,0.9395199383260964,0.39941688683215015],"joint_velocity_rad_s":[0.0005032720140782346,-0.0002928163839261706,0.0008824186968219822,-0.0005100553408664285,-0.006447756912902785,0.007802728823396642],"gripper_joint_position_m":[0.03499995841415376,-0.03500000765031787],"tcp_position_m":[0.3497429202181325,0.08393501695421524,0.20962750170958327],"tcp_quaternion_wxyz":[0.2563819223644432,-0.0025680928213024537,0.9665704633853417,-0.0018039110343713136],"object_position_m":[0.35527284517724317,0.08439459319271495,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610202,-1.8543078689760452e-11,-4.065177893648882e-12,0.09548955506178128],"object_linear_velocity_m_s":[7.354868136728877e-12,-2.2846389583245315e-11,3.60602428843051e-15],"object_angular_velocity_rad_s":[5.037975684931739e-10,1.6218626132002873e-10,-2.7398958685107197e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000292919},{"geom_ids":[1,90],"normal_force_n":0.098100000003734},{"geom_ids":[1,90],"normal_force_n":0.09809999999707088},{"geom_ids":[1,90],"normal_force_n":0.09809999999626622}],"native_actuator_controls":[0.3264381655032756,1.4978619097975339,-1.264029912336513,-0.20077988522782014,0.9335387869174395,0.4056923896660708,0.035],"actuator_force_native":[0.01688449399923897,-0.00941423430177224,0.05277568239421271,-0.003657616447702239,-0.05013987871721426,0.05105093510411152,1.4491464506161122e-06],"issued_joint_targets_rad":[0.3264395370758353,1.4978618498191298,-1.264028562823585,-0.20078277820868481,0.9335373435316553,0.4056958586896372],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.79999999999877,"joint_targets_rad":[0.3264395370758353,1.4978618498191298,-1.264028562823585,-0.20078277820868481,0.9335373435316553,0.4056958586896372],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.819999999998796,"qpos":[0.32620554085163317,1.4979921607725866,-1.2647273159800985,-0.20063467190798634,0.9393924102688569,0.39957097796794866,0.034999959458280445,-0.035000007160868166,0.3552728451774288,0.08439459319213795,0.07989224457978368,0.9954304319610275,-1.917050578037044e-11,-4.202717728962357e-12,0.0954895550617064],"qvel":[0.0004856221578600332,-0.0002806035587541175,0.0008625671635002861,-0.00048671288225112793,-0.006311817776195465,0.007615427199692519,4.188791823759793e-08,-1.0549524645086176e-09,8.120005217585157e-12,-2.522317043478886e-11,3.909947841421646e-15,2.8985228491204457e-10,3.500330964628715e-11,-5.00235190503888e-12],"joint_position_rad":[0.32620554085163317,1.4979921607725866,-1.2647273159800985,-0.20063467190798634,0.9393924102688569,0.39957097796794866],"joint_velocity_rad_s":[0.0004856221578600332,-0.0002806035587541175,0.0008625671635002861,-0.00048671288225112793,-0.006311817776195465,0.007615427199692519],"gripper_joint_position_m":[0.034999959458280445,-0.035000007160868166],"tcp_position_m":[0.3497604146236439,0.08394625262652611,0.2096360059379816],"tcp_quaternion_wxyz":[0.25643493565241604,-0.002507255397108521,0.966556631837181,-0.0017649076120073706],"object_position_m":[0.3552728451774288,0.08439459319213795,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610275,-1.917050578037044e-11,-4.202717728962357e-12,0.0954895550617064],"object_linear_velocity_m_s":[8.120005217585157e-12,-2.522317043478886e-11,3.909947841421646e-15],"object_angular_velocity_rad_s":[2.779120369288092e-10,8.946775108946923e-11,-5.002351905038903e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000454613},{"geom_ids":[1,90],"normal_force_n":0.098100000005795},{"geom_ids":[1,90],"normal_force_n":0.09809999999545375},{"geom_ids":[1,90],"normal_force_n":0.09809999999420485}],"native_actuator_controls":[0.3264395370758353,1.4978618498191298,-1.264028562823585,-0.20078277820868481,0.9335373435316553,0.4056958586896372,0.035],"actuator_force_native":[0.016291587146870512,-0.009021858482753942,0.051587416703583244,-0.0034906876166829193,-0.04908294070772179,0.049825666417347314,1.4122291911444762e-06],"issued_joint_targets_rad":[0.3264408639221056,1.4978617853687124,-1.2640272496156717,-0.20078556867101405,0.9335359399720621,0.4056992125947535],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.819999999998796,"joint_targets_rad":[0.3264408639221056,1.4978617853687124,-1.2640272496156717,-0.20078556867101405,0.9335359399720621,0.4056992125947535],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.83999999999882,"qpos":[0.32621508025418555,1.4979866714981518,-1.2647102649468411,-0.20064420033708813,0.9392675710391959,0.3997213697115969,0.03499996047672759,-0.035000006699542,0.35527284517760865,0.08439459319157955,0.07989224457978368,0.9954304319610355,-1.922793520349561e-11,-4.2152900143207755e-12,0.09548955506162496],"qvel":[0.0004685975628059394,-0.00026891502715029313,0.000843154291871366,-0.0004645343048739985,-0.006178735393295818,0.007432584155316886,4.093356469507378e-08,-1.5404305048825477e-09,9.244587037779363e-12,-2.871656483665383e-11,3.9751734441183734e-15,-8.090648695169572e-11,-9.76843937293789e-12,-9.133033701192095e-12],"joint_position_rad":[0.32621508025418555,1.4979866714981518,-1.2647102649468411,-0.20064420033708813,0.9392675710391959,0.3997213697115969],"joint_velocity_rad_s":[0.0004685975628059394,-0.00026891502715029313,0.000843154291871366,-0.0004645343048739985,-0.006178735393295818,0.007432584155316886],"gripper_joint_position_m":[0.03499996047672759,-0.035000006699542],"tcp_position_m":[0.34977755016252626,0.08395724707105051,0.20964429170243576],"tcp_quaternion_wxyz":[0.25648674513660286,-0.0024478114021656613,0.9665431062771703,-0.00172670108863374],"object_position_m":[0.35527284517760865,0.08439459319157955,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610355,-1.922793520349561e-11,-4.2152900143207755e-12,0.09548955506162496],"object_linear_velocity_m_s":[9.244587037779363e-12,-2.871656483665383e-11,3.9751734441183734e-15],"object_angular_velocity_rad_s":[-7.757399195338442e-11,-2.497113956278194e-11,-9.133033701192174e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000580786},{"geom_ids":[1,90],"normal_force_n":0.09810000000740304},{"geom_ids":[1,90],"normal_force_n":0.0980999999941923},{"geom_ids":[1,90],"normal_force_n":0.09809999999259693}],"native_actuator_controls":[0.3264408639221056,1.4978617853687124,-1.2640272496156717,-0.20078556867101405,0.9335359399720621,0.4056992125947535,0.035],"actuator_force_native":[0.015719705619577695,-0.008646315219408507,0.05042545503420115,-0.0033320618326673213,-0.0480482075813935,0.04862955259859092,1.3762630728386682e-06],"issued_joint_targets_rad":[0.326442147632639,1.4978617168204251,-1.2640259716510982,-0.20078826061804003,0.9335345750445262,0.4057024556260072],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.83999999999882,"joint_targets_rad":[0.326442147632639,1.4978617168204251,-1.2640259716510982,-0.20078826061804003,0.9335345750445262,0.4057024556260072],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.859999999998845,"qpos":[0.32622428531479936,1.4979814106847955,-1.2646935977573321,-0.20065329585243707,0.9391453641264697,0.3998681501474728,0.0349999614700309,-0.03500000626474362,0.35527284517778057,0.08439459319104538,0.07989224457978368,0.9954304319610436,-1.8428500886028786e-11,-4.040014581435914e-12,0.09548955506154114],"qvel":[0.00045217610833398245,-0.00025772788671152205,0.0008241707349970495,-0.00044345801483781797,-0.006048450084364954,0.007254095311923162,3.9994728300333075e-08,-1.9828519191672673e-09,1.1044640600330392e-11,-3.430826403993826e-11,4.269382545644039e-15,-6.395432446643895e-10,-7.722758408690007e-11,-1.667457806106435e-11],"joint_position_rad":[0.32622428531479936,1.4979814106847955,-1.2646935977573321,-0.20065329585243707,0.9391453641264697,0.3998681501474728],"joint_velocity_rad_s":[0.00045217610833398245,-0.00025772788671152205,0.0008241707349970495,-0.00044345801483781797,-0.006048450084364954,0.007254095311923162],"gripper_joint_position_m":[0.0349999614700309,-0.03500000626474362],"tcp_position_m":[0.34979433428827605,0.08396800483258804,0.20965236563689],"tcp_quaternion_wxyz":[0.25653738056980696,-0.002389731123454132,0.9665298794630786,-0.0016892781378836695],"object_position_m":[0.35527284517778057,0.08439459319104538,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610436,-1.8428500886028786e-11,-4.040014581435914e-12,0.09548955506154114],"object_linear_velocity_m_s":[1.1044640600330392e-11,-3.430826403993826e-11,4.269382545644039e-15],"object_angular_velocity_rad_s":[-6.131987483383221e-10,-1.9740049791241734e-10,-1.667457806106448e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000596857},{"geom_ids":[1,90],"normal_force_n":0.09810000000760802},{"geom_ids":[1,90],"normal_force_n":0.09809999999403111},{"geom_ids":[1,90],"normal_force_n":0.09809999999239163}],"native_actuator_controls":[0.326442147632639,1.4978617168204251,-1.2640259716510982,-0.20078826061804003,0.9335345750445262,0.4057024556260072,0.035],"actuator_force_native":[0.015168104885503908,-0.008286869716073397,0.04928923482371772,-0.003181300549929489,-0.04703521569288682,0.04746191181745907,1.3412251227418182e-06],"issued_joint_targets_rad":[0.3264433897370204,1.4978616445257944,-1.2640247279005847,-0.20079085788335818,0.9335332475914963,0.4057055918552678],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.859999999998845,"joint_targets_rad":[0.3264433897370204,1.4978616445257944,-1.2640247279005847,-0.20079085788335818,0.9335332475914963,0.4057055918552678],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.87999999999887,"qpos":[0.32623316787864426,1.4979763685375378,-1.2646773059187495,-0.20066197992252255,0.9390257342007546,0.4000114052967258,0.034999962438723005,-0.03500000585496881,0.35527284517795055,0.08439459319051723,0.07989224457978368,0.9954304319610526,-1.754749771093534e-11,-3.846861267586001e-12,0.095489555061448],"qvel":[0.0004363364462661104,-0.00024702024919303814,0.0008056073319341387,-0.00042342581389835,-0.005920903404676961,0.007079858650074742,3.907166367165614e-08,-2.3851985841630076e-09,1.4094337936798994e-11,-4.378169181141002e-11,4.133380225127456e-15,-1.4509216075050652e-09,-1.7520858168525393e-10,-3.044384443474764e-11],"joint_position_rad":[0.32623316787864426,1.4979763685375378,-1.2646773059187495,-0.20066197992252255,0.9390257342007546,0.4000114052967258],"joint_velocity_rad_s":[0.0004363364462661104,-0.00024702024919303814,0.0008056073319341387,-0.00042342581389835,-0.005920903404676961,0.007079858650074742],"gripper_joint_position_m":[0.034999962438723005,-0.03500000585496881],"tcp_position_m":[0.3498107742875254,0.08397853042207667,0.2096602341356821],"tcp_quaternion_wxyz":[0.2565868708570244,-0.0023329853701534392,0.9665169443481817,-0.0016526254617529191],"object_position_m":[0.35527284517795055,0.08439459319051723,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610526,-1.754749771093534e-11,-3.846861267586001e-12,0.095489555061448],"object_linear_velocity_m_s":[1.4094337936798994e-11,-4.378169181141002e-11,4.133380225127456e-15],"object_angular_velocity_rad_s":[-1.391153584853134e-09,-4.4784289831537965e-10,-3.044384443474775e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000541577},{"geom_ids":[1,90],"normal_force_n":0.09810000000690347},{"geom_ids":[1,90],"normal_force_n":0.09809999999458417},{"geom_ids":[1,90],"normal_force_n":0.09809999999309647}],"native_actuator_controls":[0.3264433897370204,1.4978616445257944,-1.2640247279005847,-0.20079085788335818,0.9335332475914963,0.4057055918552678,0.035],"actuator_force_native":[0.014636066438761475,-0.007942819693496972,0.04817820479350132,-0.0030379893639356226,-0.04604351098556947,0.04632207761030749,1.3070927615821404e-06],"issued_joint_targets_rad":[0.32644459170632495,1.4978615688150547,-1.2640235173663519,-0.20079336413859572,0.9335319564910614,0.405708625189332],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.87999999999887,"joint_targets_rad":[0.32644459170632495,1.4978615688150547,-1.2640235173663519,-0.20079336413859572,0.9335319564910614,0.405708625189332],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.899999999998894,"qpos":[0.3262417393715058,1.4979715356888263,-1.2646613811196514,-0.20067027288415973,0.9389086270884087,0.4001512191639609,0.03499996338333281,-0.035000005468799646,0.3552728451781291,0.08439459318996241,0.07989224457978368,0.9954304319610635,-1.7236151832112866e-11,-3.7785991766146e-12,0.09548955506133304],"qvel":[0.00042105797455765383,-0.00023677119489082062,0.0007874551043901413,-0.0004043827068378501,-0.00579603811924298,0.006909774460210171,3.816457513721002e-08,-2.7502598995779372e-09,6.597729732370921e-12,-2.049473117390656e-11,4.037623489253537e-15,6.662714226918413e-10,8.045765611554769e-11,-3.298343640068916e-12],"joint_position_rad":[0.3262417393715058,1.4979715356888263,-1.2646613811196514,-0.20067027288415973,0.9389086270884087,0.4001512191639609],"joint_velocity_rad_s":[0.00042105797455765383,-0.00023677119489082062,0.0007874551043901413,-0.0004043827068378501,-0.00579603811924298,0.006909774460210171],"gripper_joint_position_m":[0.03499996338333281,-0.035000005468799646],"tcp_position_m":[0.3498268772847275,0.08398882831250944,0.20966790336343857],"tcp_quaternion_wxyz":[0.2566352440845477,-0.0022775454707986338,0.9665042940747997,-0.0016167298061152936],"object_position_m":[0.3552728451781291,0.08439459318996241,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610635,-1.7236151832112866e-11,-3.7785991766146e-12,0.09548955506133304],"object_linear_velocity_m_s":[6.597729732370921e-12,-2.049473117390656e-11,4.037623489253537e-15],"object_angular_velocity_rad_s":[6.388254402499574e-10,2.0565286288517054e-10,-3.2983436400689252e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000130424},{"geom_ids":[1,90],"normal_force_n":0.09810000000166236},{"geom_ids":[1,90],"normal_force_n":0.09809999999869579},{"geom_ids":[1,90],"normal_force_n":0.0980999999983375}],"native_actuator_controls":[0.32644459170632495,1.4978615688150547,-1.2640235173663519,-0.20079336413859572,0.9335319564910614,0.405708625189332,0.035],"actuator_force_native":[0.014122896912745375,-0.0076134939272662905,0.04709182474201157,-0.0029017366432491087,-0.04507264879461026,0.04520939856339545,1.2738438119885842e-06],"issued_joint_targets_rad":[0.3264457549554824,1.4978614899983906,-1.2640223390812282,-0.20079578290072797,0.9335307006560087,0.405711559377213],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.899999999998894,"joint_targets_rad":[0.3264457549554824,1.4978614899983906,-1.2640223390812282,-0.20079578290072797,0.9335307006560087,0.405711559377213],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.919999999998918,"qpos":[0.32625001081445176,1.4979669031796332,-1.2646458152263576,-0.20067819400470158,0.9387939897481349,0.4002876737829501,0.034999964304384824,-0.035000005104899444,0.35527284517832397,0.0843945931893571,0.07989224457978368,0.9954304319610795,-1.8681605075413788e-11,-4.095466244425896e-12,0.09548955506116731],"qvel":[0.000406320811893367,-0.00022696072912667766,0.0007697052534510401,-0.0003862767200214227,-0.005673798177978439,0.006743745294399755,3.727362147418427e-08,-3.080643542182977e-09,7.316175067846623e-12,-2.272651233758733e-11,3.984887895583842e-15,5.647395057462027e-10,6.819663769282283e-11,-6.021950578707351e-12],"joint_position_rad":[0.32625001081445176,1.4979669031796332,-1.2646458152263576,-0.20067819400470158,0.9387939897481349,0.4002876737829501],"joint_velocity_rad_s":[0.000406320811893367,-0.00022696072912667766,0.0007697052534510401,-0.0003862767200214227,-0.005673798177978439,0.006743745294399755],"gripper_joint_position_m":[0.034999964304384824,-0.035000005104899444],"tcp_position_m":[0.34984265024664973,0.08399890293526475,0.20967537926452473],"tcp_quaternion_wxyz":[0.25668252754787074,-0.00222338327000456,0.9664919219680941,-0.001581577974926738],"object_position_m":[0.35527284517832397,0.0843945931893571,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610795,-1.8681605075413788e-11,-4.095466244425896e-12,0.09548955506116731],"object_linear_velocity_m_s":[7.316175067846623e-12,-2.272651233758733e-11,3.984887895583842e-15],"object_angular_velocity_rad_s":[5.414760094430756e-10,1.743135735984848e-10,-6.02195057870737e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000280053},{"geom_ids":[1,90],"normal_force_n":0.09810000000356973},{"geom_ids":[1,90],"normal_force_n":0.0980999999971997},{"geom_ids":[1,90],"normal_force_n":0.09809999999643053}],"native_actuator_controls":[0.3264457549554824,1.4978614899983906,-1.2640223390812282,-0.20079578290072797,0.9335307006560087,0.405711559377213,0.035],"actuator_force_native":[0.013627927222984226,-0.007298250853779109,0.04602956534309044,-0.0027721722409488336,-0.04412219365429415,0.044123238001028575,1.2414564998231015e-06],"issued_joint_targets_rad":[0.32644688084553736,1.4978614083671116,-1.2640211921077749,-0.20079811753903865,0.9335294790328781,0.40571439801707965],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.919999999998918,"joint_targets_rad":[0.32644688084553736,1.4978614083671116,-1.2640211921077749,-0.20079811753903865,0.9335294790328781,0.40571439801707965],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.939999999998943,"qpos":[0.3262579928379995,1.4979624624413945,-1.2646306002793901,-0.2006857615407285,0.9386817702475342,0.40042084926138605,0.03499996520239864,-0.03500000476200794,0.35527284517851593,0.08439459318876076,0.07989224457978368,0.9954304319610973,-1.9621285706599164e-11,-4.301473806489527e-12,0.09548955506098086],"qvel":[0.00039210577310270107,-0.00021756974071805103,0.0007523491563648151,-0.0003690587304274066,-0.005554128691401319,0.006581675918888807,3.6398918423698944e-08,-3.378789617747953e-09,8.12783002510943e-12,-2.5247757277590147e-11,3.984887895583842e-15,3.6090047193887495e-10,4.3581063940500084e-11,-1.099454027481481e-11],"joint_position_rad":[0.3262579928379995,1.4979624624413945,-1.2646306002793901,-0.2006857615407285,0.9386817702475342,0.40042084926138605],"joint_velocity_rad_s":[0.00039210577310270107,-0.00021756974071805103,0.0007523491563648151,-0.0003690587304274066,-0.005554128691401319,0.006581675918888807],"gripper_joint_position_m":[0.03499996520239864,-0.03500000476200794],"tcp_position_m":[0.34985809998668743,0.0840087586768196,0.20968266757206916],"tcp_quaternion_wxyz":[0.25672874777845983,-0.002170471124792752,0.9664798215301252,-0.0015471568432002252],"object_position_m":[0.35527284517851593,0.08439459318876076,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319610973,-1.9621285706599164e-11,-4.301473806489527e-12,0.09548955506098086],"object_linear_velocity_m_s":[8.12783002510943e-12,-2.5247757277590147e-11,3.984887895583842e-15],"object_angular_velocity_rad_s":[3.4603386682070124e-10,1.1139579342597299e-10,-1.0994540274814806e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000441707},{"geom_ids":[1,90],"normal_force_n":0.09810000000563039},{"geom_ids":[1,90],"normal_force_n":0.098099999995583},{"geom_ids":[1,90],"normal_force_n":0.0980999999943697}],"native_actuator_controls":[0.32644688084553736,1.4978614083671116,-1.2640211921077749,-0.20079811753903865,0.9335294790328781,0.40571439801707965,0.035],"actuator_force_native":[0.01315051173751769,-0.006996477239056276,0.04499090794739402,-0.0026489462802690156,-0.043191719109458404,0.04306297367860257,1.209909462396297e-06],"issued_joint_targets_rad":[0.326447970685821,1.497861324194749,-1.264020075537431,-0.20080037128175005,0.9335282906010379,0.40571714456287117],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.939999999998943,"joint_targets_rad":[0.326447970685821,1.497861324194749,-1.264020075537431,-0.20080037128175005,0.9335282906010379,0.40571714456287117],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.959999999998967,"qpos":[0.3262656956957982,1.497958205278769,-1.2646157284899842,-0.20069299279342104,0.9385719177401425,0.40055082382469376,0.03499996607788839,-0.03500000443893691,0.3552728451787031,0.0843945931881792,0.07989224457978368,0.9954304319611169,-1.9940329703914982e-11,-4.371432765818106e-12,0.09548955506077637],"qvel":[0.00037839434538645777,-0.0002085799623607835,0.000735378363379886,-0.00035268230455501055,-0.005436975906827922,0.006423473267433124,3.554054289628346e-08,-3.6469805000931433e-09,9.218480935468056e-12,-2.8635595153675515e-11,3.943254532160398e-15,2.1894589792174285e-11,2.6425189780401648e-12,-2.0073295704404515e-11],"joint_position_rad":[0.3262656956957982,1.497958205278769,-1.2646157284899842,-0.20069299279342104,0.9385719177401425,0.40055082382469376],"joint_velocity_rad_s":[0.00037839434538645777,-0.0002085799623607835,0.000735378363379886,-0.00035268230455501055,-0.005436975906827922,0.006423473267433124],"gripper_joint_position_m":[0.03499996607788839,-0.03500000443893691],"tcp_position_m":[0.3498732331690093,0.08401839987581965,0.20968977381658344],"tcp_quaternion_wxyz":[0.2567739305694303,-0.002118781900554616,0.966467986434152,-0.0015134533688385284],"object_position_m":[0.3552728451787031,0.0843945931881792,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319611169,-1.9940329703914982e-11,-4.371432765818106e-12,0.09548955506077637],"object_linear_velocity_m_s":[9.218480935468056e-12,-2.8635595153675515e-11,3.943254532160398e-15],"object_angular_velocity_rad_s":[2.0992949063596233e-11,6.756630693632884e-12,-2.0073295704404476e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000582551},{"geom_ids":[1,90],"normal_force_n":0.09810000000742586},{"geom_ids":[1,90],"normal_force_n":0.09809999999417457},{"geom_ids":[1,90],"normal_force_n":0.09809999999257434}],"native_actuator_controls":[0.326447970685821,1.497861324194749,-1.264020075537431,-0.20080037128175005,0.9335282906010379,0.40571714456287117,0.035],"actuator_force_native":[0.012690027474892673,-0.006707586909797669,0.043975344387362725,-0.002531728010385592,-0.042280807530804765,0.04202799748062436,1.1791817500217405e-06],"issued_joint_targets_rad":[0.3264490257360281,1.497861237738082,-1.264018988489657,-0.20080254722233765,0.9335271343717522,0.4057198023305937],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.959999999998967,"joint_targets_rad":[0.3264490257360281,1.497861237738082,-1.264018988489657,-0.20080254722233765,0.9335271343717522,0.4057198023305937],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.97999999999899,"qpos":[0.3262731292778445,1.497954123853164,-1.2646011922366562,-0.20069990416080508,0.9384643824429348,0.40067767385891584,0.0349999669313623,-0.03500000413456605,0.3552728451788834,0.08439459318761915,0.07989224457978368,0.9954304319611377,-1.9408961208276235e-11,-4.254959502697607e-12,0.0954895550605622],"qvel":[0.0003651686653156591,-0.00019997393283850354,0.0007187845946503838,-0.00033710354662703704,-0.005322287185082974,0.0062690463954158,3.46985363891038e-08,-3.887349470338219e-09,1.0891156535461631e-11,-3.3831328173844205e-11,4.238851412466844e-15,-5.00071981058951e-10,-6.039052772237115e-11,-3.66486695843087e-11],"joint_position_rad":[0.3262731292778445,1.497954123853164,-1.2646011922366562,-0.20069990416080508,0.9384643824429348,0.40067767385891584],"joint_velocity_rad_s":[0.0003651686653156591,-0.00019997393283850354,0.0007187845946503838,-0.00033710354662703704,-0.005322287185082974,0.0062690463954158],"gripper_joint_position_m":[0.0349999669313623,-0.03500000413456605],"tcp_position_m":[0.34988805631253916,0.0840278308204781,0.20969670333419888],"tcp_quaternion_wxyz":[0.2568181010001938,-0.0020682889666866714,0.9664564105191563,-0.001480454603393757],"object_position_m":[0.3552728451788834,0.08439459318761915,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319611377,-1.9408961208276235e-11,-4.254959502697607e-12,0.0954895550605622],"object_linear_velocity_m_s":[1.0891156535461631e-11,-3.3831328173844205e-11,4.238851412466844e-15],"object_angular_velocity_rad_s":[-4.794717863380541e-10,-1.5435610834886474e-10,-3.664866958430866e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000635255},{"geom_ids":[1,90],"normal_force_n":0.09810000000809749},{"geom_ids":[1,90],"normal_force_n":0.09809999999364755},{"geom_ids":[1,90],"normal_force_n":0.09809999999190253}],"native_actuator_controls":[0.3264490257360281,1.497861237738082,-1.264018988489657,-0.20080254722233765,0.9335271343717522,0.4057198023305937,0.035],"actuator_force_native":[0.012245873328108559,-0.006431019542361582,0.04298237678666794,-0.0024202047281676187,-0.04138904993420134,0.0410177151236546,1.1492528260159673e-06],"issued_joint_targets_rad":[0.32645004720821325,1.4978611492381146,-1.2640179301111112,-0.2008046483255521,0.933526009387273,0.4057223745043301],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.97999999999899,"joint_targets_rad":[0.32645004720821325,1.4978611492381146,-1.2640179301111112,-0.2008046483255521,0.933526009387273,0.4057223745043301],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.999999999999016,"qpos":[0.3262803031232457,1.497950210666999,-1.2645869840618402,-0.20070651118705182,0.9383591156142934,0.40080147395268906,0.034999967763322315,-0.035000003847838954,0.35527284517905355,0.0843945931870908,0.07989224457978368,0.9954304319611572,-1.7666011741943964e-11,-3.872870243373924e-12,0.09548955506035749],"qvel":[0.00035241149659163816,-0.00019173496093777802,0.0007025597371836857,-0.0003222809555620984,-0.005210010977685424,0.006118306434760668,3.387290725421651e-08,-4.101890642280822e-09,1.3645781956113804e-11,-4.238794833848846e-11,4.155584685619959e-15,-1.2729435703436854e-09,-1.5372297118471985e-10,-6.691090678294092e-11],"joint_position_rad":[0.3262803031232457,1.497950210666999,-1.2645869840618402,-0.20070651118705182,0.9383591156142934,0.40080147395268906],"joint_velocity_rad_s":[0.00035241149659163816,-0.00019173496093777802,0.0007025597371836857,-0.0003222809555620984,-0.005210010977685424,0.006118306434760668],"gripper_joint_position_m":[0.034999967763322315,-0.035000003847838954],"tcp_position_m":[0.34990257579478856,0.08403705574628136,0.20970346127453574],"tcp_quaternion_wxyz":[0.2568612834601157,-0.002018966191926199,0.966445087784594,-0.0014481477018354351],"object_position_m":[0.35527284517905355,0.0843945931870908,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319611572,-1.7666011741943964e-11,-3.872870243373924e-12,0.09548955506035749],"object_linear_velocity_m_s":[1.3645781956113804e-11,-4.238794833848846e-11,4.155584685619959e-15],"object_angular_velocity_rad_s":[-1.2205057984441033e-09,-3.929143432270108e-10,-6.69109067829409e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000478732},{"geom_ids":[1,90],"normal_force_n":0.09810000000610233},{"geom_ids":[1,90],"normal_force_n":0.09809999999521257},{"geom_ids":[1,90],"normal_force_n":0.09809999999389754}],"native_actuator_controls":[0.32645004720821325,1.4978611492381146,-1.2640179301111112,-0.2008046483255521,0.933526009387273,0.4057223745043301,0.035],"actuator_force_native":[0.011817469314447493,-0.006166239506057991,0.0420115173724156,-0.002314080762200632,-0.04051604580367574,0.04003154586426927,1.1201025713614143e-06],"issued_joint_targets_rad":[0.3264510362686989,1.497861058920977,-1.264016899574826,-0.20080667743314706,0.9335249147199357,0.405724864141959],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.999999999999016,"joint_targets_rad":[0.3264510362686989,1.497861058920977,-1.264016899574826,-0.20080667743314706,0.9335249147199357,0.405724864141959],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.01999999999904,"qpos":[0.32628722643254404,1.4979464585486735,-1.2645730966685762,-0.20071282860900094,0.9382560695324242,0.4009222969383245,0.0349999685742637,-0.03500000357775945,0.3552728451792279,0.08439459318654915,0.07989224457978368,0.9954304319611814,-1.675724214130231e-11,-3.673652909584432e-12,0.09548955506010484],"qvel":[0.00034010620853159104,-0.00018384709103046466,0.0006866958418505067,-0.0003081752901612303,-0.005100096804511918,0.005971166549620368,3.306363474027369e-08,-4.292467583730199e-09,6.448471831327603e-12,-2.0030931732566255e-11,4.1666869158662115e-15,6.691717306958731e-10,8.080894406028291e-11,-7.249245127508388e-12],"joint_position_rad":[0.32628722643254404,1.4979464585486735,-1.2645730966685762,-0.20071282860900094,0.9382560695324242,0.4009222969383245],"joint_velocity_rad_s":[0.00034010620853159104,-0.00018384709103046466,0.0006866958418505067,-0.0003081752901612303,-0.005100096804511918,0.005971166549620368],"gripper_joint_position_m":[0.0349999685742637,-0.03500000357775945],"tcp_position_m":[0.34991679785554114,0.08404607883397502,0.20971005260822242],"tcp_quaternion_wxyz":[0.2569035016712296,-0.0019707879394162617,0.9664340123853477,-0.0014165199313870436],"object_position_m":[0.3552728451792279,0.08439459318654915,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319611814,-1.675724214130231e-11,-3.673652909584432e-12,0.09548955506010484],"object_linear_velocity_m_s":[6.448471831327603e-12,-2.0030931732566255e-11,4.1666869158662115e-15],"object_angular_velocity_rad_s":[6.416060746650012e-10,2.0654911172798068e-10,-7.249245127508381e-12],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000091815},{"geom_ids":[1,90],"normal_force_n":0.09810000000117035},{"geom_ids":[1,90],"normal_force_n":0.09809999999908169},{"geom_ids":[1,90],"normal_force_n":0.09809999999882948}],"native_actuator_controls":[0.3264510362686989,1.497861058920977,-1.264016899574826,-0.20080667743314706,0.9335249147199357,0.405724864141959,0.035],"actuator_force_native":[0.011404255849733147,-0.005912734760556759,0.04106228829076031,-0.002213076515038992,-0.03966140291811726,0.03906892221191427,1.091711278711216e-06],"issued_joint_targets_rad":[0.32645199403990993,1.4978609669987886,-1.264015896079418,-0.20080863726934578,0.933523849471275,0.40572727418061366],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.01999999999904,"joint_targets_rad":[0.32645199403990993,1.4978609669987886,-1.264015896079418,-0.20080863726934578,0.933523849471275,0.40572727418061366],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.039999999999065,"qpos":[0.32629390807961955,1.4979428606382086,-1.2645595229172624,-0.20071887040006742,0.9381551974742183,0.40104021393201056,0.03499996936467474,-0.03500000332338808,0.355272845179414,0.08439459318597121,0.07989224457978368,0.9954304319612163,-1.775850810923762e-11,-3.893172087480864e-12,0.09548955505974055],"qvel":[0.00032823675526966607,-0.0001762950702104243,0.000671185120430955,-0.0002947494420741357,-0.00499249523191875,0.005827541892851538,3.2270670867663426e-08,-4.460822482558724e-09,6.977541371304865e-12,-2.1674330223543683e-11,4.004316798514783e-15,5.517881265506335e-10,6.663413734923618e-11,-1.3235313185809644e-11],"joint_position_rad":[0.32629390807961955,1.4979428606382086,-1.2645595229172624,-0.20071887040006742,0.9381551974742183,0.40104021393201056],"joint_velocity_rad_s":[0.00032823675526966607,-0.0001762950702104243,0.000671185120430955,-0.0002947494420741357,-0.00499249523191875,0.005827541892851538],"gripper_joint_position_m":[0.03499996936467474,-0.03500000332338808],"tcp_position_m":[0.3499307286004027,0.08405490420781328,0.20971648213408103],"tcp_quaternion_wxyz":[0.2569447787100497,-0.0019237290615280365,0.9664231786268824,-0.0013855586794998226],"object_position_m":[0.355272845179414,0.08439459318597121,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319612163,-1.775850810923762e-11,-3.893172087480864e-12,0.09548955505974055],"object_linear_velocity_m_s":[6.977541371304865e-12,-2.1674330223543683e-11,4.004316798514783e-15],"object_angular_velocity_rad_s":[5.290578595511186e-10,1.7031742749855127e-10,-1.3235313185809642e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000024205},{"geom_ids":[1,90],"normal_force_n":0.09810000000308543},{"geom_ids":[1,90],"normal_force_n":0.09809999999757955},{"geom_ids":[1,90],"normal_force_n":0.09809999999691461}],"native_actuator_controls":[0.32645199403990993,1.4978609669987886,-1.264015896079418,-0.20080863726934578,0.933523849471275,0.40572727418061366,0.035],"actuator_force_native":[0.011005693046879372,-0.005670015802550665,0.04013422142539014,-0.0021169275607650917,-0.03882473718155488,0.03812928964675333,1.0640596561639626e-06],"issued_joint_targets_rad":[0.326452921602128,1.4978608736704575,-1.2640149188482994,-0.20081053044604658,0.9335228127711478,0.4057296074418841],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.039999999999065,"joint_targets_rad":[0.326452921602128,1.4978608736704575,-1.2640149188482994,-0.20081053044604658,0.9335228127711478,0.4057296074418841],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.05999999999909,"qpos":[0.32630035662318313,1.4979394103735266,-1.2645462558224676,-0.20072464981168237,0.9380564536945429,0.40115529437315195,0.03499997013503651,-0.035000003083838827,0.35527284517959523,0.08439459318540833,0.07989224457978368,0.9954304319612556,-1.845556123954967e-11,-4.045987923741885e-12,0.09548955505933071],"qvel":[0.0003167876556405499,-0.00016906431693892917,0.0006560199427224104,-0.00028196831605962537,-0.004887157851322117,0.005687349563264865,3.1493942958762217e-08,-4.6085830543268705e-09,7.65508324875375e-12,-2.377896341933641e-11,3.995990125830095e-15,3.4913397276849014e-10,4.2161770606748386e-11,-2.4164394701116588e-11],"joint_position_rad":[0.32630035662318313,1.4979394103735266,-1.2645462558224676,-0.20072464981168237,0.9380564536945429,0.40115529437315195],"joint_velocity_rad_s":[0.0003167876556405499,-0.00016906431693892917,0.0006560199427224104,-0.00028196831605962537,-0.004887157851322117,0.005687349563264865],"gripper_joint_position_m":[0.03499997013503651,-0.035000003083838827],"tcp_position_m":[0.34994437400422046,0.08406353593404967,0.2097227544859982],"tcp_quaternion_wxyz":[0.2569851370285321,-0.001877764894463998,0.966412580960588,-0.001355251461017482],"object_position_m":[0.35527284517959523,0.08439459318540833,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319612556,-1.845556123954967e-11,-4.045987923741885e-12,0.09548955505933071],"object_linear_velocity_m_s":[7.65508324875375e-12,-2.377896341933641e-11,3.995990125830095e-15],"object_angular_velocity_rad_s":[3.3475176430545336e-10,1.0776549603742038e-10,-2.4164394701116607e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000401177},{"geom_ids":[1,90],"normal_force_n":0.09810000000511374},{"geom_ids":[1,90],"normal_force_n":0.0980999999959883},{"geom_ids":[1,90],"normal_force_n":0.09809999999488629}],"native_actuator_controls":[0.326452921602128,1.4978608736704575,-1.2640149188482994,-0.20081053044604658,0.9335228127711478,0.4057296074418841,0.035],"actuator_force_native":[0.01062126003738939,-0.005437614660834811,0.03922685821984828,-0.002025383794270752,-0.0380056724569684,0.037212106342424,1.0371288250432542e-06],"issued_joint_targets_rad":[0.3264538199951752,1.4978607791224419,-1.2640139671289206,-0.2008123594677858,0.9335218037768828,0.40573186663677624],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.05999999999909,"joint_targets_rad":[0.3264538199951752,1.4978607791224419,-1.2640139671289206,-0.2008123594677858,0.9335218037768828,0.40573186663677624],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.079999999999114,"qpos":[0.32630658031787296,1.4979361014773438,-1.2645332885497993,-0.2007301794124095,0.9379597934059604,0.40126760606286144,0.03499997088582259,-0.03500000285827601,0.3552728451797815,0.08439459318482996,0.07989224457978368,0.9954304319613047,-1.9721933306493564e-11,-4.323613995596343e-12,0.09548955505881856],"qvel":[0.00030574397373075665,-0.0001621408911030006,0.0006411928336816087,-0.0002697987171280052,-0.004784037258209434,0.0055505085636455495,3.073335623815063e-08,-4.737270361371813e-09,8.854098575896204e-12,-2.7503463104325887e-11,3.948805647283525e-15,6.370247805360516e-11,7.692673866301569e-12,-4.411808050524996e-11],"joint_position_rad":[0.32630658031787296,1.4979361014773438,-1.2645332885497993,-0.2007301794124095,0.9379597934059604,0.40126760606286144],"joint_velocity_rad_s":[0.00030574397373075665,-0.0001621408911030006,0.0006411928336816087,-0.0002697987171280052,-0.004784037258209434,0.0055505085636455495],"gripper_joint_position_m":[0.03499997088582259,-0.03500000285827601],"tcp_position_m":[0.349957739914379,0.08407197801964984,0.209728874139491],"tcp_quaternion_wxyz":[0.2570245984742095,-0.0018328712526663733,0.9664022139793034,-0.0013255859245946459],"object_position_m":[0.3552728451797815,0.08439459318482996,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319613047,-1.9721933306493564e-11,-4.323613995596343e-12,0.09548955505881856],"object_linear_velocity_m_s":[8.854098575896204e-12,-2.7503463104325887e-11,3.948805647283525e-15],"object_angular_velocity_rad_s":[6.107834048595388e-11,1.9662636264377696e-11,-4.4118080505249985e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000601705},{"geom_ids":[1,90],"normal_force_n":0.09810000000766979},{"geom_ids":[1,90],"normal_force_n":0.09809999999398299},{"geom_ids":[1,90],"normal_force_n":0.09809999999233009}],"native_actuator_controls":[0.3264538199951752,1.4978607791224419,-1.2640139671289206,-0.2008123594677858,0.9335218037768828,0.40573186663677624,0.035],"actuator_force_native":[0.010250454315524848,-0.005215083936633391,0.03833974950190111,-0.0019382086294115197,-0.03720384040346225,0.036316842893679535,1.0109003154568086e-06],"issued_joint_targets_rad":[0.32645469022002704,1.4978606835294574,-1.264013040192022,-0.20081412673646779,0.933520821672436,0.405734054370446],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.079999999999114,"joint_targets_rad":[0.32645469022002704,1.4978606835294574,-1.264013040192022,-0.20081412673646779,0.933520821672436,0.405734054370446],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.099999999999138,"qpos":[0.3263125871249704,1.4979329279446478,-1.264520614412826,-0.20073547112487092,0.9378651727588578,0.4013772152016194,0.034999971617498946,-0.035000002645911424,0.35527284517996477,0.08439459318426067,0.07989224457978368,0.9954304319613568,-1.9889553839209233e-11,-4.3603865099600246e-12,0.09548955505827439],"qvel":[0.0002950913000741895,-0.00015551146544335464,0.000626696470619937,-0.000258209244155869,-0.004683087031588767,0.005416939759543274,2.998879551401752e-08,-4.8483049358243356e-09,1.0569172259460057e-11,-3.2830768063891536e-11,3.932152301914147e-15,-3.9790435774127893e-10,-4.805586813547853e-11,-8.054869871372204e-11],"joint_position_rad":[0.3263125871249704,1.4979329279446478,-1.264520614412826,-0.20073547112487092,0.9378651727588578,0.4013772152016194],"joint_velocity_rad_s":[0.0002950913000741895,-0.00015551146544335464,0.000626696470619937,-0.000258209244155869,-0.004683087031588767,0.005416939759543274],"gripper_joint_position_m":[0.034999971617498946,-0.035000002645911424],"tcp_position_m":[0.34997083205397955,0.08408023441121165,0.20973484541798593],"tcp_quaternion_wxyz":[0.2570631843095487,-0.00178902442305228,0.9663920724130105,-0.0012965498584137168],"object_position_m":[0.35527284517996477,0.08439459318426067,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319613568,-1.9889553839209233e-11,-4.3603865099600246e-12,0.09548955505827439],"object_linear_velocity_m_s":[1.0569172259460057e-11,-3.2830768063891536e-11,3.932152301914147e-15],"object_angular_velocity_rad_s":[-3.8151224188271633e-10,-1.2282366899493824e-10,-8.054869871372194e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000684575},{"geom_ids":[1,90],"normal_force_n":0.09810000000872622},{"geom_ids":[1,90],"normal_force_n":0.09809999999315426},{"geom_ids":[1,90],"normal_force_n":0.09809999999127376}],"native_actuator_controls":[0.32645469022002704,1.4978606835294574,-1.264013040192022,-0.20081412673646779,0.933520821672436,0.405734054370446,0.035],"actuator_force_native":[0.009892791104160636,-0.005001995888022748,0.037472455311217345,-0.0018551782430957786,-0.03641888031683571,0.035442982048951244,9.853560645201043e-07],"issued_joint_targets_rad":[0.3264555332403601,1.4978605870551518,-1.264012137330907,-0.2008158345558767,0.9335198656675724,0.4057361731467123],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.099999999999138,"joint_targets_rad":[0.3264555332403601,1.4978605870551518,-1.264012137330907,-0.2008158345558767,0.9335198656675724,0.4057361731467123],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.119999999999163,"qpos":[0.326318384722744,1.4979298840307314,-1.2645082268700587,-0.20074053626060756,0.9377725488219867,0.4014841864261164,0.03499997233052364,-0.035000002446001564,0.35527284518014124,0.08439459318371256,0.07989224457978368,0.9954304319614082,-1.869127043390109e-11,-4.097713259589603e-12,0.09548955505773846],"qvel":[0.00028481573347394185,-0.00014916329826779575,0.0006125236804385969,-0.0002471701896065967,-0.004584261713853549,0.005286565838821378,2.926012758801182e-08,-4.943013584662965e-09,1.3191092195436177e-11,-4.097490886262978e-11,3.930764523133364e-15,-1.1103390970580257e-09,-1.34094752390684e-10,-1.470621725629534e-10],"joint_position_rad":[0.326318384722744,1.4979298840307314,-1.2645082268700587,-0.20074053626060756,0.9377725488219867,0.4014841864261164],"joint_velocity_rad_s":[0.00028481573347394185,-0.00014916329826779575,0.0006125236804385969,-0.0002471701896065967,-0.004584261713853549,0.005286565838821378],"gripper_joint_position_m":[0.03499997233052364,-0.035000002446001564],"tcp_position_m":[0.3499836560249082,0.08408830899407417,0.20974067249882133],"tcp_quaternion_wxyz":[0.257100915230559,-0.001746201159095438,0.9663821511246949,-0.0012681311952545823],"object_position_m":[0.35527284518014124,0.08439459318371256,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319614082,-1.869127043390109e-11,-4.097713259589603e-12,0.09548955505773846],"object_linear_velocity_m_s":[1.3191092195436177e-11,-4.097490886262978e-11,3.930764523133364e-15],"object_angular_velocity_rad_s":[-1.0645981136715202e-09,-3.4273192066306455e-10,-1.4706217256295327e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000583043},{"geom_ids":[1,90],"normal_force_n":0.09810000000743213},{"geom_ids":[1,90],"normal_force_n":0.09809999999416953},{"geom_ids":[1,90],"normal_force_n":0.09809999999256797}],"native_actuator_controls":[0.3264555332403601,1.4978605870551518,-1.264012137330907,-0.2008158345558767,0.9335198656675724,0.4057361731467123,0.035],"actuator_force_native":[0.009547802741916911,-0.0047979415550116755,0.03662454472994625,-0.0017760808627329538,-0.03565043897336295,0.03459001844772658,9.604784163563806e-07],"issued_joint_targets_rad":[0.326456349984034,1.497860489852731,-1.2640112578607368,-0.20081748513597672,0.9335189349970643,0.4057382253723626],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.119999999999163,"joint_targets_rad":[0.326456349984034,1.497860489852731,-1.2640112578607368,-0.20081748513597672,0.9335189349970643,0.4057382253723626],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.139999999999187,"qpos":[0.3263239805164373,1.4979269642397615,-1.2644961195219855,-0.20074538555299232,0.9376818795634009,0.40158858284529403,0.034999973025346846,-0.035000002257845074,0.3552728451803145,0.08439459318317433,0.07989224457978368,0.9954304319614617,-1.6986878034848814e-11,-3.7240764503793e-12,0.09548955505718315],"qvel":[0.0002749038634286805,-0.00014308420741473656,0.0005986674369035037,-0.00023665344498942042,-0.004487516791056376,0.005159311271958904,2.8547202791151466e-08,-5.022634586121171e-09,6.514808345592794e-12,-2.0236685621235557e-11,3.9862756743646204e-15,7.055532679756172e-10,8.520522190063078e-11,-1.5933010137529278e-11],"joint_position_rad":[0.3263239805164373,1.4979269642397615,-1.2644961195219855,-0.20074538555299232,0.9376818795634009,0.40158858284529403],"joint_velocity_rad_s":[0.0002749038634286805,-0.00014308420741473656,0.0005986674369035037,-0.00023665344498942042,-0.004487516791056376,0.005159311271958904],"gripper_joint_position_m":[0.034999973025346846,-0.035000002257845074],"tcp_position_m":[0.34999621731079705,0.08409620559160062,0.20974635941898928],"tcp_quaternion_wxyz":[0.25713781138468517,-0.0017043786747745718,0.9663724451063597,-0.0012403180169627353],"object_position_m":[0.3552728451803145,0.08439459318317433,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319614617,-1.6986878034848814e-11,-3.7240764503793e-12,0.09548955505718315],"object_linear_velocity_m_s":[6.514808345592794e-12,-2.0236685621235557e-11,3.9862756743646204e-15],"object_angular_velocity_rad_s":[6.764883790354385e-10,2.177815805347522e-10,-1.5933010137529265e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000067283},{"geom_ids":[1,90],"normal_force_n":0.09810000000085761},{"geom_ids":[1,90],"normal_force_n":0.09809999999932739},{"geom_ids":[1,90],"normal_force_n":0.09809999999914261}],"native_actuator_controls":[0.326456349984034,1.497860489852731,-1.2640112578607368,-0.20081748513597672,0.9335189349970643,0.4057382253723626,0.035],"actuator_force_native":[0.009215038090594874,-0.0046025299253642515,0.03579559571537061,-0.00170071609442779,-0.03489817047678123,0.03375745836274735,9.362501123266753e-07],"issued_joint_targets_rad":[0.326457141344513,1.497860392065559,-1.2640104011178397,-0.20081908059700976,0.9335180289199017,0.40574021336126226],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.139999999999187,"joint_targets_rad":[0.326457141344513,1.497860392065559,-1.2640104011178397,-0.20081908059700976,0.9335180289199017,0.40574021336126226],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.15999999999921,"qpos":[0.3263293816479104,1.4979241633138525,-1.264484286108161,-0.20075002918830864,0.9375931238317817,0.40169046607559944,0.03499997370241064,-0.03500000208078033,0.3552728451805081,0.08439459318257302,0.07989224457978368,0.995430431961548,-1.8146061639781062e-11,-3.9782199004532396e-12,0.0954895550562818],"qvel":[0.00026534275314490143,-0.0001372625453726138,0.0005851208579656676,-0.00022663241171856034,-0.004392808673592853,0.005035102273101671,2.784985679651307e-08,-5.088323968000814e-09,7.070146823298328e-12,-2.196165398919755e-11,3.9418667533796135e-15,6.061327908512719e-10,7.319972087316766e-11,-2.908975640417789e-11],"joint_position_rad":[0.3263293816479104,1.4979241633138525,-1.264484286108161,-0.20075002918830864,0.9375931238317817,0.40169046607559944],"joint_velocity_rad_s":[0.00026534275314490143,-0.0001372625453726138,0.0005851208579656676,-0.00022663241171856034,-0.004392808673592853,0.005035102273101671],"gripper_joint_position_m":[0.03499997370241064,-0.03500000208078033],"tcp_position_m":[0.35000852127988785,0.08410392796462486,0.20975191008062755],"tcp_quaternion_wxyz":[0.2571738923880241,-0.001663534638405432,0.9663629494751893,-0.0012130985583511526],"object_position_m":[0.3552728451805081,0.08439459318257302,0.07989224457978368],"object_quaternion_wxyz":[0.995430431961548,-1.8146061639781062e-11,-3.9782199004532396e-12,0.0954895550562818],"object_linear_velocity_m_s":[7.070146823298328e-12,-2.196165398919755e-11,3.9418667533796135e-15],"object_angular_velocity_rad_s":[5.811633072592828e-10,1.8709454715868774e-10,-2.90897564041779e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000214447},{"geom_ids":[1,90],"normal_force_n":0.09810000000273368},{"geom_ids":[1,90],"normal_force_n":0.09809999999785551},{"geom_ids":[1,90],"normal_force_n":0.09809999999726632}],"native_actuator_controls":[0.326457141344513,1.497860392065559,-1.2640104011178397,-0.20081908059700976,0.9335180289199017,0.40574021336126226,0.035],"actuator_force_native":[0.008894061962479327,-0.004415387136603499,0.03498519493587082,-0.0016288942894515657,-0.03416173610841078,0.03294481944697658,9.126542905857349e-07],"issued_joint_targets_rad":[0.3264579081822278,1.4978602938277115,-1.2640095664590387,-0.20082062297341255,0.9335171467185316,0.4057421393382773],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.15999999999921,"joint_targets_rad":[0.3264579081822278,1.4978602938277115,-1.2640095664590387,-0.20082062297341255,0.9335171467185316,0.4057421393382773],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.179999999999236,"qpos":[0.32633459500494855,1.4979214762226256,-1.2644727205043491,-0.2007544768350973,0.9375062413381503,0.40178989627546763,0.03499997436214889,-0.03500000191418303,0.3552728451806972,0.08439459318198567,0.07989224457978368,0.9954304319616459,-1.899477354267245e-11,-4.164304765992866e-12,0.09548955505526319],"qvel":[0.0002561199231169406,-0.00013168717554334688,0.000571877203121651,-0.00021708191708900108,-0.0043000946772680515,0.004913866761852528,2.716791260506053e-08,-5.141161006526604e-09,7.738557243917141e-12,-2.403781552949368e-11,3.993214568268525e-15,4.230829402483619e-10,5.109335477685189e-11,-5.31106155811233e-11],"joint_position_rad":[0.32633459500494855,1.4979214762226256,-1.2644727205043491,-0.2007544768350973,0.9375062413381503,0.40178989627546763],"joint_velocity_rad_s":[0.0002561199231169406,-0.00013168717554334688,0.000571877203121651,-0.00021708191708900108,-0.0043000946772680515,0.004913866761852528],"gripper_joint_position_m":[0.03499997436214889,-0.03500000191418303],"tcp_position_m":[0.35002057318779767,0.08411147981104189,0.2097573282562739],"tcp_quaternion_wxyz":[0.2572091773418877,-0.001623647166372287,0.9663536594698569,-0.0011864612105878438],"object_position_m":[0.3552728451806972,0.08439459318198567,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319616459,-1.899477354267245e-11,-4.164304765992866e-12,0.09548955505526319],"object_linear_velocity_m_s":[7.738557243917141e-12,-2.403781552949368e-11,3.993214568268525e-15],"object_angular_velocity_rad_s":[4.056542092088914e-10,1.305923726052237e-10,-5.311061558112332e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000377686},{"geom_ids":[1,90],"normal_force_n":0.09810000000481427},{"geom_ids":[1,90],"normal_force_n":0.09809999999622335},{"geom_ids":[1,90],"normal_force_n":0.09809999999518594}],"native_actuator_controls":[0.3264579081822278,1.4978602938277115,-1.2640095664590387,-0.20082062297341255,0.9335171467185316,0.4057421393382773,0.035],"actuator_force_native":[0.008584454566758382,-0.004236155715418022,0.0341929376092196,-0.0015604359471641516,-0.03344080418028561,0.032151630485317995,8.896744816411228e-07],"issued_joint_targets_rad":[0.3264586513258839,1.4978601952645072,-1.264008753261,-0.2008221142175414,0.933516287698111,0.4057440054430165],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.179999999999236,"joint_targets_rad":[0.3264586513258839,1.4978601952645072,-1.264008753261,-0.2008221142175414,0.933516287698111,0.4057440054430165],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.19999999999926,"qpos":[0.3263396272302459,1.4979188981532359,-1.264461416719716,-0.2007587376718727,0.9374211926379499,0.4018869321790467,0.03499997500498736,-0.03500000175746423,0.3552728451808809,0.08439459318141493,0.07989224457978368,0.9954304319617537,-1.9374609409285653e-11,-4.247583576011704e-12,0.09548955505413749],"qvel":[0.00024722333526053594,-0.0001263474495624151,0.0005589298708112406,-0.0002079781350214033,-0.004209333004751221,0.004795534325794227,2.650118096863008e-08,-5.182153439960736e-09,8.661114803331095e-12,-2.6903489790240403e-11,3.861375584094287e-15,1.2447423565053943e-10,1.5032106279147604e-11,-9.69665083599759e-11],"joint_position_rad":[0.3263396272302459,1.4979188981532359,-1.264461416719716,-0.2007587376718727,0.9374211926379499,0.4018869321790467],"joint_velocity_rad_s":[0.00024722333526053594,-0.0001263474495624151,0.0005589298708112406,-0.0002079781350214033,-0.004209333004751221,0.004795534325794227],"gripper_joint_position_m":[0.03499997500498736,-0.03500000175746423],"tcp_position_m":[0.35003237818019445,0.08411886476553736,0.2097626175938901],"tcp_quaternion_wxyz":[0.2572436848487396,-0.001584694816776753,0.9663445704469645,-0.0011603945240974117],"object_position_m":[0.3552728451808809,0.08439459318141493,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319617537,-1.9374609409285653e-11,-4.247583576011704e-12,0.09548955505413749],"object_linear_velocity_m_s":[8.661114803331095e-12,-2.6903489790240403e-11,3.861375584094287e-15],"object_angular_velocity_rad_s":[1.1934656009676885e-10,3.8421324196882915e-11,-9.696650835997598e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000052868},{"geom_ids":[1,90],"normal_force_n":0.09810000000673895},{"geom_ids":[1,90],"normal_force_n":0.09809999999471353},{"geom_ids":[1,90],"normal_force_n":0.09809999999326138}],"native_actuator_controls":[0.3264586513258839,1.4978601952645072,-1.264008753261,-0.2008221142175414,0.933516287698111,0.4057440054430165,0.035],"actuator_force_native":[0.00828581097474057,-0.004064493850478357,0.03341842734320721,-0.0014951711516406618,-0.032735049891261525,0.03137743115100733,8.67294600803703e-07],"issued_joint_targets_rad":[0.3264593715737098,1.4978600964930031,-1.2640079609196002,-0.20082355620323383,0.9335154511857793,0.40574581373340357],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.19999999999926,"joint_targets_rad":[0.3264593715737098,1.4978600964930031,-1.2640079609196002,-0.20082355620323383,0.9335154511857793,0.40574581373340357],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.219999999999285,"qpos":[0.32634448473007865,1.4979164245008385,-1.2644503688940794,-0.20076282041329938,0.9373379391134983,0.40198163112918145,0.03499997563134346,-0.03500000161006824,0.35527284518105795,0.08439459318086516,0.07989224457978368,0.9954304319618683,-1.9046964157413673e-11,-4.175745826015649e-12,0.09548955505294145],"qvel":[0.00023864137757041357,-0.00012123318565021435,0.0005462723958557673,-0.00019929851134418432,-0.0041204827274071145,0.004680036183732924,2.5849462754249736e-08,-5.2122398185787935e-09,1.0080813408705032e-11,-3.131346409129242e-11,3.883580044586791e-15,-3.3455033021220804e-10,-4.0401302230395514e-11,-1.7703607027641645e-10],"joint_position_rad":[0.32634448473007865,1.4979164245008385,-1.2644503688940794,-0.20076282041329938,0.9373379391134983,0.40198163112918145],"joint_velocity_rad_s":[0.00023864137757041357,-0.00012123318565021435,0.0005462723958557673,-0.00019929851134418432,-0.0041204827274071145,0.004680036183732924],"gripper_joint_position_m":[0.03499997563134346,-0.03500000161006824],"tcp_position_m":[0.3500439412953864,0.08412608639943808,0.20976778162167198],"tcp_quaternion_wxyz":[0.2572774330275399,-0.0015466565830139284,0.9663356778776161,-0.0011348872110160133],"object_position_m":[0.35527284518105795,0.08439459318086516,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319618683,-1.9046964157413673e-11,-4.175745826015649e-12,0.09548955505294145],"object_linear_velocity_m_s":[1.0080813408705032e-11,-3.131346409129242e-11,3.883580044586791e-15],"object_angular_velocity_rad_s":[-3.20768752832247e-10,-1.0326468841503421e-10,-1.7703607027641658e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000612293},{"geom_ids":[1,90],"normal_force_n":0.09810000000780511},{"geom_ids":[1,90],"normal_force_n":0.098099999993877},{"geom_ids":[1,90],"normal_force_n":0.09809999999219486}],"native_actuator_controls":[0.3264593715737098,1.4978600964930031,-1.2640079609196002,-0.20082355620323383,0.9335154511857793,0.40574581373340357,0.035],"actuator_force_native":[0.007997740602640135,-0.0039000746985777823,0.03266127597906632,-0.001432939040657999,-0.03204415518607817,0.030621771766622174,8.45498947965595e-07],"issued_joint_targets_rad":[0.32646006969466257,1.4978599976224631,-1.2640071888493092,-0.20082495072920512,0.9335146365299489,0.4057475661890934],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.219999999999285,"joint_targets_rad":[0.32646006969466257,1.4978599976224631,-1.2640071888493092,-0.20082495072920512,0.9335146365299489,0.4057475661890934],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.23999999999931,"qpos":[0.3263491736826775,1.4979140508594742,-1.2644395712952043,-0.20076673333491815,0.9372564429567986,0.4020740491096678,0.03499997624162636,-0.03500000147147064,0.3552728451812258,0.0843945931803441,0.07989224457978368,0.9954304319619813,-1.7671658841059213e-11,-3.874220512343274e-12,0.09548955505176354],"qvel":[0.00023036284930551552,-0.00011633464793047121,0.0005338984469337829,-0.00019102169333182962,-0.004033503767495015,0.004567305149664024,2.5212549958162665e-08,-5.23229656602195e-09,1.2413873291515816e-11,-3.856067605383099e-11,3.865538920436633e-15,-1.0160205291457142e-09,-1.226973833739594e-10,-3.232228698989729e-10],"joint_position_rad":[0.3263491736826775,1.4979140508594742,-1.2644395712952043,-0.20076673333491815,0.9372564429567986,0.4020740491096678],"joint_velocity_rad_s":[0.00023036284930551552,-0.00011633464793047121,0.0005338984469337829,-0.00019102169333182962,-0.004033503767495015,0.004567305149664024],"gripper_joint_position_m":[0.03499997624162636,-0.03500000147147064],"tcp_position_m":[0.3500552674668291,0.08413314822067959,0.20977282375265377],"tcp_quaternion_wxyz":[0.25731043952852517,-0.0015095118872942403,0.9663269773441117,-0.0011099281472298928],"object_position_m":[0.3552728451812258,0.0843945931803441,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319619813,-1.7671658841059213e-11,-3.874220512343274e-12,0.09548955505176354],"object_linear_velocity_m_s":[1.2413873291515816e-11,-3.856067605383099e-11,3.865538920436633e-15],"object_angular_velocity_rad_s":[-9.741663002909168e-10,-3.136118347732774e-10,-3.2322286989897313e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000527837},{"geom_ids":[1,90],"normal_force_n":0.09810000000672849},{"geom_ids":[1,90],"normal_force_n":0.09809999999472155},{"geom_ids":[1,90],"normal_force_n":0.09809999999327147}],"native_actuator_controls":[0.32646006969466257,1.4978599976224631,-1.2640071888493092,-0.20082495072920512,0.9335146365299489,0.4057475661890934,0.035],"actuator_force_native":[0.007719866712275092,-0.0037425857212411984,0.0319211034369431,-0.0013735873048190683,-0.031367808617252635,0.02988421306976008,8.2427219583181e-07],"issued_joint_targets_rad":[0.32646074642957457,1.4978598987547989,-1.264006436482592,-0.20082629952228437,0.9335138430996237,0.40574926471472406],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.23999999999931,"joint_targets_rad":[0.32646074642957457,1.4978598987547989,-1.264006436482592,-0.20082629952228437,0.9335138430996237,0.40574926471472406],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.259999999999334,"qpos":[0.3263537000463061,1.4979117730133669,-1.26442901831615,-0.20077048429650377,0.9371766671527026,0.4021642407767946,0.03499997683623696,-0.03500000134117661,0.35527284518138896,0.08439459317983727,0.07989224457978368,0.9954304319620983,-1.595275510718263e-11,-3.4973695082055006e-12,0.09548955505054309],"qvel":[0.00022237694666129621,-0.00011164252668389727,0.0005218018240953228,-0.0001831274632363509,-0.00394835688072183,0.004457275597435687,2.4590226796477038e-08,-5.243140632360633e-09,6.1291498064495275e-12,-1.903869074715386e-11,3.847497796286472e-15,6.668096494174054e-10,8.052778550580063e-11,-3.501855072632122e-11],"joint_position_rad":[0.3263537000463061,1.4979117730133669,-1.26442901831615,-0.20077048429650377,0.9371766671527026,0.4021642407767946],"joint_velocity_rad_s":[0.00022237694666129621,-0.00011164252668389727,0.0005218018240953228,-0.0001831274632363509,-0.00394835688072183,0.004457275597435687],"gripper_joint_position_m":[0.03499997683623696,-0.03500000134117661],"tcp_position_m":[0.35006636152555193,0.08414005367387424,0.2097777472891109],"tcp_quaternion_wxyz":[0.2573427215474322,-0.001473240574119543,0.9663184645367611,-0.00108550637403356],"object_position_m":[0.35527284518138896,0.08439459317983727,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319620983,-1.595275510718263e-11,-3.4973695082055006e-12,0.09548955505054309],"object_linear_velocity_m_s":[6.1291498064495275e-12,-1.903869074715386e-11,3.847497796286472e-15],"object_angular_velocity_rad_s":[6.393405195559163e-10,2.0582403370015546e-10,-3.501855072632125e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997885144},{"geom_ids":[1,90],"normal_force_n":0.0980999999730418},{"geom_ids":[1,90],"normal_force_n":0.09810000002114866},{"geom_ids":[1,90],"normal_force_n":0.09810000002695829}],"native_actuator_controls":[0.32646074642957457,1.4978598987547989,-1.264006436482592,-0.20082629952228437,0.9335138430996237,0.40574926471472406,0.035],"actuator_force_native":[0.007451825928171729,-0.0035917280520294526,0.031197537564153777,-0.0013169717150436355,-0.030705705209706835,0.02916432598314156,8.035993879218495e-07],"issued_joint_targets_rad":[0.3264614024922592,1.497859799984988,-1.2640057032693288,-0.20082760424050936,0.9335130702837214,0.40575091114303435],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.259999999999334,"joint_targets_rad":[0.3264614024922592,1.497859799984988,-1.2640057032693288,-0.20082760424050936,0.9335130702837214,0.40575091114303435],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.279999999999358,"qpos":[0.3263580695670597,1.4979095869285977,-1.2644187044726685,-0.2007740807641315,0.9370985754624203,0.4022522594901844,0.03499997741556785,-0.03500000121871917,0.355272845181583,0.08439459317923437,0.07989224457978368,0.9954304319623122,-1.784052997302117e-11,-3.911244068037071e-12,0.09548955504831487],"qvel":[0.00021467324893390617,-0.00010714791948253735,0.0005099764563123242,-0.00017559667561399048,-0.0038650036391586103,0.004349883426119511,2.398227069996907e-08,-5.245533405272513e-09,6.88251917317367e-12,-2.137880240722502e-11,3.900233389956167e-15,6.12781905182041e-10,7.40029260664835e-11,-6.393515549633356e-11],"joint_position_rad":[0.3263580695670597,1.4979095869285977,-1.2644187044726685,-0.2007740807641315,0.9370985754624203,0.4022522594901844],"joint_velocity_rad_s":[0.00021467324893390617,-0.00010714791948253735,0.0005099764563123242,-0.00017559667561399048,-0.0038650036391586103,0.004349883426119511],"gripper_joint_position_m":[0.03499997741556785,-0.03500000121871917],"tcp_position_m":[0.350077228202513,0.08414680614047616,0.20978255542677954],"tcp_quaternion_wxyz":[0.257374295839214,-0.0014378229037249942,0.9663101352508102,-0.0010616110994285232],"object_position_m":[0.355272845181583,0.08439459317923437,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319623122,-1.784052997302117e-11,-3.911244068037071e-12,0.09548955504831487],"object_linear_velocity_m_s":[6.88251917317367e-12,-2.137880240722502e-11,3.900233389956167e-15],"object_angular_velocity_rad_s":[5.87538470489539e-10,1.8914714399045756e-10,-6.39351554963336e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000210517},{"geom_ids":[1,90],"normal_force_n":0.09810000000268336},{"geom_ids":[1,90],"normal_force_n":0.098099999997895},{"geom_ids":[1,90],"normal_force_n":0.09809999999731663}],"native_actuator_controls":[0.3264614024922592,1.497859799984988,-1.2640057032693288,-0.20082760424050936,0.9335130702837214,0.40575091114303435,0.035],"actuator_force_native":[0.0071932677712922555,-0.0034472158913558815,0.030490213985615355,-0.0012629556770455963,-0.030057546328251306,0.028461691389320976,7.834659325745008e-07],"issued_joint_targets_rad":[0.32646203857056927,1.4978597014014652,-1.2640049886762517,-0.20082886647607612,0.933512317490431,0.4057525072378329],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.279999999999358,"joint_targets_rad":[0.32646203857056927,1.4978597014014652,-1.2640049886762517,-0.20082886647607612,0.933512317490431,0.4057525072378329],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.299999999999383,"qpos":[0.3263622877863916,1.4979074887451547,-1.2644086244006463,-0.20077752983102715,0.9370221324073646,0.40233815734295,0.034999977980003434,-0.0350000011036576,0.355272845181776,0.08439459317863499,0.07989224457978368,0.9954304319625547,-1.917339498761511e-11,-4.2034609492180325e-12,0.09548955504578675],"qvel":[0.00020724170514998584,-0.0001028423131781242,0.0004984163990657945,-0.0001684111982000336,-0.0037834064144900504,0.004245066026063063,2.3388453331976342e-08,-5.240184217282062e-09,7.677556740722117e-12,-2.3848355426615174e-11,3.975173444118365e-15,4.69955857809704e-10,5.675451452450336e-11,-1.16729814774034e-10],"joint_position_rad":[0.3263622877863916,1.4979074887451547,-1.2644086244006463,-0.20077752983102715,0.9370221324073646,0.40233815734295],"joint_velocity_rad_s":[0.00020724170514998584,-0.0001028423131781242,0.0004984163990657945,-0.0001684111982000336,-0.0037834064144900504,0.004245066026063063],"gripper_joint_position_m":[0.034999977980003434,-0.0350000011036576],"tcp_position_m":[0.35008787213087955,0.0841534089390316,0.20978725125889097],"tcp_quaternion_wxyz":[0.2574051787312467,-0.0014032395455011199,0.9663019853834783,-0.0010382316990981497],"object_position_m":[0.355272845181776,0.08439459317863499,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319625547,-1.917339498761511e-11,-4.2034609492180325e-12,0.09548955504578675],"object_linear_velocity_m_s":[7.677556740722117e-12,-2.3848355426615174e-11,3.975173444118365e-15],"object_angular_velocity_rad_s":[4.505961055304794e-10,1.450611350063554e-10,-1.1672981477403403e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000368738},{"geom_ids":[1,90],"normal_force_n":0.09810000000470036},{"geom_ids":[1,90],"normal_force_n":0.09809999999631233},{"geom_ids":[1,90],"normal_force_n":0.09809999999529938}],"native_actuator_controls":[0.32646203857056927,1.4978597014014652,-1.2640049886762517,-0.20082886647607612,0.933512317490431,0.4057525072378329,0.035],"actuator_force_native":[0.006943854208461886,-0.003308775929269814,0.029798775956237478,-0.001211409810959907,-0.02942303954760206,0.02777589990973439,7.638575960644545e-07],"issued_joint_targets_rad":[0.32646265532741114,1.4978596030864912,-1.2640042921863988,-0.20083008775815542,0.9335115841465796,0.40575405469683967],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.299999999999383,"joint_targets_rad":[0.32646265532741114,1.4978596030864912,-1.2640042921863988,-0.20083008775815542,0.9335115841465796,0.40575405469683967],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.319999999999407,"qpos":[0.3263663600483766,1.4979054747693288,-1.2643987728536032,-0.20078083823726808,0.9369473032533313,0.40242198519117706,0.03499997852991985,-0.035000000995575924,0.3552728451819659,0.08439459317804521,0.07989224457978368,0.9954304319628245,-1.9896862825731313e-11,-4.362064122550802e-12,0.09548955504297389],"qvel":[0.00020007262114756877,-9.871756669553893e-05,0.00048711583197081834,-0.00016155385613527443,-0.0037035283616081677,0.004142762245626081,2.2808541970492574e-08,-5.2277541930489084e-09,8.63271097924886e-12,-2.6815328856907285e-11,3.796149981397559e-15,2.0679631030292383e-10,2.4974457389941833e-11,-2.1311843185634862e-10],"joint_position_rad":[0.3263663600483766,1.4979054747693288,-1.2643987728536032,-0.20078083823726808,0.9369473032533313,0.40242198519117706],"joint_velocity_rad_s":[0.00020007262114756877,-9.871756669553893e-05,0.00048711583197081834,-0.00016155385613527443,-0.0037035283616081677,0.004142762245626081],"gripper_joint_position_m":[0.03499997852991985,-0.035000000995575924],"tcp_position_m":[0.35009829784824076,0.08415986532550819,0.20979183778004157],"tcp_quaternion_wxyz":[0.25743538613606815,-0.001369471571401574,0.9662940109310909,-0.0010153577170763635],"object_position_m":[0.3552728451819659,0.08439459317804521,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319628245,-1.9896862825731313e-11,-4.362064122550802e-12,0.09548955504297389],"object_linear_velocity_m_s":[8.63271097924886e-12,-2.6815328856907285e-11,3.796149981397559e-15],"object_angular_velocity_rad_s":[1.9827726263708517e-10,6.383231625101481e-11,-2.1311843185634877e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000524405},{"geom_ids":[1,90],"normal_force_n":0.09810000000668466},{"geom_ids":[1,90],"normal_force_n":0.09809999999475622},{"geom_ids":[1,90],"normal_force_n":0.09809999999331563}],"native_actuator_controls":[0.32646265532741114,1.4978596030864912,-1.2640042921863988,-0.20083008775815542,0.9335115841465796,0.40575405469683967,0.035],"actuator_force_native":[0.006703259217026414,-0.003176146793535395,0.029122874216511718,-0.0011622115548171053,-0.02880189852510462,0.02710655168818743,7.447604961630105e-07],"issued_joint_targets_rad":[0.3264632534017155,1.4978595051165091,-1.2640036132985883,-0.20083126955557853,0.9335108696970215,0.405755555154396],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.319999999999407,"joint_targets_rad":[0.3264632534017155,1.4978595051165091,-1.2640036132985883,-0.20083126955557853,0.9335108696970215,0.405755555154396],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.33999999999943,"qpos":[0.32637029150672026,1.497903541466448,-1.264389144700229,-0.2007840123884011,0.9368740539950011,0.40250379268274966,0.03499997906568517,-0.03500000089408152,0.35527284518215035,0.08439459317747208,0.07989224457978368,0.9954304319631149,-1.9862484534973577e-11,-4.354516119087294e-12,0.09548955503994865],"qvel":[0.0001931566470924479,-9.476589458511217e-05,0.0004760690564314711,-0.0001550083793461866,-0.0036253334025355076,0.0040429123585814086,2.2242298969018987e-08,-5.208859106203271e-09,9.988981223758378e-12,-3.102831028449788e-11,3.943254532160393e-15,-2.160907623384268e-10,-2.609523698796553e-11,-3.8910086439886e-10],"joint_position_rad":[0.32637029150672026,1.497903541466448,-1.264389144700229,-0.2007840123884011,0.9368740539950011,0.40250379268274966],"joint_velocity_rad_s":[0.0001931566470924479,-9.476589458511217e-05,0.0004760690564314711,-0.0001550083793461866,-0.0036253334025355076,0.0040429123585814086],"gripper_joint_position_m":[0.03499997906568517,-0.03500000089408152],"tcp_position_m":[0.3501085097987559,0.08416617849369398,0.20979631788989261],"tcp_quaternion_wxyz":[0.2574649335636518,-0.0013365004493466278,0.9662862079863217,-0.0009929788661379325],"object_position_m":[0.35527284518215035,0.08439459317747208,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319631149,-1.9862484534973577e-11,-4.354516119087294e-12,0.09548955503994865],"object_linear_velocity_m_s":[9.988981223758378e-12,-3.102831028449788e-11,3.943254532160393e-15],"object_angular_velocity_rad_s":[-2.0718914890091796e-10,-6.669959174668035e-11,-3.891008643988604e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000631099},{"geom_ids":[1,90],"normal_force_n":0.0981000000080447},{"geom_ids":[1,90],"normal_force_n":0.09809999999368914},{"geom_ids":[1,90],"normal_force_n":0.09809999999195546}],"native_actuator_controls":[0.3264632534017155,1.4978595051165091,-1.2640036132985883,-0.20083126955557853,0.9335108696970215,0.405755555154396,0.035],"actuator_force_native":[0.00647116836415762,-0.003049078522195714,0.028462166849081427,-0.001115244790367953,-0.028193842875992914,0.0264532561785904,7.261610983633204e-07],"issued_joint_targets_rad":[0.3264638334093753,1.4978594075624674,-1.264002951526902,-0.2008324132794115,0.933510173604042,0.4057570101840641],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.33999999999943,"joint_targets_rad":[0.3264638334093753,1.4978594075624674,-1.264002951526902,-0.2008324132794115,0.933510173604042,0.4057570101840641],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.359999999999456,"qpos":[0.32637408713152294,1.4979016854539349,-1.2643797349219708,-0.20078705837303876,0.9368023513407614,0.40258362828552974,0.03499997958765929,-0.0350000007988038,0.35527284518232677,0.08439459317692434,0.07989224457978368,0.9954304319634077,-1.879199234655896e-11,-4.119821568994269e-12,0.0954895550368956],"qvel":[0.00018648476542984182,-9.097985133061219e-05,0.0004652704933406409,-0.0001487593529246471,-0.003548786210673642,0.003945458032186772,2.168948439350074e-08,-5.1840720593664995e-09,1.2142024675944567e-11,-3.7716254432546755e-11,3.9876634531454e-15,-8.553227730401316e-10,-1.0329187354010143e-10,-7.104009132908813e-10],"joint_position_rad":[0.32637408713152294,1.4979016854539349,-1.2643797349219708,-0.20078705837303876,0.9368023513407614,0.40258362828552974],"joint_velocity_rad_s":[0.00018648476542984182,-9.097985133061219e-05,0.0004652704933406409,-0.0001487593529246471,-0.003548786210673642,0.003945458032186772],"gripper_joint_position_m":[0.03499997958765929,-0.0350000007988038],"tcp_position_m":[0.3501185123352399,0.08417235157566191,0.20980069439671747],"tcp_quaternion_wxyz":[0.25749383613324867,-0.0013043080366342134,0.9662785727355221,-0.0009710850279341819],"object_position_m":[0.35527284518232677,0.08439459317692434,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319634077,-1.879199234655896e-11,-4.119821568994269e-12,0.0954895550368956],"object_linear_velocity_m_s":[1.2142024675944567e-11,-3.7716254432546755e-11,3.9876634531454e-15],"object_angular_velocity_rad_s":[-8.200882224297343e-10,-2.6401053890427296e-10,-7.10400913290882e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000597636},{"geom_ids":[1,90],"normal_force_n":0.09810000000761802},{"geom_ids":[1,90],"normal_force_n":0.0980999999940237},{"geom_ids":[1,90],"normal_force_n":0.09809999999238206}],"native_actuator_controls":[0.3264638334093753,1.4978594075624674,-1.264002951526902,-0.2008324132794115,0.933510173604042,0.4057570101840641,0.035],"actuator_force_native":[0.006247278401041001,-0.002927332060750132,0.027816319138779022,-0.0010703994902865333,-0.02759859805118481,0.025815631937063266,7.080462065545134e-07],"issued_joint_targets_rad":[0.32646439594413534,1.4978593104901348,-1.2640023064001893,-0.20083352028539703,0.9335094953467852,0.40575842130109974],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.359999999999456,"joint_targets_rad":[0.32646439594413534,1.4978593104901348,-1.2640023064001893,-0.20083352028539703,0.9335094953467852,0.40575842130109974],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.37999999999948,"qpos":[0.3263777517158068,1.4978999034946638,-1.2643705386106672,-0.20078998197949086,0.936732162697839,0.4026615393149042,0.03499998009619413,-0.03500000070939293,0.35527284518249064,0.08439459317641546,0.07989224457978368,0.9954304319636651,-1.6255394148043523e-11,-3.5637134394025464e-12,0.09548955503421322],"qvel":[0.00018004827923212072,-8.7352316346451e-05,0.00045471468080745766,-0.0001427921702707574,-0.003473852195366378,0.003850342295894816,2.1149855653067833e-08,-5.153926099198788e-09,6.23906839706457e-12,-1.938014597371848e-11,4.015419028761029e-15,7.068473437082443e-10,8.536241464452467e-11,-7.696619458060499e-11],"joint_position_rad":[0.3263777517158068,1.4978999034946638,-1.2643705386106672,-0.20078998197949086,0.936732162697839,0.4026615393149042],"joint_velocity_rad_s":[0.00018004827923212072,-8.7352316346451e-05,0.00045471468080745766,-0.0001427921702707574,-0.003473852195366378,0.003850342295894816],"gripper_joint_position_m":[0.03499998009619413,-0.03500000070939293],"tcp_position_m":[0.35012830972118775,0.084178387642291,0.2098049700207987],"tcp_quaternion_wxyz":[0.2575221085848076,-0.0012728765733599913,0.966271101456145,-0.0009496662528874004],"object_position_m":[0.35527284518249064,0.08439459317641546,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319636651,-1.6255394148043523e-11,-3.5637134394025464e-12,0.09548955503421322],"object_linear_velocity_m_s":[6.23906839706457e-12,-1.938014597371848e-11,4.015419028761029e-15],"object_angular_velocity_rad_s":[6.777289720038982e-10,2.1818191870062198e-10,-7.696619458060506e-11],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997976881},{"geom_ids":[1,90],"normal_force_n":0.09809999997421126},{"geom_ids":[1,90],"normal_force_n":0.0981000000202312},{"geom_ids":[1,90],"normal_force_n":0.09810000002578875}],"native_actuator_controls":[0.32646439594413534,1.4978593104901348,-1.2640023064001893,-0.20083352028539703,0.9335094953467852,0.40575842130109974,0.035],"actuator_force_native":[0.0060312968701232705,-0.002810678780591047,0.02718500343418384,-0.001027571384893733,-0.02701589521748815,0.025193306418113792,6.904029568044479e-07],"issued_joint_targets_rad":[0.32646494157845424,1.4978592139603937,-1.2640016774615903,-0.20083459187630243,0.9335088344206959,0.4057597899648242],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.37999999999948,"joint_targets_rad":[0.32646494157845424,1.4978592139603937,-1.2640016774615903,-0.20083459187630243,0.9335088344206959,0.4057597899648242],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.399999999999505,"qpos":[0.3263812898818143,1.4978981924906172,-1.2643615509662263,-0.2007927887114866,0.9366634561577386,0.40273757196071364,0.03499998059163365,-0.035000000625518654,0.3552728451826798,0.08439459317582773,0.07989224457978368,0.9954304319641348,-1.736711160481086e-11,-3.807439464653454e-12,0.09548955502931579],"qvel":[0.00017383880095459282,-8.387647964494976e-05,0.0004443962719195471,-0.00013709298891764816,-0.003400497486775192,0.0037575095107123956,2.0623168382885183e-08,-5.1189173675712166e-09,6.7315955440589255e-12,-2.091005189711923e-11,4.039011268034313e-15,6.221067162986557e-10,7.512897729419614e-11,-1.4052104784820766e-10],"joint_position_rad":[0.3263812898818143,1.4978981924906172,-1.2643615509662263,-0.2007927887114866,0.9366634561577386,0.40273757196071364],"joint_velocity_rad_s":[0.00017383880095459282,-8.387647964494976e-05,0.0004443962719195471,-0.00013709298891764816,-0.003400497486775192,0.0037575095107123956],"gripper_joint_position_m":[0.03499998059163365,-0.035000000625518654],"tcp_position_m":[0.3501379061327431,0.0841842897038401,0.2098091473976848],"tcp_quaternion_wxyz":[0.25754976528999673,-0.0012421886758608217,0.9662637905142522,-0.0009287127598721274],"object_position_m":[0.3552728451826798,0.08439459317582773,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319641348,-1.736711160481086e-11,-3.807439464653454e-12,0.09548955502931579],"object_linear_velocity