{"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":642104,"control":"placement","config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[0.300270036017285,-0.033971272720789786,0.082],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"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,-0.035,0.3002700718224476,-0.03397109124017995,0.0798922445174838,0.9999999999999991,1.6790345322727744e-13,-3.3127796182617986e-14,-9.278893702365696e-19],"qvel":[4.7609470839522355e-20,-5.921924483962385e-18,1.5209740326249663e-16,-3.523927728174252e-18,-2.0622825375710477e-16,1.8570424905271132e-17,5.614049097623689e-20,5.803866755970268e-20,5.0686672521874917e-14,2.5690925079298897e-13,2.3616448216659476e-09,-1.2861089758796137e-11,2.5373133487392375e-12,-1.0424089857527494e-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":[0.3002700718224476,-0.03397109124017995,0.0798922445174838],"object_quaternion_wxyz":[0.9999999999999991,1.6790345322727744e-13,-3.3127796182617986e-14,-9.278893702365696e-19],"object_linear_velocity_m_s":[5.0686672521874917e-14,2.5690925079298897e-13,2.3616448216659476e-09],"object_angular_velocity_rad_s":[-1.2861089758796115e-11,2.537313348739233e-12,-1.1141830712900542e-27],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999913760271},{"geom_ids":[1,90],"normal_force_n":0.09809999913755359},{"geom_ids":[1,90],"normal_force_n":0.09809999913730387},{"geom_ids":[1,90],"normal_force_n":0.09809999913735312}],"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":[-0.0032225383951653974,1.5379477743301546,-1.312697610169742,-0.0002013559372516494,0.046133687260650556,-0.00022964299217863895],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.0,"joint_targets_rad":[-0.0032225383951653974,1.5379477743301546,-1.312697610169742,-0.0002013559372516494,0.046133687260650556,-0.00022964299217863895],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.02000000000000001,"qpos":[-6.55516044213852e-05,1.5689026643447916,-1.347036095769211,1.9803139067688514e-07,0.00010234464682054798,7.673252071708056e-06,0.03499883280728823,-0.03499998853716336,0.30027007182244847,-0.03397109124017641,0.07989224455018226,0.9999999999999991,7.917913076608943e-14,-1.5622815163626477e-14,-9.278893702370207e-19],"qvel":[-0.005569237168547427,-0.15260640493636912,0.20338135557666537,0.00035415741728188295,0.012630492977028469,0.001064996494889666,-2.5542757423590387e-05,-2.0184176301536386e-07,2.3903153879568286e-14,1.21151862643076e-13,1.1221232224159434e-09,-6.0650285946307125e-12,1.1965693055335087e-12,-2.2418877034300714e-28],"joint_position_rad":[-6.55516044213852e-05,1.5689026643447916,-1.347036095769211,1.9803139067688514e-07,0.00010234464682054798,7.673252071708056e-06],"joint_velocity_rad_s":[-0.005569237168547427,-0.15260640493636912,0.20338135557666537,0.00035415741728188295,0.012630492977028469,0.001064996494889666],"gripper_joint_position_m":[0.03499883280728823,-0.03499998853716336],"tcp_position_m":[0.48874093338607877,0.0013821619097121713,0.3664258170359792],"tcp_quaternion_wxyz":[0.657907543607971,2.7926091223477712e-05,0.753098707239716,-2.0921937277310254e-05],"object_position_m":[0.30027007182244847,-0.03397109124017641,0.07989224455018226],"object_quaternion_wxyz":[0.9999999999999991,7.917913076608943e-14,-1.5622815163626477e-14,-9.278893702370207e-19],"object_linear_velocity_m_s":[2.3903153879568286e-14,1.21151862643076e-13,1.1221232224159434e-09],"object_angular_velocity_rad_s":[-6.065028594630702e-12,1.1965693055335067e-12,-2.4319513533978453e-28],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999959023624},{"geom_ids":[1,90],"normal_force_n":0.09809999959021296},{"geom_ids":[1,90],"normal_force_n":0.09809999959009512},{"geom_ids":[1,90],"normal_force_n":0.09809999959011854}],"native_actuator_controls":[-0.0032225383951653974,1.539999999999999,-1.318499999999999,-0.0002013559372516494,0.03000000000000001,-0.00022964299217863895,0.035],"actuator_force_native":[-0.22471275741678384,-1.5491811229015724,1.26598088365364,-0.009832945832102466,0.2800308140662519,-0.0039706571848379685,0.00017440149558889395],"issued_joint_targets_rad":[-0.0032911536439814014,1.5368883699923779,-1.3112938316713023,-0.00016246792718440945,0.046258016778752284,-0.0002649432036534702],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.02000000000000001,"joint_targets_rad":[-0.0032911536439814014,1.5368883699923779,-1.3112938316713023,-0.00016246792718440945,0.046258016778752284,-0.0002649432036534702],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.04000000000000003,"qpos":[-0.0001957204082671574,1.5636985215076546,-1.3401927630601675,8.132363280173533e-06,0.0006931916907016797,2.8392935449201402e-05,0.034998981712427386,-0.03499957184882925,0.30027007182244847,-0.033971091240174736,0.0798922445657737,0.9999999999999991,3.7107671254407593e-14,-7.32723746778396e-15,-9.278893702164852e-19],"qvel":[-0.006723143439788198,-0.31270025419962555,0.4003023723637384,2.613578043239465e-05,0.059063154132738896,0.0004463709116266111,1.3379555077932506e-05,3.3142481322103805e-05,1.1308845658679176e-14,5.707098626534566e-14,5.591285271080934e-10,-3.078028500617418e-12,6.031094555917026e-13,2.1286508113166486e-26],"joint_position_rad":[-0.0001957204082671574,1.5636985215076546,-1.3401927630601675,8.132363280173533e-06,0.0006931916907016797,2.8392935449201402e-05],"joint_velocity_rad_s":[-0.006723143439788198,-0.31270025419962555,0.4003023723637384,2.613578043239465e-05,0.059063154132738896,0.0004463709116266111],"gripper_joint_position_m":[0.034998981712427386,-0.03499957184882925],"tcp_position_m":[0.4871811507229368,0.0013188595814835344,0.36569028435533457],"tcp_quaternion_wxyz":[0.6570674139642474,8.782084198671678e-05,0.7538318133718765,-5.4243010400947955e-05],"object_position_m":[0.30027007182244847,-0.033971091240174736,0.0798922445657737],"object_quaternion_wxyz":[0.9999999999999991,3.7107671254407593e-14,-7.32723746778396e-15,-9.278893702164852e-19],"object_linear_velocity_m_s":[1.1308845658679176e-14,5.707098626534566e-14,5.591285271080934e-10],"object_angular_velocity_rad_s":[-3.0780285006174123e-12,6.031094555917015e-13,2.0939591416948065e-26],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999977733935},{"geom_ids":[1,90],"normal_force_n":0.09809999977732693},{"geom_ids":[1,90],"normal_force_n":0.09809999977726493},{"geom_ids":[1,90],"normal_force_n":0.09809999977727722}],"native_actuator_controls":[-0.0032911536439814014,1.5368883699923779,-1.3112938316713023,-0.00016246792718440945,0.046258016778752284,-0.0002649432036534702,0.035],"actuator_force_native":[-0.21401894165819857,-0.5813108502240141,0.3104026492905234,-0.006954690520745293,0.3670535196813977,-0.003602917758466632,-2.6166272484973163e-05],"issued_joint_targets_rad":[-0.0034427030857386346,1.5318662450144371,-1.3047354761847227,7.506399782289892e-05,0.04695087488550965,-0.0004889084823938521],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.04000000000000003,"joint_targets_rad":[-0.0034427030857386346,1.5318662450144371,-1.3047354761847227,7.506399782289892e-05,0.04695087488550965,-0.0004889084823938521],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.060000000000000046,"qpos":[-0.00033058024699398724,1.556865128953735,-1.3316441390227056,1.2003849192169927e-05,0.002282070890053497,2.6695978497189542e-05,0.034999127604508566,-0.03499897016321987,0.300270071822448,-0.03397109124017725,0.07989224457377583,0.9999999999999991,-1.1052450049436317e-13,1.8699926941075668e-14,-9.278893416079623e-19],"qvel":[-0.006576938070720755,-0.3467713577272747,0.4172318130940312,0.0001221305141519648,0.11726073780504033,-0.0005627504068208015,7.542445002296064e-07,2.040665014244502e-05,-9.975837048432431e-14,-5.810375781411154e-13,2.861356196617811e-10,-4.628519239999141e-11,8.037266005776589e-12,1.0491046967291174e-23],"joint_position_rad":[-0.00033058024699398724,1.556865128953735,-1.3316441390227056,1.2003849192169927e-05,0.002282070890053497,2.6695978497189542e-05],"joint_velocity_rad_s":[-0.006576938070720755,-0.3467713577272747,0.4172318130940312,0.0001221305141519648,0.11726073780504033,-0.0005627504068208015],"gripper_joint_position_m":[0.034999127604508566,-0.03499897016321987],"tcp_position_m":[0.485123798037928,0.0012538565816276306,0.36474440517127854],"tcp_quaternion_wxyz":[0.6558211409690424,0.00013967402014595219,0.7549162880848506,-9.763924577900983e-05],"object_position_m":[0.300270071822448,-0.03397109124017725,0.07989224457377583],"object_quaternion_wxyz":[0.9999999999999991,-1.1052450049436317e-13,1.8699926941075668e-14,-9.278893416079623e-19],"object_linear_velocity_m_s":[-9.975837048432431e-14,-5.810375781411154e-13,2.861356196617811e-10],"object_angular_velocity_rad_s":[-4.628519239999133e-11,8.037266005776574e-12,1.044547677870053e-23],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999998572808},{"geom_ids":[1,90],"normal_force_n":0.098099999857197},{"geom_ids":[1,90],"normal_force_n":0.09809999985671636},{"geom_ids":[1,90],"normal_force_n":0.09809999985680003}],"native_actuator_controls":[-0.0034427030857386346,1.5318662450144371,-1.3047354761847227,7.506399782289892e-05,0.04695087488550965,-0.0004889084823938521,0.035],"actuator_force_native":[-0.21608513674596802,-0.2660539265074533,0.06653396156846725,0.0019117533744693355,0.270796933247001,-0.004311918998679214,3.112459715626237e-05],"issued_joint_targets_rad":[-0.003608173131030272,1.5252872690548724,-1.2965664805679573,0.0007122200236167778,0.04866382261535046,-0.0011417544192522066],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.060000000000000046,"joint_targets_rad":[-0.003608173131030272,1.5252872690548724,-1.2965664805679573,0.0007122200236167778,0.04866382261535046,-0.0011417544192522066],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.08000000000000006,"qpos":[-0.00046279045095544554,1.549694766579096,-1.323031607406511,3.839950924943617e-05,0.004462893146472696,6.162269933003435e-06,0.03499914617413739,-0.0349987653306753,0.3002700718224171,-0.03397109124035624,0.07989224457759996,0.9999999999999991,-6.261046160075488e-12,1.0823038550934304e-12,-9.2788731795659e-19],"qvel":[-0.006493803966409245,-0.35499936068493454,0.4157745718106461,0.0017725392728173508,0.12745935099892375,-0.0014232965919477023,-2.104144967825512e-07,-9.164003795786352e-09,-2.5704739008907648e-12,-1.486942193275202e-11,1.1758728187510296e-10,-8.602710012939374e-10,1.487484575528051e-10,3.1734484537574825e-22],"joint_position_rad":[-0.00046279045095544554,1.549694766579096,-1.323031607406511,3.839950924943617e-05,0.004462893146472696,6.162269933003435e-06],"joint_velocity_rad_s":[-0.006493803966409245,-0.35499936068493454,0.4157745718106461,0.0017725392728173508,0.12745935099892375,-0.0014232965919477023],"gripper_joint_position_m":[0.03499914617413739,-0.0349987653306753],"tcp_position_m":[0.48296046083916844,0.00119076424754532,0.3637953760976215],"tcp_quaternion_wxyz":[0.654452530654514,0.00019205459209388365,0.7561030544777709,-0.00013872390328292564],"object_position_m":[0.3002700718224171,-0.03397109124035624,0.07989224457759996],"object_quaternion_wxyz":[0.9999999999999991,-6.261046160075488e-12,1.0823038550934304e-12,-9.2788731795659e-19],"object_linear_velocity_m_s":[-2.5704739008907648e-12,-1.486942193275202e-11,1.1758728187510296e-10],"object_angular_velocity_rad_s":[-8.602710012939359e-10,1.4874845755280484e-10,3.1685216967049115e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999435328},{"geom_ids":[1,90],"normal_force_n":0.09809999994075366},{"geom_ids":[1,90],"normal_force_n":0.09809999992468212},{"geom_ids":[1,90],"normal_force_n":0.0980999999274612}],"native_actuator_controls":[-0.003608173131030272,1.5252872690548724,-1.2965664805679573,0.0007122200236167778,0.04866382261535046,-0.0011417544192522066,0.035],"actuator_force_native":[-0.21916159457393988,-0.1776029985132226,0.03833728803105885,0.01809012421060691,0.25082026819039205,-0.009344222003930546,3.52051069887338e-05],"issued_joint_targets_rad":[-0.0037757373723611583,1.5183937675030632,-1.2883496825775533,0.0016196485399883609,0.05096250894318423,-0.0020626818617353456],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.08000000000000006,"joint_targets_rad":[-0.0037757373723611583,1.5183937675030632,-1.2883496825775533,0.0016196485399883609,0.05096250894318423,-0.0020626818617353456],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.10000000000000007,"qpos":[-0.0005944091446047349,1.5424458556490463,-1.3145111893011243,0.00011086375845901398,0.00673670376946941,-3.354214228532741e-05,0.03499919797240757,-0.03499887980198651,0.30027007182236287,-0.03397109124067021,0.07989224457899781,0.9999999999999991,-1.1751324993995734e-11,2.031620137883829e-12,-9.27884317192768e-19],"qvel":[-0.00650354709033515,-0.3565356076123191,0.4099031964673048,0.004355613776621552,0.12852880388867044,-0.0024403471326133797,2.7291334823463814e-06,-1.0889980450309943e-05,-4.5860861216511776e-12,-2.652664523538392e-11,4.281667688981708e-11,-1.1442828677291535e-09,1.978419189956402e-10,6.0553