_m_s":[6.7315955440589255e-12,-2.091005189711923e-11,4.039011268034313e-15],"object_angular_velocity_rad_s":[5.964791600353715e-10,1.9202536638857418e-10,-1.405210478482078e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000165676},{"geom_ids":[1,90],"normal_force_n":0.09810000000211189},{"geom_ids":[1,90],"normal_force_n":0.09809999999834321},{"geom_ids":[1,90],"normal_force_n":0.09809999999788808}],"native_actuator_controls":[0.32646494157845424,1.4978592139603937,-1.2640016774615903,-0.20083459187630243,0.9335088344206959,0.4057597899648242,0.035],"actuator_force_native":[0.005822941726417952,-0.0026989000196664392,0.026567899011283203,-0.0009866616480440626,-0.026445471140265298,0.024585915775036327,6.73218812252685e-07],"issued_joint_targets_rad":[0.32646547086432465,1.497859118029521,-1.2640010642680672,-0.20083562930414928,0.9335081903369773,0.40576111758088873],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.399999999999505,"joint_targets_rad":[0.32646547086432465,1.497859118029521,-1.2640010642680672,-0.20083562930414928,0.9335081903369773,0.40576111758088873],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.41999999999953,"qpos":[0.3263847060870856,1.4978965494768197,-1.264352767294346,-0.20079548380303813,0.9365962004819806,0.4028117713135732,0.034999981074314006,-0.03500000054686917,0.35527284518286456,0.08439459317525443,0.07989224457978368,0.9954304319646677,-1.8241603930318472e-11,-3.999157355447193e-12,0.09548955502375935],"qvel":[0.000167848241567484,-8.054582814214683e-05,0.00043431003254309857,-0.00013164868881448068,-0.003328688921060767,0.003666905339188379,2.0109176628208594e-08,-5.0795075056655536e-09,7.325149980313112e-12,-2.2753787510479833e-11,3.95852009874899e-15,4.6513973325511096e-10,5.617234346077853e-11,-2.5655505826308704e-10],"joint_position_rad":[0.3263847060870856,1.4978965494768197,-1.264352767294346,-0.20079548380303813,0.9365962004819806,0.4028117713135732],"joint_velocity_rad_s":[0.000167848241567484,-8.054582814214683e-05,0.00043431003254309857,-0.00013164868881448068,-0.003328688921060767,0.003666905339188379],"gripper_joint_position_m":[0.034999981074314006,-0.03500000054686917],"tcp_position_m":[0.3501473056606119,0.08419006071056825,0.20981322908130653],"tcp_quaternion_wxyz":[0.2575768202628361,-0.001212227330182272,0.9662566363621091,-0.0009082149356943633],"object_position_m":[0.35527284518286456,0.08439459317525443,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319646677,-1.8241603930318472e-11,-3.999157355447193e-12,0.09548955502375935],"object_linear_velocity_m_s":[7.325149980313112e-12,-2.2753787510479833e-11,3.95852009874899e-15],"object_angular_velocity_rad_s":[4.4597848474417663e-10,1.4357400449872512e-10,-2.565550582630872e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000323639},{"geom_ids":[1,90],"normal_force_n":0.09810000000412548},{"geom_ids":[1,90],"normal_force_n":0.09809999999676358},{"geom_ids":[1,90],"normal_force_n":0.09809999999587446}],"native_actuator_controls":[0.32646547086432465,1.497859118029521,-1.2640010642680672,-0.20083562930414928,0.9335081903369773,0.40576111758088873,0.035],"actuator_force_native":[0.005621940971284545,-0.0025917866431655057,0.025964691939591944,-0.0009475766003745889,-0.02588706806844243,0.0239931046643731,6.564815566711957e-07],"issued_joint_targets_rad":[0.32646598433406465,1.4978590227494457,-1.2640004663899556,-0.2008366337723526,0.9335075626220728,0.4057624055034402],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.41999999999953,"joint_targets_rad":[0.32646598433406465,1.4978590227494457,-1.2640004663899556,-0.2008366337723526,0.9335075626220728,0.4057624055034402],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.439999999999554,"qpos":[0.3263880046303212,1.4978949716155414,-1.264344183004283,-0.20079807223249332,0.9365303650881313,0.40288418139060095,0.03499998154456353,-0.035000000473150154,0.3552728451830439,0.08439459317469712,0.07989224457978368,0.9954304319652607,-1.8724889960638966e-11,-4.105103956417747e-12,0.09548955501757704],"qvel":[0.00016206880006622824,-7.735413258634265e-05,0.0004244508391556477,-0.00012644683297903688,-0.0032583940258584256,0.0035784767160220057,1.960763431566932e-08,-5.03612496923618e-09,8.131459209323637e-12,-2.525842072651599e-11,3.89190671727148e-15,2.0642461271485253e-10,2.492932928751952e-11,-4.684052831836069e-10],"joint_position_rad":[0.3263880046303212,1.4978949716155414,-1.264344183004283,-0.20079807223249332,0.9365303650881313,0.40288418139060095],"joint_velocity_rad_s":[0.00016206880006622824,-7.735413258634265e-05,0.0004244508391556477,-0.00012644683297903688,-0.0032583940258584256,0.0035784767160220057],"gripper_joint_position_m":[0.03499998154456353,-0.035000000473150154],"tcp_position_m":[0.35015651231192285,0.08419570355339578,0.20981721754696833],"tcp_quaternion_wxyz":[0.25760328716996483,-0.001182975885579439,0.9662496355358559,-0.0008881633343895975],"object_position_m":[0.3552728451830439,0.08439459317469712,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319652607,-1.8724889960638966e-11,-4.105103956417747e-12,0.09548955501757704],"object_linear_velocity_m_s":[8.131459209323637e-12,-2.525842072651599e-11,3.89190671727148e-15],"object_angular_velocity_rad_s":[1.9792092266388531e-10,6.371734901169994e-11,-4.684052831836071e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000477488},{"geom_ids":[1,90],"normal_force_n":0.09810000000608655},{"geom_ids":[1,90],"normal_force_n":0.09809999999522494},{"geom_ids":[1,90],"normal_force_n":0.09809999999391344}],"native_actuator_controls":[0.32646598433406465,1.4978590227494457,-1.2640004663899556,-0.2008366337723526,0.9335075626220728,0.4057624055034402,0.035],"actuator_force_native":[0.005428032299146679,-0.0024891386247247738,0.025375074950417797,-0.0009102274294772172,-0.025340433621796166,0.023414526054359897,6.401792873589329e-07],"issued_joint_targets_rad":[0.3264664825010736,1.4978589281680013,-1.263999883410527,-0.20083760643775883,0.9335069508171546,0.40576365503719375],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.439999999999554,"joint_targets_rad":[0.3264664825010736,1.4978589281680013,-1.263999883410527,-0.20083760643775883,0.9335069508171546,0.40576365503719375],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.459999999999578,"qpos":[0.3263911896570397,1.4978934561907502,-1.264335793606658,-0.20080055873582472,0.9364659200361228,0.4029548451605631,0.034999982002702955,-0.03500000040408365,0.35527284518322727,0.08439459317412773,0.07989224457978368,0.9954304319659919,-1.968872909094931e-11,-4.3163995131256545e-12,0.09548955500995394],"qvel":[0.00015649295333645092,-7.429543505247634e-05,0.0004148136767113736,-0.00012147563034912366,-0.003189581006053601,0.0034921718192850123,1.9118294844170198e-08,-4.98916823863701e-09,9.54980783622945e-12,-2.966423636967046e-11,3.729536599920051e-15,-1.6157818054924393e-10,-1.9512082595142168e-11,-8.551905172234538e-10],"joint_position_rad":[0.3263911896570397,1.4978934561907502,-1.264335793606658,-0.20080055873582472,0.9364659200361228,0.4029548451605631],"joint_velocity_rad_s":[0.00015649295333645092,-7.429543505247634e-05,0.0004148136767113736,-0.00012147563034912366,-0.003189581006053601,0.0034921718192850123],"gripper_joint_position_m":[0.034999982002702955,-0.03500000040408365],"tcp_position_m":[0.3501655300120365,0.08420122106460212,0.20982111519421304],"tcp_quaternion_wxyz":[0.2576291793405532,-0.0011544180480560409,0.9662427846532567,-0.000868548676354014],"object_position_m":[0.35527284518322727,0.08439459317412773,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319659919,-1.968872909094931e-11,-4.3163995131256545e-12,0.09548955500995394],"object_linear_velocity_m_s":[9.54980783622945e-12,-2.966423636967046e-11,3.729536599920051e-15],"object_angular_velocity_rad_s":[-1.549221862662629e-10,-4.987329946258842e-11,-8.55190517223454e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000066379},{"geom_ids":[1,90],"normal_force_n":0.09810000000846143},{"geom_ids":[1,90],"normal_force_n":0.098099999993362},{"geom_ids":[1,90],"normal_force_n":0.09809999999153844}],"native_actuator_controls":[0.3264664825010736,1.4978589281680013,-1.263999883410527,-0.20083760643775883,0.9335069508171546,0.40576365503719375,0.035],"actuator_force_native":[0.00524096275602659,-0.002390764644658816,0.024798747306917335,-0.0008745299256194272,-0.02480532068060093,0.022849841037379193,6.243004075923153e-07],"issued_joint_targets_rad":[0.32646696586055873,1.49785883432916,-1.263999314925571,-0.20083854841259413,0.9335063544776363,0.40576486743941326],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.459999999999578,"joint_targets_rad":[0.32646696586055873,1.49785883432916,-1.263999314925571,-0.20083854841259413,0.9335063544776363,0.40576486743941326],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.479999999999603,"qpos":[0.32639426516503656,1.4978920006028162,-1.2643275947113108,-0.20080294781919616,0.936402836014853,0.40302380456845144,0.034999982449045446,-0.03500000033940725,0.35527284518340646,0.08439459317357094,0.07989224457978368,0.9954304319667449,-1.9376374894574183e-11,-4.247909375625854e-12,0.09548955500210361],"qvel":[0.000151113446367801,-7.136403699991221e-05,0.0004053936365391959,-0.00011672390071974578,-0.0031222187298384258,0.0034079400422430415,1.8640912039396614e-08,-4.939007131616e-09,1.1700290297138067e-11,-3.6344304630431203e-11,3.6726376699080126e-15,-7.345881220428753e-10,-8.870934248330783e-11,-1.5613566176265367e-09],"joint_position_rad":[0.32639426516503656,1.4978920006028162,-1.2643275947113108,-0.20080294781919616,0.936402836014853,0.40302380456845144],"joint_velocity_rad_s":[0.000151113446367801,-7.136403699991221e-05,0.0004053936365391959,-0.00011672390071974578,-0.0031222187298384258,0.0034079400422430415],"gripper_joint_position_m":[0.034999982449045446,-0.03500000033940725],"tcp_position_m":[0.35017436260630913,0.08420661601855652,0.20982492434956812],"tcp_quaternion_wxyz":[0.2576545097758761,-0.0011265378739449183,0.9662360804115233,-0.0008493618473227178],"object_position_m":[0.35527284518340646,0.08439459317357094,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319667449,-1.9376374894574183e-11,-4.247909375625854e-12,0.09548955500210361],"object_linear_velocity_m_s":[1.1700290297138067e-11,-3.6344304630431203e-11,3.6726376699080126e-15],"object_angular_velocity_rad_s":[-7.043275828823485e-10,-2.2674151027416055e-10,-1.5613566176265367e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000067599},{"geom_ids":[1,90],"normal_force_n":0.09810000000861696},{"geom_ids":[1,90],"normal_force_n":0.09809999999323997},{"geom_ids":[1,90],"normal_force_n":0.09809999999138282}],"native_actuator_controls":[0.32646696586055873,1.49785883432916,-1.263999314925571,-0.20083854841259413,0.9335063544776363,0.40576486743941326,0.035],"actuator_force_native":[0.0050604884099350045,-0.002296481707503517,0.024235414676496703,-0.0008404042323189032,-0.024281487277407976,0.022298718646253768,6.088336219622903e-07],"issued_joint_targets_rad":[0.3264674348902341,1.497858741273249,-1.2639987605429848,-0.2008394607663268,0.9335057731727012,0.40576604392180604],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.479999999999603,"joint_targets_rad":[0.3264674348902341,1.497858741273249,-1.2639987605429848,-0.2008394607663268,0.9335057731727012,0.40576604392180604],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.499999999999627,"qpos":[0.326397235009649,1.497890602363443,-1.2643195820251913,-0.20080524377084835,0.9363410843290605,0.4030911005595011,0.03499998288389671,-0.035000000278873115,0.35527284518357694,0.08439459317304143,0.07989224457978368,0.9954304319674385,-1.74444521229923e-11,-3.8243653149215215e-12,0.09548955499487347],"qvel":[0.00014592328280820584,-6.855448787027443e-05,0.00039618591427646586,-0.00011218104164810052,-0.003056276715048159,0.0033257319657681683,1.817524037529044e-08,-4.8859856300218266e-09,1.509221597234116e-11,-4.6880424570818125e-11,3.64904543063473e-15,-1.6019878464805534e-09,-1.9346356200643624e-10,-2.850643021369043e-09],"joint_position_rad":[0.326397235009649,1.497890602363443,-1.2643195820251913,-0.20080524377084835,0.9363410843290605,0.4030911005595011],"joint_velocity_rad_s":[0.00014592328280820584,-6.855448787027443e-05,0.00039618591427646586,-0.00011218104164810052,-0.003056276715048159,0.0033257319657681683],"gripper_joint_position_m":[0.03499998288389671,-0.035000000278873115],"tcp_position_m":[0.35018301386180584,0.08421189113247735,0.20982864726918157],"tcp_quaternion_wxyz":[0.25767929115856214,-0.0010993197635397094,0.9662295195852051,-0.0008305938972089816],"object_position_m":[0.35527284518357694,0.08439459317304143,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319674385,-1.74444521229923e-11,-3.8243653149215215e-12,0.09548955499487347],"object_linear_velocity_m_s":[1.509221597234116e-11,-4.6880424570818125e-11,3.64904543063473e-15],"object_angular_velocity_rad_s":[-1.5359945139270648e-09,-4.944836329764422e-10,-2.8506430213690433e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000418606},{"geom_ids":[1,90],"normal_force_n":0.098100000005336},{"geom_ids":[1,90],"normal_force_n":0.09809999999581401},{"geom_ids":[1,90],"normal_force_n":0.09809999999466411}],"native_actuator_controls":[0.3264674348902341,1.497858741273249,-1.2639987605429848,-0.2008394607663268,0.9335057731727012,0.40576604392180604,0.035],"actuator_force_native":[0.0048863740327647065,-0.0022061147761718303,0.023684789005130824,-0.0008077746108980932,-0.02376869649101998,0.021760835674396795,5.937679297129961e-07],"issued_joint_targets_rad":[0.32646789005098537,1.497858649037168,-1.26399821988238,-0.2008403445274474,0.9335052064848408,0.4057671856523381],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.499999999999627,"joint_targets_rad":[0.32646789005098537,1.497858649037168,-1.26399821988238,-0.2008403445274474,0.9335052064848408,0.4057671856523381],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.51999999999965,"qpos":[0.326400102908837,1.4978892590908277,-1.264311751350294,-0.20080745067234115,0.9362806368864719,0.40315677310266423,0.034999983307555146,-0.03500000022224728,0.35527284518376384,0.0843945931724606,0.07989224457978368,0.995430431968471,-1.7633348345522617e-11,-3.865783175067198e-12,0.09548955498410974],"qvel":[0.000140915715834436,-6.586157417378496e-05,0.0003871858078334276,-0.00010783699721053146,-0.0029917251157791343,0.003245499331336074,1.7721035552874794e-08,-4.8304218818101144e-09,6.794116912055792e-12,-2.1104354056130014e-11,3.657372103319421e-15,6.642021327995824e-10,8.021121512889259e-11,-3.0884370474445263e-10],"joint_position_rad":[0.326400102908837,1.4978892590908277,-1.264311751350294,-0.20080745067234115,0.9362806368864719,0.40315677310266423],"joint_velocity_rad_s":[0.000140915715834436,-6.586157417378496e-05,0.0003871858078334276,-0.00010783699721053146,-0.0029917251157791343,0.003245499331336074],"gripper_joint_position_m":[0.034999983307555146,-0.03500000022224728],"tcp_position_m":[0.35019148746897244,0.08421704906721457,0.20983228614134525],"tcp_quaternion_wxyz":[0.2577035358615272,-0.001072748454774613,0.966223099024152,-0.0008122360388204094],"object_position_m":[0.35527284518376384,0.0843945931724606,0.07989224457978368],"object_quaternion_wxyz":[0.995430431968471,-1.7633348345522617e-11,-3.865783175067198e-12,0.09548955498410974],"object_linear_velocity_m_s":[6.794116912055792e-12,-2.1104354056130014e-11,3.657372103319421e-15],"object_angular_velocity_rad_s":[6.368407370324651e-10,2.0501753072338544e-10,-3.088437047444527e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000141374},{"geom_ids":[1,90],"normal_force_n":0.09810000000180219},{"geom_ids":[1,90],"normal_force_n":0.09809999999858629},{"geom_ids":[1,90],"normal_force_n":0.09809999999819786}],"native_actuator_controls":[0.32646789005098537,1.497858649037168,-1.26399821988238,-0.2008403445274474,0.9335052064848408,0.4057671856523381,0.035],"actuator_force_native":[0.0047183927927001434,-0.002119496421912004,0.023146588393956335,-0.0007765692181980199,-0.023266716342641658,0.02123587649973402,5.790926163040666e-07],"issued_joint_targets_rad":[0.3264683317875146,1.497858557654582,-1.2639976925747032,-0.20084120068516664,0.9335046540094127,0.4057682937569668],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.51999999999965,"joint_targets_rad":[0.3264683317875146,1.497858557654582,-1.2639976925747032,-0.20084120068516664,0.9335046540094127,0.4057682937569668],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.539999999999676,"qpos":[0.3264028724480836,1.4978879685050266,-1.2643040985816336,-0.20080957240918867,0.9362214661852132,0.4032208612135488,0.03499998372031194,-0.03500000016930875,0.3552728451839559,0.08439459317186415,0.07989224457978368,0.9954304319697922,-1.868359283921147e-11,-4.096039436807945e-12,0.0954895549703352],"qvel":[0.00013608423934614264,-6.328030907697279e-05,0.00037838871539051723,-0.00010368222849903061,-0.002928534709272119,0.003167195014589798,1.7278054832165052e-08,-4.772611374586898e-09,7.407400952147604e-12,-2.3009348815758675e-11,3.4936142071872108e-15,5.275044714771509e-10,6.370341912628229e-11,-5.638708515116673e-10],"joint_position_rad":[0.3264028724480836,1.4978879685050266,-1.2643040985816336,-0.20080957240918867,0.9362214661852132,0.4032208612135488],"joint_velocity_rad_s":[0.00013608423934614264,-6.328030907697279e-05,0.00037838871539051723,-0.00010368222849903061,-0.002928534709272119,0.003167195014589798],"gripper_joint_position_m":[0.03499998372031194,-0.03500000016930875],"tcp_position_m":[0.3501997870432623,0.08422209242805585,0.20983584308891984],"tcp_quaternion_wxyz":[0.25772725595661383,-0.0010468090169633128,0.9662168156515385,-0.0007942796464568191],"object_position_m":[0.3552728451839559,0.08439459317186415,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319697922,-1.868359283921147e-11,-4.096039436807945e-12,0.0954895549703352],"object_linear_velocity_m_s":[7.407400952147604e-12,-2.3009348815758675e-11,3.4936142071872108e-15],"object_angular_velocity_rad_s":[5.057742019817988e-10,1.6282367655363138e-10,-5.638708515116672e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000298334},{"geom_ids":[1,90],"normal_force_n":0.09810000000380285},{"geom_ids":[1,90],"normal_force_n":0.09809999999701668},{"geom_ids":[1,90],"normal_force_n":0.09809999999619716}],"native_actuator_controls":[0.3264683317875146,1.497858557654582,-1.2639976925747032,-0.20084120068516664,0.9335046540094127,0.4057682937569668,0.035],"actuator_force_native":[0.004556325957750573,-0.002036466490181965,0.022620536977484562,-0.00074671989662356,-0.022775319694096297,0.020723532912295006,5.647972483036057e-07],"issued_joint_targets_rad":[0.32646876052895263,1.4978584671561095,-1.2639971782618658,-0.20084203019104296,0.933504115354214,0.40576936932130325],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.539999999999676,"joint_targets_rad":[0.32646876052895263,1.4978584671561095,-1.2639971782618658,-0.20084203019104296,0.933504115354214,0.40576936932130325],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.5599999999997,"qpos":[0.3264055470851231,1.4978867284235298,-1.2642966197052583,-0.2008116126809215,0.9361635453014807,0.40328340297683357,0.03499998412245119,-0.035000000119848856,0.35527284518414315,0.08439459317128241,0.07989224457978368,0.9954304319712711,-1.933813161615219e-11,-4.239531930605812e-12,0.09548955495491859],"qvel":[0.0001314225794562473,-6.080592244400829e-05,0.00036979013342868216,-9.970768577196932e-05,-0.002866676883060683,0.003090772999470186,1.6846056863969145e-08,-4.712827586687941e-09,8.189883875426053e-12,-2.5439963614088e-11,3.443654171079078e-15,2.9120109312883055e-10,3.516693821399268e-11,-1.029485839108766e-09],"joint_position_rad":[0.3264055470851231,1.4978867284235298,-1.2642966197052583,-0.2008116126809215,0.9361635453014807,0.40328340297683357],"joint_velocity_rad_s":[0.0001314225794562473,-6.080592244400829e-05,0.00036979013342868216,-9.970768577196932e-05,-0.002866676883060683,0.003090772999470186],"gripper_joint_position_m":[0.03499998412245119,-0.035000000119848856],"tcp_position_m":[0.3502079161267228,0.08422702376554776,0.2098393201716574],"tcp_quaternion_wxyz":[0.25775046322293726,-0.0010214868445947581,0.9662106664619513,-0.0007767162544096342],"object_position_m":[0.35527284518414315,0.08439459317128241,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319712711,-1.933813161615219e-11,-4.239531930605812e-12,0.09548955495491859],"object_linear_velocity_m_s":[8.189883875426053e-12,-2.5439963614088e-11,3.443654171079078e-15],"object_angular_velocity_rad_s":[2.7920514078153526e-10,8.988481264338057e-11,-1.029485839108766e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000460345},{"geom_ids":[1,90],"normal_force_n":0.09810000000586806},{"geom_ids":[1,90],"normal_force_n":0.09809999999539672},{"geom_ids":[1,90],"normal_force_n":0.09809999999413206}],"native_actuator_controls":[0.32646876052895263,1.4978584671561095,-1.2639971782618658,-0.20084203019104296,0.933504115354214,0.40576936932130325,0.035],"actuator_force_native":[0.004399962609081598,-0.0019568717814024694,0.02210636480427297,-0.0007181619759997204,-0.022294284148077992,0.020223503945491217,5.508716680591164e-07],"issued_joint_targets_rad":[0.32646917668945347,1.497858377569499,-1.2639966765963873,-0.20084283396053573,0.9335035901390634,0.4057704133922022],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.5599999999997,"joint_targets_rad":[0.32646917668945347,1.497858377569499,-1.2639966765963873,-0.20084283396053573,0.9335035901390634,0.4057704133922022],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.579999999999725,"qpos":[0.32640813015450126,1.4978855367570303,-1.2642893107963025,-0.20081357501060682,0.9361068478774659,0.40334443556817323,0.03499998451425003,-0.035000000073670455,0.35527284518432456,0.08439459317071897,0.07989224457978368,0.9954304319728781,-1.9406202272737887e-11,-4.254448095154597e-12,0.09548955493816412],"qvel":[0.00012692468628450475,-5.843385132341005e-05,0.000361385654792375,-9.590478215413757e-05,-0.002806123622381752,0.003016188352895896,1.6424802555396118e-08,-4.6513242290350335e-09,9.33029415448116e-12,-2.8982419114139422e-11,3.207731778346233e-15,-8.239970885237151e-11,-9.9502311177548e-12,-1.8795809856149025e-09],"joint_position_rad":[0.32640813015450126,1.4978855367570303,-1.2642893107963025,-0.20081357501060682,0.9361068478774659,0.40334443556817323],"joint_velocity_rad_s":[0.00012692468628450475,-5.843385132341005e-05,0.000361385654792375,-9.590478215413757e-05,-0.002806123622381752,0.003016188352895896],"gripper_joint_position_m":[0.03499998451425003,-0.035000000073670455],"tcp_position_m":[0.3502158781895407,0.08423184557633483,0.2098427193884311],"tcp_quaternion_wxyz":[0.2577731691549595,-0.0009967676511933624,0.966204648519536,-0.000759537555365577],"object_position_m":[0.35527284518432456,0.08439459317071897,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319728781,-1.9406202272737887e-11,-4.254448095154597e-12,0.09548955493816412],"object_linear_velocity_m_s":[9.33029415448116e-12,-2.8982419114139422e-11,3.207731778346233e-15],"object_angular_velocity_rad_s":[-7.900542290364859e-11,-2.543348717867567e-11,-1.8795809856149012e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000587074},{"geom_ids":[1,90],"normal_force_n":0.09810000000748349},{"geom_ids":[1,90],"normal_force_n":0.0980999999941293},{"geom_ids":[1,90],"normal_force_n":0.09809999999251665}],"native_actuator_controls":[0.32646917668945347,1.497858377569499,-1.2639966765963873,-0.20084283396053573,0.9335035901390634,0.4057704133922022,0.035],"actuator_force_native":[0.004249099364752595,-0.0018805657458926817,0.021603807719245083,-0.0006908340863862605,-0.021823391950453797,0.019735495710945905,5.373059863700291e-07],"issued_joint_targets_rad":[0.3264695806687568,1.4978582889198,-1.2639961872410566,-0.200843612874489,0.9335030779954064,0.4057714269792815],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.579999999999725,"joint_targets_rad":[0.3264695806687568,1.4978582889198,-1.2639961872410566,-0.200843612874489,0.9335030779954064,0.4057714269792815],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.59999999999975,"qpos":[0.32641062487197514,1.4978843915053748,-1.2642821680170808,-0.20081546275385798,0.9360513481095304,0.40340399527559995,0.03499998489597873,-0.035000000030587425,0.35527284518449814,0.08439459317017978,0.07989224457978368,0.9954304319745332,-1.8603779873002886e-11,-4.078526973272203e-12,0.09548955492091027],"qvel":[0.00012258472602379392,-5.6159730851501635e-05,0.00035317096677821514,-9.226536879384705e-05,-0.002746847497835422,0.0029433971999844014,1.601405533116785e-08,-4.5883358705422735e-09,1.1150294582123529e-11,-3.4635866834527044e-11,3.3923063561901655e-15,-6.461110076875981e-10,-7.802595301784983e-11,-3.4316394325173303e-09],"joint_position_rad":[0.32641062487197514,1.4978843915053748,-1.2642821680170808,-0.20081546275385798,0.9360513481095304,0.40340399527559995],"joint_velocity_rad_s":[0.00012258472602379392,-5.6159730851501635e-05,0.00035317096677821514,-9.226536879384705e-05,-0.002746847497835422,0.0029433971999844014],"gripper_joint_position_m":[0.03499998489597873,-0.035000000030587425],"tcp_position_m":[0.35022367663155124,0.08423656030400957,0.20984604267937484],"tcp_quaternion_wxyz":[0.25779538497029614,-0.0009726374632433543,0.9661987589562044,-0.0007427353987287701],"object_position_m":[0.35527284518449814,0.08439459317017978,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319745332,-1.8603779873002886e-11,-4.078526973272203e-12,0.09548955492091027],"object_linear_velocity_m_s":[1.1150294582123529e-11,-3.4635866834527044e-11,3.3923063561901655e-15],"object_angular_velocity_rad_s":[-6.194949632425393e-10,-1.9943288123213612e-10,-3.4316394325173283e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000602986},{"geom_ids":[1,90],"normal_force_n":0.09810000000768618},{"geom_ids":[1,90],"normal_force_n":0.09809999999396996},{"geom_ids":[1,90],"normal_force_n":0.09809999999231346}],"native_actuator_controls":[0.3264695806687568,1.4978582889198,-1.2639961872410566,-0.200843612874489,0.9335030779954064,0.4057714269792815,0.035],"actuator_force_native":[0.004103540112414095,-0.0018074081917234253,0.021112607248042536,-0.0006646779812733428,-0.021362429894486112,0.019259221236838542,5.24090574494096e-07],"issued_joint_targets_rad":[0.32646997285273543,1.4978582012295159,-1.2639957098685928,-0.20084436778055426,0.9335025785659251,0.4057724110563809],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.59999999999975,"joint_targets_rad":[0.32646997285273543,1.4978582012295159,-1.2639957098685928,-0.20084436778055426,0.9335025785659251,0.4057724110563809],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.619999999999774,"qpos":[0.326413034338558,1.4978832907536739,-1.264275187615214,-0.20081727910777197,0.9359970207369056,0.40346211752048916,0.03499998530853626,-0.03500000004594338,0.3552728451846604,0.08439459316967535,0.07989224457978368,0.9954304319760577,-1.6527901219530878e-11,-3.623427489115543e-12,0.09548955490501944],"qvel":[0.00011839707917786604,-5.397938491365066e-05,0.000345141849284329,-8.878169885242663e-05,-0.0026888216600519134,0.0028723567007847384,1.7237031505165276e-08,-6.515270065324725e-09,1.4194690305612932e-11,-4.40926663112404e-11,4.051501277061351e-15,-1.4729379029623127e-09,-1.7787473302057148e-10,-6.26531605785755e-09],"joint_position_rad":[0.326413034338558,1.4978832907536739,-1.264275187615214,-0.20081727910777197,0.9359970207369056,0.40346211752048916],"joint_velocity_rad_s":[0.00011839707917786604,-5.397938491365066e-05,0.000345141849284329,-8.878169885242663e-05,-0.0026888216600519134,0.0028723567007847384],"gripper_joint_position_m":[0.03499998530853626,-0.03500000004594338],"tcp_position_m":[0.35023131478369895,0.08424117033981479,0.20984929192793048],"tcp_quaternion_wxyz":[0.2578171216172159,-0.0009490826141242863,0.9661929949699058,-0.0007263017891168447],"object_position_m":[0.3552728451846604,0.08439459316967535,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319760577,-1.6527901219530878e-11,-3.623427489115543e-12,0.09548955490501944],"object_linear_velocity_m_s":[1.4194690305612932e-11,-4.40926663112404e-11,4.051501277061351e-15],"object_angular_velocity_rad_s":[-1.4122615275103938e-09,-4.5464586718033747e-10,-6.265316057857548e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000373373},{"geom_ids":[1,90],"normal_force_n":0.09810000000475971},{"geom_ids":[1,90],"normal_force_n":0.09809999999626498},{"geom_ids":[1,90],"normal_force_n":0.09809999999523905}],"native_actuator_controls":[0.32646997285273543,1.4978582012295159,-1.2639957098685928,-0.20084436778055426,0.9335025785659251,0.4057724110563809,0.035],"actuator_force_native":[0.003963095738303224,-0.0017372650080744734,0.020632510483281408,-0.0006396384170290759,-0.020911189219726012,0.01879440030774049,5.014733921449022e-07],"issued_joint_targets_rad":[0.3264703536139164,1.4978581145187582,-1.2639952441613296,-0.20084509949454749,0.933502091504167,0.4057733665629587],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.619999999999774,"joint_targets_rad":[0.3264703536139164,1.4978581145187582,-1.2639952441613296,-0.20084509949454749,0.933502091504167,0.4057733665629587],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.639999999999798,"qpos":[0.32641536154544276,1.497882232668694,-1.2642683659218055,-0.2008190271172872,0.9359438410291873,0.403518836877784,0.034999985697758404,-0.035000000040591894,0.35527284518483654,0.08439459316912849,0.07989224457978368,0.9954304319783271,-1.6564279990144632e-11,-3.6313966099824493e-12,0.0954895548813622],"qvel":[0.00011435629204021113,-5.188882240704301e-05,0.000337294172877517,-8.544649287952678e-05,-0.0026320197772102412,0.0028030250244733086,1.842377490254476e-08,-8.643412234609102e-09,6.393690855805179e-12,-1.986057697166361e-11,3.4950019859679913e-15,6.289417368012009e-10,7.595308253939207e-11,-6.787956978852579e-10],"joint_position_rad":[0.32641536154544276,1.497882232668694,-1.2642683659218055,-0.2008190271172872,0.9359438410291873,0.403518836877784],"joint_velocity_rad_s":[0.00011435629204021113,-5.188882240704301e-05,0.000337294172877517,-8.544649287952678e-05,-0.0026320197772102412,0.0028030250244733086],"gripper_joint_position_m":[0.034999985697758404,-0.035000000040591894],"tcp_position_m":[0.3502387959095083,0.08424567802417039,0.2098524689628442],"tcp_quaternion_wxyz":[0.2578383897821647,-0.0009260897384104596,0.9661873538228856,-0.0007102288835101546],"object_position_m":[0.35527284518483654,0.08439459316912849,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319783271,-1.6564279990144632e-11,-3.6313966099824493e-12,0.0954895548813622],"object_linear_velocity_m_s":[6.393690855805179e-12,-1.986057697166361e-11,3.4950019859679913e-15],"object_angular_velocity_rad_s":[6.030328659835304e-10,1.9413382389845346e-10,-6.787956978852577e-10],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000123616},{"geom_ids":[1,90],"normal_force_n":0.09810000000157564},{"geom_ids":[1,90],"normal_force_n":0.0980999999987638},{"geom_ids":[1,90],"normal_force_n":0.09809999999842417}],"native_actuator_controls":[0.3264703536139164,1.4978581145187582,-1.2639952441613296,-0.20084509949454749,0.933502091504167,0.4057733665629587,0.035],"actuator_force_native":[0.003827584017688679,-0.001670007882836444,0.02016326997367912,-0.0006156626260125364,-0.020469465584387336,0.01834075931503687,4.799707893354821e-07],"issued_joint_targets_rad":[0.3264707233119782,1.4978580288053847,-1.2639947898108996,-0.2008458088017423,0.9335016164741767,0.40577429440541585],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.639999999999798,"joint_targets_rad":[0.3264707233119782,1.4978580288053847,-1.2639947898108996,-0.2008458088017423,0.9335016164741767,0.40577429440541585],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.659999999999823,"qpos":[0.32641760937679876,1.4978812154951922,-1.2642616993496285,-0.20082070968517016,0.9358917847768152,0.4035741870962454,0.03499998606111519,-0.035000000012685765,0.3552728451850287,0.08439459316853169,0.07989224457978368,0.9954304319815994,-1.8386538641292387e-11,-4.0308931127329525e-12,0.09548955484725047],"qvel":[0.00011045719834891158,-4.9884214985093115e-05,0.00032962389696418665,-8.225264524202313e-05,-0.0025764161912394724,0.0027353613187806273,1.4039183603624598e-08,-2.969655143029503e-09,7.1963114131457264e-12,-2.2353727906945227e-11,3.38814301984782e-15,5.394831048924602e-10,6.514951122895872e-11,-1.239309328032269e-09],"joint_position_rad":[0.32641760937679876,1.4978812154951922,-1.2642616993496285,-0.20082070968517016,0.9358917847768152,0.4035741870962454],"joint_velocity_rad_s":[0.00011045719834891158,-4.9884214985093115e-05,0.00032962389696418665,-8.225264524202313e-05,-0.0025764161912394724,0.0027353613187806273],"gripper_joint_position_m":[0.03499998606111519,-0.035000000012685765],"tcp_position_m":[0.35024612320643755,0.08425008564664015,0.20985557556002465],"tcp_quaternion_wxyz":[0.25785919989654477,-0.000903645765676148,0.9661818328401264,-0.000694508990791398],"object_position_m":[0.3552728451850287,0.08439459316853169,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319815994,-1.8386538641292387e-11,-4.0308931127329525e-12,0.09548955484725047],"object_linear_velocity_m_s":[7.1963114131457264e-12,-2.2353727906945227e-11,3.38814301984782e-15],"object_angular_velocity_rad_s":[5.172594755857121e-10,1.6652061192109372e-10,-1.2393093280322687e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000296175},{"geom_ids":[1,90],"normal_force_n":0.09810000000377526},{"geom_ids":[1,90],"normal_force_n":0.09809999999703843},{"geom_ids":[1,90],"normal_force_n":0.09809999999622475}],"native_actuator_controls":[0.3264707233119782,1.4978580288053847,-1.2639947898108996,-0.2008458088017423,0.9335016164741767,0.40577429440541585,0.035],"actuator_force_native":[0.0036968288226084667,-0.0016055141096700254,0.01970464361347979,-0.0005927014366751138,-0.020037058739527325,0.01789803111353372,4.873594743326493e-07],"issued_joint_targets_rad":[0.32647108229423794,1.4978579441051372,-1.263994346517938,-0.20084649645812155,0.9335011531501582,0.405775195458394],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.659999999999823,"joint_targets_rad":[0.32647108229423794,1.4978579441051372,-1.263994346517938,-0.20084649645812155,0.9335011531501582,0.405775195458394],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.679999999999847,"qpos":[0.326419780613593,1.497880237552534,-1.2642551843913763,-0.2008223295792813,0.935840828280198,0.4036282011179141,0.034999986464965556,-0.03500000005773947,0.3552728451852196,0.0843945931679387,0.07989224457978368,0.9954304319852807,-1.9564517086020908e-11,-4.289146742131059e-12,0.09548955480887525],"qvel":[0.00010669469439019775,-4.796191374629641e-05,0.00032212706870704636,-7.919366219510323e-05,-0.0025219856099291805,0.002669325720597316,1.5947187596511145e-08,-5.821059212910822e-09,8.09764018133034e-12,-2.5153492719813194e-11,3.5810442703764416e-15,3.469744246754855e-10,4.1901523749016296e-11,-2.262665360594046e-09],"joint_position_rad":[0.326419780613593,1.497880237552534,-1.2642551843913763,-0.2008223295792813,0.935840828280198,0.4036282011179141],"joint_velocity_rad_s":[0.00010669469439019775,-4.796191374629641e-05,0.00032212706870704636,-7.919366219510323e-05,-0.0025219856099291805,0.002669325720597316],"gripper_joint_position_m":[0.034999986464965556,-0.03500000005773947],"tcp_position_m":[0.3502532998072471,0.08425439544680846,0.20985861344436002],"tcp_quaternion_wxyz":[0.2578795621435661,-0.000881737914736003,0.9661764294077599,-0.0006791345698360794],"object_position_m":[0.3552728451852196,0.0843945931679387,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319852807,-1.9564517086020908e-11,-4.289146742131059e-12,0.09548955480887525],"object_linear_velocity_m_s":[8.09764018133034e-12,-2.5153492719813194e-11,3.5810442703764416e-15],"object_angular_velocity_rad_s":[3.326810735127131e-10,1.0709945096872493e-10,-2.2626653605940456e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000457575},{"geom_ids":[1,90],"normal_force_n":0.09810000000583258},{"geom_ids":[1,90],"normal_force_n":0.09809999999542411},{"geom_ids":[1,90],"normal_force_n":0.09809999999416728}],"native_actuator_controls":[0.32647108229423794,1.4978579441051372,-1.263994346517938,-0.20084649645812155,0.9335011531501582,0.405775195458394,0.035],"actuator_force_native":[0.0035706609796442024,-0.0015436662230285947,0.01925639453152428,-0.000570706842633939,-0.019613772885504588,0.017465954823903118,4.616654398770237e-07],"issued_joint_targets_rad":[0.32647143089611425,1.4978578604317683,-1.2639939139918022,-0.20084716319156629,0.933500701216145,0.40577607056599735],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.679999999999847,"joint_targets_rad":[0.32647143089611425,1.4978578604317683,-1.2639939139918022,-0.20084716319156629,0.933500701216145,0.40577607056599735],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.69999999999987,"qpos":[0.3264218779392356,1.4978792972316828,-1.264248817617945,-0.20082388943530163,0.9357909483363361,0.4036809110967889,0.03499998680778361,-0.03500000002944254,0.3552728451854071,0.0843945931673564,0.07989224457978368,0.9954304319893176,-2.0011282144563975e-11,-4.387094770685975e-12,0.09548955476679334],"qvel":[0.00010306391640312443,-4.6118421405239305e-05,0.00031479981966157396,-7.62632626641151e-05,-0.0024687033586742583,0.0026048792820738144,1.5336843603824092e-08,-5.619782905525276e-09,9.250916831165277e-12,-2.8735870713944986e-11,3.5005531010911184e-15,1.3032099649419338e-11,1.573413888178945e-12,-4.131056872210902e-09],"joint_position_rad":[0.3264218779392356,1.4978792972316828,-1.264248817617945,-0.20082388943530163,0.9357909483363361,0.4036809110967889],"joint_velocity_rad_s":[0.00010306391640312443,-4.6118421405239305e-05,0.00031479981966157396,-7.62632626641151e-05,-0.0024687033586742583,0.0026048792820738144],"gripper_joint_position_m":[0.03499998680778361,-0.03500000002944254],"tcp_position_m":[0.35026032878140834,0.08425860961673022,0.20986158429151916],"tcp_quaternion_wxyz":[0.2578994864653585,-0.0008603536884264899,0.9661711409714029,-0.0006640982250615512],"object_position_m":[0.3552728451854071,0.0843945931673564,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319893176,-2.0011282144563975e-11,-4.387094770685975e-12,0.09548955476679334],"object_linear_velocity_m_s":[9.250916831165277e-12,-2.8735870713944986e-11,3.5005531010911184e-15],"object_angular_velocity_rad_s":[1.2495323606364858e-11,4.022205925640974e-12,-4.131056872210901e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000595336},{"geom_ids":[1,90],"normal_force_n":0.0981000000075885},{"geom_ids":[1,90],"normal_force_n":0.09809999999404675},{"geom_ids":[1,90],"normal_force_n":0.09809999999241142}],"native_actuator_controls":[0.32647143089611425,1.4978578604317683,-1.2639939139918022,-0.20084716319156629,0.933500701216145,0.40577607056599735,0.035],"actuator_force_native":[0.003448916968277871,-0.0014843518861340499,0.018818290993110054,-0.0005496339372648151,-0.019199416163900196,0.01704427576897327,4.510044377958877e-07],"issued_joint_targets_rad":[0.32647176944155576,1.497857777797154,-1.2639934919502664,-0.20084780970297317,0.9335002603656419,0.40577692054294223],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.69999999999987,"joint_targets_rad":[0.32647176944155576,1.497857777797154,-1.2639934919502664,-0.20084780970297317,0.9335002603656419,0.40577692054294223],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.719999999999896,"qpos":[0.3264239039399742,1.4978783929917516,-1.264242595676718,-0.2008253917697232,0.9357421222327117,0.40373234841809386,0.034999987183582056,-0.0350000000632349,0.3552728451855883,0.08439459316679343,0.07989224457978368,0.9954304319935459,-1.9538175116796146e-11,-4.283381231535155e-12,0.095489554722717],"qvel":[9.956022665468355e-05,-4.43503863595727e-05,0.0003076383658232593,-7.345536593159006e-05,-0.002416545339686013,0.0025419839880585302,1.540240433639961e-08,-5.9246472451824846e-09,1.0968439880524092e-11,-3.407090485777642e-11,3.72259770601615e-15,-5.094684865876656e-10,-6.152604176774072e-11,-7.542265342450584e-09],"joint_position_rad":[0.3264239039399742,1.4978783929917516,-1.264242595676718,-0.2008253917697232,0.9357421222327117,0.40373234841809386],"joint_velocity_rad_s":[9.956022665468355e-05,-4.43503863595727e-05,0.0003076383658232593,-7.345536593159006e-05,-0.002416545339686013,0.0025419839880585302],"gripper_joint_position_m":[0.034999987183582056,-0.0350000000632349],"tcp_position_m":[0.350267213136288,0.08426273029931677,0.20986448972953664],"tcp_quaternion_wxyz":[0.2579189825686152,-0.0008394808671407663,0.9661659650348663,-0.0006493927083360912],"object_position_m":[0.3552728451855883,0.08439459316679343,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319935459,-1.9538175116796146e-11,-4.283381231535155e-12,0.095489554722717],"object_linear_velocity_m_s":[1.0968439880524092e-11,-3.407090485777642e-11,3.72259770601615e-15],"object_angular_velocity_rad_s":[-4.884810639042491e-10,-1.572572505435144e-10,-7.542265342450584e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000645308},{"geom_ids":[1,90],"normal_force_n":0.09810000000822576},{"geom_ids":[1,90],"normal_force_n":0.09809999999354664},{"geom_ids":[1,90],"normal_force_n":0.09809999999177399}],"native_actuator_controls":[0.32647176944155576,1.497857777797154,-1.2639934919502664,-0.20084780970297317,0.9335002603656419,0.40577692054294223,0.035],"actuator_force_native":[0.0033314389932499466,-0.0014274636359914439,0.018390106287014873,-0.0005294405003404279,-0.018793800661168092,0.016632745266395688,4.356446963171834e-07],"issued_joint_targets_rad":[0.3264720982434915,1.4978576962114203,-1.2639930801192854,-0.20084843666737304,0.9334998303013585,0.4057777461757265],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.719999999999896,"joint_targets_rad":[0.3264720982434915,1.4978576962114203,-1.2639930801192854,-0.20084843666737304,0.9334998303013585,0.4057777461757265],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.73999999999992,"qpos":[0.32642586111158983,1.4978775233574162,-1.2642365152899435,-0.20082683897924777,0.9356943277325683,0.40378254371574934,0.034999987495250184,-0.035000000019652804,0.3552728451857597,0.08439459316626116,0.07989224457978368,0.9954304319975874,-1.7809466480538046e-11,-3.904403531722879e-12,0.09548955468058645],"qvel":[9.6179041875396e-05,-4.265461429643473e-05,0.00030063900462430285,-7.076443343673662e-05,-0.0023654878165439526,0.002480602720615251,1.4065908711751405e-08,-4.776287746653209e-09,1.3764727774048971e-11,-4.275665632196658e-11,3.635167642826919e-15,-1.2875600801213734e-09,-1.5549744505349821e-10,-1.377027179934526e-08],"joint_position_rad":[0.32642586111158983,1.4978775233574162,-1.2642365152899435,-0.20082683897924777,0.9356943277325683,0.40378254371574934],"joint_velocity_rad_s":[9.6179041875396e-05,-4.265461429643473e-05,0.00030063900462430285,-7.076443343673662e-05,-0.0023654878165439526,0.002480602720615251],"gripper_joint_position_m":[0.034999987495250184,-0.035000000019652804],"tcp_position_m":[0.3502739558185492,0.0842667595918076,0.20986733134052044],"tcp_quaternion_wxyz":[0.25793805993162555,-0.000819107504154103,0.9661608991584921,-0.000635010912875491],"object_position_m":[0.3552728451857597,0.08439459316626116,0.07989224457978368],"object_quaternion_wxyz":[0.9954304319975874,-1.7809466480538046e-11,-3.904403531722879e-12,0.09548955468058645],"object_linear_velocity_m_s":[1.3764727774048971e-11,-4.275665632196658e-11,3.635167642826919e-15],"object_angular_velocity_rad_s":[-1.2345184153703383e-09,-3.9743514873729843e-10,-1.3770271799345263e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000048542},{"geom_ids":[1,90],"normal_force_n":0.09810000000618774},{"geom_ids":[1,90],"normal_force_n":0.09809999999514589},{"geom_ids":[1,90],"normal_force_n":0.09809999999381239}],"native_actuator_controls":[0.3264720982434915,1.4978576962114203,-1.2639930801192854,-0.20084843666737304,0.9334998303013585,0.4057777461757265,0.035],"actuator_force_native":[0.003218075342754645,-0.001372898608181572,0.017971618629530894,-0.0005100853578277054,-0.0183967425872833,0.01623112051884945,4.2986044923587485e-07],"issued_joint_targets_rad":[0.32647241760421253,1.497857615683037,-1.2639926782326982,-0.20084904473493767,0.933499410734857,0.40577854822366033],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.73999999999992,"joint_targets_rad":[0.32647241760421253,1.497857615683037,-1.2639926782326982,-0.20084904473493767,0.933499410734857,0.40577854822366033],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.759999999999945,"qpos":[0.3264277518594465,1.4978766869157198,-1.2642305732530752,-0.20082823335326452,0.9356475430693659,0.40383152689086427,0.034999987845298716,-0.035000000045939866,0.35527284518593555,0.08439459316571486,0.07989224457978368,0.9954304320025751,-1.6906937008314915e-11,-3.706559688332571e-12,0.09548955462859123],"qvel":[9.29160732851964e-05,-4.102803467137792e-05,0.0002937981143369068,-6.818492495479744e-05,-0.00231550771859369,0.002420699239911691,1.3141013225969613e-08,-3.6712512126249683e-09,6.504851415726783e-12,-2.0205715569370897e-11,3.561615367445503e-15,6.746389380281194e-10,8.147234182851323e-11,-1.4918961833814136e-09],"joint_position_rad":[0.3264277518594465,1.4978766869157198,-1.2642305732530752,-0.20082823335326452,0.9356475430693659,0.40383152689086427],"joint_velocity_rad_s":[9.29160732851964e-05,-4.102803467137792e-05,0.0002937981143369068,-6.818492495479744e-05,-0.00231550771859369,0.002420699239911691],"gripper_joint_position_m":[0.034999987845298716,-0.035000000045939866],"tcp_position_m":[0.3502805597152685,0.08427069954408242,0.20987011066209998],"tcp_quaternion_wxyz":[0.2579567278094888,-0.0007992219192554774,0.9661559409579619,-0.0006209458751880133],"object_position_m":[0.35527284518593555,0.08439459316571486,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320025751,-1.6906937008314915e-11,-3.706559688332571e-12,0.09548955462859123],"object_linear_velocity_m_s":[6.504851415726783e-12,-2.0205715569370897e-11,3.561615367445503e-15],"object_angular_velocity_rad_s":[6.468474632374965e-10,2.082397620291247e-10,-1.4918961833814134e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000093616},{"geom_ids":[1,90],"normal_force_n":0.09810000000119337},{"geom_ids":[1,90],"normal_force_n":0.09809999999906373},{"geom_ids":[1,90],"normal_force_n":0.09809999999880653}],"native_actuator_controls":[0.32647241760421253,1.497857615683037,-1.2639926782326982,-0.20084904473493767,0.933499410734857,0.40577854822366033,0.035],"actuator_force_native":[0.0031086792148542486,-0.0013205584412645521,0.017562611058465905,-0.0004915306421509058,-0.01800806176719938,0.01583916446809308,4.2048298531938144e-07],"issued_joint_targets_rad":[0.3264727278157913,1.4978575362189308,-1.263992286032013,-0.20084963453200994,0.9334990013863124,0.4057793274199463],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.759999999999945,"joint_targets_rad":[0.3264727278157913,1.4978575362189308,-1.263992286032013,-0.20084963453200994,0.9334990013863124,0.4057793274199463],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.77999999999997,"qpos":[0.3264295785047851,1.4978758823137226,-1.2642247664332187,-0.200829577072973,0.935601746932703,0.403879327128392,0.034999988166767484,-0.03500000004410067,0.35527284518612323,0.08439459316513157,0.07989224457978368,0.9954304320097672,-1.792516144618377e-11,-3.9297808592179876e-12,0.09548955455361856],"qvel":[8.976705005548574e-05,-3.946772460098306e-05,0.00028711215149188735,-6.571186359253373e-05,-0.002266582281203334,0.0023622381673077245,1.2946822852292082e-08,-3.83461974300717e-09,7.0425026369381e-12,-2.187582636745664e-11,3.697617687962086e-15,5.566653479471449e-10,6.722593732285353e-11,-2.723825532901532e-09],"joint_position_rad":[0.3264295785047851,1.4978758823137226,-1.2642247664332187,-0.200829577072973,0.935601746932703,0.403879327128392],"joint_velocity_rad_s":[8.976705005548574e-05,-3.946772460098306e-05,0.00028711215149188735,-6.571186359253373e-05,-0.002266582281203334,0.0023622381673077245],"gripper_joint_position_m":[0.034999988166767484,-0.03500000004410067],"tcp_position_m":[0.3502870276552744,0.08427455216199438,0.2098728291890082],"tcp_quaternion_wxyz":[0.2579749952407297,-0.0007798126942006063,0.9661510881027239,-0.000607190769135087],"object_position_m":[0.35527284518612323,0.08439459316513157,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320097672,-1.792516144618377e-11,-3.9297808592179876e-12,0.09548955455361856],"object_linear_velocity_m_s":[7.0425026369381e-12,-2.187582636745664e-11,3.697617687962086e-15],"object_angular_velocity_rad_s":[5.337336326816456e-10,1.718256255583156e-10,-2.7238255329015323e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000244846},{"geom_ids":[1,90],"normal_force_n":0.09810000000312105},{"geom_ids":[1,90],"normal_force_n":0.09809999999755147},{"geom_ids":[1,90],"normal_force_n":0.09809999999687893}],"native_actuator_controls":[0.3264727278157913,1.4978575362189308,-1.263992286032013,-0.20084963453200994,0.9334990013863124,0.4057793274199463,0.035],"actuator_force_native":[0.0030031096302174376,-0.0012703489603467233,0.01716287133899641,-0.00047373904351388774,-0.017627582042102574,0.015456645664581714,4.085951865739901e-07],"issued_joint_targets_rad":[0.32647302916043336,1.4978574578245727,-1.2639919032661295,-0.2008502066620244,0.9334986019841816,0.4057800844726265],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.77999999999997,"joint_targets_rad":[0.32647302916043336,1.4978574578245727,-1.2639919032661295,-0.2008502066620244,0.9334986019841816,0.4057800844726265],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.799999999999994,"qpos":[0.3264313432854928,1.4978751082556547,-1.264219091767545,-0.20083087222128942,0.9355569184618587,0.40392597291459914,0.03499998847629306,-0.035000000038763336,0.3552728451863062,0.08439459316456334,0.07989224457978368,0.9954304320178581,-1.8632397494639597e-11,-4.084842307225628e-12,0.09548955446927522],"qvel":[8.672795173690241e-05,-3.797087671951263e-05,0.0002805776498729103,-6.334031352051188e-05,-0.00221868934558423,0.0023051849572437383,1.2294603538477532e-08,-3.344907177018668e-09,7.728312572335829e-12,-2.400606556136865e-11,3.619902076238326e-15,3.5230095522686057e-10,4.254517496826587e-11,-4.9730173021741514e-09],"joint_position_rad":[0.3264313432854928,1.4978751082556547,-1.264219091767545,-0.20083087222128942,0.9355569184618587,0.40392597291459914],"joint_velocity_rad_s":[8.672795173690241e-05,-3.797087671951263e-05,0.0002805776498729103,-6.334031352051188e-05,-0.00221868934558423,0.0023051849572437383],"gripper_joint_position_m":[0.03499998847629306,-0.035000000038763336],"tcp_position_m":[0.3502933624102462,0.0842783194064291,0.20987548837443995],"tcp_quaternion_wxyz":[0.257992871052383,-0.0007608686667587308,0.9661463383148182,-0.0005937389066488331],"object_position_m":[0.3552728451863062,0.08439459316456334,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320178581,-1.8632397494639597e-11,-4.084842307225628e-12,0.09548955446927522],"object_linear_velocity_m_s":[7.728312572335829e-12,-2.400606556136865e-11,3.619902076238326e-15],"object_angular_velocity_rad_s":[3.377881046126901e-10,1.0874397155247466e-10,-4.973017302174152e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000405297},{"geom_ids":[1,90],"normal_force_n":0.09810000000516647},{"geom_ids":[1,90],"normal_force_n":0.09809999999594712},{"geom_ids":[1,90],"normal_force_n":0.09809999999483367}],"native_actuator_controls":[0.32647302916043336,1.4978574578245727,-1.2639919032661295,-0.2008502066620244,0.9334986019841816,0.4057800844726265,0.035],"actuator_force_native":[0.0029012302365600817,-0.0012221801029710377,0.016772191863893227,-0.00045667606179655706,-0.0172551307583948,0.015083338144407321,3.9947525976025133e-07],"issued_joint_targets_rad":[0.32647332191085915,1.4978573805040758,-1.2639915296911277,-0.20085076170644536,0.9334982122649604,0.4057808200655665],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.799999999999994,"joint_targets_rad":[0.32647332191085915,1.4978573805040758,-1.2639915296911277,-0.20085076170644536,0.9334982122649604,0.4057808200655665],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.820000000000018,"qpos":[0.3264330483600992,1.497874363500562,-1.2642135462617814,-0.20083212078568038,0.9355130372349878,0.40397149205339894,0.03499998877457745,-0.03500000003057057,0.3552728451864835,0.08439459316401256,0.07989224457978368,0.9954304320267306,-1.884477342236379e-11,-4.131416903067518e-12,0.09548955437678512],"qvel":[8.379486854237916e-05,-3.653480853737359e-05,0.0002741912186476715,-6.106565328632219e-05,-0.0021718071723634005,0.0022495058850169783,1.1291606270124127e-08,-2.3499072095156498e-09,8.714076102389669e-12,-2.7068015564044758e-11,3.8599878053135164e-15,2.6814030346441677e-11,3.2369786253646245e-12,-9.079473896908007e-09],"joint_position_rad":[0.3264330483600992,1.497874363500562,-1.2642135462617814,-0.20083212078568038,0.9355130372349878,0.40397149205339894],"joint_velocity_rad_s":[8.379486854237916e-05,-3.653480853737359e-05,0.0002741912186476715,-6.106565328632219e-05,-0.0021718071723634005,0.0022495058850169783],"gripper_joint_position_m":[0.03499998877457745,-0.03500000003057057],"tcp_position_m":[0.3502995666959173,0.08428200319498502,0.20987808963145793],"tcp_quaternion_wxyz":[0.25801036386573795,-0.0007423789257583546,0.966141689367521,-0.0005805837343370385],"object_position_m":[0.3552728451864835,0.08439459316401256,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320267306,-1.884477342236379e-11,-4.131416903067518e-12,0.09548955437678512],"object_linear_velocity_m_s":[8.714076102389669e-12,-2.7068015564044758e-11,3.8599878053135164e-15],"object_angular_velocity_rad_s":[2.570966571399382e-11,8.275466326227635e-12,-9.079473896908014e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000542797},{"geom_ids":[1,90],"normal_force_n":0.09810000000691906},{"geom_ids":[1,90],"normal_force_n":0.0980999999945722},{"geom_ids":[1,90],"normal_force_n":0.09809999999308111}],"native_actuator_controls":[0.32647332191085915,1.4978573805040758,-1.2639915296911277,-0.20085076170644536,0.9334982122649604,0.4057808200655665,0.035],"actuator_force_native":[0.002802909718084834,-0.0011759656762109216,0.016390369559061924,-0.00044030856416732433,-0.01689053894172865,0.014719021294149925,3.925588709652317e-07],"issued_joint_targets_rad":[0.3264736063306409,1.4978573042602767,-1.2639911650700277,-0.20085130022562475,0.9334978319729134,0.40578153485934826],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.820000000000018,"joint_targets_rad":[0.3264736063306409,1.4978573042602767,-1.2639911650700277,-0.20085130022562475,0.9334978319729134,0.40578153485934826],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.840000000000042,"qpos":[0.326434695810223,1.4978736468598948,-1.264208126988712,-0.20083332466367887,0.9354700832604688,0.4040159116826098,0.034999989092320626,-0.03500000006155104,0.35527284518665375,0.08439459316348388,0.07989224457978368,0.9954304320360235,-1.830217474403649e-11,-4.0124677150238945e-12,0.09548955427991153],"qvel":[8.096403112502601e-05,-3.51569533073657e-05,0.0002679495410629643,-5.8883487490244365e-05,-0.002125914477218072,0.002195168027947789,1.1948286236265301e-08,-3.4686293127250554e-09,1.0267792216558307e-11,-3.189419523531085e-11,3.896070053613834e-15,-4.675707223350514e-10,-5.646736484582948e-11,-1.657682664491475e-08],"joint_position_rad":[0.326434695810223,1.4978736468598948,-1.264208126988712,-0.20083332466367887,0.9354700832604688,0.4040159116826098],"joint_velocity_rad_s":[8.096403112502601e-05,-3.51569533073657e-05,0.0002679495410629643,-5.8883487490244365e-05,-0.002125914477218072,0.002195168027947789],"gripper_joint_position_m":[0.034999989092320626,-0.03500000006155104],"tcp_position_m":[0.3503056431731946,0.08428560540250982,0.20988063433430074],"tcp_quaternion_wxyz":[0.2580274821015545,-0.0007243328058214387,0.966137139084119,-0.0005677188318518811],"object_position_m":[0.35527284518665375,0.08439459316348388,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320360235,-1.830217474403649e-11,-4.0124677150238945e-12,0.09548955427991153],"object_linear_velocity_m_s":[1.0267792216558307e-11,-3.189419523531085e-11,3.896070053613834e-15],"object_angular_velocity_rad_s":[-4.48309055630526e-10,-1.443257922798989e-10,-1.657682664491476e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000595041},{"geom_ids":[1,90],"normal_force_n":0.09810000000758516},{"geom_ids":[1,90],"normal_force_n":0.0980999999940496},{"geom_ids":[1,90],"normal_force_n":0.098099999992415}],"native_actuator_controls":[0.3264736063306409,1.4978573042602767,-1.2639911650700277,-0.20085130022562475,0.9334978319729134,0.40578153485934826,0.035],"actuator_force_native":[0.002708021477801026,-0.001131623202894616,0.016017205789424338,-0.00042460504038288605,-0.016533641159728774,0.014363479725463257,3.765657439203096e-07],"issued_joint_targets_rad":[0.3264738826745415,1.4978572290948207,-1.2639908091725802,-0.2008518227596467,0.9334974608598213,0.4057822294921509],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.840000000000042,"joint_targets_rad":[0.3264738826745415,1.4978572290948207,-1.2639908091725802,-0.2008518227596467,0.9334974608598213,0.4057822294921509],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.860000000000067,"qpos":[0.32643628764415733,1.4978729571953415,-1.2642028310867213,-0.2008344856655913,0.9354280369667194,0.4040592582895582,0.03499998935537913,-0.03500000002693837,0.35527284518681407,0.08439459316298589,0.07989224457978368,0.9954304320449061,-1.6641713892197665e-11,-3.648441559170342e-12,0.0954895541873146],"qvel":[7.82317862322725e-05,-3.383485709472907e-05,0.00026184937264793273,-5.67896775530815e-05,-0.0020809904002742543,0.002142139240597879,1.1134152294556675e-08,-2.930384791993523e-09,1.285000279246517e-11,-3.991507733268001e-11,4.215259173193566e-15,-1.1963970939634756e-09,-1.4448672924310296e-10,-3.026509981069814e-08],"joint_position_rad":[0.32643628764415733,1.4978729571953415,-1.2642028310867213,-0.2008344856655913,0.9354280369667194,0.4040592582895582],"joint_velocity_rad_s":[7.82317862322725e-05,-3.383485709472907e-05,0.00026184937264793273,-5.67896775530815e-05,-0.0020809904002742543,0.002142139240597879],"gripper_joint_position_m":[0.03499998935537913,-0.03500000002693837],"tcp_position_m":[0.350311594449307,0.08428912786261404,0.209883123819679],"tcp_quaternion_wxyz":[0.2580442339854374,-0.0007067198825179813,0.9661326853366359,-0.0005551379087090371],"object_position_m":[0.35527284518681407,0.08439459316298589,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320449061,-1.6641713892197665e-11,-3.648441559170342e-12,0.0954895541873146],"object_linear_velocity_m_s":[1.285000279246517e-11,-3.991507733268001e-11,4.215259173193566e-15],"object_angular_velocity_rad_s":[-1.1471111318696673e-09,-3.692945606319092e-10,-3.026509981069816e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000449104},{"geom_ids":[1,90],"normal_force_n":0.09810000000572476},{"geom_ids":[1,90],"normal_force_n":0.09809999999550842},{"geom_ids":[1,90],"normal_force_n":0.0980999999942746}],"native_actuator_controls":[0.3264738826745415,1.4978572290948207,-1.2639908091725802,-0.2008518227596467,0.9334974608598213,0.4057822294921509,0.035],"actuator_force_native":[0.002616443499572796,-0.0010890737561908281,0.015652506268040156,-0.00040953537444998744,-0.01618427546856971,0.014016503165030336,3.701140733891606e-07],"issued_joint_targets_rad":[0.3264741511888307,1.497857155008235,-1.263990461775043,-0.20085232982911788,0.9334970986847269,0.4057829045805772],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.860000000000067,"joint_targets_rad":[0.3264741511888307,1.497857155008235,-1.263990461775043,-0.20085232982911788,0.9334970986847269,0.4057829045805772],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.88000000000009,"qpos":[0.32643782579775793,1.497872293416466,-1.2641976557583412,-0.2008356055223315,0.9353868791958347,0.4041015577269489,0.03499998965266199,-0.03500000005304258,0.35527284518697827,0.0843945931624758,0.07989224457978368,0.9954304320558688,-1.5776912222921767e-11,-3.458852137523882e-12,0.09548955407303647],"qvel":[7.559467898104529e-05,-3.256616422779704e-05,0.00025588753985356013,-5.4780145522759533e-05,-0.0020370146040255468,0.0020903881409576205,1.0827468694680203e-08,-2.660756113655749e-09,6.072242068907694e-12,-1.8861794499583762e-11,4.050113498280574e-15,6.303517646864012e-10,7.61257116466434e-11,-3.2789757174880607e-09],"joint_position_rad":[0.32643782579775793,1.497872293416466,-1.2641976557583412,-0.2008356055223315,0.9353868791958347,0.4041015577269489],"joint_velocity_rad_s":[7.559467898104529e-05,-3.256616422779704e-05,0.00025588753985356013,-5.4780145522759533e-05,-0.0020370146040255468,0.0020903881409576205],"gripper_joint_position_m":[0.03499998965266199,-0.03500000005304258],"tcp_position_m":[0.3503174230788154,0.08429257236711604,0.20988555938794068],"tcp_quaternion_wxyz":[0.2580606275523809,-0.0006895299668690381,0.9661283260447711,-0.0005428348043330884],"object_position_m":[0.35527284518697827,0.0843945931624758,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320558688,-1.5776912222921767e-11,-3.458852137523882e-12,0.09548955407303647],"object_linear_velocity_m_s":[6.072242068907694e-12,-1.8861794499583762e-11,4.050113498280574e-15],"object_angular_velocity_rad_s":[6.04384362321072e-10,1.9457135914291184e-10,-3.2789757174880636e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000008581},{"geom_ids":[1,90],"normal_force_n":0.09810000000109376},{"geom_ids":[1,90],"normal_force_n":0.09809999999914187},{"geom_ids":[1,90],"normal_force_n":0.0980999999989061}],"native_actuator_controls":[0.3264741511888307,1.497857155008235,-1.263990461775043,-0.20085232982911788,0.9334970986847269,0.4057829045805772,0.035],"actuator_force_native":[0.0025280578909168128,-0.001048241837352748,0.01529608096458901,-0.0003950715438403307,-0.015842283205040886,0.0136778863248459,3.597561770707358e-07],"issued_joint_targets_rad":[0.3264744121116022,1.497857082000007,-1.263990122659991,-0.20085282193595388,0.933496745213718,0.40578356072048255],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.88000000000009,"joint_targets_rad":[0.3264744121116022,1.497857082000007,-1.263990122659991,-0.20085282193595388,0.933496745213718,0.40578356072048255],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.900000000000116,"qpos":[0.3264393121392159,1.497871654478891,-1.2641925982688778,-0.20083668588488743,0.9353465911918663,0.40414283522737554,0.03499998992031284,-0.035000000048023665,0.3552728451871534,0.08439459316193178,0.07989224457978368,0.9954304320716756,-1.6714488908129195e-11,-3.664398776297713e-12,0.09548955390825718],"qvel":[7.304927347239628e-05,-3.1348632215664943e-05,0.00025006093876098136,-5.2851231834250676e-05,-0.001993967040965837,0.0020398840978917555,1.1749246888860682e-08,-4.37751611807796e-09,6.567860443937554e-12,-2.0401309186840308e-11,3.930764523133372e-15,5.195410457189812e-10,6.274361125565005e-11,-5.98658164614922e-09],"joint_position_rad":[0.3264393121392159,1.497871654478891,-1.2641925982688778,-0.20083668588488743,0.9353465911918663,0.40414283522737554],"joint_velocity_rad_s":[7.304927347239628e-05,-3.1348632215664943e-05,0.00025006093876098136,-5.2851231834250676e-05,-0.001993967040965837,0.0020398840978917555],"gripper_joint_position_m":[0.03499998992031284,-0.035000000048023665],"tcp_position_m":[0.35032313156477324,0.08429594066862174,0.20988794230431834],"tcp_quaternion_wxyz":[0.2580766706521991,-0.0006727531010749839,0.9661240591745988,-0.0005308034831908133],"object_position_m":[0.3552728451871534,0.08439459316193178,0.07989224457978368],"object_quaternion_wxyz":[0.9954304320716756,-1.6714488908129195e-11,-3.664398776297713e-12,0.09548955390825718],"object_linear_velocity_m_s":[6.567860443937554e-12,-2.0401309186840308e-11,3.930764523133372e-15],"object_angular_velocity_rad_s":[4.98138467353376e-10,1.6036747264642707e-10,-5.986581646149224e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000227487},{"geom_ids":[1,90],"normal_force_n":0.09810000000289967},{"geom_ids":[1,90],"normal_force_n":0.09809999999772522},{"geom_ids":[1,90],"normal_force_n":0.09809999999710026}],"native_actuator_controls":[0.3264744121116022,1.497857082000007,-1.263990122659991,-0.20085282193595388,0.933496745213718,0.40578356072048255,0.035],"actuator_force_native":[0.0024427514235441095,-0.001009055149637561,0.014947744017135278,-0.00038118588348545757,-0.015507509220034521,0.013347428784232562,3.444412519648665e-07],"issued_joint_targets_rad":[0.3264746656730594,1.4978570100686477,-1.263989791616103,-0.20085329956408826,0.9334964002196768,0.4057841984877136],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.900000000000116,"joint_targets_rad":[0.3264746656730594,1.4978570100686477,-1.263989791616103,-0.20085329956408826,0.9334964002196768,0.4057841984877136],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.92000000000014,"qpos":[0.32644074846991333,1.4978710393821348,-1.2641876559450103,-0.20083772833135313,0.935307154594587,0.40418311541847807,0.0349999901621461,-0.03500000001768967,0.35527284518732394,0.08439459316140205,0.07989224457978368,0.995430432089458,-1.736821671504115e-11,-3.807712028854165e-12,0.09548955372288248],"qvel":[7.059236431735903e-05,-3.018010315316827e-05,0.0002443665330196866,-5.0999232162731975e-05,-0.0019518282279565753,0.001990597195070168,9.230065990152038e-09,-1.3056068140868619e-09,7.2043543689234e-12,-2.2378435103393498e-11,3.887743380929148e-15,3.2867926637346034e-10,3.9693960108873104e-11,-1.0929986149463205e-08],"joint_position_rad":[0.32644074846991333,1.4978710393821348,-1.2641876559450103,-0.20083772833135313,0.935307154594587,0.40418311541847807],"joint_velocity_rad_s":[7.059236431735903e-05,-3.018010315316827e-05,0.0002443665330196866,-5.0999232162731975e-05,-0.0019518282279565753,0.001990597195070168],"gripper_joint_position_m":[0.0349999901621461,-0.03500000001768967],"tcp_position_m":[0.35032872235969503,0.08429923448008352,0.2098902738000054],"tcp_quaternion_wxyz":[0.2580923709538125,-0.0006563795531982849,0.9661198827375618,-0.00051903803461752],"object_position_m":[0.35527284518732394,0.08439459316140205,0.07989224457978368],"object_quaternion_wxyz":[0.995430432089458,-1.736821671504115e-11,-3.807712028854165e-12,0.09548955372288248],"object_linear_velocity_m_s":[7.2043543689234e-12,-2.2378435103393498e-11,3.887743380929148e-15],"object_angular_velocity_rad_s":[3.1513922737878033e-10,1.0145411761001149e-10,-1.092998614946321e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000377357},{"geom_ids":[1,90],"normal_force_n":0.09810000000481017},{"geom_ids":[1,90],"normal_force_n":0.09809999999622636},{"geom_ids":[1,90],"normal_force_n":0.09809999999518976}],"native_actuator_controls":[0.3264746656730594,1.4978570100686477,-1.263989791616103,-0.20085329956408826,0.9334964002196768,0.4057841984877136,0.035],"actuator_force_native":[0.0023604144300968244,-0.0009714445632056368,0.01460731364748824,-0.00036785314859066887,-0.015179801407166238,0.013024934899750207,3.473638261475287e-07],"issued_joint_targets_rad":[0.3264749120958076,1.4978569392117602,-1.2639894684379815,-0.20085376318019343,0.9334960634820746,0.4057848184388707],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.92000000000014,"joint_targets_rad":[0.3264749120958076,1.4978569392117602,-1.2639894684379815,-0.20085376318019343,0.9334960634820746,0.4057848184388707],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.940000000000165,"qpos":[0.3264421365269691,1.497870447167742,-1.2641828261734565,-0.2008387343702336,0.9352685514309775,0.4042224223372216,0.034999990427161946,-0.03500000003105296,0.3552728451874892,0.08439459316088872,0.07989224457978368,0.9954304321089582,-1.7563639451377955e-11,-3.850539870773566e-12,0.09548955351960244],"qvel":[6.822079699099598e-05,-2.9058519156051206e-05,0.00023880135341708322,-4.922075279000492e-05,-0.0019105790004484377,0.0019424982419362653,8.404049740345734e-09,-3.378038416355365e-10,8.121723654981592e-12,-2.5228098259747107e-11,3.750353281631783e-15,2.5160291327505417e-11,3.0398844485097525e-12,-1.995539431652922e-08],"joint_position_rad":[0.3264421365269691,1.497870447167742,-1.2641828261734565,-0.2008387343702336,0.9352685514309775,0.4042224223372216],"joint_velocity_rad_s":[6.822079699099598e-05,-2.9058519156051206e-05,0.00023880135341708322,-4.922075279000492e-05,-0.0019105790004484377,0.0019424982419362653],"gripper_joint_position_m":[0.034999990427161946,-0.03500000003105296],"tcp_position_m":[0.3503341978665872,0.08430245547573612,0.20989255507325405],"tcp_quaternion_wxyz":[0.258107735949875,-0.0006403998125002177,0.966115794789371,-0.0005075326705131694],"object_position_m":[0.3552728451874892,0.08439459316088872,0.07989224457978368],"object_quaternion_wxyz":[0.9954304321089582,-1.7563639451377955e-11,-3.850539870773566e-12,0.09548955351960244],"object_linear_velocity_m_s":[8.121723654981592e-12,-2.5228098259747107e-11,3.750353281631783e-15],"object_angular_velocity_rad_s":[2.4123554116852202e-11,7.767579669020131e-12,-1.9955394316529223e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000505666},{"geom_ids":[1,90],"normal_force_n":0.09810000000644567},{"geom_ids":[1,90],"normal_force_n":0.09809999999494325},{"geom_ids":[1,90],"normal_force_n":0.09809999999355411}],"native_actuator_controls":[0.3264749120958076,1.4978569392117602,-1.2639894684379815,-0.20085376318019343,0.9334960634820746,0.4057848184388707,0.035],"actuator_force_native":[0.002280941522126767,-0.0009353438827588434,0.014274612070920512,-0.0003550486344430226,-0.014859010988358179,0.0127102136535866,3.4089327360931065e-07],"issued_joint_targets_rad":[0.32647515159512835,1.4978568694261025,-1.2639891529259681,-0.20085421323435426,0.9334957347867612,0.4057854211120161],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.940000000000165,"joint_targets_rad":[0.32647515159512835,1.4978568694261025,-1.2639891529259681,-0.20085421323435426,0.9334957347867612,0.4057854211120161],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.96000000000019,"qpos":[0.32644347798652484,1.4978698769175847,-1.264178106399659,-0.20083970544177054,0.9352307641057287,0.4042607794437357,0.0349999906718078,-0.035000000025584226,0.35527284518764785,0.08439459316039599,0.07989224457978368,0.995430432129383,-1.705682177716105e-11,-3.739419227880141e-12,0.09548955330668805],"qvel":[6.593152164877476e-05,-2.7981911806564475e-05,0.0002333624957711121,-4.751258313790172e-05,-0.0018702005890795367,0.00189555873636075,8.194383386333704e-09,-3.851039904107089e-10,9.569018331958523e-12,-2.97238094919954e-11,3.897457832394618e-15,-4.356470889852028e-10,-5.261014476433016e-11,-3.64335108209745e-08],"joint_position_rad":[0.32644347798652484,1.4978698769175847,-1.264178106399659,-0.20083970544177054,0.9352307641057287,0.4042607794437357],"joint_velocity_rad_s":[6.593152164877476e-05,-2.7981911806564475e-05,0.0002333624957711121,-4.751258313790172e-05,-0.0018702005890795367,0.00189555873636075],"gripper_joint_position_m":[0.0349999906718078,-0.035000000025584226],"tcp_position_m":[0.3503395604399823,0.08430560529268996,0.20989478729045022],"tcp_quaternion_wxyz":[0.2581227729614567,-0.000624804585028841,0.9661117934288821,-0.0004962817219732258],"object_position_m":[0.35527284518764785,0.08439459316039599,0.07989224457978368],"object_quaternion_wxyz":[0.995430432129383,-1.705682177716105e-11,-3.739419227880141e-12,0.09548955330668805],"object_linear_velocity_m_s":[9.569018331958523e-12,-2.97238094919954e-11,3.897457832394618e-15],"object_angular_velocity_rad_s":[-4.17700880288901e-10,-1.3447002669472522e-10,-3.643351082097453e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000554453},{"geom_ids":[1,90],"normal_force_n":0.09810000000706766},{"geom_ids":[1,90],"normal_force_n":0.09809999999445576},{"geom_ids":[1,90],"normal_force_n":0.09809999999293254}],"native_actuator_controls":[0.32647515159512835,1.4978568694261025,-1.2639891529259681,-0.20085421323435426,0.9334957347867612,0.4057854211120161,0.035],"actuator_force_native":[0.0022042310800358678,-0.0009006897595327246,0.013949465416416729,-0.00034274878765927497,-0.01454499230605677,0.01240307857826295,3.321557711100098e-07],"issued_joint_targets_rad":[0.326475384379235,1.4978568007076438,-1.263988844885959,-0.20085465016070117,0.9334954139257452,0.40578600702734174],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.96000000000019,"joint_targets_rad":[0.326475384379235,1.4978568007076438,-1.263988844885959,-0.20085465016070117,0.9334954139257452,0.40578600702734174],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.980000000000214,"qpos":[0.32644477446489123,1.4978693277520112,-1.2641734941264848,-0.2008406429233429,0.9351937753947746,0.4042982096352971,0.03499999091155401,-0.03500000002273746,0.3552728451877897,0.08439459315995519,0.07989224457978368,0.9954304321455673,-1.4545436879698952e-11,-3.188835279349784e-12,0.09548955313797601],"qvel":[6.372164158801772e-05,-2.694839239158002e-05,0.0002280471195301044,-4.587157674162428e-05,-0.00183067467571236,0.0018497508503690669,7.409521810966839e-09,4.1485088634902997e-10,1.194572151711714e-11,-3.7106564486598936e-11,4.023745701445728e-15,-1.1209358092962045e-09,-1.3536810768746613e-10,-6.651838999390438e-08],"joint_position_rad":[0.32644477446489123,1.4978693277520112,-1.2641734941264848,-0.2008406429233429,0.9351937753947746,0.4042982096352971],"joint_velocity_rad_s":[6.372164158801772e-05,-2.694839239158002e-05,0.0002280471195301044,-4.587157674162428e-05,-0.00183067467571236,0.0018497508503690669],"gripper_joint_position_m":[0.03499999091155401,-0.03500000002273746],"tcp_position_m":[0.3503448123868708,0.08430868553088228,0.2098969715870884],"tcp_quaternion_wxyz":[0.25813748914207857,-0.0006095847887214493,0.9661078767971417,-0.0004852796384889902],"object_position_m":[0.3552728451877897,0.08439459315995519,0.07989224457978368],"object_quaternion_wxyz":[0.9954304321455673,-1.4545436879698952e-11,-3.188835279349784e-12,0.09548955313797601],"object_linear_velocity_m_s":[1.194572151711714e-11,-3.7106564486598936e-11,4.023745701445728e-15],"object_angular_velocity_rad_s":[-1.0747595065731491e-09,-3.4599655514478623e-10,-6.651838999390446e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000277568},{"geom_ids":[1,90],"normal_force_n":0.0981000000035383},{"geom_ids":[1,90],"normal_force_n":0.09809999999722444},{"geom_ids":[1,90],"normal_force_n":0.09809999999646193}],"native_actuator_controls":[0.326475384379235,1.4978568007076438,-1.263988844885959,-0.20085465016070117,0.9334954139257452,0.40578600702734174,0.035],"actuator_force_native":[0.0021301849395598538,-0.0008674215874293623,0.013631703644421123,-0.0003309316106250293,-0.014237602676724137,0.012103347644892182,3.2649023085085105e-07],"issued_joint_targets_rad":[0.3264756106495337,1.4978567330516195,-1.2639885441292382,-0.2008550743780396,0.9334951006970096,0.405786576687836],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.980000000000214,"joint_targets_rad":[0.3264756106495337,1.4978567330516195,-1.2639885441292382,-0.2008550743780396,0.9334951006970096,0.405786576687836],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.000000000000238,"qpos":[0.3264460275210123,1.4978687988282273,-1.2641689869129686,-0.2008415481318756,0.9351575684370491,0.40433473525960906,0.034999991167660616,-0.03500000005191882,0.3552728451879392,0.08439459315949066,0.07989224457978368,0.9954304321696609,-1.4022071068090298e-11,-3.0740915573532386e-12,0.09548955288680892],"qvel":[6.15883366066105e-05,-2.5956156424014445e-05,0.00022285244694419216,-4.429479369775966e-05,-0.0017919832887891669,0.001805047424241305,8.178516207593132e-09,-8.010053014731158e-10,5.441416905203561e-12,-1.6902455253875575e-11,3.946030089721965e-15,5.519785793212775e-10,6.665957369374902e-11,-7.206722829405837e-09],"joint_position_rad":[0.3264460275210123,1.4978687988282273,-1.2641689869129686,-0.2008415481318756,0.9351575684370491,0.40433473525960906],"joint_velocity_rad_s":[6.15883366066105e-05,-2.5956156424014445e-05,0.00022285244694419216,-4.429479369775966e-05,-0.0017919832887891669,0.001805047424241305],"gripper_joint_position_m":[0.034999991167660616,-0.03500000005191882],"tcp_position_m":[0.3503499559676711,0.08431169775411683,0.20989910906875675],"tcp_quaternion_wxyz":[0.25815189148198914,-0.0005947315490149817,0.9661040430763604,-0.0004745209854533399],"object_position_m":[0.3552728451879392,0.08439459315949066,0.07989224457978368],"object_quaternion_wxyz":[0.9954304321696609,-1.4022071068090298e-11,-3.0740915573532386e-12,0.09548955288680892],"object_linear_velocity_m_s":[5.441416905203561e-12,-1.6902455253875575e-11,3.946030089721965e-15],"object_angular_velocity_rad_s":[5.292400043226123e-10,1.703786037598908e-10,-7.20672282940584e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000073277},{"geom_ids":[1,90],"normal_force_n":0.09810000000093407},{"geom_ids":[1,90],"normal_force_n":0.09809999999926702},{"geom_ids":[1,90],"normal_force_n":0.09809999999906573}],"native_actuator_controls":[0.3264756106495337,1.4978567330516195,-1.2639885441292382,-0.2008550743780396,0.9334951006970096,0.405786576687836,0.035],"actuator_force_native":[0.002058708598674741,-0.000835481346499023,0.013321160463718229,-0.0003195758780716318,-0.01393670246721257,0.011810843145907413,3.124009944066586e-07],"issued_joint_targets_rad":[0.3264758306008627,1.4978566664525874,-1.26398825047231,-0.20085548629044214,0.9334947949043156,0.4057871305799102],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.000000000000238,"joint_targets_rad":[0.3264758306008627,1.4978566664525874,-1.26398825047231,-0.20085548629044214,0.9334947949043156,0.4057871305799102],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.020000000000262,"qpos":[0.32644723865896624,1.4978682893387667,-1.2641645823730763,-0.2008424223258063,0.9351221267262417,0.40437037812779036,0.034999991396504095,-0.03500000005209495,0.35527284518808877,0.08439459315902632,0.07989224457978368,0.9954304322004942,-1.4450033133678443e-11,-3.167902210474246e-12,0.09548955256538694],"qvel":[5.952887129602388e-05,-2.500347871235619e-05,0.0002177757614079837,-4.27794698164874e-05,-0.0017541088143227747,0.001761421943410298,1.0043549019258148e-08,-3.783174719452659e-09,5.752347263537633e-12,-1.7868332147072295e-11,3.984887895583843e-15,4.2439371661632785e-10,5.125189701458999e-11,-1.3157656002732463e-08],"joint_position_rad":[0.32644723865896624,1.4978682893387667,-1.2641645823730763,-0.2008424223258063,0.9351221267262417,0.40437037812779036],"joint_velocity_rad_s":[5.952887129602388e-05,-2.500347871235619e-05,0.0002177757614079837,-4.27794698164874e-05,-0.0017541088143227747,0.001761421943410298],"gripper_joint_position_m":[0.034999991396504095,-0.03500000005209495],"tcp_position_m":[0.3503549933971838,0.08431464349118821,0.20990120081208116],"tcp_quaternion_wxyz":[0.2581659868123375,-0.0005802361945312661,0.9661002904889123,-0.0004640004415162247],"object_position_m":[0.35527284518808877,0.08439459315902632,0.07989224457978368],"object_quaternion_wxyz":[0.9954304322004942,-1.4450033133678443e-11,-3.167902210474246e-12,0.09548955256538694],"object_linear_velocity_m_s":[5.752347263537633e-12,-1.7868332147072295e-11,3.984887895583843e-15],"object_angular_velocity_rad_s":[4.0691094246724774e-10,1.309972081818164e-10,-1.315765600273247e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000204665},{"geom_ids":[1,90],"normal_force_n":0.09810000000260889},{"geom_ids":[1,90],"normal_force_n":0.09809999999795307},{"geom_ids":[1,90],"normal_force_n":0.09809999999739086}],"native_actuator_controls":[0.3264758306008627,1.4978566664525874,-1.26398825047231,-0.20085548629044214,0.9334947949043156,0.4057871305799102,0.035],"actuator_force_native":[0.001989710995236038,-0.000804813500778323,0.013017673254267947,-0.0003086612363514263,-0.013642154997777212,0.011525391606083346,2.939220913322771e-07],"issued_joint_targets_rad":[0.3264760444217247,1.4978566009044716,-1.2639879637367366,-0.20085588628780576,0.9334944963570182,0.40578766917399095],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.020000000000262,"joint_targets_rad":[0.3264760444217247,1.4978566009044716,-1.2639879637367366,-0.20085588628780576,0.9334944963570182,0.40578766917399095],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.040000000000287,"qpos":[0.3264484093293767,1.4978677985099094,-1.264160278174488,-0.20084326670899594,0.9350874341041487,0.404405159527328,0.03499999160064641,-0.0350000000265889,0.35527284518822455,0.0843945931586047,0.07989224457978368,0.9954304322309094,-1.403105869505289e-11,-3.0760391000888942e-12,0.09548955224832151],"qvel":[5.754066727277907e-05,-2.4088701476734982e-05,0.0002128144057206104,-4.132285186327537e-05,-0.001717034087376174,0.0017188485153386433,8.972478376303105e-09,-2.7092514733112086e-09,6.087077429407844e-12,-1.890814266188609e-11,3.72259770601615e-15,2.0454100810180423e-10,2.4701640712748853e-11,-2.4022557155618045e-08],"joint_position_rad":[0.3264484093293767,1.4978677985099094,-1.264160278174488,-0.20084326670899594,0.9350874341041487,0.404405159527328],"joint_velocity_rad_s":[5.754066727277907e-05,-2.4088701476734982e-05,0.0002128144057206104,-4.132285186327537e-05,-0.001717034087376174,0.0017188485153386433],"gripper_joint_position_m":[0.03499999160064641,-0.0350000000265889],"tcp_position_m":[0.35035992684547773,0.08431752423618927,0.2099032478656077],"tcp_quaternion_wxyz":[0.2581797818089625,-0.0005660902525440936,0.9660966172964277,-0.000453712797211705],"object_position_m":[0.35527284518822455,0.0843945931586047,0.07989224457978368],"object_quaternion_wxyz":[0.9954304322309094,-1.403105869505289e-11,-3.0760391000888942e-12,0.09548955224832151],"object_linear_velocity_m_s":[6.087077429407844e-12,-1.890814266188609e-11,3.72259770601615e-15],"object_angular_velocity_rad_s":[1.9611495404227527e-10,6.31357256250333e-11,-2.4022557155618045e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000300644},{"geom_ids":[1,90],"normal_force_n":0.09810000000383241},{"geom_ids":[1,90],"normal_force_n":0.09809999999699331},{"geom_ids":[1,90],"normal_force_n":0.09809999999616732}],"native_actuator_controls":[0.3264760444217247,1.4978566009044716,-1.2639879637367366,-0.20085588628780576,0.9334944963570182,0.40578766917399095,0.035],"actuator_force_native":[0.0019231040514746667,-0.0007753649276338592,0.012721082991518529,-0.000298168893078099,-0.01335382634024107,0.011246823693620733,2.9111175203766493e-07],"issued_joint_targets_rad":[0.3264762522945158,1.4978565364006131,-1.2639876837489843,-0.20085627474641068,0.9334942048698867,0.40578819292511287],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.040000000000287,"joint_targets_rad":[0.3264762522945158,1.4978565364006131,-1.2639876837489843,-0.20085627474641068,0.9334942048698867,0.40578819292511287],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.06000000000031,"qpos":[0.3264495409312114,1.497867325600222,-1.2641560720374176,-0.20084408243361673,0.9350534747535051,0.4044391002345061,0.03499999181106134,-0.035000000019513575,0.35527284518834545,0.08439459315822895,0.07989224457978368,0.9954304322593335,-1.281095311147112e-11,-2.808548179122378e-12,0.0954895519520148],"qvel":[5.56212097784124e-05,-2.32102413018387e-05,0.00020796578188658462,-3.9922373991424284e-05,-0.0016807422620203662,0.001677301874186481,6.720866843922839e-09,2.2349190385161515e-10,6.6582650971181234e-12,-2.0682443256089216e-11,3.664310997223329e-15,-1.2390866016467485e-10,-1.4962862139318422e-11,-4.385912272182042e-08],"joint_position_rad":[0.3264495409312114,1.497867325600222,-1.2641560720374176,-0.20084408243361673,0.9350534747535051,0.4044391002345061],"joint_velocity_rad_s":[5.56212097784124e-05,-2.32102413018387e-05,0.00020796578188658462,-3.9922373991424284e-05,-0.0016807422620203662,0.001677301874186481],"gripper_joint_position_m":[0.03499999181106134,-0.035000000019513575],"tcp_position_m":[0.3503647584387889,0.0843203414491633,0.20990525125067042],"tcp_quaternion_wxyz":[0.2581932829962177,-0.0005522854447228605,0.9660930217988744,-0.0004436529530716217],"object_position_m":[0.35527284518834545,0.08439459315822895,0.07989224457978368],"object_quaternion_wxyz":[0.9954304322593335,-1.281095311147112e-11,-2.808548179122378e-12,0.0954895519520148],"object_linear_velocity_m_s":[6.6582650971181234e-12,-2.0682443256089216e-11,3.664310997223329e-15],"object_angular_velocity_rad_s":[-1.1880446237409897e-10,-3.824582365703326e-11,-4.385912272182042e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000327283},{"geom_ids":[1,90],"normal_force_n":0.09810000000417184},{"geom_ids":[1,90],"normal_force_n":0.09809999999672707},{"geom_ids":[1,90],"normal_force_n":0.09809999999582801}],"native_actuator_controls":[0.3264762522945158,1.4978565364006131,-1.2639876837489843,-0.20085627474641068,0.9334942048698867,0.40578819292511287,0.035],"actuator_force_native":[0.0018588030154624846,-0.000747084762195982,0.012431234165234173,-0.00028808064180019244,-0.013071585443153566,0.010974974094787981,2.9395321243796957e-07],"issued_joint_targets_rad":[0.3264764543957397,1.4978564729338144,-1.2639874103402782,-0.20085665202943603,0.9334939202629409,0.4057887022734699],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.06000000000031,"joint_targets_rad":[0.3264764543957397,1.4978564729338144,-1.2639874103402782,-0.20085665202943603,0.9334939202629409,0.4057887022734699],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.080000000000336,"qpos":[0.3264506348143186,1.497866869899251,-1.2641519617334582,-0.20084487060118636,0.9350202331898765,0.40447222052645815,0.034999992008618995,-0.035000000002615564,0.35527284518845026,0.08439459315790365,0.07989224457978368,0.995430432282835,-1.073590415857513e-11,-2.3536282796588878e-12,0.09548955170702095],"qvel":[5.376802983679583e-05,-2.2366587548487997e-05,0.00020322734927776028,-3.8575686023761414e-05,-0.001645216787961182,0.001636757358441421,5.225713242026323e-09,2.005381507947206e-09,7.814499935961834e-12,-2.4274202264154522e-11,3.229936238838737e-15,-5.829138504780338e-10,-7.038997205734029e-11,-8.007568237264511e-08],"joint_position_rad":[0.3264506348143186,1.497866869899251,-1.2641519617334582,-0.20084487060118636,0.9350202331898765,0.40447222052645815],"joint_velocity_rad_s":[5.376802983679583e-05,-2.2366587548487997e-05,0.00020322734927776028,-3.8575686023761414e-05,-0.001645216787961182,0.001636757358441421],"gripper_joint_position_m":[0.034999992008618995,-0.035000000002615564],"tcp_position_m":[0.3503694902604244,0.08432309655738823,0.20990721196224765],"tcp_quaternion_wxyz":[0.25820649675086577,-0.0005388136831126822,0.9660895023336141,-0.00043381591672231014],"object_position_m":[0.35527284518845026,0.08439459315790365,0.07989224457978368],"object_quaternion_wxyz":[0.995430432282835,-1.073590415857513e-11,-2.3536282796588878e-12,0.09548955170702095],"object_linear_velocity_m_s":[7.814499935961834e-12,-2.4274202264154522e-11,3.229936238838737e-15],"object_angular_velocity_rad_s":[-5.589019512842313e-10,-1.7992196668563144e-10,-8.007568237264508e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000202314},{"geom_ids":[1,90],"normal_force_n":0.09810000000257889},{"geom_ids":[1,90],"normal_force_n":0.0980999999979772},{"geom_ids":[1,90],"normal_force_n":0.09809999999742157}],"native_actuator_controls":[0.3264764543957397,1.4978564729338144,-1.2639874103402782,-0.20085665202943603,0.9334939202629409,0.4057887022734699,0.035],"actuator_force_native":[0.0017967263645068954,-0.0007199242971864805,0.01214797470801443,-0.00027837869986946373,-0.012795304087413584,0.010709681432455653,2.93526674077782e-07],"issued_joint_targets_rad":[0.32647665089621375,1.497856410496379,-1.2639871433464485,-0.20085701848745532,0.9334936423612721,0.4057891976449432],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.080000000000336,"joint_targets_rad":[0.32647665089621375,1.497856410496379,-1.2639871433464485,-0.20085701848745532,0.9334936423612721,0.4057891976449432],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.10000000000036,"qpos":[0.326451692280418,1.4978664307261071,-1.2641479450844324,-0.20084563226652477,0.9349876942557346,0.4045045401932444,0.03499999221586967,-0.0350000000081728,0.3552728451885513,0.08439459315758988,0.07989224457978368,0.9954304323118397,-9.578233245846588e-12,-2.0998200342831078e-12,0.09548955140466282],"qvel":[5.1978786519295056e-05,-2.1556289924151566e-05,0.00019859662352475767,-3.728046543503155e-05,-0.0016104415148332993,0.001597190893028694,6.2728410641361154e-09,3.122522722561961e-10,3.730398434806239e-12,-1.1587730739122476e-11,3.5338597918298743e-15,4.0509929077420457e-10,4.892060553718756e-11,-8.675544430879013e-09],"joint_position_rad":[0.326451692280418,1.4978664307261071,-1.2641479450844324,-0.20084563226652477,0.9349876942557346,0.4045045401932444],"joint_velocity_rad_s":[5.1978786519295056e-05,-2.1556289924151566e-05,0.00019859662352475767,-3.728046543503155e-05,-0.0016104415148332993,0.001597190893028694],"gripper_joint_position_m":[0.03499999221586967,-0.0350000000081728],"tcp_position_m":[0.3503741243515902,0.08432579095548036,0.20990913096974134],"tcp_quaternion_wxyz":[0.2582194293055016,-0.0005256670658028805,0.9660860572745839,-0.0004241968018382478],"object_position_m":[0.3552728451885513,0.08439459315758988,0.07989224457978368],"object_quaternion_wxyz":[0.9954304323118397,-9.578233245846588e-12,-2.0998200342831078e-12,0.09548955140466282],"object_linear_velocity_m_s":[3.730398434806239e-12,-1.1587730739122476e-11,3.5338597918298743e-15],"object_angular_velocity_rad_s":[3.8841157328665293e-10,1.2504043653504847e-10,-8.675544430879011e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000000131},{"geom_ids":[1,90],"normal_force_n":0.09810000000016685},{"geom_ids":[1,90],"normal_force_n":0.09809999999986897},{"geom_ids":[1,90],"normal_force_n":0.09809999999983313}],"native_actuator_controls":[0.32647665089621375,1.497856410496379,-1.2639871433464485,-0.20085701848745532,0.9334936423612721,0.4057891976449432,0.035],"actuator_force_native":[0.0017367953310660766,-0.0006938369286473289,0.01187115592108512,-0.0002690465100467776,-0.012524856672374796,0.010450788177445602,2.8000100815717133e-07],"issued_joint_targets_rad":[0.32647684196127297,1.4978563490801513,-1.263986882607797,-0.2008573744589258,0.933493370994897,0.40578967945162464],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.10000000000036,"joint_targets_rad":[0.32647684196127297,1.4978563490801513,-1.263986882607797,-0.2008573744589258,0.933493370994897,0.40578967945162464],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.120000000000385,"qpos":[0.32645271458565434,1.4978660074282946,-1.2641440199612932,-0.2008463684382574,0.9349558431124525,0.4045360785493057,0.03499999241210943,-0.035000000005388485,0.3552728451886483,0.0843945931572882,0.07989224457978368,0.9954304323489573,-9.302657816056528e-12,-2.0393890387533597e-12,0.09548955101773092],"qvel":[5.025122177733878e-05,-2.0777960258376173e-05,0.00019407117476836184,-3.60345043526481e-05,-0.0015764006326259908,0.0015585789702478878,7.241540563959426e-09,-1.3372830441073306e-09,3.72755944072195e-12,-1.1578979018992723e-11,3.5283086767067485e-15,2.9700956451160177e-10,3.5867354911541667e-11,-1.5839353345489027e-08],"joint_position_rad":[0.32645271458565434,1.4978660074282946,-1.2641440199612932,-0.2008463684382574,0.9349558431124525,0.4045360785493057],"joint_velocity_rad_s":[5.025122177733878e-05,-2.0777960258376173e-05,0.00019407117476836184,-3.60345043526481e-05,-0.0015764006326259908,0.0015585789702478878],"gripper_joint_position_m":[0.03499999241210943,-0.035000000005388485],"tcp_position_m":[0.35037866271226387,0.08432842600676706,0.20991100921777903],"tcp_quaternion_wxyz":[0.25823208675227743,-0.0005128378731034867,0.9660826850313858,-0.0004147908251071774],"object_position_m":[0.3552728451886483,0.0843945931572882,0.07989224457978368],"object_quaternion_wxyz":[0.9954304323489573,-9.302657816056528e-12,-2.0393890387533597e-12,0.09548955101773092],"object_linear_velocity_m_s":[3.72755944072195e-12,-1.1578979018992723e-11,3.5283086767067485e-15],"object_angular_velocity_rad_s":[2.8477453301240325e-10,9.167668137148635e-11,-1.5839353345489027e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000096736},{"geom_ids":[1,90],"normal_force_n":0.09810000000123315},{"geom_ids":[1,90],"normal_force_n":0.09809999999903272},{"geom_ids":[1,90],"normal_force_n":0.09809999999876699}],"native_actuator_controls":[0.32647684196127297,1.4978563490801513,-1.263986882607797,-0.2008573744589258,0.933493370994897,0.40578967945162464,0.035],"actuator_force_native":[0.0016789339406031445,-0.0006687780501692941,0.011600632405858846,-0.00026006830497316,-0.012260120226615712,0.01019814056781776,2.6730792002105375e-07],"issued_joint_targets_rad":[0.32647702775095583,1.4978562886765556,-1.2639866279689582,-0.20085772027063656,0.9334931059985907,0.4057901480922959],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.120000000000385,"joint_targets_rad":[0.32647702775095583,1.4978562886765556,-1.2639866279689582,-0.20085772027063656,0.9334931059985907,0.4057901480922959],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.14000000000041,"qpos":[0.32645370294150167,1.497865599380413,-1.264140184283027,-0.20084708008249208,0.9349246652346058,0.4045668544449322,0.03499999260170372,-0.03500000000014883,0.35527284518873403,0.08439459315702207,0.07989224457978368,0.9954304323855718,-8.757880115320894e-12,-1.9199403751438436e-12,0.09548955063604349],"qvel":[4.85831994534146e-05,-2.0030265305788968e-05,0.00018964862729428588,-3.483560926048991e-05,-0.0015430787180405437,0.0015208986423118464,4.255875035290401e-09,2.6693136658183098e-09,3.808162969276284e-12,-1.1829467421421998e-11,3.5463498008569082e-15,1.447478098060526e-10,1.7480551041201474e-11,-2.891865931284976e-08],"joint_position_rad":[0.32645370294150167,1.497865599380413,-1.264140184283027,-0.20084708008249208,0.9349246652346058,0.4045668544449322],"joint_velocity_rad_s":[4.85831994534146e-05,-2.0030265305788968e-05,0.00018964862729428588,-3.483560926048991e-05,-0.0015430787180405437,0.0015208986423118464],"gripper_joint_position_m":[0.03499999260170372,-0.03500000000014883],"tcp_position_m":[0.35038310730199346,0.084331003043391,0.2099128476269407],"tcp_quaternion_wxyz":[0.25824447504614473,-0.0005003185634054557,0.966079384048509,-0.00040559330519769144],"object_position_m":[0.35527284518873403,0.08439459315702207,0.07989224457978368],"object_quaternion_wxyz":[0.9954304323855718,-8.757880115320894e-12,-1.9199403751438436e-12,0.09548955063604349],"object_linear_velocity_m_s":[3.808162969276284e-12,-1.1829467421421998e-11,3.5463498008569082e-15],"object_angular_velocity_rad_s":[1.387849505001886e-10,4.4679252713224136e-11,-2.891865931284976e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000165003},{"geom_ids":[1,90],"normal_force_n":0.0981000000021031},{"geom_ids":[1,90],"normal_force_n":0.09809999999835006},{"geom_ids":[1,90],"normal_force_n":0.098099999997897}],"native_actuator_controls":[0.32647702775095583,1.4978562886765556,-1.2639866279689582,-0.20085772027063656,0.9334931059985907,0.4057901480922959,0.035],"actuator_force_native":[0.0016230687590663706,-0.0006447049820650363,0.011336261989043805,-0.00025142947947642824,-0.012000974283090216,0.009951588510169529,2.746524760954827e-07],"issued_joint_targets_rad":[0.3264772084201971,1.4978562292766304,-1.263986379278771,-0.2008580562381606,0.9334928472117435,0.4057906039529163],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.14000000000041,"joint_targets_rad":[0.3264772084201971,1.4978562292766304,-1.263986379278771,-0.2008580562381606,0.9334928472117435,0.4057906039529163],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.160000000000434,"qpos":[0.32645465851643557,1.4978652059830084,-1.2641364360155962,-0.20084776812467395,0.9348941464032859,0.4045968862773164,0.03499999280166237,-0.0350000000177979,0.3552728451888089,0.08439459315678934,0.07989224457978368,0.9954304324197891,-7.872453932415886e-12,-1.7258138266794284e-12,0.09548955027934573],"qvel":[4.697254051092843e-05,-1.9311942012462798e-05,0.00018532665848736772,-3.3681939177582375e-05,-0.0015104605065932527,0.0014841275290436021,7.136429140593656e-09,-1.5717294726200036e-09,4.086092933670889e-12,-1.269295950912713e-11,3.581044270376444e-15,-6.413160743993997e-11,-7.741267666515385e-12,-5.2798168980786346e-08],"joint_position_rad":[0.32645465851643557,1.4978652059830084,-1.2641364360155962,-0.20084776812467395,0.9348941464032859,0.4045968862773164],"joint_velocity_rad_s":[4.697254051092843e-05,-1.9311942012462798e-05,0.00018532665848736772,-3.3681939177582375e-05,-0.0015104605065932527,0.0014841275290436021],"gripper_joint_position_m":[0.03499999280166237,-0.0350000000177979],"tcp_position_m":[0.35038746004071125,0.08433352336705904,0.20991464709448499],"tcp_quaternion_wxyz":[0.25825660000820805,-0.00048810176931924693,0.9660761528045149,-0.0003965996607141124],"object_position_m":[0.3552728451888089,0.08439459315678934,0.07989224457978368],"object_quaternion_wxyz":[0.9954304324197891,-7.872453932415886e-12,-1.7258138266794284e-12,0.09548955027934573],"object_linear_velocity_m_s":[4.086092933670889e-12,-1.269295950912713e-11,3.581044270376444e-15],"object_angular_velocity_rad_s":[-6.149040598526127e-11,-1.97919243551005e-11,-5.2798168980786346e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000188478},{"geom_ids":[1,90],"normal_force_n":0.09810000000240236},{"geom_ids":[1,90],"normal_force_n":0.09809999999811526},{"geom_ids":[1,90],"normal_force_n":0.09809999999759765}],"native_actuator_controls":[0.3264772084201971,1.4978562292766304,-1.263986379278771,-0.2008580562381606,0.9334928472117435,0.4057906039529163,0.035],"actuator_force_native":[0.001569129598369301,-0.0006215768001851529,0.011077905653564812,-0.00024311484357752988,-0.011747301155535794,0.00971098546243443,2.522513595781817e-07],"issued_joint_targets_rad":[0.3264773841190018,1.4978561708710607,-1.2639861363901548,-0.20085838266627398,0.9334925944782235,0.40579104740707145],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.160000000000434,"joint_targets_rad":[0.3264773841190018,1.4978561708710607,-1.2639861363901548,-0.20085838266627398,0.9334925944782235,0.40579104740707145],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.180000000000458,"qpos":[0.32645558243835093,1.4978648266615613,-1.2641327731708922,-0.20084843344963796,0.9348642726984668,0.4046261920012567,0.034999992971953435,-0.03500000000000164,0.3552728451888731,0.0843945931565901,0.07989224457978368,0.9954304324480812,-6.546652406848276e-12,-1.4351571205318382e-12,0.09548954998441903],"qvel":[4.541729427632562e-05,-1.8621764590000095e-05,0.00018110299616573116,-3.2571428870435276e-05,-0.0014785312652157523,0.0014482437521039172,4.198281050457335e-09,2.2918469970341398e-09,4.749398048166308e-12,-1.4753486741467104e-11,3.830844450917104e-15,-3.465666266356252e-10,-4.184701604791743e-11,-9.639612346270919e-08],"joint_position_rad":[0.32645558243835093,1.4978648266615613,-1.2641327731708922,-0.20084843344963796,0.9348642726984668,0.4046261920012567],"joint_velocity_rad_s":[4.541729427632562e-05,-1.8621764590000095e-05,0.00018110299616573116,-3.2571428870435276e-05,-0.0014785312652157523,0.0014482437521039172],"gripper_joint_position_m":[0.034999992971953435,-0.03500000000000164],"tcp_position_m":[0.35039172280954983,0.08433598825041581,0.20991640849506543],"tcp_quaternion_wxyz":[0.25826846732915687,-0.0004761802940520196,0.9660729898111953,-0.000387805407154809],"object_position_m":[0.3552728451888731,0.0843945931565901,0.07989224457978368],"object_quaternion_wxyz":[0.9954304324480812,-6.546652406848276e-12,-1.4351571205318382e-12,0.09548954998441903],"object_linear_velocity_m_s":[4.749398048166308e-12,-1.4753486741467104e-11,3.830844450917104e-15],"object_angular_velocity_rad_s":[-3.322910751628822e-10,-1.0696841036868159e-10,-9.639612346270925e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000117358},{"geom_ids":[1,90],"normal_force_n":0.09810000000149566},{"geom_ids":[1,90],"normal_force_n":0.09809999999882661},{"geom_ids":[1,90],"normal_force_n":0.09809999999850455}],"native_actuator_controls":[0.3264773841190018,1.4978561708710607,-1.2639861363901548,-0.20085838266627398,0.9334925944782235,0.40579104740707145,0.035],"actuator_force_native":[0.0015170479806876358,-0.0005993544170905807,0.010825427478167171,-0.00023511152108923739,-0.011498985304609022,0.009476188429991872,2.601304573968122e-07],"issued_joint_targets_rad":[0.3264775549926126,1.4978561134502102,-1.2639858991599755,-0.20085869984935567,0.9334923476462167,0.40579147881640404],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.180000000000458,"joint_targets_rad":[0.3264775549926126,1.4978561134502102,-1.2639858991599755,-0.20085869984935567,0.9334923476462167,0.40579147881640404],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.200000000000482,"qpos":[0.32645647579443854,1.4978644608652452,-1.264129193805717,-0.20084907690680068,0.934835030494883,0.4046547891399456,0.03499999315965492,-0.03500000001452257,0.35527284518893454,0.08439459315639933,0.07989224457978368,0.9954304324829972,-5.812414388305521e-12,-1.2741912855556994e-12,0.09548954962043643],"qvel":[4.3915440942489304e-05,-1.7958575083162304e-05,0.00017697541996748972,-3.1502393558779774e-05,-0.0014472763741449014,0.001413225990052074,6.519732402196513e-09,-1.1558052272656257e-09,2.266662327152531e-12,-7.041142404000423e-12,4.0057045772955674e-15,2.4695763060022307e-10,2.9820895228839225e-11,-1.0443730572883728e-08],"joint_position_rad":[0.32645647579443854,1.4978644608652452,-1.264129193805717,-0.20084907690680068,0.934835030494883,0.4046547891399456],"joint_velocity_rad_s":[4.3915440942489304e-05,-1.7958575083162304e-05,0.00017697541996748972,-3.1502393558779774e-05,-0.0014472763741449014,0.001413225990052074],"gripper_joint_position_m":[0.03499999315965492,-0.03500000001452257],"tcp_position_m":[0.3503958974515682,0.08433839893642746,0.20991813268136317],"tcp_quaternion_wxyz":[0.2582800825720458,-0.000464547107311551,0.9660698936129065,-0.0003792061570430403],"object_position_m":[0.35527284518893454,0.08439459315639933,0.07989224457978368],"object_quaternion_wxyz":[0.9954304324829972,-5.812414388305521e-12,-1.2741912855556994e-12,0.09548954962043643],"object_linear_velocity_m_s":[2.266662327152531e-12,-7.041142404000423e-12,4.0057045772955674e-15],"object_angular_velocity_rad_s":[2.367848425333865e-10,7.622529403265709e-11,-1.0443730572883735e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000575},{"geom_ids":[1,90],"normal_force_n":0.09810000000007346},{"geom_ids":[1,90],"normal_force_n":0.09809999999994228},{"geom_ids":[1,90],"normal_force_n":0.0980999999999265}],"native_actuator_controls":[0.3264775549926126,1.4978561134502102,-1.2639858991599755,-0.20085869984935567,0.9334923476462167,0.40579147881640404,0.035],"actuator_force_native":[0.0014667586492116413,-0.0005780003273940792,0.010578694559484347,-0.0002274057344049396,-0.011255913925445782,0.009247057779505852,2.410151414000694e-07],"issued_joint_targets_rad":[0.32647772118168544,1.4978560570041537,-1.2639856674489456,-0.20085900807179038,0.9334921065681201,0.40579189853105213],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.200000000000482,"joint_targets_rad":[0.32647772118168544,1.4978560570041537,-1.2639856674489456,-0.20085900807179038,0.9334921065681201,0.40579189853105213],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.220000000000507,"qpos":[0.3264573396343368,1.497864108066106,-1.264125696020785,-0.2008496993082577,0.9348064064535067,0.40468269479503255,0.03499999333956408,-0.03500000002359227,0.3552728451889934,0.08439459315621661,0.07989224457978368,0.9954304325276798,-5.6290231405270654e-12,-1.2339607071495588e-12,0.09548954915464289],"qvel":[4.2465160466469086e-05,-1.732125072477839e-05,0.0001729417576647818,-3.047296543189303e-05,-0.0014166817006980204,0.0013790533996216642,4.661778307195032e-09,1.3424870392871327e-09,2.2567794467594574e-12,-7.010554340011201e-12,3.929376744352587e-15,1.804219088297259e-10,2.178683097123078e-11,-1.9067614681394693e-08],"joint_position_rad":[0.3264573396343368,1.497864108066106,-1.264125696020785,-0.2008496993082577,0.9348064064535067,0.40468269479503255],"joint_velocity_rad_s":[4.2465160466469086e-05,-1.732125072477839e-05,0.0001729417576647818,-3.047296543189303e-05,-0.0014166817006980204,0.0013790533996216642],"gripper_joint_position_m":[0.03499999333956408,-0.03500000002359227],"tcp_position_m":[0.35039998577256626,0.08434075664040257,0.20991982048477545],"tcp_quaternion_wxyz":[0.2582914511757535,-0.00045319534202698734,0.966066862785715,-0.00037079761586930653],"object_position_m":[0.3552728451889934,0.08439459315621661,0.07989224457978368],"object_quaternion_wxyz":[0.9954304325276798,-5.6290231405270654e-12,-1.2339607071495588e-12,0.09548954915464289],"object_linear_velocity_m_s":[2.2567794467594574e-12,-7.010554340011201e-12,3.929376744352587e-15],"object_angular_velocity_rad_s":[1.7298982717060696e-10,5.5688875774375774e-11,-1.9067614681394707e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000057333},{"geom_ids":[1,90],"normal_force_n":0.09810000000073071},{"geom_ids":[1,90],"normal_force_n":0.09809999999942674},{"geom_ids":[1,90],"normal_force_n":0.09809999999926922}],"native_actuator_controls":[0.32647772118168544,1.4978560570041537,-1.2639856674489456,-0.20085900807179038,0.9334921065681201,0.40579189853105213,0.035],"actuator_force_native":[0.0014181979855543148,-0.000557478702560843,0.010337576958818318,-0.00021998571414805212,-0.011017976302818866,0.00902345726076259,2.431085455167903e-07],"issued_joint_targets_rad":[0.32647788282243584,1.4978560015226996,-1.263985441121494,-0.20085930760832613,0.933491871100389,0.40579230689003215],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.220000000000507,"joint_targets_rad":[0.32647788282243584,1.4978560015226996,-1.263985441121494,-0.20085930760832613,0.933491871100389,0.40579230689003215],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.24000000000053,"qpos":[0.3264581749702966,1.4978637677579538,-1.2641222779597479,-0.200850301432981,0.9347783875171379,0.40470992565683594,0.034999993497946774,-0.035000000009642325,0.3552728451890426,0.08439459315606351,0.07989224457978368,0.9954304325664486,-5.050015979892096e-12,-1.1070126069494543e-12,0.09548954875049935],"qvel":[4.106458260940266e-05,-1.67087294781176e-05,0.00016899988634382518,-2.948159977166822e-05,-0.001386733248569252,0.0013457056602868115,4.1967422526694525e-09,1.7008041831891731e-09,2.2471478667492976e-12,-6.980744355960122e-12,3.977949001679937e-15,7.901990881155654e-11,9.542826056822847e-12,-3.4812649242378404e-08],"joint_position_rad":[0.3264581749702966,1.4978637677579538,-1.2641222779597479,-0.200850301432981,0.9347783875171379,0.40470992565683594],"joint_velocity_rad_s":[4.106458260940266e-05,-1.67087294781176e-05,0.00016899988634382518,-2.948159977166822e-05,-0.001386733248569252,0.0013457056602868115],"gripper_joint_position_m":[0.034999993497946774,-0.035000000009642325],"tcp_position_m":[0.3504039895417948,0.08434306254966313,0.20992147271601597],"tcp_quaternion_wxyz":[0.2583025784576907,-0.0004421182904996872,0.9660638959367402,-0.00036257558178030315],"object_position_m":[0.3552728451890426,0.08439459315606351,0.07989224457978368],"object_quaternion_wxyz":[0.9954304325664486,-5.050015979892096e-12,-1.1070126069494543e-12,0.09548954875049935],"object_linear_velocity_m_s":[2.2471478667492976e-12,-6.980744355960122e-12,3.977949001679937e-15],"object_angular_velocity_rad_s":[7.576470937392913e-11,2.4390988729863157e-11,-3.481264924237844e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000085738},{"geom_ids":[1,90],"normal_force_n":0.09810000000109283},{"geom_ids":[1,90],"normal_force_n":0.0980999999991427},{"geom_ids":[1,90],"normal_force_n":0.09809999999890728}],"native_actuator_controls":[0.32647788282243584,1.4978560015226996,-1.263985441121494,-0.20085930760832613,0.933491871100389,0.40579230689003215,0.035],"actuator_force_native":[0.0013713052580897056,-0.0005377551729424113,0.010101947628598396,-0.00021283901494761892,-0.010785064294633884,0.008805253841531524,2.390984179534428e-07],"issued_joint_targets_rad":[0.3264780400467992,1.4978559469954205,-1.2639852200456614,-0.20085959872444323,0.9334916411034212,0.4057927042216418],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.24000000000053,"joint_targets_rad":[0.3264780400467992,1.4978559469954205,-1.2639852200456614,-0.20085959872444323,0.9334916411034212,0.4057927042216418],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.260000000000556,"qpos":[0.32645898277889307,1.4978634394554782,-1.2641189378082331,-0.20085088402753692,0.9347509609039992,0.404736498014202,0.03499999365702625,-0.03500000000316882,0.35527284518908475,0.08439459315593287,0.07989224457978368,0.9954304326020796,-4.3748755652764025e-12,-9.58995807823783e-13,0.09548954837906526],"qvel":[3.971198395319758e-05,-1.6119985634069793e-05,0.0001651477296878178,-2.8526659105638602e-05,-0.001357417425294615,0.0013131629226638148,3.3342972941238813e-09,2.691623751478698e-09,2.3787242559996115e-12,-7.389624634866698e-12,4.191666933920279e-15,-5.2588444506825817e-11,-6.346642143419761e-12,-6.355910618862877e-08],"joint_position_rad":[0.32645898277889307,1.4978634394554782,-1.2641189378082331,-0.20085088402753692,0.9347509609039992,0.404736498014202],"joint_velocity_rad_s":[3.971198395319758e-05,-1.6119985634069793e-05,0.0001651477296878178,-2.8526659105638602e-05,-0.001357417425294615,0.0013131629226638148],"gripper_joint_position_m":[0.03499999365702625,-0.03500000000316882],"tcp_position_m":[0.3504079104926879,0.08434531782447567,0.2099230901657183],"tcp_quaternion_wxyz":[0.2583134696167651,-0.00043130940091894355,0.9660609917034297,-0.00035453594325123684],"object_position_m":[0.35527284518908475,0.08439459315593287,0.07989224457978368],"object_quaternion_wxyz":[0.9954304326020796,-4.3748755652764025e-12,-9.58995807823783e-13,0.09548954837906526],"object_linear_velocity_m_s":[2.3787242559996115e-12,-7.389624634866698e-12,4.191666933920279e-15],"object_angular_velocity_rad_s":[-5.042287743813408e-11,-1.622830222173204e-11,-6.355910618862885e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000093916},{"geom_ids":[1,90],"normal_force_n":0.09810000000119681},{"geom_ids":[1,90],"normal_force_n":0.09809999999906098},{"geom_ids":[1,90],"normal_force_n":0.09809999999880335}],"native_actuator_controls":[0.3264780400467992,1.4978559469954205,-1.2639852200456614,-0.20085959872444323,0.9334916411034212,0.4057927042216418,0.035],"actuator_force_native":[0.001326021512724651,-0.000518796876448846,0.00987168235728575,-0.00020595458072314443,-0.010557071867838275,0.00859231769040214,2.3704746365815765e-07],"issued_joint_targets_rad":[0.32647819298257663,1.4978558934116772,-1.263985004093,-0.20085988167669613,0.9334914164414416,0.4057930908438308],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.260000000000556,"joint_targets_rad":[0.32647819298257663,1.4978558934116772,-1.263985004093,-0.20085988167669613,0.9334914164414416,0.4057930908438308],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.28000000000058,"qpos":[0.32645976400231097,1.4978631226933594,-1.264115673792918,-0.2008514478075932,0.9347241141018979,0.4047624277640139,0.03499999381868939,-0.03500000000718665,0.35527284518912006,0.08439459315582355,0.07989224457978368,0.9954304326303134,-3.510308639404132e-12,-7.694691056624935e-13,0.09548954808474315],"qvel":[3.840565194776083e-05,-1.5554042861945222e-05,0.00016138325817620497,-2.7606684440700798e-05,-0.001328720854760076,0.0012814058220384265,5.028971374063552e-09,1.0057462154616449e-10,2.7734733106831925e-12,-8.615939192881437e-12,4.301301457602014e-15,-2.234287684681464e-10,-2.6975532247228988e-11,-1.1604287727769845e-07],"joint_position_rad":[0.32645976400231097,1.4978631226933594,-1.264115673792918,-0.2008514478075932,0.9347241141018979,0.4047624277640139],"joint_velocity_rad_s":[3.840565194776083e-05,-1.5554042861945222e-05,0.00016138325817620497,-2.7606684440700798e-05,-0.001328720854760076,0.0012814058220384265],"gripper_joint_position_m":[0.03499999381868939,-0.03500000000718665],"tcp_position_m":[0.3504117503235879,0.08434752359866439,0.20992467360502853],"tcp_quaternion_wxyz":[0.25832412973622615,-0.00042076227395971595,0.9660581487528573,-0.0003466746773009217],"object_position_m":[0.35527284518912006,0.08439459315582355,0.07989224457978368],"object_quaternion_wxyz":[0.9954304326303134,-3.510308639404132e-12,-7.694691056624935e-13,0.09548954808474315],"object_linear_velocity_m_s":[2.7734733106831925e-12,-8.615939192881437e-12,4.301301457602014e-15],"object_angular_velocity_rad_s":[-2.1422598634106488e-10,-6.895883333853088e-11,-1.160428772776986e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000042546},{"geom_ids":[1,90],"normal_force_n":0.09810000000054238},{"geom_ids":[1,90],"normal_force_n":0.09809999999957442},{"geom_ids":[1,90],"normal_force_n":0.09809999999945763}],"native_actuator_controls":[0.32647819298257663,1.4978558934116772,-1.263985004093,-0.20085988167669613,0.9334914164414416,0.4057930908438308,0.035],"actuator_force_native":[0.0012822901615123783,-0.0005005723202629042,0.009646659702553961,-0.00019932134191336104,-0.010333895322423459,0.008384522065111533,2.2210756767115925e-07],"issued_joint_targets_rad":[0.32647834175357626,1.4978558407606426,-1.263984793138459,-0.2008601567130456,0.9334911969823729,0.4057934670645608],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.28000000000058,"joint_targets_rad":[0.32647834175357626,1.4978558407606426,-1.263984793138459,-0.2008601567130456,0.9334911969823729,0.4057934670645608],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.300000000000605,"qpos":[0.32646051954976235,1.4978628170254384,-1.2641124841806075,-0.20085199345890814,0.9346978348623203,0.4047877304205954,0.03499999397776412,-0.03500000001340892,0.3552728451891549,0.08439459315571501,0.07989224457978368,0.9954304326723459,-3.234378754134433e-12,-7.089842348715137e-13,0.09548954764657629],"qvel":[3.71439815202178e-05,-1.5009961167897089e-05,0.00015770448699151297,-2.6720189650668682e-05,-0.0013006305064476853,0.0012504154457303673,6.0040381149202985e-09,-1.438869952585847e-09,1.2675541425976776e-12,-3.937731719061897e-12,4.2832603334518534e-15,1.328310542016454e-10,1.6037306249047496e-11,-1.257229545869259e-08],"joint_position_rad":[0.32646051954976235,1.4978628170254384,-1.2641124841806075,-0.20085199345890814,0.9346978348623203,0.4047877304205954],"joint_velocity_rad_s":[3.71439815202178e-05,-1.5009961167897089e-05,0.00015770448699151297,-2.6720189650668682e-05,-0.0013006305064476853,0.0012504154457303673],"gripper_joint_position_m":[0.03499999397776412,-0.03500000001340892],"tcp_position_m":[0.35041551069844673,0.08434968098035968,0.2099262237861654],"tcp_quaternion_wxyz":[0.25833456378644054,-0.0004104706594050683,0.9660553657810441,-0.0003389878474728835],"object_position_m":[0.3552728451891549,0.08439459315571501,0.07989224457978368],"object_quaternion_wxyz":[0.9954304326723459,-3.234378754134433e-12,-7.089842348715137e-13,0.09548954764657629],"object_linear_velocity_m_s":[1.2675541425976776e-12,-3.937731719061897e-12,4.2832603334518534e-15],"object_angular_velocity_rad_s":[1.2735988510949187e-10,4.0996875697341936e-11,-1.257229545869261e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000006835},{"geom_ids":[1,90],"normal_force_n":0.09810000000008705},{"geom_ids":[1,90],"normal_force_n":0.0980999999999318},{"geom_ids":[1,90],"normal_force_n":0.09809999999991309}],"native_actuator_controls":[0.32647834175357626,1.4978558407606426,-1.263984793138459,-0.2008601567130456,0.9334911969823729,0.4057934670645608,0.035],"actuator_force_native":[0.001240056397513456,-0.0004830513778273371,0.00942676093693251,-0.00019292921724556322,-0.010115433039802113,0.008181743271057584,2.108692447322369e-07],"issued_joint_targets_rad":[0.32647848647974576,1.4978557890313202,-1.2639845870602888,-0.20086042407316598,0.9334909825977297,0.40579383318214385],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.300000000000605,"joint_targets_rad":[0.32647848647974576,1.4978557890313202,-1.2639845870602888,-0.20086042407316598,0.9334909825977297,0.40579383318214385],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.32000000000063,"qpos":[0.3264612502984503,1.497862522023878,-1.2641093672773407,-0.20085252163915845,0.9346721111951767,0.4048124211248665,0.03499999413063824,-0.03500000001559548,0.35527284518918517,0.08439459315562098,0.07989224457978368,0.9954304327145758,-2.962834062263771e-12,-6.494656595968045e-13,0.09548954720635211],"qvel":[3.5925423244228184e-05,-1.4486840744311304e-05,0.00015410947578381064,-2.5865758166340785e-05,-0.001273133621046067,0.0012201733352318347,3.5398993508406094e-09,1.914890985891509e-09,1.220719342842417e-12,-3.792213717264475e-12,4.394282635914368e-15,8.608350701572596e-11,1.0393225229563419e-11,-2.2953836602864185e-08],"joint_position_rad":[0.3264612502984503,1.497862522023878,-1.2641093672773407,-0.20085252163915845,0.9346721111951767,0.4048124211248665],"joint_velocity_rad_s":[3.5925423244228184e-05,-1.4486840744311304e-05,0.00015410947578381064,-2.5865758166340785e-05,-0.001273133621046067,0.0012201733352318347],"gripper_joint_position_m":[0.03499999413063824,-0.03500000001559548],"tcp_position_m":[0.35041919324750603,0.08435179105240342,0.20992774144296],"tcp_quaternion_wxyz":[0.2583447766275156,-0.0004004284527941836,0.9660526415123092,-0.00033147160238299083],"object_position_m":[0.35527284518918517,0.08439459315562098,0.07989224457978368],"object_quaternion_wxyz":[0.9954304327145758,-2.962834062263771e-12,-6.494656595968045e-13,0.09548954720635211],"object_linear_velocity_m_s":[1.220719342842417e-12,-3.792213717264475e-12,4.394282635914368e-15],"object_angular_velocity_rad_s":[8.253782589877277e-11,2.656871481090027e-11,-2.2953836602864225e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000031278},{"geom_ids":[1,90],"normal_force_n":0.09810000000039856},{"geom_ids":[1,90],"normal_force_n":0.0980999999996873},{"geom_ids":[1,90],"normal_force_n":0.09809999999960152}],"native_actuator_controls":[0.32647848647974576,1.4978557890313202,-1.2639845870602888,-0.20086042407316598,0.9334909825977297,0.40579383318214385,0.035],"actuator_force_native":[0.001199267387413272,-0.0004662052009081208,0.009211869985222165,-0.0001867685694705301,-0.009901585542902325,0.007983860569926726,2.1707497355194505e-07],"issued_joint_targets_rad":[0.3264786272773083,1.4978557382125712,-1.2639843857399498,-0.20086068398875914,0.9334907731625081,0.4057941894855839],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.32000000000063,"joint_targets_rad":[0.3264786272773083,1.4978557382125712,-1.2639843857399498,-0.20086068398875914,0.9334907731625081,0.4057941894855839],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.340000000000654,"qpos":[0.3264619570945212,1.4978622372783634,-1.2641063214275172,-0.20085303297961266,0.9346469313636211,0.404836514653305,0.03499999428342809,-0.03500000002352588,0.3552728451892111,0.08439459315554025,0.07989224457978368,0.9954304327555277,-2.670727148305753e-12,-5.854427515707544e-13,0.09548954677944782],"qvel":[3.47484157775773e-05,-1.3983827476161132e-05,0.00015059632797982352,-2.5042177197435007e-05,-0.0012462176139606733,0.0011906614873109021,3.646571984322971e-09,1.6212469654294494e-09,1.2288552842900673e-12,-3.817454603611496e-12,4.359588166394834e-15,2.7416272663975633e-11,3.309346732132055e-12,-4.190790906301525e-08],"joint_position_rad":[0.3264619570945212,1.4978622372783634,-1.2641063214275172,-0.20085303297961266,0.9346469313636211,0.404836514653305],"joint_velocity_rad_s":[3.47484157775773e-05,-1.3983827476161132e-05,0.00015059632797982352,-2.5042177197435007e-05,-0.0012462176139606733,0.0011906614873109021],"gripper_joint_position_m":[0.03499999428342809,-0.03500000002352588],"tcp_position_m":[0.35042279956796685,0.08435385487277194,0.2099292272913773],"tcp_quaternion_wxyz":[0.25835477301186105,-0.00039062969212685797,0.9660499746986433,-0.0003241221742432851],"object_position_m":[0.3552728451892111,0.08439459315554025,0.07989224457978368],"object_quaternion_wxyz":[0.9954304327555277,-2.670727148305753e-12,-5.854427515707544e-13,0.09548954677944782],"object_linear_velocity_m_s":[1.2288552842900673e-12,-3.817454603611496e-12,4.359588166394834e-15],"object_angular_velocity_rad_s":[2.628716768404094e-11,8.46100453435989e-12,-4.1907909063015315e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000050771},{"geom_ids":[1,90],"normal_force_n":0.09810000000064716},{"geom_ids":[1,90],"normal_force_n":0.0980999999994923},{"geom_ids":[1,90],"normal_force_n":0.09809999999935282}],"native_actuator_controls":[0.3264786272773083,1.4978557382125712,-1.2639843857399498,-0.20086068398875914,0.9334907731625081,0.4057941894855839,0.035],"actuator_force_native":[0.001159872544082674,-0.00045000612600176737,0.00900187336549152,-0.0001808294798717469,-0.009692255590190157,0.007790756091822004,2.1043001652287785e-07],"issued_joint_targets_rad":[0.32647876425888833,1.4978556882931298,-1.2639841890620114,-0.20086093668384555,0.9334905685550822,0.40579453625489587],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.340000000000654,"joint_targets_rad":[0.32647876425888833,1.4978556882931298,-1.2639841890620114,-0.20086093668384555,0.9334905685550822,0.40579453625489587],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.360000000000678,"qpos":[0.3264626407546336,1.49786196239541,-1.2641033450130368,-0.2008535280853623,0.934622283878107,0.40486002542662325,0.03499999442725117,-0.03500000002452091,0.35527284518923236,0.08439459315547428,0.07989224457978368,0.995430432787071,-2.1918657626077625e-12,-4.804781281980912e-13,0.09548954645062048],"qvel":[3.3611516434012634e-05,-1.3500096524841579e-05,0.0001471631888866851,-2.4248159564884667e-05,-0.0012198702533554018,0.0011618623163394013,3.839722929719943e-09,1.1642366465218557e-09,1.3204152639738307e-12,-4.101837864535123e-12,4.175013588550901e-15,-4.990978069715691e-11,-6.026975340456999e-12,-7.651325888690312e-08],"joint_position_rad":[0.3264626407546336,1.49786196239541,-1.2641033450130368,-0.2008535280853623,0.934622283878107,0.40486002542662325],"joint_velocity_rad_s":[3.3611516434012634e-05,-1.3500096524841579e-05,0.0001471631888866851,-2.4248159564884667e-05,-0.0012198702533554018,0.0011618623163394013],"gripper_joint_position_m":[0.03499999442725117,-0.03500000002452091],"tcp_position_m":[0.35042633122466027,0.08435587347550728,0.20993068203003015],"tcp_quaternion_wxyz":[0.2583645575868204,-0.00038106855477193307,0.9660473641190545,-0.0003169358765835669],"object_position_m":[0.35527284518923236,0.08439459315547428,0.07989224457978368],"object_quaternion_wxyz":[0.995430432787071,-2.1918657626077625e-12,-4.804781281980912e-13,0.09548954645062048],"object_linear_velocity_m_s":[1.3204152639738307e-12,-4.101837864535123e-12,4.175013588550901e-15],"object_angular_velocity_rad_s":[-4.785383393725597e-11,-1.540523347758171e-11,-7.651325888690317e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000038147},{"geom_ids":[1,90],"normal_force_n":0.0981000000004863},{"geom_ids":[1,90],"normal_force_n":0.09809999999961806},{"geom_ids":[1,90],"normal_force_n":0.09809999999951323}],"native_actuator_controls":[0.32647876425888833,1.4978556882931298,-1.2639841890620114,-0.20086093668384555,0.9334905685550822,0.40579453625489587,0.035],"actuator_force_native":[0.001121822758211266,-0.0004344276997869656,0.008796660137605272,-0.00017510314150470663,-0.009487347850214434,0.007602314808217159,2.037113386865741e-07],"issued_joint_targets_rad":[0.32647889753363,1.4978556392616211,-1.2639839969140656,-0.20086118237504022,0.9334903686570991,0.4057948737614089],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.360000000000678,"joint_targets_rad":[0.32647889753363,1.4978556392616211,-1.2639839969140656,-0.20086118237504022,0.9334903686570991,0.4057948737614089],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.380000000000702,"qpos":[0.32646330206679064,1.4978616969976228,-1.264100436452464,-0.20085400753696614,0.9345981574914823,0.4048829675183033,0.03499999454896,-0.035000000000295114,0.3552728451892504,0.08439459315541824,0.07989224457978368,0.9954304328147852,-1.73735612680871e-12,-3.8084683915390955e-13,0.09548954616171373],"qvel":[3.251332232231959e-05,-1.3034859327615745e-05,0.00014380824533291814,-2.348250030743149e-05,-0.0011940795484231112,0.0011337586595196044,2.723701799499315e-09,2.4336003595703366e-09,6.817265004202497e-13,-2.1177710557544944e-12,3.9515812048450906e-15,8.205867454173036e-11,9.908224472719022e-12,-8.289585021073192e-09],"joint_position_rad":[0.32646330206679064,1.4978616969976228,-1.264100436452464,-0.20085400753696614,0.9345981574914823,0.4048829675183033],"joint_velocity_rad_s":[3.251332232231959e-05,-1.3034859327615745e-05,0.00014380824533291814,-2.348250030743149e-05,-0.0011940795484231112,0.0011337586595196044],"gripper_joint_position_m":[0.03499999454896,-0.035000000000295114],"tcp_position_m":[0.3504297897506884,0.084357847871083,0.20993210634066667],"tcp_quaternion_wxyz":[0.2583741348970905,-0.000371739354301351,0.966044808578971,-0.000309909102883695],"object_position_m":[0.3552728451892504,0.08439459315541824,0.07989224457978368],"object_quaternion_wxyz":[0.9954304328147852,-1.73735612680871e-12,-3.8084683915390955e-13,0.09548954616171373],"object_linear_velocity_m_s":[6.817265004202497e-13,-2.1177710557544944e-12,3.9515812048450906e-15],"object_angular_velocity_rad_s":[7.867859408003925e-11,2.532741229055641e-11,-8.289585021073197e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999079},{"geom_ids":[1,90],"normal_force_n":0.09809999999988248},{"geom_ids":[1,90],"normal_force_n":0.09810000000009209},{"geom_ids":[1,90],"normal_force_n":0.09810000000011747}],"native_actuator_controls":[0.32647889753363,1.4978556392616211,-1.2639839969140656,-0.20086118237504022,0.9334903686570991,0.4057948737614089,0.035],"actuator_force_native":[0.0010850707355380962,-0.00041944458349973957,0.00859612184521552,-0.00016958102142616838,-0.009286769021198182,0.007418424441775429,2.0442309112134183e-07],"issued_joint_targets_rad":[0.32647902720731736,1.4978555911065814,-1.2639838091866376,-0.20086142127182405,0.9334901733533799,0.40579520226806415],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.380000000000702,"joint_targets_rad":[0.32647902720731736,1.4978555911065814,-1.2639838091866376,-0.20086142127182405,0.9334901733533799,0.40579520226806415],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.400000000000727,"qpos":[0.3264639417910205,1.4978614407229773,-1.264097594200203,-0.20085447189226732,0.9345745411943729,0.4049053546629867,0.034999994682931905,-0.034999999999342474,0.3552728451892683,0.08439459315536244,0.07989224457978368,0.9954304328597703,-1.6503588444171504e-12,-3.6177910340865685e-13,0.0954895456927664],"qvel":[3.1452471004144835e-05,-1.2587361826762062e-05,0.0001405297249605372,-2.2744067340984827e-05,-0.0011688337453598526,0.0011063337707317297,3.362029514378872e-09,1.3683508789562816e-09,6.547437100694001e-13,-2.033941225329263e-12,3.880804487025237e-15,6.2374020073813e-11,7.531130169470331e-12,-1.513468886861149e-08],"joint_position_rad":[0.3264639417910205,1.4978614407229773,-1.264097594200203,-0.20085447189226732,0.9345745411943729,0.4049053546629867],"joint_velocity_rad_s":[3.1452471004144835e-05,-1.2587361826762062e-05,0.0001405297249605372,-2.2744067340984827e-05,-0.0011688337453598526,0.0011063337707317297],"gripper_joint_position_m":[0.034999994682931905,-0.034999999999342474],"tcp_position_m":[0.35043317664804313,0.08435977904666857,0.2099335008886313],"tcp_quaternion_wxyz":[0.2583835093870342,-0.00036263653734431775,0.966042306909669,-0.00030303832537293904],"object_position_m":[0.3552728451892683,0.08439459315536244,0.07989224457978368],"object_quaternion_wxyz":[0.9954304328597703,-1.6503588444171504e-12,-3.6177910340865685e-13,0.0954895456927664],"object_linear_velocity_m_s":[6.547437100694001e-13,-2.033941225329263e-12,3.880804487025237e-15],"object_angular_velocity_rad_s":[5.980481981469718e-11,1.925148900032325e-11,-1.51346888686115e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000007607},{"geom_ids":[1,90],"normal_force_n":0.09810000000009689},{"geom_ids":[1,90],"normal_force_n":0.09809999999992407},{"geom_ids":[1,90],"normal_force_n":0.09809999999990325}],"native_actuator_controls":[0.32647902720731736,1.4978555911065814,-1.2639838091866376,-0.20086142127182405,0.9334901733533799,0.40579520226806415,0.035],"actuator_force_native":[0.001049570948726597,-0.0004050325025417578,0.008400152460438903,-0.0001642548455649262,-0.00909042779188951,0.007238975394676217,1.9587257638065125e-07],"issued_joint_targets_rad":[0.32647915338248706,1.497855543816475,-1.2639836257731059,-0.20086165357680638,0.9334899825318309,0.40579552202970715],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.400000000000727,"joint_targets_rad":[0.32647915338248706,1.497855543816475,-1.2639836257731059,-0.20086165357680638,0.9334899825318309,0.40579552202970715],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.42000000000075,"qpos":[0.3264645606610628,1.497861193224247,-1.264094816745705,-0.20085492168598743,0.9345514242092167,0.40492720026444823,0.034999994821206554,-0.035000000009007354,0.3552728451892839,0.084394593155314,0.07989224457978368,0.9954304329047264,-1.5495034380222533e-12,-3.3967545902639177e-13,0.09548954522412029],"qvel":[3.042764127181632e-05,-1.215688269841161e-05,0.00013732589490138543,-2.2031796174646512e-05,-0.0011441213298558233,0.0010795713016903087,5.828051870702113e-09,-2.258464901173022e-09,6.480808501144011e-13,-2.013217135122028e-12,3.78782330871288e-15,3.777397716724278e-11,4.560882196482711e-12,-2.7632119882225042e-08],"joint_position_rad":[0.3264645606610628,1.497861193224247,-1.264094816745705,-0.20085492168598743,0.9345514242092167,0.40492720026444823],"joint_velocity_rad_s":[3.042764127181632e-05,-1.215688269841161e-05,0.00013732589490138543,-2.2031796174646512e-05,-0.0011441213298558233,0.0010795713016903087],"gripper_joint_position_m":[0.034999994821206554,-0.035000000009007354],"tcp_position_m":[0.35043649338825666,0.08436166796721108,0.20993486632334313],"tcp_quaternion_wxyz":[0.2583926854031957,-0.0003537546807719944,0.966039857967648,-0.00029632009254806175],"object_position_m":[0.3552728451892839,0.084394593155314,0.07989224457978368],"object_quaternion_wxyz":[0.9954304329047264,-1.5495034380222533e-12,-3.3967545902639177e-13,0.09548954522412029],"object_linear_velocity_m_s":[6.480808501144011e-13,-2.013217135122028e-12,3.78782330871288e-15],"object_angular_velocity_rad_s":[3.6218058925003013e-11,1.1658782318348246e-11,-2.7632119882225056e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000022157},{"geom_ids":[1,90],"normal_force_n":0.09810000000028243},{"geom_ids":[1,90],"normal_force_n":0.09809999999977853},{"geom_ids":[1,90],"normal_force_n":0.09809999999971768}],"native_actuator_controls":[0.32647915338248706,1.497855543816475,-1.2639836257731059,-0.20086165357680638,0.9334899825318309,0.40579552202970715,0.035],"actuator_force_native":[0.001015279507583955,-0.0003911682082673451,0.008208648333422275,-0.0001591166518828402,-0.008898234779072922,0.0070638607000530484,1.780114786686937e-07],"issued_joint_targets_rad":[0.3264792761585346,1.4978554973797031,-1.2639834465696114,-0.20086187948596584,0.9334897960833429,0.4057958332933499],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.42000000000075,"joint_targets_rad":[0.3264792761585346,1.4978554973797031,-1.2639834465696114,-0.20086187948596584,0.9334897960833429,0.4057958332933499],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.440000000000776,"qpos":[0.3264651593849616,1.497860954168334,-1.2640921026126732,-0.20085535743145383,0.9345287959858664,0.40494851740360166,0.03499999495106403,-0.03500000001064602,0.35527284518929675,0.08439459315527378,0.07989224457978368,0.9954304329423537,-1.3447388776746664e-12,-2.948015862058679e-13,0.09548954483187641],"qvel":[2.9437636145562415e-05,-1.174272262493524e-05,0.00013419506095330725,-2.134450730302354e-05,-0.0011199311355693314,0.001053455284901218,2.5555597735200107e-09,2.286949744389213e-09,6.60314311320716e-13,-2.05114343523178e-12,3.848885575067263e-15,3.5886565351026943e-12,4.314695219134021e-13,-5.044927292124009e-08],"joint_position_rad":[0.3264651593849616,1.497860954168334,-1.2640921026126732,-0.20085535743145383,0.9345287959858664,0.40494851740360166],"joint_velocity_rad_s":[2.9437636145562415e-05,-1.174272262493524e-05,0.00013419506095330725,-2.134450730302354e-05,-0.0011199311355693314,0.001053455284901218],"gripper_joint_position_m":[0.03499999495106403,-0.03500000001064602],"tcp_position_m":[0.35043974141299317,0.08436351557566743,0.20993620327872764],"tcp_quaternion_wxyz":[0.25840166719648977,-0.0003450884886678594,0.9660374606340849,-0.00028975102803547394],"object_position_m":[0.35527284518929675,0.08439459315527378,0.07989224457978368],"object_quaternion_wxyz":[0.9954304329423537,-1.3447388776746664e-12,-2.948015862058679e-13,0.09548954483187641],"object_linear_velocity_m_s":[6.60314311320716e-13,-2.05114343523178e-12,3.848885575067263e-15],"object_angular_velocity_rad_s":[3.4411869033802114e-12,1.1058274602312907e-12,-5.0449272921240125e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000025776},{"geom_ids":[1,90],"normal_force_n":0.09810000000032862},{"geom_ids":[1,90],"normal_force_n":0.0980999999997424},{"geom_ids":[1,90],"normal_force_n":0.09809999999967152}],"native_actuator_controls":[0.3264792761585346,1.4978554973797031,-1.2639834465696114,-0.20086187948596584,0.9334897960833429,0.4057958332933499,0.035],"actuator_force_native":[0.0009821537051131202,-0.00037782947734399386,0.008021508140188871,-0.00015415964396581217,-0.008710102321879631,0.006892975970130166,1.8917963995335185e-07],"issued_joint_targets_rad":[0.32647939563182055,1.4978554517846268,-1.263983271474986,-0.20086209918889253,0.9334896139017058,0.4057961362984425],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.440000000000776,"joint_targets_rad":[0.32647939563182055,1.4978554517846268,-1.263983271474986,-0.20086209918889253,0.9334896139017058,0.4057961362984425],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.4600000000008,"qpos":[0.3264657386457361,1.4978607232356491,-1.2640894503583,-0.2008557796220826,0.9345066461971406,0.40496931884625914,0.03499999507591944,-0.03500000001017195,0.3552728451893076,0.08439459315524002,0.07989224457978368,0.995430432974553,-1.1086592699777542e-12,-2.430582183911731e-13,0.09548954449621508],"qvel":[2.8481160841295676e-05,-1.1344227359030943e-05,0.00013113556742818451,-2.068136728737773e-05,-0.0010962520363193375,0.0010279701591995424,2.2225417520967848e-09,2.5990013794064853e-09,7.302776623066918e-13,-2.268334866239074e-12,3.880804487025235e-15,-4.046780424150382e-11,-4.8898156992934325e-12,-9.210763232436318e-08],"joint_position_rad":[0.3264657386457361,1.4978607232356491,-1.2640894503583,-0.2008557796220826,0.9345066461971406,0.40496931884625914],"joint_velocity_rad_s":[2.8481160841295676e-05,-1.1344227359030943e-05,0.00013113556742818451,-2.068136728737773e-05,-0.0010962520363193375,0.0010279701591995424],"gripper_joint_position_m":[0.03499999507591944,-0.03500000001017195],"tcp_position_m":[0.3504429221346403,0.0843653227933099,0.2099375123736377],"tcp_quaternion_wxyz":[0.2584104589243657,-0.00033663278940894605,0.9660351138142987,-0.0002833278293598683],"object_position_m":[0.3552728451893076,0.08439459315524002,0.07989224457978368],"object_quaternion_wxyz":[0.995430432974553,-1.1086592699777542e-12,-2.430582183911731e-13,0.09548954449621508],"object_linear_velocity_m_s":[7.302776623066918e-13,-2.268334866239074e-12,3.880804487025235e-15],"object_angular_velocity_rad_s":[-3.880022756804185e-11,-1.2493831212681369e-11,-9.210763232436324e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000019498},{"geom_ids":[1,90],"normal_force_n":0.09810000000024853},{"geom_ids":[1,90],"normal_force_n":0.09809999999980522},{"geom_ids":[1,90],"normal_force_n":0.0980999999997515}],"native_actuator_controls":[0.32647939563182055,1.4978554517846268,-1.263983271474986,-0.20086209918889253,0.9334896139017058,0.4057961362984425,0.035],"actuator_force_native":[0.0009501530825524185,-0.0003649949449879841,0.00783863282798336,-0.00014937583596008608,-0.008525944899869131,0.006726219283033963,1.858505136453914e-07],"issued_joint_targets_rad":[0.32647951189577434,1.4978554070195744,-1.2639831003906716,-0.20086231286902223,0.9334894358835245,0.4057964312771313],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.4600000000008,"joint_targets_rad":[0.32647951189577434,1.4978554070195744,-1.2639831003906716,-0.20086231286902223,0.9334894358835245,0.4057964312771313],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.480000000000825,"qpos":[0.32646629910265046,1.4978605001195806,-1.2640868585725156,-0.2008561887314587,0.9344849647336195,0.40498961705065323,0.034999995194345164,-0.035000000005709776,0.3552728451893173,0.08439459315520988,0.07989224457978368,0.9954304330079157,-9.268063802322973e-13,-2.0319760181181098e-13,0.09548954414842546],"qvel":[2.7557068565323992e-05,-1.0960759053680018e-05,0.00012814579533472923,-2.0041367603650722e-05,-0.0010730732815820278,0.00100310071930632,2.0625060624168666e-09,2.649776991000372e-09,3.626476669230388e-13,-1.1264368205136633e-12,3.946030089721963e-15,4.164988660918237e-11,5.030030903481954e-12,-9.97910767737736e-09],"joint_position_rad":[0.32646629910265046,1.4978605001195806,-1.2640868585725156,-0.2008561887314587,0.9344849647336195,0.40498961705065323],"joint_velocity_rad_s":[2.7557068565323992e-05,-1.0960759053680018e-05,0.00012814579533472923,-2.0041367603650722e-05,-0.0010730732815820278,0.00100310071930632],"gripper_joint_position_m":[0.034999995194345164,-0.035000000005709776],"tcp_position_m":[0.35044603693690374,0.0843670905205279,0.2099387942122763],"tcp_quaternion_wxyz":[0.25841906465305775,-0.00032838253292737676,0.9660328164371867,-0.00027704726592439057],"object_position_m":[0.3552728451893173,0.08439459315520988,0.07989224457978368],"object_quaternion_wxyz":[0.9954304330079157,-9.268063802322973e-13,-2.0319760181181098e-13,0.09548954414842546],"object_linear_velocity_m_s":[3.626476669230388e-13,-1.1264368205136633e-12,3.946030089721963e-15],"object_angular_velocity_rad_s":[3.9934097154826204e-11,1.285621055663947e-11,-9.979107677377367e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999997888},{"geom_ids":[1,90],"normal_force_n":0.0980999999999732},{"geom_ids":[1,90],"normal_force_n":0.09810000000002102},{"geom_ids":[1,90],"normal_force_n":0.09810000000002686}],"native_actuator_controls":[0.32647951189577434,1.4978554070195744,-1.2639831003906716,-0.20086231286902223,0.9334894358835245,0.4057964312771313,0.035],"actuator_force_native":[0.0009192381070839417,-0.0003526442052219636,0.007659925570834503,-0.00014475866452201558,-0.008345678578578486,0.006563491185821668,1.819136632441598e-07],"issued_joint_targets_rad":[0.32647962504098577,1.4978553630728584,-1.26398293322065,-0.20086252070384827,0.9334892619281354,0.40579671845449566],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.480000000000825,"joint_targets_rad":[0.32647962504098577,1.4978553630728584,-1.26398293322065,-0.20086252070384827,0.9334892619281354,0.40579671845449566],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.50000000000085,"qpos":[0.3264668413918482,1.497860284525923,-1.264084325877251,-0.2008565852146661,0.9344637416993503,0.4050094241748247,0.034999995313514096,-0.035000000007443854,0.3552728451893262,0.08439459315518201,0.07989224457978368,0.9954304330506102,-8.518379805700379e-13,-1.8677923539301826e-13,0.09548954370335422],"qvel":[2.6664213620466945e-05,-1.059171117166671e-05,0.0001252241622123022,-1.942362678806834e-05,-0.0010503842918279313,0.000978832131582314,4.042052917506835e-09,-3.119549181821822e-10,3.436897355626263e-13,-1.06747208576736e-12,3.772557742124282e-15,2.934092860760955e-11,3.543475211710848e-12,-1.8219330578794125e-08],"joint_position_rad":[0.3264668413918482,1.497860284525923,-1.264084325877251,-0.2008565852146661,0.9344637416993503,0.4050094241748247],"joint_velocity_rad_s":[2.6664213620466945e-05,-1.059171117166671e-05,0.0001252241622123022,-1.942362678806834e-05,-0.0010503842918279313,0.000978832131582314],"gripper_joint_position_m":[0.034999995313514096,-0.035000000007443854],"tcp_position_m":[0.3504490871753749,0.08436881963713369,0.20994004938459035],"tcp_quaternion_wxyz":[0.25842748835964274,-0.00032033278791700334,0.966030567454713,-0.0002709061777953529],"object_position_m":[0.3552728451893262,0.08439459315518201,0.07989224457978368],"object_quaternion_wxyz":[0.9954304330506102,-8.518379805700379e-13,-1.8677923539301826e-13,0.09548954370335422],"object_linear_velocity_m_s":[3.436897355626263e-13,-1.06747208576736e-12,3.772557742124282e-15],"object_angular_velocity_rad_s":[2.813221529860972e-11,9.056752758332963e-12,-1.821933057879413e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005659},{"geom_ids":[1,90],"normal_force_n":0.09810000000007213},{"geom_ids":[1,90],"normal_force_n":0.0980999999999432},{"geom_ids":[1,90],"normal_force_n":0.09809999999992766}],"native_actuator_controls":[0.32647962504098577,1.4978553630728584,-1.26398293322065,-0.20086252070384827,0.9334892619281354,0.40579671845449566,0.035],"actuator_force_native":[0.0008893708629074126,-0.0003407576893152964,0.007485291717017617,-0.0001403014333476449,-0.008169221274405558,0.006404694599336125,1.6724917162314057e-07],"issued_joint_targets_rad":[0.32647973515530565,1.4978553199327826,-1.2639827698713657,-0.20086272286513984,0.9334890919375237,0.40579699804879055],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.50000000000085,"joint_targets_rad":[0.32647973515530565,1.4978553199327826,-1.2639827698713657,-0.20086272286513984,0.9334890919375237,0.40579699804879055],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.520000000000874,"qpos":[0.32646736612743665,1.4978600761723828,-1.2640818509257248,-0.20085696950854623,0.9344429674069962,0.40502875208379197,0.03499999542669703,-0.035000000004736534,0.3552728451893339,0.08439459315515813,0.07989224457978368,0.995430433092726,-7.773475765687238e-13,-1.7043665587535468e-13,0.09548954326431551],"qvel":[2.580154129962931e-05,-1.0236497171265232e-05,0.00012236912079697894,-1.8827198057063566e-05,-0.0010281747801011388,0.0009551499079359464,3.4167970682707702e-09,4.3558017302299337e-10,3.3889336004924293e-13,-1.0526226146393145e-12,3.583819827938005e-15,1.442010254008604e-11,1.74284861776645e-12,-3.3263896684915976e-08],"joint_position_rad":[0.32646736612743665,1.4978600761723828,-1.2640818509257248,-0.20085696950854623,0.9344429674069962,0.40502875208379197],"joint_velocity_rad_s":[2.580154129962931e-05,-1.0236497171265232e-05,0.00012236912079697894,-1.8827198057063566e-05,-0.0010281747801011388,0.0009551499079359464],"gripper_joint_position_m":[0.03499999542669703,-0.035000000004736534],"tcp_position_m":[0.3504520741781011,0.08437051100304675,0.20994127846666727],"tcp_quaternion_wxyz":[0.25843573393415953,-0.0003124787391942768,0.9660283658413756,-0.0002649014738917142],"object_position_m":[0.3552728451893339,0.08439459315515813,0.07989224457978368],"object_quaternion_wxyz":[0.995430433092726,-7.773475765687238e-13,-1.7043665587535468e-13,0.09548954326431551],"object_linear_velocity_m_s":[3.3889336004924293e-13,-1.0526226146393145e-12,3.583819827938005e-15],"object_angular_velocity_rad_s":[1.3825803606054421e-11,4.45241880529477e-12,-3.326389668491597e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000012536},{"geom_ids":[1,90],"normal_force_n":0.09810000000015981},{"geom_ids":[1,90],"normal_force_n":0.09809999999987451},{"geom_ids":[1,90],"normal_force_n":0.09809999999984002}],"native_actuator_controls":[0.32647973515530565,1.4978553199327826,-1.2639827698713657,-0.20086272286513984,0.9334890919375237,0.40579699804879055,0.035],"actuator_force_native":[0.0008605145230227151,-0.00032931668215496757,0.007314638744745139,-0.00013599827346055804,-0.00799649252457435,0.006249734788082328,1.6584813367082063e-07],"issued_joint_targets_rad":[0.32647984232392796,1.4978552775876575,-1.2639826102516578,-0.2008629195191401,0.9334889258162445,0.4057972702716684],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.520000000000874,"joint_targets_rad":[0.32647984232392796,1.4978552775876575,-1.2639826102516578,-0.2008629195191401,0.9334889258162445,0.4057972702716684],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.540000000000898,"qpos":[0.3264678739019121,1.497859874788038,-1.2640794324017344,-0.200857342033256,0.9344226323739339,0.40504761235661757,0.03499999553657953,-0.03500000000152881,0.35527284518934044,0.08439459315513764,0.07989224457978368,0.9954304331320847,-6.873687119737013e-13,-1.5069633678469497e-13,0.09548954285402135],"qvel":[2.4967977301586507e-05,-9.894561554885898e-06,0.00011957915900677448,-1.8251293954668155e-05,-0.0010064345962432111,0.0009320399194141361,2.813930913505809e-09,1.1488099987905874e-09,3.563017729204878e-13,-1.1067426184511369e-12,3.7059443606467725e-15,-4.479081227703484e-12,-5.395036945227894e-13,-6.073147516947601e-08],"joint_position_rad":[0.3264678739019121,1.497859874788038,-1.2640794324017344,-0.200857342033256,0.9344226323739339,0.40504761235661757],"joint_velocity_rad_s":[2.4967977301586507e-05,-9.894561554885898e-06,0.00011957915900677448,-1.8251293954668155e-05,-0.0010064345962432111,0.0009320399194141361],"gripper_joint_position_m":[0.03499999553657953,-0.03500000000152881],"tcp_position_m":[0.3504549992461257,0.08437216545846042,0.20994248202109636],"tcp_quaternion_wxyz":[0.25844380518152515,-0.00030481568498353745,0.9660262105937308,-0.00025903013100956907],"object_position_m":[0.35527284518934044,0.08439459315513764,0.07989224457978368],"object_quaternion_wxyz":[0.9954304331320847,-6.873687119737013e-13,-1.5069633678469497e-13,0.09548954285402135],"object_linear_velocity_m_s":[3.563017729204878e-13,-1.1067426184511369e-12,3.7059443606467725e-15],"object_angular_velocity_rad_s":[-4.294835309749979e-12,-1.3811670943994032e-12,-6.073147516947599e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000015245},{"geom_ids":[1,90],"normal_force_n":0.09810000000019443},{"geom_ids":[1,90],"normal_force_n":0.09809999999984695},{"geom_ids":[1,90],"normal_force_n":0.09809999999980498}],"native_actuator_controls":[0.32647984232392796,1.4978552775876575,-1.2639826102516578,-0.2008629195191401,0.9334889258162445,0.4057972702716684,0.035],"actuator_force_native":[0.0008326338747579598,-0.00031830322267012434,0.007147876211092807,-0.00013184296559032305,-0.007827413682528928,0.0060985192713873815,1.6446716433193842e-07],"issued_joint_targets_rad":[0.3264799466294856,1.497855236025808,-1.263982454272696,-0.20086311082676686,0.9334887634713543,0.40579753532840407],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.540000000000898,"joint_targets_rad":[0.3264799466294856,1.497855236025808,-1.263982454272696,-0.20086311082676686,0.9334887634713543,0.40579753532840407],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.560000000000922,"qpos":[0.3264683652871165,1.4978596801128787,-1.2640770690189718,-0.20085770319259666,0.9344027273176893,0.4050660162932577,0.034999995646480375,-0.03500000000267154,0.35527284518934577,0.08439459315512102,0.07989224457978368,0.9954304331590623,-5.367625063741413e-13,-1.1767275569184571e-13,0.09548954257279312],"qvel":[2.4162489834799763e-05,-9.565371722774597e-06,0.00011685279866028146,-1.769515326536081e-05,-0.000985153810010286,0.0009094883748653863,4.303486856338662e-09,-1.1075291495059227e-09,4.088930609089141e-13,-1.270097621230955e-12,3.5047164374334637e-15,-2.9341052313028e-11,-3.543313607170485e-12,-1.1088033706149434e-07],"joint_position_rad":[0.3264683652871165,1.4978596801128787,-1.2640770690189718,-0.20085770319259666,0.9344027273176893,0.4050660162932577],"joint_velocity_rad_s":[2.4162489834799763e-05,-9.565371722774597e-06,0.00011685279866028146,-1.769515326536081e-05,-0.000985153810010286,0.0009094883748653863],"gripper_joint_position_m":[0.034999995646480375,-0.03500000000267154],"tcp_position_m":[0.35045786365403253,0.08437378382444886,0.20994366059733927],"tcp_quaternion_wxyz":[0.25845170582353105,-0.00029733903436917307,0.9660241007298888,-0.00025328919215284596],"object_position_m":[0.35527284518934577,0.08439459315512102,0.07989224457978368],"object_quaternion_wxyz":[0.9954304331590623,-5.367625063741413e-13,-1.1767275569184571e-13,0.09548954257279312],"object_linear_velocity_m_s":[4.088930609089141e-13,-1.270097621230955e-12,3.5047164374334637e-15],"object_angular_velocity_rad_s":[-2.8132367443621183e-11,-9.056617700428416e-12,-1.108803370614943e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005158},{"geom_ids":[1,90],"normal_force_n":0.09810000000006577},{"geom_ids":[1,90],"normal_force_n":0.09809999999994831},{"geom_ids":[1,90],"normal_force_n":0.09809999999993406}],"native_actuator_controls":[0.3264799466294856,1.497855236025808,-1.263982454272696,-0.20086311082676686,0.9334887634713543,0.40579753532840407,0.035],"actuator_force_native":[0.0008056949403538738,-0.0003077001070437291,0.006984915708756034,-0.00012782960047985625,-0.007661907748333974,0.005950957789165656,1.5262335084642586e-07],"issued_joint_targets_rad":[0.3264800481521282,1.497855195235586,-1.2639823018479108,-0.20086329694379754,0.9334886048123292,0.40579779341810246],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.560000000000922,"joint_targets_rad":[0.3264800481521282,1.497855195235586,-1.2639823018479108,-0.20086329694379754,0.9334886048123292,0.40579779341810246],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.580000000000947,"qpos":[0.32646884083506206,1.497859491897359,-1.2640747595203516,-0.20085805337453855,0.9343832431516023,0.40508397492124454,0.034999995754022094,-0.03500000000418835,0.3552728451893509,0.08439459315510489,0.07989224457978368,0.9954304331992248,-4.792940654922597e-13,-1.0507487648278795e-13,0.09548954215411955],"qvel":[2.338414443921373e-05,-9.248410772635748e-06,0.0001141885946193372,-1.715792059634021e-05,-0.0009643227841267227,0.0008874818042184649,3.0601590058756827e-09,5.638969791823735e-10,1.8871417457029027e-13,-5.861987729523105e-13,3.417286374244233e-15,2.0269143985453145e-11,2.4475770077898384e-12,-1.2012976502998864e-08],"joint_position_rad":[0.32646884083506206,1.497859491897359,-1.2640747595203516,-0.20085805337453855,0.9343832431516023,0.40508397492124454],"joint_velocity_rad_s":[2.338414443921373e-05,-9.248410772635748e-06,0.0001141885946193372,-1.715792059634021e-05,-0.0009643227841267227,0.0008874818042184649],"gripper_joint_position_m":[0.034999995754022094,-0.03500000000418835],"tcp_position_m":[0.3504606686504797,0.08437536690347773,0.20994481473208038],"tcp_quaternion_wxyz":[0.25845943950076716,-0.0002900443047883249,0.9660220352890331,-0.0002476757650294561],"object_position_m":[0.3552728451893509,0.08439459315510489,0.07989224457978368],"object_quaternion_wxyz":[0.9954304331992248,-4.792940654922597e-13,-1.0507487648278795e-13,0.09548954215411955],"object_linear_velocity_m_s":[1.8871417457029027e-13,-5.861987729523105e-13,3.417286374244233e-15],"object_angular_velocity_rad_s":[1.943420560128793e-11,6.256235590110457e-12,-1.201297650299886e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000063},{"geom_ids":[1,90],"normal_force_n":0.09810000000000092},{"geom_ids":[1,90],"normal_force_n":0.0980999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999892}],"native_actuator_controls":[0.3264800481521282,1.497855195235586,-1.2639823018479108,-0.20086329694379754,0.9334886048123292,0.40579779341810246,0.035],"actuator_force_native":[0.0007796646430975329,-0.0002974908879451732,0.006825670822166785,-0.000123953167376456,-0.007499899216540484,0.00580696226225097,1.5453832125089662e-07],"issued_joint_targets_rad":[0.32648014696960714,1.4978551552053747,-1.263982152892932,-0.20086347802105056,0.9334884497510028,0.40579804473390146],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.580000000000947,"joint_targets_rad":[0.32648014696960714,1.4978551552053747,-1.263982152892932,-0.20086347802105056,0.9334884497510028,0.40579804473390146],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.60000000000097,"qpos":[0.32646930107850053,1.4978593099019424,-1.2640725026773523,-0.20085839295219454,0.934364170980887,0.4051014990022351,0.03499999585466651,-0.03499999999978338,0.35527284518935554,0.08439459315509042,0.07989224457978368,0.9954304332447922,-4.499184822496671e-13,-9.863583836142822e-14,0.09548954167910412],"qvel":[2.2631963573680187e-05,-8.943191909451757e-06,0.00011158513446510067,-1.663893767926017e-05,-0.0009439319787041398,0.0008660070721360653,2.195058560157325e-09,1.6510085005833923e-09,1.8310344206571562e-13,-5.687655069800607e-13,3.518594225241278e-15,1.3815152026874253e-11,1.6683152691826968e-12,-2.1932661441986794e-08],"joint_position_rad":[0.32646930107850053,1.4978593099019424,-1.2640725026773523,-0.20085839295219454,0.934364170980887,0.4051014990022351],"joint_velocity_rad_s":[2.2631963573680187e-05,-8.943191909451757e-06,0.00011158513446510067,-1.663893767926017e-05,-0.0009439319787041398,0.0008660070721360653],"gripper_joint_position_m":[0.03499999585466651,-0.03499999999978338],"tcp_position_m":[0.35046341545871296,0.08437691547972422,0.20994594494956464],"tcp_quaternion_wxyz":[0.2584670097744461,-0.0002829271195325039,0.9660200133309602,-0.00024218702086397986],"object_position_m":[0.35527284518935554,0.08439459315509042,0.07989224457978368],"object_quaternion_wxyz":[0.9954304332447922,-4.499184822496671e-13,-9.863583836142822e-14,0.09548954167910412],"object_linear_velocity_m_s":[1.8310344206571562e-13,-5.687655069800607e-13,3.518594225241278e-15],"object_angular_velocity_rad_s":[1.3246054546093166e-11,4.264239712417935e-12,-2.1932661441986794e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000004535},{"geom_ids":[1,90],"normal_force_n":0.09810000000005777},{"geom_ids":[1,90],"normal_force_n":0.09809999999995483},{"geom_ids":[1,90],"normal_force_n":0.0980999999999424}],"native_actuator_controls":[0.32648014696960714,1.4978551552053747,-1.263982152892932,-0.20086347802105056,0.9334884497510028,0.40579804473390146,0.035],"actuator_force_native":[0.0007545114706637435,-0.0002876597658598712,0.00667005708129409,-0.00012020806584445154,-0.007341314330783888,0.005666446708