648542695185e-22],"joint_position_rad":[-0.0005944091446047349,1.5424458556490463,-1.3145111893011243,0.00011086375845901398,0.00673670376946941,-3.354214228532741e-05],"joint_velocity_rad_s":[-0.00650354709033515,-0.3565356076123191,0.4099031964673048,0.004355613776621552,0.12852880388867044,-0.0024403471326133797],"gripper_joint_position_m":[0.03499919797240757,-0.03499887980198651],"tcp_position_m":[0.4807750582877736,0.0011286329064706944,0.36289296369848945],"tcp_quaternion_wxyz":[0.6531111829489991,0.00025440874003651446,0.7572619684836537,-0.00017050341381319464],"object_position_m":[0.30027007182236287,-0.03397109124067021,0.07989224457899781],"object_quaternion_wxyz":[0.9999999999999991,-1.1751324993995734e-11,2.031620137883829e-12,-9.27884317192768e-19],"object_linear_velocity_m_s":[-4.5860861216511776e-12,-2.652664523538392e-11,4.281667688981708e-11],"object_angular_velocity_rad_s":[-1.1442828677291515e-09,1.9784191899563984e-10,6.05223345347871e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998768341},{"geom_ids":[1,90],"normal_force_n":0.09809999998417303},{"geom_ids":[1,90],"normal_force_n":0.09809999996386969},{"geom_ids":[1,90],"normal_force_n":0.09809999996738017}],"native_actuator_controls":[-0.0037757373723611583,1.5183937675030632,-1.2883496825775533,0.0016196485399883609,0.05096250894318423,-0.0020626818617353456,0.035],"actuator_force_native":[-0.22198852276883813,-0.14148901361706123,0.04340455554914513,0.03857332237806611,0.24946484590414253,-0.016630876495580114,1.8435436285546558e-05],"issued_joint_targets_rad":[-0.003946648183355772,1.5114263315763772,-1.280218844230977,0.002620342941816456,0.05334364074334193,-0.0030518244905690765],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.10000000000000007,"joint_targets_rad":[-0.003946648183355772,1.5114263315763772,-1.280218844230977,0.002620342941816456,0.05334364074334193,-0.0030518244905690765],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.12000000000000009,"qpos":[-0.0007267751811802035,1.5351920909737906,-1.306120216555088,0.0002389644641905049,0.009008036777257531,-9.463493401354358e-05,0.034999299568407694,-0.03499911484272035,0.3002700718222964,-0.03397109124105483,0.07989224457949734,0.9999999999999991,-1.3269944786528039e-11,2.2942157327425966e-12,-9.278814997980944e-19],"qvel":[-0.00655857027184843,-0.356029344344553,0.4034061235226819,0.007190331707308181,0.12755461874794272,-0.003539340532016112,4.6013579494653365e-06,-1.3058406519843476e-05,-7.097494495605249e-12,-4.105225714882209e-11,1.5756350687784054e-11,-1.7609756403875114e-09,3.0445925144614577e-10,1.114836152134462e-21],"joint_position_rad":[-0.0007267751811802035,1.5351920909737906,-1.306120216555088,0.0002389644641905049,0.009008036777257531,-9.463493401354358e-05],"joint_velocity_rad_s":[-0.00655857027184843,-0.356029344344553,0.4034061235226819,0.007190331707308181,0.12755461874794272,-0.003539340532016112],"gripper_joint_position_m":[0.034999299568407694,-0.03499911484272035],"tcp_position_m":[0.47859034093783365,0.0010668940582464065,0.3620384839639884],"tcp_quaternion_wxyz":[0.6518196505288504,0.0003299313629007718,0.7583739169262139,-0.00019093385100196495],"object_position_m":[0.3002700718222964,-0.03397109124105483,0.07989224457949734],"object_quaternion_wxyz":[0.9999999999999991,-1.3269944786528039e-11,2.2942157327425966e-12,-9.278814997980944e-19],"object_linear_velocity_m_s":[-7.097494495605249e-12,-4.105225714882209e-11,1.5756350687784054e-11],"object_angular_velocity_rad_s":[-1.7609756403875083e-09,3.0445925144614525e-10,1.1146372775654319e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999880921},{"geom_ids":[1,90],"normal_force_n":0.0980999999965118},{"geom_ids":[1,90],"normal_force_n":0.09809999998322326},{"geom_ids":[1,90],"normal_force_n":0.09809999998552077}],"native_actuator_controls":[-0.003946648183355772,1.5114263315763772,-1.280218844230977,0.002620342941816456,0.05334364074334193,-0.0030518244905690765,0.035],"actuator_force_native":[-0.22479698881480334,-0.1211140300703164,0.05507916831547277,0.05930348056849714,0.25202411153892984,-0.024262884767531162,5.010473945077365e-06],"issued_joint_targets_rad":[-0.004122074542493312,1.5044545635649358,-1.2722071259600618,0.0036830781570615966,0.055711708805866435,-0.004070925100865065],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.12000000000000009,"joint_targets_rad":[-0.004122074542493312,1.5044545635649358,-1.2722071259600618,0.0036830781570615966,0.055711708805866435,-0.004070925100865065],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.1400000000000001,"qpos":[-0.0008605054807948279,1.527958796442938,-1.297859758245435,0.00042500207162769207,0.011258049699371827,-0.00017806069702178064,0.03499941879369999,-0.034999346598871925,0.30027007182221,-0.033971091241554674,0.07989224457967978,0.9999999999999991,-1.52275419542617e-11,2.632686393674634e-12,-9.27877324211335e-19],"qvel":[-0.006634441902119823,-0.35468457360824684,0.39710343176798674,0.010072671958710231,0.12633200679611728,-0.004666204438544639,4.824641610122815e-06,-1.1249930231677093e-05,-3.1571540246897592e-12,-1.8261124684133493e-11,5.129752475290935e-12,5.017116221334818e-10,-8.673985055914251e-11,1.1943216576299027e-22],"joint_position_rad":[-0.0008605054807948279,1.527958796442938,-1.297859758245435,0.00042500207162769207,0.011258049699371827,-0.00017806069702178064],"joint_velocity_rad_s":[-0.006634441902119823,-0.35468457360824684,0.39710343176798674,0.010072671958710231,0.12633200679611728,-0.004666204438544639],"gripper_joint_position_m":[0.03499941879369999,-0.034999346598871925],"tcp_position_m":[0.47641351769574386,0.0010053356752123366,0.3612242175412549],"tcp_quaternion_wxyz":[0.6505761114456962,0.0004192878012936624,0.7594409177389926,-0.00019969400238429422],"object_position_m":[0.30027007182221,-0.033971091241554674,0.07989224457967978],"object_quaternion_wxyz":[0.9999999999999991,-1.52275419542617e-11,2.632686393674634e-12,-9.27877324211335e-19],"object_linear_velocity_m_s":[-3.1571540246897592e-12,-1.8261124684133493e-11,5.129752475290935e-12],"object_angular_velocity_rad_s":[5.017116221334809e-10,-8.673985055914236e-11,1.1940287047596198e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000045038},{"geom_ids":[1,90],"normal_force_n":0.09809999999953467},{"geom_ids":[1,90],"normal_force_n":0.09809999999423756},{"geom_ids":[1,90],"normal_force_n":0.09809999999515344}],"native_actuator_controls":[-0.004122074542493312,1.5044545635649358,-1.2722071259600618,0.0036830781570615966,0.055711708805866435,-0.004070925100865065,0.035],"actuator_force_native":[-0.2277533154252796,-0.10691576219893761,0.06669342398991773,0.07995968362380501,0.25503858087077014,-0.03192933738061589,-8.749560502785414e-07],"issued_joint_targets_rad":[-0.004302597477710414,1.497502717432372,-1.2643152999531158,0.004800262028035592,0.05804865282690373,-0.0051111805382658216],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.1400000000000001,"joint_targets_rad":[-0.004302597477710414,1.497502717432372,-1.2643152999531158,0.004800262028035592,0.05804865282690373,-0.0051111805382658216],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.16000000000000011,"qpos":[-0.000995908122664044,1.5207582948497027,-1.2897236277852082,0.0006692040395092639,0.01348651146061238,-0.00028412058119433654,0.034999530408666234,-0.03499953188664344,0.3002700718221145,-0.033971091242106344,0.07989224457974564,0.9999999999999991,-1.7128049641862595e-11,2.9612948677094847e-12,-9.278719153237113e-19],"qvel":[-0.006722178762224241,-0.35285605411529636,0.3911475135635911,0.012948952418896764,0.12524623459844902,-0.00580099299929127,4.18753001005043e-06,-8.570269405437621e-06,-3.705370159886203e-12,-2.1431787036303805e-11,1.895379983235109e-12,4.3665221252637447e-10,-7.549227417123833e-11,2.220343035461543e-22],"joint_position_rad":[-0.000995908122664044,1.5207582948497027,-1.2897236277852082,0.0006692040395092639,0.01348651146061238,-0.00028412058119433654],"joint_velocity_rad_s":[-0.006722178762224241,-0.35285605411529636,0.3911475135635911,0.012948952418896764,0.12524623459844902,-0.00580099299929127],"gripper_joint_position_m":[0.034999530408666234,-0.03499953188664344],"tcp_position_m":[0.47424770189327137,0.0009438948083374169,0.3604416060538445],"tcp_quaternion_wxyz":[0.6493738300315756,0.0005224902870087216,0.7604691427883129,-0.00019682690481016772],"object_position_m":[0.3002700718221145,-0.033971091242106344,0.07989224457974564],"object_quaternion_wxyz":[0.9999999999999991,-1.7128049641862595e-11,2.9612948677094847e-12,-9.278719153237113e-19],"object_linear_velocity_m_s":[-3.705370159886203e-12,-2.1431787036303805e-11,1.895379983235109e-12],"object_angular_velocity_rad_s":[4.366522125263737e-10,-7.54922741712382e-11,2.2199323085360884e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000346894},{"geom_ids":[1,90],"normal_force_n":0.09810000000215482},{"geom_ids":[1,90],"normal_force_n":0.0980999999945542},{"geom_ids":[1,90],"normal_force_n":0.09809999999586848}],"native_actuator_controls":[-0.004302597477710414,1.497502717432372,-1.2643152999531158,0.004800262028035592,0.05804865282690373,-0.0051111805382658216,0.035],"actuator_force_native":[-0.2309242545925884,-0.09616592280997338,0.07692865874943777,0.10049755744656928,0.25775206176524,-0.03956911007177794,-2.1539966994499338e-06],"issued_joint_targets_rad":[-0.0044885427399441544,1.490582808819236,-1.2565377201461891,0.005969994367585433,0.06035509226998102,-0.006170858692213806],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.16000000000000011,"joint_targets_rad":[-0.0044885427399441544,1.490582808819236,-1.2565377201461891,0.005969994367585433,0.06035509226998102,-0.006170858692213806],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.18000000000000013,"qpos":[-0.0011331850202433759,1.5135986116015354,-1.2817047359612461,0.0009712770261989632,0.015696877864585713,-0.00041289512471261527,0.03499962463510397,-0.0349996688217821,0.3002700718220121,-0.03397109124269879,0.07989224457976965,0.9999999999999991,-1.9203599941787138e-11,3.3201627736418585e-12,-9.278651234961678e-19],"qvel":[-0.006818889788021383,-0.35068154796104445,0.38553462794075194,0.015806783269596322,0.12435532636303863,-0.006937537009113604,3.3466284561688253e-06,-6.2614598753648945e-06,-4.3710088299024056e-12,-2.5281639484904864e-11,7.071068922000228e-13,2.8616304909875923e-10,-4.947456810596339e-11,3.9897384856022986e-22],"joint_position_rad":[-0.0011331850202433759,1.5135986116015354,-1.2817047359612461,0.0009712770261989632,0.015696877864585713,-0.00041289512471261527],"joint_velocity_rad_s":[-0.006818889788021383,-0.35068154796104445,0.38553462794075194,0.015806783269596322,0.12435532636303863,-0.006937537009113604],"gripper_joint_position_m":[0.03499962463510397,-0.0349996688217821],"tcp_position_m":[0.47209474280845004,0.0008825587756576441,0.35968304615525715],"tcp_quaternion_wxyz":[0.6482059136636175,0.0006393992102177016,0.761464806394198,-0.00018243686797269024],"object_position_m":[0.3002700718220121,-0.03397109124269879,0.07989224457976965],"object_quaternion_wxyz":[0.9999999999999991,-1.9203599941787138e-11,3.3201627736418585e-12,-9.278651234961678e-19],"object_linear_velocity_m_s":[-4.3710088299024056e-12,-2.5281639484904864e-11,7.071068922000228e-13],"object_angular_velocity_rad_s":[2.861630490987587e-10,-4.94745681059633e-11,3.989376693403784e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000635763},{"geom_ids":[1,90],"normal_force_n":0.09810000000437416},{"geom_ids":[1,90],"normal_force_n":0.09809999999290035},{"geom_ids":[1,90],"normal_force_n":0.09809999999488395}],"native_actuator_controls":[-0.0044885427399441544,1.490582808819236,-1.2565377201461891,0.005969994367585433,0.06035509226998102,-0.006170858692213806,0.035],"actuator_force_native":[-0.23433416863595535,-0.08785648277871871,0.08568812550079485,0.12091477730747718,0.2600491545093952,-0.047173330161341495,-1.7185464395996775e-06],"issued_joint_targets_rad":[-0.004680148958593232,1.483702753527218,-1.2488679535385152,0.007191563836830552,0.06263525107163406,-0.007249698787598205],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.18000000000000013,"joint_targets_rad":[-0.004680148958593232,1.483702753527218,-1.2488679535385152,0.007191563836830552,0.06263525107163406,-0.007249698787598205],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.20000000000000015,"qpos":[-0.0012725052868361392,1.5064857963896847,-1.2737965229745711,0.0013308148927453271,0.01789284896327631,-0.0005643957813702876,0.03499970097557373,-0.034999768546004874,0.30027007182190896,-0.03397109124329524,0.07989224457977845,0.9999999999999991,-2.014872579013545e-11,3.4835934693450465e-12,-9.278576685340779e-19],"qvel":[-0.006923724660775462,-0.34823689080542597,0.3802294199194637,0.01864383304745817,0.1236429564260444,-0.008073849426191904,2.602158608020042e-06,-4.571590700426663e-06,-5.133776517524415e-12,-2.969318900086504e-11,2.678943369856262e-13,-2.184009020770853e-11,3.778363807336175e-12,7.303566789701704e-22],"joint_position_rad":[-0.0012725052868361392,1.5064857963896847,-1.2737965229745711,0.0013308148927453271,0.01789284896327631,-0.0005643957813702876],"joint_velocity_rad_s":[-0.006923724660775462,-0.34823689080542597,0.3802294199194637,0.01864383304745817,0.1236429564260444,-0.008073849426191904],"gripper_joint_position_m":[0.03499970097557373,-0.034999768546004874],"tcp_position_m":[0.4699559685605956,0.0008213301151638965,0.3589421287893451],"tcp_quaternion_wxyz":[0.6470662886838804,0.0007698470173885321,0.7624333419070293,-0.0001566298761170381],"object_position_m":[0.30027007182190896,-0.03397109124329524,0.07989224457977845],"object_quaternion_wxyz":[0.9999999999999991,-2.014872579013545e-11,3.4835934693450465e-12,-9.278576685340779e-19],"object_linear_velocity_m_s":[-5.133776517524415e-12,-2.969318900086504e-11,2.678943369856262e-13],"object_angular_velocity_rad_s":[-2.1840090207708492e-11,3.778363807336168e-12,7.302622376263519e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000082704},{"geom_ids":[1,90],"normal_force_n":0.0981000000057906},{"geom_ids":[1,90],"normal_force_n":0.09809999999144786},{"geom_ids":[1,90],"normal_force_n":0.09809999999392756}],"native_actuator_controls":[-0.004680148958593232,1.483702753527218,-1.2488679535385152,0.007191563836830552,0.06263525107163406,-0.007249698787598205,0.035],"actuator_force_native":[-0.2379928704366901,-0.0814589749701895,0.09313845528714637,0.14121079252611812,0.2619595864445109,-0.05474225592299132,-1.0498159890293124e-06],"issued_joint_targets_rad":[-0.004877627085943908,1.476868550836081,-1.2413000537932846,0.008464420961220668,0.06489349636839696,-0.008347636470951384],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.20000000000000015,"joint_targets_rad":[-0.004877627085943908,1.476868550836081,-1.2413000537932846,0.008464420961220668,0.06489349636839696,-0.008347636470951384],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.22000000000000017,"qpos":[-0.0014140288890959615,1.499424652169768,-1.2659931901667183,0.001747392082955582,0.020077631913849498,-0.0007386080237988973,0.03499976233202205,-0.03499984270178545,0.3002700718218077,-0.03397109124388083,0.07989224457978172,0.9999999999999991,-1.9911433497354078e-11,3.4425827310198065e-12,-9.278498596553476e-19],"qvel":[-0.007036465601156275,-0.3455754132909184,0.37519420283300997,0.0214597845780638,0.12307958405427472,-0.009209011316726723,2.0316678604738707e-06,-3.3940495321599572e-06,-6.171028462117691e-12,-3.569235492770755e-11,1.0358410489866458e-13,-5.346656425212215e-10,9.244241385616137e-11,1.3276907512620393e-21],"joint_position_rad":[-0.0014140288890959615,1.499424652169768,-1.2659931901667183,0.001747392082955582,0.020077631913849498,-0.0007386080237988973],"joint_velocity_rad_s":[-0.007036465601156275,-0.3455754132909184,0.37519420283300997,0.0214597845780638,0.12307958405427472,-0.009209011316726723],"gripper_joint_position_m":[0.03499976233202205,-0.03499984270178545],"tcp_position_m":[0.4678324083009918,0.0007602155601785273,0.3582135358120486],"tcp_quaternion_wxyz":[0.6459498001398736,0.000913665953054518,0.7633793333803772,-0.00011950529108662639],"object_position_m":[0.3002700718218077,-0.03397109124388083,0.07989224457978172],"object_quaternion_wxyz":[0.9999999999999991,-1.9911433497354078e-11,3.4425827310198065e-12,-9.278498596553476e-19],"object_linear_velocity_m_s":[-6.171028462117691e-12,-3.569235492770755e-11,1.0358410489866458e-13],"object_angular_velocity_rad_s":[-5.346656425212205e-10,9.24424138561612e-11,1.327630215224688e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000887986},{"geom_ids":[1,90],"normal_force_n":0.09810000000624575},{"geom_ids":[1,90],"normal_force_n":0.09809999999101125},{"geom_ids":[1,90],"normal_force_n":0.09809999999364548}],"native_actuator_controls":[-0.004877627085943908,1.476868550836081,-1.2413000537932846,0.008464420961220668,0.06489349636839696,-0.008347636470951384,0.035],"actuator_force_native":[-0.24190552774205434,-0.07661104024036547,0.09947989570964921,0.16138223224028442,0.2635392684640626,-0.06227676749643478,-6.516201844775082e-07],"issued_joint_targets_rad":[-0.0050811780226642095,1.4700849769940025,-1.2338287660746885,0.00978794341585402,0.06713361023896772,-0.009464521242801463],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.22000000000000017,"joint_targets_rad":[-0.0050811780226642095,1.4700849769940025,-1.2338287660746885,0.00978794341585402,0.06713361023896772,-0.009464521242801463],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.24000000000000019,"qpos":[-0.0015579132633773772,1.4924191554111885,-1.2582898441632573,0.0022205753746303613,0.022253730960099614,-0.0009355047618919649,0.034999812027135084,-0.034999899924369283,0.30027007182171117,-0.033971091244439054,0.07989224457978297,0.9999999999999991,-1.8252908700982277e-11,3.155832476989855e-12,-9.278424145197898e-19],"qvel":[-0.00715708713191085,-0.3427358886474047,0.3703898634875152,0.024254378736725327,0.12262676606245992,-0.010342312818699514,1.6225777752508635e-06,-2.5627214754947665e-06,-7.792289733439702e-12,-4.506974465218854e-11,4.0708011677799617e-14,-1.3152239002114902e-09,2.273915446828839e-10,2.4277633855130218e-21],"joint_position_rad":[-0.0015579132633773772,1.4924191554111885,-1.2582898441632573,0.0022205753746303613,0.022253730960099614,-0.0009355047618919649],"joint_velocity_rad_s":[-0.00715708713191085,-0.3427358886474047,0.3703898634875152,0.024254378736725327,0.12262676606245992,-0.010342312818699514],"gripper_joint_position_m":[0.034999812027135084,-0.034999899924369283],"tcp_position_m":[0.4657249178664605,0.0006992229490927135,0.35749293939795695],"tcp_quaternion_wxyz":[0.6448521943964408,0.001070689925289835,0.764306545792695,-7.115910259494979e-05],"object_position_m":[0.30027007182171117,-0.033971091244439054,0.07989224457978297],"object_quaternion_wxyz":[0.9999999999999991,-1.8252908700982277e-11,3.155832476989855e-12,-9.278424145197898e-19],"object_linear_velocity_m_s":[-7.792289733439702e-12,-4.506974465218854e-11,4.0708011677799617e-14],"object_angular_velocity_rad_s":[-1.3152239002114879e-09,2.273915446828835e-10,2.4279017741703633e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000665463},{"geom_ids":[1,90],"normal_force_n":0.09810000000468651},{"geom_ids":[1,90],"normal_force_n":0.09809999999330296},{"geom_ids":[1,90],"normal_force_n":0.09809999999527108}],"native_actuator_controls":[-0.0050811780226642095,1.4700849769940025,-1.2338287660746885,0.00978794341585402,0.06713361023896772,-0.009464521242801463,0.035],"actuator_force_native":[-0.24607574508339233,-0.07305483013786329,0.1049369296479199,0.18142282796531972,0.2648586436949911,-0.06977669558104571,-5.939742795391112e-07],"issued_joint_targets_rad":[-0.005290993793155987,1.4633559898887096,-1.2264496644552199,0.011161342512781069,0.06935858853610388,-0.010600024213883492],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.24000000000000019,"joint_targets_rad":[-0.005290993793155987,1.4633559898887096,-1.2264496644552199,0.011161342512781069,0.06935858853610388,-0.010600024213883492],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2600000000000002,"qpos":[-0.0017043154743308403,1.4854726791304862,-1.2506825028295936,0.0027499178819363253,0.0244228557461887,-0.0011550469658831513,0.034999852814144555,-0.03499994583941031,0.30027007182161164,-0.03397109124501478,0.07989224457978344,0.9999999999999991,-1.7382429619357357e-11,3.005319341942499e-12,-9.278332111623024e-19],"qvel":[-0.007285625504299122,-0.3397490071362139,0.36577891639905186,0.02702691815609244,0.12224425496504777,-0.011472939663972524,1.3404821256979661e-06,-1.9449332861684516e-06,-3.68277599132685e-12,-2.130075118183602e-11,1.4909204143072545e-14,6.804337541832369e-10,-1.1764339980613972e-10,2.624217174540955e-22],"joint_position_rad":[-0.0017043154743308403,1.4854726791304862,-1.2506825028295936,0.0027499178819363253,0.0244228557461887,-0.0011550469658831513],"joint_velocity_rad_s":[-0.007285625504299122,-0.3397490071362139,0.36577891639905186,0.02702691815609244,0.12224425496504777,-0.011472939663972524],"gripper_joint_position_m":[0.034999852814144555,-0.03499994583941031],"tcp_position_m":[0.46363424635660455,0.0006383600599566811,0.3567769101179694],"tcp_quaternion_wxyz":[0.6437700781760898,0.001240752964439423,0.7652179734171404,-1.1687468322808698e-05],"object_position_m":[0.30027007182161164,-0.03397109124501478,0.07989224457978344],"object_quaternion_wxyz":[0.9999999999999991,-1.7382429619357357e-11,3.005319341942499e-12,-9.278332111623024e-19],"object_linear_velocity_m_s":[-3.68277599132685e-12,-2.130075118183602e-11,1.4909204143072545e-14],"object_angular_velocity_rad_s":[6.804337541832356e-10,-1.1764339980613951e-10,2.624365073635211e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000130847},{"geom_ids":[1,90],"normal_force_n":0.09810000000092056},{"geom_ids":[1,90],"normal_force_n":0.09809999999867841},{"geom_ids":[1,90],"normal_force_n":0.09809999999906628}],"native_actuator_controls":[-0.005290993793155987,1.4633559898887096,-1.2264496644552199,0.011161342512781069,0.06935858853610388,-0.010600024213883492,0.035],"actuator_force_native":[-0.25050613798451615,-0.07059010366106122,0.10973248795463064,0.20132239445332756,0.26599094545158014,-0.07724036298404463,-8.14976410579149e-07],"issued_joint_targets_rad":[-0.005507254590013253,1.4566849448360835,-1.2191591596894495,0.01258360862653288,0.07157055818461686,-0.011753589319728497],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.2600000000000002,"joint_targets_rad":[-0.005507254590013253,1.4566849448360835,-1.2191591596894495,0.01258360862653288,0.07157055818461686,-0.011753589319728497],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2800000000000002,"qpos":[-0.0018533947382263897,1.4785877326362806,-1.2431673835454742,0.003334955877868645,0.026586349560375894,-0.0013971682258006922,0.03499988678050728,-0.03499998381373703,0.3002700718215051,-0.033971091245630934,0.07989224457978367,0.9999999999999991,-1.8461525479781763e-11,3.191877415589584e-12,-9.278201182748639e-19],"qvel":[-0.0074221042152279254,-0.3366510100829303,0.36134609938175766,0.029776105874976512,0.12192823605551789,-0.012599841476237392,1.1509253495168625e-06,-1.451327212819558e-06,-3.995965142928277e-12,-2.3112288078750955e-11,5.75680308381891e-15,5.628993749189682e-10,-9.732206137840217e-11,4.725634209786337e-22],"joint_position_rad":[-0.0018533947382263897,1.4785877326362806,-1.2431673835454742,0.003334955877868645,0.026586349560375894,-0.0013971682258006922],"joint_velocity_rad_s":[-0.0074221042152279254,-0.3366510100829303,0.36134609938175766,0.029776105874976512,0.12192823605551789,-0.012599841476237392],"gripper_joint_position_m":[0.03499988678050728,-0.03499998381373703],"tcp_position_m":[0.46156093220310074,0.0005776337326687142,0.3560626134752526],"tcp_quaternion_wxyz":[0.6427005877862485,0.0014236950886565613,0.7661161296384223,5.881623147357946e-05],"object_position_m":[0.3002700718215051,-0.033971091245630934,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8461525479781763e-11,3.191877415589584e-12,-9.278201182748639e-19],"object_linear_velocity_m_s":[-3.995965142928277e-12,-2.3112288078750955e-11,5.75680308381891e-15],"object_angular_velocity_rad_s":[5.628993749189672e-10,-9.7322061378402e-11,4.725792486364487e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000333498},{"geom_ids":[1,90],"normal_force_n":0.09810000000235097},{"geom_ids":[1,90],"normal_force_n":0.09809999999665958},{"geom_ids":[1,90],"normal_force_n":0.09809999999764357}],"native_actuator_controls":[-0.005507254590013253,1.4566849448360835,-1.2191591596894495,0.01258360862653288,0.07157055818461686,-0.011753589319728497,0.035],"actuator_force_native":[-0.2551982670668095,-0.06896797360111862,0.11392741157318653,0.22106558057168685,0.26694973215913287,-0.08466444872492196,-1.2258470385440035e-06],"issued_joint_targets_rad":[-0.005730137141239667,1.4500743510159264,-1.2119538272957353,0.014053679459358004,0.07377122839498491,-0.012924593581247576],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.2800000000000002,"joint_targets_rad":[-0.005730137141239667,1.4500743510159264,-1.2119538272957353,0.014053679459358004,0.07377122839498491,-0.012924593581247576],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3000000000000002,"qpos":[-0.0020053100819493325,1.4717662462480117,-1.2357410542624032,0.0039751948001227905,0.028745381546000644,-0.0016617831976637873,0.034999907605084556,-0.035000005247216616,0.30027007182140125,-0.033971091246231766,0.07989224457978367,0.9999999999999991,-1.9204734660661857e-11,3.3203712194343345e-12,-9.278054538570853e-19],"qvel":[-0.007566507087937957,-0.3334660913872833,0.3570737335001597,0.03250031514887772,0.12166659203796247,-0.013722101898970626,6.562599988476365e-07,-5.629652406353897e-07,-4.389423538387562e-12,-2.5388043065080277e-11,3.5335814770070324e-15,3.565608465582659e-10,-6.164705071170229e-11,8.621429004236086e-22],"joint_position_rad":[-0.0020053100819493325,1.4717662462480117,-1.2357410