459283,1.5483804682858704e-07],"issued_joint_targets_rad":[0.3264802431573489,1.4978551159236027,-1.2639820073255288,-0.20086365420455862,0.9334882982014929,0.4057982894631684],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.60000000000097,"joint_targets_rad":[0.3264802431573489,1.4978551159236027,-1.2639820073255288,-0.20086365420455862,0.9334882982014929,0.4057982894631684],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.620000000000996,"qpos":[0.32646974653156047,1.497859133896676,-1.264070297289374,-0.20085872228455312,0.9343455020986584,0.40511859903841585,0.03499999595670017,-0.03500000000127179,0.3552728451893595,0.08439459315507845,0.07989224457978368,0.9954304332839222,-3.952932047853453e-13,-8.667003354326657e-14,0.09548954127119205],"qvel":[2.1905028797441334e-05,-8.649246101558172e-06,0.00010904103759934328,-1.613752319493248e-05,-0.0009239720882490419,0.000845051356404057,3.2562038237664503e-09,1.6573698673287033e-11,1.811145406397854e-13,-5.625358104769031e-13,3.449205286202206e-15,4.961037399238977e-12,5.982904735867686e-13,-4.004350110755996e-08],"joint_position_rad":[0.32646974653156047,1.497859133896676,-1.264070297289374,-0.20085872228455312,0.9343455020986584,0.40511859903841585],"joint_velocity_rad_s":[2.1905028797441334e-05,-8.649246101558172e-06,0.00010904103759934328,-1.613752319493248e-05,-0.0009239720882490419,0.000845051356404057],"gripper_joint_position_m":[0.03499999595670017,-0.03500000000127179],"tcp_position_m":[0.35046610527707345,0.08437843031946136,0.20994705176192568],"tcp_quaternion_wxyz":[0.2584744201282004,-0.00027598320530537854,0.9660180339356285,-0.00023682019310958838],"object_position_m":[0.3552728451893595,0.08439459315507845,0.07989224457978368],"object_quaternion_wxyz":[0.9954304332839222,-3.952932047853453e-13,-8.667003354326657e-14,0.09548954127119205],"object_linear_velocity_m_s":[1.811145406397854e-13,-5.625358104769031e-13,3.449205286202206e-15],"object_angular_velocity_rad_s":[4.75682658327909e-12,1.5305046305392772e-12,-4.004350110755995e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000006681},{"geom_ids":[1,90],"normal_force_n":0.09810000000008508},{"geom_ids":[1,90],"normal_force_n":0.09809999999993335},{"geom_ids":[1,90],"normal_force_n":0.09809999999991496}],"native_actuator_controls":[0.3264802431573489,1.4978551159236027,-1.2639820073255288,-0.20086365420455862,0.9334882982014929,0.4057982894631684,0.035],"actuator_force_native":[0.0007302049190904825,-0.00027819161536513093,0.0065179919196225455,-0.00011658918424473086,-0.007186080839280962,0.0055293272129190996,1.454509741538601e-07],"issued_joint_targets_rad":[0.32648033678853655,1.4978550773787473,-1.263981865065546,-0.20086382563573882,0.9334881500801363,0.4057985277876928],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.620000000000996,"joint_targets_rad":[0.32648033678853655,1.4978550773787473,-1.263981865065546,-0.20086382563573882,0.9334881500801363,0.4057985277876928],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.64000000000102,"qpos":[0.3264701776906381,1.4978589636608137,-1.2640681421831095,-0.20085904171660834,0.9343272279816613,0.4051352852786931,0.03499999605531655,-0.03500000000145244,0.35527284518936264,0.08439459315506835,0.07989224457978368,0.9954304333191838,-3.355070032152491e-13,-7.356614868846604e-14,0.09548954090360778],"qvel":[2.12025002672e-05,-8.366118882367904e-06,0.00010655495428753326,-1.5652929102301295e-05,-0.0009044340670931353,0.000824602134134298,1.900126730805708e-09,1.8475888870685845e-09,1.928986416280697e-13,-5.990994787901688e-13,3.5116553313373713e-15,-6.19605070056379e-12,-7.490819240145849e-13,-7.310932076988194e-08],"joint_position_rad":[0.3264701776906381,1.4978589636608137,-1.2640681421831095,-0.20085904171660834,0.9343272279816613,0.4051352852786931],"joint_velocity_rad_s":[2.12025002672e-05,-8.366118882367904e-06,0.00010655495428753326,-1.5652929102301295e-05,-0.0009044340670931353,0.000824602134134298],"gripper_joint_position_m":[0.03499999605531655,-0.03500000000145244],"tcp_position_m":[0.35046873927950295,0.08437991217165437,0.20994813566950826],"tcp_quaternion_wxyz":[0.2584816739699007,-0.00026920838991023886,0.9660160962026991,-0.00023157257584084906],"object_position_m":[0.35527284518936264,0.08439459315506835,0.07989224457978368],"object_quaternion_wxyz":[0.9954304333191838,-3.355070032152491e-13,-7.356614868846604e-14,0.09548954090360778],"object_linear_velocity_m_s":[1.928986416280697e-13,-5.990994787901688e-13,3.5116553313373713e-15],"object_angular_velocity_rad_s":[-5.940651116050245e-12,-1.913330167606536e-12,-7.310932076988192e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000006781},{"geom_ids":[1,90],"normal_force_n":0.09810000000008634},{"geom_ids":[1,90],"normal_force_n":0.09809999999993224},{"geom_ids":[1,90],"normal_force_n":0.09809999999991359}],"native_actuator_controls":[0.32648033678853655,1.4978550773787473,-1.263981865065546,-0.20086382563573882,0.9334881500801363,0.4057985277876928,0.035],"actuator_force_native":[0.0007067153305406748,-0.00026907197090508816,0.006369394633637171,-0.00011309211970811361,-0.007034127914611332,0.0053955218887962175,1.4828670447109005e-07],"issued_joint_targets_rad":[0.326480427934178,1.4978550395593448,-1.2639817260348527,-0.20086399245154957,0.9334880053054269,0.4057987598838625],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.64000000000102,"joint_targets_rad":[0.326480427934178,1.4978550395593448,-1.2639817260348527,-0.20086399245154957,0.9334880053054269,0.4057987598838625],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.660000000001045,"qpos":[0.32647059503478293,1.4978587989824057,-1.2640660362119285,-0.20085935158047605,0.9343093402867341,0.40515156772480243,0.034999996150892436,-0.03500000000116324,0.3552728451893653,0.08439459315506004,0.07989224457978368,0.995430433345665,-2.614200062898015e-13,-5.7323585470034e-14,0.09548954062755394],"qvel":[2.0523487411369874e-05,-8.09338370858568e-06,0.00010412556554193655,-1.5184607630568966e-05,-0.0008853089485942312,0.0008046471965661232,2.7599864902128104e-09,4.98122134120616e-10,1.0230574937667951e-13,-3.177407748293219e-13,3.42422526814814e-15,1.2544649326824113e-11,1.515490846094991e-12,-7.9207962010056e-09],"joint_position_rad":[0.32647059503478293,1.4978587989824057,-1.2640660362119285,-0.20085935158047605,0.9343093402867341,0.40515156772480243],"joint_velocity_rad_s":[2.0523487411369874e-05,-8.09338370858568e-06,0.00010412556554193655,-1.5184607630568966e-05,-0.0008853089485942312,0.0008046471965661232],"gripper_joint_position_m":[0.034999996150892436,-0.03500000000116324],"tcp_position_m":[0.35047131861602715,0.08438136176816437,0.2099491971611721],"tcp_quaternion_wxyz":[0.25848877463332165,-0.0002625985998817506,0.9660141992511166,-0.00022644152278175183],"object_position_m":[0.3552728451893653,0.08439459315506004,0.07989224457978368],"object_quaternion_wxyz":[0.995430433345665,-2.614200062898015e-13,-5.7323585470034e-14,0.09548954062755394],"object_linear_velocity_m_s":[1.0230574937667951e-13,-3.177407748293219e-13,3.42422526814814e-15],"object_angular_velocity_rad_s":[1.2027774277988002e-11,3.8726715785561484e-12,-7.920796201005597e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999972027},{"geom_ids":[1,90],"normal_force_n":0.09809999999964414},{"geom_ids":[1,90],"normal_force_n":0.09810000000027325},{"geom_ids":[1,90],"normal_force_n":0.09810000000034934}],"native_actuator_controls":[0.326480427934178,1.4978550395593448,-1.2639817260348527,-0.20086399245154957,0.9334880053054269,0.4057987598838625,0.035],"actuator_force_native":[0.0006840145145474708,-0.00026028692631996364,0.006224186338343429,-0.00010971180478769327,-0.00688538639018077,0.005264950795751844,1.4016437011044047e-07],"issued_joint_targets_rad":[0.3264805166631767,1.497855002453994,-1.2639815901572802,-0.20086415478464645,0.9334878637979541,0.4057989859228417],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.660000000001045,"joint_targets_rad":[0.3264805166631767,1.497855002453994,-1.2639815901572802,-0.20086415478464645,0.9334878637979541,0.4057989859228417],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.68000000000107,"qpos":[0.32647099902646115,1.4978586396579452,-1.2640639782552765,-0.20085965219561858,0.9342918308468184,0.4051674561372469,0.0349999962475958,-0.03500000000583362,0.3552728451893681,0.08439459315505135,0.07989224457978368,0.995430433394013,-2.5297197048489527e-13,-5.547481848605416e-14,0.09548954012354934],"qvel":[1.9867202285124376e-05,-7.830624033500556e-06,0.00010175158182984375,-1.4731886028384142e-05,-0.0008665880531492556,0.0007851746169327092,3.0846445822045368e-09,-4.679340201664942e-11,9.961705459998243e-14,-3.0937627820508416e-13,3.3007129566585917e-15,9.933285600860717e-12,1.1999317551203301e-12,-1.4461373612681416e-08],"joint_position_rad":[0.32647099902646115,1.4978586396579452,-1.2640639782552765,-0.20085965219561858,0.9342918308468184,0.4051674561372469],"joint_velocity_rad_s":[1.9867202285124376e-05,-7.830624033500556e-06,0.00010175158182984375,-1.4731886028384142e-05,-0.0008665880531492556,0.0007851746169327092],"gripper_joint_position_m":[0.0349999962475958,-0.03500000000583362],"tcp_position_m":[0.35047384441323565,0.08438277982426255,0.20995023671459417],"tcp_quaternion_wxyz":[0.2584957253798487,-0.0002561498582369301,0.966012342218675,-0.00022142444583896103],"object_position_m":[0.3552728451893681,0.08439459315505135,0.07989224457978368],"object_quaternion_wxyz":[0.995430433394013,-2.5297197048489527e-13,-5.547481848605416e-14,0.09548954012354934],"object_linear_velocity_m_s":[9.961705459998243e-14,-3.0937627820508416e-13,3.3007129566585917e-15],"object_angular_velocity_rad_s":[9.524022502583723e-12,3.0664302397894736e-12,-1.446137361268141e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000955},{"geom_ids":[1,90],"normal_force_n":0.09810000000001205},{"geom_ids":[1,90],"normal_force_n":0.09809999999999054},{"geom_ids":[1,90],"normal_force_n":0.09809999999998804}],"native_actuator_controls":[0.3264805166631767,1.497855002453994,-1.2639815901572802,-0.20086415478464645,0.9334878637979541,0.4057989859228417,0.035],"actuator_force_native":[0.0006620749258168246,-0.0002518231959243167,0.006082289930546381,-0.00010644413097438132,-0.006739788408919978,0.00513753593054922,1.3467294501801064e-07],"issued_joint_targets_rad":[0.32648060304240134,1.4978549660513683,-1.2639814573585724,-0.2008643127635335,0.9334877254803379,0.4057992060707432],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.68000000000107,"joint_targets_rad":[0.32648060304240134,1.4978549660513683,-1.2639814573585724,-0.2008643127635335,0.9334877254803379,0.4057992060707432],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.700000000001094,"qpos":[0.326471390112172,1.4978584854920176,-1.2640619672180882,-0.20085994386933742,0.9342746916672044,0.40518296004106275,0.03499999633474354,-0.03500000000040078,0.3552728451893705,0.08439459315504412,0.07989224457978368,0.9954304334369694,-2.30110371193811e-13,-5.045482389468823e-14,0.09548953967575247],"qvel":[1.9232840025369873e-05,-7.5774456470983775e-06,9.943174280624959e-05,-1.4294214285237758e-05,-0.0008482628224997766,0.0007661727608611909,3.827218110877082e-09,-1.2605608300267767e-09,9.626395921014322e-14,-2.9900235450348274e-13,3.356224107889849e-15,6.044929564282047e-12,7.307518401281924e-13,-2.6402816263838864e-08],"joint_position_rad":[0.326471390112172,1.4978584854920176,-1.2640619672180882,-0.20085994386933742,0.9342746916672044,0.40518296004106275],"joint_velocity_rad_s":[1.9232840025369873e-05,-7.5774456470983775e-06,9.943174280624959e-05,-1.4294214285237758e-05,-0.0008482628224997766,0.0007661727608611909],"gripper_joint_position_m":[0.03499999633474354,-0.03500000000040078],"tcp_position_m":[0.35047631777475763,0.08438416703903474,0.20995125479655982],"tcp_quaternion_wxyz":[0.25850252940013174,-0.00024985828227789105,0.9660105242616026,-0.00021651881383488562],"object_position_m":[0.3552728451893705,0.08439459315504412,0.07989224457978368],"object_quaternion_wxyz":[0.9954304334369694,-2.30110371193811e-13,-5.045482389468823e-14,0.09548953967575247],"object_linear_velocity_m_s":[9.626395921014322e-14,-2.9900235450348274e-13,3.356224107889849e-15],"object_angular_velocity_rad_s":[5.795770590990638e-12,1.866605192743284e-12,-2.6402816263838857e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002787},{"geom_ids":[1,90],"normal_force_n":0.09810000000003553},{"geom_ids":[1,90],"normal_force_n":0.0980999999999724},{"geom_ids":[1,90],"normal_force_n":0.09809999999996484}],"native_actuator_controls":[0.32648060304240134,1.4978549660513683,-1.2639814573585724,-0.2008643127635335,0.9334877254803379,0.4057992060707432,0.035],"actuator_force_native":[0.0006408702182199022,-0.0002436680237138944,0.0059436300472412995,-0.0001032846964168499,-0.006597267634916193,0.005013201155513514,1.274741681100977e-07],"issued_joint_targets_rad":[0.3264806871367489,1.4978549303402129,-1.2639813275663316,-0.2008644665127007,0.9334875902771806,0.4057994204887851],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.700000000001094,"joint_targets_rad":[0.3264806871367489,1.4978549303402129,-1.2639813275663316,-0.2008644665127007,0.9334875902771806,0.4057994204887851],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.720000000001118,"qpos":[0.32647176872279327,1.4978583362969409,-1.264060002030211,-0.20086022689773878,0.9342579149222111,0.40519808873153434,0.034999996424178385,-0.03500000000147519,0.3552728451893725,0.08439459315503796,0.07989224457978368,0.995430433478189,-2.054177512135772e-13,-4.5029580470354886e-14,0.09548953924605717],"qvel":[1.861965958044683e-05,-7.33346692976323e-06,9.716481662437738e-05,-1.3870990493858244e-05,-0.0008303249264232506,0.0007476302707568715,4.071620306392716e-09,-1.7098785683398424e-09,9.776583105927402e-14,-3.037122195523281e-13,3.4089597015595434e-15,1.1626822139495227e-12,1.415543514342205e-13,-4.82048749555834e-08],"joint_position_rad":[0.32647176872279327,1.4978583362969409,-1.264060002030211,-0.20086022689773878,0.9342579149222111,0.40519808873153434],"joint_velocity_rad_s":[1.861965958044683e-05,-7.33346692976323e-06,9.716481662437738e-05,-1.3870990493858244e-05,-0.0008303249264232506,0.0007476302707568715],"gripper_joint_position_m":[0.034999996424178385,-0.03500000000147519],"tcp_position_m":[0.3504787397817106,0.08438552409558013,0.20995225186323813],"tcp_quaternion_wxyz":[0.2585091898156201,-0.00024372008135617045,0.9660087445541703,-0.00021172215156522878],"object_position_m":[0.3552728451893725,0.08439459315503796,0.07989224457978368],"object_quaternion_wxyz":[0.995430433478189,-2.054177512135772e-13,-4.5029580470354886e-14,0.09548953924605717],"object_linear_velocity_m_s":[9.776583105927402e-14,-3.037122195523281e-13,3.4089597015595434e-15],"object_angular_velocity_rad_s":[1.114568574771978e-12,3.60006190402661e-13,-4.820487495558339e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000004096},{"geom_ids":[1,90],"normal_force_n":0.09810000000005227},{"geom_ids":[1,90],"normal_force_n":0.09809999999995905},{"geom_ids":[1,90],"normal_force_n":0.09809999999994781}],"native_actuator_controls":[0.3264806871367489,1.4978549303402129,-1.2639813275663316,-0.2008644665127007,0.9334875902771806,0.4057994204887851,0.035],"actuator_force_native":[0.000620374818549152,-0.00023580920358767798,0.005808133027230156,-0.0001002296460086427,-0.006457759060669588,0.004891872166371769,1.2267476323657434e-07],"issued_joint_targets_rad":[0.3264807690092081,1.4978548953093602,-1.2639812007099671,-0.20086461615276913,0.9334874581150008,0.4057996293334551],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.720000000001118,"joint_targets_rad":[0.3264807690092081,1.4978548953093602,-1.2639812007099671,-0.20086461615276913,0.9334874581150008,0.4057996293334551],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.740000000001142,"qpos":[0.3264721352743715,1.4978581918924674,-1.2640580816458429,-0.20086050156571655,0.9342414929512907,0.40521285127966367,0.03499999651577343,-0.03500000000872605,0.355272845189374,0.08439459315503293,0.07989224457978368,0.9954304335089558,-1.658192312465567e-13,-3.6350191088574616e-14,0.09548953892532881],"qvel":[1.8026928992331886e-05,-7.098324037801627e-06,9.494959923202139e-05,-1.346167437087469e-05,-0.0008127661868590929,0.000729536063403897,3.75542788405889e-09,-1.3091252059006014e-09,1.0699999671293341e-13,-3.3226400575414443e-13,3.3298563110550008e-15,-5.225335635494684e-12,-6.337856100317491e-13,-8.800992842038638e-08],"joint_position_rad":[0.3264721352743715,1.4978581918924674,-1.2640580816458429,-0.20086050156571655,0.9342414929512907,0.40521285127966367],"joint_velocity_rad_s":[1.8026928992331886e-05,-7.098324037801627e-06,9.494959923202139e-05,-1.346167437087469e-05,-0.0008127661868590929,0.000729536063403897],"gripper_joint_position_m":[0.03499999651577343,-0.03500000000872605],"tcp_position_m":[0.35048111149316313,0.08438685166156916,0.20995322836045938],"tcp_quaternion_wxyz":[0.25851570968018384,-0.00023773155481363045,0.9660070022882824,-0.0002070320383034185],"object_position_m":[0.355272845189374,0.08439459315503293,0.07989224457978368],"object_quaternion_wxyz":[0.9954304335089558,-1.658192312465567e-13,-3.6350191088574616e-14,0.09548953892532881],"object_linear_velocity_m_s":[1.0699999671293341e-13,-3.3226400575414443e-13,3.3298563110550008e-15],"object_angular_velocity_rad_s":[-5.009557079674594e-12,-1.6155972792451003e-12,-8.800992842038634e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002586},{"geom_ids":[1,90],"normal_force_n":0.09810000000003294},{"geom_ids":[1,90],"normal_force_n":0.09809999999997415},{"geom_ids":[1,90],"normal_force_n":0.09809999999996707}],"native_actuator_controls":[0.3264807690092081,1.4978548953093602,-1.2639812007099671,-0.20086461615276913,0.9334874581150008,0.4057996293334551,0.035],"actuator_force_native":[0.0006005641419619678,-0.0002282350283735468,0.005675726873889175,-9.727511024948399e-05,-0.006321199082611528,0.004773476442808011,1.2059192355806658e-07],"issued_joint_targets_rad":[0.32648084872092276,1.4978548609477265,-1.2639810767206474,-0.20086476180061819,0.9334873289221854,0.40579983275665943],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.740000000001142,"joint_targets_rad":[0.32648084872092276,1.4978548609477265,-1.2639810767206474,-0.20086476180061819,0.9334873289221854,0.40579983275665943],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.760000000001167,"qpos":[0.3264724901686905,1.4978580521054812,-1.2640562050429829,-0.20086076814732765,0.9342254182554954,0.40522725653756086,0.03499999659489276,-0.035000000001317255,0.35527284518937535,0.08439459315502848,0.07989224457978368,0.9954304335408343,-1.3599444977122984e-13,-2.982206096830657e-14,0.09548953859301171],"qvel":[1.745391583804159e-05,-6.871671139106557e-06,9.278491361281077e-05,-1.3065805490272267e-05,-0.0007955785624748063,0.0007118793232872576,4.1670654398237614e-09,-2.0590319694059635e-09,5.3408609649559455e-14,-1.6587374803367188e-13,3.309039629343279e-15,6.2224932790996925e-12,7.513425832444363e-13,-9.535155016348147e-09],"joint_position_rad":[0.3264724901686905,1.4978580521054812,-1.2640562050429829,-0.20086076814732765,0.9342254182554954,0.40522725653756086],"joint_velocity_rad_s":[1.745391583804159e-05,-6.871671139106557e-06,9.278491361281077e-05,-1.3065805490272267e-05,-0.0007955785624748063,0.0007118793232872576],"gripper_joint_position_m":[0.03499999659489276,-0.035000000001317255],"tcp_position_m":[0.35048343394657766,0.08438815038963562,0.20995418472398059],"tcp_quaternion_wxyz":[0.2585220919816418,-0.00023188908991124651,0.9660052966730871,-0.00020244610657638734],"object_position_m":[0.35527284518937535,0.08439459315502848,0.07989224457978368],"object_quaternion_wxyz":[0.9954304335408343,-1.3599444977122984e-13,-2.982206096830657e-14,0.09548953859301171],"object_linear_velocity_m_s":[5.3408609649559455e-14,-1.6587374803367188e-13,3.309039629343279e-15],"object_angular_velocity_rad_s":[5.966181733730939e-12,1.920576425434541e-12,-9.535155016348142e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999511},{"geom_ids":[1,90],"normal_force_n":0.09809999999999376},{"geom_ids":[1,90],"normal_force_n":0.09810000000000495},{"geom_ids":[1,90],"normal_force_n":0.0981000000000063}],"native_actuator_controls":[0.32648084872092276,1.4978548609477265,-1.2639810767206474,-0.20086476180061819,0.9334873289221854,0.40579983275665943,0.035],"actuator_force_native":[0.0005814145993916497,-0.00022093426468927646,0.005546341218774842,-9.441710417057436e-05,-0.0061875254893895,0.0046579432060545045,1.1536896260544438e-07],"issued_joint_targets_rad":[0.32648092633124504,1.4978548272443202,-1.2639809555312516,-0.200864903569513,0.9334872026289361,0.40580003090586636],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.760000000001167,"joint_targets_rad":[0.32648092633124504,1.4978548272443202,-1.2639809555312516,-0.200864903569513,0.9334872026289361,0.40580003090586636],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.78000000000119,"qpos":[0.32647283379336844,1.4978579167696533,-1.2640543712228913,-0.2008610269070998,0.9342096834946351,0.40524131314377393,0.034999996678886584,-0.03500000000418582,0.3552728451893767,0.08439459315502422,0.07989224457978368,0.9954304335868003,-1.2859051907260443e-13,-2.821563143773348e-14,0.09548953811383895],"qvel":[1.68999696839942e-05,-6.653170700487309e-06,9.066960965422571e-05,-1.2682821575503269e-05,-0.0007787542572530808,0.0006946494922865387,3.917799940521736e-09,-1.7748116814655618e-09,5.1396613301815e-14,-1.5955725534244558e-13,3.210507335907796e-15,4.584238799592146e-12,5.536571752361388e-13,-1.7408785133304154e-08],"joint_position_rad":[0.32647283379336844,1.4978579167696533,-1.2640543712228913,-0.2008610269070998,0.9342096834946351,0.40524131314377393],"joint_velocity_rad_s":[1.68999696839942e-05,-6.653170700487309e-06,9.066960965422571e-05,-1.2682821575503269e-05,-0.0007787542572530808,0.0006946494922865387],"gripper_joint_position_m":[0.034999996678886584,-0.03500000000418582],"tcp_position_m":[0.35048570815822994,0.08438942091739712,0.20995512137973132],"tcp_quaternion_wxyz":[0.2585283396431463,-0.0002261891596996831,0.9660036269346259,-0.00019796204153879276],"object_position_m":[0.3552728451893767,0.08439459315502422,0.07989224457978368],"object_quaternion_wxyz":[0.9954304335868003,-1.2859051907260443e-13,-2.821563143773348e-14,0.09548953811383895],"object_linear_velocity_m_s":[5.1396613301815e-14,-1.5955725534244558e-13,3.210507335907796e-15],"object_angular_velocity_rad_s":[4.395384548885162e-12,1.4150534642921963e-12,-1.7408785133304148e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000829},{"geom_ids":[1,90],"normal_force_n":0.09810000000001054},{"geom_ids":[1,90],"normal_force_n":0.09809999999999196},{"geom_ids":[1,90],"normal_force_n":0.09809999999998971}],"native_actuator_controls":[0.32648092633124504,1.4978548272443202,-1.2639809555312516,-0.200864903569513,0.9334872026289361,0.40580003090586636,0.035],"actuator_force_native":[0.0005629031817093733,-0.00021389617315037412,0.0054199072829135275,-9.165238865094238e-05,-0.0060566772711094785,0.004545203382494201,1.1325553694874202e-07],"issued_joint_targets_rad":[0.32648100189779816,1.4978547941882456,-1.2639808370763224,-0.2008650415692332,0.9334870791672177,0.4058002239242547],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.78000000000119,"joint_targets_rad":[0.32648100189779816,1.4978547941882456,-1.2639808370763224,-0.2008650415692332,0.9334870791672177,0.4058002239242547],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.800000000001216,"qpos":[0.32647316652292757,1.4978577857252255,-1.2640525792095683,-0.20086127809923793,0.9341942814831453,0.40525502952833287,0.03499999675726561,-0.035000000001896556,0.35527284518937785,0.08439459315502068,0.07989224457978368,0.9954304336270426,-1.1458943256254946e-13,-2.513259881449094e-14,0.09548953769433233],"qvel":[1.6364431495380904e-05,-6.44250258728599e-06,8.860256288816616e-05,-1.2312252990243667e-05,-0.0007622855969924518,0.0006778362654809651,1.9924558374005163e-09,8.813993328094912e-10,4.98562055196329e-14,-1.548420382923523e-13,3.2840596112892133e-15,2.325777583836861e-12,2.8217363432042544e-13,-3.178404538776998e-08],"joint_position_rad":[0.32647316652292757,1.4978577857252255,-1.2640525792095683,-0.20086127809923793,0.9341942814831453,0.40525502952833287],"joint_velocity_rad_s":[1.6364431495380904e-05,-6.44250258728599e-06,8.860256288816616e-05,-1.2312252990243667e-05,-0.0007622855969924518,0.0006778362654809651],"gripper_joint_position_m":[0.03499999675726561,-0.035000000001896556],"tcp_position_m":[0.350487935123655,0.08439066386825751,0.20995603874407703],"tcp_quaternion_wxyz":[0.2585344555247699,-0.00022062832116694132,0.9660019923154277,-0.00019357757911724332],"object_position_m":[0.35527284518937785,0.08439459315502068,0.07989224457978368],"object_quaternion_wxyz":[0.9954304336270426,-1.1458943256254946e-13,-2.513259881449094e-14,0.09548953769433233],"object_linear_velocity_m_s":[4.98562055196329e-14,-1.548420382923523e-13,3.2840596112892133e-15],"object_angular_velocity_rad_s":[2.2297205255678815e-12,7.191729327698581e-13,-3.178404538776996e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001642},{"geom_ids":[1,90],"normal_force_n":0.09810000000002106},{"geom_ids":[1,90],"normal_force_n":0.09809999999998359},{"geom_ids":[1,90],"normal_force_n":0.0980999999999791}],"native_actuator_controls":[0.32648100189779816,1.4978547941882456,-1.2639808370763224,-0.2008650415692332,0.9334870791672177,0.4058002239242547,0.035],"actuator_force_native":[0.0005450078321729279,-0.00020711044544441393,0.005296357845239186,-8.897753485825888e-05,-0.005928594763787487,0.004435189560997088,1.197470964608982e-07],"issued_joint_targets_rad":[0.3264810754765275,1.4978547617687075,-1.2639807212920227,-0.2008651759061818,0.9334869584707084,0.4058004119508424],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.800000000001216,"joint_targets_rad":[0.3264810754765275,1.4978547617687075,-1.2639807212920227,-0.2008651759061818,0.9334869584707084,0.4058004119508424],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.82000000000124,"qpos":[0.32647348871880133,1.4978576588186856,-1.264050828049236,-0.20086152196900647,0.9341792051874572,0.40526841391783125,0.034999996833729084,-0.034999999999930864,0.35527284518937896,0.0843945931550177,0.07989224457978368,0.9954304336646503,-9.973086273910898e-14,-2.185894465897527e-14,0.09548953730229144],"qvel":[1.5846635079606163e-05,-6.239363348453807e-06,8.658267458099196e-05,-1.1953712139064509e-05,-0.0007461650266753781,0.0006614295931550464,2.0495921526009044e-09,6.959891256176559e-10,5.152428417706919e-14,-1.6010917183245751e-13,3.372877453259226e-15,-4.774142566213602e-13,-5.5607416420055035e-14,-5.802964040819197e-08],"joint_position_rad":[0.32647348871880133,1.4978576588186856,-1.264050828049236,-0.20086152196900647,0.9341792051874572,0.40526841391783125],"joint_velocity_rad_s":[1.5846635079606163e-05,-6.239363348453807e-06,8.658267458099196e-05,-1.1953712139064509e-05,-0.0007461650266753781,0.0006614295931550464],"gripper_joint_position_m":[0.034999996833729084,-0.034999999999930864],"tcp_position_m":[0.35049011581804784,0.08439187985137123,0.20995693722404796],"tcp_quaternion_wxyz":[0.2585404424248074,-0.00021520321319021623,0.9660003920741783,-0.000189290505496333],"object_position_m":[0.35527284518937896,0.0843945931550177,0.07989224457978368],"object_quaternion_wxyz":[0.9954304336646503,-9.973086273910898e-14,-2.185894465897527e-14,0.09548953730229144],"object_linear_velocity_m_s":[5.152428417706919e-14,-1.6010917183245751e-13,3.372877453259226e-15],"object_angular_velocity_rad_s":[-4.581365614373899e-13,-1.453528404021377e-13,-5.8029640408191936e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002052},{"geom_ids":[1,90],"normal_force_n":0.09810000000002617},{"geom_ids":[1,90],"normal_force_n":0.09809999999997937},{"geom_ids":[1,90],"normal_force_n":0.09809999999997383}],"native_actuator_controls":[0.3264810754765275,1.4978547617687075,-1.2639807212920227,-0.2008651759061818,0.9334869584707084,0.4058004119508424,0.035],"actuator_force_native":[0.0005277074426928152,-0.0002005671815226151,0.005175627204152988,-8.6388926320069e-05,-0.005803219627475542,0.00432783594037911,1.1640287600478416e-07],"issued_joint_targets_rad":[0.32648114712175336,1.4978547299750133,-1.2639806081160914,-0.20086530668350794,0.9334868404747526,0.40580059512062333],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.82000000000124,"joint_targets_rad":[0.32648114712175336,1.4978547299750133,-1.2639806081160914,-0.20086530668350794,0.9334868404747526,0.40580059512062333],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.840000000001265,"qpos":[0.3264738007300123,1.4978575359025326,-1.2640491168098367,-0.2008617587526451,0.9341644477224987,0.4052814743402953,0.03499999691156998,-0.035000000002716136,0.35527284518938007,0.0843945931550152,0.07989224457978368,0.9954304336957452,-8.151168308556457e-14,-1.785794039337586e-14,0.09548953697814208],"qvel":[1.5345975944183262e-05,-6.04345789992593e-06,8.460887070959913e-05,-1.1606747657597073e-05,-0.0007303852035885122,0.0006454196612031875,3.555078855622905e-09,-1.5356308705547267e-09,5.862312062962676e-14,-1.8219291412056405e-13,3.662923218442549e-15,-4.054899583382529e-12,-4.886896055483973e-13,-1.059474690773216e-07],"joint_position_rad":[0.3264738007300123,1.4978575359025326,-1.2640491168098367,-0.2008617587526451,0.9341644477224987,0.4052814743402953],"joint_velocity_rad_s":[1.5345975944183262e-05,-6.04345789992593e-06,8.460887070959913e-05,-1.1606747657597073e-05,-0.0007303852035885122,0.0006454196612031875],"gripper_joint_position_m":[0.03499999691156998,-0.035000000002716136],"tcp_position_m":[0.35049225119668,0.08439306946214503,0.2099578172175783],"tcp_quaternion_wxyz":[0.25854630308120696,-0.0002099105546811745,0.9659988254853561,-0.00018509865575746894],"object_position_m":[0.35527284518938007,0.0843945931550152,0.07989224457978368],"object_quaternion_wxyz":[0.9954304336957452,-8.151168308556457e-14,-1.785794039337586e-14,0.09548953697814208],"object_linear_velocity_m_s":[5.862312062962676e-14,-1.8219291412056405e-13,3.662923218442549e-15],"object_angular_velocity_rad_s":[-3.888049375117476e-12,-1.25063992360741e-12,-1.0594746907732154e-07],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001258},{"geom_ids":[1,90],"normal_force_n":0.09810000000001617},{"geom_ids":[1,90],"normal_force_n":0.09809999999998677},{"geom_ids":[1,90],"normal_force_n":0.09809999999998319}],"native_actuator_controls":[0.32648114712175336,1.4978547299750133,-1.2639806081160914,-0.20086530668350794,0.9334868404747526,0.40580059512062333,0.035],"actuator_force_native":[0.0005109814595627427,-0.0001942569120387816,0.005057651146074704,-8.388349622734381e-05,-0.00568049467207743,0.00422307831147517,1.0576180686783232e-07],"issued_joint_targets_rad":[0.32648121688622356,1.4978546987965766,-1.2639804974878006,-0.20086543400121165,0.9334867251163168,0.40580077356469396],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.840000000001265,"joint_targets_rad":[0.32648121688622356,1.4978546987965766,-1.2639804974878006,-0.20086543400121165,0.9334867251163168,0.40580077356469396],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.86000000000129,"qpos":[0.3264741028936668,1.497857416835035,-1.264047444580542,-0.20086198867762362,0.9341500023484866,0.4052942186299467,0.034999996983445775,-0.034999999999429106,0.3552728451893812,0.08439459315501285,0.07989224457978368,0.9954304337341208,-7.154231084863238e-14,-1.5672858521542864e-14,0.09548953657809454],"qvel":[1.486188823067136e-05,-5.854501441202666e-06,8.268010143531947e-05,-1.1270890685655444e-05,-0.0007149389638584951,0.0006297968878775315,3.3597181547597783e-09,-1.3710910395036295e-09,2.797111625133577e-14,-8.693088614437633e-14,3.318754080808751e-15,3.0729033745540017e-12,3.705980338044168e-13,-1.1478540652953501e-08],"joint_position_rad":[0.3264741028936668,1.497857416835035,-1.264047444580542,-0.20086198867762362,0.9341500023484866,0.4052942186299467],"joint_velocity_rad_s":[1.486188823067136e-05,-5.854501441202666e-06,8.268010143531947e-05,-1.1270890685655444e-05,-0.0007149389638584951,0.0006297968878775315],"gripper_joint_position_m":[0.034999996983445775,-0.034999999999429106],"tcp_position_m":[0.3504943421953016,0.08439423328259997,0.2099586791137352],"tcp_quaternion_wxyz":[0.2585520401729288,-0.000204747142741473,0.9659972918388826,-0.00018099991275264643],"object_position_m":[0.3552728451893812,0.08439459315501285,0.07989224457978368],"object_quaternion_wxyz":[0.9954304337341208,-7.154231084863238e-14,-1.5672858521542864e-14,0.09548953657809454],"object_linear_velocity_m_s":[2.797111625133577e-14,-8.693088614437633e-14,3.318754080808751e-15],"object_angular_velocity_rad_s":[2.9464113116265774e-12,9.480181616003314e-13,-1.1478540652953491e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09809999999999974}],"native_actuator_controls":[0.32648121688622356,1.4978546987965766,-1.2639804974878006,-0.20086543400121165,0.9334867251163168,0.40580077356469396,0.035],"actuator_force_native":[0.0004948099633850234,-0.00018817056945863442,0.004942366912146667,-8.145849009366657e-05,-0.005560363875909857,0.004120854015655873,1.0386357840452831e-07],"issued_joint_targets_rad":[0.326481284821161,1.4978546682229212,-1.2639803893479142,-0.20086555795624875,0.9334866123339391,0.40580094741037076],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.86000000000129,"joint_targets_rad":[0.326481284821161,1.4978546682229212,-1.2639803893479142,-0.20086555795624875,0.9334866123339391,0.40580094741037076],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.880000000001314,"qpos":[0.3264743955350847,1.4978573014799585,-1.2640458104712722,-0.20086221196360865,0.9341358624682614,0.4053066544319075,0.034999997058022675,-0.035000000002876244,0.35527284518938196,0.08439459315501072,0.07989224457978368,0.9954304337776607,-6.579148979835347e-14,-1.441232663135766e-14,0.09548953612421177],"qvel":[1.4393800808070808e-05,-5.672223755919107e-06,8.079534101265193e-05,-1.0945742606643366e-05,-0.0006998192586106285,0.0006145519290260843,2.7639966817926704e-09,-5.746147552603051e-10,2.6770703074172172e-14,-8.320227974938348e-14,3.1716495300459187e-15,2.089663261596603e-12,2.519390528513728e-13,-2.0956916539745507e-08],"joint_position_rad":[0.3264743955350847,1.4978573014799585,-1.2640458104712722,-0.20086221196360865,0.9341358624682614,0.4053066544319075],"joint_velocity_rad_s":[1.4393800808070808e-05,-5.672223755919107e-06,8.079534101265193e-05,-1.0945742606643366e-05,-0.0006998192586106285,0.0006145519290260843],"gripper_joint_position_m":[0.034999997058022675,-0.035000000002876244],"tcp_position_m":[0.35049638973052566,0.08439537188144951,0.209959523292931],"tcp_quaternion_wxyz":[0.258557656321192,-0.0001997098507819405,0.9659957904398065,-0.0001769922064380091],"object_position_m":[0.35527284518938196,0.08439459315501072,0.07989224457978368],"object_quaternion_wxyz":[0.9954304337776607,-6.579148979835347e-14,-1.441232663135766e-14,0.09548953612421177],"object_linear_velocity_m_s":[2.6770703074172172e-14,-8.320227974938348e-14,3.1716495300459187e-15],"object_angular_velocity_rad_s":[2.003659890581322e-12,6.446028824743446e-13,-2.0956916539745488e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000581},{"geom_ids":[1,90],"normal_force_n":0.09810000000000715},{"geom_ids":[1,90],"normal_force_n":0.09809999999999405},{"geom_ids":[1,90],"normal_force_n":0.09809999999999269}],"native_actuator_controls":[0.326481284821161,1.4978546682229212,-1.2639803893479142,-0.20086555795624875,0.9334866123339391,0.40580094741037076,0.035],"actuator_force_native":[0.0004791738820628666,-0.00018229944421932487,0.004829713163573501,-7.911099256929788e-05,-0.005442772455307221,0.004021101891093615,1.038591097568542e-07],"issued_joint_targets_rad":[0.3264813509763137,1.4978546382436821,-1.2639802836386513,-0.20086567864263727,0.9334865020676948,0.4058011167813183],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.880000000001314,"joint_targets_rad":[0.3264813509763137,1.4978546382436821,-1.2639802836386513,-0.20086567864263727,0.9334865020676948,0.4058011167813183],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.900000000001338,"qpos":[0.32647467896862337,1.4978571897063864,-1.264044213612227,-0.20086242882192518,0.9341220216237242,0.40531878920669917,0.034999997126416375,-0.03500000000023994,0.35527284518938246,0.0843945931550089,0.07989224457978368,0.9954304338202705,-5.975814132860433e-14,-1.309844102710703e-14,0.09548953568002393],"qvel":[1.3941148026277492e-05,-5.496367312459703e-06,7.895358656663615e-05,-1.0630954734163769e-05,-0.0006850191684743308,0.0005996756631167424,2.4564756840258483e-09,-2.307667915046284e-10,2.6707098333234113e-14,-8.295921121797892e-14,3.003728297571365e-15,8.684518305954971e-13,1.0426942023008521e-13,-3.8262037320913894e-08],"joint_position_rad":[0.32647467896862337,1.4978571897063864,-1.264044213612227,-0.20086242882192518,0.9341220216237242,0.40531878920669917],"joint_velocity_rad_s":[1.3941148026277492e-05,-5.496367312459703e-06,7.895358656663615e-05,-1.0630954734163769e-05,-0.0006850191684743308,0.0005996756631167424],"gripper_joint_position_m":[0.034999997126416375,-0.03500000000023994],"tcp_position_m":[0.3504983947002256,0.08439648581473332,0.20996035012714842],"tcp_quaternion_wxyz":[0.2585631540908521,-0.00019479562683150282,0.965994320607949,-0.0001730735123316797],"object_position_m":[0.35527284518938246,0.0843945931550089,0.07989224457978368],"object_quaternion_wxyz":[0.9954304338202705,-5.975814132860433e-14,-1.309844102710703e-14,0.09548953568002393],"object_linear_velocity_m_s":[2.6707098333234113e-14,-8.295921121797892e-14,3.003728297571365e-15],"object_angular_velocity_rad_s":[8.327920257377805e-13,2.6746613978723766e-13,-3.826203732091384e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001051},{"geom_ids":[1,90],"normal_force_n":0.09810000000001347},{"geom_ids":[1,90],"normal_force_n":0.09809999999998927},{"geom_ids":[1,90],"normal_force_n":0.09809999999998642}],"native_actuator_controls":[0.3264813509763137,1.4978546382436821,-1.2639802836386513,-0.20086567864263727,0.9334865020676948,0.4058011167813183,0.035],"actuator_force_native":[0.0004640548750955986,-0.00017663517976984622,0.004719629953214621,-7.683805481306649e-05,-0.005327666807582787,0.003923762251516472,1.0266096661659674e-07],"issued_joint_targets_rad":[0.3264814153999975,1.4978546088486084,-1.2639801803036426,-0.20086579615155029,0.9334863942591453,0.4058012817976529],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.900000000001338,"joint_targets_rad":[0.3264814153999975,1.4978546088486084,-1.2639801803036426,-0.20086579615155029,0.9334863942591453,0.4058012817976529],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.920000000001362,"qpos":[0.32647495349771144,1.4978570813884604,-1.2640426531534243,-0.2008626394566377,0.9341084734933885,0.4053306302347307,0.03499999719540349,-0.03500000000087918,0.35527284518938274,0.0843945931550074,0.07989224457978368,0.9954304338539633,-4.976529931495956e-14,-1.0898482286331726e-14,0.09548953532879285],"qvel":[1.3503410168803225e-05,-5.326682395107535e-06,7.715385816297724e-05,-1.0326135836477943e-05,-0.0006705319552746726,0.0005851591875072749,1.9603684025695508e-09,4.0792192454457867e-10,2.817464322847487e-14,-8.767834344327341e-14,2.65262026603366e-15,-7.537916127051918e-13,-8.730511335497408e-14,-6.985681777920382e-08],"joint_position_rad":[0.32647495349771144,1.4978570813884604,-1.2640426531534243,-0.2008626394566377,0.9341084734933885,0.4053306302347307],"joint_velocity_rad_s":[1.3503410168803225e-05,-5.326682395107535e-06,7.715385816297724e-05,-1.0326135836477943e-05,-0.0006705319552746726,0.0005851591875072749],"gripper_joint_position_m":[0.03499999719540349,-0.03500000000087918],"tcp_position_m":[0.3505003579839017,0.08439757562582684,0.2099611599801377],"tcp_quaternion_wxyz":[0.2585685359915696,-0.00019000149172531368,0.9659928816776061,-0.0001692418509785702],"object_position_m":[0.35527284518938274,0.0843945931550074,0.07989224457978368],"object_quaternion_wxyz":[0.9954304338539633,-4.976529931495956e-14,-1.0898482286331726e-14,0.09548953532879285],"object_linear_velocity_m_s":[2.817464322847487e-14,-8.767834344327341e-14,2.65262026603366e-15],"object_angular_velocity_rad_s":[-7.23447828751983e-13,-2.290135743278444e-13,-6.985681777920371e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000951},{"geom_ids":[1,90],"normal_force_n":0.09810000000001202},{"geom_ids":[1,90],"normal_force_n":0.09809999999999103},{"geom_ids":[1,90],"normal_force_n":0.09809999999998854}],"native_actuator_controls":[0.3264814153999975,1.4978546088486084,-1.2639801803036426,-0.20086579615155029,0.9334863942591453,0.4058012817976529,0.035],"actuator_force_native":[0.00044943513204032115,-0.00017116977618059082,0.004612058691733978,-7.463711732036415e-05,-0.005214994409520557,0.003828776847960569,1.0238201864076757e-07],"issued_joint_targets_rad":[0.32648147813914297,1.4978545800275644,-1.263980079287895,-0.20086591057141207,0.933486288851302,0.40580144257606077],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.920000000001362,"joint_targets_rad":[0.32648147813914297,1.4978545800275644,-1.263980079287895,-0.20086591057141207,0.933486288851302,0.40580144257606077],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.940000000001387,"qpos":[0.3264752194154468,1.4978569764051954,-1.2640411282642547,-0.2008628440643934,0.9340952118892033,0.4053421846206027,0.034999997261292784,-0.0349999999995653,0.35527284518938274,0.08439459315500618,0.07989224457978368,0.9954304338792664,-3.825161613103655e-14,-8.365787704292812e-15,0.09548953506502014],"qvel":[1.3080070884844556e-05,-5.162931180375645e-06,7.539519800053566e-05,-1.0030942638113293e-05,-0.0006563510025860873,0.0005709938147071921,1.5548665273788111e-09,9.044693715850139e-10,1.4990486967036994e-14,-4.663654242466764e-14,2.7608670109346124e-15,1.859215989208642e-12,2.2404294597573356e-13,-7.568414137196001e-09],"joint_position_rad":[0.3264752194154468,1.4978569764051954,-1.2640411282642547,-0.2008628440643934,0.9340952118892033,0.4053421846206027],"joint_velocity_rad_s":[1.3080070884844556e-05,-5.162931180375645e-06,7.539519800053566e-05,-1.0030942638113293e-05,-0.0006563510025860873,0.0005709938147071921],"gripper_joint_position_m":[0.034999997261292784,-0.0349999999995653],"tcp_position_m":[0.3505022804430581,0.08439864184590647,0.20996195320762587],"tcp_quaternion_wxyz":[0.2585738044790863,-0.00018532453745271967,0.9659914729972193,-0.0001654952866930954],"object_position_m":[0.35527284518938274,0.08439459315500618,0.07989224457978368],"object_quaternion_wxyz":[0.9954304338792664,-3.825161613103655e-14,-8.365787704292812e-15,0.09548953506502014],"object_linear_velocity_m_s":[1.4990486967036994e-14,-4.663654242466764e-14,2.7608670109346124e-15],"object_angular_velocity_rad_s":[1.7827183990234351e-12,5.734060044622101e-13,-7.568414137195988e-09],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999996045},{"geom_ids":[1,90],"normal_force_n":0.09809999999994976},{"geom_ids":[1,90],"normal_force_n":0.0981000000000395},{"geom_ids":[1,90],"normal_force_n":0.09810000000005031}],"native_actuator_controls":[0.32648147813914297,1.4978545800275644,-1.263980079287895,-0.20086591057141207,0.933486288851302,0.40580144257606077,0.035],"actuator_force_native":[0.0004352975412693638,-0.0001658955545877916,0.004506942118766233,-7.250556755700188e-05,-0.005104703875133509,0.003736088832519968,1.0177395615151852e-07],"issued_joint_targets_rad":[0.32648153923933676,1.4978545517705362,-1.2639799805377598,-0.2008660219879924,0.933486185788588,0.4058015992299013],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.940000000001387,"joint_targets_rad":[0.32648153923933676,1.4978545517705362,-1.2639799805377598,-0.2008660219879924,0.933486185788588,0.4058015992299013],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.96000000000141,"qpos":[0.32647547700483665,1.497856874640267,-1.2640396381330368,-0.2008630428349812,0.9340822307539152,0.4053534592973626,0.03499999732869312,-0.0350000000026557,0.35527284518938285,0.08439459315500494,0.07989224457978368,0.9954304339254636,-3.6497376150943903e-14,-7.970113239878107e-15,0.09548953458343784],"qvel":[1.2670628422505794e-05,-5.004886015265935e-06,7.367667003801226e-05,-9.745052949126595e-06,-0.0006424698283908238,0.000557171067654895,2.435749869898295e-09,-4.1807172591299664e-10,1.4368044048870768e-14,-4.474672793602138e-14,2.7705814624000824e-15,1.451702375180633e-12,1.7486002192408029e-13,-1.3818012951877751e-08],"joint_position_rad":[0.32647547700483665,1.497856874640267,-1.2640396381330368,-0.2008630428349812,0.9340822307539152,0.4053534592973626],"joint_velocity_rad_s":[1.2670628422505794e-05,-5.004886015265935e-06,7.367667003801226e-05,-9.745052949126595e-06,-0.0006424698283908238,0.000557171067654895],"gripper_joint_position_m":[0.03499999732869312,-0.0350000000026557],"tcp_position_m":[0.350504162921561,0.08439968499412993,0.20996273015750685],"tcp_quaternion_wxyz":[0.25857896195638513,-0.0001807619254666047,0.9659900939290796,-0.00016183192677102042],"object_position_m":[0.35527284518938285,0.08439459315500494,0.07989224457978368],"object_quaternion_wxyz":[0.9954304339254636,-3.6497376150943903e-14,-7.970113239878107e-15,0.09548953458343784],"object_linear_velocity_m_s":[1.4368044048870768e-14,-4.474672793602138e-14,2.7705814624000824e-15],"object_angular_velocity_rad_s":[1.3919863962326575e-12,4.4764906575804954e-13,-1.3818012951877728e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000109},{"geom_ids":[1,90],"normal_force_n":0.09810000000000133},{"geom_ids":[1,90],"normal_force_n":0.09809999999999888},{"geom_ids":[1,90],"normal_force_n":0.09809999999999862}],"native_actuator_controls":[0.32648153923933676,1.4978545517705362,-1.2639799805377598,-0.2008660219879924,0.933486185788588,0.4058015992299013,0.035],"actuator_force_native":[0.00042162561789638175,-0.00016080514838279214,0.004404224271951307,-7.04408557030689e-05,-0.004996744910686246,0.003645642723904885,9.467352590775135e-08],"issued_joint_targets_rad":[0.3264815987448638,1.4978545240676269,-1.2639798840008893,-0.20086613048448604,0.9334860850167948,0.40580175186930934],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.96000000000141,"joint_targets_rad":[0.3264815987448638,1.4978545240676269,-1.2639798840008893,-0.20086613048448604,0.9334860850167948,0.40580175186930934],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.980000000001436,"qpos":[0.3264757265392875,1.4978567759818338,-1.2640381819665947,-0.20086323595132177,0.9340695241581183,0.40536446103061147,0.03499999739117322,-0.035000000001035765,0.35527284518938285,0.0843945931550039,0.07989224457978368,0.9954304339665087,-3.29723270568798e-14,-7.191170066805339e-15,0.09548953415556265],"qvel":[1.2274630440429451e-05,-4.852325084872392e-06,7.199735934996994e-05,-9.46809079030967e-06,-0.0006288821314973326,0.0005436826679901856,1.8398253522960596e-09,3.499551883955978e-10,1.3759973245151921e-14,-4.2897748302581844e-14,2.7594792321538322e-15,8.790425237805937e-13,1.0579237708537147e-13,-2.52282021672559e-08],"joint_position_rad":[0.3264757265392875,1.4978567759818338,-1.2640381819665947,-0.20086323595132177,0.9340695241581183,0.40536446103061147],"joint_velocity_rad_s":[1.2274630440429451e-05,-4.852325084872392e-06,7.199735934996994e-05,-9.46809079030967e-06,-0.0006288821314973326,0.0005436826679901856],"gripper_joint_position_m":[0.03499999739117322,-0.035000000001035765],"tcp_position_m":[0.3505060062460007,0.08440070557802483,0.2099634911700377],"tcp_quaternion_wxyz":[0.25858401077489346,-0.00017631088509255719,0.9659887438490184,-0.00015824992037300907],"object_position_m":[0.35527284518938285,0.0843945931550039,0.07989224457978368],"object_quaternion_wxyz":[0.9954304339665087,-3.29723270568798e-14,-7.191170066805339e-15,0.09548953415556265],"object_linear_velocity_m_s":[1.3759973245151921e-14,-4.2897748302581844e-14,2.7594792321538322e-15],"object_angular_velocity_rad_s":[8.429000578175883e-13,2.709746818302393e-13,-2.5228202167255855e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000037},{"geom_ids":[1,90],"normal_force_n":0.09810000000000474},{"geom_ids":[1,90],"normal_force_n":0.0980999999999961},{"geom_ids":[1,90],"normal_force_n":0.09809999999999502}],"native_actuator_controls":[0.3264815987448638,1.4978545240676269,-1.2639798840008893,-0.20086613048448604,0.9334860850167948,0.40580175186930934,0.035],"actuator_force_native":[0.000408403293899795,-0.00015589151112749278,0.00430385045967796,-6.844087261903553e-05,-0.0048910682159899466,0.003557384384993867,9.515394472359162e-08],"issued_joint_targets_rad":[0.3264816566987479,1.49785449690906,-1.2639797896262077,-0.2008662361416084,0.9334859864830507,0.40580190060129834],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.980000000001436,"joint_targets_rad":[0.3264816566987479,1.49785449690906,-1.2639797896262077,-0.2008662361416084,0.9334859864830507,0.40580190060129834],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":20.00000000000146,"qpos":[0.3264759682827756,1.4978566803223345,-1.264036758989833,-0.2008634235900936,0.9340570862977946,0.40537519642256603,0.03499999745306015,-0.035000000000941424,0.35527284518938285,0.08439459315500301,0.07989224457978368,0.9954304340058947,-2.9350784473730424e-14,-6.391328943403482e-15,0.09548953374498372],"qvel":[1.1891607920399337e-05,-4.705039243594322e-06,7.035637187845745e-05,-9.199763411840958e-06,-0.000615581697992577,0.0005305205423856606,1.1847616889589655e-09,1.2187350578428157e-09,1.3907316444376412e-14,-4.342443799112473e-14,2.8469092953430635e-15,1.7173794353717432e-13,2.1610626738375483e-14,-4.6060326242719516e-08],"joint_position_rad":[0.3264759682827756,1.4978566803223345,-1.264036758989833,-0.2008634235900936,0.9340570862977946,0.40537519642256603],"joint_velocity_rad_s":[1.1891607920399337e-05,-4.705039243594322e-06,7.035637187845745e-05,-9.199763411840958e-06,-0.000615581697992577,0.0005305205423856606],"gripper_joint_position_m":[0.03499999745306015,-0.035000000000941424],"tcp_position_m":[0.35050781122603203,0.08440170409362065,0.20996423657801833],"tcp_quaternion_wxyz":[0.258588953235579,-0.0001719687119008869,0.965987422146124,-0.00015474745783075923],"object_position_m":[0.35527284518938285,0.08439459315500301,0.07989224457978368],"object_quaternion_wxyz":[0.9954304340058947,-2.9350784473730424e-14,-6.391328943403482e-15,0.09548953374498372],"object_linear_velocity_m_s":[1.3907316444376412e-14,-4.342443799112473e-14,2.8469092953430635e-15],"object_angular_velocity_rad_s":[1.644977270786836e-13,5.3864999937031954e-14,-4.6060326242719437e-08],"target_position_m":[0.35059244663641265,0.08444736085919828,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000056},{"geom_ids":[1,90],"normal_force_n":0.09810000000000725},{"geom_ids":[1,90],"normal_force_n":0.09809999999999415},{"geom_ids":[1,90],"normal_force_n":0.09809999999999255}],"native_actuator_controls":[0.3264816566987479,1.49785449690906,-1.2639797896262077,-0.2008662361416084,0.9334859864830507,0.40580190060129834,0.035],"actuator_force_native":[0.0003956152381832112,-0.00015114786575054495,0.00420576723061572,-6.650324353252302e-05,-0.004787625600449985,0.0034712609737450606,9.595378558380219e-08],"issued_joint_targets_rad":null,"issued_gripper_position_m":null,"command":null,"observation_origin":"privileged_native_simulator_state"}],"actions":[{"t_seconds":0.0,"joint_targets_rad":[-0.003094973973392756,1.5377832679345593,-1.3126403416720034,-0.00019273713670553603,0.046240616280947215,-0.00022120652388035064],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.02000000000000001,"joint_targets_rad":[-0.0031613757685959917,1.536723529752629,-1.3112365512103281,-0.0001550746071351566,0.04636527489057309,-0.0002546963766568969],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.04000000000000003,"joint_targets_rad":[-0.0033078079030494046,1.5316882519290924,-1.3046666699036624,7.478952833662722e-05,0.047062259202289,-0.00046987197760942236],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.060000000000000046,"joint_targets_rad":[-0.0034673170005791237,1.5250809332621524,-1.2964772981018104,0.0006930088882095178,0.04879279441445537,-0.0011028004307988293],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.08000000000000006,"joint_targets_rad":[-0.0036285959695416324,1.5181537200976805,-1.2882404250816228,0.001572814248453967,0.05111399772758753,-0.0019956646950458354],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.10000000000000007,"joint_targets_rad":[-0.0037930288292036016,1.5111496656869385,-1.2800904360789782,0.002542578330407777,0.05351731748456606,-0.0029542561807794437],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.12000000000000009,"joint_targets_rad":[-0.003961815171482636,1.5041392600455354,-1.2720606505420364,0.0035721016424232997,0.05590655765466684,-0.00394146318677731],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.1400000000000001,"joint_targets_rad":[-0.004135539768452568,1.497147171344993,-1.2641517137437799,0.004654030790044297,0.05826363694339176,-0.004948754372668252],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.16000000000000011,"joint_targets_rad":[-0.004314524410790378,1.4901856828852673,-1.2563578182692614,0.005786518990718313,0.06058930608508033,-0.0059744629115533405],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.18000000000000013,"joint_targets_rad":[-0.004499001632073904,1.4832629134698994,-1.248672381326949,0.006968868654072082,0.06288793239947776,-0.00701834824923318],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.20000000000000015,"joint_targets_rad":[-0.004689175744700683,1.4763850255830415,-1.2410893267391214,0.008200538035126858,0.06516400962063885,-0.008080358247459578],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.22000000000000017,"joint_targets_rad":[-0.004885240920408466,1.4695569290347643,-1.2336032890480326,0.00948091429409903,0.06742142569803258,-0.009160355084143675],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.24000000000000019,"joint_targets_rad":[-0.005087384124352456,1.462782638619659,-1.2262096574987713,0.010809249278610628,0.06966332747766388,-0.010258050205129975],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.2600000000000002,"joint_targets_rad":[-0.00529577883140666,1.4560656474453193,-1.2189048254393364,0.012184554917464783,0.07189191232066598,-0.011372912847164431],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.2800000000000002,"joint_targets_rad":[-0.005510595258509348,1.449408554694094,-1.2116853173081157,0.013605779389904024,0.07410890687718036,-0.012504329072230798],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.3000000000000002,"joint_targets_rad":[-0.005731999057716065,1.442813365965411,-1.2045479743178817,0.015071884344908696,0.07631583587040414,-0.013651705234266924],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.32000000000000023,"joint_targets_rad":[-0.005960149571996736,1.4362816634688722,-1.197489954810935,0.016581803742168277,0.07851393677079986,-0.0148144293736047],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.34000000000000025,"joint_targets_rad":[-0.006195333893127524,1.429814731078203,-1.1905086507507658,0.01814015420694355,0.08070433299079272,-0.015991806385644482],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.36000000000000026,"joint_targets_rad":[-0.006438466131450018,1.4234137432842833,-1.1836014901986331,0.01977809808956716,0.08288857432902647,-0.01718293070312893],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.3800000000000003,"joint_targets_rad":[-0.006689954585831801,1.4170795862023922,-1.1767665164491068,0.02150396424344475,0.08506727740836717,-0.018388234568297076],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.4000000000000003,"joint_targets_rad":[-0.006950281591550624,1.410812894875131,-1.1700017995804957,0.023328901658087563,0.08724105289326267,-0.019607169003137758],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.4200000000000003,"joint_targets_rad":[-0.007219764941395821,1.404614140404396,-1.1633057430378417,0.0252561992074971,0.08941025785508804,-0.020840003563602202],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.44000000000000034,"joint_targets_rad":[-0.007500986628034292,1.3984835733809007,-1.156676858590493,0.027285135895482183,0.09157532882449626,-0.02208697337974671],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.46000000000000035,"joint_targets_rad":[-0.007798240205120667,1.3924212932117244,-1.1501136898355786,0.029413711191580427,0.09373677645872419,-0.02334806727385925],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.48000000000000037,"joint_targets_rad":[-0.008117016815534443,1.3864273511695882,-1.1436147248576052,0.03163985385922078,0.09589462245554321,-0.024623157068980134],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5000000000000003,"joint_targets_rad":[-0.008464392117523898,1.3805017941241244,-1.1371785098206473,0.03396142520387852,0.09804871963068826,-0.025912197011579676],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5200000000000004,"joint_targets_rad":[-0.0088448620233218,1.3746450076608903,-1.1308038484779859,0.036376181564658265,0.10019861096101945,-0.02721495920637651],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5400000000000004,"joint_targets_rad":[-0.009261389543500583,1.3688571757787955,-1.1244894223669828,0.038881927407003705,0.10234391792689879,-0.02853122764001088],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5600000000000004,"joint_targets_rad":[-0.009716034312994138,1.3631383606789929,-1.1182339072797607,0.04147652161720828,0.10448435271587035,-0.029860821505324944],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5800000000000004,"joint_targets_rad":[-0.010210334633317046,1.3574885602143822,-1.1120359982947945,0.04415785937001531,0.10661963981460404,-0.031203581040950418],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6000000000000004,"joint_targets_rad":[-0.01074550163965369,1.3519077318736157,-1.105894414601175,0.04692386771503335,0.10874949283954792,-0.0325593651925841],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6200000000000004,"joint_targets_rad":[-0.011322543786146496,1.3463958044477375,-1.0998078972278769,0.049772504236252374,0.11087360795783693,-0.03392805151090744],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6400000000000005,"joint_targets_rad":[-0.01194234323953036,1.3409526851503937,-1.0937752052632623,0.052701756371909575,0.11299166245868827,-0.03530953555683328],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6600000000000005,"joint_targets_rad":[-0.012605672578378462,1.3355782648232195,-1.0877951132242085,0.055709641287650435,0.11510331546452782,-0.036703728856582976],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6800000000000005,"joint_targets_rad":[-0.013313238372302229,1.3302724873124547,-1.081866525870495,0.05879411890140388,0.11720812390015818,-0.0381105312180398],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7000000000000005,"joint_targets_rad":[-0.014065640733908466,1.3250353284788974,-1.0759884723905557,0.06195271481007479,0.1193054854817403,-0.0395298069345693],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7200000000000005,"joint_targets_rad":[-0.014863467801123242,1.3198666399491268,-1.0701598331214928,0.06518351194943549,0.12139484805837075,-0.04096144840681412],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7400000000000005,"joint_targets_rad":[-0.01570722839749193,1.314766234049343,-1.0643794504724449,0.06848462177264744,0.12347573488638895,-0.04240538870058173],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7600000000000006,"joint_targets_rad":[-0.016597400725691124,1.3097339137274142,-1.058646148198034,0.0718541849857588,0.12554768853952353,-0.04386157619109965],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7800000000000006,"joint_targets_rad":[-0.017534383281719933,1.3047694818547388,-1.0529587415405746,0.07529036821885643,0.12761025473482365,-0.045329965761159795],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8000000000000006,"joint_targets_rad":[-0.01851854575153406,1.2998727414333875,-1.0473160359067533,0.07879135860813519,0.1296629752814783,-0.04681051499383884],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8200000000000006,"joint_targets_rad":[-0.019550174745222235,1.2950434963188788,-1.0417168309577203,0.08235536376194456,0.13170538653971298,-0.04830318064325076],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8400000000000006,"joint_targets_rad":[-0.020629533798758905,1.290281548888239,-1.0361599163074213,0.08598060596499961,0.13373701644359767,-0.04980791623418877],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8600000000000007,"joint_targets_rad":[-0.021756805337096747,1.2855866969421832,-1.03064410113378,0.0896652892509494,0.13575746657140692,-0.05132508629262583],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8800000000000007,"joint_targets_rad":[-0.022932162739648564,1.2809587156831508,-1.025168287387485,0.09340691864605423,0.13776630672722673,-0.052860410269006675],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9000000000000007,"joint_targets_rad":[-0.024155665364671557,1.2763973700384734,-1.0197312992179997,0.09720285317880938,0.13976302269797944,-0.05441894233513864],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9200000000000007,"joint_targets_rad":[-0.025427330118761617,1.2719024376336807,-1.0143319174165715,0.10105058723132557,0.14174714044614237,-0.056003714815323014],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9400000000000007,"joint_targets_rad":[-0.026747089529624034,1.267473738562607,-1.0089689604851069,0.1049475493815459,0.14371816676854016,-0.057618041442460924],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9600000000000007,"joint_targets_rad":[-0.02811481317172344,1.2631114306095668,-1.0036413529648307,0.10889130930705718,0.14567552263538694,-0.05926305095689925],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9800000000000008,"joint_targets_rad":[-0.029530299784754407,1.2588154770938746,-0.9983478862862376,0.11287930038902852,0.14761866627009546,-0.06094102528175385],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0000000000000007,"joint_targets_rad":[-0.03099331690803885,1.2545857450488285,-0.9930873461279762,0.116908732853727,0.14954712532212505,-0.06265536279239062],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0199999999999985,"joint_targets_rad":[-0.03250360415888076,1.2504220674480047,-0.9878588163711988,0.120975925931042,0.1514603707933267,-0.06442092948781138],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0399999999999963,"joint_targets_rad":[-0.034060615827282606,1.2463241761171935,-0.982661137813007,0.12507584140558636,0.15335796915704536,-0.06624669711008224],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.059999999999994,"joint_targets_rad":[-0.03566352550695581,1.2422918619189678,-0.9774930030112046,0.12920536562595322,0.1552396645282518,-0.06813210669769572],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0799999999999919,"joint_targets_rad":[-0.037311632844400214,1.2383249454728102,-0.9723531512575171,0.13336177221513146,0.15710518834368337,-0.07007513385202443],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0999999999999897,"joint_targets_rad":[-0.03900423914933646,1.2344232428996023,-0.9672403583382592,0.13754234439979718,0.15895420161799453,-0.07207373210937415],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1199999999999875,"joint_targets_rad":[-0.04074062540019375,1.2305865542356405,-0.9621534215613617,0.14174437827784858,0.16078632229221418,-0.07412584997697688],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1399999999999852,"joint_targets_rad":[-0.04252000624141857,1.2268146618770923,-0.9570911568334021,0.14596518672419861,0.16260114065121326,-0.07622943333695002],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.159999999999983,"joint_targets_rad":[-0.04434154950602849,1.2231073303285398,-0.9520523917975133,0.15020209506267423,0.16439822465724568,-0.07838242339624729],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1799999999999808,"joint_targets_rad":[-0.04620434188247308,1.2194643082198284,-0.9470359673407223,0.1544524440874376,0.16617712610469687,-0.08058275718974939],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1999999999999786,"joint_targets_rad":[-0.04810741181805879,1.2158853285752407,-0.9420407329285584,0.15871358518705883,0.1679373818423906,-0.08282836457395756],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2199999999999764,"joint_targets_rad":[-0.05004971347793264,1.2123701104342495,-0.9370655476394815,0.16298288125517882,0.16967851659282454,-0.08511716756279483],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2399999999999742,"joint_targets_rad":[-0.052030132648733414,1.2089183591440213,-0.9321092786002381,0.16725770425111086,0.17140004413620058,-0.08744707820072238],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.259999999999972,"joint_targets_rad":[-0.05404749602694187,1.2055297644018697,-0.9271708245924271,0.17153544784974536,0.17310159067288297,-0.08981601049465879],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2799999999999698,"joint_targets_rad":[-0.05610056570128601,1.2022039992820022,-0.9222490924621416,0.1758135194637108,0.17478283583504073,-0.09222187402472223],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2999999999999676,"joint_targets_rad":[-0.058188023168799216,1.1989407281979223,-0.9173429558339705,0.18008931528825278,0.17644329486190521,-0.0946625495061025],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3199999999999654,"joint_targets_rad":[-0.060308485388950256,1.195739610167503,-0.9124513046347971,0.18436023368661622,0.1780824659380312,-0.09713589876242273],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3399999999999632,"joint_targets_rad":[-0.06246050571032911,1.1926002916873348,-0.9075730533222369,0.1886236820190219,0.17969990153262694,-0.09963977074370992],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.359999999999961,"joint_targets_rad":[-0.06464258546791593,1.1895224028155673,-0.902707138989064,0.1928770776640661,0.18129524640702055,-0.10217200434930655],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3799999999999588,"joint_targets_rad":[-0.06685314414173293,1.1865055607458221,-0.8978524701153999,0.1971178275154279,0.18286800965225236,-0.10473040796061914],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3999999999999566,"joint_targets_rad":[-0.06909054425253312,1.1835493748930697,-0.8930079701810542,0.20134333509475819,0.18441768662100166,-0.10731276477261498],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4199999999999544,"joint_targets_rad":[-0.07135306562757249,1.1806537162451196,-0.8881726972020798,0.20555099179140277,0.1859437274839547,-0.1099168140348463],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4399999999999522,"joint_targets_rad":[-0.07363894312906076,1.1778183812679017,-0.8833456309231944,0.20973818521557017,0.18744556990232564,-0.11254027301505032],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.45999999999995,"joint_targets_rad":[-0.07594635627683731,1.1750430272450312,-0.8785256962349371,0.21390230588548695,0.1889227007859926,-0.115180847981221],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4799999999999478,"joint_targets_rad":[-0.07827341087707279,1.1723272489132526,-0.8737118013356604,0.21804073220106818,0.19037450780975657,-0.11783621226535373],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4999999999999456,"joint_targets_rad":[-0.08061817119475112,1.1696706019668555,-0.8689028982354752,0.22215084224514303,0.19180047558483598,-0.12050401373881653],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5199999999999434,"joint_targets_rad":[-0.08297863321448072,1.1670726091805292,-0.8640979561174588,0.2262300110065821,0.1932000950283119,-0.12318187046803422],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5399999999999412,"joint_targets_rad":[-0.08535273589743997,1.1645327668403174,-0.8592959600249412,0.23027560597281455,0.1945728529502787,-0.12586736716720007],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.559999999999939,"joint_targets_rad":[-0.08773836426209151,1.1620505480859749,-0.8544959111651069,0.23428498582149643,0.1959182313499376,-0.1285580533911092],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5799999999999368,"joint_targets_rad":[-0.09013334620500252,1.1596254043672025,-0.8496968277211862,0.23825550104528287,0.197235709277798,-0.13125144309782866],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5999999999999346,"joint_targets_rad":[-0.09253547131416659,1.1572567648121528,-0.8448977796185364,0.24218450489974558,0.19852493207979022,-0.13394502613970352],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6199999999999324,"joint_targets_rad":[-0.09494249824430158,1.1549440318740547,-0.8400978840112693,0.24606935815878503,0.19978577573151013,-0.13663627660557642],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6399999999999302,"joint_targets_rad":[-0.09735209765033155,1.1526865854978647,-0.835296177642061,0.24990739393295136,0.2010177954553168,-0.13932261621109465],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.659999999999928,"joint_targets_rad":[-0.09976189603246013,1.150483800198052,-0.8304917309942342,0.2536959299797932,0.20222052623266792,-0.1420014222498729],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6799999999999258,"joint_targets_rad":[-0.10216947522762666,1.148335032056305,-0.8256836381638168,0.25743227038220123,0.20339349569179338,-0.14467002753693836],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6999999999999236,"joint_targets_rad":[-0.1045723727285571,1.1462396146818863,-0.8208710145432844,0.2611137050521041,0.2045362321076283,-0.1473257208068574],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7199999999999214,"joint_targets_rad":[-0.10696808263748916,1.144196857749402,-0.8160529961015828,0.26473750934968837,0.20564826825931853,-0.14996574597252882],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7399999999999192,"joint_targets_rad":[-0.10935413083323275,1.1422060470701136,-0.811228886375714,0.2683009858064181,0.20672982871222892,-0.1525873499723916],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.759999999999917,"joint_targets_rad":[-0.11172792586537886,1.1402664232536412,-0.8063978188273745,0.2718014015585001,0.20778059853285114,-0.15518771986275853],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7799999999999148,"joint_targets_rad":[-0.11408684286320131,1.138377227727164,-0.8015589659964144,0.2752359985827029,0.2088002097509997,-0.1577639870570021],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7999999999999126,"joint_targets_rad":[-0.11642822538295013,1.1365376823202338,-0.7967115327888247,0.2786019976398448,0.2097882870060085,-0.1603132277628253],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8199999999999104,"joint_targets_rad":[-0.11874943815147193,1.1347469843824847,-0.791854852590398,0.2818966247227723,0.21074491794269942,-0.16283249657242174],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8399999999999082,"joint_targets_rad":[-0.12104780036036569,1.1330042870694226,-0.7869882311443928,0.2851170955503967,0.21167018948331584,-0.16531881298598577],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.859999999999906,"joint_targets_rad":[-0.12332061248641152,1.1313087150554069,-0.7821110003123417,0.28826062147100406,0.21256434971054416,-0.16776916955986912],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8799999999999037,"joint_targets_rad":[-0.12556515328602316,1.1296593735365572,-0.7772225103542594,0.29132439878823607,0.2134276954315985,-0.17018052005810508],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8999999999999015,"joint_targets_rad":[-0.1277787213572328,1.1280553512460845,-0.7723222020167807,0.294305620746382,0.21426085096397784,-0.1725497945494223],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9199999999998993,"joint_targets_rad":[-0.12995849819651614,1.1264956881466779,-0.7674093463304447,0.29720129752581226,0.21506379902074269,-0.17487383033213527],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9399999999998971,"joint_targets_rad":[-0.13210169139510647,1.124979425919599,-0.7624833778369753,0.3000080664204616,0.21583683953695448,-0.17714937485038137],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.959999999999895,"joint_targets_rad":[-0.13420555106488913,1.1235055649149654,-0.7575437764378097,0.3027230184190247,0.21658054404516236,-0.1793731850923252],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9799999999998927,"joint_targets_rad":[-0.1362672304439562,1.122073224962035,-0.7525899720958887,0.30534318075286077,0.2172950239627235,-0.18154192091988688],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9999999999998905,"joint_targets_rad":[-0.138284010938888,1.120681509952191,-0.7476216404092401,0.3078655790673953,0.21798129775632522,-0.1836522288538362],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0199999999998886,"joint_targets_rad":[-0.14025304147020873,1.119329309459012,-0.7426381425589488,0.3102871981095844,0.21863965602244093,-0.18570068599044237],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0399999999998863,"joint_targets_rad":[-0.14217158383708206,1.118015481942741,-0.7376390971952037,0.3126050009308305,0.21927110016127138,-0.18768383810703435],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.059999999999884,"joint_targets_rad":[-0.14403681002238547,1.116738770220351,-0.7326239644698571,0.31481591215431765,0.21987619167885716,-0.18959815742371572],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.079999999999882,"joint_targets_rad":[-0.14584599097510698,1.115497894711344,-0.7275924253261431,0.31691682638962704,0.22045608377493836,-0.19144007474306235],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0999999999998797,"joint_targets_rad":[-0.147596315854199,1.1142914611434676,-0.7225440053150082,0.31890459581221325,0.2210115166493108,-0.19320594388040718],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1199999999998775,"joint_targets_rad":[-0.14928508083701233,1.1131180510268124,-0.717478449622578,0.32077603084582734,0.221543804907362,-0.19489206883800128],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1399999999998753,"joint_targets_rad":[-0.1509095253406923,1.1119761211252555,-0.7123953782851501,0.32252790488294564,0.22205401109066222,-0.19649468545501117],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.159999999999873,"joint_targets_rad":[-0.15246694209316575,1.1108640723630592,-0.7072945126314341,0.32415692500157656,0.22254339172012697,-0.19800995081377906],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.179999999999871,"joint_targets_rad":[-0.15395464911445608,1.1097802007529483,-0.7021755995090866,0.3256597524944796,0.2230133482588067,-0.19943395504698874],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1999999999998687,"joint_targets_rad":[-0.15536997715119163,1.108722692291997,-0.6970384954263855,0.3270331996272648,0.2234659924589667,-0.20076252165498232],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2199999999998665,"joint_targets_rad":[-0.1567098845491566,1.1076896366527273,-0.6918831086143241,0.3282733829210128,0.22390345716677165,-0.20199193820799904],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2399999999998643,"joint_targets_rad":[-0.15797169254169907,1.106678958740405,-0.6867091880091278,0.3293770954840292,0.22432765001507798,-0.2031184360178174],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.259999999999862,"joint_targets_rad":[-0.1591528529512118,1.1056884583577384,-0.681516486038129,0.3303409673776652,0.22474028037935562,-0.20413804372332733],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.27999999999986,"joint_targets_rad":[-0.160250937438171,1.1047157761264246,-0.6763048411899457,0.33116151300553387,0.22514324637112176,-0.20504665491575189],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2999999999998577,"joint_targets_rad":[-0.16126359773970397,1.1037583333460879,-0.6710741169397595,0.33183518059725703,0.2255386827182156,-0.20584008156042102],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3199999999998555,"joint_targets_rad":[-0.1621885182597532,1.1028133207775834,-0.665824146408381,0.3323582663366964,0.22592852729232987,-0.20651397059344984],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3399999999998533,"joint_targets_rad":[-0.16302349310364628,1.1018776614116181,-0.6605548451896004,0.3327269710271254,0.2263151052102971,-0.20706386366444898],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.359999999999851,"joint_targets_rad":[-0.16376637808738598,1.100947959352543,-0.6552661189540195,0.3329373483532402,0.22670078950645228,-0.20748514781426378],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.379999999999849,"joint_targets_rad":[-0.16441522286458818,1.10002044162888,-0.6499577568207776,0.33298679597116115,0.2270878153829391,-0.2077735468081655],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3999999999998467,"joint_targets_rad":[-0.16496952027847375,1.0990908383427636,-0.6446286292884504,0.33288909325202815,0.22747778097327717,-0.2079291255896342],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4199999999998445,"joint_targets_rad":[-0.16543074776309327,1.0981545798763,-0.6392778477721485,0.3326798294310079,0.22787307970