542624032,0.0039751948001227905,0.028745381546000644,-0.0016617831976637873],"joint_velocity_rad_s":[-0.007566507087937957,-0.3334660913872833,0.3570737335001597,0.03250031514887772,0.12166659203796247,-0.013722101898970626],"gripper_joint_position_m":[0.034999907605084556,-0.035000005247216616],"tcp_position_m":[0.4595053760083478,0.0005170509303948992,0.3553476986785976],"tcp_quaternion_wxyz":[0.6416412680182001,0.0016193529936243628,0.7670031559260463,0.00014025463919395276],"object_position_m":[0.30027007182140125,-0.033971091246231766,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9204734660661857e-11,3.3203712194343345e-12,-9.278054538570853e-19],"object_linear_velocity_m_s":[-4.389423538387562e-12,-2.5388043065080277e-11,3.5335814770070324e-15],"object_angular_velocity_rad_s":[3.5656084655826527e-10,-6.164705071170218e-11,8.621446577064076e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000549712},{"geom_ids":[1,90],"normal_force_n":0.09810000000387661},{"geom_ids":[1,90],"normal_force_n":0.09809999999450197},{"geom_ids":[1,90],"normal_force_n":0.09809999999612251}],"native_actuator_controls":[-0.005730137141239667,1.4500743510159264,-1.2119538272957353,0.014053679459358004,0.07377122839498491,-0.012924593581247576,0.035],"actuator_force_native":[-0.260153629303537,-0.06802116163041205,0.1176094898326312,0.24063781062502,0.26775858043289896,-0.09204495098738194,4.1449662369075213e-07],"issued_joint_targets_rad":[-0.005959813277017625,1.4435261510820225,-1.2048305610134349,0.015570496254065851,0.07596209030958256,-0.014112425527813402],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.3000000000000002,"joint_targets_rad":[-0.005959813277017625,1.4435261510820225,-1.2048305610134349,0.015570496254065851,0.07596209030958256,-0.014112425527813402],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.32000000000000023,"qpos":[-0.002160220230842494,1.4650097345453728,-1.2284004279609442,0.004670062310020525,0.030900872474521078,-0.0019487906860074856,0.03499988300772241,-0.03499996785460711,0.30027007182130055,-0.03397109124681442,0.07989224457978367,0.9999999999999991,-1.943029668855349e-11,3.3593782940437293e-12,-9.277892587724517e-19],"qvel":[-0.00771883344366703,-0.3302126234754675,0.35294565690951096,0.03519731261622142,0.12144688969270098,-0.014838724904167254,-5.772837346017305e-07,1.1288328834290705e-06,-4.9514920010628115e-12,-2.863883927851262e-11,3.158881206196042e-15,2.676408350770105e-11,-4.6266112635444344e-12,1.587187091154025e-21],"joint_position_rad":[-0.002160220230842494,1.4650097345453728,-1.2284004279609442,0.004670062310020525,0.030900872474521078,-0.0019487906860074856],"joint_velocity_rad_s":[-0.00771883344366703,-0.3302126234754675,0.35294565690951096,0.03519731261622142,0.12144688969270098,-0.014838724904167254],"gripper_joint_position_m":[0.03499988300772241,-0.03499996785460711],"tcp_position_m":[0.45746788543955524,0.0004566183395753766,0.3546302301128966],"tcp_quaternion_wxyz":[0.6405900387750458,0.0018275414470012331,0.7678808555067467,0.0002325095082506085],"object_position_m":[0.30027007182130055,-0.03397109124681442,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.943029668855349e-11,3.3593782940437293e-12,-9.277892587724517e-19],"object_linear_velocity_m_s":[-4.9514920010628115e-12,-2.863883927851262e-11,3.158881206196042e-15],"object_angular_velocity_rad_s":[2.6764083507701e-11,-4.626611263544426e-12,1.5871585877890762e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000735321},{"geom_ids":[1,90],"normal_force_n":0.09810000000518518},{"geom_ids":[1,90],"normal_force_n":0.09809999999264664},{"geom_ids":[1,90],"normal_force_n":0.09809999999481463}],"native_actuator_controls":[-0.005959813277017625,1.4435261510820225,-1.2048305610134349,0.015570496254065851,0.07596209030958256,-0.014112425527813402,0.035],"actuator_force_native":[-0.2653732764756754,-0.06762355969067357,0.12086107125317369,0.26003079468070595,0.2684418438115634,-0.09937826106180828,7.566109776702135e-06],"issued_joint_targets_rad":[-0.006196447101091232,1.4370418780945386,-1.1977865670770997,0.017132924249677883,0.07814434867519648,-0.015316452848594361],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.32000000000000023,"joint_targets_rad":[-0.006196447101091232,1.4370418780945386,-1.1977865670770997,0.017132924249677883,0.07814434867519648,-0.015316452848594361],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.34000000000000025,"qpos":[-0.0023182884636582814,1.4583195131338227,-1.2211423803863337,0.005443128927448984,0.033053915288240504,-0.002256875281229671,0.03499989459290407,-0.034999990509069746,0.3002700718212039,-0.03397109124737386,0.07989224457978367,0.9999999999999991,-1.88737381237656e-11,3.2631538256005183e-12,-9.277723031767866e-19],"qvel":[-0.00787929850600998,-0.3268980588396259,0.34894173185422434,0.03829109075958986,0.12125940813752104,-0.016010977938243888,1.1201598768678223e-06,-1.923658318523325e-07,-5.835418898149286e-12,-3.3751514944814576e-11,3.0950433822800964e-15,-4.746860874998942e-10,8.207006749948106e-11,2.8798520618998702e-21],"joint_position_rad":[-0.0023182884636582814,1.4583195131338227,-1.2211423803863337,0.005443128927448984,0.033053915288240504,-0.002256875281229671],"joint_velocity_rad_s":[-0.00787929850600998,-0.3268980588396259,0.34894173185422434,0.03829109075958986,0.12125940813752104,-0.016010977938243888],"gripper_joint_position_m":[0.03499989459290407,-0.034999990509069746],"tcp_position_m":[0.45544869808623006,0.0003965091096617906,0.35390835597020687],"tcp_quaternion_wxyz":[0.6395448030375854,0.0020575648472202176,0.7687509955027145,0.00034387221628651805],"object_position_m":[0.3002700718212039,-0.03397109124737386,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.88737381237656e-11,3.2631538256005183e-12,-9.277723031767866e-19],"object_linear_velocity_m_s":[-5.835418898149286e-12,-3.3751514944814576e-11,3.0950433822800964e-15],"object_angular_velocity_rad_s":[-4.746860874998933e-10,8.207006749948092e-11,2.8798615830991653e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000805763},{"geom_ids":[1,90],"normal_force_n":0.0981000000056823},{"geom_ids":[1,90],"normal_force_n":0.0980999999919423},{"geom_ids":[1,90],"normal_force_n":0.09809999999431776}],"native_actuator_controls":[-0.006196447101091232,1.4370418780945386,-1.1977865670770997,0.017132924249677883,0.07814434867519648,-0.015316452848594361,0.035],"actuator_force_native":[-0.27085619846458614,-0.06772050894460335,0.12375640546758859,0.27613635909120665,0.2690152216632783,-0.10657930876628108,-1.3845155468761305e-06],"issued_joint_targets_rad":[-0.006440749237790868,1.4306228750268493,-1.1908191254986966,0.01876339794350846,0.08031957523924932,-0.01653571028445219],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.34000000000000025,"joint_targets_rad":[-0.006440749237790868,1.4306228750268493,-1.1908191254986966,0.01876339794350846,0.08031957523924932,-0.01653571028445219],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.36000000000000026,"qpos":[-0.0024796884028714336,1.4516966758808902,-1.2139642541527595,0.00631551354183796,0.03520523400091419,-0.0025857776370849022,0.0349998846214472,-0.03499998508121678,0.30027007182110754,-0.03397109124793064,0.07989224457978367,0.9999999999999991,-1.8346721818372794e-11,3.1720226617036674e-12,-9.277530660553342e-19],"qvel":[-0.008048872220768612,-0.3235342764106593,0.34504691057397785,0.04182976046029214,0.12109235075170939,-0.017246471813703264,3.5908321706627867e-07,2.610184343119961e-06,-7.341428562689915e-12,-4.246251256570108e-11,3.0839411520338455e-15,-1.2015084975986679e-09,2.077265540246367e-10,5.246214062343024e-21],"joint_position_rad":[-0.0024796884028714336,1.4516966758808902,-1.2139642541527595,0.00631551354183796,0.03520523400091419,-0.0025857776370849022],"joint_velocity_rad_s":[-0.008048872220768612,-0.3235342764106593,0.34504691057397785,0.04182976046029214,0.12109235075170939,-0.017246471813703264],"gripper_joint_position_m":[0.0349998846214472,-0.03499998508121678],"tcp_position_m":[0.45344801964258646,0.00033691706498925416,0.35318062233347824],"tcp_quaternion_wxyz":[0.6385038563058488,0.002317387793696287,0.7696149838396579,0.0004815037450190117],"object_position_m":[0.30027007182110754,-0.03397109124793064,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8346721818372794e-11,3.1720226617036674e-12,-9.277530660553342e-19],"object_linear_velocity_m_s":[-7.341428562689915e-12,-4.246251256570108e-11,3.0839411520338455e-15],"object_angular_velocity_rad_s":[-1.2015084975986658e-09,2.0772655402463634e-10,5.246435825609622e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000814756},{"geom_ids":[1,90],"normal_force_n":0.09810000000574545},{"geom_ids":[1,90],"normal_force_n":0.09809999999185244},{"geom_ids":[1,90],"normal_force_n":0.09809999999425453}],"native_actuator_controls":[-0.006440749237790868,1.4306228750268493,-1.1908191254986966,0.01876339794350846,0.08031957523924932,-0.01653571028445219,0.035],"actuator_force_native":[-0.27664050568971166,-0.06823268626997958,0.1263757394551419,0.28876657376535925,0.2695048862557873,-0.11362961875311799,2.819726026670466e-06],"issued_joint_targets_rad":[-0.006693393875053683,1.4242702609135671,-1.1839259312861763,0.020481871758531008,0.08248891929830135,-0.01777008163675863],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.36000000000000026,"joint_targets_rad":[-0.006693393875053683,1.4242702609135671,-1.1839259312861763,0.020481871758531008,0.08248891929830135,-0.01777008163675863],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3800000000000003,"qpos":[-0.0026446117876688107,1.445142025682448,-1.2068637820144508,0.00729894330222318,0.037355223854732,-0.0029355752322864173,0.034999874262676596,-0.03499997719337608,0.30027007182101184,-0.03397109124848476,0.07989224457978367,0.9999999999999991,-1.709009466290822e-11,2.954739789371801e-12,-9.277331619215516e-19],"qvel":[-0.00822849926175953,-0.32013377928053327,0.3412571522781102,0.045993160806691094,0.12094599956124624,-0.018495299508290288,8.737623488681636e-07,4.20272754391082e-06,-3.5984253195574276e-12,-2.0813120468423826e-11,3.0839411520338455e-15,6.824918197581832e-10,-1.1799831319022735e-10,5.679676702377019e-22],"joint_position_rad":[-0.0026446117876688107,1.445142025682448,-1.2068637820144508,0.00729894330222318,0.037355223854732,-0.0029355752322864173],"joint_velocity_rad_s":[-0.00822849926175953,-0.32013377928053327,0.3412571522781102,0.045993160806691094,0.12094599956124624,-0.018495299508290288],"gripper_joint_position_m":[0.034999874262676596,-0.03499997719337608],"tcp_position_m":[0.4514660043185594,0.00027799291718865875,0.3524459481176423],"tcp_quaternion_wxyz":[0.6374658709650147,0.002611326675060252,0.7704738948673292,0.0006493502744606771],"object_position_m":[0.30027007182101184,-0.03397109124848476,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.709009466290822e-11,2.954739789371801e-12,-9.277331619215516e-19],"object_linear_velocity_m_s":[-3.5984253195574276e-12,-2.0813120468423826e-11,3.0839411520338455e-15],"object_angular_velocity_rad_s":[6.824918197581819e-10,-1.1799831319022715e-10,5.68000883686112e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000012321},{"geom_ids":[1,90],"normal_force_n":0.09810000000086903},{"geom_ids":[1,90],"normal_force_n":0.09809999999876783},{"geom_ids":[1,90],"normal_force_n":0.09809999999913105}],"native_actuator_controls":[-0.006693393875053683,1.4242702609135671,-1.1839259312861763,0.020481871758531008,0.08248891929830135,-0.01777008163675863,0.035],"actuator_force_native":[-0.2827600706819921,-0.06907228510780783,0.12874229687140826,0.2973513342188575,0.2699179550938242,-0.12060211478228668,6.606811919773747e-07],"issued_joint_targets_rad":[-0.006954861803482898,1.417984864366361,-1.1771049887368321,0.022299152456574673,0.0846530885250546,-0.01901948556349465],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.3800000000000003,"joint_targets_rad":[-0.006954861803482898,1.417984864366361,-1.1771049887368321,0.022299152456574673,0.0846530885250546,-0.01901948556349465],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4000000000000003,"qpos":[-0.002814389373047689,1.4386561085738405,-1.199838917260667,0.008402655018702137,0.03950434686610219,-0.0033061313356729503,0.034999871146144966,-0.03500000348213912,0.30027007182090293,-0.03397109124911519,0.07989224457978367,0.9999999999999991,-1.8593631620009712e-11,3.214663963336441e-12,-9.277007117646762e-19],"qvel":[-0.00845042335478795,-0.316706453880268,0.33759153066234204,0.051753554252720955,0.12083531247036998,-0.019605915635895383,2.4041936153261793e-06,4.572558604803388e-06,-3.9818551849284625e-12,-2.3031057005145357e-11,3.0797778156915018e-15,5.99381051156491e-10,-1.0362823964400614e-10,1.0426474809373028e-21],"joint_position_rad":[-0.002814389373047689,1.4386561085738405,-1.199838917260667,0.008402655018702137,0.03950434686610219,-0.0033061313356729503],"joint_velocity_rad_s":[-0.00845042335478795,-0.316706453880268,0.33759153066234204,0.051753554252