186327,-0.20797531122569324],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4399999999998423,"joint_targets_rad":[-0.16579986252126006,1.0972065456657272,-0.63390611201787,0.33238096125889643,0.22827743226876826,-0.20794653943520633],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.45999999999984,"joint_targets_rad":[-0.16607679566644326,1.0962406500988668,-0.6285143409145436,0.33199401960764485,0.22869476474670536,-0.20786145871987732],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.479999999999838,"joint_targets_rad":[-0.1662621590243915,1.0952498423094708,-0.6231026786619069,0.33151873252149083,0.22912868859479976,-0.20772303675650722],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4999999999998357,"joint_targets_rad":[-0.16635730866817303,1.094226114323248,-0.6176712754555045,0.330953988666131,0.2295832534212198,-0.2075314766306156],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5199999999998335,"joint_targets_rad":[-0.1663642623533377,1.093160218411694,-0.6122203356251904,0.33029823731656743,0.2300632159068961,-0.20728630957481567],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5399999999998313,"joint_targets_rad":[-0.16628577608047368,1.0920413203034187,-0.6067501092798557,0.32954901847779833,0.2305742410187904,-0.20698611312419318],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.559999999999829,"joint_targets_rad":[-0.16612919363653297,1.0908559805191838,-0.6012600445195445,0.32863645581422696,0.23111654411918456,-0.2065514567593109],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.579999999999827,"joint_targets_rad":[-0.16589086400724296,1.0895887725456155,-0.5957503887397935,0.32743075893580253,0.23168565600697041,-0.20583546979918407],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5999999999998247,"joint_targets_rad":[-0.16554753544372175,1.0882219184237603,-0.5902239119828526,0.3258241864986238,0.23228363780522998,-0.20472055848204773],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6199999999998225,"joint_targets_rad":[-0.16506065908239317,1.0867333059196822,-0.5846853126274166,0.32367791235573806,0.23291550230885508,-0.20305643531015072],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6399999999998203,"joint_targets_rad":[-0.16445155046811244,1.0852513532775299,-0.5796017187179531,0.3206567440406757,0.23389705823421933,-0.20051779178218962],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.659999999999818,"joint_targets_rad":[-0.16535410197998063,1.0867865890066037,-0.5836503000431756,0.3146971978860351,0.24103479005949466,-0.19566660084218612],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.679999999999816,"joint_targets_rad":[-0.16653215189542767,1.0885158764394571,-0.5882650190393761,0.3094176093224566,0.24930443626390109,-0.19190234315514723],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6999999999998137,"joint_targets_rad":[-0.1678842746521435,1.090343160693704,-0.5931692619891022,0.30527004667361834,0.2581864504719203,-0.1899240271005703],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7199999999998115,"joint_targets_rad":[-0.16917354883530022,1.0920430348047045,-0.5977084684976688,0.3024130472879103,0.26643659925230634,-0.1895594203087526],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7399999999998093,"joint_targets_rad":[-0.170103508227975,1.0934087471314358,-0.6013200771091657,0.2998779111648863,0.27294061949014187,-0.1893519779768999],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.759999999999807,"joint_targets_rad":[-0.17080621431188642,1.0946191450955123,-0.6044801643915227,0.29722928567560936,0.2785557490264738,-0.18890662073787245],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.779999999999805,"joint_targets_rad":[-0.17132563607981197,1.0956535403847028,-0.607144719999778,0.29490421431325703,0.283239338059611,-0.18872850305804145],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7999999999998026,"joint_targets_rad":[-0.17167008791631727,1.0964754667233345,-0.6092385577794531,0.29304421620192295,0.28687910799910515,-0.18894210035641468],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8199999999998004,"joint_targets_rad":[-0.1718622011745648,1.0970804841679498,-0.6107696763079475,0.2916439799322041,0.2895072013711142,-0.18950826634387166],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8399999999997982,"joint_targets_rad":[-0.17193618169014,1.0974913474436294,-0.6118103313843652,0.29063927415915747,0.29126610154947596,-0.19033952205413107],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.859999999999796,"joint_targets_rad":[-0.17193253538867695,1.0977510994648425,-0.6124768757647238,0.28994132410041606,0.29237168887477316,-0.19133835639631255],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.879999999999794,"joint_targets_rad":[-0.17189417486166714,1.0979189487362357,-0.612919679933938,0.28943819620221584,0.29309447563373,-0.1924014126208289],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8999999999997916,"joint_targets_rad":[-0.17185766390730806,1.098056652368185,-0.6132906648024675,0.28900597337106615,0.2937021115844203,-0.19342100982718852],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9199999999997894,"joint_targets_rad":[-0.1718386190768554,1.0982162961152688,-0.6137160118110071,0.28846427876928094,0.29440787157467063,-0.19422381299040417],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9399999999997872,"joint_targets_rad":[-0.17184611765283883,1.0984322243679845,-0.61427821174003,0.2877129794071833,0.2953507299358549,-0.19474448156089508],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.959999999999785,"joint_targets_rad":[-0.1718923948289015,1.0987236356881174,-0.6150226531541407,0.28676599632027755,0.29661123715318916,-0.19504652836303027],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.979999999999783,"joint_targets_rad":[-0.1719846152714442,1.0990953303619104,-0.61595970578052,0.28567921358168497,0.2982100793868909,-0.19522344608060202],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9999999999997806,"joint_targets_rad":[-0.172124554123075,1.0995444338061449,-0.6170811872830232,0.28450648171455706,0.3001345649038343,-0.19534960063901183],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.0199999999997784,"joint_targets_rad":[-0.17230844322194705,1.1000623997143275,-0.6183652313904132,0.2832883650807701,0.3023465349677192,-0.19547209115562014],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.039999999999776,"joint_targets_rad":[-0.17252772213659853,1.1006363137079611,-0.6197795437827351,0.2820511646337399,0.3047882351652872,-0.19561406160970934],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.059999999999774,"joint_targets_rad":[-0.17277250600455651,1.101249313573634,-0.6212823244378,0.2808287050690443,0.3073857609558312,-0.19580222416817272],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.079999999999772,"joint_targets_rad":[-0.1730334693990229,1.1018841257424787,-0.6228309783200007,0.2796543088109543,0.31006424759032436,-0.1960590853121945],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.0999999999997696,"joint_targets_rad":[-0.1733023508478688,1.102524920850548,-0.6243867602608543,0.2785541801712187,0.3127557614780085,-0.19639729470981857],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.1199999999997674,"joint_targets_rad":[-0.17357268471243895,1.103158834037703,-0.6259185119441689,0.27754544120364094,0.31540582876908674,-0.19681965904725296],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.139999999999765,"joint_targets_rad":[-0.173839198982565,1.103776568149675,-0.6274041324447805,0.27663116193631876,0.31797555443796677,-0.1973147464106297],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.159999999999763,"joint_targets_rad":[-0.1740975358854968,1.1043726457211942,-0.6288310953761926,0.27580002210771626,0.3204423327147461,-0.19785821592414654],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.179999999999761,"joint_targets_rad":[-0.17434504658054836,1.1049452271576254,-0.6301957882405919,0.2750347015895578,0.32279914540714894,-0.19842420827563798],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.1999999999997586,"joint_targets_rad":[-0.1745810685342528,1.1054957768543596,-0.6315024754748456,0.2743167046390174,0.3250529183030133,-0.19899069283622495],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.2199999999997564,"joint_targets_rad":[-0.1748064145174977,1.1060282107983286,-0.6327611077833587,0.27362795056217626,0.32722060323679153,-0.1995402806650917],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.239999999999754,"joint_targets_rad":[-0.1750226586842749,1.1065480134168,-0.633985162615305,0.2729510495781194,0.32932525808966845,-0.2000605548650791],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.259999999999752,"joint_targets_rad":[-0.17523162564425826,1.1070613038324937,-0.6351894092339516,0.27227029798431035,0.3313921198720423,-0.2005440344891513],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.27999999999975,"joint_targets_rad":[-0.17543590052983282,1.1075740989696337,-0.6363880809987774,0.27157669094234627,0.3334458143456219,-0.20099041419797714],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.2999999999997476,"joint_targets_rad":[-0.17563824837142317,1.10809168523747,-0.6375934586257858,0.27086634856508296,0.33550775641450986,-0.20140339775538188],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3199999999997454,"joint_targets_rad":[-0.17584100446050757,1.1086181453663932,-0.6388148634520648,0.27013842541435185,0.33759424051298514,-0.20178801684204672],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.339999999999743,"joint_targets_rad":[-0.17604569875694237,1.109156109203316,-0.6400581763052409,0.2693936677224734,0.3397155176061338,-0.20214936012326457],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.359999999999741,"joint_targets_rad":[-0.17625304462275526,1.109706735878928,-0.6413258605364965,0.2686340854615341,0.3418758603649265,-0.20249236488204564],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3799999999997388,"joint_targets_rad":[-0.1764630071298835,1.110269863416845,-0.6426173612165793,0.26786249725462785,0.3440742749071684,-0.20282169938150027],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3999999999997366,"joint_targets_rad":[-0.1766750360558788,1.1108442879797051,-0.6439297738624074,0.2670824699616596,0.3463057154125128,-0.2031418127987868],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4199999999997344,"joint_targets_rad":[-0.17688820824916393,1.111428102174446,-0.6452586466717593,0.26629767420118516,0.348562469790492,-0.20345659308775868],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.439999999999732,"joint_targets_rad":[-0.17710141454470393,1.1120190428656072,-0.6465987844097295,0.2655115141670297,0.350835560046861,-0.20376918590561097],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.45999999999973,"joint_targets_rad":[-0.1773135276682657,1.1126148113213434,-0.6479449760769085,0.2647268482344378,0.3531160037375613,-0.2040818976321037],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4799999999997278,"joint_targets_rad":[-0.17752353930114922,1.1132133340183648,-0.6492925764973929,0.26394584068507815,0.355395818712187,-0.20439621925461204],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4999999999997256,"joint_targets_rad":[-0.1777306621245116,1.1138129481837655,-0.650637908686719,0.2631699544477558,0.35766871663015665,-0.20471296830488744],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5199999999997234,"joint_targets_rad":[-0.17793437398695824,1.114412509830745,-0.6519784878590295,0.2623999468597627,0.35993047783426624,-0.2050323918866455],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.539999999999721,"joint_targets_rad":[-0.17813437538533244,1.1150114213527311,-0.6533130686332902,0.26163572470233465,0.36217900051342367,-0.20535413497454078],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.559999999999719,"joint_targets_rad":[-0.17833062893773768,1.1156095864814646,-0.6546415172108493,0.26087679089110016,0.3644140993467521,-0.20567753187352691],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5799999999997167,"joint_targets_rad":[-0.17852327571449814,1.1162073315014565,-0.6559646257553754,0.26012220920027096,0.3666371608790014,-0.20600162776973963],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5999999999997145,"joint_targets_rad":[-0.17871255965111568,1.1168052753541773,-0.6572838161647098,0.25937073552513334,0.3688506259764286,-0.20632529374741712],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6199999999997123,"joint_targets_rad":[-0.17889879336830303,1.1174042095583647,-0.6586008675276404,0.25862108689272184,0.37105753144085707,-0.2066474886680738],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.63999999999971,"joint_targets_rad":[-0.17908224545087773,1.118004976259076,-0.6599176537828124,0.25787180788011627,0.3732610373814059,-0.20696714960808826],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.659999999999708,"joint_targets_rad":[-0.17926317096220254,1.118608357761326,-0.6612358954874494,0.2571217338791152,0.37546403977015375,-0.20728353620913603],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6799999999997057,"joint_targets_rad":[-0.17944181588140512,1.1192150074093077,-0.6625570095684815,0.2563701738412398,0.3776689309809857,-0.20759632589816363],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6999999999997035,"joint_targets_rad":[-0.17961834413679695,1.1198254014539832,-0.663882016974833,0.2556166677461115,0.3798774229116284,-0.20790537625859723],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7199999999997013,"joint_targets_rad":[-0.17979286566100544,1.1204398141807346,-0.6652114924439143,0.2548611583085167,0.3820904824119546,-0.2082109385329289],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.739999999999699,"joint_targets_rad":[-0.17996538535256917,1.1210583387132416,-0.6665456207929523,0.2541036280319076,0.3843084017388844,-0.20851318620587808],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.759999999999697,"joint_targets_rad":[-0.18013586962596656,1.1216808955105662,-0.6678842154608007,0.2533443700828178,0.386530861272609,-0.20881258894921992],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7799999999996947,"joint_targets_rad":[-0.18030420470810032,1.122307292751751,-0.6692268575176162,0.25258357612850674,0.38875713560628733,-0.20910939403571976],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7999999999996925,"joint_targets_rad":[-0.18047026040554398,1.1229372518008305,-0.6705729483521303,0.25182156300179875,0.39098620825328495,-0.20940396195337543],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8199999999996903,"joint_targets_rad":[-0.18063387578449067,1.1235704681351855,-0.6719218437067506,0.25105852029450965,0.39321698030427016,-0.20969645769291803],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.839999999999688,"joint_targets_rad":[-0.18079488041924907,1.1242066419000891,-0.6732729178109934,0.2502945336957447,0.39544838282762823,-0.20998691565631566],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.859999999999686,"joint_targets_rad":[-0.18095313871598054,1.1248455096787642,-0.6746256264420827,0.2495297162663847,0.39767949650897594,-0.2102754302721074],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8799999999996837,"joint_targets_rad":[-0.18110847042669642,1.1254868730458198,-0.6759795737429928,0.24876376794064245,0.3999096230335577,-0.21056159249722498],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8999999999996815,"joint_targets_rad":[-0.18126076548217554,1.126130592460546,-0.6773344866117129,0.24799655319375058,0.40213829335397144,-0.21084526578777113],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9199999999996793,"joint_targets_rad":[-0.18140992257069274,1.1267766045896088,-0.67869025480032,0.24722777432240883,0.4043653034362244,-0.21112614333919072],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.939999999999677,"joint_targets_rad":[-0.18155583987703303,1.127424905614717,-0.6800468946779265,0.24645698868779076,0.4065906518377742,-0.21140377501196497],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.959999999999675,"joint_targets_rad":[-0.18169848481653378,1.128075538305146,-0.6814045134883963,0.24568397063724812,0.40881451150606457,-0.21167803204734698],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9799999999996727,"joint_targets_rad":[-0.18183776172846278,1.1287285843557966,-0.6827633048250847,0.24490812935305997,0.4110371655299221,-0.21194832782705667],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9999999999996705,"joint_targets_rad":[-0.18197362713503176,1.129384134298937,-0.6841234739203848,0.24412911809359494,0.413258937264433,-0.21221442309774827],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.019999999999677,"joint_targets_rad":[-0.1821060673057993,1.130042286139911,-0.6854852362970169,0.24334672571902305,0.4154801777890574,-0.21247625411641516],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.039999999999684,"joint_targets_rad":[-0.18223488005166735,1.13070312600329,-0.6868487988667534,0.2425599363424862,0.4177011439735552,-0.21273261434674087],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.0599999999996905,"joint_targets_rad":[-0.18235981489233888,1.131366701760931,-0.6882142942279377,0.2417676663194688,0.41992195697754137,-0.21298229208610092],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.079999999999697,"joint_targets_rad":[-0.18248070169837968,1.1320330344795688,-0.6895817917828234,0.24096929565646436,0.4221426732409244,-0.2132247400087466],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.099999999999704,"joint_targets_rad":[-0.18259742915716934,1.1327021261215393,-0.6909513157754893,0.24016453306023752,0.42436330336611766,-0.21345987558865487],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.119999999999711,"joint_targets_rad":[-0.18270990242740298,1.1333739622928711,-0.6923228548805548,0.23935319930387683,0.4265838086776476,-0.21368773272997293],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.139999999999717,"joint_targets_rad":[-0.18281802842365613,1.1340485126748399,-0.6936963650235585,0.23853515547356222,0.4288040997270852,-0.21390836835064442],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.159999999999724,"joint_targets_rad":[-0.1829217157747573,1.1347257364081829,-0.6950717807707489,0.23771028776634343,0.43102405444975234,-0.21412184615205518],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.179999999999731,"joint_targets_rad":[-0.1830208664480651,1.1354055877269558,-0.6964490281425517,0.2368784630686379,0.43324353552153516,-0.21432820790822232],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.199999999999737,"joint_targets_rad":[-0.18311528289663365,1.1360880239240647,-0.6978280529182463,0.23603917061849508,0.4354624016461259,-0.21452726956252222],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.219999999999744,"joint_targets_rad":[-0.18320486368453412,1.1367730048665312,-0.6992087942469026,0.23519225440515043,0.43768053712817506,-0.21471903333444006],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.239999999999751,"joint_targets_rad":[-0.1832895211543448,1.137460499476134,-0.7005912083200538,0.23433759001955132,0.43989785896307565,-0.21490351645061523],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.259999999999757,"joint_targets_rad":[-0.18336917546279438,1.1381504854761748,-0.7019752683764531,0.2334750637637513,0.44211431452545363,-0.2150807368553074],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.279999999999764,"joint_targets_rad":[-0.1834436309190714,1.1388429541747394,-0.7033609900839785,0.23260411812742326,0.4443298774429656,-0.21525046220565253],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.299999999999771,"joint_targets_rad":[-0.18351279955182026,1.1395379020769822,-0.704748385461735,0.23172458542637023,0.4465445549887064,-0.21541267146862322],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.319999999999777,"joint_targets_rad":[-0.18357661267892766,1.140235334995344,-0.7061374823856388,0.23083635261982852,0.4487583866165843,-0.21556737534204246],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.339999999999784,"joint_targets_rad":[-0.18363491391325248,1.140935267985895,-0.7075283381270655,0.22993898172003369,0.4509714275407849,-0.21571441281481382],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.359999999999791,"joint_targets_rad":[-0.18368760626702432,1.141637716670294,-0.7089210028017316,0.22903225431948787,0.4531837432370863,-0.21585373864140875],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.379999999999797,"joint_targets_rad":[-0.18373460955096732,1.1423427000340165,-0.7103155304470556,0.2281160109332284,0.4553954115603104,-0.21598534624568128],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.399999999999804,"joint_targets_rad":[-0.18377577315757937,1.1430502402509044,-0.7117119898578874,0.227189844317892,0.4576065093474103,-0.2161090958329431],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.419999999999811,"joint_targets_rad":[-0.18381102921069292,1.14376035456335,-0.7131104287111447,0.2262536534924404,0.45981710955105515,-0.21622501233331926],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.439999999999817,"joint_targets_rad":[-0.18384022517455073,1.1444730646386778,-0.7145109136789412,0.2253070388169571,0.46202728595893017,-0.21633296103699498],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.459999999999824,"joint_targets_rad":[-0.18386326764566835,1.145188385896536,-0.715913490839767,0.22434982376372822,0.4642371010607642,-0.2164329226609107],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.479999999999831,"joint_targets_rad":[-0.18388004170858038,1.1459063358418375,-0.7173182125497065,0.2233817588681692,0.46644662030423223,-0.2165248458398298],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.4999999999998375,"joint_targets_rad":[-0.18389040770758355,1.1466269311673054,-0.7187251320842066,0.22240251602141398,0.4686559026967797,-0.21660862932077687],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.519999999999844,"joint_targets_rad":[-0.18389424166255008,1.1473501874541245,-0.7201342978910905,0.2214118290985305,0.4708650057661494,-0.21668420304573538],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.539999999999851,"joint_targets_rad":[-0.18389141183756888,1.148076122250679,-0.7215457625883965,0.2204094080470497,0.47307399163981795,-0.2167514836406327],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.5599999999998575,"joint_targets_rad":[-0.1838817820562367,1.1488047545848499,-0.7229595815321035,0.21939495152589364,0.4752829259896325,-0.21681037889374938],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.579999999999864,"joint_targets_rad":[-0.18386520398221395,1.1495361065866332,-0.7243758168895387,0.21836811908385223,0.47749188186908303,-0.21686077349968416],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.599999999999871,"joint_targets_rad":[-0.1838415431157816,1.1502702015929296,-0.7257945305907892,0.2173286220653799,0.47970093745183184,-0.21690257791356296],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.6199999999998775,"joint_targets_rad":[-0.18381067657855013,1.1510070662342318,-0.7272157885961683,0.21627621206012893,0.48191018185195883,-0.21693572613354048],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.639999999999884,"joint_targets_rad":[-0.18377250551664778,1.1517467278583466,-0.7286396543183196,0.2152107247275535,0.4841197088514384,-0.21696019723844268],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.659999999999891,"joint_targets_rad":[-0.18372696545096556,1.1524892147570323,-0.7300661877490473,0.21413211167133753,0.4863296187504818,-0.2169760358304876],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.679999999999898,"joint_targets_rad":[-0.18367402525768062,1.1532345559537602,-0.7314954451851132,0.21304043346205565,0.4885400172561075,-0.2169833492879315],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.699999999999904,"joint_targets_rad":[-0.183613716379789,1.15398278271212,-0.7329274784319082,0.21193595174490443,0.49075102350645816,-0.21698236508829635],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.719999999999911,"joint_targets_rad":[-0.18354608610267137,1.1547339259690228,-0.7343623358489126,0.2108189747802426,0.49296275603765743,-0.21697333542659084],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.739999999999918,"joint_targets_rad":[-0.1834711993860349,1.1554880164424879,-0.7358000623586192,0.2096898621731128,0.4951753332656214,-0.21695653867237255],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.759999999999924,"joint_targets_rad":[-0.18338913932785902,1.15624508510901,-0.7372407003182291,0.208549024377664,0.4973888748278086,-0.21693227779022953],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.779999999999931,"joint_targets_rad":[-0.18330000763394397,1.157005163464121,-0.7386842899883228,0.20739692274615756,0.4996035023055926,-0.21690088104966054],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.799999999999938,"joint_targets_rad":[-0.1832039249584817,1.1577682840482466,-0.7401308704969466,0.20623406864652344,0.50181934063859,-0.21686270023036394],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.819999999999944,"joint_targets_rad":[-0.18310103115450807,1.1585344805713313,-0.7415804800717167,0.20506102308867039,0.5040365183850332,-0.21681811124668607],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.839999999999951,"joint_targets_rad":[-0.18299148561816414,1.159303788234171,-0.7430331566179085,0.20387839630859658,0.5062551685250738,-0.21676751346767262],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.859999999999958,"joint_targets_rad":[-0.18287546732681095,1.1600762437478875,-0.7444889377735981,0.20268684682563978,0.508475428353374,-0.21671132919825115],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.879999999999964,"joint_targets_rad":[-0.1827531748576782,1.1608518853215917,-0.7459478609097314,0.20148708048218633,0.5106974392744175,-0.21665000289719624],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.899999999999971,"joint_targets_rad":[-0.182624826464387,1.1616307524807632,-0.7474099628191079,0.20027984998593723,0.5129213461420953,-0.2165840015913362],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.919999999999978,"joint_targets_rad":[-0.1824906598501429,1.1624128859505523,-0.748875279559488,0.19906595324807624,0.5151472967271152,-0.21651381294028205],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.939999999999984,"joint_targets_rad":[-0.1823509319334457,1.1631983272729776,-0.7503438458239021,0.19784623219841058,0.5173754404728717,-0.21643994516219459],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.959999999999991,"joint_targets_rad":[-0.18220591868184252,1.1639871185708,-0.7518156945776767,0.19662157158862378,0.5196059276834004,-0.21636292632188606],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.979999999999998,"joint_targets_rad":[-0.18205591450824554,1.1647793022660842,-0.7532908566681464,0.195392896397224,0.521838908533987,-0.21628330184214925],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.000000000000004,"joint_targets_rad":[-0.18190123208774292,1.165574920630292,-0.7547693600988751,0.1941611710548914,0.5240745317311114,-0.2162016358821861],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.020000000000011,"joint_targets_rad":[-0.18174220149451548,1.166374015827151,-0.7562512302648025,0.19292739552150318,0.5263129444076363,-0.2161185058125264],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.040000000000018,"joint_targets_rad":[-0.1815791696876972,1.1671766291727164,-0.7577364887630534,0.19169260405945204,0.5285542900137754,-0.21603450515505285],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.0600000000000245,"joint_targets_rad":[-0.18141250004722173,1.1679828014522076,-0.7592251540879066,0.19045786240383808,0.5307987090698758,-0.21595023912584035],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.080000000000031,"joint_targets_rad":[-0.1812425710644676,1.1687925723772579,-0.7607172408892101,0.1892242636748327,0.5330463375105655,-0.21586632292352984],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.100000000000038,"joint_targets_rad":[-0.1810697759713195,1.169605980488206,-0.7622127599304296,0.1879929268339375,0.5352973064052884,-0.21578338215802048],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.1200000000000445,"joint_targets_rad":[-0.18089452133283113,1.1704230632691948,-0.7637117185296292,0.18676499138770977,0.5375517420896239,-0.2157020465591026],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.140000000000051,"joint_targets_rad":[-0.18071722607716403,1.171243856518268,-0.7652141196442556,0.18554161497872382,0.5398097644339886,-0.21562295243631305],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.160000000000058,"joint_targets_rad":[-0.18053831923474373,1.1720683933339113,-0.7667199602979536,0.18432396613060692,0.5420714837395104,-0.21554673242477895],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.1800000000000646,"joint_targets_rad":[-0.18035823880918644,1.1728967114133957,-0.7682292449660736,0.18311321446571435,0.5443370208285305,-0.2154740119386434],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.200000000000071,"joint_targets_rad":[-0.1801774373776118,1.173728850794484,-0.769741980898489,0.18191055110798157,0.5466065014764524,-0.2154054348732373],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.220000000000078,"joint_targets_rad":[-0.1799963720271284,1.1745648465421659,-0.7712581662547101,0.1807171636408328,0.5488800352468943,-0.2153416339929378],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.240000000000085,"joint_targets_rad":[-0.17981550627797022,1.1754047298711294,-0.7727777919956441,0.17953424112393762,0.5511577190351531,-0.21528323924433582],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.260000000000091,"joint_targets_rad":[-0.17963530446115927,1.176248526189904,-0.7743008391586431,0.1783629584102344,0.5534396313564857,-0.2152308612227167],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.280000000000098,"joint_targets_rad":[-0.17945623800995694,1.1770962586150422,-0.7758272844617492,0.17720449293138546,0.5557258428774527,-0.21518511518140498],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.300000000000105,"joint_targets_rad":[-0.17927877728429248,1.1779479456283937,-0.7773570971601952,0.1760600017367981,0.5580164093686816,-0.21514659670409264],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.320000000000111,"joint_targets_rad":[-0.17910338873718312,1.1788036007213474,-0.7788902388341824,0.17493061356118714,0.5603113707468771,-0.21511587421903958],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.340000000000118,"joint_targets_rad":[-0.17893054069797212,1.179663235991542,-0.7804266691241346,0.17381744432795776,0.562610761669374,-0.21509351187526451],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.360000000000125,"joint_targets_rad":[-0.17876069534341474,1.1805268599770675,-0.7819663428658152,0.17272157520416084,0.5649146050716695,-0.2150800468092841],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.380000000000131,"joint_targets_rad":[-0.17859430573011176,1.181394477146699,-0.7835092095857062,0.17164404491857121,0.5672229107960686,-0.21507598194337302],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.400000000000138,"joint_targets_rad":[-0.17843182122891432,1.182266091261601,-0.7850552187907094,0.17058586472017068,0.5695356854131807,-0.21508180821608935],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.420000000000145,"joint_targets_rad":[-0.17827367937183608,1.183141702918951,-0.7866043165965865,0.16954799692821876,0.571852925063434,-0.2150979823950788],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.440000000000151,"joint_targets_rad":[-0.17812030313263708,1.1840213088285414,-0.7881564447979885,0.1685313485995485,0.5741746135743724,-0.21512492113997592],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.460000000000158,"joint_targets_rad":[-0.17797210645753667,1.1849049051177454,-0.7897115459886714,0.1675367870542538,0.5765007320527998,-0.21516302396666473],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.480000000000165,"joint_targets_rad":[-0.17782948259140538,1.1857924828770887,-0.7912695571294232,0.16656510994126367,0.5788312462260652,-0.21521263970394655],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.500000000000171,"joint_targets_rad":[-0.17769281160593925,1.186684032081102,-0.7928304154934908,0.1656170662306918,0.5811661178249752,-0.21527409456955432],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.520000000000178,"joint_targets_rad":[-0.1775624496033193,1.187579537449075,-0.7943940527011971,0.16469332902942843,0.5835052929493362,-0.21534766210717834],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.540000000000185,"joint_targets_rad":[-0.1774387355688099,1.1884789821048605,-0.7959604002583057,0.16379451479856297,0.5858487126305165,-0.21543358890637404],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.5600000000001915,"joint_targets_rad":[-0.17732198126047524,1.1893823436870687,-0.7975293839638745,0.16292115828656553,0.5881963020026186,-0.21553206669287522],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.580000000000198,"joint_targets_rad":[-0.17721247764172832,1.190289597912472,-0.7991009293024144,0.16207373060863092,0.5905479805034478,-0.2156432565172554],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.600000000000205,"joint_targets_rad":[-0.17711047198630794,1.191200716793373,-0.8006749609067135,0.161252578620538,0.5929036556233332,-0.2157672423637129],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.6200000000002115,"joint_targets_rad":[-0.17701601332585107,1.1921156826348918,-0.802251443636079,0.16045750249507384,0.5952632478950971,-0.21590379150160474],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.640000000000218,"joint_targets_rad":[-0.17692881750175832,1.1930344827951043,-0.8038303881081865,0.15968740994370767,0.5976266679500529,-0.21605212931202739],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.660000000000225,"joint_targets_rad":[-0.1768484929941512,1.193957106019121,-0.8054118188431763,0.158940941208844,0.5999938245832023,-0.21621131090107834],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.6800000000002315,"joint_targets_rad":[-0.17677462939629437,1.1948835473089419,-0.8069957726338521,0.15821670829544465,0.6023646439506399,-0.21638038495886375],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.700000000000238,"joint_targets_rad":[-0.1767067687102109,1.195813810057088,-0.8085823052712284,0.15751321795547232,0.6047390726847414,-0.21655835471859344],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.720000000000245,"joint_targets_rad":[-0.17664448641993868,1.19674789756062,-0.8101714681232143,0.15682909341118295,0.6071170617948962,-0.21674430551427604],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.740000000000252,"joint_targets_rad":[-0.1765873315377685,1.197685816641886,-0.8117633209470779,0.15616291197146984,0.6094985714495366,-0.2169373169693317],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.760000000000258,"joint_targets_rad":[-0.17653481471309704,1.1986275724908364,-0.8133579244466719,0.1555131777837786,0.6118835569274086,-0.21713643874554606],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.780000000000265,"joint_targets_rad":[-0.17648641142222057,1.1995731681937878,-0.8149553391436816,0.15487833186133873,0.6142719677205919,-0.2173406958687339],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.800000000000272,"joint_targets_rad":[-0.17644156021118534,1.2005226047340982,-0.8165556255908967,0.15425674859722205,0.6166637474879894,-0.21754908607999274],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.820000000000278,"joint_targets_rad":[-0.17639965775053226,1.2014758823319143,-0.8181588471730158,0.1536467234708946,0.6190588371766261,-0.2177605729842336],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.840000000000285,"joint_targets_rad":[-0.176360043150625,1.202433001450238,-0.819765073484029,0.15304643319557457,0.6214571765240465,-0.21797405917364926],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.860000000000292,"joint_targets_rad":[-0.17632158412228657,1.2033939808684335,-0.8213744553716303,0.15245286361318378,0.6238587216720771,-0.21818773485227108],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.880000000000298,"joint_targets_rad":[-0.17628404969174485,1.2043588161853045,-0.822987006261378,0.15186537589086285,0.626263433435387,-0.21840124453842805],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.900000000000305,"joint_targets_rad":[-0.17624738237867327,1.2053274969167829,-0.8246027108855148,0.15128378809243367,0.628671270125885,-0.21861454640999006],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.920000000000312,"joint_targets_rad":[-0.17621154357938035,1.2062999969533417,-0.826221526328542,0.1507079774609252,0.6310821533530533,-0.21882764424112716],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.940000000000318,"joint_targets_rad":[-0.17617649385486928,1.2072762754361244,-0.8278433857494456,0.15013782775892692,0.6334959691731201,-0.2190405414817046],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.960000000000325,"joint_targets_rad":[-0.1761421951308448,1.2082562823696712,-0.8294682075723622,0.14957323164183353,0.6359125824951846,-0.21925324514937788],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.980000000000332,"joint_targets_rad":[-0.17610861059362126,1.2092399633074749,-0.831095903299556,0.1490140873551277,0.6383318487965439,-0.2194657633973809],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.000000000000338,"joint_targets_rad":[-0.17607570114762364,1.2102272624125459,-0.8327263829573275,0.14846028746178622,0.6407536214369182,-0.21967809363430035],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.020000000000345,"joint_targets_rad":[-0.1760434312676327,1.2112181277595602,-0.8343595631833222,0.14791173153484427,0.6431777650763116,-0.2198902377832837],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.040000000000352,"joint_targets_rad":[-0.17601176726695614,1.2122125131333032,-0.8359953702952102,0.1473683206677419,0.6456041597738255,-0.2201021972140938],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.060000000000358,"joint_targets_rad":[-0.17598067612873566,1.213210378804392,-0.8376337416169437,0.1468299541823544,0.648032702605999,-0.22031396937727055],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.080000000000365,"joint_targets_rad":[-0.17595012812458533,1.2142116929265776,-0.8392746274042405,0.14629653601008932,0.6504633110489247,-0.2205255554352958],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.100000000000372,"joint_targets_rad":[-0.175920095127694,1.2152164302626467,-0.8409179888548222,0.14576797113112439,0.6528959195352718,-0.22073695652509984],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.1200000000003785,"joint_targets_rad":[-0.17589055118640082,1.2162245714037565,-0.8425637967099386,0.14524416766165055,0.6553304774242833,-0.22094817585994458],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.140000000000385,"joint_targets_rad":[-0.17586147372509922,1.217236101732782,-0.8442120293765194,0.14472504059259278,0.657766946420939,-0.22115922301490984],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.160000000000392,"joint_targets_rad":[-0.17583283934305152,1.2182510085438665,-0.845862668649388,0.14421050245789607,0.6602052932183484,-0.2213701030042991],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.1800000000003985,"joint_targets_rad":[-0.17580462931980712,1.2192692812134565,-0.8475156993953565,0.14370047744007244,0.6626454902553047,-0.2215808318402868],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.200000000000405,"joint_targets_rad":[-0.17577682357016497,1.2202909083101525,-0.8491711054849873,0.14319488722838294,0.6650875083015051,-0.22179142058647527],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.220000000000412,"joint_targets_rad":[-0.17574940527898744,1.2213158778498407,-0.8508288697369807,0.14269366268609215,0.6675313174244558,-0.2220018879048203],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.2400000000004185,"joint_targets_rad":[-0.17572235994694438,1.2223441765164575,-0.8524889727600261,0.1421967416219335,0.6699768850639153,-0.2222122577667203],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.260000000000425,"joint_targets_rad":[-0.1756956711873904,1.2233757881295706,-0.8541513909387728,0.1417040587671278,0.6724241721274182,-0.22242254784457882],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.280000000000432,"joint_targets_rad":[-0.1756693261953385,1.224410695372573,-0.8558160986645258,0.14121555869821648,0.6748731375283571,-0.22263278398791486],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.300000000000439,"joint_targets_rad":[-0.17564331304076516,1.2254488791332747,-0.8574830675625789,0.14073118915953978,0.6773237364518501,-0.22284299303523136],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.320000000000445,"joint_targets_rad":[-0.1756176207672067,1.2264903190098613,-0.85915226730717,0.1402509009890487,0.6797759215873476,-0.22305320257246591],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.340000000000452,"joint_targets_rad":[-0.17559223934843626,1.2275349936385236,-0.8608236661532578,0.13977464778193985,0.6822296439134714,-0.22326344086506397],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.360000000000459,"joint_targets_rad":[-0.17556716028600067,1.2285828814731645,-0.8624972321243847,0.13930238697370792,0.6846848545772074,-0.22347373806585147],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.380000000000465,"joint_targets_rad":[-0.17554237736985445,1.2296339616087184,-0.8641729342323883,0.13883408129049407,0.6871415068503908,-0.22368412825604753],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.400000000000472,"joint_targets_rad":[-0.17551788401286803,1.230688212777743,-0.8658507411574631,0.13836969255379916,0.6895995535960121,-0.22389464245965546],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.420000000000479,"joint_targets_rad":[-0.17549367597358473,1.2317456148565236,-0.8675306233523046,0.13790918774329847,0.6920589509445129,-0.22410531556876848],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.440000000000485,"joint_targets_rad":[-0.1754697510206276,1.2328061488983453,-0.869212553108526,0.13745253810619298,0.6945196583018821,-0.2243161856815541],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.460000000000492,"joint_targets_rad":[-0.1754461068200938,1.2338697960629255,-0.8708965030772756,0.13699971442356731,0.6969816357067209,-0.22452728869725114],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.480000000000499,"joint_targets_rad":[-0.17542274340725547,1.2349365387570583,-0.8725824478072989,0.13655069256717225,0.6994448466066221,-0.22473866465865866],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.500000000000505,"joint_targets_rad":[-0.17539966264932766,1.2360063603305902,-0.8742703633026097,0.13610545227168153,0.7019092570785447,-0.22495035660499776],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.520000000000512,"joint_targets_rad":[-0.1753768664092509,1.2370792439361782,-0.8759602254158994,0.1356639731364619,0.7043748330718933,-0.22516240596423975],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.540000000000519,"joint_targets_rad":[-0.17535435877915942,1.2381551734755167,-0.8776520111008349,0.13522623962739577,0.7068415427100982,-0.22537485824739129],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.560000000000525,"joint_targets_rad":[-0.17533214579474496,1.2392341333988457,-0.8793456981126992,0.13479224041237223,0.7093093557815227,-0.22558776252190307],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.580000000000532,"joint_targets_rad":[-0.1753102330882273,1.2403161072633115,-0.8810412629966374,0.13436196327954533,0.7117782402976282,-0.22580116556535573],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.600000000000539,"joint_targets_rad":[-0.175288629262937,1.2414010794030936,-0.882738683348857,0.1339354025253631,0.7142481665038609,-0.2260151203144932],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.6200000000005454,"joint_targets_rad":[-0.1752673433857467,1.242489033554988,-0.8844379359219846,0.1335125534535682,0.7167191035830123,-0.22622967983811454],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.640000000000552,"joint_targets_rad":[-0.17524638580587412,1.2435799532110505,-0.8861389970969082,0.13309341416301104,0.7191910205121897,-0.2264448992735125],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.660000000000559,"joint_targets_rad":[-0.175225768949306,1.2446738220728681,-0.8878418434995838,0.1326779872027085,0.7216638871260472,-0.22666083799907927],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.6800000000005655,"joint_targets_rad":[-0.17037258171968175,1.2725989509952038,-0.8698487536651632,0.12594541810046828,0.678546007226029,-0.21104521718833352],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.700000000000572,"joint_targets_rad":[-0.17005437085341854,1.2742487412622847,-0.8707144412742632,0.12517844848643866,0.6797783378572491,-0.21101109759744488],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.720000000000579,"joint_targets_rad":[-0.1695034313824408,1.2788448266463677,-0.8708439374671578,0.12438075054461549,0.679910810318187,-0.21079526866361203],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.7400000000005855,"joint_targets_rad":[-0.16891795907631,1.2854281488143402,-0.8707466282880977,0.12351540859862946,0.6798110934831434,-0.2105292372674236],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.760000000000592,"joint_targets_rad":[-0.16835031832510458,1.2929452187593269,-0.87032081811321,0.12259703108476905,0.6796649126074081,-0.21023413284464598],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.780000000000599,"joint_targets_rad":[-0.16779275953098144,1.3009644087440726,-0.869606231075968,0.12163426603248463,0.6795089963963438,-0.2099220459721599],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.800000000000606,"joint_targets_rad":[-0.16723532477791872,1.3093044449222249,-0.8687040133792435,0.12063606244349212,0.6793561217249104,-0.20959888906472782],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.820000000000612,"joint_targets_rad":[-0.16667294948953182,1.3178750581697647,-0.8676978619546727,0.11960996696981832,0.679208292797467,-0.20926715941691926],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.840000000000619,"joint_targets_rad":[-0.16610362212950197,1.3266249338706615,-0.8666455612052354,0.11856093067852169,0.6790646684858597,-0.20892789743110193],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.860000000000626,"joint_targets_rad":[-0.16552677032970892,1.335522490297268,-0.8655848321232529,0.11749197237980462,0.6789241883060518,-0.2085815526038912],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.880000000000632,"joint_targets_rad":[-0.1649424338634518,1.344547360312397,-0.8645397275876145,0.11640472157892719,0.6787861303561089,-0.20822828701593443],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.900000000000639,"joint_targets_rad":[-0.16435092900447001,1.3536857238625843,-0.8635252572340919,0.11529994182603225,0.6786501094304838,-0.20786812643626026],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.920000000000646,"joint_targets_rad":[-0.1637527169946108,1.3629273350556208,-0.8625504232587624,0.11417786010413772,0.6785159796191852,-0.20750103891272967],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.940000000000652,"joint_targets_rad":[-0.1631483351518881,1.3722647491747397,-0.8616206273216764,0.11303838901166771,0.6783838081985238,-0.20712698052806364],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.960000000000659,"joint_targets_rad":[-0.16253840484302995,1.381692108499179,-0.8607387316346413,0.11188123601512397,0.6782537557560002,-0.20674591010624124],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.980000000000666,"joint_targets_rad":[-0.16192364449637997,1.3912043085020138,-0.8599057746056603,0.1107059701385547,0.6781260468556857,-0.2063578085683946],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.000000000000672,"joint_targets_rad":[-0.16130488679510566,1.4007964998536442,-0.8591214437981811,0.10951207196116602,0.6780009561540917,-0.20596269875024834],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.020000000000679,"joint_targets_rad":[-0.16068310288064017,1.4104637502815807,-0.8583843499788362,0.10829896885834416,0.6778788001828181,-0.20556066648865245],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.040000000000686,"joint_targets_rad":[-0.16005943555788377,1.4202007873801172,-0.8576921590797656,0.10706606012697582,0.6777599357489615,-0.20515188493654232],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.060000000000692,"joint_targets_rad":[-0.1594352419931569,1.4300017761548753,-0.8570416205295229,0.10581273830385968,0.6776447652644261,-0.2047366455163343],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.080000000000699,"joint_targets_rad":[-0.1588121499954921,1.4398600981935394,-0.8564285133554022,0.10453840872734141,0.6775337500053397,-0.20431539841972396],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.100000000000706,"joint_targets_rad":[-0.15819213205827853,1.4497681032693166,-0.8558475169057759,0.10324251214448546,0.6774274334579141,-0.20388880807360257],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.120000000000712,"joint_targets_rad":[-0.15757760587767045,1.459716801689199,-0.8552920006262412,0.10192455223079308,0.6773264792735314,-0.2034578301925031],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.140000000000719,"joint_targets_rad":[-0.15697157343500187,1.4696954556520503,-0.8547537128598738,0.10058413311584355,0.6772317316786581,-0.2030238218302026],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.160000000000726,"joint_targets_rad":[-0.1563778186477584,1.4796910069211264,-0.8542223291645712,0.09922101324102076,0.6771443123805143,-0.20258870276363664],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.1800000000007325,"joint_targets_rad":[-0.1558011975879755,1.4896872377099637,-0.8536847892324101,0.09783518540958733,0.6770657803140335,-0.2021551994623807],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.200000000000739,"joint_targets_rad":[-0.1552480806661835,1.4996634821939179,-0.8531242938330666,0.09642700122932457,0.6769984037886544,-0.20172722767015525],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.220000000000746,"joint_targets_rad":[-0.15472705804115647,1.5095925429487131,-0.8525187201054131,0.09499737309383148,0.6769456457235237,-0.20131051969631833],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.2400000000007525,"joint_targets_rad":[-0.15425013145405947,1.5194371062024734,-0.8518379710565409,0.09354811873428505,0.6769130827194061,-0.2009137120119601],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.260000000000759,"joint_targets_rad":[-0.15383488112467852,1.5291430732091966,-0.8510392010208733,0.09208259038098662,0.6769102853944607,-0.20055037166521406],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.280000000000766,"joint_targets_rad":[-0.15350880923759916,1.5386258170182647,-0.850057332642717,0.09060692665625668,0.6769550890790755,-0.20024314889513156],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.3000000000007725,"joint_targets_rad":[-0.15277394748021922,1.545145342677696,-0.8596466554978566,0.08712717840362104,0.690356346295268,-0.1970703408697942],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.320000000000779,"joint_targets_rad":[-0.15188717421129724,1.5513555651564965,-0.869194992358777,0.08337313347132305,0.7038166894576745,-0.19381703958141205],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.340000000000786,"joint_targets_rad":[-0.15089128695384701,1.557102387921972,-0.8781334292804879,0.07955870760816698,0.7165530540593351,-0.190775106152655],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.360000000000793,"joint_targets_rad":[-0.1498573140903327,1.5624670280159316,-0.886536031470044,0.07588152303840195,0.7286289070119707,-0.18818169340828578],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.380000000000799,"joint_targets_rad":[-0.14883368395724786,1.5672502997127402,-0.8940403084107491,0.0725231009305275,0.7394487393639636,-0.18617877175846437],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.400000000000806,"joint_targets_rad":[-0.1478425863267565,1.5712232240480313,-0.9002648653409789,0.06956581937004737,0.7478171441276444,-0.18477074011406272],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.420000000000813,"joint_targets_rad":[-0.14689598152338618,1.574257520764113,-0.9050095343634637,0.06701815199006225,0.7526888013304716,-0.18387548020538194],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.440000000000819,"joint_targets_rad":[-0.14599731630921403,1.5762910189354606,-0.9081937691855335,0.064844566196446,0.7572502139644093,-0.18337332286658534],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.460000000000826,"joint_targets_rad":[-0.14514669531182897,1.5774180844785943,-0.909978061441156,0.06298044752629717,0.7612141011942262,-0.18313407663992037],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.480000000000833,"joint_targets_rad":[-0.144342219505529,1.5778706384301249,-0.9107267981869733,0.06134810517220794,0.7630905179921593,-0.18303728322717752],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.500000000000839,"joint_targets_rad":[-0.14357732733198575,1.577884270041634,-0.9108058379274855,0.059872329289119924,0.7630935379686262,-0.18298864034714082],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.520000000000846,"joint_targets_rad":[-0.14284412765735088,1.5776633145156065,-0.9105289356449326,0.058490659153539445,0.7626000137229095,-0.18292356460732415],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.540000000000853,"joint_targets_rad":[-0.14213746391154092,1.5774218986919468,-0.9102193122674926,0.05715390721980658,0.7620757840234389,-0.1827993641710469],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.560000000000859,"joint_targets_rad":[-0.14145295068412783,1.5773839649794832,-0.9102118289980771,0.05581725356742133,0.7620000162513151,-0.182580044775253],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.580000000000866,"joint_targets_rad":[-0.140783282384643,1.5776329715165665,-0.9106295267109344,0.054457236229847106,0.762545063065332,-0.1822567844530999],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.600000000000873,"joint_targets_rad":[-0.14012529261507792,1.5781926687421208,-0.911506478173414,0.05307222344732211,0.7637567962384334,-0.181847016954999],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.620000000000879,"joint_targets_rad":[-0.1394791155426446,1.5790368960321184,-0.9128028064483813,0.05167442821913812,0.7655760497691436,-0.18138079675223964],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.640000000000886,"joint_targets_rad":[-0.13884724277910648,1.580143893597643,-0.91448564533986,0.05027732313399351,0.7679542238074785,-0.180882526864322],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.660000000000893,"joint_targets_rad":[-0.13823051508340095,1.5814619849784857,-0.9164779542968212,0.0488918615682016,0.7707789510550133,-0.18036688145601293],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.680000000000899,"joint_targets_rad":[-0.13762866988852235,1.5829268857025605,-0.9186843200441766,0.0475268914389359,0.7739116165851921,-0.1798422533361379],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.700000000000906,"joint_targets_rad":[-0.13704120541714976,1.5844739163782535,-0.9210089169458863,0.04619013936805222,0.7772134021400913,-0.17931463098102804],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.720000000000913,"joint_targets_rad":[-0.13646785272059214,1.5860461131499795,-0.9233674004321857,0.04488818288900162,0.7805624207779926,-0.17878879651501756],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.7400000000009195,"joint_targets_rad":[-0.13590863229431646,1.5875985139159734,-0.9256932081146937,0.043626105565554574,0.783862754737687,-0.1782685347171772],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.760000000000926,"joint_targets_rad":[-0.13536375355486618,1.5890996153640198,-0.9279397225097007,0.04240726737942933,0.7870475066115633,-0.17775652131739877],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.780000000000933,"joint_targets_rad":[-0.1348334807134583,1.59053134752133,-0.9300802420180984,0.04123325651215773,0.7900786618812504,-0.17725417578134733],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.8000000000009395,"joint_targets_rad":[-0.13431801034891153,1.5918875129848908,-0.932105659140694,0.04010405850625193,0.7929436285445678,-0.17676169282023074],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.820000000000946,"joint_targets_rad":[-0.13381739524713726,1.5931715894967486,-0.93402118969149,0.03901833038212951,0.7956504096953131,-0.17627817274825625],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.840000000000953,"joint_targets_rad":[-0.13333151383259595,1.5943943231755868,-0.9358427704629041,0.03797375977808172,0.7982223218449123,-0.17580186745288212],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.8600000000009596,"joint_targets_rad":[-0.1328600720857797,1.5955708304698901,-0.9375927463897461,0.03696746186433769,0.8006917329304891,-0.1753305412030861],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.880000000000966,"joint_targets_rad":[-0.1324026371372326,1.5967179109781766,-0.939295890518619,0.0359963502917518,0.8030943234542253,-0.17486182928122346],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.900000000000973,"joint_targets_rad":[-0.13195868799657942,1.5978518325563416,-0.9409761413242664,0.035057444250207036,0.8054644159400433,-0.17439354458045164],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.92000000000098,"joint_targets_rad":[-0.13152766383517384,1.5989866839963456,-0.9426541929917757,0.034148079603488896,0.8078315536331805,-0.17392387751569455],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.940000000000986,"joint_targets_rad":[-0.13110900750168764,1.6001333474244608,-0.9443460067783855,0.033266034468492175,0.8102184121693747,-0.1734515101227006],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.960000000000993,"joint_targets_rad":[-0.13070220034606395,1.601299060496106,-0.9460621911803089,0.03240957934419503,0.8126399573289487,-0.17297565708810994],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.980000000001,"joint_targets_rad":[-0.13030677871469062,1.6024874741865773,-0.947808106779438,0.031577449264778394,0.8151036338909508,-0.17249600969171994],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.000000000001005,"joint_targets_rad":[-0.12992234511176706,1.6036990911754792,-0.9495845224425614,0.03076878458710773,0.817610334387743,-0.17201266280785013],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.020000000000994,"joint_targets_rad":[-0.1295485654742981,1.604931943587851,-0.9513886150518114,0.029983036536188612,0.8201558485566568,-0.17152600370166193],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.040000000000983,"joint_targets_rad":[-0.12918503274744841,1.6061823749125783,-0.953215119615119,0.029219616952250612,0.8227325115495412,-0.1710365377676548],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.060000000000972,"joint_targets_rad":[-0.12883100887943555,1.6074458170812504,-0.9550574707504691,0.02847732293653845,0.8253308263868753,-0.17054455170522417],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.080000000000961,"joint_targets_rad":[-0.1284856935181392,1.6087175098027475,-0.956908835983708,0.027754812920178746,0.8279409539371819,-0.17005016011052032],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.10000000000095,"joint_targets_rad":[-0.12814838707069875,1.6099930672626672,-0.9587629289165851,0.02705089589589436,0.8305538768998613,-0.16955345982523276],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.120000000000939,"joint_targets_rad":[-0.12781852703017818,1.6112688647894222,-0.960614564424859,0.02636458617334285,0.8331621850630497,-0.16905460321339763],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.140000000000928,"joint_targets_rad":[-0.1274955746402478,1.6125422440196395,-0.9624599553434382,0.025694878442460076,0.8357604826042326,-0.16855373632132953],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.160000000000917,"joint_targets_rad":[-0.1271790755788586,1.6138115742504349,-0.9642967950294147,0.025040867576104596,0.8383454985239139,-0.16805098895342072],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.180000000000906,"joint_targets_rad":[-0.12686858443221805,1.6150761797940343,-0.9661241514615261,0.024401614044186608,0.8409159229948132,-0.16754643489767787],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.200000000000895,"joint_targets_rad":[-0.12656363340489904,1.6163361816212745,-0.9679422371591789,0.023776097616751715,0.8434720711277641,-0.16704004617019078],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.220000000000883,"joint_targets_rad":[-0.126263700310761,1.61759228939669,-0.9697521087727659,0.023163172450077263,0.8460154492469589,-0.16653167348009296],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.240000000000872,"joint_targets_rad":[-0.12596815620882937,1.618845576342999,-0.9715553438178854,0.022561483196619516,0.848548290513601,-0.16602102144130415],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.260000000000861,"joint_targets_rad":[-0.12567593447156994,1.6200972511481875,-0.973353722538689,0.021968848011211926,0.8510730887660607,-0.16550741669939734],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.28000000000085,"joint_targets_rad":[-0.12538673504579512,1.6213485531790643,-0.9751490418477774,0.021384569324624597,0.8535923867420206,-0.16499067753450058],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.30000000000084,"joint_targets_rad":[-0.12510055357998393,1.6226005748350585,-0.9769428769791,0.0208085424389196,0.8561084176385997,-0.16447102624197033],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.320000000000828,"joint_targets_rad":[-0.12481743092095335,1.623854162478791,-0.9787364490025591,0.02024077085969071,0.8586229084283409,-0.16394882483220824],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.340000000000817,"joint_targets_rad":[-0.12453741647152741,1.6251098787638614,-0.9805305736404737,0.019681287731116978,0.8611370083046737,-0.16342443452078254],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.360000000000806,"joint_targets_rad":[-0.1242605568944451,1.626368004290695,-0.9823256652034245,0.01913012837738904,0.8636512963631233,-0.16289815227150198],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.380000000000795,"joint_targets_rad":[-0.12398689424382736,1.6276285700331576,-0.984121783729723,0.018587323152099926,0.8661658505046073,-0.16237019732563446],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.400000000000784,"joint_targets_rad":[-0.12371646221278743,1.628891407313297,-0.9859187068011687,0.018052887775206295,0.8686803506188107,-0.16184071111443243],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.420000000000773,"joint_targets_rad":[-0.12344929005865829,1.6301562092441813,-0.9877160170250578,0.017526829349229563,0.8711942035432522,-0.16130977835597582],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.440000000000762,"joint_targets_rad":[-0.12318540224363453,1.6314225907969953,-0.9895131873715443,0.017009144550365257,0.8737066641724669,-0.16077744209345404],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.46000000000075,"joint_targets_rad":[-0.12292481931177751,1.6326901433903858,-0.9913096584419985,0.01649982044664927,0.8762169446435406,-0.1602437156064337],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.48000000000074,"joint_targets_rad":[-0.1226675585376854,1.6339584787681871,-0.9931049003523448,0.01599883546114844,0.8787243013687072,-0.15970859421020248],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.500000000000728,"joint_targets_rad":[-0.12241363654660677,1.635227260515772,-0.9948984569550923,0.015506164242607055,0.8812280969163069,-0.15917206506832085],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.520000000000717,"joint_targets_rad":[-0.12216306739394353,1.636496221078832,-0.9966899696611883,0.015021774095392678,0.8837278328315452,-0.1586341064225582],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.540000000000706,"joint_targets_rad":[-0.12191586350499097,1.6377651680658623,-0.9984791860357123,0.01454562723762799,0.88622316107806,-0.15809469143875785],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.560000000000695,"joint_targets_rad":[-0.12167203686979342,1.6390339805208767,-1.0002659542960017,0.014077683577609825,0.8887138756981334,-0.15755379087079177],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.580000000000684,"joint_targets_rad":[-0.12143159901308681,1.6403025982387316,-1.002050208110443,0.013617901258664649,0.8911998909132878,-0.15701137366931467],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.600000000000673,"joint_targets_rad":[-0.12119456015993788,1.6415710065514426,-1.0038319451351574,0.013166235624207424,0.893681210563207,-0.15646740527347008],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.620000000000662,"joint_targets_rad":[-0.12096092992478988,1.64283922043905,-1.005611204629943,0.012722641083264194,0.8961578964651581,-0.15592184936047118],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.64000000000065,"joint_targets_rad":[-0.12073071784889956,1.6441072690081469,-1.0073880456623319,0.012287072601580806,0.8986300377501412,-0.15537467010167091],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.66000000000064,"joint_targets_rad":[-0.12050393377191285,1.6453751822585398,-1.0091625285899346,0.011859486642274795,0.9010977249181527,-0.15482583251595997],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.680000000000629,"joint_targets_rad":[-0.1202805871180905,1.6466429805869438,-1.010934700438432,0.011439840016723678,0.903561029427337,-0.1542753018670624],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.700000000000617,"joint_targets_rad":[-0.12006068799874355,1.6479106685860212,-1.0127045862571946,0.011028092064445737,0.9060199917644934,-0.15372304620679766],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.720000000000606,"joint_targets_rad":[-0.11984424618137428,1.6491782311880006,-1.014472183821573,0.010624202680761566,0.9084746141760862,-0.15316903452531452],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.740000000000595,"joint_targets_rad":[-0.11963127135636646,1.6504456334860336,-1.0162374634252878,0.010228132764162222,0.9109248605548703,-0.15261323713867936],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.760000000000584,"joint_targets_rad":[-0.11942177334188711,1.6517128225152107,-1.0180003703898857,0.009839844547897672,0.9133706601036574,-0.15205562669918296],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.780000000000573,"joint_targets_rad":[-0.11921576244291154,1.6529797305980678,-1.019760829743284,0.009459302092763057,0.915811913996004,-0.15149617786597377],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.800000000000562,"joint_targets_rad":[-0.11901324835243474,1.6542462790063421,-1.0215187513495843,0.009086469150848849,0.9182485025974385,-0.15093486536495287],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.820000000000551,"joint_targets_rad":[-0.11881424113899527,1.6555123825285574,-1.0232740362281159,0.008721310929044452,0.9206802943507189,-0.15037166559064125],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.84000000000054,"joint_targets_rad":[-0.11861874970734841,1.6567779526072546,-1.025026580942467,0.008363791121856508,0.9231071518812843,-0.1498065531358725],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.860000000000529,"joint_targets_rad":[-0.11842678349078312,1.6580429011140978,-1.026776282776841,0.008013875040058606,0.9255289392355047,-0.1492395039528579],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.880000000000518,"joint_targets_rad":[-0.11823835072858965,1.65930714187036,-1.0285230418725713,0.007671526365157042,0.9279455247959703,-0.148670491824003],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.900000000000507,"joint_targets_rad":[-0.11805346014304077,1.660570592697475,-1.0302667640080867,0.007336710267352562,0.9303567851442737,-0.14809949147413617],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.920000000000496,"joint_targets_rad":[-0.1178721190740658,1.6618331751739732,-1.0320073602990685,0.007009389933342638,0.9327626045696935,-0.14752647482577633],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.940000000000484,"joint_targets_rad":[-0.11769433485236064,1.6630948142190862,-1.0337447465468779,0.006689529725447756,0.9351628741370499,-0.14695142165263209],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.960000000000473,"joint_targets_rad":[-0.11752011700127785,1.664355425968519,-1.0354788260414054,0.00637710691339622,0.9375574676234867,-0.1463744250688162],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.980000000000462,"joint_targets_rad":[-0.11734948432481096,1.6656149152369975,-1.037209485886581,0.006072125533465632,0.9399462364599706,-0.14579571455550386],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.000000000000451,"joint_targets_rad":[-0.11718245923073949,1.666873185011974,-1.0389366107632354,0.005774596355697124,0.9423290289569435,-0.14521552111516417],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.02000000000044,"joint_targets_rad":[-0.11701906398360923,1.6681301386993859,-1.0406600862183961,0.005484527706302089,0.9447056948749417,-0.14463404294356624],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.040000000000429,"joint_targets_rad":[-0.11685931736121007,1.669385678200727,-1.0423797960769792,0.0052019199069610065,0.9470760817914313,-0.14405144636477843],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.060000000000418,"joint_targets_rad":[-0.11670323649910269,1.670639703413837,-1.044095621716818,0.004926769105715385,0.9494400341334549,-0.14346787410952871],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.080000000000407,"joint_targets_rad":[-0.11655083525311537,1.6718921093082568,-1.0458074380553293,0.004659065369975586,0.9517973875936185,-0.14288345527174445],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.100000000000396,"joint_targets_rad":[-0.11640212699680474,1.6731427848245382,-1.0475151119677681,0.004398798487041014,0.9541479669851669,-0.14229831857468295],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.120000000000385,"joint_targets_rad":[-0.11625712399588724,1.674391611364773,-1.0492185002544734,0.004145956970264102,0.956491583452989,-0.14171259257716076],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.140000000000374,"joint_targets_rad":[-0.11611583694822024,1.675638463480215,-1.0509174506764059,0.003900526367328497,0.9588280359788297,-0.14112639304298571],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.160000000000363,"joint_targets_rad":[-0.11597827057549709,1.6768832259926025,-1.0526118261663806,0.0036624710913676353,0.9611571452782312,-0.1405396829725227],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.180000000000351,"joint_targets_rad":[-0.11584442140696315,1.6781257871612651,-1.0543014951597567,0.0034317359044532076,0.9634787402223586,-0.13995233971029922],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.20000000000034,"joint_targets_rad":[-0.11571428114802747,1.679366032161006,-1.0559863223199664,0.0032082569329533505,0.9657926448685422,-0.13936422172870477],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.22000000000033,"joint_targets_rad":[-0.1155878396024641,1.680603841962658,-1.0576661669258585,0.0029919678297814145,0.9680986762407999,-0.13877518360071367],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.240000000000318,"joint_targets_rad":[-0.11546508553757377,1.6818390928475024,-1.059340882197543,0.0027828014930960923,0.9703966434176937,-0.13818507928614104],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.260000000000307,"joint_targets_rad":[-0.11534600686242581,1.68307165628863,-1.0610103151379116,0.0025806904106814247,0.9726863473307624,-0.13759376269371204],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.280000000000296,"joint_targets_rad":[-0.1152305906649261,1.6843013990587152,-1.0626743066842221,0.002385566723204756,0.9749675809885963,-0.13700108767732974],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.300000000000285,"joint_targets_rad":[-0.11511882321466925,1.6855281834574527,-1.0643326920224823,0.0021973622202464075,0.977240129922272,-0.13640690789494636],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.320000000000274,"joint_targets_rad":[-0.11501068995631542,1.6867518675779716,-1.0659853009550013,0.0020160083179662372,0.9795037727007052,-0.13581107662941083],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.340000000000263,"joint_targets_rad":[-0.11490617549970664,1.6879723055529614,-1.0676319582410103,0.0018414360306283533,0.9817582814058127,-0.13521344660099316],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.360000000000252,"joint_targets_rad":[-0.11480526337605512,1.6891893476786468,-1.0692724837762329,0.0016735755351016783,0.9840034218825124,-0.13461386940285017],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.38000000000024,"joint_targets_rad":[-0.1147079367381933,1.6904028407513965,-1.0709066930458324,0.001512357382437871,0.9862389543675609,-0.13401219648864723],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.40000000000023,"joint_targets_rad":[-0.11461417761331305,1.6916126278052053,-1.0725343967926266,0.0013577111777780572,0.988464633030499,-0.13340827784179635],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.420000000000218,"joint_targets_rad":[-0.11452396713670439,1.6928185481723061,-1.0741554011059162,0.0012095659836210068,0.990680206098548,-0.1328019622146201],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.440000000000207,"joint_targets_rad":[-0.11443728554550493,1.6940204373562324,-1.0757695072620108,0.0010678502994772012,0.9928854156390344,-0.13219309703080062],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.460000000000196,"joint_targets_rad":[-0.11435411214990024,1.695218126851058,-1.077376511493622,0.0009324920030267356,0.9950799972446567,-0.13158152825791528],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.480000000000185,"joint_targets_rad":[-0.11427442530647697,1.6964114439253954,-1.0789762047125886,0.0008034182961243067,0.9972636796556765,-0.13096710029956757],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.500000000000174,"joint_targets_rad":[-0.11419820238932356,1.6976002113865083,-1.0805683722065806,0.0006805556477305734,0.99943618434748,-0.13034965589892963],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.520000000000163,"joint_targets_rad":[-0.11412541975680238,1.6987842473373909,-1.082152793327024,0.0005638297301417423,1.001597225107154,-0.12972903604824343],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.540000000000152,"joint_targets_rad":[-0.11405605271329258,1.6999633649364736,-1.0837292411812063,0.0004531653472602654,1.0037465076167515,-0.12910507990168815],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.56000000000014,"joint_targets_rad":[-0.11399007546552398,1.7011373721663507,-1.0852974823370594,0.00034848635430658696,1.0058837290547271,-0.12847762469027244],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.58000000000013,"joint_targets_rad":[-0.11392746107323808,1.7023060716148322,-1.0868572765450264,0.0002497155685108449,1.0080085777214225,-0.1278465056382411],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.600000000000119,"joint_targets_rad":[-0.11386818139390462,1.703469260269213,-1.0884083764781731,0.00015677467038355004,1.0101207326899864,-0.1272115558811567],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.620000000000108,"joint_targets_rad":[-0.1138122070212364,1.7046267293228965,-1.0899505274893297,6.958409515543922e-05,1.0122198634809159,-0.12657260638643905],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.640000000000096,"joint_targets_rad":[-0.11375950721721764,1.7057782639924417,-1.091483467382694,-1.1937086050055161e-05,1.0143056297565578,-0.12592948587766645],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.660000000000085,"joint_targets_rad":[-0.11371004983732472,1.7069236433427732,-1.0930069261968454,-8.787129578679718e-05,1.016377681031273,-0.1252820207643684],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.680000000000074,"joint_targets_rad":[-0.11366380124858798,1.708062640118439,-1.094520625996335,-0.00015830259116284733,1.0184356563933121,-0.12463003507936127],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.700000000000063,"joint_targets_rad":[-0.1136207262422845,1.7091950205803217,-1.0960242806710379,-0.0002233168129803795,1.0204791842371925,-0.12397335042901622],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.720000000000052,"joint_targets_rad":[-0.11358078793169026,1.7103205443429563,-1.0975175957369077,-0.0002830017590483404,1.0225078819978701,-0.1233117859462847],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.740000000000041,"joint_targets_rad":[-0.11354394766549933,1.7114389630372049,-1.099000266285428,-0.0003374472827983241,1.0245213536371889,-0.12264515830505193],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.76000000000003,"joint_targets_rad":[-0.11351016455119645,1.7125500463839962,-1.1004720116071098,-0.00038674612092175556,1.0265192364226507,-0.12197327047222273],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.780000000000019,"joint_targets_rad":[-0.11347939564022046,1.713653563921887,-1.1019325512518443,-0.00043099363294474974,1.028501168151317,-0.12129591839149326],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.800000000000008,"joint_targets_rad":[-0.11345159605255892,1.7147492668518407,-1.1033815811051206,-0.0004702875973643407,1.0304667547111384,-0.12061289874188745],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.819999999999997,"joint_targets_rad":[-0.1134267187928516,1.7158368888164333,-1.1048187744405926,-0.0005047285047978644,1.0324155715947427,-0.11992400916156024],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.839999999999986,"joint_targets_rad":[-0.1134047145405203,1.7169161473970793,-1.106243783907781,-0.0005344198922733836,1.0343471666758846,-0.11922904821711164],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.859999999999975,"joint_targets_rad":[-0.11338553142476805,1.7179867462794736,-1.1076562443939424,-0.0005594687037800215,1.0362610641563081,-0.11852781501975677],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.879999999999963,"joint_targets_rad":[-0.11336911479276598,1.719048377572963,-1.1090557760855522,-0.0005799856645300012,1.038156768763069,-0.11782010866409637],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.899999999999952,"joint_targets_rad":[-0.11335540697458116,1.720100723937761,-1.1104419872760432,-0.0005960856630298293,1.0400337695811983,-0.11710572763830049],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.919999999999941,"joint_targets_rad":[-0.11334434704511825,1.7211434603199698,-1.1118144766584024,-0.0006078881398113034,1.0418915431700477,-0.11638446932329409],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.93999999999993,"joint_targets_rad":[-0.11333587058105886,1.7221762552197766,-1.1131728350057746,-0.0006155174852047468,1.0437295558363315,-0.11565612966350838],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.95999999999992,"joint_targets_rad":[-0.1133299094093839,1.7231987715135757,-1.1145166462682272,-0.0006191034507805002,1.0455472651066609,-0.11492050305860628],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.979999999999908,"joint_targets_rad":[-0.1133263913436009,1.7242106669145176,-1.1158454881971485,-0.0006187815801370235,1.0473441205548273,-0.11417738249748247],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.999999999999897,"joint_targets_rad":[-0.11332523990316772,1.725211594188613,-1.1171589326512292,-0.0006146936657172197,1.0491195641956335,-0.11342655993559068],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.019999999999886,"joint_targets_rad":[-0.11333564560702585,1.7257099951578796,-1.1177874934019125,-0.0005895049009171032,1.0499587437479911,-0.11308182427863808],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.039999999999875,"joint_targets_rad":[-0.1133536012915493,1.7257394206910182,-1.1177823864719838,-0.0005505858815750024,1.0499342675487315,-0.11312108138534092],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.059999999999864,"joint_targets_rad":[-0.11336886740771582,1.7257631999307506,-1.1177772615499275,-0.0005170352377612733,1.0499135045280903,-0.1131543756007669],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.079999999999853,"joint_targets_rad":[-0.11338218734002753,1.7257829039795103,-1.117771130309905,-0.00048730353903694097,1.0498942081771725,-0.11318340088382109],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.099999999999842,"joint_targets_rad":[-0.11339423145597553,1.7257999809266047,-1.1177637921809471,-0.0004601041601277853,1.0498751757678693,-0.11320960440534554],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.11999999999983,"joint_targets_rad":[-0.1134053359907181,1.7258151894007345,-1.1177555463002378,-0.00043484427904148543,1.049856252578044,-0.11323368971333987],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.13999999999982,"joint_targets_rad":[-0.11341581548097991,1.7258292621665428,-1.1177467220316264,-0.000411007010075749,1.0498373261194764,-0.11325627475966556],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.159999999999808,"joint_targets_rad":[-0.1134257511455368,1.7258424053789458,-1.1177377036879357,-0.0003884911116565539,1.0498186821362303,-0.11327751023106872],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.179999999999797,"joint_targets_rad":[-0.11343510937876551,1.7258546631310598,-1.1177290034572263,-0.0003673592095981566,1.049800931790704,-0.11329736263088788],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.199999999999786,"joint_targets_rad":[-0.11344396448525448,1.7258662501967235,-1.1177207706261367,-0.00034745497725123395,1.0497841514655923,-0.11331600889678521],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.219999999999775,"joint_targets_rad":[-0.11345237827371141,1.7258772915144076,-1.1177129601833973,-0.00032863745454938213,1.0497682189218693,-0.1133335949086911],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.239999999999764,"joint_targets_rad":[-0.11346037382197355,1.7258878236211073,-1.1177055556923436,-0.0003108400586283446,1.0497530939539692,-0.11335018663604081],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.259999999999753,"joint_targets_rad":[-0.1134679700332171,1.7258978725378937,-1.1176985412903673,-0.00029400609527988736,1.049738741946469,-0.11336583978930834],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.279999999999742,"joint_targets_rad":[-0.11347518514886654,1.7259074626612583,-1.1176919005016337,-0.0002780819994621286,1.0497251281296025,-0.11338060706604296],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.29999999999973,"joint_targets_rad":[-0.11348203681802416,1.725916617262577,-1.117685616959642,-0.0002630170677903115,1.049712218396848,-0.11339453839919529],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.31999999999972,"joint_targets_rad":[-0.11348854201046943,1.7259253584029641,-1.1176796747392825,-0.00024876348035606454,1.0496999798235183,-0.11340768090514114],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.339999999999709,"joint_targets_rad":[-0.1134947169943886,1.7259337069309104,-1.1176740584567992,-0.00023527620216075518,1.0496883808144708,-0.11342007896764324],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.359999999999697,"joint_targets_rad":[-0.11350057734583648,1.7259416825324654,-1.117668753290083,-0.00022251283314530718,1.049677391113509,-0.11343177438022303],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.379999999999686,"joint_targets_rad":[-0.11350613796844862,1.7259493037962774,-1.1176637449751217,-0.00021043344955971028,1.0496669817713544,-0.11344280649972688],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.399999999999675,"joint_targets_rad":[-0.11351141311597887,1.7259565882795729,-1.117659019795486,-0.00019900045068910335,1.0496571251025784,-0.11345321239555729],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.419999999999664,"joint_targets_rad":[-0.11351641641543485,1.7259635525711392,-1.117654564569593,-0.0001881784144808868,1.0496477946401337,-0.11346302699056186],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.439999999999653,"joint_targets_rad":[-0.11352116089013356,1.7259702123504577,-1.1176503666370978,-0.00017793396247749776,1.0496389650898674,-0.11347228319300989],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.459999999999642,"joint_targets_rad":[-0.11352565898246186,1.7259765824429687,-1.1176464138448285,-0.00016823563367562923,1.0496306122857273,-0.11348101201997496],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.479999999999631,"joint_targets_rad":[-0.11352992257622956,1.7259826768716786,-1.1176426945324467,-0.00015905376674471124,1.0496227131458882,-0.11348924271264577],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.49999999999962,"joint_targets_rad":[-0.11353396301855885,1.7259885089053495,-1.1176391975179214,-0.00015036039001397523,1.0496152456298975,-0.11349700284411646],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.519999999999609,"joint_targets_rad":[-0.11353779114126186,1.7259940911035145,-1.117635912082923,-0.0001421291187065047,1.049608188696933,-0.11350431842016329],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.539999999999598,"joint_targets_rad":[-0.11354141728167681,1.7259994353585348,-1.1176328279581704,-0.00013433505888405724,1.0496015222651747,-0.11351121397350507],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.559999999999587,"joint_targets_rad":[-0.11354485130293215,1.726004552934918,-1.1176299353088284,-0.00012695471765163493,1.049595227172371,-0.11351771265199086],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.579999999999576,"joint_targets_rad":[-0.11354810261362495,1.7260094545060822,-1.117627224719977,-0.00011996591917467277,1.0495892851375814,-0.11352383630113196],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.599999999999564,"joint_targets_rad":[-0.1135511801868963,1.7260141501887503,-1.1176246871822197,-0.00011334772610690904,1.0495836787241344,-0.11352960554136908],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.619999999999553,"joint_targets_rad":[-0.11355409257889933,1.7260186495751368,-1.1176223140774604,-0.00010708036605491794,1.0495783913037924,-0.11353503984043595],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.639999999999542,"joint_targets_rad":[-0.11355684794665188,1.726022961763085,-1.117620097164888,-0.00010114516273167631,1.0495734070221332,-0.11354015758114334],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.659999999999531,"joint_targets_rad":[-0.11355945540855132,1.7260270949203598,-1.1176180270837748,-9.552532477921947e-05,1.0495687085336494,-0.11354497472870456],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.67999999999952,"joint_targets_rad":[-0.11356192317128784,1.7260310570157564,-1.1176160951983274,-9.020447529881538e-05,1.049564279747124,-0.11354950675201701],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.699999999999509,"joint_targets_rad":[-0.11356425633693742,1.7260348565390533,-1.1176142965183846,-8.516554360011493e-05,1.0495601102465046,-0.11355377129133874],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.719999999999498,"joint_targets_rad":[-0.11356646080267567,1.7260385011469692,-1.1176126253002334,-8.039324970286535e-05,1.0495561886561064,-0.11355778400346093],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.739999999999487,"joint_targets_rad":[-0.11356854284690297,1.7260419978729198,-1.1176110752328459,-7.587354207883195e-05,1.0495525028881794,-0.11356155889388445],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.759999999999476,"joint_targets_rad":[-0.11357050865894627,1.7260453533299698,-1.1176096399759647,-7.15932068051432e-05,1.0495490409447237,-0.11356510891348096],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.779999999999465,"joint_targets_rad":[-0.11357236417889378,1.7260485737926827,-1.1176083133951011,-6.753974238101656e-05,1.0495457912674033,-0.11356844623593564],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.799999999999454,"joint_targets_rad":[-0.11357411506072582,1.72605166523175,-1.117607089634883,-6.370130923118321e-05,1.049542742842418,-0.11357158237477549],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.819999999999443,"joint_targets_rad":[-0.11357576667398407,1.7260546333334361,-1.1176059631300035,-6.0066693508256814e-05,1.0495398852101985,-0.11357452823933331],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.839999999999431,"joint_targets_rad":[-0.11357732411606314,1.7260574835142908,-1.1176049285956955,-5.662527357933932e-05,1.0495372084440568,-0.11357729416976292],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.85999999999942,"joint_targets_rad":[-0.11357879222662114,1.726060220934287,-1.1176039810130411,-5.336698810134214e-05,1.0495347031213271,-0.11357988996538304],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.87999999999941,"joint_targets_rad":[-0.11358017560168879,1.7260628505092688,-1.1176031156140736,-5.028230579127519e-05,1.049532360294619,-0.11358232491093274],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.899999999999398,"joint_targets_rad":[-0.11358147860688497,1.7260653769228982,-1.1176023278679408,-4.7362196908977925e-05,1.04953017146512,-0.11358460780191573],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.919999999999387,"joint_targets_rad":[-0.11358270538969674,1.7260678046381295,-1.1176016134682778,-4.459810634104897e-05,1.0495281285581122,-0.1135867469691899],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.939999999999376,"joint_targets_rad":[-0.11358385989090745,1.7260701379081835,-1.117600968321612,-4.1981928162124697e-05,1.0495262239004328,-0.1135887503027108],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.959999999999365,"joint_targets_rad":[-0.11358494585526663,1.7260723807870084,-1.1176003885366423,-3.9505981564544165e-05,1.0495244501995844,-0.11359062527433848],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.979999999999354,"joint_targets_rad":[-0.11358596684148962,1.7260745371392445,-1.1175998704142418,-3.7162988079572406e-05,1.0495228005242467,-0.11359237895964025],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.999999999999343,"joint_targets_rad":[-0.11358692623165666,1.7260766106496845,-1.1175994104380829,-3.4946050016056754e-05,1.0495212682860187,-0.11359401805868291],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.019999999999332,"joint_targets_rad":[-0.11358782724006625,1.7260786048322592,-1.117599005265816,-3.284863005774036e-05,1.0495198472222513,-0.11359554891581299],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.03999999999932,"joint_targets_rad":[-0.11358867292159075,1.7260805230385554,-1.1175986517207248,-3.0864531959676654e-05,1.049518531379863,-0.11359697753845185],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.05999999999931,"joint_targets_rad":[-0.11358946328953196,1.7260823223401354,-1.1175983575002226,-2.899671193266489e-05,1.0495173399908038,-0.11359825461124053],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.079999999999298,"joint_targets_rad":[-0.11359016189756364,1.7260837246898442,-1.1175981915165472,-2.731567182674866e-05,1.0495164329928879,-0.11359906036576532],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.099999999999287,"joint_targets_rad":[-0.11359072348714543,1.7260849784852066,-1.1175981805040993,-2.58518862249649e-05,1.0495158088474343,-0.11359976266266968],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.119999999999276,"joint_targets_rad":[-0.1135911986184954,1.7260861478088816,-1.1175982726945426,-2.4552148230022323e-05,1.0495153715708656,-0.1136004181013784],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.139999999999265,"joint_targets_rad":[-0.1135916163509996,1.7260872467619186,-1.117598423636731,-2.336869587568736e-05,1.049515048497371,-0.11360101691627979],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.159999999999254,"joint_targets_rad":[-0.11359198773452252,1.7260882877935866,-1.1175986132160018,-2.2278621800855087e-05,1.049514805810366,-0.11360156424293276],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.179999999999243,"joint_targets_rad":[-0.11359232058227502,1.7260892800443215,-1.1175988283857972,-2.126725688915512e-05,1.0495146212859041,-0.11360206620434511],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.199999999999232,"joint_targets_rad":[-0.11359261938466617,1.726090229946839,-1.1175990609720676,-2.0325551550373278e-05,1.0495144806842525,-0.11360252804476657],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.21999999999922,"joint_targets_rad":[-0.11359288353831998,1.726091139946825,-1.117599309633891,-1.9452191086434744e-05,1.049514381028023,-0.11360295398130912],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.23999999999921,"joint_targets_rad":[-0.11359312109504889,1.726092013648548,-1.1175995673035797,-1.8636484569984015e-05,1.0495143105410596,-0.11360334574110109],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.259999999999199,"joint_targets_rad":[-0.11359333747878918,1.7260928565136004,-1.1175998284464455,-1.786941139773431e-05,1.0495142593766362,-0.11360370695722685],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.279999999999188,"joint_targets_rad":[-0.11359353267633936,1.7260936698638545,-1.117600093335214,-1.7149019020980244e-05,1.0495142275437763,-0.11360403989268424],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.299999999999176,"joint_targets_rad":[-0.113593702129195,1.7260944574706027,-1.1176003704038113,-1.6481042380706238e-05,1.0495142272853797,-0.11360435523976958],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.319999999999165,"joint_targets_rad":[-0.11359385540605621,1.7260952272476842,-1.1176006521208368,-1.5855562054058778e-05,1.049514245175352,-0.11360465913611127],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.339999999999154,"joint_targets_rad":[-0.1177409528286031,1.6686616796962774,-1.1069578194621772,0.006808011751820644,1.0358473158045676,-0.1253694376060262],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.359999999999143,"joint_targets_rad":[-0.11785252292880266,1.6678565249769663,-1.1063873902823835,0.0070094001113450224,1.0357686206364143,-0.125369804306445],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.379999999999132,"joint_targets_rad":[-0.11806220733458994,1.6634284965079305,-1.1040864124995051,0.0073984785936668865,1.0356812295955722,-0.12551465486400007],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.399999999999121,"joint_targets_rad":[-0.11830078286595166,1.654880222371696,-1.101053719732946,0.007840507954562244,1.0359488530207592,-0.12574413432395826],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.41999999999911,"joint_targets_rad":[-0.11855236148600533,1.644405982541171,-1.098623476524917,0.00833511637209175,1.0364252068484192,-0.12603610564151965],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.439999999999099,"joint_targets_rad":[-0.11882082906567701,1.6330963494689257,-1.0969747366120646,0.008879162106937202,1.036889244332784,-0.12636446396013512],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.459999999999088,"joint_targets_rad":[-0.11910777920423994,1.6213972449872156,-1.0959765540136208,0.00946566503897604,1.0372729276521955,-0.1267176952562502],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.479999999999077,"joint_targets_rad":[-0.11941828186138762,1.609525438629588,-1.0954837584183466,0.01009004491598273,1.037576595288015,-0.12709164194791198],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.499999999999066,"joint_targets_rad":[-0.11975841397946,1.5975980607101068,-1.0953815933540727,0.010749612416501585,1.0378162695083633,-0.12748489333746227],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.519999999999055,"joint_targets_rad":[-0.12013615775835337,1.5856827104740683,-1.0955857618236384,0.011443052919885073,1.0380073433133732,-0.12789691417782423],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.539999999999043,"joint_targets_rad":[-0.12055688409259584,1.5738123589644433,-1.09601232483399,0.012169730960027415,1.0381594417800803,-0.12832703739556323],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.559999999999032,"joint_targets_rad":[-0.12102360698727092,1.56200004064225,-1.0965556270236883,0.012928951852447981,1.0382807426826275,-0.12877400449151485],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.579999999999021,"joint_targets_rad":[-0.12153638419571645,1.5502748522395535,-1.09715634090115,0.013719451040882048,1.0383854559141183,-0.12923728831799375],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.59999999999901,"joint_targets_rad":[-0.1220938147276174,1.538672009416502,-1.0977978526826118,0.014540419282985308,1.038484948464355,-0.12971660719020578],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.619999999999,"joint_targets_rad":[-0.12269419846032031,1.527219211258699,-1.0984792917759907,0.015391882391142609,1.038583685662888,-0.13021139307945],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.639999999998988,"joint_targets_rad":[-0.12333551437794754,1.515937023359119,-1.0992038535140547,0.01627424460901046,1.0386828169352302,-0.13072067634954654],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.659999999998977,"joint_targets_rad":[-0.12401509503788116,1.5048427685153043,-1.0999763578113897,0.017187985631836628,1.0387819943967278,-0.13124304217885485],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.679999999998966,"joint_targets_rad":[-0.12472931792655448,1.4939535275549005,-1.1008029912433812,0.018133444025854192,1.0388803033619889,-0.13177646526528947],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.699999999998955,"joint_targets_rad":[-0.125473307786158,1.4832880269780566,-1.1016914378346367,0.01911066297779434,1.0389761879417483,-0.13231816496354015],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.719999999998944,"joint_targets_rad":[-0.1262405481252237,1.4728690460032043,-1.102655066671674,0.02011925786442033,1.0390681500081131,-0.13286446798423282],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.739999999998933,"joint_targets_rad":[-0.12702243914529107,1.4627251799800451,-1.1037267215187487,0.021158643386987065,1.0391553602301244,-0.13341102912683298],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.759999999998922,"joint_targets_rad":[-0.1278081930969808,1.4528845251432434,-1.1049557669592736,0.022228400747641326,1.0392360770316789,-0.13395248742794377],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.77999999999891,"joint_targets_rad":[-0.1285844937077784,1.4433659891026371,-1.1063961876636406,0.023328460949638655,1.0393058790310952,-0.1344815952256959],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.7999999999989,"joint_targets_rad":[-0.12933551866540882,1.4341762985892987,-1.1080797403829807,0.024461113657624704,1.039355372125962,-0.1349876255304997],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.819999999998888,"joint_targets_rad":[-0.1300399837283333,1.4253242192711835,-1.1100259558723835,0.025628327044308688,1.0393764143124875,-0.13545540161254838],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.839999999998877,"joint_targets_rad":[-0.13066700882779653,1.4168273439315562,-1.1122526829959536,0.026827092372848138,1.0393615233996427,-0.13586246936877772],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.859999999998866,"joint_targets_rad":[-0.13117178247221906,1.4087155233154398,-1.1147806975553178,0.02804849349838652,1.0393009233023716,-0.13617416439846444],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.879999999998855,"joint_targets_rad":[-0.13148641647980938,1.4010367632238834,-1.1176387539196855,0.02927460044491119,1.0391783900104292,-0.13633430942643865],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.899999999998844,"joint_targets_rad":[-0.13212928756561837,1.3941618100174422,-1.1127060109357207,0.030758978281128002,1.0305586189396503,-0.137108693217362],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.919999999998833,"joint_targets_rad":[-0.1331290118328881,1.3876171164493787,-1.1038069574253069,0.032550068766471645,1.0179852173922852,-0.13841026909818194],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.939999999998822,"joint_targets_rad":[-0.134203694522644,1.3815011910449382,-1.095537179343484,0.03446746262106433,1.0064577238600596,-0.13979164179412779],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.95999999999881,"joint_targets_rad":[-0.07801893270174293,1.3865395051468445,-1.082310045810427,0.01585495672632812,0.9785495680647214,-0.07685645341363855],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":11.9799999999988,"joint_targets_rad":[-0.07773588011494643,1.3795287840388224,-1.0794393593085865,0.01623236451894664,0.9753485190569773,-0.07706092332973044],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":11.999999999998789,"joint_targets_rad":[-0.07312172255565547,1.3741936638213164,-1.0754621217628482,0.014824277494833983,0.9705668556891308,-0.07530291683503107],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.019999999998777,"joint_targets_rad":[-0.06330340208793671,1.3704552195058548,-1.0713880279601298,0.012649902092434027,0.965810169553128,-0.07009993440357495],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.039999999998766,"joint_targets_rad":[-0.051234057032897254,1.3678192964449671,-1.067365899119027,0.010415743462344883,0.9615779639956137,-0.06357060987877908],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.059999999998755,"joint_targets_rad":[-0.038297036728945175,1.366049144055695,-1.0635748784519834,0.008008073732031398,0.9577593981434042,-0.056539221898793915],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.079999999998744,"joint_targets_rad":[-0.02500834852535011,1.3650264592301917,-1.0601484495447075,0.005438874112515946,0.9545846194736509,-0.0529362770869182],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.099999999998733,"joint_targets_rad":[-0.01157412415060756,1.364703806974428,-1.0572110306358915,0.0027249410646082977,0.9519251031877567,-0.04917411441667939],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.119999999998722,"joint_targets_rad":[0.0019022423872755087,1.3650559843195127,-1.0548581354290545,-0.00011615290376797496,0.9497579972893854,-0.04542564294933858],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.139999999998711,"joint_targets_rad":[0.015347182869371659,1.3660606267793964,-1.0531530610804962,-0.003050488515834589,0.9480600729762617,-0.04168988827666474],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.1599999999987,"joint_targets_rad":[0.028699316946776927,1.3676425783808697,-1.052094374703682,-0.006042304590060242,0.9467501856877112,-0.037961053708592804],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.179999999998689,"joint_targets_rad":[0.04191299575646301,1.3695294857979627,-1.0515915886127762,-0.009084007709450856,0.9457085195283578,-0.0342314726791732],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.199999999998678,"joint_targets_rad":[0.054947538624824974,1.3715962270582183,-1.0516858597930652,-0.012158152353030364,0.9449911279849483,-0.030510439395532635],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.219999999998667,"joint_targets_rad":[0.0677677387278957,1.373803859995302,-1.052405662521377,-0.015251698675639126,0.9445850911078627,-0.026800093900567576],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.239999999998656,"joint_targets_rad":[0.08033194594804012,1.3762739407051554,-1.053840179210968,-0.018335337653183084,0.9445385652015275,-0.02310795988711531],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.259999999998644,"joint_targets_rad":[0.09260161797445862,1.379104148167856,-1.055940371607818,-0.021388621056535835,0.9447211107192514,-0.019423903264598405],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.279999999998633,"joint_targets_rad":[0.10453924056810887,1.3822148591090593,-1.0583440277855931,-0.024401099773005492,0.9447659822278233,-0.015716952822132285],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.299999999998622,"joint_targets_rad":[0.11607954790395021,1.3856212503777516,-1.0608645052480097,-0.027320582886600924,0.9447641701359656,-0.011991630931543207],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.319999999998611,"joint_targets_rad":[0.12716398892919775,1.3894574165208058,-1.0636846001247522,-0.030085825778142273,0.9450898356160392,-0.008280581679143265],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.3399999999986,"joint_targets_rad":[0.13777879783418173,1.3937475879227093,-1.0669047953242716,-0.03269645545510989,0.945697296261347,-0.004593461499327017],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.359999999998589,"joint_targets_rad":[0.14791887393367373,1.398462937787375,-1.0705705905245424,-0.03516729682313925,0.9464760672486984,-0.0009236019672699686],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.379999999998578,"joint_targets_rad":[0.15757966623027056,1.403554074309279,-1.0746857315224463,-0.03751483421931644,0.9473358950869722,0.002735981008877307],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.399999999998567,"joint_targets_rad":[0.16676032525979984,1.4089745424545284,-1.079246230042131,-0.039753913599128825,0.9482277479402798,0.0063899499603130155],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.419999999998556,"joint_targets_rad":[0.17546484145362992,1.4146829627323187,-1.0842418803052138,-0.041897097993765106,0.949124495270324,0.010041431548548516],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.439999999998545,"joint_targets_rad":[0.18369883302998008,1.420641688214561,-1.0896557012613997,-0.04395391147262227,0.950010945503765,0.013692554924628356],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.459999999998534,"joint_targets_rad":[0.19147063099540457,1.4268189835982372,-1.095470308914195,-0.045932931194105006,0.9508796025522552,0.017344504902917224],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.479999999998522,"joint_targets_rad":[0.19879133188176928,1.4331866347877027,-1.1016679461641201,-0.04784156086672839,0.951729320698566,0.020998318338935652],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.499999999998511,"joint_targets_rad":[0.2056725969230774,1.4397195729804848,-1.1082295845127765,-0.04968549590049615,0.952560744014407,0.024654575817896207],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.5199999999985,"joint_targets_rad":[0.21212613095641436,1.4463961121420241,-1.115136430601897,-0.051469566690649775,0.9533756065101678,0.028313556608333762],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.53999999999849,"joint_targets_rad":[0.21816537640638303,1.4531982372618772,-1.1223720473647134,-0.05319861082839042,0.9541766753782193,0.031975421212279184],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.559999999998478,"joint_targets_rad":[0.22380437342409995,1.4601103542035554,-1.129921603517782,-0.054876584595893244,0.9549670744745222,0.035640233656047675],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.579999999998467,"joint_targets_rad":[0.22905522959457578,1.4671181727125115,-1.1377708466621748,-0.05650629665247517,0.955749810327465,0.03930788897555189],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.599999999998456,"joint_targets_rad":[0.23393072091413158,1.474208489739017,-1.14590573074508,-0.05809092292434058,0.9565282585277719,0.04297859223394362],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.619999999998445,"joint_targets_rad":[0.2384437893395005,1.4813702955505237,-1.1543149382879556,-0.059633013351397715,0.9573065106654566,0.046652158070709535],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.639999999998434,"joint_targets_rad":[0.24260689523025644,1.4885938225594924,-1.162989036835634,-0.061134525542974126,0.9580888513007285,0.050328431104980996],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.659999999998423,"joint_targets_rad":[0.24643011269952253,1.4958698026166777,-1.1719196865249801,-0.06259659037899139,0.9588795033389321,0.054007135137168996],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.679999999998412,"joint_targets_rad":[0.2499235930661675,1.5031897988945475,-1.1811002907191268,-0.06402055941097895,0.9596832516901878,0.05768819245995883],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.6999999999984,"joint_targets_rad":[0.2530966353795068,1.5105452168014535,-1.1905245807908496,-0.06540714900566934,0.960505367086892,0.06137159921533881],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.71999999999839,"joint_targets_rad":[0.25595717714972677,1.5179278877344433,-1.2001880540358767,-0.0667563175176999,0.9613521467466261,0.06505712952278647],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.739999999998378,"joint_targets_rad":[0.25851085962604387,1.5253296503441152,-1.210088160584026,-0.06806717524252276,0.9622308650554091,0.06874446194002186],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.759999999998367,"joint_targets_rad":[0.26076095934374044,1.532741679450618,-1.2202240971221967,-0.06933820001447165,0.9631501184632125,0.07243332535833394],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.779999999998356,"joint_targets_rad":[0.2627085289483997,1.540153932564498,-1.230597081321299,-0.07056698803355997,0.9641206759648975,0.0761235149736437],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.799999999998345,"joint_targets_rad":[0.2643508430647637,1.5475540227037317,-1.2412104567882485,-0.0717492366609679,0.9651564578114019,0.07981476435301439],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.819999999998334,"joint_targets_rad":[0.26567944757039486,1.5549250397454568,-1.2520693233477285,-0.07287791802435456,0.9662762691788532,0.08334943612332527],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.839999999998323,"joint_targets_rad":[0.26667624249291333,1.5622431352961907,-1.263182457901966,-0.07394070025005867,0.9675082563296655,0.08583602792028827],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.859999999998312,"joint_targets_rad":[0.2673056576692326,1.5694754400231041,-1.2745705358061281,-0.07491158226674996,0.9689023370934005,0.08813893532220482],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.8799999999983,"joint_targets_rad":[0.2676184713813754,1.5738984281167605,-1.281875842409294,-0.07587226492777864,0.9688427439674838,0.09039711655368951],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.89999999999829,"joint_targets_rad":[0.26807486166695377,1.571987271584233,-1.2789103895309757,-0.07714033931046822,0.9647120162745709,0.0934230251148625],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.919999999998279,"joint_targets_rad":[0.26862980206785125,1.569958363168448,-1.2756454936589994,-0.07858904197870778,0.9602462999142389,0.09707110852116824],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.939999999998268,"joint_targets_rad":[0.2692682354844271,1.567934154468054,-1.2723156069694779,-0.0801927149680602,0.9557565892986982,0.10109083832045532],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.959999999998256,"joint_targets_rad":[0.26331979541657063,1.602726510919828,-1.261040354842147,-0.06332263423491338,0.9725987076431862,0.07477007441330068],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":12.979999999998245,"joint_targets_rad":[0.26351806690798546,1.6034540487123798,-1.2620316016449658,-0.06385052202280729,0.9720483318481646,0.07672740213733564],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":12.999999999998234,"joint_targets_rad":[0.2634833761832164,1.606849699663132,-1.2626431727718448,-0.06375261032243477,0.9717808626349727,0.07760761411267521],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.019999999998223,"joint_targets_rad":[0.2633755995168788,1.6125403369949742,-1.2628551883430528,-0.06353132839203092,0.9714833328834493,0.07836903639488667],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.039999999998212,"joint_targets_rad":[0.2632348130832138,1.6197247099205725,-1.2629047041184656,-0.06326778200371719,0.9711887922460628,0.07915124371267822],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.059999999998201,"joint_targets_rad":[0.26307357411107685,1.6278512017918016,-1.262898795366689,-0.06297600495609507,0.9708814385313791,0.07996342802549097],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.07999999999819,"joint_targets_rad":[0.26289651855100943,1.6365489479805553,-1.2628305758885185,-0.06266003427329438,0.9705431460991355,0.08080170614893675],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.099999999998179,"joint_targets_rad":[0.2627054542137338,1.6455977190913118,-1.262682367128914,-0.06232148876701943,0.9701679621595434,0.08166231387544681],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.119999999998168,"joint_targets_rad":[0.26250117732756034,1.6548796321104602,-1.2624670811650396,-0.06196133522376337,0.9697577072374858,0.08254223943019078],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.139999999998157,"joint_targets_rad":[0.26228397022743544,1.6643282637320411,-1.2622076254669612,-0.06158018036887203,0.9693136479384906,0.08343933810785195],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.159999999998146,"joint_targets_rad":[0.26205377449185385,1.6739043391455133,-1.2619272341259602,-0.06117836183835374,0.9688356146585027,0.08435203927537172],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.179999999998135,"joint_targets_rad":[0.26181024684207754,1.6835828497116656,-1.2616444892664715,-0.06075600197640847,0.9683222196614448,0.08527912480647101],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.199999999998123,"joint_targets_rad":[0.26155278445672936,1.6933472089955046,-1.2613731717495367,-0.060313054956459264,0.9677715831371677,0.08621952529154621],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.219999999998112,"joint_targets_rad":[0.2612805303516433,1.703186465729612,-1.261123650269394,-0.05984934595800411,0.967181731699667,0.0871721649882822],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.239999999998101,"joint_targets_rad":[0.2609923550441389,1.7130937214505793,-1.2609041826411846,-0.05936459566187995,0.9665507425028709,0.08813583695612909],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.25999999999809,"joint_targets_rad":[0.26068680074034956,1.7230650903536928,-1.2607213777808546,-0.058858415906968546,0.9658767133107211,0.08910910033925791],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.27999999999808,"joint_targets_rad":[0.2603619899657577,1.7330994984053343,-1.260580993223029,-0.058330290916905454,0.9651579443892562,0.09009014658354192],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.299999999998068,"joint_targets_rad":[0.2600155230092904,1.7431994194273843,-1.26049086626233,-0.05777959363150163,0.9643935663050475,0.09107656198474504],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.319999999998057,"joint_targets_rad":[0.2596442763114136,1.7533707798094047,-1.2604613208120787,-0.0572055384583698,0.9635834869384091,0.09206510320520563],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.339999999998046,"joint_targets_rad":[0.25924411845290585,1.7636241527613148,-1.26050786854092,-0.05660714189559608,0.9627292148441411,0.0930512855900598],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.359999999998035,"joint_targets_rad":[0.2588094087747511,1.773975973190608,-1.260652711197451,-0.05598308857095,0.9618344929002943,0.09402883032168886],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.379999999998024,"joint_targets_rad":[0.2583322007961005,1.7844516871000498,-1.2609296719854954,-0.055331550198643255,0.9609071926452917,0.09498867914487072],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.399999999998013,"joint_targets_rad":[0.2577952829911683,1.7950917119702208,-1.261392260844534,-0.05464911972224886,0.9599637983882672,0.09592289738977698],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.419999999998002,"joint_targets_rad":[0.2571744999945766,1.8059612508866492,-1.2621284504088643,-0.053932420983286745,0.9590360428002105,0.09682567995228283],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.43999999999799,"joint_targets_rad":[0.256444512604557,1.8171703344693826,-1.2632937244740028,-0.05317829055647532,0.9581847941649162,0.09768974130853461],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.45999999999798,"joint_targets_rad":[0.2555802985727501,1.8289117836066662,-1.2651834695417798,-0.05238047265439632,0.9575330326812058,0.09849728888327884],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.479999999997968,"joint_targets_rad":[0.2545675049269545,1.841390144336827,-1.2685557071255298,-0.051515359184282794,0.9576615077815205,0.09920717356997],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.499999999997957,"joint_targets_rad":[0.2542085371746195,1.847762973736718,-1.2788166130329086,-0.05023637890205232,0.9707903653041143,0.09983220422713605],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.519999999997946,"joint_targets_rad":[0.25384550395105093,1.8538272005973688,-1.2886573125753167,-0.04896630864671127,0.9835567181381127,0.10055169845830604],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.539999999997935,"joint_targets_rad":[0.25349268843424744,1.8591323487694447,-1.2973382872400496,-0.047774016786614984,0.9949537158108069,0.10135115178440199],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.559999999997924,"joint_targets_rad":[0.25321295692142004,1.863208464767485,-1.3040570634961006,-0.04683118308999315,1.003842837326884,0.1024376800093971],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.579999999997913,"joint_targets_rad":[0.2529495787491666,1.8659356853188618,-1.3085780109757776,-0.04604168054266652,1.0098308159686438,0.10366560670492903],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.599999999997902,"joint_targets_rad":[0.25275426328116224,1.8675776620202256,-1.3113002646609617,-0.04549770359769764,1.0134151991383251,0.10520525385008465],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.61999999999789,"joint_targets_rad":[0.2525380951592644,1.8684874186347,-1.3128039477256401,-0.04498887919584636,1.015359557171426,0.1065649358915347],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.63999999999788,"joint_targets_rad":[0.25230652757652344,1.8687402758470948,-1.3132328521569794,-0.04450488931160711,1.0158622807263797,0.10761789011973516],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.659999999997869,"joint_targets_rad":[0.25207798256506525,1.8684553564940205,-1.3127928390830121,-0.04406600683864684,1.0152095693544958,0.1085047348439606],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.679999999997857,"joint_targets_rad":[0.2518523115894326,1.8678147570734855,-1.3117836247413315,-0.04365672415571072,1.013808824811554,0.10933609716218828],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.699999999997846,"joint_targets_rad":[0.25162983968103125,1.8671260508466045,-1.3106989763685266,-0.043256404125435764,1.0123208551813452,0.11015091308178163],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.719999999997835,"joint_targets_rad":[0.2513963167566484,1.8666305221617139,-1.309924033383945,-0.042818166608968346,1.0112579731928732,0.11093049793390419],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.739999999997824,"joint_targets_rad":[0.2511494755567605,1.8664126621534116,-1.3095920420880682,-0.04233256801385635,1.01079357308193,0.11167507027093754],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.759999999997813,"joint_targets_rad":[0.2508983428444024,1.866458443088441,-1.3096792594728275,-0.04182099438104049,1.01089234518135,0.11240605953864027],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.779999999997802,"joint_targets_rad":[0.2506539514761868,1.866640614558031,-1.3099825451888538,-0.0413152472600287,1.0112813497455684,0.11314111032901805],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.799999999997791,"joint_targets_rad":[0.2504139951757207,1.8668626793863115,-1.31034868769059,-0.04081680768152176,1.0117549647355808,0.11388772688498511],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.81999999999778,"joint_targets_rad":[0.2501741768522476,1.8671154979057916,-1.31076332343688,-0.040317329117995446,1.0122935023139172,0.11463906471821085],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.839999999997769,"joint_targets_rad":[0.24993388019000845,1.8673913223770564,-1.311214153112298,-0.03981596842675441,1.0128803761490022,0.11539073608392611],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.859999999997758,"joint_targets_rad":[0.24969350217540284,1.8676801734147042,-1.3116853245866327,-0.039314127862983134,1.0134943595732209,0.11614090154337181],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.879999999997747,"joint_targets_rad":[0.24945407870838882,1.8679745064677258,-1.3121648505743697,-0.03881447201695988,1.0141194541245,0.11689267848346013],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.899999999997736,"joint_targets_rad":[0.24921791156151837,1.8682653716006552,-1.3126385055267884,-0.03832254479146569,1.0147367482232192,0.11765686953720428],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.919999999997724,"joint_targets_rad":[0.24898569477760246,1.8685450249927118,-1.3130940621697327,-0.03784040185256047,1.0153299636470765,0.11844366825482537],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.939999999997713,"joint_targets_rad":[0.24875639099197358,1.868814622702239,-1.3135334165380324,-0.037365620360227454,1.015901630729727,0.11924893436326456],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.959999999997702,"joint_targets_rad":[0.24852924363312062,1.8690771968679545,-1.3139613994614734,-0.036896211300740035,1.016458215881826,0.12006513503354521],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.979999999997691,"joint_targets_rad":[0.24830390958726964,1.8693354333248575,-1.3143822665005074,-0.03643107557971699,1.0170054184011712,0.12088477293957621],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.99999999999768,"joint_targets_rad":[0.24808022150882392,1.8695914512559084,-1.3147993741778496,-0.03596965021843969,1.0175477330946965,0.12170461986696482],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.019999999997669,"joint_targets_rad":[0.24785243221775263,1.8698327928822691,-1.3151931921962046,-0.03549975485426901,1.0180588956881353,0.1224879564017172],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.039999999997658,"joint_targets_rad":[0.2476228814689399,1.8700604277370587,-1.3155651878369925,-0.035026239858206576,1.0185410343886732,0.12323978325975235],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.059999999997647,"joint_targets_rad":[0.24739358050084054,1.870285447563087,-1.3159328588693198,-0.034553392096410125,1.0190176046867845,0.12398401069933102],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.079999999997636,"joint_targets_rad":[0.24716538179392464,1.8705152629179336,-1.3163078749443626,-0.03408281475655836,1.019504188636332,0.12472771598441643],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.099999999997625,"joint_targets_rad":[0.24693851941400613,1.8707536536739713,-1.316696181784204,-0.03361488522822237,1.0200086856886792,0.1254729359805719],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.119999999997614,"joint_targets_rad":[0.24671305738077418,1.8710014913527404,-1.317099145926814,-0.033149767783258635,1.0205328781987846,0.12622139926949494],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.139999999997602,"joint_targets_rad":[0.24648907485779964,1.871257673024344,-1.3175150267401528,-0.032687747801240494,1.0210744131099494,0.12697496546099857],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.159999999997591,"joint_targets_rad":[0.24626673435625177,1.8715201267159964,-1.3179405600571656,-0.03222931398611417,1.0216289198667203,0.12773551589447701],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.17999999999758,"joint_targets_rad":[0.24604621361818024,1.8717866527966391,-1.3183722847822763,-0.031774973452533356,1.0221917759208359,0.12850469072777715],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.19999999999757,"joint_targets_rad":[0.24582768218328666,1.8720553367452468,-1.3188071873836114,-0.031325142945080875,1.0227589637928567,0.12928246484770867],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.219999999997558,"joint_targets_rad":[0.24561122311016303,1.8723248709500797,-1.31924321073516,-0.030880000371020826,1.0233277432179135,0.13006774057304682],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.239999999997547,"joint_targets_rad":[0.2453968447148054,1.8725946082971254,-1.319679337478973,-0.03043952644911907,1.0238967592405375,0.13085885370049485],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.259999999997536,"joint_targets_rad":[0.2541170112049681,1.817476516424807,-1.2981860879845868,-0.047045697442024664,0.9858910418854802,0.12602048452755032],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.279999999997525,"joint_targets_rad":[0.2540907383418386,1.816855025949597,-1.2976554738419164,-0.047037600784796796,0.9861029408575904,0.1266826684577137],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.299999999997514,"joint_targets_rad":[0.25424383556707014,1.812752717919003,-1.2941888853594414,-0.047555225039057125,0.9856099654061947,0.127399863714527],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.319999999997503,"joint_targets_rad":[0.2544639878490702,1.8053220106543857,-1.2898555858948415,-0.048185735901826884,0.985884883039604,0.1282030386573762],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.339999999997492,"joint_targets_rad":[0.2547335252819672,1.7963006411175582,-1.2860891092358155,-0.04888504456564169,0.9864772224350731,0.12911206947825757],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.35999999999748,"joint_targets_rad":[0.2550504118643693,1.7864968183394045,-1.2831207290702171,-0.04964521060261373,0.9871105624211103,0.13013474107788042],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.37999999999747,"joint_targets_rad":[0.2554136457915284,1.7762744484091961,-1.280873973662211,-0.05046097265669698,0.9877119651313805,0.13126249667688442],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.399999999997458,"joint_targets_rad":[0.25582367831433417,1.7658380444708253,-1.2792408024824653,-0.05132890789406513,0.9882754865366503,0.13248392016094782],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.419999999997447,"joint_targets_rad":[0.2562821046061857,1.7553148360301238,-1.2781262994512834,-0.05224700992546569,0.988810983968746,0.13378979987266895],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.439999999997436,"joint_targets_rad":[0.25679115692402626,1.744790992052183,-1.2774609787309792,-0.05321449075026665,0.9893306531509267,0.1351738306613103],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.459999999997425,"joint_targets_rad":[0.25735318500509563,1.7343250028783646,-1.2771931739547584,-0.05423140639229903,0.9898451989336162,0.13663218601359056],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.479999999997414,"joint_targets_rad":[0.2579704024112829,1.7239571707663977,-1.2772849761469156,-0.05529843577206203,0.990363857767595,0.13816284279591284],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.499999999997403,"joint_targets_rad":[0.2586447454873487,1.7137158158160621,-1.2777089239977688,-0.05641671172989481,0.9908947341959676,0.139765033819164],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.519999999997392,"joint_targets_rad":[0.25937754418163905,1.7036140830340458,-1.27842853041553,-0.0575875517795806,0.9914430579014424,0.14143855092533406],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.53999999999738,"joint_targets_rad":[0.2601693657708621,1.6936353340872325,-1.2793357002443115,-0.058816645910502445,0.99201107734924,0.14317913968768214],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.55999999999737,"joint_targets_rad":[0.2610197944532879,1.6837843866751452,-1.2803433238145083,-0.060108857767912,0.992610409307778,0.14497832221026316],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.579999999997359,"joint_targets_rad":[0.26192763839141914,1.6740953633224638,-1.2814288349925462,-0.061466765241604375,0.9932554900923636,0.1468280457326366],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.599999999997348,"joint_targets_rad":[0.2628911399943313,1.6646005672544133,-1.2825897417031011,-0.0628925321934881,0.9939530658267935,0.14873206179400145],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.619999999997336,"joint_targets_rad":[0.26390851709143665,1.6553243659831447,-1.2838262204170063,-0.06438972525328647,0.9947048111818412,0.1507150986851084],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.639999999997325,"joint_targets_rad":[0.2649771813092851,1.6462879774913577,-1.2851445381205624,-0.0659616304550533,0.9955115899729526,0.1528014709262595],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.659999999997314,"joint_targets_rad":[0.2660935329329673,1.6375237859514846,-1.286595208430985,-0.0676100603385639,0.9963790182350764,0.1550008525408532],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.679999999997303,"joint_targets_rad":[0.2672540548592098,1.6290667760631874,-1.2882735920095312,-0.06933800929850048,0.9973131027856561,0.15732003205654474],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.699999999997292,"joint_targets_rad":[0.2684543820543551,1.6209181357058136,-1.2902328997249426,-0.07114796815278188,0.9983114878880561,0.1597706169084414],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.719999999997281,"joint_targets_rad":[0.26968914266048605,1.6130639304961794,-1.2924933866153367,-0.07304155408635604,0.9993751475288162,0.1623592745773909],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.73999999999727,"joint_targets_rad":[0.27095189637368855,1.6054887459276825,-1.2950628353414158,-0.0750193801831762,1.0005095108563085,0.16508789301689844],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.759999999997259,"joint_targets_rad":[0.27223479448313836,1.5981773420607843,-1.2979420342593655,-0.0770808950916862,1.0017222477814276,0.16795525189664218],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.779999999997248,"joint_targets_rad":[0.2735280255043806,1.5911142889208572,-1.3011260418424102,-0.07922409445764486,1.003022056363905,0.17095702266769652],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.799999999997237,"joint_targets_rad":[0.27481908512151476,1.5842807677709236,-1.3046017181049225,-0.08144513475074429,1.004417808605381,0.17408546152834178],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.819999999997226,"joint_targets_rad":[0.2760917736809452,1.5776524129539558,-1.3083472460650187,-0.08373780254939203,1.0059183404426801,0.1773275141318681],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.839999999997215,"joint_targets_rad":[0.2773248486192109,1.5711959723804862,-1.3123290004158532,-0.08609292007543104,1.0075311984011492,0.1806650010752894],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.859999999997203,"joint_targets_rad":[0.27848984418765244,1.5648639747353974,-1.3164944368312936,-0.08849717377237533,1.0092605372550676,0.1840718537482755],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.879999999997192,"joint_targets_rad":[0.2795476940920521,1.5585867896957726,-1.3207605751697182,-0.09093137576984366,1.0111036882248332,0.1875106324083856],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.899999999997181,"joint_targets_rad":[0.28044313847170377,1.5522594663504683,-1.32499349684562,-0.0933677111747083,1.013043980292083,0.19092698308690403],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.91999999999717,"joint_targets_rad":[0.2810948471960413,1.5457186850159472,-1.3289698992115453,-0.09576508272095502,1.0150358025906938,0.19424015830149133],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.939999999997159,"joint_targets_rad":[0.2813765668375094,1.5386995785311537,-1.332299151411317,-0.09806066836080099,1.016970731030585,0.1973255594175867],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.959999999997148,"joint_targets_rad":[0.28227934903113466,1.5328436479623637,-1.3280998517794522,-0.10113082464292159,1.0105032792595756,0.2021386053188492],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.979999999997137,"joint_targets_rad":[0.2838534699854314,1.528130428719096,-1.3201484964547625,-0.1049112419016846,0.9996503906390375,0.2085277158183791],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.999999999997126,"joint_targets_rad":[0.2855121032833251,1.523867690549518,-1.3130094146405529,-0.10881862939350248,0.9900920587336911,0.21374895050892934],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":15.019999999997115,"joint_targets_rad":[0.28718515554958474,1.5202243484245421,-1.3069239446077616,-0.11269078358291207,0.9820949226016912,0.2175565158463459],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.039999999997104,"joint_targets_rad":[0.2888147167246885,1.5172367022228261,-1.3019275244906303,-0.11640744754236984,0.9756487962420527,0.22144884123576547],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.059999999997093,"joint_targets_rad":[0.2903492942453383,1.5150060266603227,-1.298171585239279,-0.11984841559015691,0.9709018637567933,0.22533021721281363],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.079999999997082,"joint_targets_rad":[0.29176276660412936,1.5135638187295828,-1.2956953753145228,-0.1229517511430049,0.9678651531137374,0.22916660372805112],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.09999999999707,"joint_targets_rad":[0.29305093760191614,1.5128452225702316,-1.294389457168776,-0.12571252801609437,0.9663701942360233,0.2329503496068447],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.11999999999706,"joint_targets_rad":[0.2942249083743762,1.5126980723576164,-1.2940083340552997,-0.12817094022070358,0.966082766892325,0.2366840146661434],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.139999999997048,"joint_targets_rad":[0.29530428906853023,1.5129618728082412,-1.294296560897892,-0.13038451039565171,0.9666654864907358,0.24038127683150906],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.159999999997037,"joint_targets_rad":[0.29631329146170593,1.5134745250250936,-1.29499511430625,-0.13242037167032694,0.9677811510864878,0.2440647231772532],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.179999999997026,"joint_targets_rad":[0.29728426249945483,1.5140227632512435,-1.2957570669697815,-0.13437030808273775,0.9689786479191159,0.24775392087479509],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.199999999997015,"joint_targets_rad":[0.2982397588708892,1.5144468480850213,-1.2963197396393107,-0.13630445226185628,0.9699129688003566,0.25142928814668797],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.219999999997004,"joint_targets_rad":[0.2991926541719575,1.514673753117129,-1.2965611332180007,-0.13826362419683472,0.9704216934420419,0.25510017944398716],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.239999999996993,"joint_targets_rad":[0.30014715263804587,1.5146984380490909,-1.2964710690486483,-0.14026024020004063,0.9704903204833827,0.25878073007030594],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.259999999996982,"joint_targets_rad":[0.3011009818223769,1.5145602086127457,-1.296113104108776,-0.1422850980407795,0.9702028589165803,0.2624795186257082],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.27999999999697,"joint_targets_rad":[0.30204756588484794,1.5143242587987278,-1.295594265086337,-0.1443143436312428,0.9697013756496851,0.2662015145719884],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.29999999999696,"joint_targets_rad":[0.30297918191567386,1.514049993038905,-1.2950127273799927,-0.14632160204350583,0.9691158833113992,0.269936765506227],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.319999999996949,"joint_targets_rad":[0.303891555385515,1.5137660260256143,-1.2944160271932053,-0.14829272231899615,0.9685090808593864,0.2736779384273883],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.339999999996937,"joint_targets_rad":[0.3047820411229405,1.5134905782189472,-1.2938345508921754,-0.1502185592447917,0.9679209180267425,0.27742461139444985],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.359999999996926,"joint_targets_rad":[0.30564845339122054,1.5132380544512634,-1.2932924505510779,-0.152091372828001,0.9673830178869429,0.28117377307213703],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.379999999996915,"joint_targets_rad":[0.30649027563062314,1.513011344176934,-1.292794803809803,-0.15390906435551124,0.9669018037713473,0.28492211900895625],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.399999999996904,"joint_targets_rad":[0.3073082743684773,1.512805340273777,-1.2923333714288865,-0.15567388025885076,0.9664661789725308,0.28866787220335155],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.419999999996893,"joint_targets_rad":[0.3081039784168006,1.5126111497943098,-1.2918935394596656,-0.1573905761153084,0.9660567153651162,0.2924105273925781],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.439999999996882,"joint_targets_rad":[0.3088791772084565,1.5124194568925207,-1.291459897385137,-0.15906470198296108,0.9656530034533772,0.2961504613262813],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.459999999996871,"joint_targets_rad":[0.30963555208179067,1.5122226274354647,-1.2910197551246192,-0.16070136586956849,0.9652382732364407,0.29988850941917045],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.47999999999686,"joint_targets_rad":[0.31037446061065954,1.5120156028714833,-1.290564662640441,-0.1623045432888235,0.9648013793043236,0.3036256107018594],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.499999999996849,"joint_targets_rad":[0.31109686067811776,1.5117958763806707,-1.2900904040862333,-0.16387687070052306,0.9643367755565957,0.30736256927764516],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.519999999996838,"joint_targets_rad":[0.31180334018709854,1.5115629243356827,-1.2895960767452144,-0.16541978832350565,0.9638432860108792,0.3110999370777788],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.539999999996827,"joint_targets_rad":[0.3124942059971287,1.5113174326224221,-1.2890828164393757,-0.1669338688786371,0.9633224134437701,0.31483799589814887],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.559999999996815,"joint_targets_rad":[0.3131695887387445,1.5110605649994548,-1.2885525824330708,-0.1684191875401466,0.9627767309077857,0.3185768040537909],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.579999999996804,"joint_targets_rad":[0.3138295179379941,1.5107934106381524,-1.2880072372989209,-0.16987560156034195,0.9622086618284859,0.32231627204827434],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.599999999996793,"joint_targets_rad":[0.31447402073056213,1.5105166646785042,-1.2874480020201506,-0.17130303681034062,0.9616197710124063,0.3260562402745971],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.619999999996782,"joint_targets_rad":[0.3151031892093536,1.5102305130622382,-1.2868752512663566,-0.17270166491995753,0.9610105057874848,0.32979653862627084],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.639999999996771,"joint_targets_rad":[0.3157171726251527,1.509934654680258,-1.28628854859987,-0.1740718891544383,0.9603802411659014,0.33334545395313603],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.65999999999676,"joint_targets_rad":[0.31631484412073974,1.5096300187080094,-1.2856896245007943,-0.17541120248940326,0.9597309550077584,0.3367832439034361],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.679999999996749,"joint_targets_rad":[0.3168951609486953,1.5093175928452265,-1.2850802899731786,-0.17671725051674683,0.9590647443386782,0.3401750472247697],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.699999999996738,"joint_targets_rad":[0.31745781308469984,1.5089972170121153,-1.2844603925728846,-0.17798943684620605,0.9583812363605572,0.3435150303212363],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.719999999996727,"joint_targets_rad":[0.3180027304492725,1.5086682469951143,-1.283828954989895,-0.17922777093470793,0.9576790054678144,0.3468012287975424],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.739999999996716,"joint_targets_rad":[0.31852988437476704,1.5083300171907383,-1.2831849531413166,-0.18043235899175256,0.9569565741659668,0.3500318189835357],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.759999999996705,"joint_targets_rad":[0.3190392561546564,1.5079819380277093,-1.2825274831960904,-0.18160331333337815,0.9562126308610486,0.3532048974472515],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.779999999996694,"joint_targets_rad":[0.31953081261370697,1.5076235447001716,-1.281855847293445,-0.1827406872229338,0.9554461394096864,0.3563183313982881],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.799999999996682,"joint_targets_rad":[0.3200045249461961,1.5072543365419706,-1.2811692872941283,-0.18384454741314477,0.9546559878112741,0.359369960374472],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.819999999996671,"joint_targets_rad":[0.3204604748903444,1.5068732341361115,-1.280466072207375,-0.18491532145145373,0.953839791504491,0.3623585336657639],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.83999999999666,"joint_targets_rad":[0.32089889514115666,1.5064785475660947,-1.279743428028855,-0.1859539106632261,0.9529938024635046,0.3652840063207552],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.85999999999665,"joint_targets_rad":[0.321320132549499,1.5060682478754714,-1.2789979751345442,-0.18696157019377727,0.9521134782020195,0.36814703304056773],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.879999999996638,"joint_targets_rad":[0.3217246835197165,1.5056398740460788,-1.278225567626744,-0.187940006815385,0.9511932747672198,0.3709496490693346],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.899999999996627,"joint_targets_rad":[0.32211296785781546,1.5051918475297887,-1.2774235003390186,-0.18889060129808524,0.9502295553578154,0.3736932985955496],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.919999999996616,"joint_targets_rad":[0.3224852381435082,1.504723621827787,-1.2765908021989414,-0.18981413551854934,0.9492209778613776,0.37637819441688974],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.939999999996605,"joint_targets_rad":[0.3228415482007587,1.5042355832894663,-1.275728094368102,-0.19071072043928297,0.9481683015067217,0.3790029535070058],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.959999999996594,"joint_targets_rad":[0.3231817666262991,1.5037288285833283,-1.2748372235487446,-0.19157986849860006,0.947073895699543,0.3815646374454729],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.979999999996583,"joint_targets_rad":[0.32350561829189933,1.503204903186478,-1.273920819044889,-0.1924206450389096,0.9459411510437509,0.3840590562187495],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.999999999996572,"joint_targets_rad":[0.3238127378146016,1.5026655679110987,-1.2729818912280266,-0.19323184258159623,0.9447739490074502,0.3864811734879255],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.019999999996596,"joint_targets_rad":[0.3241027284862062,1.5021126271201324,-1.272023530079374,-0.19401215348374146,0.9435762689055904,0.3888255170129494],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.03999999999662,"joint_targets_rad":[0.3243752505957538,1.501547877170907,-1.271048792638053,-0.19476038417837901,0.9423520612850236,0.39108646180902273],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.059999999996645,"joint_targets_rad":[0.32463004168298937,1.500973132827214,-1.270060732964578,-0.19547550203857483,0.9411052947014567,0.39325835138916876],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.07999999999667,"joint_targets_rad":[0.3248668458359735,1.5003901202341168,-1.2690622430971126,-0.19615649984358854,0.9398397178138256,0.3953359327784081],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.099999999996694,"joint_targets_rad":[0.3250854151932749,1.499800433054474,-1.2680559822080717,-0.19680240526861578,0.938558762989962,0.39731468601213993],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.11999999999672,"joint_targets_rad":[0.3252855375368834,1.4992055622119984,-1.2670444196333621,-0.1974123328020398,0.9372656124746975,0.3991909689423033],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.139999999996743,"joint_targets_rad":[0.3254670614028841,1.498607010394238,-1.2660300138343314,-0.1979855183472088,0.935963449896725,0.400961962572305],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.159999999996767,"joint_targets_rad":[0.3256298857924163,1.4980063238322137,-1.2650152684895335,-0.19852128706124741,0.9346555336592745,0.40262573782219035],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.17999999999679,"joint_targets_rad":[0.3257381084026056,1.4976364793525783,-1.2643840827862227,-0.19887741918901355,0.9338461280435362,0.4036516697435092],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.199999999996816,"joint_targets_rad":[0.3257790329728538,1.497646153898938,-1.264379441667671,-0.19898336485455453,0.9338570484874322,0.4037678093231286],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.21999999999684,"joint_targets_rad":[0.32581498530249786,1.497655659877683,-1.264374059039863,-0.19907912780397607,0.9338646545713973,0.40387223465598876],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.239999999996865,"joint_targets_rad":[0.3258463955884985,1.497665571691912,-1.2643682061361396,-0.19916593212959144,0.9338690204158004,0.40396599728496074],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.25999999999689,"joint_targets_rad":[0.32587422080905676,1.49767592318703,-1.2643618560710184,-0.19924554082443388,0.9338703932112977,0.4040511347666266],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.279999999996914,"joint_targets_rad":[0.32589931714687714,1.4976866341994766,-1.2643548390310058,-0.19931934789335817,0.9338688957385292,0.40412933956045316],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.29999999999694,"joint_targets_rad":[0.3259221150521728,1.4976976293248725,-1.2643472702654606,-0.19938801853479052,0.9338649497179081,0.4042014938802601],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.319999999996963,"joint_targets_rad":[0.32594290000626935,1.4977086842206326,-1.264339321008718,-0.19945197065878642,0.9338591245465329,0.40426822355228265],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.339999999996987,"joint_targets_rad":[0.3259622895021301,1.4977193058731162,-1.264331181356518,-0.1995121056329011,0.9338523064214224,0.4043307827419109],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.35999999999701,"joint_targets_rad":[0.32598092572916304,1.4977292974740763,-1.264323020532571,-0.1995694645941933,0.9338451350606535,0.40439047043757365],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.379999999997036,"joint_targets_rad":[0.3259989027453982,1.4977386336677676,-1.264314917939381,-0.19962423596795645,0.9338378170938904,0.40444752395847017],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.39999999999706,"joint_targets_rad":[0.3260162384198653,1.4977473396035423,-1.264306904358897,-0.19967651972045303,0.9338304261925309,0.4045020511572312],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.419999999997085,"joint_targets_rad":[0.32603294913166253,1.4977554532668962,-1.2642989933028703,-0.19972642432474663,0.9338229986317436,0.40455416188029103],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.43999999999711,"joint_targets_rad":[0.3260490534100192,1.4977630141019458,-1.2642911926245897,-0.19977406131094352,0.9338155590096381,0.40460396799942133],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.459999999997134,"joint_targets_rad":[0.3260645705704007,1.4977700598993349,-1.264283508140628,-0.19981953956175486,0.9338081273159303,0.40465157862993184],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.47999999999716,"joint_targets_rad":[0.3260795199742245,1.497776626071237,-1.2642759446943572,-0.19986296334012474,0.9338007209568976,0.4046970983132271],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.499999999997183,"joint_targets_rad":[0.32609392074637955,1.4977827455890016,-1.2642685064650836,-0.1999044318641488,0.9337933554004088,0.4047406266082532],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.519999999997207,"joint_targets_rad":[0.32610779166547266,1.4977884490960298,-1.2642611970641264,-0.19994403937499458,0.9337860444378495,0.4047822581507719],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.53999999999723,"joint_targets_rad":[0.32612115111296985,1.4977937650600952,-1.2642540195736864,-0.19998187534263775,0.9337788003366572,0.40482208284718385],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.559999999997256,"joint_targets_rad":[0.32613401704385425,1.4977987199277947,-1.2642469765722533,-0.20001802470177502,0.9337716339591668,0.404860186099556],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.57999999999728,"joint_targets_rad":[0.3261464069670192,1.4978033382713043,-1.2642400701582768,-0.20005256808686087,0.9337645548687116,0.4048966490314931],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.599999999997305,"joint_targets_rad":[0.3261583379315014,1.4978076429252802,-1.2642333019748289,-0.20008558205783594,0.9337575714287216,0.40493154870633924],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.61999999999733,"joint_targets_rad":[0.32616982651702836,1.4978116551138663,-1.2642266732355285,-0.20011713931458752,0.9337506908963569,0.4049649583355413],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.639999999997354,"joint_targets_rad":[0.3261808888280909,1.4978153945683266,-1.2642201847513719,-0.20014730890007235,0.9337439195110533,0.4049969474768883],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.65999999999738,"joint_targets_rad":[0.3261915404910065,1.497818879635932,-1.264213836958026,-0.20017615639251204,0.9337372625781267,0.4050275822228438],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.679999999997403,"joint_targets_rad":[0.32620179665353904,1.4978221273807453,-1.2642076299431853,-0.20020374408719765,0.9337307245474828,0.4050569253793439],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.699999999997427,"joint_targets_rad":[0.3262116719867177,1.4978251536768958,-1.2642015634736377,-0.2002301311684688,0.9337243090875462,0.40508503663548096],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.71999999999745,"joint_targets_rad":[0.32622118068851425,1.4978279732949185,-1.2641956370217875,-0.2002553738723773,0.9337180191545115,0.4051119727244673],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.739999999997476,"joint_targets_rad":[0.3262303364891187,1.497830599981658,-1.2641898497913961,-0.20027952564057847,0.9337118570570629,0.4051377875763092],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.7599999999975,"joint_targets_rad":[0.32623915265754444,1.4978330465342409,-1.2641842007424047,-0.20030263726589287,0.9337058245167332,0.40516253246255723],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.779999999997525,"joint_targets_rad":[0.3262476420093505,1.4978353248685445,-1.2641786886146982,-0.2003247570300336,0.9336999227240631,0.4051862561335398],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.79999999999755,"joint_targets_rad":[0.3262558169152885,1.4978374460825827,-1.2641733119507308,-0.20034593083389712,0.9336941523907573,0.4052090049484285],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.819999999997574,"joint_targets_rad":[0.32626368931069744,1.4978394205151988,-1.2641680691169725,-0.20036620232085273,0.9336885137980278,0.4052308229985005],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.839999999997598,"joint_targets_rad":[0.3262712707055017,1.4978412578004017,-1.2641629583241185,-0.2003856129933972,0.9336830068413197,0.4052517522239333],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.859999999997623,"joint_targets_rad":[0.3262785721946792,1.4978429669176838,-1.2641579776460745,-0.20040420232354839,0.9336776310716122,0.40527183252446164],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.879999999997647,"joint_targets_rad":[0.32628560446908333,1.497844556238628,-1.2641531250377134,-0.20042200785732134,0.9336723857334918,0.4052911018642053],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.89999999999767,"joint_targets_rad":[0.3262923778265249,1.4978460335700665,-1.2641483983514192,-0.20043906531360972,0.9336672698001923,0.40530959637097025],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.919999999997696,"joint_targets_rad":[0.3262989021830207,1.497847406194064,-1.2641437953524528,-0.20045540867778475,0.933662282005781,0.40532735043030976],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.93999999999772,"joint_targets_rad":[0.32630518708413403,1.497848680904965,-1.264139313733167,-0.20047107029029235,0.933657420874675,0.4053443967746108],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.959999999997745,"joint_targets_rad":[0.32631124171635034,1.4978498640437115,-1.2641349511261248,-0.20048608093053447,0.9336526847486633,0.4053607665674759],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.97999999999777,"joint_targets_rad":[0.32631707491842415,1.4978509615296547,-1.2641307051161537,-0.20050046989628936,0.9336480718116008,0.4053764894836427],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.999999999997794,"joint_targets_rad":[0.3263226951926498,1.4978519788900388,-1.2641265732514015,-0.20051426507891051,0.9336435801119362,0.40539159378467343],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.019999999997818,"joint_targets_rad":[0.32632811071602247,1.4978529212873237,-1.2641225530534208,-0.2005274930345406,0.9336392075832198,0.40540610639064706],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.039999999997843,"joint_targets_rad":[0.3263333293512479,1.4978537935445313,-1.2641186420263684,-0.20054017905155663,0.9336349520627496,0.405420052948055],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.059999999997867,"joint_targets_rad":[0.32633835865757843,1.4978546001687394,-1.264114837665333,-0.20055234721445983,0.9336308113084725,0.4054334578941214],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.07999999999789,"joint_targets_rad":[0.3263432059014463,1.4978553453728785,-1.2641111374638823,-0.20056402046438507,0.933626783014294,0.40544634451771316],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.099999999997916,"joint_targets_rad":[0.3263478780668785,1.4978560330959465,-1.2641075389208434,-0.20057522065644293,0.9336228648238982,0.4054587350170505],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.11999999999794,"joint_targets_rad":[0.32635238186567417,1.4978566670217726,-1.2641040395463972,-0.20058596861403388,0.9336190543432022,0.40547065055436504],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.139999999997965,"joint_targets_rad":[0.3263567237473421,1.497857250596422,-1.2641006368675163,-0.20059628418033407,0.9336153491515556