720955,0.12083531247036998,-0.019605915635895383],"gripper_joint_position_m":[0.034999871146144966,-0.03500000348213912],"tcp_position_m":[0.4495027426416466,0.00021937723622723746,0.351703456543548],"tcp_quaternion_wxyz":[0.6364296670249163,0.002943278758619598,0.7713286544122465,0.000850248961229208],"object_position_m":[0.30027007182090293,-0.03397109124911519,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8593631620009712e-11,3.214663963336441e-12,-9.277007117646762e-19],"object_linear_velocity_m_s":[-3.9818551849284625e-12,-2.3031057005145357e-11,3.0797778156915018e-15],"object_angular_velocity_rad_s":[5.9938105115649e-10,-1.0362823964400596e-10,1.0426807767597994e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000314041},{"geom_ids":[1,90],"normal_force_n":0.09810000000221433},{"geom_ids":[1,90],"normal_force_n":0.09809999999685963},{"geom_ids":[1,90],"normal_force_n":0.0980999999977857}],"native_actuator_controls":[-0.006954861803482898,1.417984864366361,-1.1771049887368321,0.022299152456574673,0.0846530885250546,-0.01901948556349465,0.035],"actuator_force_native":[-0.28898567766087696,-0.07016726719700728,0.13075662859507986,0.29709212625129666,0.2702344478839691,-0.1277246688243739,-6.866813875294753e-06],"issued_joint_targets_rad":[-0.007226670098140054,1.411767263238997,-1.1703544765037701,0.024223771924048294,0.08681279827185576,-0.020283749270630504],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.4000000000000003,"joint_targets_rad":[-0.007226670098140054,1.411767263238997,-1.1703544765037701,0.024223771924048294,0.08681279827185576,-0.020283749270630504],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4200000000000003,"qpos":[-0.002992832103935769,1.4322392719749228,-1.1928879354534605,0.009627701126342123,0.04165282983889849,-0.003698316357582856,0.0349997605802619,-0.03499996655773157,0.3002700718207954,-0.033971091249736504,0.07989224457978367,0.9999999999999991,-1.9632477673316375e-11,3.3942564147280623e-12,-9.276640272788618e-19],"qvel":[-0.008841933809017303,-0.3132642576888134,0.3340112528216159,0.05748432791928266,0.12072303416719336,-0.020724676746389472,2.294389503281774e-06,9.342483344913933e-06,-4.402672081674554e-12,-2.546516024961755e-11,3.0797778156915014e-15,4.2253473224350683e-10,-7.305257331753516e-11,1.9052361853216365e-21],"joint_position_rad":[-0.002992832103935769,1.4322392719749228,-1.1928879354534605,0.009627701126342123,0.04165282983889849,-0.003698316357582856],"joint_velocity_rad_s":[-0.008841933809017303,-0.3132642576888134,0.3340112528216159,0.05748432791928266,0.12072303416719336,-0.020724676746389472],"gripper_joint_position_m":[0.0349997605802619,-0.03499996655773157],"tcp_position_m":[0.44755829294494565,0.00015955512640475643,0.35095254712876],"tcp_quaternion_wxyz":[0.6353943504435384,0.003314653718130947,0.7721799396160007,0.001083212718029731],"object_position_m":[0.3002700718207954,-0.033971091249736504,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9632477673316375e-11,3.3942564147280623e-12,-9.276640272788618e-19],"object_linear_velocity_m_s":[-4.402672081674554e-12,-2.546516024961755e-11,3.0797778156915014e-15],"object_angular_velocity_rad_s":[4.2253473224350605e-10,-7.305257331753503e-11,1.905259763865412e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000528003},{"geom_ids":[1,90],"normal_force_n":0.09810000000372339},{"geom_ids":[1,90],"normal_force_n":0.09809999999472},{"geom_ids":[1,90],"normal_force_n":0.09809999999627664}],"native_actuator_controls":[-0.007226670098140054,1.411767263238997,-1.1703544765037701,0.024223771924048294,0.08681279827185576,-0.020283749270630504,0.035],"actuator_force_native":[-0.29449737049125635,-0.07143941042998847,0.13262045186714033,0.2964211923118335,0.2705151330787826,-0.1347673140108923,-1.895157992093388e-06],"issued_joint_targets_rad":[-0.007512517521167569,1.4056178337359226,-1.1636727922579835,0.02625631567113925,0.08896839774843729,-0.021563484522601054],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.4200000000000003,"joint_targets_rad":[-0.007512517521167569,1.4056178337359226,-1.1636727922579835,0.02625631567113925,0.08896839774843729,-0.021563484522601054],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.44000000000000034,"qpos":[-0.0031848427219279313,1.4258916991740416,-1.1860091680215403,0.01097228047408257,0.04380071519453709,-0.0041121889735303155,0.034999649210030855,-0.03500003992984587,0.30027007182069054,-0.033971091250343255,0.07989224457978367,0.9999999999999991,-2.0105353671868872e-11,3.4760221183002223e-12,-9.276235565594898e-19],"qvel":[-0.009660691958863545,-0.30981828580830306,0.3305124748124717,0.06312633038596573,0.12061913028198656,-0.02183935548353943,3.411331775949531e-06,5.6110087640678755e-06,-4.951699726380585e-12,-2.8640653933437478e-11,3.083941152033846e-15,1.2215538271082696e-10,-2.1118369790984788e-11,3.46681849822313e-21],"joint_position_rad":[-0.0031848427219279313,1.4258916991740416,-1.1860091680215403,0.01097228047408257,0.04380071519453709,-0.0041121889735303155],"joint_velocity_rad_s":[-0.009660691958863545,-0.30981828580830306,0.3305124748124717,0.06312633038596573,0.12061913028198656,-0.02183935548353943],"gripper_joint_position_m":[0.034999649210030855,-0.03500003992984587],"tcp_position_m":[0.4456326747507269,9.652919416882656e-05,0.3501927530051974],"tcp_quaternion_wxyz":[0.6343591797214031,0.0037265390760304728,0.7730282864764308,0.0013462232415935354],"object_position_m":[0.30027007182069054,-0.033971091250343255,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0105353671868872e-11,3.4760221183002223e-12,-9.276235565594898e-19],"object_linear_velocity_m_s":[-4.951699726380585e-12,-2.8640653933437478e-11,3.083941152033846e-15],"object_angular_velocity_rad_s":[1.2215538271082676e-10,-2.111836979098475e-11,3.466773461120719e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000728787},{"geom_ids":[1,90],"normal_force_n":0.09810000000513917},{"geom_ids":[1,90],"normal_force_n":0.0980999999927122},{"geom_ids":[1,90],"normal_force_n":0.09809999999486081}],"native_actuator_controls":[-0.007512517521167569,1.4056178337359226,-1.1636727922579835,0.02625631567113925,0.08896839774843729,-0.021563484522601054,0.035],"actuator_force_native":[-0.2979105241448533,-0.07281780600800403,0.13434768702218491,0.29572975595243867,0.27074813011602206,-0.14175392226539824,-3.0250601137371547e-06],"issued_joint_targets_rad":[-0.00781706469355187,1.3995367863000485,-1.1570583407206374,0.02839468221082616,0.09111999265655604,-0.02285856255017916],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.44000000000000034,"joint_targets_rad":[-0.00781706469355187,1.3995367863000485,-1.1570583407206374,0.02839468221082616,0.09111999265655604,-0.02285856255017916],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.46000000000000035,"qpos":[-0.0033974912635889184,1.419613451612878,-1.1792011111429834,0.012434345510745414,0.045948440891627855,-0.004547642456925104,0.03499939757206186,-0.035000003633655005,0.30027007182058923,-0.03397109125092923,0.07989224457978367,0.9999999999999991,-1.9801739323183874e-11,3.4235487101584948e-12,-9.275805672763827e-19],"qvel":[-0.010824725915587337,-0.30636979654715124,0.32709180508763996,0.06867647048868727,0.12051805688068697,-0.022945868907297634,5.09454881481694e-07,8.405328506800211e-06,-5.776346099851714e-12,-3.341025588043308e-11,3.0825533732530645e-15,-3.4539810559509354e-10,5.97186603693788e-11,6.338294924274641e-21],"joint_position_rad":[-0.0033974912635889184,1.419613451612878,-1.1792011111429834,0.012434345510745414,0.045948440891627855,-0.004547642456925104],"joint_velocity_rad_s":[-0.010824725915587337,-0.30636979654715124,0.32709180508763996,0.06867647048868727,0.12051805688068697,-0.022945868907297634],"gripper_joint_position_m":[0.03499939757206186,-0.035000003633655005],"tcp_position_m":[0.4437258621865495,2.7372145129482333e-05,0.3494236541008827],"tcp_quaternion_wxyz":[0.6333233705218991,0.00418084285270042,0.7738742472723421,0.0016365550673094658],"object_position_m":[0.30027007182058923,-0.03397109125092923,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9801739323183874e-11,3.4235487101584948e-12,-9.275805672763827e-19],"object_linear_velocity_m_s":[-5.776346099851714e-12,-3.341025588043308e-11,3.0825533732530645e-15],"object_angular_velocity_rad_s":[-3.453981055950929e-10,5.97186603693787e-11,6.338202711348789e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000840065},{"geom_ids":[1,90],"normal_force_n":0.098100000005924},{"geom_ids":[1,90],"normal_force_n":0.09809999999159934},{"geom_ids":[1,90],"normal_force_n":0.09809999999407604}],"native_actuator_controls":[-0.00781706469355187,1.3995367863000485,-1.1570583407206374,0.02839468221082616,0.09111999265655604,-0.02285856255017916,0.035],"actuator_force_native":[-0.2994422448190994,-0.07428424229060226,0.13596260834948737,0.29503111555979344,0.2709384323282513,-0.14869039757159414,2.154984311841801e-05],"issued_joint_targets_rad":[-0.008147033665881891,1.393524216836159,-1.1505096499158145,0.03063678044979607,0.09326803253203221,-0.02416899864512795],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.46000000000000035,"joint_targets_rad":[-0.008147033665881891,1.393524216836159,-1.1505096499158145,0.03063678044979607,0.09326803253203221,-0.02416899864512795],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.48000000000000037,"qpos":[-0.003636400436528433,1.4134045830176503,-1.1724622373630689,0.014011826465045176,0.04809594026174511,-0.00500453721159459,0.03499911982658427,-0.0349999536509884,0.30027007182049303,-0.033971091251485334,0.07989224457978367,0.9999999999999991,-1.8387502704763352e-11,3.179066864662446e-12,-9.275381581704073e-19],"qvel":[-0.012212994154593466,-0.30291738004989494,0.3237440384070929,0.0741275950124085,0.12040876375487528,-0.024044595477494286,2.048013833274106e-06,9.113195409505157e-06,-7.120331014244537e-12,-4.118312725002536e-11,3.083941152033846e-15,-1.0423203316996498e-09,1.8021911480792454e-10,1.1598639871364715e-20],"joint_position_rad":[-0.003636400436528433,1.4134045830176503,-1.1724622373630689,0.014011826465045176,0.04809594026174511,-0.00500453721159459],"joint_velocity_rad_s":[-0.012212994154593466,-0.30291738004989494,0.3237440384070929,0.0741275950124085,0.12040876375487528,-0.024044595477494286],"gripper_joint_position_m":[0.03499911982658427,-0.0349999536509884],"tcp_position_m":[0.4418378360147722,-5.015702384064642e-05,0.34864492583578693],"tcp_quaternion_wxyz":[0.6322863261410231,0.004678932957989803,0.7747182063443687,0.001951952874970612],"object_position_m":[0.30027007182049303,-0.033971091251485334,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8387502704763352e-11,3.179066864662446e-12,-9.275381581704073e-19],"object_linear_velocity_m_s":[-7.120331014244537e-12,-4.118312725002536e-11,3.083941152033846e-15],"object_angular_velocity_rad_s":[-1.042320331699648e-09,1.8021911480792423e-10,1.1598293007143807e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000723071},{"geom_ids":[1,90],"normal_force_n":0.09810000000509879},{"geom_ids":[1,90],"normal_force_n":0.09809999999276932},{"geom_ids":[1,90],"normal_force_n":0.09809999999490121}],"native_actuator_controls":[-0.008147033665881891,1.393524216836159,-1.1505096499158145,0.03063678044979607,0.09326803253203221,-0.02416899864512795,0.035],"actuator_force_native":[-0.29978568757530927,-0.0758423942698272,0.13748680374487776,0.29436018432799327,0.2711077770705581,-0.15557772111909218,2.496686746300547e-05],"issued_joint_targets_rad":[-0.008507738573628156,1.3875802036681981,-1.1440252202007328,0.03298036468445593,0.09541246679278,-0.02549460047324532],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.48000000000000037,"joint_targets_rad":[-0.008507738573628156,1.3875802036681981,-1.1440252202007328,0.03298036468445593,0.09541246679278,-0.02549460047324532],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5000000000000003,"qpos":[-0.0039053071178715756,1.407265449808818,-1.1657912506942658,0.015702641128623806,0.05024281964032942,-0.005482724500012942,0.03499900449222001,-0.03500008482149368,0.30027007182039944,-0.033971091252026624,0.07989224457978367,0.9999999999999991,-1.6605983453091695e-11,2.8710864706807512e-12,-9.274941675829182e-19],"qvel":[-0.013754377669303099,-0.29945088793777286,0.3204635438723125,0.07947961825224174,0.1202790089437935,-0.02513521460828184,7.978383048218069e-06,6.826107085156618e-06,-3.515714467298106e-12,-2.0334476358640063e-11,3.0797778156915018e-15,6.826650447382165e-10,-1.180279135745631e-10,1.2569442101392461e-21],"joint_position_rad":[-0.0039053071178715756,1.407265449808818,-1.1657912506942658,0.015702641128623806,0.05024281964032942,-0.005482724500012942],"joint_velocity_rad_s":[-0.013754377669303099,-0.29945088793777286,0.3204635438723125,0.07947961825224174,0.1202790089437935,-0.02513521460828184],"gripper_joint_position_m":[0.03499900449222001,-0.03500008482149368],"tcp_position_m":[0.43996866272834667,-0.00013743542235249574,0.347856282306937],"tcp_quaternion_wxyz":[0.6312475476949355,0.005221459221785629,0.7755604568987747,0.0022907613776643175],"object_position_m":[0.30027007182039944,-0.033971091252026624,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6605983453091695e-11,2.8710864706807512e-12,-9.274941675829182e-19],"object_linear_velocity_m_s":[-3.515714467298106e-12,-2.0334476358640063e-11,3.0797778156915018e-15],"object_angular_velocity_rad_s":[6.826650447382153e-10,-1.180279135745629e-10,1.2569026218743801e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000075993},{"geom_ids":[1,90],"normal_force_n":0.09810000000053577},{"geom_ids":[1,90],"normal_force_n":0.0980999999992401},{"geom_ids":[1,90],"normal_force_n":0.09809999999946425}],"native_actuator_controls":[-0.008507738573628156,1.3875802036681981,-1.1440252202007328,0.03298036468445593,0.09541246679278,-0.02549460047324532,0.035],"actuator_force_native":[-0.299422628114011,-0.07756525156072769,0.13896472012106642,0.29371085097207605,0.2712779581088155,-0.16241593781990105,-7.160404136286047e-08],"issued_joint_targets_rad":[-0.008902671632567255,1.3817051095697006,-1.137603785572939,0.03542310037953249,0.0975529372551362,-0.026835036607239935],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5000000000000003,"joint_targets_rad":[-0.008902671632567255,1.3817051095697006,-1.137603785572939,0.03542310037953249,0.0975529372551362,-0.026835036607239935],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5200000000000004,"qpos":[-0.004206841546633494,1.4011962855007274,-1.1591867823578175,0.017504682095656983,0.05238869384031037,-0.005982052890173581,0.03499879314194653,-0.03500001450311224,0.30027007182029547,-0.03397109125262806,0.07989224457978367,0.9999999999999991,-1.7668403187513642e-11,3.0547902312997376e-12,-9.274228979956592e-19],"qvel":[-0.01540727552312028,-0.29597632841581456,0.3172514292837016,0.08473111674047261,0.1201334828207791,-0.02621755985406597,6.768604979378641e-06,1.3898569295363312e-05,-3.796754328792732e-12,-2.1959814343661188e-11,3.0756144793491573e-15,5.831255429024553e-10,-1.0081935255483288e-10,2.2886129698810713e-21],"joint_position_rad":[-0.004206841546633494,1.4011962855007274,-1.1591867823578175,0.017504682095656983,0.05238869384031037,-0.005982052890173581],"joint_velocity_rad_s":[-0.01540727552312028,-0.29597632841581456,0.3172514292837016,0.08473111674047261,0.1201334828207791,-0.02621755985406597],"gripper_joint_position_m":[0.03499879314194653,-0.03500001450311224],"tcp_position_m":[0.4381183671769411,-0.00023533530914150312,0.34705745667193805],"tcp_quaternion_wxyz":[0.6302065518253797,0.0058086442260518725,0.7764012688924611,0.002651669435797552],"object_position_m":[0.30027007182029547,-0.03397109125262806,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7668403187513642e-11,3.0547902312997376e-12,-9.274228979956592e-19],"object_linear_velocity_m_s":[-3.796754328792732e-12,-2.1959814343661188e-11,3.0756144793491573e-15],"object_angular_velocity_rad_s":[5.831255429024543e-10,-1.008193525548327e-10,2.2885944858072564e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000268246},{"geom_ids":[1,90],"normal_force_n":0.09810000000189169},{"geom_ids":[1,90],"normal_force_n":0.09809999999731758},{"geom_ids":[1,90],"normal_force_n":0.09809999999810835}],"native_actuator_controls":[-0.008902671632567255,1.3817051095697006,-1.137603785572939,0.03542310037953249,0.0975529372551362,-0.026835036607239935,0.035],"actuator_force_native":[-0.2986300292590995,-0.0794124324030605,0.1403825963717793,0.29308114765265736,0.27144220991708956,-0.16920349738956458,1.4431297241879193e-05],"issued_joint_targets_rad":[-0.009334259245398508,1.3758991776367167,-1.1312440169056774,0.037962679154549775,0.09968909936321221,-0.028189992603970596],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5200000000000004,"joint_targets_rad":[-0.009334259245398508,1.3758991776367167,-1.1312440169056774,0.037962679154549775,0.09968909936321221,-0.028189992603970596],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5400000000000004,"qpos":[-0.004542992556164984,1.3951971709365054,-1.1526474294336442,0.019415816254562852,0.05453326365446311,-0.006502367446544475,0.034998598845700696,-0.0349999209319308,0.30027007182019416,-0.03397109125321426,0.07989224457978367,0.9999999999999991,-1.846187469186072e-11,3.1919894071647094e-12,-9.273424033442627e-19],"qvel":[-0.017146901439183952,-0.2924993324318744,0.3141076003868309,0.0898809290810375,0.11997499306312821,-0.027291443651189382,9.98299752156972e-06,1.4254058747702769e-05,-4.1463640235588765e-12,-2.3981828076522478e-11,3.0714511430068128e-15,4.0607387608293624e-10,-7.020814596565172e-11,4.17519681629677e-21],"joint_position_rad":[-0.004542992556164984,1.3951971709365054,-1.1526474294336442,0.019415816254562852,0.05453326365446311,-0.006502367446544475],"joint_velocity_rad_s":[-0.017146901439183952,-0.2924993324318744,0.3141076003868309,0.0898809290810375,0.11997499306312821,-0.027291443651189382],"gripper_joint_position_m":[0.034998598845700696,-0.0349999209319308],"tcp_position_m":[0.4362869253059033,-0.00034443764924585115,0.3462482146788828],"tcp_quaternion_wxyz":[0.6291628675837672,0.006440461737957997,0.7772408918814193,0.003033561232120208],"object_position_m":[0.30027007182019416,-0.03397109125321426,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.846187469186072e-11,3.1919894071647094e-12,-9.273424033442627e-19],"object_linear_velocity_m_s":[-4.1463640235588765e-12,-2.3981828076522478e-11,3.0714511430068128e-15],"object_angular_velocity_rad_s":[4.060738760829355e-10,-7.02081459656516e-11,4.1751777806621254e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000047865},{"geom_ids":[1,90],"normal_force_n":0.09810000000337533},{"geom_ids":[1,90],"normal_force_n":0.09809999999521354},{"geom_ids":[1,90],"normal_force_n":0.09809999999662469}],"native_actuator_controls":[-0.009334259245398508,1.3758991776367167,-1.1312440169056774,0.037962679154549775,0.09968909936321221,-0.028189992603970596,0.035],"actuator_force_native":[-0.2975668279427621,-0.08134280182373743,0.14173500030318564,0.2924698705942894,0.27159586749279885,-0.17593908609747716,6.13118436443294e-06],"issued_joint_targets_rad":[-0.009804309869017383,1.370162504188597,-1.1249445552325894,0.040596842685298284,0.1018206914222145,-0.02955920728837462],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5400000000000004,"joint_targets_rad":[-0.009804309869017383,1.370162504188597,-1.1249445552325894,0.040596842685298284,0.1018206914222145,-0.02955920728837462],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5600000000000004,"qpos":[-0.00491535327668319,1.3892681069769441,-1.146171808896702,0.02143389487788063,0.056676251961796854,-0.007043509596745311,0.03499861323686214,-0.03500006389162058,0.3002700718200898,-0.03397109125381812,0.07989224457978367,0.9999999999999991,-1.9866551794991507e-11,3.4348649944660424e-12,-9.272411463526633e-19],"qvel":[-0.018957844854675873,-0.2890228849748601,0.31103071564338525,0.09492837802975292,0.11980342281978239,-0.028356706315081297,1.645369086513216e-05,1.1363743688522153e-05,-4.7660888859304374e-12,-2.7566059702531426e-11,3.0742267005683755e-15,1.5821402481825907e-10,-2.735384504337833e-11,7.640237204304436e-21],"joint_position_rad":[-0.00491535327668319,1.3892681069769441,-1.146171808896702,0.02143389487788063,0.056676251961796854,-0.007043509596745311],"joint_velocity_rad_s":[-0.018957844854675873,-0.2890228849748601,0.31103071564338525,0.09492837802975292,0.11980342281978239,-0.028356706315081297],"gripper_joint_position_m":[0.03499861323686214,-0.03500006389162058],"tcp_position_m":[0.4344742869122645,-0.0004651453407540967,0.34542835963712926],"tcp_quaternion_wxyz":[0.6281160543833411,0.0071167351020217625,0.7780795409570027,0.0034354405148839745],"object_position_m":[0.3002700718200898,-0.03397109125381812,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9866551794991507e-11,3.4348649944660424e-12,-9.272411463526633e-19],"object_linear_velocity_m_s":[-4.7660888859304374e-12,-2.7566059702531426e-11,3.0742267005683755e-15],"object_angular_velocity_rad_s":[1.5821402481825878e-10,-2.7353845043378283e-11,7.640202732033678e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000747322},{"geom_ids":[1,90],"normal_force_n":0.09810000000527},{"geom_ids":[1,90],"normal_force_n":0.09809999999252678},{"geom_ids":[1,90],"normal_force_n":0.09809999999473001}],"native_actuator_controls":[-0.009804309869017383,1.370162504188597,-1.1249445552325894,0.040596842685298284,0.1018206914222145,-0.02955920728837462,0.035],"actuator_force_native":[-0.29632730311335603,-0.08333379819346476,0.14302671491205388,0.2918760221479415,0.2717392603745029,-0.18262191744367118,-2.679792881110643e-05],"issued_joint_targets_rad":[-0.010314248098816484,1.3644951073742866,-1.1187040596135507,0.043323367190635884,0.10394746839982248,-0.030942453690882367],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5600000000000004,"joint_targets_rad":[-0.010314248098816484,1.3644951073742866,-1.1187040596135507,0.043323367190635884,0.10394746839982248,-0.030942453690882367],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5800000000000004,"qpos":[-0.005325264219307994,1.3834090479554724,-1.1397585686686007,0.02355676048685512,0.0588173719167408,-0.007605317967719882,0.03499847455018562,-0.03499995115271993,0.30027007181998683,-0.03397109125441391,0.07989224457978367,0.9999999999999991,-2.0241225186018437e-11,3.4996376111971017e-12,-9.27132112630368e-19],"qvel":[-0.020830638553924107,-0.28554890880749734,0.30801928230659,0.09987306641216011,0.11961792842878824,-0.02941322192474131,1.2924463311214674e-05,1.987313819266827e-05,-5.624194026934043e-12,-3.2529256982540654e-11,3.07839003691072e-15,-2.520240151657554e-10,4.3572574225139335e-11,1.3964839550213515e-20],"joint_position_rad":[-0.005325264219307994,1.3834090479554724,-1.1397585686686007,0.02355676048685512,0.0588173719167408,-0.007605317967719882],"joint_velocity_rad_s":[-0.020830638553924107,-0.28554890880749734,0.30801928230659,0.09987306641216011,0.11961792842878824,-0.02941322192474131],"gripper_joint_position_m":[0.03499847455018562,-0.03499995115271993],"tcp_position_m":[0.4326803856335268,-0.0005977491696918131,0.3445977288253009],"tcp_quaternion_wxyz":[0.6270657060929605,0.007837194695820263,0.7789173941471327,0.003856386453242203],"object_position_m":[0.30027007181998683,-0.03397109125441391,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0241225186018437e-11,3.4996376111971017e-12,-9.27132112630368e-19],"object_linear_velocity_m_s":[-5.624194026934043e-12,-3.2529256982540654e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[-2.520240151657549e-10,4.357257422513926e-11,1.3964900421360367e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000089019},{"geom_ids":[1,90],"normal_force_n":0.09810000000627733},{"geom_ids":[1,90],"normal_force_n":0.0980999999910981},{"geom_ids":[1,90],"normal_force_n":0.09809999999372263}],"native_actuator_controls":[-0.010314248098816484,1.3644951073742866,-1.1187040596135507,0.043323367190635884,0.10394746839982248,-0.030942453690882367,0.035],"actuator_force_native":[-0.2949655175910586,-0.08537070245738221,0.14426431287105856,0.2912989360904301,0.2718740721876344,-0.18925152434451287,-3.6043239808325467e-06],"issued_joint_targets_rad":[-0.01086525114857249,1.358896958599037,-1.1125212154991018,0.046140056501203966,0.10606916924357498,-0.03233953004510187],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.5800000000000004,"joint_targets_rad":[-0.01086525114857249,1.358896958599037,-1.1125212154991018,0.046140056501203966,0.10606916924357498,-0.03233953004510187],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6000000000000004,"qpos":[-0.005773922828216095,1.3776199164586809,-1.1334063865076025,0.025782251040295148,0.06095631991541301,-0.00818762897332741,0.03499850805372575,-0.03500005756161348,0.3002700718198872,-0.03397109125499016,0.07989224457978367,0.9999999999999991,-1.934954602142183e-11,3.3454559081693838e-12,-9.270220395180287e-19],"qvel":[-0.022758858355243612,-0.2820787493115089,0.30507191804216044,0.10471481677272003,0.119417531640821,-0.030460915160915175,1.956647984351972e-05,1.5289835374381545e-05,-6.911225994104539e-12,-3.9973444802339483e-11,3.07839003691072e-15,-8.92380747579101e-10,1.542859677794219e-10,2.549135883891052e-20],"joint_position_rad":[-0.005773922828216095,1.3776199164586809,-1.1334063865076025,0.025782251040295148,0.06095631991541301,-0.00818762897332741],"joint_velocity_rad_s":[-0.022758858355243612,-0.2820787493115089,0.30507191804216044,0.10471481677272003,0.119417531640821,-0.030460915160915175],"gripper_joint_position_m":[0.03499850805372575,-0.03500005756161348],"tcp_position_m":[0.43090514286879744,-0.0007424776180279287,0.3437561876210684],"tcp_quaternion_wxyz":[0.6260114480663842,0.008601521705192235,0.7797545955135554,0.004295519721256764],"object_position_m":[0.3002700718198872,-0.03397109125499016,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.934954602142183e-11,3.3454559081693838e-12,-9.