,0.40548211130769296],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.15999999999799,"joint_targets_rad":[0.32636090990876965,1.4978577870443606,-1.2640973284328039,-0.20060618626707483,0.933611746811776,0.40549313651993246],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.179999999998014,"joint_targets_rad":[0.3263649463036394,1.497858279383455,-1.26409411181676,-0.20061569290078804,0.933608244879118,0.40550374454534066],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.199999999998038,"joint_targets_rad":[0.3263688386515685,1.4978587304389064,-1.264090984623549,-0.20062482126663372,0.9336048409092785,0.40551395289358017],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.219999999998063,"joint_targets_rad":[0.3263725924469839,1.4978591428561967,-1.2640879444902795,-0.20063358774996157,0.9336015324654855,0.4055237782714717],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.239999999998087,"joint_targets_rad":[0.32637621296771996,1.4978595191131043,-1.2640849890898407,-0.20064200797570902,0.9335983171247892,0.40553323662256147],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.25999999999811,"joint_targets_rad":[0.3263797052833471,1.4978598615308887,-1.2640821161333529,-0.20065009684576549,0.933595192483587,0.40554234316462623],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.279999999998136,"joint_targets_rad":[0.32638307426322855,1.4978601722846647,-1.2640793233722316,-0.2006578685744126,0.9335921561624806,0.4055511124252311],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.29999999999816,"joint_targets_rad":[0.3263863245843087,1.4978604534130713,-1.264076608599926,-0.20066533672193024,0.9335892058104928,0.4055595582754361],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.319999999998185,"joint_targets_rad":[0.32638946073863834,1.4978607068272445,-1.2640739696533523,-0.200672514226486,0.9335863391087411,0.40556769396176034],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.33999999999821,"joint_targets_rad":[0.3263924870406357,1.4978609343191729,-1.2640714044140313,-0.20067941343438375,0.9335835537735716,0.4055755321364968],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.359999999998234,"joint_targets_rad":[0.32639540763409547,1.4978611375694753,-1.2640689108089975,-0.2006860461287702,0.9335808475592445,0.40558308488645556],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.379999999998258,"joint_targets_rad":[0.32639822649894407,1.4978613181546334,-1.264066486811461,-0.20069242355687728,0.9335782182601899,0.40559036376024254],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.399999999998283,"joint_targets_rad":[0.3264009474577499,1.4978614775537273,-1.2640641304412699,-0.20069855645587123,0.9335756637128826,0.4055973797941217],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.419999999998307,"joint_targets_rad":[0.3264035741819947,1.4978616171547101,-1.264061839765183,-0.20070445507740042,0.9335731817973668,0.4056041435365694],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.43999999999833,"joint_targets_rad":[0.32640611019811244,1.4978617382602522,-1.2640596128969843,-0.20071012921089412,0.9335707704384838,0.40561066507156773],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.459999999998356,"joint_targets_rad":[0.326408558893298,1.4978618420931824,-1.2640574479974387,-0.20071558820568303,0.9335684276068064,0.40561695404071113],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.47999999999838,"joint_targets_rad":[0.32641092352109735,1.497861929801569,-1.2640553432741188,-0.20072084099200957,0.9335661513193289,0.4056230196641957],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.499999999998405,"joint_targets_rad":[0.3264132072067848,1.4978620024634506,-1.2640532969811231,-0.20072589610097794,0.9335639396399384,0.4056288707607408],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.51999999999843,"joint_targets_rad":[0.3264154129525311,1.4978620610912448,-1.2640513074186706,-0.20073076168350928,0.9335617906796757,0.40563451576651127],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.539999999998454,"joint_targets_rad":[0.32641754364236836,1.4978621066358695,-1.2640493729326245,-0.20073544552834205,0.9335597025968306,0.40563996275307984],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.559999999998478,"joint_targets_rad":[0.32641960204696413,1.4978621399905845,-1.2640474919139237,-0.20073995507913844,0.9335576735968732,0.4056452194444932],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.579999999998503,"joint_targets_rad":[0.3264215908282071,1.4978621619945798,-1.2640456627979544,-0.2007442974507409,0.9335557019322437,0.40565029323348367],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.599999999998527,"joint_targets_rad":[0.3264235125436085,1.4978621734363213,-1.26404388406385,-0.2007484794446176,0.9335537859020285,0.4056551911968697],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.61999999999855,"joint_targets_rad":[0.3264253696505299,1.4978621750566816,-1.2640421542337517,-0.20075250756354412,0.9335519238515233,0.40565992011019053],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.639999999998576,"joint_targets_rad":[0.32642716451024395,1.4978621675518624,-1.2640404718720268,-0.20075638802556303,0.9335501141717071,0.40566448646161746],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.6599999999986,"joint_targets_rad":[0.32642889939182546,1.4978621515761295,-1.2640388355844383,-0.2007601267772526,0.9335483552986276,0.40566889646517645],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.679999999998625,"joint_targets_rad":[0.32643057647589624,1.4978621277443622,-1.2640372440173007,-0.20076372950634458,0.9335466457127297,0.40567315607331617],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.69999999999865,"joint_targets_rad":[0.3264321978582054,1.4978620966344494,-1.2640356958566057,-0.2007672016537216,0.933544983938116,0.40567727098886264],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.719999999998674,"joint_targets_rad":[0.3264337655530772,1.4978620587895182,-1.2640341898271283,-0.2007705484248334,0.933543368541759,0.4056812466763865],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.739999999998698,"joint_targets_rad":[0.32643528149670753,1.4978620147200317,-1.2640327246915284,-0.2007737748005468,0.9335417981326787,0.4056850883730122],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.759999999998723,"joint_targets_rad":[0.32643674755033514,1.4978619649057436,-1.2640312992494305,-0.20077688554747924,0.9335402713610735,0.40568880109870825],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.779999999998747,"joint_targets_rad":[0.3264381655032756,1.4978619097975339,-1.264029912336513,-0.20077988522782014,0.9335387869174395,0.4056923896660708],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.79999999999877,"joint_targets_rad":[0.3264395370758353,1.4978618498191298,-1.264028562823585,-0.20078277820868481,0.9335373435316553,0.4056958586896372],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.819999999998796,"joint_targets_rad":[0.3264408639221056,1.4978617853687124,-1.2640272496156717,-0.20078556867101405,0.9335359399720621,0.4056992125947535],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.83999999999882,"joint_targets_rad":[0.326442147632639,1.4978617168204251,-1.2640259716510982,-0.20078826061804003,0.9335345750445262,0.4057024556260072],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.859999999998845,"joint_targets_rad":[0.3264433897370204,1.4978616445257944,-1.2640247279005847,-0.20079085788335818,0.9335332475914963,0.4057055918552678],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.87999999999887,"joint_targets_rad":[0.32644459170632495,1.4978615688150547,-1.2640235173663519,-0.20079336413859572,0.9335319564910614,0.405708625189332],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.899999999998894,"joint_targets_rad":[0.3264457549554824,1.4978614899983906,-1.2640223390812282,-0.20079578290072797,0.9335307006560087,0.405711559377213],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.919999999998918,"joint_targets_rad":[0.32644688084553736,1.4978614083671116,-1.2640211921077749,-0.20079811753903865,0.9335294790328781,0.40571439801707965],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.939999999998943,"joint_targets_rad":[0.326447970685821,1.497861324194749,-1.264020075537431,-0.20080037128175005,0.9335282906010379,0.40571714456287117],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.959999999998967,"joint_targets_rad":[0.3264490257360281,1.497861237738082,-1.264018988489657,-0.20080254722233765,0.9335271343717522,0.4057198023305937],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.97999999999899,"joint_targets_rad":[0.32645004720821325,1.4978611492381146,-1.2640179301111112,-0.2008046483255521,0.933526009387273,0.4057223745043301],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.999999999999016,"joint_targets_rad":[0.3264510362686989,1.497861058920977,-1.264016899574826,-0.20080667743314706,0.9335249147199357,0.405724864141959],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.01999999999904,"joint_targets_rad":[0.32645199403990993,1.4978609669987886,-1.264015896079418,-0.20080863726934578,0.933523849471275,0.40572727418061366],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.039999999999065,"joint_targets_rad":[0.326452921602128,1.4978608736704575,-1.2640149188482994,-0.20081053044604658,0.9335228127711478,0.4057296074418841],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.05999999999909,"joint_targets_rad":[0.3264538199951752,1.4978607791224419,-1.2640139671289206,-0.2008123594677858,0.9335218037768828,0.40573186663677624],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.079999999999114,"joint_targets_rad":[0.32645469022002704,1.4978606835294574,-1.264013040192022,-0.20081412673646779,0.933520821672436,0.405734054370446],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.099999999999138,"joint_targets_rad":[0.3264555332403601,1.4978605870551518,-1.264012137330907,-0.2008158345558767,0.9335198656675724,0.4057361731467123],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.119999999999163,"joint_targets_rad":[0.326456349984034,1.497860489852731,-1.2640112578607368,-0.20081748513597672,0.9335189349970643,0.4057382253723626],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.139999999999187,"joint_targets_rad":[0.326457141344513,1.497860392065559,-1.2640104011178397,-0.20081908059700976,0.9335180289199017,0.40574021336126226],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.15999999999921,"joint_targets_rad":[0.3264579081822278,1.4978602938277115,-1.2640095664590387,-0.20082062297341255,0.9335171467185316,0.4057421393382773],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.179999999999236,"joint_targets_rad":[0.3264586513258839,1.4978601952645072,-1.264008753261,-0.2008221142175414,0.933516287698111,0.4057440054430165],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.19999999999926,"joint_targets_rad":[0.3264593715737098,1.4978600964930031,-1.2640079609196002,-0.20082355620323383,0.9335154511857793,0.40574581373340357],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.219999999999285,"joint_targets_rad":[0.32646006969466257,1.4978599976224631,-1.2640071888493092,-0.20082495072920512,0.9335146365299489,0.4057475661890934],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.23999999999931,"joint_targets_rad":[0.32646074642957457,1.4978598987547989,-1.264006436482592,-0.20082629952228437,0.9335138430996237,0.40574926471472406],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.259999999999334,"joint_targets_rad":[0.3264614024922592,1.497859799984988,-1.2640057032693288,-0.20082760424050936,0.9335130702837214,0.40575091114303435],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.279999999999358,"joint_targets_rad":[0.32646203857056927,1.4978597014014652,-1.2640049886762517,-0.20082886647607612,0.933512317490431,0.4057525072378329],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.299999999999383,"joint_targets_rad":[0.32646265532741114,1.4978596030864912,-1.2640042921863988,-0.20083008775815542,0.9335115841465796,0.40575405469683967],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.319999999999407,"joint_targets_rad":[0.3264632534017155,1.4978595051165091,-1.2640036132985883,-0.20083126955557853,0.9335108696970215,0.405755555154396],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.33999999999943,"joint_targets_rad":[0.3264638334093753,1.4978594075624674,-1.264002951526902,-0.2008324132794115,0.933510173604042,0.4057570101840641],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.359999999999456,"joint_targets_rad":[0.32646439594413534,1.4978593104901348,-1.2640023064001893,-0.20083352028539703,0.9335094953467852,0.40575842130109974],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.37999999999948,"joint_targets_rad":[0.32646494157845424,1.4978592139603937,-1.2640016774615903,-0.20083459187630243,0.9335088344206959,0.4057597899648242],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.399999999999505,"joint_targets_rad":[0.32646547086432465,1.497859118029521,-1.2640010642680672,-0.20083562930414928,0.9335081903369773,0.40576111758088873],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.41999999999953,"joint_targets_rad":[0.32646598433406465,1.4978590227494457,-1.2640004663899556,-0.2008366337723526,0.9335075626220728,0.4057624055034402],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.439999999999554,"joint_targets_rad":[0.3264664825010736,1.4978589281680013,-1.263999883410527,-0.20083760643775883,0.9335069508171546,0.40576365503719375],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.459999999999578,"joint_targets_rad":[0.32646696586055873,1.49785883432916,-1.263999314925571,-0.20083854841259413,0.9335063544776363,0.40576486743941326],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.479999999999603,"joint_targets_rad":[0.3264674348902341,1.497858741273249,-1.2639987605429848,-0.2008394607663268,0.9335057731727012,0.40576604392180604],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.499999999999627,"joint_targets_rad":[0.32646789005098537,1.497858649037168,-1.26399821988238,-0.2008403445274474,0.9335052064848408,0.4057671856523381],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.51999999999965,"joint_targets_rad":[0.3264683317875146,1.497858557654582,-1.2639976925747032,-0.20084120068516664,0.9335046540094127,0.4057682937569668],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.539999999999676,"joint_targets_rad":[0.32646876052895263,1.4978584671561095,-1.2639971782618658,-0.20084203019104296,0.933504115354214,0.40576936932130325],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.5599999999997,"joint_targets_rad":[0.32646917668945347,1.497858377569499,-1.2639966765963873,-0.20084283396053573,0.9335035901390634,0.4057704133922022],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.579999999999725,"joint_targets_rad":[0.3264695806687568,1.4978582889198,-1.2639961872410566,-0.200843612874489,0.9335030779954064,0.4057714269792815],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.59999999999975,"joint_targets_rad":[0.32646997285273543,1.4978582012295159,-1.2639957098685928,-0.20084436778055426,0.9335025785659251,0.4057724110563809],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.619999999999774,"joint_targets_rad":[0.3264703536139164,1.4978581145187582,-1.2639952441613296,-0.20084509949454749,0.933502091504167,0.4057733665629587],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.639999999999798,"joint_targets_rad":[0.3264707233119782,1.4978580288053847,-1.2639947898108996,-0.2008458088017423,0.9335016164741767,0.40577429440541585],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.659999999999823,"joint_targets_rad":[0.32647108229423794,1.4978579441051372,-1.263994346517938,-0.20084649645812155,0.9335011531501582,0.405775195458394],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.679999999999847,"joint_targets_rad":[0.32647143089611425,1.4978578604317683,-1.2639939139918022,-0.20084716319156629,0.933500701216145,0.40577607056599735],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.69999999999987,"joint_targets_rad":[0.32647176944155576,1.497857777797154,-1.2639934919502664,-0.20084780970297317,0.9335002603656419,0.40577692054294223],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.719999999999896,"joint_targets_rad":[0.3264720982434915,1.4978576962114203,-1.2639930801192854,-0.20084843666737304,0.9334998303013585,0.4057777461757265],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.73999999999992,"joint_targets_rad":[0.32647241760421253,1.497857615683037,-1.2639926782326982,-0.20084904473493767,0.933499410734857,0.40577854822366033],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.759999999999945,"joint_targets_rad":[0.3264727278157913,1.4978575362189308,-1.263992286032013,-0.20084963453200994,0.9334990013863124,0.4057793274199463],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.77999999999997,"joint_targets_rad":[0.32647302916043336,1.4978574578245727,-1.2639919032661295,-0.2008502066620244,0.9334986019841816,0.4057800844726265],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.799999999999994,"joint_targets_rad":[0.32647332191085915,1.4978573805040758,-1.2639915296911277,-0.20085076170644536,0.9334982122649604,0.4057808200655665],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.820000000000018,"joint_targets_rad":[0.3264736063306409,1.4978573042602767,-1.2639911650700277,-0.20085130022562475,0.9334978319729134,0.40578153485934826],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.840000000000042,"joint_targets_rad":[0.3264738826745415,1.4978572290948207,-1.2639908091725802,-0.2008518227596467,0.9334974608598213,0.4057822294921509],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.860000000000067,"joint_targets_rad":[0.3264741511888307,1.497857155008235,-1.263990461775043,-0.20085232982911788,0.9334970986847269,0.4057829045805772],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.88000000000009,"joint_targets_rad":[0.3264744121116022,1.497857082000007,-1.263990122659991,-0.20085282193595388,0.933496745213718,0.40578356072048255],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.900000000000116,"joint_targets_rad":[0.3264746656730594,1.4978570100686477,-1.263989791616103,-0.20085329956408826,0.9334964002196768,0.4057841984877136],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.92000000000014,"joint_targets_rad":[0.3264749120958076,1.4978569392117602,-1.2639894684379815,-0.20085376318019343,0.9334960634820746,0.4057848184388707],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.940000000000165,"joint_targets_rad":[0.32647515159512835,1.4978568694261025,-1.2639891529259681,-0.20085421323435426,0.9334957347867612,0.4057854211120161],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.96000000000019,"joint_targets_rad":[0.326475384379235,1.4978568007076438,-1.263988844885959,-0.20085465016070117,0.9334954139257452,0.40578600702734174],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.980000000000214,"joint_targets_rad":[0.3264756106495337,1.4978567330516195,-1.2639885441292382,-0.2008550743780396,0.9334951006970096,0.405786576687836],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.000000000000238,"joint_targets_rad":[0.3264758306008627,1.4978566664525874,-1.26398825047231,-0.20085548629044214,0.9334947949043156,0.4057871305799102],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.020000000000262,"joint_targets_rad":[0.3264760444217247,1.4978566009044716,-1.2639879637367366,-0.20085588628780576,0.9334944963570182,0.40578766917399095],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.040000000000287,"joint_targets_rad":[0.3264762522945158,1.4978565364006131,-1.2639876837489843,-0.20085627474641068,0.9334942048698867,0.40578819292511287],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.06000000000031,"joint_targets_rad":[0.3264764543957397,1.4978564729338144,-1.2639874103402782,-0.20085665202943603,0.9334939202629409,0.4057887022734699],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.080000000000336,"joint_targets_rad":[0.32647665089621375,1.497856410496379,-1.2639871433464485,-0.20085701848745532,0.9334936423612721,0.4057891976449432],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.10000000000036,"joint_targets_rad":[0.32647684196127297,1.4978563490801513,-1.263986882607797,-0.2008573744589258,0.933493370994897,0.40578967945162464],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.120000000000385,"joint_targets_rad":[0.32647702775095583,1.4978562886765556,-1.2639866279689582,-0.20085772027063656,0.9334931059985907,0.4057901480922959],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.14000000000041,"joint_targets_rad":[0.3264772084201971,1.4978562292766304,-1.263986379278771,-0.2008580562381606,0.9334928472117435,0.4057906039529163],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.160000000000434,"joint_targets_rad":[0.3264773841190018,1.4978561708710607,-1.2639861363901548,-0.20085838266627398,0.9334925944782235,0.40579104740707145],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.180000000000458,"joint_targets_rad":[0.3264775549926126,1.4978561134502102,-1.2639858991599755,-0.20085869984935567,0.9334923476462167,0.40579147881640404],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.200000000000482,"joint_targets_rad":[0.32647772118168544,1.4978560570041537,-1.2639856674489456,-0.20085900807179038,0.9334921065681201,0.40579189853105213],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.220000000000507,"joint_targets_rad":[0.32647788282243584,1.4978560015226996,-1.263985441121494,-0.20085930760832613,0.933491871100389,0.40579230689003215],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.24000000000053,"joint_targets_rad":[0.3264780400467992,1.4978559469954205,-1.2639852200456614,-0.20085959872444323,0.9334916411034212,0.4057927042216418],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.260000000000556,"joint_targets_rad":[0.32647819298257663,1.4978558934116772,-1.263985004093,-0.20085988167669613,0.9334914164414416,0.4057930908438308],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.28000000000058,"joint_targets_rad":[0.32647834175357626,1.4978558407606426,-1.263984793138459,-0.2008601567130456,0.9334911969823729,0.4057934670645608],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.300000000000605,"joint_targets_rad":[0.32647848647974576,1.4978557890313202,-1.2639845870602888,-0.20086042407316598,0.9334909825977297,0.40579383318214385],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.32000000000063,"joint_targets_rad":[0.3264786272773083,1.4978557382125712,-1.2639843857399498,-0.20086068398875914,0.9334907731625081,0.4057941894855839],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.340000000000654,"joint_targets_rad":[0.32647876425888833,1.4978556882931298,-1.2639841890620114,-0.20086093668384555,0.9334905685550822,0.40579453625489587],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.360000000000678,"joint_targets_rad":[0.32647889753363,1.4978556392616211,-1.2639839969140656,-0.20086118237504022,0.9334903686570991,0.4057948737614089],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.380000000000702,"joint_targets_rad":[0.32647902720731736,1.4978555911065814,-1.2639838091866376,-0.20086142127182405,0.9334901733533799,0.40579520226806415],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.400000000000727,"joint_targets_rad":[0.32647915338248706,1.497855543816475,-1.2639836257731059,-0.20086165357680638,0.9334899825318309,0.40579552202970715],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.42000000000075,"joint_targets_rad":[0.3264792761585346,1.4978554973797031,-1.2639834465696114,-0.20086187948596584,0.9334897960833429,0.4057958332933499],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.440000000000776,"joint_targets_rad":[0.32647939563182055,1.4978554517846268,-1.263983271474986,-0.20086209918889253,0.9334896139017058,0.4057961362984425],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.4600000000008,"joint_targets_rad":[0.32647951189577434,1.4978554070195744,-1.2639831003906716,-0.20086231286902223,0.9334894358835245,0.4057964312771313],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.480000000000825,"joint_targets_rad":[0.32647962504098577,1.4978553630728584,-1.26398293322065,-0.20086252070384827,0.9334892619281354,0.40579671845449566],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.50000000000085,"joint_targets_rad":[0.32647973515530565,1.4978553199327826,-1.2639827698713657,-0.20086272286513984,0.9334890919375237,0.40579699804879055],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.520000000000874,"joint_targets_rad":[0.32647984232392796,1.4978552775876575,-1.2639826102516578,-0.2008629195191401,0.9334889258162445,0.4057972702716684],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.540000000000898,"joint_targets_rad":[0.3264799466294856,1.497855236025808,-1.263982454272696,-0.20086311082676686,0.9334887634713543,0.40579753532840407],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.560000000000922,"joint_targets_rad":[0.3264800481521282,1.497855195235586,-1.2639823018479108,-0.20086329694379754,0.9334886048123292,0.40579779341810246],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.580000000000947,"joint_targets_rad":[0.32648014696960714,1.4978551552053747,-1.263982152892932,-0.20086347802105056,0.9334884497510028,0.40579804473390146],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.60000000000097,"joint_targets_rad":[0.3264802431573489,1.4978551159236027,-1.2639820073255288,-0.20086365420455862,0.9334882982014929,0.4057982894631684],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.620000000000996,"joint_targets_rad":[0.32648033678853655,1.4978550773787473,-1.263981865065546,-0.20086382563573882,0.9334881500801363,0.4057985277876928],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.64000000000102,"joint_targets_rad":[0.326480427934178,1.4978550395593448,-1.2639817260348527,-0.20086399245154957,0.9334880053054269,0.4057987598838625],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.660000000001045,"joint_targets_rad":[0.3264805166631767,1.497855002453994,-1.2639815901572802,-0.20086415478464645,0.9334878637979541,0.4057989859228417],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.68000000000107,"joint_targets_rad":[0.32648060304240134,1.4978549660513683,-1.2639814573585724,-0.2008643127635335,0.9334877254803379,0.4057992060707432],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.700000000001094,"joint_targets_rad":[0.3264806871367489,1.4978549303402129,-1.2639813275663316,-0.2008644665127007,0.9334875902771806,0.4057994204887851],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.720000000001118,"joint_targets_rad":[0.3264807690092081,1.4978548953093602,-1.2639812007099671,-0.20086461615276913,0.9334874581150008,0.4057996293334551],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.740000000001142,"joint_targets_rad":[0.32648084872092276,1.4978548609477265,-1.2639810767206474,-0.20086476180061819,0.9334873289221854,0.40579983275665943],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.760000000001167,"joint_targets_rad":[0.32648092633124504,1.4978548272443202,-1.2639809555312516,-0.200864903569513,0.9334872026289361,0.40580003090586636],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.78000000000119,"joint_targets_rad":[0.32648100189779816,1.4978547941882456,-1.2639808370763224,-0.2008650415692332,0.9334870791672177,0.4058002239242547],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.800000000001216,"joint_targets_rad":[0.3264810754765275,1.4978547617687075,-1.2639807212920227,-0.2008651759061818,0.9334869584707084,0.4058004119508424],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.82000000000124,"joint_targets_rad":[0.32648114712175336,1.4978547299750133,-1.2639806081160914,-0.20086530668350794,0.9334868404747526,0.40580059512062333],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.840000000001265,"joint_targets_rad":[0.32648121688622356,1.4978546987965766,-1.2639804974878006,-0.20086543400121165,0.9334867251163168,0.40580077356469396],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.86000000000129,"joint_targets_rad":[0.326481284821161,1.4978546682229212,-1.2639803893479142,-0.20086555795624875,0.9334866123339391,0.40580094741037076],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.880000000001314,"joint_targets_rad":[0.3264813509763137,1.4978546382436821,-1.2639802836386513,-0.20086567864263727,0.9334865020676948,0.4058011167813183],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.900000000001338,"joint_targets_rad":[0.3264814153999975,1.4978546088486084,-1.2639801803036426,-0.20086579615155029,0.9334863942591453,0.4058012817976529],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.920000000001362,"joint_targets_rad":[0.32648147813914297,1.4978545800275644,-1.263980079287895,-0.20086591057141207,0.933486288851302,0.40580144257606077],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.940000000001387,"joint_targets_rad":[0.32648153923933676,1.4978545517705362,-1.2639799805377598,-0.2008660219879924,0.933486185788588,0.4058015992299013],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.96000000000141,"joint_targets_rad":[0.3264815987448638,1.4978545240676269,-1.2639798840008893,-0.20086613048448604,0.9334860850167948,0.40580175186930934],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.980000000001436,"joint_targets_rad":[0.3264816566987479,1.49785449690906,-1.2639797896262077,-0.2008662361416084,0.9334859864830507,0.40580190060129834],"gripper_position_m":0.035,"phase":"verify"}],"arm_tape":[[-0.003094973973392756,1.5377832679345593,-1.3126403416720034,-0.00019273713670553603,0.046240616280947215,-0.00022120652388035064],[-0.0031613757685959917,1.536723529752629,-1.3112365512103281,-0.0001550746071351566,0.04636527489057309,-0.0002546963766568969],[-0.0033078079030494046,1.5316882519290924,-1.3046666699036624,7.478952833662722e-05,0.047062259202289,-0.00046987197760942236],[-0.0034673170005791237,1.5250809332621524,-1.2964772981018104,0.0006930088882095178,0.04879279441445537,-0.0011028004307988293],[-0.0036285959695416324,1.5181537200976805,-1.2882404250816228,0.001572814248453967,0.05111399772758753,-0.0019956646950458354],[-0.0037930288292036016,1.5111496656869385,-1.2800904360789782,0.002542578330407777,0.05351731748456606,-0.0029542561807794437],[-0.003961815171482636,1.5041392600455354,-1.2720606505420364,0.0035721016424232997,0.05590655765466684,-0.00394146318677731],[-0.004135539768452568,1.497147171344993,-1.2641517137437799,0.004654030790044297,0.05826363694339176,-0.004948754372668252],[-0.004314524410790378,1.4901856828852673,-1.2563578182692614,0.005786518990718313,0.06058930608508033,-0.0059744629115533405],[-0.004499001632073904,1.4832629134698994,-1.248672381326949,0.006968868654072082,0.06288793239947776,-0.00701834824923318],[-0.004689175744700683,1.4763850255830415,-1.2410893267391214,0.008200538035126858,0.06516400962063885,-0.008080358247459578],[-0.004885240920408466,1.4695569290347643,-1.2336032890480326,0.00948091429409903,0.06742142569803258,-0.009160355084143675],[-0.005087384124352456,1.462782638619659,-1.2262096574987713,0.010809249278610628,0.06966332747766388,-0.010258050205129975],[-0.00529577883140666,1.4560656474453193,-1.2189048254393364,0.012184554917464783,0.07189191232066598,-0.011372912847164431],[-0.005510595258509348,1.449408554694094,-1.2116853173081157,0.013605779389904024,0.07410890687718036,-0.012504329072230798],[-0.005731999057716065,1.442813365965411,-1.2045479743178817,0.015071884344908696,0.07631583587040414,-0.013651705234266924],[-0.005960149571996736,1.4362816634688722,-1.197489954810935,0.016581803742168277,0.07851393677079986,-0.0148144293736047],[-0.006195333893127524,1.429814731078203,-1.1905086507507658,0.01814015420694355,0.08070433299079272,-0.015991806385644482],[-0.006438466131450018,1.4234137432842833,-1.1836014901986331,0.01977809808956716,0.08288857432902647,-0.01718293070312893],[-0.006689954585831801,1.4170795862023922,-1.1767665164491068,0.02150396424344475,0.08506727740836717,-0.018388234568297076],[-0.006950281591550624,1.410812894875131,-1.1700017995804957,0.023328901658087563,0.08724105289326267,-0.019607169003137758],[-0.007219764941395821,1.404614140404396,-1.1633057430378417,0.0252561992074971,0.08941025785508804,-0.020840003563602202],[-0.007500986628034292,1.3984835733809007,-1.156676858590493,0.027285135895482183,0.09157532882449626,-0.02208697337974671],[-0.007798240205120667,1.3924212932117244,-1.1501136898355786,0.029413711191580427,0.09373677645872419,-0.02334806727385925],[-0.008117016815534443,1.3864273511695882,-1.1436147248576052,0.03163985385922078,0.09589462245554321,-0.024623157068980134],[-0.008464392117523898,1.3805017941241244,-1.1371785098206473,0.03396142520387852,0.09804871963068826,-0.025912197011579676],[-0.0088448620233218,1.3746450076608903,-1.1308038484779859,0.036376181564658265,0.10019861096101945,-0.02721495920637651],[-0.009261389543500583,1.3688571757787955,-1.1244894223669828,0.038881927407003705,0.10234391792689879,-0.02853122764001088],[-0.009716034312994138,1.3631383606789929,-1.1182339072797607,0.04147652161720828,0.10448435271587035,-0.029860821505324944],[-0.010210334633317046,1.3574885602143822,-1.1120359982947945,0.04415785937001531,0.10661963981460404,-0.031203581040950418],[-0.01074550163965369,1.3519077318736157,-1.105894414601175,0.04692386771503335,0.10874949283954792,-0.0325593651925841],[-0.011322543786146496,1.3463958044477375,-1.0998078972278769,0.049772504236252374,0.11087360795783693,-0.03392805151090744],[-0.01194234323953036,1.3409526851503937,-1.0937752052632623,0.052701756371909575,0.11299166245868827,-0.03530953555683328],[-0.012605672578378462,1.3355782648232195,-1.0877951132242085,0.055709641287650435,0.11510331546452782,-0.036703728856582976],[-0.013313238372302229,1.3302724873124547,-1.081866525870495,0.05879411890140388,0.11720812390015818,-0.0381105312180398],[-0.014065640733908466,1.3250353284788974,-1.0759884723905557,0.06195271481007479,0.1193054854817403,-0.0395298069345693],[-0.014863467801123242,1.3198666399491268,-1.0701598331214928,0.06518351194943549,0.12139484805837075,-0.04096144840681412],[-0.01570722839749193,1.314766234049343,-1.0643794504724449,0.06848462177264744,0.12347573488638895,-0.04240538870058173],[-0.016597400725691124,1.3097339137274142,-1.058646148198034,0.0718541849857588,0.12554768853952353,-0.04386157619109965],[-0.017534383281719933,1.3047694818547388,-1.0529587415405746,0.07529036821885643,0.12761025473482365,-0.045329965761159795],[-0.01851854575153406,1.2998727414333875,-1.0473160359067533,0.07879135860813519,0.1296629752814783,-0.04681051499383884],[-0.019550174745222235,1.2950434963188788,-1.0417168309577203,0.08235536376194456,0.13170538653971298,-0.04830318064325076],[-0.020629533798758905,1.290281548888239,-1.0361599163074213,0.08598060596499961,0.13373701644359767,-0.04980791623418877],[-0.021756805337096747,1.2855866969421832,-1.03064410113378,0.0896652892509494,0.13575746657140692,-0.05132508629262583],[-0.022932162739648564,1.2809587156831508,-1.025168287387485,0.09340691864605423,0.13776630672722673,-0.052860410269006675],[-0.024155665364671557,1.2763973700384734,-1.0197312992179997,0.09720285317880938,0.13976302269797944,-0.05441894233513864],[-0.025427330118761617,1.2719024376336807,-1.0143319174165715,0.10105058723132557,0.14174714044614237,-0.056003714815323014],[-0.026747089529624034,1.267473738562607,-1.0089689604851069,0.1049475493815459,0.14371816676854016,-0.057618041442460924],[-0.02811481317172344,1.2631114306095668,-1.0036413529648307,0.10889130930705718,0.14567552263538694,-0.05926305095689925],[-0.029530299784754407,1.2588154770938746,-0.9983478862862376,0.11287930038902852,0.14761866627009546,-0.06094102528175385],[-0.03099331690803885,1.2545857450488285,-0.9930873461279762,0.116908732853727,0.14954712532212505,-0.06265536279239062],[-0.03250360415888076,1.2504220674480047,-0.9878588163711988,0.120975925931042,0.1514603707933267,-0.06442092948781138],[-0.034060615827282606,1.2463241761171935,-0.982661137813007,0.12507584140558636,0.15335796915704536,-0.06624669711008224],[-0.03566352550695581,1.2422918619189678,-0.9774930030112046,0.12920536562595322,0.1552396645282518,-0.06813210669769572],[-0.037311632844400214,1.2383249454728102,-0.9723531512575171,0.13336177221513146,0.15710518834368337,-0.07007513385202443],[-0.03900423914933646,1.2344232428996023,-0.9672403583382592,0.13754234439979718,0.15895420161799453,-0.07207373210937415],[-0.04074062540019375,1.2305865542356405,-0.9621534215613617,0.14174437827784858,0.16078632229221418,-0.07412584997697688],[-0.04252000624141857,1.2268146618770923,-0.9570911568334021,0.14596518672419861,0.16260114065121326,-0.07622943333695002],[-0.04434154950602849,1.2231073303285398,-0.9520523917975133,0.15020209506267423,0.16439822465724568,-0.07838242339624729],[-0.04620434188247308,1.2194643082198284,-0.9470359673407223,0.1544524440874376,0.16617712610469687,-0.08058275718974939],[-0.04810741181805879,1.2158853285752407,-0.9420407329285584,0.15871358518705883,0.1679373818423906,-0.08282836457395756],[-0.05004971347793264,1.2123701104342495,-0.9370655476394815,0.16298288125517882,0.16967851659282454,-0.08511716756279483],[-0.052030132648733414,1.2089183591440213,-0.9321092786002381,0.16725770425111086,0.17140004413620058,-0.08744707820072238],[-0.05404749602694187,1.2055297644018697,-0.9271708245924271,0.17153544784974536,0.17310159067288297,-0.08981601049465879],[-0.05610056570128601,1.2022039992820022,-0.9222490924621416,0.1758135194637108,0.17478283583504073,-0.09222187402472223],[-0.058188023168799216,1.1989407281979223,-0.9173429558339705,0.18008931528825278,0.17644329486190521,-0.0946625495061025],[-0.060308485388950256,1.195739610167503,-0.9124513046347971,0.18436023368661622,0.1780824659380312,-0.09713589876242273],[-0.06246050571032911,1.1926002916873348,-0.9075730533222369,0.1886236820190219,0.17969990153262694,-0.09963977074370992],[-0.06464258546791593,1.1895224028155673,-0.902707138989064,0.1928770776640661,0.18129524640702055,-0.10217200434930655],[-0.06685314414173293,1.1865055607458221,-0.8978524701153999,0.1971178275154279,0.18286800965225236,-0.10473040796061914],[-0.06909054425253312,1.1835493748930697,-0.8930079701810542,0.20134333509475819,0.18441768662100166,-0.10731276477261498],[-0.07135306562757249,1.1806537162451196,-0.8881726972020798,0.20555099179140277,0.1859437274839547,-0.1099168140348463],[-0.07363894312906076,1.1778183812679017,-0.8833456309231944,0.20973818521557017,0.18744556990232564,-0.11254027301505032],[-0.07594635627683731,1.1750430272450312,-0.8785256962349371,0.21390230588548695,0.1889227007859926,-0.115180847981221],[-0.07827341087707279,1.1723272489132526,-0.8737118013356604,0.21804073220106818,0.19037450780975657,-0.11783621226535373],[-0.08061817119475112,1.1696706019668555,-0.8689028982354752,0.22215084224514303,0.19180047558483598,-0.12050401373881653],[-0.08297863321448072,1.1670726091805292,-0.8640979561174588,0.2262300110065821,0.1932000950283119,-0.12318187046803422],[-0.08535273589743997,1.1645327668403174,-0.8592959600249412,0.23027560597281455,0.1945728529502787,-0.12586736716720007],[-0.08773836426209151,1.1620505480859749,-0.8544959111651069,0.23428498582149643,0.1959182313499376,-0.1285580533911092],[-0.09013334620500252,1.1596254043672025,-0.8496968277211862,0.23825550104528287,0.197235709277798,-0.13125144309782866],[-0.09253547131416659,1.1572567648121528,-0.8448977796185364,0.24218450489974558,0.19852493207979022,-0.13394502613970352],[-0.09494249824430158,1.1549440318740547,-0.8400978840112693,0.24606935815878503,0.19978577573151013,-0.13663627660557642],[-0.09735209765033155,1.1526865854978647,-0.835296177642061,0.24990739393295136,0.2010177954553168,-0.13932261621109465],[-0.09976189603246013,1.150483800198052,-0.8304917309942342,0.2536959299797932,0.20222052623266792,-0.1420014222498729],[-0.10216947522762666,1.148335032056305,-0.8256836381638168,0.25743227038220123,0.20339349569179338,-0.14467002753693836],[-0.1045723727285571,1.1462396146818863,-0.8208710145432844,0.2611137050521041,0.2045362321076283,-0.1473257208068574],[-0.10696808263748916,1.144196857749402,-0.8160529961015828,0.26473750934968837,0.20564826825931853,-0.14996574597252882],[-0.10935413083323275,1.1422060470701136,-0.811228886375714,0.2683009858064181,0.20672982871222892,-0.1525873499723916],[-0.11172792586537886,1.1402664232536412,-0.8063978188273745,0.2718014015585001,0.20778059853285114,-0.15518771986275853],[-0.11408684286320131,1.138377227727164,-0.8015589659964144,0.2752359985827029,0.2088002097509997,-0.1577639870570021],[-0.11642822538295013,1.1365376823202338,-0.7967115327888247,0.2786019976398448,0.2097882870060085,-0.1603132277628253],[-0.11874943815147193,1.1347469843824847,-0.791854852590398,0.2818966247227723,0.21074491794269942,-0.16283249657242174],[-0.12104780036036569,1.1330042870694226,-0.7869882311443928,0.2851170955503967,0.21167018948331584,-0.16531881298598577],[-0.12332061248641152,1.1313087150554069,-0.7821110003123417,0.28826062147100406,0.21256434971054416,-0.16776916955986912],[-0.12556515328602316,1.1296593735365572,-0.7772225103542594,0.29132439878823607,0.2134276954315985,-0.17018052005810508],[-0.1277787213572328,1.1280553512460845,-0.7723222020167807,0.294305620746382,0.21426085096397784,-0.1725497945494223],[-0.12995849819651614,1.1264956881466779,-0.7674093463304447,0.29720129752581226,0.21506379902074269,-0.17487383033213527],[-0.13210169139510647,1.124979425919599,-0.7624833778369753,0.3000080664204616,0.21583683953695448,-0.17714937485038137],[-0.13420555106488913,1.1235055649149654,-0.7575437764378097,0.3027230184190247,0.21658054404516236,-0.1793731850923252],[-0.1362672304439562,1.122073224962035,-0.7525899720958887,0.30534318075286077,0.2172950239627235,-0.18154192091988688],[-0.138284010938888,1.120681509952191,-0.7476216404092401,0.3078655790673953,0.21798129775632522,-0.1836522288538362],[-0.14025304147020873,1.119329309459012,-0.7426381425589488,0.3102871981095844,0.21863965602244093,-0.18570068599044237],[-0.14217158383708206,1.118015481942741,-0.7376390971952037,0.3126050009308305,0.21927110016127138,-0.18768383810703435],[-0.14403681002238547,1.116738770220351,-0.7326239644698571,0.31481591215431765,0.21987619167885716,-0.18959815742371572],[-0.14584599097510698,1.115497894711344,-0.7275924253261431,0.31691682638962704,0.22045608377493836,-0.19144007474306235],[-0.147596315854199,1.1142914611434676,-0.7225440053150082,0.31890459581221325,0.2210115166493108,-0.19320594388040718],[-0.14928508083701233,1.1131180510268124,-0.717478449622578,0.32077603084582734,0.221543804907362,-0.19489206883800128],[-0.1509095253406923,1.1119761211252555,-0.7123953782851501,0.32252790488294564,0.22205401109066222,-0.19649468545501117],[-0.15246694209316575,1.1108640723630592,-0.7072945126314341,0.32415692500157656,0.22254339172012697,-0.19800995081377906],[-0.15395464911445608,1.1097802007529483,-0.7021755995090866,0.3256597524944796,0.2230133482588067,-0.19943395504698874],[-0.15536997715119163,1.108722692291997,-0.6970384954263855,0.3270331996272648,0.2234659924589667,-0.20076252165498232],[-0.1567098845491566,1.1076896366527273,-0.6918831086143241,0.3282733829210128,0.22390345716677165,-0.20199193820799904],[-0.15797169254169907,1.106678958740405,-0.6867091880091278,0.3293770954840292,0.22432765001507798,-0.2031184360178174],[-0.1591528529512118,1.1056884583577384,-0.681516486038129,0.3303409673776652,0.22474028037935562,-0.20413804372332733],[-0.160250937438171,1.1047157761264246,-0.6763048411899457,0.33116151300553387,0.22514324637112176,-0.20504665491575189],[-0.16126359773970397,1.1037583333460879,-0.6710741169397595,0.33183518059725703,0.2255386827182156,-0.20584008156042102],[-0.1621885182597532,1.1028133207775834,-0.665824146408381,0.3323582663366964,0.22592852729232987,-0.20651397059344984],[-0.16302349310364628,1.1018776614116181,-0.6605548451896004,0.3327269710271254,0.2263151052102971,-0.20706386366444898],[-0.16376637808738598,1.100947959352543,-0.6552661189540195,0.3329373483532402,0.22670078950645228,-0.20748514781426378],[-0.16441522286458818,1.10002044162888,-0.6499577568207776,0.33298679597116115,0.2270878153829391,-0.2077735468081655],[-0.16496952027847375,1.0990908383427636,-0.6446286292884504,0.33288909325202815,0.22747778097327717,-0.2079291255896342],[-0.16543074776309327,1.0981545798763,-0.6392778477721485,0.3326798294310079,0.22787307970186327,-0.20797531122569324],[-0.16579986252126006,1.0972065456657272,-0.63390611201787,0.33238096125889643,0.22827743226876826,-0.20794653943520633],[-0.16607679566644326,1.0962406500988668,-0.6285143409145436,0.33199401960764485,0.22869476474670536,-0.20786145871987732],[-0.1662621590243915,1.0952498423094708,-0.6231026786619069,0.33151873252149083,0.22912868859479976,-0.20772303675650722],[-0.16635730866817303,1.094226114323248,-0.6176712754555045,0.330953988666131,0.2295832534212198,-0.2075314766306156],[-0.1663642623533377,1.093160218411694,-0.6122203356251904,0.33029823731656743,0.2300632159068961,-0.20728630957481567],[-0.16628577608047368,1.0920413203034187,-0.6067501092798557,0.32954901847779833,0.2305742410187904,-0.20698611312419318],[-0.16612919363653297,1.0908559805191838,-0.6012600445195445,0.32863645581422696,0.23111654411918456,-0.2065514567593109],[-0.16589086400724296,1.0895887725456155,-0.5957503887397935,0.32743075893580253,0.23168565600697041,-0.20583546979918407],[-0.16554753544372175,1.0882219184237603,-0.5902239119828526,0.3258241864986238,0.23228363780522998,-0.20472055848204773],[-0.16506065908239317,1.0867333059196822,-0.5846853126274166,0.32367791235573806,0.23291550230885508,-0.20305643531015072],[-0.16445155046811244,1.0852513532775299,-0.5796017187179531,0.3206567440406757,0.23389705823421933,-0.20051779178218962],[-0.16535410197998063,1.0867865890066037,-0.5836503000431756,0.3146971978860351,0.24103479005949466,-0.19566660084218612],[-0.16653215189542767,1.0885158764394571,-0.5882650190393761,0.3094176093224566,0.24930443626390109,-0.19190234315514723],[-0.1678842746521435,1.090343160693704,-0.5931692619891022,0.30527004667361834,0.2581864504719203,-0.1899240271005703],[-0.16917354883530022,1.0920430348047045,-0.5977084684976688,0.3024130472879103,0.26643659925230634,-0.1895594203087526],[-0.170103508227975,1.0934087471314358,-0.6013200771091657,0.2998779111648863,0.27294061949014187,-0.1893519779768999],[-0.17080621431188642,1.0946191450955123,-0.6044801643915227,0.29722928567560936,0.2785557490264738,-0.18890662073787245],[-0.17132563607981197,1.0956535403847028,-0.607144719999778,0.29490421431325703,0.283239338059611,-0.18872850305804145],[-0.17167008791631727,1.0964754667233345,-0.6092385577794531,0.29304421620192295,0.28687910799910515,-0.18894210035641468],[-0.1718622011745648,1.0970804841679498,-0.6107696763079475,0.2916439799322041,0.2895072013711142,-0.18950826634387166],[-0.17193618169014,1.0974913474436294,-0.6118103313843652,0.29063927415915747,0.29126610154947596,-0.19033952205413107],[-0.17193253538867695,1.0977510994648425,-0.6124768757647238,0.28994132410041606,0.29237168887477316,-0.19133835639631255],[-0.17189417486166714,1.0979189487362357,-0.612919679933938,0.28943819620221584,0.29309447563373,-0.1924014126208289],[-0.17185766390730806,1.098056652368185,-0.6132906648024675,0.28900597337106615,0.2937021115844203,-0.19342100982718852],[-0.1718386190768554,1.0982162961152688,-0.6137160118110071,0.28846427876928094,0.29440787157467063,-0.19422381299040417],[-0.17184611765283883,1.0984322243679845,-0.61427821174003,0.2877129794071833,0.2953507299358549,-0.19474448156089508],[-0.1718923948289015,1.0987236356881174,-0.6150226531541407,0.28676599632027755,0.29661123715318916,-0.19504652836303027],[-0.1719846152714442,1.0990953303619104,-0.61595970578052,0.28567921358168497,0.2982100793868909,-0.19522344608060202],[-0.172124554123075,1.0995444338061449,-0.6170811872830232,0.28450648171455706,0.3001345649038343,-0.19534960063901183],[-0.17230844322194705,1.1000623997143275,-0.6183652313904132,0.2832883650807701,0.3023465349677192,-0.19547209115562014],[-0.17252772213659853,1.1006363137079611,-0.6197795437827351,0.2820511646337399,0.3047882351652872,-0.19561406160970934],[-0.17277250600455651,1.101249313573634,-0.6212823244378,0.2808287050690443,0.3073857609558312,-0.19580222416817272],[-0.1730334693990229,1.1018841257424787,-0.6228309783200007,0.2796543088109543,0.31006424759032436,-0.1960590853121945],[-0.1733023508478688,1.102524920850548,-0.6243867602608543,0.2785541801712187,0.3127557614780085,-0.19639729470981857],[-0.17357268471243895,1.103158834037703,-0.6259185119441689,0.27754544120364094,0.31540582876908674,-0.19681965904725296],[-0.173839198982565,1.103776568149675,-0.6274041324447805,0.27663116193631876,0.31797555443796677,-0.1973147464106297],[-0.1740975358854968,1.1043726457211942,-0.6288310953761926,0.27580002210771626,0.3204423327147461,-0.19785821592414654],[-0.17434504658054836,1.1049452271576254,-0.6301957882405919,0.2750347015895578,0.32279914540714894,-0.19842420827563798],[-0.1745810685342528,1.1054957768543596,-0.6315024754748456,0.2743167046390174,0.3250529183030133,-0.19899069283622495],[-0.1748064145174977,1.1060282107983286,-0.6327611077833587,0.27362795056217626,0.32722060323679153,-0.1995402806650917],[-0.1750226586842749,1.1065480134168,-0.633985162615305,0.2729510495781194,0.32932525808966845,-0.2000605548650791],[-0.17523162564425826,1.1070613038324937,-0.6351894092339516,0.27227029798431035,0.3313921198720423,-0.2005440344891513],[-0.17543590052983282,1.1075740989696337,-0.6363880809987774,0.27157669094234627,0.3334458143456219,-0.20099041419797714],[-0.17563824837142317,1.10809168523747,-0.6375934586257858,0.27086634856508296,0.33550775641450986,-0.20140339775538188],[-0.17584100446050757,1.1086181453663932,-0.6388148634520648,0.27013842541435185,0.33759424051298514,-0.20178801684204672],[-0.17604569875694237,1.109156109203316,-0.6400581763052409,0.2693936677224734,0.3397155176061338,-0.20214936012326457],[-0.17625304462275526,1.109706735878928,-0.6413258605364965,0.2686340854615341,0.3418758603649265,-0.20249236488204564],[-0.1764630071298835,1.110269863416845,-0.6426173612165793,0.26786249725462785,0.3440742749071684,-0.20282169938150027],[-0.1766750360558788,1.1108442879797051,-0.6439297738624074,0.2670824699616596,0.3463057154125128,-0.2031418127987868],[-0.17688820824916393,1.111428102174446,-0.6452586466717593,0.26629767420118516,0.348562469790492,-0.20345659308775868],[-0.17710141454470393,1.1120190428656072,-0.6465987844097295,0.2655115141670297,0.350835560046861,-0.20376918590561097],[-0.1773135276682657,1.1126148113213434,-0.6479449760769085,0.2647268482344378,0.3531160037375613,-0.2040818976321037],[-0.17752353930114922,1.1132133340183648,-0.6492925764973929,0.26394584068507815,0.355395818712187,-0.20439621925461204],[-0.1777306621245116,1.1138129481837655,-0.650637908686719,0.2631699544477558,0.35766871663015665,-0.20471296830488744],[-0.17793437398695824,1.114412509830745,-0.6519784878590295,0.2623999468597627,0.35993047783426624,-0.2050323918866455],[-0.17813437538533244,1.1150114213527311,-0.6533130686332902,0.26163572470233465,0.36217900051342367,-0.20535413497454078],[-0.17833062893773768,1.1156095864814646,-0.6546415172108493,0.26087679089110016,0.3644140993467521,-0.20567753187352691],[-0.17852327571449814,1.1162073315014565,-0.6559646257553754,0.26012220920027096,0.3666371608790014,-0.20600162776973963],[-0.17871255965111568,1.1168052753541773,-0.6572838161647098,0.25937073552513334,0.3688506259764286,-0.20632529374741712],[-0.17889879336830303,1.1174042095583647,-0.6586008675276404,0.25862108689272184,0.37105753144085707,-0.2066474886680738],[-0.17908224545087773,1.118004976259076,-0.6599176537828124,0.25787180788011627,0.3732610373814059,-0.20696714960808826],[-0.17926317096220254,1.118608357761326,-0.6612358954874494,0.2571217338791152,0.37546403977015375,-0.20728353620913603],[-0.17944181588140512,1.1192150074093077,-0.6625570095684815,0.2563701738412398,0.3776689309809857,-0.20759632589816363],[-0.17961834413679695,1.1198254014539832,-0.663882016974833,0.2556166677461115,0.3798774229116284,-0.20790537625859723],[-0.17979286566100544,1.1204398141807346,-0.6652114924439143,0.2548611583085167,0.3820904824119546,-0.2082109385329289],[-0.17996538535256917,1.1210583387132416,-0.6665456207929523,0.2541036280319076,0.3843084017388844,-0.20851318620587808],[-0.18013586962596656,1.1216808955105662,-0.6678842154608007,0.2533443700828178,0.386530861272609,-0.20881258894921992],[-0.18030420470810032,1.122307292751751,-0.6692268575176162,0.25258357612850674,0.38875713560628733,-0.20910939403571976],[-0.18047026040554398,1.1229372518008305,-0.6705729483521303,0.25182156300179875,0.39098620825328495,-0.20940396195337543],[-0.18063387578449067,1.1235704681351855,-0.6719218437067506,0.25105852029450965,0.39321698030427016,-0.20969645769291803],[-0.18079488041924907,1.1242066419000891,-0.6732729178109934,0.2502945336957447,0.39544838282762823,-0.20998691565631566],[-0.18095313871598054,1.1248455096787642,-0.6746256264420827,0.2495297162663847,0.39767949650897594,-0.2102754302721074],[-0.18110847042669642,1.1254868730458198,-0.6759795737429928,0.24876376794064245,0.3999096230335577,-0.21056159249722498],[-0.18126076548217554,1.126130592460546,-0.6773344866117129,0.24799655319375058,0.40213829335397144,-0.21084526578777113],[-0.18140992257069274,1.1267766045896088,-0.67869025480032,0.24722777432240883,0.4043653034362244,-0.21112614333919072],[-0.18155583987703303,1.127424905614717,-0.6800468946779265,0.24645698868779076,0.4065906518377742,-0.21140377501196497],[-0.18169848481653378,1.128075538305146,-0.6814045134883963,0.24568397063724812,0.40881451150606457,-0.21167803204734698],[-0.18183776172846278,1.1287285843557966,-0.6827633048250847,0.24490812935305997,0.4110371655299221,-0.21194832782705667],[-0.18197362713503176,1.129384134298937,-0.6841234739203848,0.24412911809359494,0.413258937264433,-0.21221442309774827],[-0.1821060673057993,1.130042286139911,-0.6854852362970169,0.24334672571902305,0.4154801777890574,-0.21247625411641516],[-0.18223488005166735,1.13070312600329,-0.6868487988667534,0.2425599363424862,0.4177011439735552,-0.21273261434674087],[-0.18235981489233888,1.131366701760931,-0.6882142942279377,0.2417676663194688,0.41992195697754137,-0.21298229208610092],[-0.18248070169837968,1.1320330344795688,-0.6895817917828234,0.24096929565646436,0.4221426732409244,-0.2132247400087466],[-0.18259742915716934,1.1327021261215393,-0.6909513157754893,0.24016453306023752,0.42436330336611766,-0.21345987558865487],[-0.18270990242740298,1.1333739622928711,-0.6923228548805548,0.23935319930387683,0.4265838086776476,-0.21368773272997293],[-0.18281802842365613,1.1340485126748399,-0.6936963650235585,0.23853515547356222,0.4288040997270852,-0.21390836835064442],[-0.1829217157747573,1.1347257364081829,-0.6950717807707489,0.23771028776634343,0.43102405444975234,-0.21412184615205518],[-0.1830208664480651,1.1354055877269558,-0.6964490281425517,0.2368784630686379,0.43324353552153516,-0.21432820790822232],[-0.18311528289663365,1.1360880239240647,-0.6978280529182463,0.23603917061849508,0.4354624016461259,-0.21452726956252222],[-0.18320486368453412,1.1367730048665312,-0.6992087942469026,0.23519225440515043,0.43768053712817506,-0.21471903333444006],[-0.1832895211543448,1.137460499476134,-0.7005912083200538,0.23433759001955132,0.43989785896307565,-0.21490351645061523],[-0.18336917546279438,1.1381504854761748,-0.7019752683764531,0.2334750637637513,0.44211431452545363,-0.2150807368553074],[-0.1834436309190714,1.1388429541747394,-0.7033609900839785,0.23260411812742326,0.4443298774429656,-0.21525046220565253],[-0.18351279955182026,1.1395379020769822,-0.704748385461735,0.23172458542637023,0.4465445549887064,-0.21541267146862322],[-0.18357661267892766,1.140235334995344,-0.7061374823856388,0.23083635261982852,0.4487583866165843,-0.21556737534204246],[-0.18363491391325248,1.140935267985895,-0.7075283381270655,0.22993898172003369,0.4509714275407849,-0.21571441281481382],[-0.18368760626702432,1.141637716670294,-0.7089210028017316,0.22903225431948787,0.4531837432370863,-0.21585373864140875],[-0.18373460955096732,1.1423427000340165,-0.7103155304470556,0.2281160109332284,0.4553954115603104,-0.21598534624568128],[-0.18377577315757937,1.1430502402509044,-0.7117119898578874,0.227189844317892,0.4576065093474103,-0.2161090958329431],[-0.18381102921069292,1.14376035456335,-0.7131104287111447,0.2262536534924404,0.45981710955105515,-0.21622501233331926],[-0.18384022517455073,1.1444730646386778,-0.7145109136789412,0.2253070388169571,0.46202728595893017,-0.21633296103699498],[-0.18386326764566835,1.145188385896536,-0.715913490839767,0.22434982376372822,0.4642371010607642,-0.2164329226609107],[-0.18388004170858038,1.1459063358418375,-0.7173182125497065,0.2233817588681692,0.46644662030423223,-0.2165248458398298],[-0.18389040770758355,1.1466269311673054,-0.7187251320842066,0.22240251602141398,0.4686559026967797,-0.21660862932077687],[-0.18389424166255008,1.1473501874541245,-0.7201342978910905,0.2214118290985305,0.4708650057661494,-0.21668420304573538],[-0.18389141183756888,1.148076122250679,-0.7215457625883965,0.2204094080470497,0.47307399163981795,-0.2167514836406327],[-0.1838817820562367,1.1488047545848499,-0.7229595815321035,0.21939495152589364,0.4752829259896325,-0.21681037889374938],[-0.18386520398221395,1.1495361065866332,-0.7243758168895387,0.21836811908385223,0.47749188186908303,-0.21686077349968416],[-0.1838415431157816,1.1502702015929296,-0.7257945305907892,0.2173286220653799,0.47970093745183184,-0.21690257791356296],[-0.18381067657855013,1.1510070662342318,-0.7272157885961683,0.21627621206012893,0.48191018185195883,-0.21693572613354048],[-0.18377250551664778,1.1517467278583466,-0.7286396543183196,0.2152107247275535,0.4841197088514384,-0.21696019723844268],[-0.18372696545096556,1.1524892147570323,-0.7300661877490473,0.21413211167133753,0.4863296187504818,-0.2169760358304876],[-0.18367402525768062,1.1532345559537602,-0.7314954451851132,0.21304043346205565,0.4885400172561075,-0.2169833492879315],[-0.183613716379789,1.15398278271212,-0.7329274784319082,0.21193595174490443,0.49075102350645816,-0.21698236508829635],[-0.18354608610267137,1.1547339259690228,-0.7343623358489126,0.2108189747802426,0.49296275603765743,-0.21697333542659084],[-0.1834711993860349,1.1554880164424879,-0.7358000623586192,0.2096898621731128,0.4951753332656214,-0.21695653867237255],[-0.18338913932785902,1.15624508510901,-0.7372407003182291,0.208549024377664,0.4973888748278086,-0.21693227779022953],[-0.18330000763394397,1.157005163464121,-0.7386842899883228,0.20739692274615756,0.4996035023055926,-0.21690088104966054],[-0.1832039249584817,1.1577682840482466,-0.7401308704969466,0.20623406864652344,0.50181934063859,-0.21686270023036394],[-0.18310103115450807,1.1585344805713313,-0.7415804800717167,0.20506102308867039,0.5040365183850332,-0.21681811124668607],[-0.18299148561816414,1.159303788234171,-0.7430331566179085,0.20387839630859658,0.5062551685250738,-0.21676751346767262],[-0.18287546732681095,1.1600762437478875,-0.7444889377735981,0.20268684682563978,0.508475428353374,-0.21671132919825115],[-0.1827531748576782,1.1608518853215917,-0.7459478609097314,0.20148708048218633,0.5106974392744175,-0.21665000289719624],[-0.182624826464387,1.1616307524807632,-0.7474099628191079,0.20027984998593723,0.5129213461420953,-0.2165840015913362],[-0.1824906598501429,1.1624128859505523,-0.748875279559488,0.19906595324807624,0.5151472967271152,-0.21651381294028205],[-0.1823509319334457,1.1631983272729776,-0.7503438458239021,0.19784623219841058,0.5173754404728717,-0.21643994516219459],[-0.18220591868184252,1.1639871185708,-0.7518156945776767,0.19662157158862378,0.5196059276834004,-0.21636292632188606],[-0.18205591450824554,1.1647793022660842,-0.7532908566681464,0.195392896397224,0.521838908533987,-0.21628330184214925],[-0.18190123208774292,1.165574920630292,-0.7547693600988751,0.1941611710548914,0.5240745317311114,-0.2162016358821861],[-0.18174220149451548,1.166374015827151,-0.7562512302648025,0.19292739552150318,0.5263129444076363,-0.2161185058125264],[-0.1815791696876972,1.1671766291727164,-0.7577364887630534,0.19169260405945204,0.5285542900137754,-0.21603450515505285],[-0.18141250004722173,1.1679828014522076,-0.7592251540879066,0.19045786240383808,0.5307987090698758,-0.21595023912584035],[-0.1812425710644676,1.1687925723772579,-0.7607172408892101,0.1892242636748327,0.5330463375105655,-0.21586632292352984],[-0.1810697759713195,1.169605980488206,-0.7622127599304296,0.1879929268339375,0.5352973064052884,-0.21578338215802048],[-0.18089452133283113,1.1704230632691948,-0.7637117185296292,0.18676499138770977,0.5375517420896239,-0.2157020465591026],[-0.18071722607716403,1.171243856518268,-0.7652141196442556,0.18554161497872382,0.5398097644339886,-0.21562295243631305],[-0.18053831923474373,1.1720683933339113,-0.7667199602979536,0.18432396613060692,0.5420714837395104,-0.21554673242477895],[-0.18035823880918644,1.1728967114133957,-0.7682292449660736,0.18311321446571435,0.5443370208285305,-0.2154740119386434],[-0.1801774373776118,1.173728850794484,-0.769741980898489,0.18191055110798157,0.5466065014764524,-0.2154054348732373],[-0.1799963720271284,1.1745648465421659,-0.7712581662547101,0.1807171636408328,0.5488800352468943,-0.2153416339929378],[-0.17981550627797022,1.1754047298711294,-0.7727777919956441,0.17953424112393762,0.5511577190351531,-0.21528323924433582],[-0.17963530446115927,1.176248526189904,-0.7743008391586431,0.1783629584102344,0.5534396313564857,-0.2152308612227167],[-0.17945623800995694,1.1770962586150422,-0.7758272844617492,0.17720449293138546,0.5557258428774527,-0.21518511518140498],[-0.17927877728429248,1.1779479456283937,-0.7773570971601952,0.1760600017367981,0.5580164093686816,-0.21514659670409264],[-0.17910338873718312,1.1788036007213474,-0.7788902388341824,0.17493061356118714,0.5603113707468771,-0.21511587421903958],[-0.17893054069797212,1.179663235991542,-0.7804266691241346,0.17381744432795776,0.562610761669374,-0.21509351187526451],[-0.17876069534341474,1.1805268599770675,-0.7819663428658152,0.17272157520416084,0.5649146050716695,-0.2150800468092841],[-0.17859430573011176,1.181394477146699,-0.7835092095857062,0.17164404491857121,0.5672229107960686,-0.21507598194337302],[-0.17843182122891432,1.182266091261601,-0.7850552187907094,0.17058586472017068,0.5695356854131807,-0.21508180821608935],[-0.17827367937183608,1.183141702918951,-0.7866043165965865,0.16954799692821876,0.571852925063434,-0.2150979823950788],[-0.17812030313263708,1.1840213088285414,-0.7881564447979885,0.1685313485995485,0.5741746135743724,-0.21512492113997592],[-0.17797210645753667,1.1849049051177454,-0.7897115459886714,0.1675367870542538,0.5765007320527998,-0.21516302396666473],[-0.17782948259140538,1.1857924828770887,-0.7912695571294232,0.16656510994126367,0.5788312462260652,-0.21521263970394655],[-0.17769281160593925,1.186684032081102,-0.7928304154934908,0.1656170662306918,0.5811661178249752,-0.21527409456955432],[-0.1775624496033193,1.187579537449075,-0.7943940527011971,0.16469332902942843,0.5835052929493362,-0.21534766210717834],[-0.1774387355688099,1.1884789821048605,-0.7959604002583057,0.16379451479856297,0.5858487126305165,-0.21543358890637404],[-0.17732198126047524,1.1893823436870687,-0.7975293839638745,0.16292115828656553,0.5881963020026186,-0.21553206669287522],[-0.17721247764172832,1.190289597912472,-0.7991009293024144,0.16207373060863092,0.5905479805034478,-0.2156432565172554],[-0.17711047198630794,1.191200716793373,-0.8006749609067135,0.161252578620538,0.5929036556233332,-0.2157672423637129],[-0.17701601332585107,1.1921156826348918,-0.802251443636079,0.16045750249507384,0.5952632478950971,-0.21590379150160474],[-0.17692881750175832,1.1930344827951043,-0.8038303881081865,0.15968740994370767,0.5976266679500529,-0.21605212931202739],[-0.1768484929941512,1.193957106019121,-0.8054118188431763,0.158940941208844,0.5999938245832023,-0.21621131090107834],[-0.17677462939629437,1.1948835473089419,-0.8069957726338521,0.15821670829544465,0.6023646439506399,-0.21638038495886375],[-0.1767067687102109,1.195813810057088,-0.8085823052712284,0.15751321795547232,0.6047390726847414,-0.21655835471859344],[-0.17664448641993868,1.19674789756062,-0.8101714681232143,0.15682909341118295,0.6071170617948962,-0.21674430551427604],[-0.1765873315377685,1.197685816641886,-0.8117633209470779,0.15616291197146984,0.6094985714495366,-0.2169373169693317],[-0.17653481471309704,1.1986275724908364,-0.8133579244466719,0.1555131777837786,0.6118835569274086,-0.21713643874554606],[-0.17648641142222057,1.1995731681937878,-0.8149553391436816,0.15487833186133873,0.6142719677205919,-0.2173406958687339],[-0.17644156021118534,1.2005226047340982,-0.8165556255908967,0.15425674859722205,0.6166637474879894,-0.21754908607999274],[-0.17639965775053226,1.2014758823319143,-0.8181588471730158,0.1536467234708946,0.6190588371766261,-0.2177605729842336],[-0.176360043150625,1.202433001450238,-0.819765073484029,0.15304643319557457,0.6214571765240465,-0.21797405917364926],[-0.17632158412228657,1.2033939808684335,-0.8213744553716303,0.15245286361318378,0.6238587216720771,-0.21818773485227108],[-0.17628404969174485,1.2043588161853045,-0.822987006261378,0.15186537589086285,0.626263433435387,-0.21840124453842805],[-0.17624738237867327,1.2053274969167829,-0.8246027108855148,0.15128378809243367,0.628671270125885,-0.21861454640999006],[-0.17621154357938035,1.2062999969533417,-0.826221526328542,0.1507079774609252,0.6310821533530533,-0.21882764424112716],[-0.17617649385486928,1.2072762754361244,-0.8278433857494456,0.15013782775892692,0.6334959691731201,-0.2190405414817046],[-0.1761421951308448,1.2082562823696712,-0.8294682075723622,0.14957323164183353,0.6359125824951846,-0.21925324514937788],[-0.17610861059362126,1.2092399633074749,-0.831095903299556,0.1490140873551277,0.6383318487965439,-0.2194657633973809],[-0.17607570114762364,1.2102272624125459,-0.8327263829573275,0.14846028746178622,0.6407536214369182,-0.21967809363430035],[-0.1760434312676327,1.2112181277595602,-0.8343595631833222,0.14791173153484427,0.6431777650763116,-0.2198902377832837],[-0.17601176726695614,1.2122125131333032,-0.8359953702952102,0.1473683206677419,0.6456041597738255,-0.2201021972140938],[-0.17598067612873566,1.213210378804392,-0.8376337416169437,0.1468299541823544,0.648032702605999,-0.22031396937727055],[-0.17595012812458533,1.2142116929265776,-0.8392746274042405,0.14629653601008932,0.6504633110489247,-0.2205255554352958],[-0.175920095127694,1.2152164302626467,-0.8409179888548222,0.14576797113112439,0.6528959195352718,-0.22073695652509984],[-0.17589055118640082,1.2162245714037565,-0.8425637967099386,0.14524416766165055,0.6553304774242833,-0.22094817585994458],[-0.17586147372509922,1.217236101732782,-0.8442120293765194,0.14472504059259278,0.657766946420939,-0.22115922301490984],[-0.17583283934305152,1.2182510085438665,-0.845862668649388,0.14421050245789607,0.6602052932183484,-0.2213701030042991],[-0.17580462931980712,1.2192692812134565,-0.8475156993953565,0.14370047744007244,0.6626454902553047,-0.2215808318402868],[-0.17577682357016497,1.2202909083101525,-0.8491711054849873,0.14319488722838294,0.6650875083015051,-0.22179142058647527],[-0.17574940527898744,1.2213158778498407,-0.8508288697369807,0.14269366268609215,0.6675313174244558,-0.2220018879048203],[-0.17572235994694438,1.2223441765164575,-0.8524889727600261,0.1421967416219335,0.6699768850639153,-0.2222122577667203],[-0.1756956711873904,1.2233757881295706,-0.8541513909387728,0.1417040587671278,0.6724241721274182,-0.22242254784457882],[-0.1756693261953385,1.224410695372573,-0.8558160986645258,0.14121555869821648,0.6748731375283571,-0.22263278398791486],[-0.17564331304076516,1.2254488791332747,-0.8574830675625789,0.14073118915953978,0.6773237364518501,-0.22284299303523136],[-0.1756176207672067,1.2264903190098613,-0.85915226730717,0.1402509009890487,0.6797759215873476,-0.22305320257246591],[-0.17559223934843626,1.2275349936385236,-0.8608236661532578,0.13977464778193985,0.6822296439134714,-0.22326344086506397],[-0.17556716028600067,1.2285828814731645,-0.8624972321243847,0.13930238697370792,0.6846848545772074,-0.22347373806585147],[-0.17554237736985445,1.2296339616087184,-0.8641729342323883,0.13883408129049407,0.6871415068503908,-0.22368412825604753],[-0.17551788401286803,1.230688212777743,-0.8658507411574631,0.13836969255379916,0.6895995535960121,-0.22389464245965546],[-0.17549367597358473,1.2317456148565236,-0.8675306233523046,0.13790918774329847,0.6920589509445129,-0.22410531556876848],[-0.1754697510206276,1.2328061488983453,-0.869212553108526,0.13745253810619298,0.6945196583018821,-0.2243161856815541],[-0.1754461068200938,1.2338697960629255,-0.8708965030772756,0.13699971442356731,0.6969816357067209,-0.22452728869725114],[-0.17542274340725547,1.2349365387570583,-0.8725824478072989,0.13655069256717225,0.6994448466066221,-0.22473866465865866],[-0.17539966264932766,1.2360063603305902,-0.8742703633026097,0.13610545227168153,0.7019092570785447,-0.22495035660499776],[-0.1753768664092509,1.2370792439361782,-0.8759602254158994,0.1356639731364619,0.7043748330718933,-0.22516240596423975],[-0.17535435877915942,1.2381551734755167,-0.8776520111008349,0.13522623962739577,0.7068415427100982,-0.22537485824739129],[-0.17533214579474496,1.2392341333988457,-0.8793456981126992,0.13479224041237223,0.7093093557815227,-0.22558776252190307],[-0.1753102330882273,1.2403161072633115,-0.8810412629966374,0.13436196327954533,0.7117782402976282,-0.22580116556535573],[-0.175288629262937,1.2414010794030936,-0.882738683348857,0.1339354025253631,0.7142481665038609,-0.2260151203144932],[-0.1752673433857467,1.242489033554988,-0.8844379359219846,0.1335125534535682,0.7167191035830123,-0.22622967983811454],[-0.17524638580587412,1.2435799532110505,-0.8861389970969082,0.13309341416301104,0.7191910205121897,-0.2264448992735125],[-0.175225768949306,1.2446738220728681,-0.8878418434995838,0.1326779872027085,0.7216638871260472,-0.22666083799907927],[-0.17037258171968175,1.2725989509952038,-0.8698487536651632,0.12594541810046828,0.678546007226029,-0.21104521718833352],[-0.17005437085341854,1.2742487412622847,-0.8707144412742632,0.12517844848643866,0.6797783378572491,-0.21101109759744488],[-0.1695034313824408,1.2788448266463677,-0.8708439374671578,0.12438075054461549,0.679910810318187,-0.21079526866361203],[-0.16891795907631,1.2854281488143402,-0.8707466282880977,0.12351540859862946,0.6798110934831434,-0.2105292372674236],[-0.16835031832510458,1.2929452187593269,-0.87032081811321,0.12259703108476905,0.6796649126074081,-0.21023413284464598],[-0.16779275953098144,1.3009644087440726,-0.869606231075968,0.12163426603248463,0.6795089963963438,-0.2099220459721599],[-0.16723532477791872,1.3093044449222249,-0.8687040133792435,0.12063606244349212,0.6793561217249104,-0.20959888906472782],[-0.16667294948953182,1.3178750581697647,-0.8676978619546727,0.11960996696981832,0.679208292797467,-0.20926715941691926],[-0.16610362212950197,1.3266249338706615,-0.8666455612052354,0.11856093067852169,0.6790646684858597,-0.20892789743110193],[-0.16552677032970892,1.335522490297268,-0.8655848321232529,0.11749197237980462,0.6789241883060518,-0.2085815526038912],[-0.1649424338634518,1.344547360312397,-0.8645397275876145,0.11640472157892719,0.6787861303561089,-0.20822828701593443],[-0.16435092900447001,1.3536857238625843,-0.8635252572340919,0.11529994182603225,0.6786501094304838,-0.20786812643626026],[-0.1637527169946108,1.3629273350556208,-0.8625504232587624,0.11417786010413772,0.6785159796191852,-0.20750103891272967],[-0.1631483351518881,1.3722647491747397,-0.8616206273216764,0.11303838901166771,0.6783838081985238,-0.20712698052806364],[-0.16253840484302995,1.381692108499179,-0.8607387316346413,0.11188123601512397,0.6782537557560002,-0.20674591010624124],[-0.16192364449637997,1.3912043085020138,-0.8599057746056603,0.1107059701385547,0.6781260468556857,-0.2063578085683946],[-0.16130488679510566,1.4007964998536442,-0.8591214437981811,0.10951207196116602,0.6780009561540917,-0.20596269875024834],[-0.16068310288064017,1.4104637502815807,-0.8583843499788362,0.10829896885834416,0.6778788001828181,-0.20556066648865245],[-0.16005943555788377,1.4202007873801172,-0.8576921590797656,0.10706606012697582,0.6777599357489615,-0.20515188493654232],[-0.1594352419931569,1.4300017761548753,-0.8570416205295229,0.10581273830385968,0.6776447652644261,-0.2047366455163343],[-0.1588121499954921,1.4398600981935394,-0.8564285133554022,0.10453840872734141,0.6775337500053397,-0.20431539841972396],[-0.15819213205827853,1.4497681032693166,-0.8558475169057759,0.10324251214448546,0.6774274334579141,-0.20388880807360257],[-0.15757760587767045,1.459716801689199,-0.8552920006262412,0.10192455223079308,0.6773264792735314,-0.2034578301925031],[-0.15697157343500187,1.4696954556520503,-0.8547537128598738,0.10058413311584355,0.6772317316786581,-0.2030238218302026],[-0.1563778186477584,1.4796910069211264,-0.8542223291645712,0.09922101324102076,0.6771443123805143,-0.20258870276363664],[-0.1558011975879755,1.4896872377099637,-0.8536847892324101,0.09783518540958733,0.6770657803140335,-0.2021551994623807],[-0.1552480806661835,1.4996634821939179,-0.8531242938330666,0.09642700122932457,0.6769984037886544,-0.20172722767015525],[-0.15472705804115647,1.5095925429487131,-0.8525187201054131,0.09499737309383148,0.6769456457235237,-0.20131051969631833],[-0.15425013145405947,1.5194371062024734,-0.8518379710565409,0.09354811873428505,0.6769130827194061,-0.2009137120119601],[-0.15383488112467852,1.5291430732091966,-0.8510392010208733,0.09208259038098662,0.6769102853944607,-0.20055037166521406],[-0.15350880923759916,1.5386258170182647,-0.850057332642717,0.09060692665625668,0.6769550890790755,-0.20024314889513156],[-0.15277394748021922,1.545145342677696,-0.8596466554978566,0.08712717840362104,0.690356346295268,-0.1970703408697942],[-0.15188717421129724,1.5513555651564965,-0.869194992358777,0.08337313347132305,0.7038166894576745,-0.19381703958141205],[-0.15089128695384701,1.557102387921972,-0.8781334292804879,0.07955870760816698,0.7165530540593351,-0.190775106152655],[-0.1498573140903327,1.5624670280159316,-0.886536031470044,0.07588152303840195,0.7286289070119707,-0.18818169340828578],[-0.14883368395724786,1.5672502997127402,-0.8940403084107491,0.0725231009305275,0.7394487393639636,-0.18617877175846437],[-0.1478425863267565,1.5712232240480313,-0.9002648653409789,0.06956581937004737,0.7478171441276444,-0.18477074011406272],[-0.14689598152338618,1.574257520764113,-0.9050095343634637,0.06701815199006225,0.7526888013304716,-0.18387548020538194],[-0.14599731630921403,1.5762910189354606,-0.9081937691855335,0.064844566196446,0.7572502139644093,-0.18337332286658534],[-0.14514669531182897,1.5774180844785943,-0.909978061441156,0.06298044752629717,0.7612141011942262,-0.18313407663992037],[-0.144342219505529,1.5778706384301249,-0.9107267981869733,0.06134810517220794,0.7630905179921593,-0.18303728322717752],[-0.14357732733198575,1.577884270041634,-0.9108058379274855,0.059872329289119924,0.7630935379686262,-0.18298864034714082],[-0.14284412765735088,1.5776633145156065,-0.9105289356449326,0.058490659153539445,0.7626000137229095,-0.18292356460732415],[-0.14213746391154092,1.5774218986919468,-0.9102193122674926,0.05715390721980658,0.7620757840234389,-0.1827993641710469],[-0.14145295068412783,1.5773839649794832,-0.9102118289980771,0.05581725356742133,0.7620000162513151,-0.182580044775253],[-0.140783282384643,1.5776329715165665,-0.9106295267109344,0.054457236229847106,0.762545063065332,-0.1822567844530999],[-0.14012529261507792,1.5781926687421208,-0.911506478173414,0.05307222344732211,0.7637567962384334,-0.181847016954999],[-0.1394791155426446,1.5790368960321184,-0.9128028064483813,0.05167442821913812,0.7655760497691436,-0.18138079675223964],[-0.13884724277910648,1.580143893597643,-0.91448564533986,0.05027732313399351,0.7679542238074785,-0.180882526864322],[-0.13823051508340095,1.5814619849784857,-0.9164779542968212,0.0488918615682016,0.7707789510550133,-0.18036688145601293],[-0.13762866988852235,1.5829268857025605,-0.9186843200441766,0.0475268914389359,0.7739116165851921,-0.1798422533361379],[-0.13704120541714976,1.5844739163782535,-0.9210089169458863,0.04619013936805222,0.7772134021400913,-0.17931463098102804],[-0.13646785272059214,1.5860461131499795,-0.9233674004321857,0.04488818288900162,0.7805624207779926,-0.17878879651501756],[-0.13590863229431646,1.5875985139159734,-0.9256932081146937,0.043626105565554574,0.783862754737687,-0.1782685347171772],[-0.13536375355486618,1.5890996153640198,-0.9279397225097007,0.04240726737942933,0.7870475066115633,-0.17775652131739877],[-0.1348334807134583,1.59053134752133,-0.9300802420180984,0.04123325651215773,0.7900786618812504,-0.17725417578134733],[-0.13431801034891153,1.5918875129848908,-0.932105659140694,0.04010405850625193,0.7929436285445678,-0.17676169282023074],[-0.13381739524713726,1.5931715894967486,-0.93402118969149,0.03901833038212951,0.7956504096953131,-0.17627817274825625],[-0.13333151383259595,1.5943943231755868,-0.9358427704629041,0.03797375977808172,0.7982223218449123,-0.17580186745288212],[-0.1328600720857797,1.5955708304698901,-0.9375927463897461,0.03696746186433769,0.8006917329304891,-0.1753305412030861],[-0.1324026371372326,1.5967179109781766,-0.939295890518619,0.0359963502917518,0.8030943234542253,-0.17486182928122346],[-0.13195868799657942,1.5978518325563416,-0.9409761413242664,0.035057444250207036,0.8054644159400433,-0.17439354458045164],[-0.13152766383517384,1.5989866839963456,-0.9426541929917757,0.034148079603488896,0.8078315536331805,-0.17392387751569455],[-0.13110900750168764,1.6001333474244608,-0.9443460067783855,0.033266034468492175,0.8102184121693747,-0.1734515101227006],[-0.13070220034606395,1.601299060496106,-0.9460621911803089,0.03240957934419503,0.8126399573289487,-0.17297565708810994],[-0.13030677871469062,1.6024874741865773,-0.947808106779438,0.031577449264778394,0.8151036338909508,-0.17249600969171994],[-0.12992234511176706,1.6036990911754792,-0.9495845224425614,0.03076878458710773,0.817610334387743,-0.17201266280785013],[-0.1295485654742981,1.604931943587851,-0.9513886150518114,0.029983036536188612,0.8201558485566568,-0.17152600370166193],[-0.12918503274744841,1.6061823749125783,-0.953215119615119,0.029219616952250612,0.8227325115495412,-0.1710365377676548],[-0.12883100887943555,1.6074458170812504,-0.9550574707504691,0.02847732293653845,0.8253308263868753,-0.17054455170522417],[-0.1284856935181392,1.6087175098027475,-0.956908835983708,0.027754812920178746,0.8279409539371819,-0.17005016011052032],[-0.12814838707069875,1.6099930672626672,-0.9587629289165851,0.02705089589589436,0.8305538768998613,-0.16955345982523276],[-0.12781852703017818,1.6112688647894222,-0.960614564424859,0.02636458617334285,0.8331621850630497,-0.16905460321339763],[-0.1274955746402478,1.6125422440196395,-0.9624599553434382,0.025694878442460076,0.8357604826042326,-0.16855373632132953],[-0.1271790755788586,1.6138115742504349,-0.9642967950294147,0.025040867576104596,0.8383454985239139,-0.16805098895342072],[-0.12686858443221805,1.6150761797940343,-0.9661241514615261,0.024401614044186608,0.8409159229948132,-0.16754643489767787],[-0.12656363340489904,1.6163361816212745,-0.9679422371591789,0.023776097616751715,0.8434720711277641,-0.16704004617019078],[-0.126263700310761,1.61759228939669,-0.9697521087727659,0.023163172450077263,0.8460154492469589,-0.16653167348009296],[-0.12596815620882937,1.618845576342999,-0.9715553438178854,0.022561483196619516,0.848548290513601,-0.16602102144130415],[-0.12567593447156994,1.6200972511481875,-0.973353722538689,0.021968848011211926,0.8510730887660607,-0.16550741669939734],[-0.12538673504579512,1.6213485531790643,-0.9751490418477774,0.021384569324624597,0.8535923867420206,-0.16499067753450058],[-0.12510055357998393,1.6226005748350585,-0.9769428769791,0.0208085424389196,0.8561084176385997,-0.16447102624197033],[-0.12481743092095335,1.623854162478791,-0.9787364490025591,0.02024077085969071,0.8586229084283409,-0.16394882483220824],[-0.12453741647152741,1.6251098787638614,-0.9805305736404737,0.019681287731116978,0.8611370083046737,-0.16342443452078254],[-0.1242605568944451,1.626368004290695,-0.9823256652034245,0.01913012837738904,0.8636512963631233,-0.16289815227150198],[-0.12398689424382736,1.6276285700331576,-0.984121783729723,0.018587323152099926,0.8661658505046073,-0.16237019732563446],[-0.12371646221278743,1.628891407313297,-0.9859187068011687,0.018052887775206295,0.8686803506188107,-0.16184071111443243],[-0.12344929005865829,1.6301562092441813,-0.9877160170250578,0.017526829349229563,0.8711942035432522,-0.16130977835597582],[-0.12318540224363453,1.6314225907969953,-0.9895131873715443,0.017009144550365257,0.8737066641724669,-0.16077744209345404],[-0.12292481931177751,1.6326901433903858,-0.9913096584419985,0.01649982044664927,0.8762169446435406,-0.1602437156064337],[-0.1226675585376854,1.6339584787681871,-0.9931049003523448,0.01599883546114844,0.8787243013687072,-0.15970859421020248],[-0.12241363654660677,1.635227260515772,-0.9948984569550923,0.015506164242607055,0.8812280969163069,-0.15917206506832085],[-0.12216306739394353,1.636496221078832,-0.9966899696611883,0.015021774095392678,0.8837278328315452,-0.1586341064225582],[-0.12191586350499097,1.6377651680658623,-0.9984791860357123,0.01454562723762799,0.88622316107806,-0.15809469143875785],[-0.12167203686979342,1.6390339805208767,-1.0002659542960017,0.014077683577609825,0.8887138756981334,-0.15755379087079177],[-0.12143159901308681,1.6403025982387316,-1.002050208110443,0.013617901258664649,0.8911998909132878,-0.15701137366931467],[-0.12119456015993788,1.6415710065514426,-1.0038319451351574,0.013166235624207424,0.893681210563207,-0.15646740527347008],[-0.12096092992478988,1.64283922043905,-1.005611204629943,0.012722641083264194,0.8961578964651581,-0.15592184936047118],[-0.12073071784889956,1.6441072690081469,-1.0073880456623319,0.012287072601580806,0.8986300377501412,-0.15537467010167091],[-0.12050393377191285,1.6453751822585398,-1.0091625285899346,0.011859486642274795,0.9010977249181527,-0.15482583251595997],[-0.1202805871180905,1.6466429805869438,-1.010934700438432,0.011439840016723678,0.903561029427337,-0.1542753018670624],[-0.12006068799874355,1.6479106685860212,-1.0127045862571946,0.011028092064445737,0.9060199917644934,-0.15372304620679766],[-0.11984424618137428,1.6491782311880006,-1.014472183821573,0.010624202680761566,0.9084746141760862,-0.15316903452531452],[-0.11963127135636646,1.6504456334860336,-1.0162374634252878,0.010228132764162222,0.9109248605548703,-0.15261323713867936],[-0.11942177334188711,1.6517128225152107,-1.0180003703898857,0.009839844547897672,0.9133706601036574,-0.15205562669918296],[-0.11921576244291154,1.6529797305980678,-1.019760829743284,0.009459302092763057,0.915811913996004,-0.15149617786597377],[-0.11901324835243474,1.6542462790063421,-1.0215187513495843,0.009086469150848849,0.9182485025974385,-0.15093486536495287],[-0.11881424113899527,1.6555123825285574,-1.0232740362281159,0.008721310929044452,0.9206802943507189,-0.15037166559064125],[-0.11861874970734841,1.6567779526072546,-1.025026580942467,0.008363791121856508,0.9231071518812843,-0.1498065531358725],[-0.11842678349078312,1.6580429011140978,-1.026776282776841,0.008013875040058606,0.9255289392355047,-0.1492395039528579],[-0.11823835072858965,1.65930714187036,-1.0285230418725713,0.007671526365157042,0.9279455247959703,-0.148670491824003],[-0.11805346014304077,1.660570592697475,-1.0302667640080867,0.007336710267352562,0.9303567851442737,-0.14809949147413617],[-0.1178721190740658,1.6618331751739732,-1.0320073602990685,0.007009389933342638,0.9327626045696935,-0.14752647482577633],[-0.11769433485236064,1.6630948142190862,-1.0337447465468779,0.006689529725447756,0.9351628741370499,-0.14695142165263209],[-0.11752011700127785,1.664355425968519,-1.0354788260414054,0.00637710691339622,0.9375574676234867,-0.1463744250688162],[-0.11734948432481096,1.6656149152369975,-1.037209485886581,0.006072125533465632,0.9399462364599706,-0.14579571455550386],[-0.11718245923073949,1.666873185011974,-1.0389366107632354,0.005774596355697124,0.9423290289569435,-0.14521552111516417],[-0.11701906398360923,1.6681301386993859,-1.0406600862183961,0.005484527706302089,0.9447056948749417,-0.14463404294356624],[-0.11685931736121007,1.669385678200727,-1.0423797960769792,0.0052019199069610065,0.9470760817914313,-0.14405144636477843],[-0.11670323649910269,1.670639703413837,-1.044095621716818,0.004926769105715385,0.9494400341334549,-0.14346787410952871],[-0.11655083525311537,1.6718921093082568,-1.0458074380553293,0.004659065369975586,0.9517973875936185,-0.14288345527174445],[-0.11640212699680474,1.6731427848245382,-1.0475151119677681,0.004398798487041014,0.9541479669851669,-0.14229831857468295],[-0.11625712399588724,1.674391611364773,-1.0492185002544734,0.004145956970264102,0.956491583452989,-0.14171259257716076],[-0.11611583694822024,1.675638463480215,-1.0509174506764059,0.003900526367328497,0.9588280359788297,-0.14112639304298571],[-0.11597827057549709,1.6768832259926025,-1.0526118261663806,0.0036624710913676353,0.9611571452782312,-0.1405396829725227],[-0.11584442140696315,1.6781257871612651,-1.0543014951597567,0.0034317359044532076,0.9634787402223586,-0.13995233971029922],[-0.11571428114802747,1.679366032161006,-1.0559863223199664,0.0032082569329533505,0.9657926448685422,-0.13936422172870477],[-0.1155878396024641,1.680603841962658,-1.0576661669258585,0.0029919678297814145,0.9680986762407999,-0.13877518360071367],[-0.11546508553757377,1.6818390928475024,-1.059340882197543,0.0027828014930960923,0.9703966434176937,-0.13818507928614104],[-0.11534600686242581,1.68307165628863,-1.0610103151379116,0.0025806904106814247,0.9726863473307624,-0.13759376269371204],[-0.1152305906649261,1.6843013990587152,-1.0626743066842221,0.002385566723204756,0.9749675809885963,-0.13700108767732974],[-0.11511882321466925,1.6855281834574527,-1.0643326920224823,0.0021973622202464075,0.977240129922272,-0.13640690789494636],[-0.11501068995631542,1.6867518675779716,-1.0659853009550013,0.0020160083179662372,0.9795037727007052,-0.13581107662941083],[-0.11490617549970664,1.6879723055529614,-1.0676319582410103,0.0018414360306283533,0.9817582814058127,-0.13521344660099316],[-0.11480526337605512,1.6891893476786468,-1.0692724837762329,0.0016735755351016783,0.9840034218825124,-0.13461386940285017],[-0.1147079367381933,1.6904028407513965,-1.0709066930458324,0.001512357382437871,0.9862389543675609,-0.13401219648864723],[-0.11461417761331305,1.6916126278052053,-1.0725343967926266,0.0013577111777780572,0.988464633030499,-0.13340827784179635],[-0.11452396713670439,1.6928185481723061,-1.0741554011059162,0.0012095659836210068,0.990680206098548,-0.1328019622146201],[-0.11443728554550493,1.6940204373562324,-1.0757695072620108,0.0010678502994772012,0.9928854156390344,-0.13219309703080062],[-0.11435411214990024,1.695218126851058,-1.077376511493622,0.0009324920030267356,0.9950799972446567,-0.13158152825791528],[-0.11427442530647697,1.6964114439253954,-1.0789762047125886,0.0008034182961243067,0.9972636796556765,-0.13096710029956757],[-0.11419820238932356,1.6976002113865083,-1.0805683722065806,0.0006805556477305734,0.99943618434748,-0.13034965589892963],[-0.11412541975680238,1.6987842473373909,-1.082152793327024,0.0005638297301417423,1.001597225107154,-0.12972903604824343],[-0.11405605271329258,1.6999633649364736,-1.0837292411812063,0.0004531653472602654,1.0037465076167515,-0.12910507990168815],[-0.11399007546552398,1.7011373721663507,-1.0852974823370594,0.00034848635430658696,1.0058837290547271,-0.12847762469027244],[-0.11392746107323808,1.7023060716148322,-1.0868572765450264,0.0002497155685108449,1.0080085777214225,-0.1278465056382411],[-0.11386818139390462,1.703469260269213,-1.0884083764781731,0.00015677467038355004,1.0101207326899864,-0.1272115558811567],[-0.1138122070212364,1.7046267293228965,-1.0899505274893297,6.958409515543922e-05,1.0122198634809159,-0.12657260638643905],[-0.11375950721721764,1.7057782639924417,-1.091483467382694,-1.1937086050055161e-05,1.0143056297565578,-0.12592948587766645],[-0.11371004983732472,1.7069236433427732,-1.0930069261968454,-8.787129578679718e-05,1.016377681031273,-0.1252820207643684],[-0.11366380124858798,1.708062640118439,-1.094520625996335,-0.00015830259116284733,1.0184356563933121,-0.12463003507936127],[-0.1136207262422845,1.7091950205803217,-1.0960242806710379,-0.0002233168129803795,1.0204791842371925,-0.12397335042901622],[-0.11358078793169026,1.7103205443429563,-1.0975175957369077,-0.0002830017590483404,1.0225078819978701,-0.1233117859462847],[-0.11354394766549933,1.7114389630372049,-1.099000266285428,-0.0003374472827983241,1.0245213536371889,-0.12264515830505193],[-0.11351016455119645,1.7125500463839962,-1.1004720116071098,-0.00038674612092175556,1.0265192364226507,-0.12197327047222273],[-0.11347939564022046,1.713653563921887,-1.1019325512518443,-0.00043099363294474974,1.028501168151317,-0.12129591839149326],[-0.11345159605255892,1.7147492668518407,-1.1033815811051206,-0.0004702875973643407,1.0304667547111384,-0.12061289874188745],[-0.1134267187928516,1.7158368888164333,-1.1048187744405926,-0.0005047285047978644,1.0324155715947427,-0.11992400916156024],[-0.1134047145405203,1.7169161473970793,-1.106243783907781,-0.0005344198922733836,1.0343471666758846,-0.11922904821711164],[-0.11338553142476805,1.7179867462794736,-1.1076562443939424,-0.0005594687037800215,1.0362610641563081,-0.11852781501975677],[-0.11336911479276598,1.719048377572963,-1.1090557760855522,-0.0005799856645300012,1.038156768763069,-0.11782010866409637],[-0.11335540697458116,1.720100723937761,-1.1104419872760432,-0.0005960856630298293,1.0400337695811983,-0.11710572763830049],[-0.11334434704511825,1.7211434603199698,-1.1118144766584024,-0.0006078881398113034,1.0418915431700477,-0.11638446932329409],[-0.11333587058105886,1.7221762552197766,-1.1131728350057746,-0.0006155174852047468,1.0437295558363315,-0.11565612966350838],[-0.1133299094093839,1.7231987715135757,-1.1145166462682272,-0.0006191034507805002,1.0455472651066609,-0.11492050305860628],[-0.1133263913436009,1.7242106669145176,-1.1158454881971485,-0.0006187815801370235,1.0473441205548273,-0.11417738249748247],[-0.11332523990316772,1.725211594188613,-1.1171589326512292,-0.0006146936657172197,1.0491195641956335,-0.11342655993559068],[-0.11333564560702585,1.7257099951578796,-1.1177874934019125,-0.0005895049009171032,1.0499587437479911,-0.11308182427863808],[-0.1133536012915493,1.7257394206910182,-1.1177823864719838,-0.0005505858815750024,1.0499342675487315,-0.11312108138534092],[-0.11336886740771582,1.7257631999307506,-1.1177772615499275,-0.0005170352377612733,1.0499135045280903,-0.1131543756007669],[-0.11338218734002753,1.7257829039795103,-1.117771130309905,-0.00048730353903694097,1.0498942081771725,-0.11318340088382109],[-0.11339423145597553,1.7257999809266047,-1.1177637921809471,-0.0004601041601277853,1.0498751757678693,-0.11320960440534554],[-0.1134053359907181,1.7258151894007345,-1.1177555463002378,-0.00043484427904148543,1.049856252578044,-0.11323368971333987],[-0.11341581548097991,1.7258292621665428,-1.1177467220316264,-0.000411007010075749,1.0498373261194764,-0.11325627475966556],[-0.1134257511455368,1.7258424053789458,-1.1177377036879357,-0.0003884911116565539,1.0498186821362303,-0.11327751023106872],[-0.11343510937876551,1.7258546631310598,-1.1177290034572263,-0.0003673592095981566,1.049800931790704,-0.11329736263088788],[-0.11344396448525448,1.7258662501967235,-1.1177207706261367,-0.00034745497725123395,1.0497841514655923,-0.11331600889678521],[-0.11345237827371141,1.7258772915144076,-1.1177129601833973,-0.00032863745454938213,1.0497682189218693,-0.1133335949086911],[-0.11346037382197355,1.7258878236211073,-1.1177055556923436,-0.0003108400586283446,1.0497530939539692,-0.11335018663604081],[-0.1134679700332171,1.7258978725378937,-1.1176985412903673,-0.00029400609527988736,1.049738741946469,-0.11336583978930834],[-0.11347518514886654,1.7259074626612583,-1.1176919005016337,-0.0002780819994621286,1.0497251281296025,-0.11338060706604296],[-0.11348203681802416,1.725916617262577,-1.117685616959642,-0.0002630170677903115,1.049712218396848,-0.11339453839919529],[-0.11348854201046943,1.7259253584029641,-1.1176796747392825,-0.00024876348035606454,1.0496999798235183,-0.11340768090514114],[-0.1134947169943886,1.7259337069309104,-1.1176740584567992,-0.00023527620216075518,1.0496883808144708,-0.11342007896764324],[-0.11350057734583648,1.7259416825324654,-1.117668753290083,-0.00022251283314530718,1.049677391113509,-0.11343177438022303],[-0.11350613796844862,1.7259493037962774,-1.1176637449751217,-0.00021043344955971028,1.0496669817713544,-0.11344280649972688],[-0.11351141311597887,1.7259565882795729,-1.117659019795486,-0.00019900045068910335,1.0496571251025784,-0.11345321239555729],[-0.11351641641543485,1.7259635525711392,-1.117654564569593,-0.0001881784144808868,1.0496477946401337,-0.11346302699056186],[-0.11352116089013356,1.7259702123504577,-1.1176503666370978,-0.00017793396247749776,1.0496389650898674,-0.11347228319300989],[-0.11352565898246186,1.7259765824429687,-1.1176464138448285,-0.00016823563367562923,1.0496306122857273,-0.11348101201997496],[-0.11352992257622956,1.7259826768716786,-1.1176426945324467,-0.00015905376674471124,1.0496227131458882,-0.11348924271264577],[-0.11353396301855885,1.7259885089053495,-1.1176391975179214,-0.00015036039001397523,1.0496152456298975,-0.11349700284411646],[-0.11353779114126186,1.7259940911035145,-1.117635912082923,-0.0001421291187065047,1.049608188696933,-0.11350431842016329],[-0.11354141728167681,1.7259994353585348,-1.1176328279581704,-0.00013433505888405724,1.0496015222651747,-0.11351121397350507],[-0.11354485130293215,1.726004552934918,-1.1176299353088284,-0.00012695471765163493,1.049595227172371,-0.11351771265199086],[-0.11354810261362495,1.7260094545060822,-1.117627224719977,-0.00011996591917467277,1.0495892851375814,-0.11352383630113196],[-0.1135511801868963,1.7260141501887503,-1.1176246871822197,-0.00011334772610690904,1.0495836787241344,-0.11352960554136908],[-0.11355409257889933,1.7260186495751368,-1.1176223140774604,-0.00010708036605491794,1.0495783913037924,-0.11353503984043595],[-0.11355684794665188,1.726022961763085,-1.117620097164888,-0.00010114516273167631,1.0495734070221332,-0.11354015758114334],[-0.11355945540855132,1.7260270949203598,-1.1176180270837748,-9.552532477921947e-05,1.0495687085336494,-0.11354497472870456],[-0.11356192317128784,1.7260310570157564,-1.1176160951983274,-9.020447529881538e-05,1.049564279747124,-0.11354950675201701],[-0.11356425633693742,1.7260348565390533,-1.1176142965183846,-8.516554360011493e-05,1.0495601102465046,-0.11355377129133874],[-0.11356646080267567,1.7260385011469692,-1.1176126253002334,-8.039324970286535e-05,1.0495561886561064,-0.11355778400346093],[-0.11356854284690297,1.7260419978729198,-1.1176110752328459,-7.587354207883195e-05,1.0495525028881794,-0.11356155889388445],[-0.11357050865894627,1.7260453533299698,-1.1176096399759647,-7.15932068051432e-05,1.0495490409447237,-0.11356510891348096],[-0.11357236417889378,1.7260485737926827,-1.1176083133951011,-6.753974238101656e-05,1.0495457912674033,-0.11356844623593564],[-0.11357411506072582,1.72605166523175,-1.117607089634883,-6.370130923118321e-05,1.049542742842418,-0.11357158237477549],[-0.11357576667398407,1.7260546333334361,-1.1176059631300035,-6.0066693508256814e-05,1.0495398852101985,-0.11357452823933331],[-0.11357732411606314,1.7260574835142908,-1.1176049285956955,-5.662527357933932e-05,1.0495372084440568,-0.11357729416976292],[-0.11357879222662114,1.726060220934287,-1.1176039810130411,-5.336698810134214e-05,1.0495347031213271,-0.11357988996538304],[-0.11358017560168879,1.7260628505092688,-1.1176031156140736,-5.028230579127519e-05,1.049532360294619,-0.11358232491093274],[-0.11358147860688497,1.7260653769228982,-1.1176023278679408,-4.7362196908977925e-05,1.04953017146512,-0.11358460780191573],[-0.11358270538969674,1.7260678046381295,-1.1176016134682778,-4.459810634104897e-05,1.0495281285581122,-0.1135867469691899],[-0.11358385989090745,1.7260701379081835,-1.117600968321612,-4.1981928162124697e-05,1.0495262239004328,-0.1135887503027108],[-0.11358494585526663,1.7260723807870084,-1.1176003885366423,-3.9505981564544165e-05,1.0495244501995844,-0.11359062527433848],[-0.11358596684148962,1.7260745371392445,-1.1175998704142418,-3.7162988079572406e-05,1.0495228005242467,-0.11359237895964025],[-0.11358692623165666,1.7260766106496845,-1.1175994104380829,-3.4946050016056754e-05,1.0495212682860187,-0.11359401805868291],[-0.11358782724006625,1.7260786048322592,-1.117599005265816,-3.284863005774036e-05,1.0495198472222513,-0.11359554891581299],[-0.11358867292159075,1.7260805230385554,-1.1175986517207248,-3.0864531959676654e-05,1.049518531379863,-0.11359697753845185],[-0.11358946328953196,1.7260823223401354,-1.1175983575002226,-2.899671193266489e-05,1.0495173399908038,-0.11359825461124053],[-0.11359016189756364,1.7260837246898442,-1.1175981915165472,-2.731567182674866e-05,1.0495164329928879,-0.11359906036576532],[-0.11359072348714543,1.7260849784852066,-1.1175981805040993,-2.58518862249649e-05,1.0495158088474343,-0.11359976266266968],[-0.1135911986184954,1.7260861478088816,-1.1175982726945426,-2.4552148230022323e-05,1.0495153715708656,-0.1136004181013784],[-0.1135916163509996,1.7260872467619186,-1.117598423636731,-2.336869587568736e-05,1.049515048497371,-0.11360101691627979],[-0.11359198773452252,1.7260882877935866,-1.1175986132160018,-2.2278621800855087e-05,1.049514805810366,-0.11360156424293276],[-0.11359232058227502,1.7260892800443215,-1.1175988283857972,-2.126725688915512e-05,1.0495146212859041,-0.11360206620434511],[-0.11359261938466617,1.726090229946839,-1.1175990609720676,-2.0325551550373278e-05,1.0495144806842525,-0.11360252804476657],[-0.11359288353831998,1.726091139946825,-1.117599309633891,-1.9452191086434744e-05,1.049514381028023,-0.11360295398130912],[-0.11359312109504889,1.726092013648548,-1.1175995673035797,-1.8636484569984015e-05,1.0495143105410596,-0.11360334574110109],[-0.11359333747878918,1.7260928565136004,-1.1175998284464455,-1.786941139773431e-05,1.0495142593766362,-0.11360370695722685],[-0.11359353267633936,1.7260936698638545,-1.117600093335214,-1.7149019020980244e-05,1.0495142275437763,-0.11360403989268424],[-0.113593702129195,1.7260944574706027,-1.1176003704038113,-1.6481042380706238e-05,1.0495142272853797,-0.11360435523976958],[-0.11359385540605621,1.7260952272476842,-1.1176006521208368,-1.5855562054058778e-05,1.049514245175352,-0.11360465913611127],[-0.1177409528286031,1.6686616796962774,-1.1069578194621772,0.006808011751820644,1.0358473158045676,-0.1253694376060262],[-0.11785252292880266,1.6678565249769663,-1.1063873902823835,0.0070094001113450224,1.0357686206364143,-0.125369804306445],[-0.11806220733458994,1.6634284965079305,-1.1040864124995051,0.0073984785936668865,1.0356812295955722,-0.12551465486400007],[-0.11830078286595166,1.654880222371696,-1.101053719732946,0.007840507954562244,1.0359488530207592,-0.12574413432395826],[-0.11855236148600533,1.644405982541171,-1.098623476524917,0.00833511637209175,1.0364252068484192,-0.12603610564151965],[-0.11882082906567701,1.6330963494689257,-1.0969747366120646,0.008879162106937202,1.036889244332784,-0.12636446396013512],[-0.11910777920423994,1.6213972449872156,-1.0959765540136208,0.00946566503897604,1.0372729276521955,-0.1267176952562502],[-0.11941828186138762,1.609525438629588,-1.0954837584183466,0.01009004491598273,1.037576595288015,-0.12709164194791198],[-0.11975841397946,1.5975980607101068,-1.0953815933540727,0.010749612416501585,1.0378162695083633,-0.12748489333746227],[-0.12013615775835337,1.5856827104740683,-1.0955857618236384,0.011443052919885073,1.0380073433133732,-0.12789691417782423],[-0.12055688409259584,1.5738123589644433,-1.09601232483399,0.012169730960027415,1.0381594417800803,-0.12832703739556323],[-0.12102360698727092,1.56200004064225,-1.0965556270236883,0.012928951852447981,1.0382807426826275,-0.12877400449151485],[-0.12153638419571645,1.5502748522395535,-1.09715634090115,0.013719451040882048,1.0383854559141183,-0.12923728831799375],[-0.1220938147276174,1.538672009416502,-1.0977978526826118,0.014540419282985308,1.038484948464355,-0.12971660719020578],[-0.12269419846032031,1.527219211258699,-1.0984792917759907,0.015391882391142609,1.038583685662888,-0.13021139307945],[-0.12333551437794754,1.515937023359119,-1.0992038535140547,0.01627424460901046,1.0386828169352302,-0.13072067634954654],[-0.12401509503788116,1.5048427685153043,-1.0999763578113897,0.017187985631836628,1.0387819943967278,-0.13124304217885485],[-0.12472931792655448,1.4939535275549005,-1.1008029912433812,0.018133444025854192,1.0388803033619889,-0.13177646526528947],[-0.125473307786158,1.4832880269780566,-1.1016914378346367,0.01911066297779434,1.0389761879417483,-0.13231816496354015],[-0.1262405481252237,1.4728690460032043,-1.102655066671674,0.02011925786442033,1.0390681500081131,-0.13286446798423282],[-0.12702243914529107,1.4627251799800451,-1.1037267215187487,0.021158643386987065,1.0391553602301244,-0.13341102912683298],[-0.1278081930969808,1.4528845251432434,-1.1049557669592736,0.022228400747641326,1.0392360770316789,-0.13395248742794377],[-0.1285844937077784,1.4433659891026371,-1.1063961876636406,0.023328460949638655,1.0393058790310952,-0.1344815952256959],[-0.12933551866540882,1.4341762985892987,-1.1080797403829807,0.024461113657624704,1.039355372125962,-0.1349876255304997],[-0.1300399837283333,1.4253242192711835,-1.1100259558723835,0.025628327044308688,1.0393764143124875,-0.13545540161254838],[-0.13066700882779653,1.4168273439315562,-1.1122526829959536,0.026827092372848138,1.0393615233996427,-0.13586246936877772],[-0.13117178247221906,1.4087155233154398,-1.1147806975553178,0.02804849349838652,1.0393009233023716,-0.13617416439846444],[-0.13148641647980938,1.4010367632238834,-1.1176387539196855,0.02927460044491119,1.0391783900104292,-0.13633430942643865],[-0.13212928756561837,1.3941618100174422,-1.1127060109357207,0.030758978281128002,1.0305586189396503,-0.137108693217362],[-0.1331290118328881,1.3876171164493787,-1.1038069574253069,0.032550068766471645,1.0179852173922852,-0.13841026909818194],[-0.134203694522644,1.3815011910449382,-1.095537179343484,0.03446746262106433,1.0064577238600596,-0.13979164179412779],[-0.07801893270174293,1.3865395051468445,-1.082310045810427,0.01585495672632812,0.9785495680647214,-0.07685645341363855],[-0.07773588011494643,1.3795287840388224,-1.0794393593085865,0.01623236451894664,0.9753485190569773,-0.07706092332973044],[-0.07312172255565547,1.3741936638213164,-1.0754621217628482,0.014824277494833983,0.9705668556891308,-0.07530291683503107],[-0.06330340208793671,1.3704552195058548,-1.0713880279601298,0.012649902092434027,0.965810169553128,-0.07009993440357495],[-0.051234057032897254,1.3678192964449671,-1.067365899119027,0.010415743462344883,0.9615779639956137,-0.06357060987877908],[-0.038297036728945175,1.366049144055695,-1.0635748784519834,0.008008073732031398,0.9577593981434042,-0.056539221898793915],[-0.02500834852535011,1.3650264592301917,-1.0601484495447075,0.005438874112515946,0.9545846194736509,-0.0529362770869182],[-0.01157412415060756,1.364703806974428,-1.0572110306358915,0.0027249410646082977,0.9519251031877567,-0.04917411441667939],[0.0019022423872755087,1.3650559843195127,-1.0548581354290545,-0.00011615290376797496,0.9497579972893854,-0.04542564294933858],[0.015347182869371659,1.3660606267793964,-1.0531530610804962,-0.003050488515834589,0.9480600729762617,-0.04168988827666474],[0.028699316946776927,1.3676425783808697,-1.052094374703682,-0.006042304590060242,0.9467501856877112,-0.037961053708592804],[0.04191299575646301,1.3695294857979627,-1.0515915886127762,-0.009084007709450856,0.9457085195283578,-0.0342314726791732],[0.054947538624824974,1.3715962270582183,-1.0516858597930652,-0.012158152353030364,0.9449911279849483,-0.030510439395532635],[0.0677677387278957,1.373803859995302,-1.052405662521377,-0.015251698675639126,0.9445850911078627,-0.026800093900567576],[0.08033194594804012,1.3762739407051554,-1.053840179210968,-0.018335337653183084,0.9445385652015275,-0.02310795988711531],[0.09260161797445862,1.379104148167856,-1.055940371607818,-0.021388621056535835,0.9447211107192514,-0.019423903264598405],[0.10453924056810887,1.3822148591090593,-1.0583440277855931,-0.024401099773005492,0.9447659822278233,-0.015716952822132285],[0.11607954790395021,1.3856212503777516,-1.0608645052480097,-0.027320582886600924,0.9447641701359656,-0.011991630931543207],[0.12716398892919775,1.3894574165208058,-1.0636846001247522,-0.030085825778142273,0.9450898356160392,-0.008280581679143265],[0.13777879783418173,1.3937475879227093,-1.0669047953242716,-0.03269645545510989,0.945697296261347,-0.004593461499327017],[0.14791887393367373,1.398462937787375,-1.0705705905245424,-0.03516729682313925,0.9464760672486984,-0.0009236019672699686],[0.15757966623027056,1.403554074309279,-1.0746857315224463,-0.03751483421931644,0.9473358950869722,0.002735981008877307],[0.16676032525979984,1.4089745424545284,-1.079246230042131,-0.039753913599128825,0.9482277479402798,0.0063899499603130155],[0.17546484145362992,1.4146829627323187,-1.0842418803052138,-0.041897097993765106,0.949124495270324,0.010041431548548516],[0.18369883302998008,1.420641688214561,-1.0896557012613997,-0.04395391147262227,0.950010945503765,0.013692554924628356],[0.19147063099540457,1.4268189835982372,-1.095470308914195,-0.045932931194105006,0.9508796025522552,0.017344504902917224],[0.19879133188176928,1.4331866347877027,-1.1016679461641201,-0.04784156086672839,0.951729320698566,0.020998318338935652],[0.2056725969230774,1.4397195729804848,-1.1082295845127765,-0.04968549590049615,0.952560744014407,0.024654575817896207],[0.21212613095641436,1.4463961121420241,-1.115136430601897,-0.051469566690649775,0.9533756065101678,0.028313556608333762],[0.21816537640638303,1.4531982372618772,-1.1223720473647134,-0.05319861082839042,0.9541766753782193,0.031975421212279184],[0.22380437342409995,1.4601103542035554,-1.129921603517782,-0.054876584595893244,0.9549670744745222,0.035640233656047675],[0.22905522959457578,1.4671181727125115,-1.1377708466621748,-0.05650629665247517,0.955749810327465,0.03930788897555189],[0.23393072091413158,1.474208489739017,-1.14590573074508,-0.05809092292434058,0.9565282585277719,0.04297859223394362],[0.2384437893395005,1.4813702955505237,-1.1543149382879556,-0.059633013351397715,0.9573065106654566,0.046652158070709535],[0.24260689523025644,1.4885938225594924,-1.162989036835634,-0.061134525542974126,0.9580888513007285,0.050328431104980996],[0.24643011269952253,1.4958698026166777,-1.1719196865249801,-0.06259659037899139,0.9588795033389321,0.054007135137168996],[0.2499235930661675,1.5031897988945475,-1.1811002907191268,-0.06402055941097895,0.9596832516901878,0.05768819245995883],[0.2530966353795068,1.5105452168014535,-1.1905245807908496,-0.06540714900566934,0.960505367086892,0.06137159921533881],[0.25595717714972677,1.5179278877344433,-1.2001880540358767,-0.0667563175176999,0.9613521467466261,0.06505712952278647],[0.25851085962604387,1.5253296503441152,-1.210088160584026,-0.06806717524252276,0.9622308650554091,0.06874446194002186],[0.26076095934374044,1.532741679450618,-1.2202240971221967,-0.06933820001447165,0.9631501184632125,0.07243332535833394],[0.2627085289483997,1.540153932564498,-1.230597081321299,-0.07056698803355997,0.9641206759648975,0.0761235149736437],[0.2643508430647637,1.5475540227037317,-1.2412104567882485,-0.0717492366609679,0.9651564578114019,0.07981476435301439],[0.26567944757039486,1.5549250397454568,-1.2520693233477285,-0.07287791802435456,0.9662762691788532,0.08334943612332527],[0.26667624249291333,1.5622431352961907,-1.263182457901966,-0.07394070025005867,0.9675082563296655,0.08583602792028827],[0.2673056576692326,1.5694754400231041,-1.2745705358061281,-0.07491158226674996,0.9689023370934005,0.08813893532220482],[0.2676184713813754,1.5738984281167605,-1.281875842409294,-0.07587226492777864,0.9688427439674838,0.09039711655368951],[0.26807486166695377,1.571987271584233,-1.2789103895309757,-0.07714033931046822,0.9647120162745709,0.0934230251148625],[0.26862980206785125,1.569958363168448,-1.2756454936589994,-0.07858904197870778,0.9602462999142389,0.09707110852116824],[0.2692682354844271,1.567934154468054,-1.2723156069694779,-0.0801927149680602,0.9557565892986982,0.10109083832045532],[0.26331979541657063,1.602726510919828,-1.261040354842147,-0.06332263423491338,0.9725987076431862,0.07477007441330068],[0.26351806690798546,1.6034540487123798,-1.2620316016449658,-0.06385052202280729,0.9720483318481646,0.07672740213733564],[0.2634833761832164,1.606849699663132,-1.2626431727718448,-0.06375261032243477,0.9717808626349727,0.07760761411267521],[0.2633755995168788,1.6125403369949742,-1.2628551883430528,-0.06353132839203092,0.9714833328834493,0.07836903639488667],[0.2632348130832138,1.6197247099205725,-1.2629047041184656,-0.06326778200371719,0.9711887922460628,0.07915124371267822],[0.26307357411107685,1.6278512017918016,-1.262898795366689,-0.06297600495609507,0.9708814385313791,0.07996342802549097],[0.26289651855100943,1.6365489479805553,-1.2628305758885185,-0.06266003427329438,0.9705431460991355,0.08080170614893675],[0.2627054542137338,1.6455977190913118,-1.262682367128914,-0.06232148876701943,0.9701679621595434,0.08166231387544681],[0.26250117732756034,1.6548796321104602,-1.2624670811650396,-0.06196133522376337,0.9697577072374858,0.08254223943019078],[0.26228397022743544,1.6643282637320411,-1.2622076254669612,-0.06158018036887203,0.9693136479384906,0.08343933810785195],[0.26205377449185385,1.6739043391455133,-1.2619272341259602,-0.06117836183835374,0.9688356146585027,0.08435203927537172],[0.26181024684207754,1.6835828497116656,-1.2616444892664715,-0.06075600197640847,0.9683222196614448,0.08527912480647101],[0.26155278445672936,1.6933472089955046,-1.2613731717495367,-0.060313054956459264,0.9677715831371677,0.08621952529154621],[0.2612805303516433,1.703186465729612,-1.261123650269394,-0.05984934595800411,0.967181731699667,0.0871721649882822],[0.2609923550441389,1.7130937214505793,-1.2609041826411846,-0.05936459566187995,0.9665507425028709,0.08813583695612909],[0.26068680074034956,1.7230650903536928,-1.2607213777808546,-0.058858415906968546,0.9658767133107211,0.08910910033925791],[0.2603619899657577,1.7330994984053343,-1.260580993223029,-0.058330290916905454,0.9651579443892562,0.09009014658354192],[0.2600155230092904,1.7431994194273843,-1.26049086626233,-0.05777959363150163,0.9643935663050475,0.09107656198474504],[0.2596442763114136,1.7533707798094047,-1.2604613208120787,-0.0572055384583698,0.9635834869384091,0.09206510320520563],[0.25924411845290585,1.7636241527613148,-1.26050786854092,-0.05660714189559608,0.9627292148441411,0.0930512855900598],[0.2588094087747511,1.773975973190608,-1.260652711197451,-0.05598308857095,0.9618344929002943,0.09402883032168886],[0.2583322007961005,1.7844516871000498,-1.2609296719854954,-0.055331550198643255,0.9609071926452917,0.09498867914487072],[0.2577952829911683,1.7950917119702208,-1.261392260844534,-0.05464911972224886,0.9599637983882672,0.09592289738977698],[0.2571744999945766,1.8059612508866492,-1.2621284504088643,-0.053932420983286745,0.9590360428002105,0.09682567995228283],[0.256444512604557,1.8171703344693826,-1.2632937244740028,-0.05317829055647532,0.9581847941649162,0.09768974130853461],[0.2555802985727501,1.8289117836066662,-1.2651834695417798,-0.05238047265439632,0.9575330326812058,0.09849728888327884],[0.2545675049269545,1.841390144336827,-1.2685557071255298,-0.051515359184282794,0.9576615077815205,0.09920717356997],[0.2542085371746195,1.847762973736718,-1.2788166130329086,-0.05023637890205232,0.9707903653041143,0.09983220422713605],[0.25384550395105093,1.8538272005973688,-1.2886573125753167,-0.04896630864671127,0.9835567181381127,0.10055169845830604],[0.25349268843424744,1.8591323487694447,-1.2973382872400496,-0.047774016786614984,0.9949537158108069,0.10135115178440199],[0.25321295692142004,1.863208464767485,-1.3040570634961006,-0.04683118308999315,1.003842837326884,0.1024376800093971],[0.2529495787491666,1.8659356853188618,-1.3085780109757776,-0.04604168054266652,1.0098308159686438,0.10366560670492903],[0.25275426328116224,1.8675776620202256,-1.3113002646609617,-0.04549770359769764,1.0134151991383251,0.10520525385008465],[0.2525380951592644,1.8684874186347,-1.3128039477256401,-0.04498887919584636,1.015359557171426,0.1065649358915347],[0.25230652757652344,1.8687402758470948,-1.3132328521569794,-0.04450488931160711,1.0158622807263797,0.10761789011973516],[0.25207798256506525,1.8684553564940205,-1.3127928390830121,-0.04406600683864684,1.0152095693544958,0.1085047348439606],[0.2518523115894326,1.8678147570734855,-1.3117836247413315,-0.04365672415571072,1.013808824811554,0.10933609716218828],[0.25162983968103125,1.8671260508466045,-1.3106989763685266,-0.043256404125435764,1.0123208551813452,0.11015091308178163],[0.2513963167566484,1.8666305221617139,-1.309924033383945,-0.042818166608968346,1.0112579731928732,0.11093049793390419],[0.2511494755567605,1.8664126621534116,-1.3095920420880682,-0.04233256801385635,1.01079357308193,0.11167507027093754],[0.2508983428444024,1.866458443088441,-1.3096792594728275,-0.04182099438104049,1.01089234518135,0.11240605953864027],[0.2506539514761868,1.866640614558031,-1.3099825451888538,-0.0413152472600287,1.0112813497455684,0.11314111032901805],[0.2504139951757207,1.8668626793863115,-1.31034868769059,-0.04081680768152176,1.0117549647355808,0.11388772688498511],[0.2501741768522476,1.8671154979057916,-1.31076332343688,-0.040317329117995446,1.0122935023139172,0.11463906471821085],[0.24993388019000845,1.8673913223770564,-1.311214153112298,-0.03981596842675441,1.0128803761490022,0.11539073608392611],[0.24969350217540284,1.8676801734147042,-1.3116853245866327,-0.039314127862983134,1.0134943595732209,0.11614090154337181],[0.24945407870838882,1.8679745064677258,-1.3121648505743697,-0.03881447201695988,1.0141194541245,0.11689267848346013],[0.24921791156151837,1.8682653716006552,-1.3126385055267884,-0.03832254479146569,1.0147367482232192,0.11765686953720428],[0.24898569477760246,1.8685450249927118,-1.3130940621697327,-0.03784040185256047,1.0153299636470765,0.11844366825482537],[0.24875639099197358,1.868814622702239,-1.3135334165380324,-0.037365620360227454,1.015901630729727,0.11924893436326456],[0.24852924363312062,1.8690771968679545,-1.3139613994614734,-0.036896211300740035,1.016458215881826,0.12006513503354521],[0.24830390958726964,1.8693354333248575,-1.3143822665005074,-0.03643107557971699,1.0170054184011712,0.12088477293957621],[0.24808022150882392,1.8695914512559084,-1.3147993741778496,-0.03596965021843969,1.0175477330946965,0.12170461986696482],[0.24785243221775263,1.8698327928822691,-1.3151931921962046,-0.03549975485426901,1.0180588956881353,0.1224879564017172],[0.2476228814689399,1.8700604277370587,-1.3155651878369925,-0.035026239858206576,1.0185410343886732,0.12323978325975235],[0.24739358050084054,1.870285447563087,-1.3159328588693198,-0.034553392096410125,1.0190176046867845,0.12398401069933102],[0.24716538179392464,1.8705152629179336,-1.3163078749443626,-0.03408281475655836,1.019504188636332,0.12472771598441643],[0.24693851941400613,1.8707536536739713,-1.316696181784204,-0.03361488522822237,1.0200086856886792,0.1254729359805719],[0.24671305738077418,1.8710014913527404,-1.317099145926814,-0.033149767783258635,1.0205328781987846,0.12622139926949494],[0.24648907485779964,1.871257673024344,-1.3175150267401528,-0.032687747801240494,1.0210744131099494,0.12697496546099857],[0.24626673435625177,1.8715201267159964,-1.3179405600571656,-0.03222931398611417,1.0216289198667203,0.12773551589447701],[0.24604621361818024,1.8717866527966391,-1.3183722847822763,-0.031774973452533356,1.0221917759208359,0.12850469072777715],[0.24582768218328666,1.8720553367452468,-1.3188071873836114,-0.031325142945080875,1.0227589637928567,0.12928246484770867],[0.24561122311016303,1.8723248709500797,-1.31924321073516,-0.030880000371020826,1.0233277432179135,0.13006774057304682],[0.2453968447148054,1.8725946082971254,-1.319679337478973,-0.03043952644911907,1.0238967592405375,0.13085885370049485],[0.2541170112049681,1.817476516424807,-1.2981860879845868,-0.047045697442024664,0.9858910418854802,0.12602048452755032],[0.2540907383418386,1.816855025949597,-1.2976554738419164,-0.047037600784796796,0.9861029408575904,0.1266826684577137],[0.25424383556707014,1.812752717919003,-1.2941888853594414,-0.047555225039057125,0.9856099654061947,0.127399863714527],[0.2544639878490702,1.8053220106543857,-1.2898555858948415,-0.048185735901826884,0.985884883039604,0.1282030386573762],[0.2547335252819672,1.7963006411175582,-1.2860891092358155,-0.04888504456564169,0.9864772224350731,0.12911206947825757],[0.2550504118643693,1.7864968183394045,-1.2831207290702171,-0.04964521060261373,0.9871105624211103,0.13013474107788042],[0.2554136457915284,1.7762744484091961,-1.280873973662211,-0.05046097265669698,0.9877119651313805,0.13126249667688442],[0.25582367831433417,1.7658380444708253,-1.2792408024824653,-0.05132890789406513,0.9882754865366503,0.13248392016094782],[0.2562821046061857,1.7553148360301238,-1.2781262994512834,-0.05224700992546569,0.988810983968746,0.13378979987266895],[0.25679115692402626,1.744790992052183,-1.2774609787309792,-0.05321449075026665,0.9893306531509267,0.1351738306613103],[0.25735318500509563,1.7343250028783646,-1.2771931739547584,-0.05423140639229903,0.9898451989336162,0.13663218601359056],[0.2579704024112829,1.7239571707663977,-1.2772849761469156,-0.05529843577206203,0.990363857767595,0.13816284279591284],[0.2586447454873487,1.7137158158160621,-1.2777089239977688,-0.05641671172989481,0.9908947341959676,0.139765033819164],[0.25937754418163905,1.7036140830340458,-1.27842853041553,-0.0575875517795806,0.9914430579014424,0.14143855092533406],[0.2601693657708621,1.6936353340872325,-1.2793357002443115,-0.058816645910502445,0.99201107734924,0.14317913968768214],[0.2610197944532879,1.6837843866751452,-1.2803433238145083,-0.060108857767912,0.992610409307778,0.14497832221026316],[0.26192763839141914,1.6740953633224638,-1.2814288349925462,-0.061466765241604375,0.9932554900923636,0.1468280457326366],[0.2628911399943313,1.6646005672544133,-1.2825897417031011,-0.0628925321934881,0.9939530658267935,0.14873206179400145],[0.26390851709143665,1.6553243659831447,-1.2838262204170063,-0.06438972525328647,0.9947048111818412,0.1507150986851084],[0.2649771813092851,1.6462879774913577,-1.2851445381205624,-0.0659616304550533,0.9955115899729526,0.1528014709262595],[0.2660935329329673,1.6375237859514846,-1.286595208430985,-0.0676100603385639,0.9963790182350764,0.1550008525408532],[0.2672540548592098,1.6290667760631874,-1.2882735920095312,-0.06933800929850048,0.9973131027856561,0.15732003205654474],[0.2684543820543551,1.6209181357058136,-1.2902328997249426,-0.07114796815278188,0.9983114878880561,0.1597706169084414],[0.26968914266048605,1.6130639304961794,-1.2924933866153367,-0.07304155408635604,0.9993751475288162,0.1623592745773909],[0.27095189637368855,1.6054887459276825,-1.2950628353414158,-0.0750193801831762,1.0005095108563085,0.16508789301689844],[0.27223479448313836,1.5981773420607843,-1.2979420342593655,-0.0770808950916862,1.0017222477814276,0.16795525189664218],[0.2735280255043806,1.5911142889208572,-1.3011260418424102,-0.07922409445764486,1.003022056363905,0.17095702266769652],[0.27481908512151476,1.5842807677709236,-1.3046017181049225,-0.08144513475074429,1.004417808605381,0.17408546152834178],[0.2760917736809452,1.5776524129539558,-1.3083472460650187,-0.08373780254939203,1.0059183404426801,0.1773275141318681],[0.2773248486192109,1.5711959723804862,-1.3123290004158532,-0.08609292007543104,1.0075311984011492,0.1806650010752894],[0.27848984418765244,1.5648639747353974,-1.3164944368312936,-0.08849717377237533,1.0092605372550676,0.1840718537482755],[0.2795476940920521,1.5585867896957726,-1.3207605751697182,-0.09093137576984366,1.0111036882248332,0.1875106324083856],[0.28044313847170377,1.5522594663504683,-1.32499349684562,-0.0933677111747083,1.013043980292083,0.19092698308690403],[0.2810948471960413,1.5457186850159472,-1.3289698992115453,-0.09576508272095502,1.0150358025906938,0.19424015830149133],[0.2813765668375094,1.5386995785311537,-1.332299151411317,-0.09806066836080099,1.016970731030585,0.1973255594175867],[0.28227934903113466,1.5328436479623637,-1.3280998517794522,-0.10113082464292159,1.0105032792595756,0.2021386053188492],[0.2838534699854314,1.528130428719096,-1.3201484964547625,-0.1049112419016846,0.9996503906390375,0.2085277158183791],[0.2855121032833251,1.523867690549518,-1.3130094146405529,-0.10881862939350248,0.9900920587336911,0.21374895050892934],[0.28718515554958474,1.5202243484245421,-1.3069239446077616,-0.11269078358291207,0.9820949226016912,0.2175565158463459],[0.2888147167246885,1.5172367022228261,-1.3019275244906303,-0.11640744754236984,0.9756487962420527,0.22144884123576547],[0.2903492942453383,1.5150060266603227,-1.298171585239279,-0.11984841559015691,0.9709018637567933,0.22533021721281363],[0.29176276660412936,1.5135638187295828,-1.2956953753145228,-0.1229517511430049,0.9678651531137374,0.22916660372805112],[0.29305093760191614,1.5128452225702316,-1.294389457168776,-0.12571252801609437,0.9663701942360233,0.2329503496068447],[0.2942249083743762,1.5126980723576164,-1.2940083340552997,-0.12817094022070358,0.966082766892325,0.2366840146661434],[0.29530428906853023,1.5129618728082412,-1.294296560897892,-0.13038451039565171,0.9666654864907358,0.24038127683150906],[0.29631329146170593,1.5134745250250936,-1.29499511430625,-0.13242037167032694,0.9677811510864878,0.2440647231772532],[0.29728426249945483,1.5140227632512435,-1.2957570669697815,-0.13437030808273775,0.9689786479191159,0.24775392087479509],[0.2982397588708892,1.5144468480850213,-1.2963197396393107,-0.13630445226185628,0.9699129688003566,0.25142928814668797],[0.2991926541719575,1.514673753117129,-1.2965611332180007,-0.13826362419683472,0.9704216934420419,0.25510017944398716],[0.30014715263804587,1.5146984380490909,-1.2964710690486483,-0.14026024020004063,0.9704903204833827,0.25878073007030594],[0.3011009818223769,1.5145602086127457,-1.296113104108776,-0.1422850980407795,0.9702028589165803,0.2624795186257082],[0.30204756588484794,1.5143242587987278,-1.295594265086337,-0.1443143436312428,0.9697013756496851,0.2662015145719884],[0.30297918191567386,1.514049993038905,-1.2950127273799927,-0.14632160204350583,0.9691158833113992,0.269936765506227],[0.303891555385515,1.5137660260256143,-1.2944160271932053,-0.14829272231899615,0.9685090808593864,0.2736779384273883],[0.3047820411229405,1.5134905782189472,-1.2938345508921754,-0.1502185592447917,0.9679209180267425,0.27742461139444985],[0.30564845339122054,1.5132380544512634,-1.2932924505510779,-0.152091372828001,0.9673830178869429,0.28117377307213703],[0.30649027563062314,1.513011344176934,-1.292794803809803,-0.15390906435551124,0.9669018037713473,0.28492211900895625],[0.3073082743684773,1.512805340273777,-1.2923333714288865,-0.15567388025885076,0.9664661789725308,0.28866787220335155],[0.3081039784168006,1.5126111497943098,-1.2918935394596656,-0.1573905761153084,0.9660567153651162,0.2924105273925781],[0.3088791772084565,1.5124194568925207,-1.291459897385137,-0.15906470198296108,0.9656530034533772,0.2961504613262813],[0.30963555208179067,1.5122226274354647,-1.2910197551246192,-0.16070136586956849,0.9652382732364407,0.29988850941917045],[0.31037446061065954,1.5120156028714833,-1.290564662640441,-0.1623045432888235,0.9648013793043236,0.3036256107018594],[0.31109686067811776,1.5117958763806707,-1.2900904040862333,-0.16387687070052306,0.9643367755565957,0.30736256927764516],[0.31180334018709854,1.5115629243356827,-1.2895960767452144,-0.16541978832350565,0.9638432860108792,0.3110999370777788],[0.3124942059971287,1.5113174326224221,-1.2890828164393757,-0.1669338688786371,0.9633224134437701,0.31483799589814887],[0.3131695887387445,1.5110605649994548,-1.2885525824330708,-0.1684191875401466,0.9627767309077857,0.3185768040537909],[0.3138295179379941,1.5107934106381524,-1.2880072372989209,-0.16987560156034195,0.9622086618284859,0.32231627204827434],[0.31447402073056213,1.5105166646785042,-1.2874480020201506,-0.17130303681034062,0.9616197710124063,0.3260562402745971],[0.3151031892093536,1.5102305130622382,-1.2868752512663566,-0.17270166491995753,0.9610105057874848,0.32979653862627084],[0.3157171726251527,1.509934654680258,-1.28628854859987,-0.1740718891544383,0.9603802411659014,0.33334545395313603],[0.31631484412073974,1.5096300187080094,-1.2856896245007943,-0.17541120248940326,0.9597309550077584,0.3367832439034361],[0.3168951609486953,1.5093175928452265,-1.2850802899731786,-0.17671725051674683,0.9590647443386782,0.3401750472247697],[0.31745781308469984,1.5089972170121153,-1.2844603925728846,-0.17798943684620605,0.9583812363605572,0.3435150303212363],[0.3180027304492725,1.5086682469951143,-1.283828954989895,-0.17922777093470793,0.9576790054678144,0.3468012287975424],[0.31852988437476704,1.5083300171907383,-1.2831849531413166,-0.18043235899175256,0.9569565741659668,0.3500318189835357],[0.3190392561546564,1.5079819380277093,-1.2825274831960904,-0.18160331333337815,0.9562126308610486,0.3532048974472515],[0.31953081261370697,1.5076235447001716,-1.281855847293445,-0.1827406872229338,0.9554461394096864,0.3563183313982881],[0.3200045249461961,1.5072543365419706,-1.2811692872941283,-0.18384454741314477,0.9546559878112741,0.359369960374472],[0.3204604748903444,1.5068732341361115,-1.280466072207375,-0.18491532145145373,0.953839791504491,0.3623585336657639],[0.32089889514115666,1.5064785475660947,-1.279743428028855,-0.1859539106632261,0.9529938024635046,0.3652840063207552],[0.321320132549499,1.5060682478754714,-1.2789979751345442,-0.18696157019377727,0.9521134782020195,0.36814703304056773],[0.3217246835197165,1.5056398740460788,-1.278225567626744,-0.187940006815385,0.9511932747672198,0.3709496490693346],[0.32211296785781546,1.5051918475297887,-1.2774235003390186,-0.18889060129808524,0.9502295553578154,0.3736932985955496],[0.3224852381435082,1.504723621827787,-1.2765908021989414,-0.18981413551854934,0.9492209778613776,0.37637819441688974],[0.3228415482007587,1.5042355832894663,-1.275728094368102,-0.19071072043928297,0.9481683015067217,0.3790029535070058],[0.3231817666262991,1.5037288285833283,-1.2748372235487446,-0.19157986849860006,0.947073895699543,0.3815646374454729],[0.32350561829189933,1.503204903186478,-1.273920819044889,-0.1924206450389096,0.9459411510437509,0.3840590562187495],[0.3238127378146016,1.5026655679110987,-1.2729818912280266,-0.19323184258159623,0.9447739490074502,0.3864811734879255],[0.3241027284862062,1.5021126271201324,-1.272023530079374,-0.19401215348374146,0.9435762689055904,0.3888255170129494],[0.3243752505957538,1.501547877170907,-1.271048792638053,-0.19476038417837901,0.9423520612850236,0.39108646180902273],[0.32463004168298937,1.500973132827214,-1.270060732964578,-0.19547550203857483,0.9411052947014567,0.39325835138916876],[0.3248668458359735,1.5003901202341168,-1.2690622430971126,-0.19615649984358854,0.9398397178138256,0.3953359327784081],[0.3250854151932749,1.499800433054474,-1.2680559822080717,-0.19680240526861578,0.938558762989962,0.39731468601213993],[0.3252855375368834,1.4992055622119984,-1.2670444196333621,-0.1974123328020398,0.9372656124746975,0.3991909689423033],[0.3254670614028841,1.498607010394238,-1.2660300138343314,-0.1979855183472088,0.935963449896725,0.400961962572305],[0.3256298857924163,1.4980063238322137,-1.2650152684895335,-0.19852128706124741,0.9346555336592745,0.40262573782219035],[0.3257381084026056,1.4976364793525783,-1.2643840827862227,-0.19887741918901355,0.9338461280435362,0.4036516697435092],[0.3257790329728538,1.497646153898938,-1.264379441667671,-0.19898336485455453,0.9338570484874322,0.4037678093231286],[0.32581498530249786,1.497655659877683,-1.264374059039863,-0.19907912780397607,0.9338646545713973,0.40387223465598876],[0.3258463955884985,1.497665571691912,-1.2643682061361396,-0.19916593212959144,0.9338690204158004,0.40396599728496074],[0.32587422080905676,1.49767592318703,-1.2643618560710184,-0.19924554082443388,0.9338703932112977,0.4040511347666266],[0.32589931714687714,1.4976866341994766,-1.2643548390310058,-0.19931934789335817,0.9338688957385292,0.40412933956045316],[0.3259221150521728,1.4976976293248725,-1.2643472702654606,-0.19938801853479052,0.9338649497179081,0.4042014938802601],[0.32594290000626935,1.4977086842206326,-1.264339321008718,-0.19945197065878642,0.9338591245465329,0.40426822355228265],[0.3259622895021301,1.4977193058731162,-1.264331181356518,-0.1995121056329011,0.9338523064214224,0.4043307827419109],[0.32598092572916304,1.4977292974740763,-1.264323020532571,-0.1995694645941933,0.9338451350606535,0.40439047043757365],[0.3259989027453982,1.4977386336677676,-1.264314917939381,-0.19962423596795645,0.9338378170938904,0.40444752395847017],[0.3260162384198653,1.4977473396035423,-1.264306904358897,-0.19967651972045303,0.9338304261925309,0.4045020511572312],[0.32603294913166253,1.4977554532668962,-1.2642989933028703,-0.19972642432474663,0.9338229986317436,0.40455416188029103],[0.3260490534100192,1.4977630141019458,-1.2642911926245897,-0.19977406131094352,0.9338155590096381,0.40460396799942133],[0.3260645705704007,1.4977700598993349,-1.264283508140628,-0.19981953956175486,0.9338081273159303,0.40465157862993184],[0.3260795199742245,1.497776626071237,-1.2642759446943572,-0.19986296334012474,0.9338007209568976,0.4046970983132271],[0.32609392074637955,1.4977827455890016,-1.2642685064650836,-0.1999044318641488,0.9337933554004088,0.4047406266082532],[0.32610779166547266,1.4977884490960298,-1.2642611970641264,-0.19994403937499458,0.9337860444378495,0.4047822581507719],[0.32612115111296985,1.4977937650600952,-1.2642540195736864,-0.19998187534263775,0.9337788003366572,0.40482208284718385],[0.32613401704385425,1.4977987199277947,-1.2642469765722533,-0.20001802470177502,0.9337716339591668,0.404860186099556],[0.3261464069670192,1.4978033382713043,-1.2642400701582768,-0.20005256808686087,0.9337645548687116,0.4048966490314931],[0.3261583379315014,1.4978076429252802,-1.2642333019748289,-0.20008558205783594,0.9337575714287216,0.40493154870633924],[0.32616982651702836,1.4978116551138663,-1.2642266732355285,-0.20011713931458752,0.9337506908963569,0.4049649583355413],[0.3261808888280909,1.4978153945683266,-1.2642201847513719,-0.20014730890007235,0.9337439195110533,0.4049969474768883],[0.3261915404910065,1.497818879635932,-1.264213836958026,-0.20017615639251204,0.9337372625781267,0.4050275822228438],[0.32620179665353904,1.4978221273807453,-1.2642076299431853,-0.20020374408719765,0.9337307245474828,0.4050569253793439],[0.3262116719867177,1.4978251536768958,-1.2642015634736377,-0.2002301311684688,0.9337243090875462,0.40508503663548096],[0.32622118068851425,1.4978279732949185,-1.2641956370217875,-0.2002553738723773,0.9337180191545115,0.4051119727244673],[0.3262303364891187,1.497830599981658,-1.2641898497913961,-0.20027952564057847,0.9337118570570629,0.4051377875763092],[0.32623915265754444,1.4978330465342409,-1.2641842007424047,-0.20030263726589287,0.9337058245167332,0.40516253246255723],[0.3262476420093505,1.4978353248685445,-1.2641786886146982,-0.2003247570300336,0.9336999227240631,0.4051862561335398],[0.3262558169152885,1.4978374460825827,-1.2641733119507308,-0.20034593083389712,0.9336941523907573,0.4052090049484285],[0.32626368931069744,1.4978394205151988,-1.2641680691169725,-0.20036620232085273,0.9336885137980278,0.4052308229985005],[0.3262712707055017,1.4978412578004017,-1.2641629583241185,-0.2003856129933972,0.9336830068413197,0.4052517522239333],[0.3262785721946792,1.4978429669176838,-1.2641579776460745,-0.20040420232354839,0.9336776310716122,0.40527183252446164],[0.32628560446908333,1.497844556238628,-1.2641531250377134,-0.20042200785732134,0.9336723857334918,0.4052911018642053],[0.3262923778265249,1.4978460335700665,-1.2641483983514192,-0.20043906531360972,0.9336672698001923,0.40530959637097025],[0.3262989021830207,1.497847406194064,-1.2641437953524528,-0.20045540867778475,0.933662282005781,0.40532735043030976],[0.32630518708413403,1.497848680904965,-1.264139313733167,-0.20047107029029235,0.933657420874675,0.4053443967746108],[0.32631124171635034,1.4978498640437115,-1.2641349511261248,-0.20048608093053447,0.9336526847486633,0.4053607665674759],[0.32631707491842415,1.4978509615296547,-1.2641307051161537,-0.20050046989628936,0.9336480718116008,0.4053764894836427],[0.3263226951926498,1.4978519788900388,-1.2641265732514015,-0.20051426507891051,0.9336435801119362,0.40539159378467343],[0.32632811071602247,1.4978529212873237,-1.2641225530534208,-0.2005274930345406,0.9336392075832198,0.40540610639064706],[0.3263333293512479,1.4978537935445313,-1.2641186420263684,-0.20054017905155663,0.9336349520627496,0.405420052948055],[0.32633835865757843,1.4978546001687394,-1.264114837665333,-0.20055234721445983,0.9336308113084725,0.4054334578941214],[0.3263432059014463,1.4978553453728785,-1.2641111374638823,-0.20056402046438507,0.933626783014294,0.40544634451771316],[0.3263478780668785,1.4978560330959465,-1.2641075389208434,-0.20057522065644293,0.9336228648238982,0.4054587350170505],[0.32635238186567417,1.4978566670217726,-1.2641040395463972,-0.20058596861403388,0.9336190543432022,0.40547065055436504],[0.3263567237473421,1.497857250596422,-1.2641006368675163,-0.20059628418033407,0.9336153491515556,0.40548211130769296],[0.32636090990876965,1.4978577870443606,-1.2640973284328039,-0.20060618626707483,0.933611746811776,0.40549313651993246],[0.3263649463036394,1.497858279383455,-1.26409411181676,-0.20061569290078804,0.933608244879118,0.40550374454534066],[0.3263688386515685,1.4978587304389064,-1.264090984623549,-0.20062482126663372,0.9336048409092785,0.40551395289358017],[0.3263725924469839,1.4978591428561967,-1.2640879444902795,-0.20063358774996157,0.9336015324654855,0.4055237782714717],[0.32637621296771996,1.4978595191131043,-1.2640849890898407,-0.20064200797570902,0.9335983171247892,0.40553323662256147],[0.3263797052833471,1.4978598615308887,-1.2640821161333529,-0.20065009684576549,0.933595192483587,0.40554234316462623],[0.32638307426322855,1.4978601722846647,-1.2640793233722316,-0.2006578685744126,0.9335921561624806,0.4055511124252311],[0.3263863245843087,1.4978604534130713,-1.264076608599926,-0.20066533672193024,0.9335892058104928,0.4055595582754361],[0.32638946073863834,1.4978607068272445,-1.2640739696533523,-0.200672514226486,0.9335863391087411,0.40556769396176034],[0.3263924870406357,1.4978609343191729,-1.2640714044140313,-0.20067941343438375,0.9335835537735716,0.4055755321364968],[0.32639540763409547,1.4978611375694753,-1.2640689108089975,-0.2006860461287702,0.9335808475592445,0.40558308488645556],[0.32639822649894407,1.4978613181546334,-1.264066486811461,-0.20069242355687728,0.9335782182601899,0.40559036376024254],[0.3264009474577499,1.4978614775537273,-1.2640641304412699,-0.20069855645587123,0.9335756637128826,0.4055973797941217],[0.3264035741819947,1.4978616171547101,-1.264061839765183,-0.20070445507740042,0.9335731817973668,0.4056041435365694],[0.32640611019811244,1.4978617382602522,-1.2640596128969843,-0.20071012921089412,0.9335707704384838,0.40561066507156773],[0.326408558893298,1.4978618420931824,-1.2640574479974387,-0.20071558820568303,0.9335684276068064,0.40561695404071113],[0.32641092352109735,1.497861929801569,-1.2640553432741188,-0.20072084099200957,0.9335661513193289,0.4056230196641957],[0.3264132072067848,1.4978620024634506,-1.2640532969811231,-0.20072589610097794,0.9335639396399384,0.4056288707607408],[0.3264154129525311,1.4978620610912448,-1.2640513074186706,-0.20073076168350928,0.9335617906796757,0.40563451576651127],[0.32641754364236836,1.4978621066358695,-1.2640493729326245,-0.20073544552834205,0.9335597025968306,0.40563996275307984],[0.32641960204696413,1.4978621399905845,-1.2640474919139237,-0.20073995507913844,0.9335576735968732,0.4056452194444932],[0.3264215908282071,1.4978621619945798,-1.2640456627979544,-0.2007442974507409,0.9335557019322437,0.40565029323348367],[0.3264235125436085,1.4978621734363213,-1.26404388406385,-0.2007484794446176,0.9335537859020285,0.4056551911968697],[0.3264253696505299,1.4978621750566816,-1.2640421542337517,-0.20075250756354412,0.9335519238515233,0.40565992011019053],[0.32642716451024395,1.4978621675518624,-1.2640404718720268,-0.20075638802556303,0.9335501141717071,0.40566448646161746],[0.32642889939182546,1.4978621515761295,-1.2640388355844383,-0.2007601267772526,0.9335483552986276,0.40566889646517645],[0.32643057647589624,1.4978621277443622,-1.2640372440173007,-0.20076372950634458,0.9335466457127297,0.40567315607331617],[0.3264321978582054,1.4978620966344494,-1.2640356958566057,-0.2007672016537216,0.933544983938116,0.40567727098886264],[0.3264337655530772,1.4978620587895182,-1.2640341898271283,-0.2007705484248334,0.933543368541759,0.4056812466763865],[0.32643528149670753,1.4978620147200317,-1.2640327246915284,-0.2007737748005468,0.9335417981326787,0.4056850883730122],[0.32643674755033514,1.4978619649057436,-1.2640312992494305,-0.20077688554747924,0.9335402713610735,0.40568880109870825],[0.3264381655032756,1.4978619097975339,-1.264029912336513,-0.20077988522782014,0.9335387869174395,0.4056923896660708],[0.3264395370758353,1.4978618498191298,-1.264028562823585,-0.20078277820868481,0.9335373435316553,0.4056958586896372],[0.3264408639221056,1.4978617853687124,-1.2640272496156717,-0.20078556867101405,0.9335359399720621,0.4056992125947535],[0.326442147632639,1.4978617168204251,-1.2640259716510982,-0.20078826061804003,0.9335345750445262,0.4057024556260072],[0.3264433897370204,1.4978616445257944,-1.2640247279005847,-0.20079085788335818,0.9335332475914963,0.4057055918552678],[0.32644459170632495,1.4978615688150547,-1.2640235173663519,-0.20079336413859572,0.9335319564910614,0.405708625189332],[0.3264457549554824,1.4978614899983906,-1.2640223390812282,-0.20079578290072797,0.9335307006560087,0.405711559377213],[0.32644688084553736,1.4978614083671116,-1.2640211921077749,-0.20079811753903865,0.9335294790328781,0.40571439801707965],[0.326447970685821,1.497861324194749,-1.264020075537431,-0.20080037128175005,0.9335282906010379,0.40571714456287117],[0.3264490257360281,1.497861237738082,-1.264018988489657,-0.20080254722233765,0.9335271343717522,0.4057198023305937],[0.32645004720821325,1.4978611492381146,-1.2640179301111112,-0.2008046483255521,0.933526009387273,0.4057223745043301],[0.3264510362686989,1.497861058920977,-1.264016899574826,-0.20080667743314706,0.9335249147199357,0.405724864141959],[0.32645199403990993,1.4978609669987886,-1.264015896079418,-0.20080863726934578,0.933523849471275,0.40572727418061366],[0.326452921602128,1.4978608736704575,-1.2640149188482994,-0.20081053044604658,0.9335228127711478,0.4057296074418841],[0.3264538199951752,1.4978607791224419,-1.2640139671289206,-0.2008123594677858,0.9335218037768828,0.40573186663677624],[0.32645469022002704,1.4978606835294574,-1.264013040192022,-0.20081412673646779,0.933520821672436,0.405734054370446],[0.3264555332403601,1.4978605870551518,-1.264012137330907,-0.2008158345558767,0.9335198656675724,0.4057361731467123],[0.326456349984034,1.497860489852731,-1.2640112578607368,-0.20081748513597672,0.9335189349970643,0.4057382253723626],[0.326457141344513,1.497860392065559,-1.2640104011178397,-0.20081908059700976,0.9335180289199017,0.40574021336126226],[0.3264579081822278,1.4978602938277115,-1.2640095664590387,-0.20082062297341255,0.9335171467185316,0.4057421393382773],[0.3264586513258839,1.4978601952645072,-1.264008753261,-0.2008221142175414,0.933516287698111,0.4057440054430165],[0.3264593715737098,1.4978600964930031,-1.2640079609196002,-0.20082355620323383,0.9335154511857793,0.40574581373340357],[0.32646006969466257,1.4978599976224631,-1.2640071888493092,-0.20082495072920512,0.9335146365299489,0.4057475661890934],[0.32646074642957457,1.4978598987547989,-1.264006436482592,-0.20082629952228437,0.9335138430996237,0.40574926471472406],[0.3264614024922592,1.497859799984988,-1.2640057032693288,-0.20082760424050936,0.9335130702837214,0.40575091114303435],[0.32646203857056927,1.4978597014014652,-1.2640049886762517,-0.20082886647607612,0.933512317490431,0.4057525072378329],[0.32646265532741114,1.4978596030864912,-1.2640042921863988,-0.20083008775815542,0.9335115841465796,0.40575405469683967],[0.3264632534017155,1.4978595051165091,-1.2640036132985883,-0.20083126955557853,0.9335108696970215,0.405755555154396],[0.3264638334093753,1.4978594075624674,-1.264002951526902,-0.2008324132794115,0.933510173604042,0.4057570101840641],[0.32646439594413534,1.4978593104901348,-1.2640023064001893,-0.20083352028539703,0.9335094953467852,0.40575842130109974],[0.32646494157845424,1.4978592139603937,-1.2640016774615903,-0.20083459187630243,0.9335088344206959,0.4057597899648242],[0.32646547086432465,1.497859118029521,-1.2640010642680672,-0.20083562930414928,0.9335081903369773,0.40576111758088873],[0.32646598433406465,1.4978590227494457,-1.2640004663899556,-0.2008366337723526,0.9335075626220728,0.4057624055034402],[0.3264664825010736,1.4978589281680013,-1.263999883410527,-0.20083760643775883,0.9335069508171546,0.40576365503719375],[0.32646696586055873,1.49785883432916,-1.263999314925571,-0.20083854841259413,0.9335063544776363,0.40576486743941326],[0.3264674348902341,1.497858741273249,-1.2639987605429848,-0.2008394607663268,0.9335057731727012,0.40576604392180604],[0.32646789005098537,1.497858649037168,-1.26399821988238,-0.2008403445274474,0.9335052064848408,0.4057671856523381],[0.3264683317875146,1.497858557654582,-1.2639976925747032,-0.20084120068516664,0.9335046540094127,0.4057682937569668],[0.32646876052895263,1.4978584671561095,-1.2639971782618658,-0.20084203019104296,0.933504115354214,0.40576936932130325],[0.32646917668945347,1.497858377569499,-1.2639966765963873,-0.20084283396053573,0.9335035901390634,0.4057704133922022],[0.3264695806687568,1.4978582889198,-1.2639961872410566,-0.200843612874489,0.9335030779954064,0.4057714269792815],[0.32646997285273543,1.4978582012295159,-1.2639957098685928,-0.20084436778055426,0.9335025785659251,0.4057724110563809],[0.3264703536139164,1.4978581145187582,-1.2639952441613296,-0.20084509949454749,0.933502091504167,0.4057733665629587],[0.3264707233119782,1.4978580288053847,-1.2639947898108996,-0.2008458088017423,0.9335016164741767,0.40577429440541585],[0.32647108229423794,1.4978579441051372,-1.263994346517938,-0.20084649645812155,0.9335011531501582,0.405775195458394],[0.32647143089611425,1.4978578604317683,-1.2639939139918022,-0.20084716319156629,0.933500701216145,0.40577607056599735],[0.32647176944155576,1.497857777797154,-1.2639934919502664,-0.20084780970297317,0.9335002603656419,0.40577692054294223],[0.3264720982434915,1.4978576962114203,-1.2639930801192854,-0.20084843666737304,0.9334998303013585,0.4057777461757265],[0.32647241760421253,1.497857615683037,-1.2639926782326982,-0.20084904473493767,0.933499410734857,0.40577854822366033],[0.3264727278157913,1.4978575362189308,-1.263992286032013,-0.20084963453200994,0.9334990013863124,0.4057793274199463],[0.32647302916043336,1.4978574578245727,-1.2639919032661295,-0.2008502066620244,0.9334986019841816,0.4057800844726265],[0.32647332191085915,1.4978573805040758,-1.2639915296911277,-0.20085076170644536,0.9334982122649604,0.4057808200655665],[0.3264736063306409,1.4978573042602767,-1.2639911650700277,-0.20085130022562475,0.9334978319729134,0.40578153485934826],[0.3264738826745415,1.4978572290948207,-1.2639908091725802,-0.2008518227596467,0.9334974608598213,0.4057822294921509],[0.3264741511888307,1.497857155008235,-1.263990461775043,-0.20085232982911788,0.9334970986847269,0.4057829045805772],[0.3264744121116022,1.497857082000007,-1.263990122659991,-0.20085282193595388,0.933496745213718,0.40578356072048255],[0.3264746656730594,1.4978570100686477,-1.263989791616103,-0.20085329956408826,0.9334964002196768,0.4057841984877136],[0.3264749120958076,1.4978569392117602,-1.2639894684379815,-0.20085376318019343,0.9334960634820746,0.4057848184388707],[0.32647515159512835,1.4978568694261025,-1.2639891529259681,-0.20085421323435426,0.9334957347867612,0.4057854211120161],[0.326475384379235,1.4978568007076438,-1.263988844885959,-0.20085465016070117,0.9334954139257452,0.40578600702734174],[0.3264756106495337,1.4978567330516195,-1.2639885441292382,-0.2008550743780396,0.9334951006970096,0.405786576687836],[0.3264758306008627,1.4978566664525874,-1.26398825047231,-0.20085548629044214,0.9334947949043156,0.4057871305799102],[0.3264760444217247,1.4978566009044716,-1.2639879637367366,-0.20085588628780576,0.9334944963570182,0.40578766917399095],[0.3264762522945158,1.4978565364006131,-1.2639876837489843,-0.20085627474641068,0.9334942048698867,0.40578819292511287],[0.3264764543957397,1.4978564729338144,-1.2639874103402782,-0.20085665202943603,0.9334939202629409,0.4057887022734699],[0.32647665089621375,1.497856410496379,-1.2639871433464485,-0.20085701848745532,0.9334936423612721,0.4057891976449432],[0.32647684196127297,1.4978563490801513,-1.263986882607797,-0.2008573744589258,0.933493370994897,0.40578967945162464],[0.32647702775095583,1.4978562886765556,-1.2639866279689582,-0.20085772027063656,0.9334931059985907,0.4057901480922959],[0.3264772084201971,1.4978562292766304,-1.263986379278771,-0.2008580562381606,0.9334928472117435,0.4057906039529163],[0.3264773841190018,1.4978561708710607,-1.2639861363901548,-0.20085838266627398,0.9334925944782235,0.40579104740707145],[0.3264775549926126,1.4978561134502102,-1.2639858991599755,-0.20085869984935567,0.9334923476462167,0.40579147881640404],[0.32647772118168544,1.4978560570041537,-1.2639856674489456,-0.20085900807179038,0.9334921065681201,0.40579189853105213],[0.32647788282243584,1.4978560015226996,-1.263985441121494,-0.20085930760832613,0.933491871100389,0.40579230689003215],[0.3264780400467992,1.4978559469954205,-1.2639852200456614,-0.20085959872444323,0.9334916411034212,0.4057927042216418],[0.32647819298257663,1.4978558934116772,-1.263985004093,-0.20085988167669613,0.9334914164414416,0.4057930908438308],[0.32647834175357626,1.4978558407606426,-1.263984793138459,-0.2008601567130456,0.9334911969823729,0.4057934670645608],[0.32647848647974576,1.4978557890313202,-1.2639845870602888,-0.20086042407316598,0.9334909825977297,0.40579383318214385],[0.3264786272773083,1.4978557382125712,-1.2639843857399498,-0.20086068398875914,0.9334907731625081,0.4057941894855839],[0.32647876425888833,1.4978556882931298,-1.2639841890620114,-0.20086093668384555,0.9334905685550822,0.40579453625489587],[0.32647889753363,1.4978556392616211,-1.2639839969140656,-0.20086118237504022,0.9334903686570991,0.4057948737614089],[0.32647902720731736,1.4978555911065814,-1.2639838091866376,-0.20086142127182405,0.9334901733533799,0.40579520226806415],[0.32647915338248706,1.497855543816475,-1.2639836257731059,-0.20086165357680638,0.9334899825318309,0.40579552202970715],[0.3264792761585346,1.4978554973797031,-1.2639834465696114,-0.20086187948596584,0.9334897960833429,0.4057958332933499],[0.32647939563182055,1.4978554517846268,-1.263983271474986,-0.20086209918889253,0.9334896139017058,0.4057961362984425],[0.32647951189577434,1.4978554070195744,-1.2639831003906716,-0.20086231286902223,0.9334894358835245,0.4057964312771313],[0.32647962504098577,1.4978553630728584,-1.26398293322065,-0.20086252070384827,0.9334892619281354,0.40579671845449566],[0.32647973515530565,1.4978553199327826,-1.2639827698713657,-0.20086272286513984,0.9334890919375237,0.40579699804879055],[0.32647984232392796,1.4978552775876575,-1.2639826102516578,-0.2008629195191401,0.9334889258162445,0.4057972702716684],[0.3264799466294856,1.497855236025808,-1.263982454272696,-0.20086311082676686,0.9334887634713543,0.40579753532840407],[0.3264800481521282,1.497855195235586,-1.2639823018479108,-0.20086329694379754,0.9334886048123292,0.40579779341810246],[0.32648014696960714,1.4978551552053747,-1.263982152892932,-0.20086347802105056,0.9334884497510028,0.40579804473390146],[0.3264802431573489,1.4978551159236027,-1.2639820073255288,-0.20086365420455862,0.9334882982014929,0.4057982894631684],[0.32648033678853655,1.4978550773787473,-1.263981865065546,-0.20086382563573882,0.9334881500801363,0.4057985277876928],[0.326480427934178,1.4978550395593448,-1.2639817260348527,-0.20086399245154957,0.9334880053054269,0.4057987598838625],[0.3264805166631767,1.497855002453994,-1.2639815901572802,-0.20086415478464645,0.9334878637979541,0.4057989859228417],[0.32648060304240134,1.4978549660513683,-1.2639814573585724,-0.2008643127635335,0.9334877254803379,0.4057992060707432],[0.3264806871367489,1.4978549303402129,-1.2639813275663316,-0.2008644665127007,0.9334875902771806,0.4057994204887851],[0.3264807690092081,1.4978548953093602,-1.2639812007099671,-0.20086461615276913,0.9334874581150008,0.4057996293334551],[0.32648084872092276,1.4978548609477265,-1.2639810767206474,-0.20086476180061819,0.9334873289221854,0.40579983275665943],[0.32648092633124504,1.4978548272443202,-1.2639809555312516,-0.200864903569513,0.9334872026289361,0.40580003090586636],[0.32648100189779816,1.4978547941882456,-1.2639808370763224,-0.2008650415692332,0.9334870791672177,0.4058002239242547],[0.3264810754765275,1.4978547617687075,-1.2639807212920227,-0.2008651759061818,0.9334869584707084,0.4058004119508424],[0.32648114712175336,1.4978547299750133,-1.2639806081160914,-0.20086530668350794,0.9334868404747526,0.40580059512062333],[0.32648121688622356,1.4978546987965766,-1.2639804974878006,-0.20086543400121165,0.9334867251163168,0.40580077356469396],[0.326481284821161,1.4978546682229212,-1.2639803893479142,-0.20086555795624875,0.9334866123339391,0.40580094741037076],[0.3264813509763137,1.4978546382436821,-1.2639802836386513,-0.20086567864263727,0.9334865020676948,0.4058011167813183],[0.3264814153999975,1.4978546088486084,-1.2639801803036426,-0.20086579615155029,0.9334863942591453,0.4058012817976529],[0.32648147813914297,1.4978545800275644,-1.263980079287895,-0.20086591057141207,0.933486288851302,0.40580144257606077],[0.32648153923933676,1.4978545517705362,-1.2639799805377598,-0.2008660219879924,0.933486185788588,0.4058015992299013],[0.3264815987448638,1.4978545240676269,-1.2639798840008893,-0.20086613048448604,0.9334860850167948,0.40580175186930934],[0.3264816566987479,1.49785449690906,-1.2639797896262077,-0.2008662361416084,0.9334859864830507,0.40580190060129834]],"metrics":{"valid":true,"success":true,"reason":"success","simulation_time":20.00000000000146,"steps":1000,"lift_seen":true,"grasp_seen":true,"max_object_lift_m":0.09791058610812123,"dwell_seconds":5.1380000000000505,"lift_dwell_seconds":0.0,"max_pad_normal_force_n":1.05195819560485,"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":15.111999999997064,"target_distance_m":0.0046819361674244955,"warnings":[],"physical_robot_ready":false,"contact_pair_native_ticks":{"1:90":17770,"88:90":2786,"89:90":2544,"86:90":2885,"85:90":2767}},"timing":{"setup_seconds":0.550820792093873,"episode_wall_seconds":2.28490575007163,"control_step_seconds":{"count":1000,"median":0.001272687572054565,"p95":0.0029857908375561237,"max":0.028181875124573708},"control_boundaries":1000,"missed_control_boundaries":1,"simulated_seconds_per_wall_second":8.753096270764988,"scope":"Wall computation including setup/IK/contact/state snapshots; not real-time sensor-to-actuator latency"},"contract":{"profile":"piper-rigid-block-task-v0.1","scope":"Authored PiPER rigid-block contact pilot with privileged native state. Pinned upstream servos/inertias/collision proxies/gravity compensation, synthetic commands and uncalibrated contact. No learned skill, camera sensing, shoe manipulation or physical robot qualification.","physical_robot_ready":false,"arm_joint_order":["joint1","joint2","joint3","joint4","joint5","joint6"],"actions":{"joint_targets_rad":"six native position-servo targets in radians","gripper_position_m":"one native single-finger slide target in metres [0,.035]; 0 closed/.035 open; not measured full gap"},"gripper_joints":["joint7","joint8"],"independent_gripper_commands":1,"tcp":"authored site in link6 at local [0,0,.12003] near the distal finger-box centers; not hardware calibrated","object":"free rigid block with native gravity, no weld/equality/mocap or post-reset pose writes","contact":"stock native finger collision boxes; object priority1 authors pair friction explicitly","servo_gains":"unchanged upstream PiPER position servos and force caps; upstream robot gravcomp=1 retained","collision_support_exemption":"fixed base capsule may contact floor; moving robot/table/floor or block/nonfinger contacts are critical","observations":"privileged joint/object/TCP/contact state; no deployable sensor pipeline","success":"valid native physics, sustained bilateral table-free lift and retained carry to supported destination, then actual released/settled destination dwell and retreat","carry_contact_loss_tolerance_seconds":0.04,"contact_force_threshold_n":0.01,"simulation_asset_license":"MIT"},"platform":{"system":"Darwin","machine":"arm64","python":"3.12.9","mujoco_version":"3.15.0","numpy_version":"2.5.3"},"implementation_sha256":{"piper_task.py":"ddb0769ed2afb37a4c7b33f7cbf5cbeab9bbe65b928e7e4c6ebf0d9c9d9b35c1","robot_profiles.py":"fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d","robot_profiles.lock.json":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8"},"asset_provenance":{"profile":"piper","repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","files_verified":90,"bytes_verified":34562302,"lock_sha256":"4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe","simulation_asset_license":"MIT"},"compiled_model_sha256":"7ac425ee7c5f1dab807d5dd6cc2bafa4f93bf9f2f52a37e0016566fa30fe4cb4","initial_object_position_m":[0.29887665332292535,-0.03267397609451849,0.07989224451748383],"native_servo_gains":[80.0,80.0,80.0,40.0,10.0,10.0,40.0],"native_servo_bias":[[0.0,-80.0,-5.0],[0.0,-80.0,-5.0],[0.0,-80.0,-5.0],[0.0,-40.0,-5.0],[0.0,-10.0,-1.5],[0.0,-10.0,-1.5],[0.0,-40.0,-5.0]],"native_force_limits":[[-100.0,100.0],[-100.0,100.0],[-100.0,100.0],[-100.0,100.0],[-100.0,100.0],[-100.0,100.0],[-10.0,10.0]],"native_control_limits":[[-2.618,2.618],[0.0,3.14],[-2.697,0.0],[-1.832,1.832],[-1.22,1.22],[-3.14,3.14],[0.0,0.035]],"native_model_settings":{"dimensions":{"nq":15,"nv":14,"nu":7,"neq":1,"nmocap":0},"gravity_m_s2":[0.0,0.0,-9.81],"body_gravcomp":[0.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,0.0,0.0]},"contact_geometry":{"pad_geom_ids":{"left":[85,86],"right":[88,89]},"geom_body_names":["world","world","base_link","base_link","link1","link1","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link2","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link3","link4","link4","link4","link4","link4","link4","link5","link5","link5","link5","link5","link5","link5","link5","link6","link6","link7","link7","link7","link8","link8","link8","task_block","task_target_frame"]},"id":"nominal-00--placement","scene_id":"nominal-00","attempt_wall_seconds":2.2852230831049383}