270220395180287e-19],"object_linear_velocity_m_s":[-6.911225994104539e-12,-3.9973444802339483e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[-8.923807475790994e-10,1.542859677794216e-10,2.5491472859545648e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000834099},{"geom_ids":[1,90],"normal_force_n":0.09810000000588182},{"geom_ids":[1,90],"normal_force_n":0.09809999999165904},{"geom_ids":[1,90],"normal_force_n":0.09809999999411821}],"native_actuator_controls":[-0.01086525114857249,1.358896958599037,-1.1125212154991018,0.046140056501203966,0.10606916924357498,-0.03233953004510187,0.035],"actuator_force_native":[-0.29351197385229366,-0.08744288221396346,0.14545409046925784,0.29073813457275266,0.2720021958203882,-0.19582763797637187,-3.815454824751541e-05],"issued_joint_targets_rad":[-0.011458353593651882,1.353367996468632,-1.106394732241633,0.04904474090421995,0.10818550906550817,-0.033750258100925995],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6000000000000004,"joint_targets_rad":[-0.011458353593651882,1.353367996468632,-1.106394732241633,0.04904474090421995,0.10818550906550817,-0.033750258100925995],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6200000000000004,"qpos":[-0.0062624016419970474,1.371900612415504,-1.1271139671042443,0.02810820462594544,0.06309277485186074,-0.008790277933779353,0.03499837640742369,-0.03499991041655624,0.300270071819794,-0.033971091255529356,0.07989224457978367,0.9999999999999991,-1.6821478921486954e-11,2.908354862700308e-12,-9.269253578438209e-19],"qvel":[-0.02473779616062092,-0.27861343538235184,0.3021874675733924,0.1094536271209057,0.11920130786051247,-0.03149973928958769,1.567360235304706e-05,2.3925735170783285e-05,-3.5530297117579577e-12,-2.0550168811398145e-11,3.074226700568376e-15,7.162913927929052e-10,-1.2384362543861544e-10,2.7608504009118163e-21],"joint_position_rad":[-0.0062624016419970474,1.371900612415504,-1.1271139671042443,0.02810820462594544,0.06309277485186074,-0.008790277933779353],"joint_velocity_rad_s":[-0.02473779616062092,-0.27861343538235184,0.3021874675733924,0.1094536271209057,0.11920130786051247,-0.03149973928958769],"gripper_joint_position_m":[0.03499837640742369,-0.03499991041655624],"tcp_position_m":[0.4291484700083278,-0.0008995061826949171,0.34290362411932773],"tcp_quaternion_wxyz":[0.6249529330874216,0.00940935645055153,0.7805912592106786,0.004751997527573886],"object_position_m":[0.300270071819794,-0.033971091255529356,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6821478921486954e-11,2.908354862700308e-12,-9.269253578438209e-19],"object_linear_velocity_m_s":[-3.5530297117579577e-12,-2.0550168811398145e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[7.16291392792904e-10,-1.2384362543861524e-10,2.7608571599849565e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997235078},{"geom_ids":[1,90],"normal_force_n":0.09809999998050234},{"geom_ids":[1,90],"normal_force_n":0.0981000000276491},{"geom_ids":[1,90],"normal_force_n":0.09810000001949756}],"native_actuator_controls":[-0.011458353593651882,1.353367996468632,-1.106394732241633,0.04904474090421995,0.10818550906550817,-0.033750258100925995,0.035],"actuator_force_native":[-0.2919871753292821,-0.08954209883799535,0.14660145114194734,0.290193315526452,0.27212538034570566,-0.20235019273708488,-1.3424308712872701e-05],"issued_joint_targets_rad":[-0.012094465033611508,1.3479081354900737,-1.1003233404051886,0.0520352777138323,0.11029617883754853,-0.03517448080933671],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6200000000000004,"joint_targets_rad":[-0.012094465033611508,1.3479081354900737,-1.1003233404051886,0.0520352777138323,0.11029617883754853,-0.03517448080933671],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6400000000000005,"qpos":[-0.006791707358049195,1.366251018058889,-1.120880036856268,0.03053246218810151,0.06522639978229479,-0.009413099316016171,0.034998458293547356,-0.035000051053114795,0.3002700718196859,-0.03397109125615511,0.07989224457978367,0.9999999999999991,-1.803512890460664e-11,3.118186822624583e-12,-9.267488410892458e-19],"qvel":[-0.026763901299461205,-0.2751537339849164,0.2993649643397487,0.1140896772742172,0.11896841272896622,-0.03252968315739631,2.3963356095412205e-05,1.6827512315967607e-05,-3.849960310501533e-12,-2.22676100386583e-11,3.07839003691072e-15,6.335672482183844e-10,-1.0954062538019245e-10,5.041197856674319e-21],"joint_position_rad":[-0.006791707358049195,1.366251018058889,-1.120880036856268,0.03053246218810151,0.06522639978229479,-0.009413099316016171],"joint_velocity_rad_s":[-0.026763901299461205,-0.2751537339849164,0.2993649643397487,0.1140896772742172,0.11896841272896622,-0.03252968315739631],"gripper_joint_position_m":[0.034998458293547356,-0.035000051053114795],"tcp_position_m":[0.4274102693992169,-0.0010689839419206692,0.3420399440566393],"tcp_quaternion_wxyz":[0.6238898371426524,0.010260322332927833,0.781427473484814,0.005224995586547696],"object_position_m":[0.3002700718196859,-0.03397109125615511,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.803512890460664e-11,3.118186822624583e-12,-9.267488410892458e-19],"object_linear_velocity_m_s":[-3.849960310501533e-12,-2.22676100386583e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[6.335672482183833e-10,-1.0954062538019225e-10,5.0411943654381335e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000230835},{"geom_ids":[1,90],"normal_force_n":0.09810000000162775},{"geom_ids":[1,90],"normal_force_n":0.09809999999769164},{"geom_ids":[1,90],"normal_force_n":0.09809999999837224}],"native_actuator_controls":[-0.012094465033611508,1.3479081354900737,-1.1003233404051886,0.0520352777138323,0.11029617883754853,-0.03517448080933671,0.035],"actuator_force_native":[-0.2904011075476791,-0.09166193558063185,0.14771089438760043,0.2896642346581453,0.272245171459088,-0.20881929019711093,-5.8148522371181954e-05],"issued_joint_targets_rad":[-0.012774426608154824,1.342517270784512,-1.094305786098548,0.05510955114791265,0.11240084662506016,-0.0366120614048612],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6400000000000005,"joint_targets_rad":[-0.012774426608154824,1.342517270784512,-1.094305786098548,0.05510955114791265,0.11240084662506016,-0.0366120614048612],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6600000000000005,"qpos":[-0.007362755413945317,1.360670999243931,-1.1147033462992904,0.033052341653397356,0.06735683250976757,-0.010055939614660751,0.03499833430418898,-0.03499988812175001,0.3002700718195802,-0.03397109125676668,0.07989224457978367,0.9999999999999991,-1.8972886369840577e-11,3.280330909961553e-12,-9.265484723758697e-19],"qvel":[-0.02883424212721773,-0.2717003510421963,0.29660399687256234,0.11862764739673075,0.11871839298687255,-0.03354875490106231,1.81872776716695e-05,2.7659504689429057e-05,-4.1976944072082e-12,-2.427874703281595e-11,3.07839003691072e-15,4.747482069714133e-10,-8.208152652425643e-11,9.208945274562711e-21],"joint_position_rad":[-0.007362755413945317,1.360670999243931,-1.1147033462992904,0.033052341653397356,0.06735683250976757,-0.010055939614660751],"joint_velocity_rad_s":[-0.02883424212721773,-0.2717003510421963,0.29660399687256234,0.11862764739673075,0.11871839298687255,-0.03354875490106231],"gripper_joint_position_m":[0.03499833430418898,-0.03499988812175001],"tcp_position_m":[0.42569043533139,-0.001251031056237167,0.34116507213496033],"tcp_quaternion_wxyz":[0.6228218649262589,0.01115381673824744,0.7822633012395802,0.005713534431512048],"object_position_m":[0.3002700718195802,-0.03397109125676668,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8972886369840577e-11,3.280330909961553e-12,-9.265484723758697e-19],"object_linear_velocity_m_s":[-4.1976944072082e-12,-2.427874703281595e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[4.747482069714124e-10,-8.208152652425628e-11,9.208929790623936e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000444562},{"geom_ids":[1,90],"normal_force_n":0.09810000000313483},{"geom_ids":[1,90],"normal_force_n":0.09809999999555441},{"geom_ids":[1,90],"normal_force_n":0.0980999999968652}],"native_actuator_controls":[-0.012774426608154824,1.342517270784512,-1.094305786098548,0.05510955114791265,0.11240084662506016,-0.0366120614048612,0.035],"actuator_force_native":[-0.2887624849006719,-0.09379652154252938,0.14878483169657386,0.28915014279695805,0.27236255167261714,-0.21523808555041105,-2.430855591728509e-05],"issued_joint_targets_rad":[-0.013498973639053443,1.3371952792580803,-1.0883408321439534,0.05826495537908845,0.1144991445744506,-0.03806287138567201],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6600000000000005,"joint_targets_rad":[-0.013498973639053443,1.3371952792580803,-1.0883408321439534,0.05826495537908845,0.1144991445744506,-0.03806287138567201],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6800000000000005,"qpos":[-0.007976424562513499,1.3551605384301442,-1.1085828705656486,0.03566565571660708,0.06948356647646986,-0.010718627545312635,0.034998455183417376,-0.03500006394188304,0.30027007181947724,-0.03397109125736169,0.07989224457978367,0.9999999999999991,-1.9489143651249922e-11,3.369566447635924e-12,-9.263255937291044e-19],"qvel":[-0.03094580860775779,-0.2682506495159149,0.2938975857582234,0.123064440906251,0.11843905273606829,-0.034558613813392466,2.816297937453283e-05,1.8218057954425832e-05,-4.663866588173559e-12,-2.6975240265391366e-11,3.085328930814627e-15,2.1062728390349996e-10,-3.641827056673475e-11,1.6807855685024277e-20],"joint_position_rad":[-0.007976424562513499,1.3551605384301442,-1.1085828705656486,0.03566565571660708,0.06948356647646986,-0.010718627545312635],"joint_velocity_rad_s":[-0.03094580860775779,-0.2682506495159149,0.2938975857582234,0.123064440906251,0.11843905273606829,-0.034558613813392466],"gripper_joint_position_m":[0.034998455183417376,-0.03500006394188304],"tcp_position_m":[0.4239889024589215,-0.0014457505310182996,0.3402790132669039],"tcp_quaternion_wxyz":[0.6217488212505867,0.012089420700905018,0.7830987169045539,0.006216812934590964],"object_position_m":[0.30027007181947724,-0.03397109125736169,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9489143651249922e-11,3.369566447635924e-12,-9.263255937291044e-19],"object_linear_velocity_m_s":[-4.663866588173559e-12,-2.6975240265391366e-11,3.085328930814627e-15],"object_angular_velocity_rad_s":[2.106272839034996e-10,-3.6418270566734685e-11,1.6807932240638768e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000065375},{"geom_ids":[1,90],"normal_force_n":0.09810000000461014},{"geom_ids":[1,90],"normal_force_n":0.09809999999346258},{"geom_ids":[1,90],"normal_force_n":0.09809999999538982}],"native_actuator_controls":[-0.013498973639053443,1.3371952792580803,-1.0883408321439534,0.05826495537908845,0.1144991445744506,-0.03806287138567201,0.035],"actuator_force_native":[-0.28707488308440665,-0.0959674861855433,0.14987514494450238,0.2886497819679996,0.2724972018757048,-0.2216045176835051,-7.902223356759386e-05],"issued_joint_targets_rad":[-0.014268806215695632,1.3319421455530907,-1.0824274537518215,0.06149933951819578,0.11659055607284526,-0.03952675028745354],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.6800000000000005,"joint_targets_rad":[-0.014268806215695632,1.3319421455530907,-1.0824274537518215,0.06149933951819578,0.11659055607284526,-0.03952675028745354],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7000000000000005,"qpos":[-0.00863351572953279,1.349719559426436,-1.10251756117187,0.038370285813867575,0.07160601503317035,-0.011400996788990233,0.03499833011005636,-0.03499988188582943,0.30027007181937787,-0.03397109125793632,0.07989224457978367,0.9999999999999991,-1.936309088447627e-11,3.347759823545214e-12,-9.26085854675806e-19],"qvel":[-0.033095677063174296,-0.26480714527618116,0.291245708411186,0.12739975984317786,0.11813108269035112,-0.03555959021560046,2.039131333598759e-05,3.1645442512508535e-05,-5.365809088231982e-12,-3.1035211285596144e-11,3.082553373253064e-15,-1.9988532711689082e-10,3.4558020191960867e-11,3.06976913871843e-20],"joint_position_rad":[-0.00863351572953279,1.349719559426436,-1.10251756117187,0.038370285813867575,0.07160601503317035,-0.011400996788990233],"joint_velocity_rad_s":[-0.033095677063174296,-0.26480714527618116,0.291245708411186,0.12739975984317786,0.11813108269035112,-0.03555959021560046],"gripper_joint_position_m":[0.03499833011005636,-0.03499988188582943],"tcp_position_m":[0.4223055889071102,-0.001653216184506413,0.33938180008013635],"tcp_quaternion_wxyz":[0.6206705584853912,0.013066716340842548,0.7839336521956672,0.0067340707349261095],"object_position_m":[0.30027007181937787,-0.03397109125793632,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.936309088447627e-11,3.347759823545214e-12,-9.26085854675806e-19],"object_linear_velocity_m_s":[-5.365809088231982e-12,-3.1035211285596144e-11,3.082553373253064e-15],"object_angular_velocity_rad_s":[-1.9988532711689046e-10,3.455802019196081e-11,3.069772735053148e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000796402},{"geom_ids":[1,90],"normal_force_n":0.09810000000561629},{"geom_ids":[1,90],"normal_force_n":0.098099999992036},{"geom_ids":[1,90],"normal_force_n":0.09809999999438375}],"native_actuator_controls":[-0.014268806215695632,1.3319421455530907,-1.0824274537518215,0.06149933951819578,0.11659055607284526,-0.03952675028745354,0.035],"actuator_force_native":[-0.2853448535771559,-0.09815738348672198,0.15098005154797534,0.2881633489572386,0.27264878636122236,-0.22791814966123236,-3.516096893441123e-05],"issued_joint_targets_rad":[-0.01508454363179905,1.3267577943416806,-1.0765645979154643,0.06481061839483646,0.11867447816526475,-0.04100353849400624],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7000000000000005,"joint_targets_rad":[-0.01508454363179905,1.3267577943416806,-1.0765645979154643,0.06481061839483646,0.11867447816526475,-0.04100353849400624],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7200000000000005,"qpos":[-0.009334800968574525,1.34434788750622,-1.0965062660809874,0.04116411998160116,0.07372366366816144,-0.012102880674379231,0.03499845569959845,-0.035000052301415126,0.30027007181928317,-0.03397109125848367,0.07989224457978367,0.9999999999999991,-1.8279079087478843e-11,3.160330963934124e-12,-9.258438585231715e-19],"qvel":[-0.035281393499619146,-0.2613726505760148,0.2886510226028279,0.13163367969085701,0.11779952621880754,-0.03655173734383212,3.085349079097937e-05,2.1452752894159534e-05,-6.50551979841211e-12,-3.762753486139505e-11,3.0770022581299387e-15,-8.136255699066436e-10,1.4066822571448348e-10,5.60553944743141e-20],"joint_position_rad":[-0.009334800968574525,1.34434788750622,-1.0965062660809874,0.04116411998160116,0.07372366366816144,-0.012102880674379231],"joint_velocity_rad_s":[-0.035281393499619146,-0.2613726505760148,0.2886510226028279,0.13163367969085701,0.11779952621880754,-0.03655173734383212],"gripper_joint_position_m":[0.03499845569959845,-0.035000052301415126],"tcp_position_m":[0.42064037524635356,-0.0018734935895901644,0.3384734413138828],"tcp_quaternion_wxyz":[0.6195869016857335,0.01408528442046817,0.7847680563479507,0.007264554915957371],"object_position_m":[0.30027007181928317,-0.03397109125848367,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8279079087478843e-11,3.160330963934124e-12,-9.258438585231715e-19],"object_linear_velocity_m_s":[-6.50551979841211e-12,-3.762753486139505e-11,3.0770022581299387e-15],"object_angular_velocity_rad_s":[-8.136255699066421e-10,1.4066822571448322e-10,5.605547539170229e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000757466},{"geom_ids":[1,90],"normal_force_n":0.0981000000053416},{"geom_ids":[1,90],"normal_force_n":0.0980999999924254},{"geom_ids":[1,90],"normal_force_n":0.09809999999465834}],"native_actuator_controls":[-0.01508454363179905,1.3267577943416806,-1.0765645979154643,0.06481061839483646,0.11867447816526475,-0.04100353849400624,0.035],"actuator_force_native":[-0.28357244555986627,-0.10034420028307522,0.15207834022770328,0.2876915380751268,0.27280885564282187,-0.23417897218052186,-9.249543789291437e-05],"issued_joint_targets_rad":[-0.015946775403771644,1.3216420546356984,-1.070751107845967,0.06819675483234279,0.12075037359179944,-0.04249311635536512],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7200000000000005,"joint_targets_rad":[-0.015946775403771644,1.3216420546356984,-1.070751107845967,0.06819675483234279,0.12075037359179944,-0.04249311635536512],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7400000000000005,"qpos":[-0.010080972647193197,1.3390453201311185,-1.0905478026853295,0.04404505564353984,0.07583605648826167,-0.012824113812356598,0.03499831762375104,-0.034999843211675805,0.3002700718191902,-0.03397109125902078,0.07989224457978367,0.9999999999999991,-1.698725962564662e-11,2.936974900306754e-12,-9.255830965671785e-19],"qvel":[-0.037499992591132215,-0.2579477867443454,0.28611455399757657,0.1357666821448409,0.11744586044153639,-0.037535119186293035,2.2518273399654218e-05,3.5559766272770106e-05,-8.425189460399604e-12,-4.873088486938678e-11,3.079777815691501e-15,-1.7067871413146929e-09,2.950897046606611e-10,1.0234069484638314e-19],"joint_position_rad":[-0.010080972647193197,1.3390453201311185,-1.0905478026853295,0.04404505564353984,0.07583605648826167,-0.012824113812356598],"joint_velocity_rad_s":[-0.037499992591132215,-0.2579477867443454,0.28611455399757657,0.1357666821448409,0.11744586044153639,-0.037535119186293035],"gripper_joint_position_m":[0.03499831762375104,-0.034999843211675805],"tcp_position_m":[0.41899312534411615,-0.0021066191561171926,0.33755392754300484],"tcp_quaternion_wxyz":[0.6184976545168506,0.015144684799209879,0.7856018917106686,0.007807536109816598],"object_position_m":[0.3002700718191902,-0.03397109125902078,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.698725962564662e-11,2.936974900306754e-12,-9.255830965671785e-19],"object_linear_velocity_m_s":[-8.425189460399604e-12,-4.873088486938678e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[-1.7067871413146898e-09,2.9508970466066057e-10,1.0234074598294604e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000584362},{"geom_ids":[1,90],"normal_force_n":0.09810000000412097},{"geom_ids":[1,90],"normal_force_n":0.09809999999415638},{"geom_ids":[1,90],"normal_force_n":0.09809999999587905}],"native_actuator_controls":[-0.015946775403771644,1.3216420546356984,-1.070751107845967,0.06819675483234279,0.12075037359179944,-0.04249311635536512,0.035],"actuator_force_native":[-0.28176425757061485,-0.10252230591189004,0.15316281716111746,0.28723455682791377,0.2729743803730731,-0.24038734665064562,-4.529631703986681e-05],"issued_joint_targets_rad":[-0.01685601242837796,1.3165947276056698,-1.064985794694642,0.07165575119162822,0.12281775887548704,-0.04399539310212655],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7400000000000005,"joint_targets_rad":[-0.01685601242837796,1.3165947276056698,-1.064985794694642,0.07165575119162822,0.12281775887548704,-0.04399539310212655],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7600000000000006,"qpos":[-0.010872694251730495,1.333811650252874,-1.0846409739637353,0.04701100340071794,0.07794275472483288,-0.0135645295031605,0.0349984756701431,-0.03500005184079027,0.30027007181908666,-0.03397109125961942,0.07989224457978367,0.9999999999999991,-1.772407686437617e-11,3.064359990715427e-12,-9.25194755723935e-19],"qvel":[-0.039748999918623934,-0.2545325269834198,0.2836368116688533,0.13979951043644676,0.11707045777112031,-0.03850978977579946,3.5210000937184605e-05,2.2502951748322283e-05,-3.750886445150624e-12,-2.1694910933833573e-11,3.0825533732530637e-15,6.379099305648329e-10,-1.1029009596750415e-10,1.1093919115160518e-20],"joint_position_rad":[-0.010872694251730495,1.333811650252874,-1.0846409739637353,0.04701100340071794,0.07794275472483288,-0.0135645295031605],"joint_velocity_rad_s":[-0.039748999918623934,-0.2545325269834198,0.2836368116688533,0.13979951043644676,0.11707045777112031,-0.03850978977579946],"gripper_joint_position_m":[0.0349984756701431,-0.03500005184079027],"tcp_position_m":[0.4173636943884034,-0.0023526223277274085,0.33662323715605813],"tcp_quaternion_wxyz":[0.6174026128159847,0.016244479059987944,0.7864351229582668,0.00836229428330124],"object_position_m":[0.30027007181908666,-0.03397109125961942,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.772407686437617e-11,3.064359990715427e-12,-9.25194755723935e-19],"object_linear_velocity_m_s":[-3.750886445150624e-12,-2.1694910933833573e-11,3.0825533732530637e-15],"object_angular_velocity_rad_s":[6.379099305648317e-10,-1.1029009596750396e-10,1.1093928053969575e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000224965},{"geom_ids":[1,90],"normal_force_n":0.0981000000015864},{"geom_ids":[1,90],"normal_force_n":0.09809999999775039},{"geom_ids":[1,90],"normal_force_n":0.09809999999841355}],"native_actuator_controls":[-0.01685601242837796,1.3165947276056698,-1.064985794694642,0.07165575119162822,0.12281775887548704,-0.04399539310212655,0.035],"actuator_force_native":[-0.27992045453867775,-0.104691176859248,0.1542302831831961,0.28679235945417725,0.2731443548498613,-0.24654395132596132,-0.00011507681040989759],"issued_joint_targets_rad":[-0.017812733845235802,1.3116156080653971,-1.0592674515592049,0.07518563749238948,0.12487616218913627,-0.04551028976716382],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7600000000000006,"joint_targets_rad":[-0.017812733845235802,1.3116156080653971,-1.0592674515592049,0.07518563749238948,0.12487616218913627,-0.04551028976716382],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7800000000000006,"qpos":[-0.011710546064200992,1.3286466735340585,-1.078784576183846,0.05005989189740315,0.08004332363583394,-0.014323954534397772,0.034998334784022096,-0.034999828809059545,0.3002700718189787,-0.033971091260243926,0.07989224457978367,0.9999999999999991,-1.9132280734738385e-11,3.3078211974502806e-12,-9.246976484829948e-19],"qvel":[-0.042025431789201984,-0.25112676585572885,0.28121818696368295,0.14373299370750076,0.11667333261809953,-0.03947571680213988,2.4783603402158588e-05,3.951168932524466e-05,-4.170437282875029e-12,-2.412159594171151e-11,3.0783900369107196e-15,5.174256013509759e-10,-8.945922631965512e-11,2.0257189396833035e-20],"joint_position_rad":[-0.011710546064200992,1.3286466735340585,-1.078784576183846,0.05005989189740315,0.08004332363583394,-0.014323954534397772],"joint_velocity_rad_s":[-0.042025431789201984,-0.25112676585572885,0.28121818696368295,0.14373299370750076,0.11667333261809953,-0.03947571680213988],"gripper_joint_position_m":[0.034998334784022096,-0.034999828809059545],"tcp_position_m":[0.41575193175017733,-0.002611503336754443,0.33568133953699003],"tcp_quaternion_wxyz":[0.6163015696358215,0.017384213122520295,0.787267713513978,0.00892813849615855],"object_position_m":[0.3002700718189787,-0.033971091260243926,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9132280734738385e-11,3.3078211974502806e-12,-9.246976484829948e-19],"object_linear_velocity_m_s":[-4.170437282875029e-12,-2.412159594171151e-11,3.0783900369107196e-15],"object_angular_velocity_rad_s":[5.174256013509749e-10,-8.945922631965496e-11,2.0257204716848843e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000429772},{"geom_ids":[1,90],"normal_force_n":0.09810000000303094},{"geom_ids":[1,90],"normal_force_n":0.0980999999957023},{"geom_ids":[1,90],"normal_force_n":0.09809999999696906}],"native_actuator_controls":[-0.017812733845235802,1.3116156080653971,-1.0592674515592049,0.07518563749238948,0.12487616218913627,-0.04551028976716382,0.035],"actuator_force_native":[-0.2780478635367747,-0.10685140821426842,0.155279035152887,0.28636485526194955,0.27331838660587415,-0.25264977712445064,-5.7309377894387836e-05],"issued_joint_targets_rad":[-0.018817335175710076,1.3067044912242805,-1.0535948618865165,0.07878447002264186,0.12692511140271934,-0.04703772668080432],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.7800000000000006,"joint_targets_rad":[-0.018817335175710076,1.3067044912242805,-1.0535948618865165,0.07878447002264186,0.12692511140271934,-0.04703772668080432],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8000000000000006,"qpos":[-0.012595084173875585,1.323550187839102,-1.0729773978588313,0.05318966705429012,0.08213732739682038,-0.015102227259980167,0.03499849799224271,-0.03500003739240335,0.30027007181887244,-0.03397109126085885,0.07989224457978367,0.9999999999999991,-1.9979333620551734e-11,3.4542736917178663e-12,-9.241411850387228e-19],"qvel":[-0.04432692403037187,-0.2477303619684334,0.2788590242213777,0.1475680250366509,0.11625432253823052,-0.040433174729112405,3.806355837400039e-05,2.5652182496858677e-05,-4.659006809917513e-12,-2.6947450924769264e-11,3.0770022581299383e-15,2.8664461695435605e-10,-4.9558345755655115e-11,3.699228475607622e-20],"joint_position_rad":[-0.012595084173875585,1.323550187839102,-1.0729773978588313,0.05318966705429012,0.08213732739682038,-0.015102227259980167],"joint_velocity_rad_s":[-0.04432692403037187,-0.2477303619684334,0.2788590242213777,0.1475680250366509,0.11625432253823052,-0.040433174729112405],"gripper_joint_position_m":[0.03499849799224271,-0.03500003739240335],"tcp_position_m":[0.4141576809780156,-0.0028832584219521877,0.3347281958674533],"tcp_quaternion_wxyz":[0.6151943173158045,0.018563433106721906,0.7880996241624505,0.009504382601620743],"object_position_m":[0.30027007181887244,-0.03397109126085885,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9979333620551734e-11,3.4542736917178663e-12,-9.241411850387228e-19],"object_linear_velocity_m_s":[-4.659006809917513e-12,-2.6947450924769264e-11,3.0770022581299383e-15],"object_angular_velocity_rad_s":[2.8664461695435553e-10,-4.9558345755655025e-11,3.699227228470997e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000641793},{"geom_ids":[1,90],"normal_force_n":0.09810000000452584},{"geom_ids":[1,90],"normal_force_n":0.0980999999935821},{"geom_ids":[1,90],"normal_force_n":0.09809999999547415}],"native_actuator_controls":[-0.018817335175710076,1.3067044912242805,-1.0535948618865165,0.07878447002264186,0.12692511140271934,-0.04703772668080432,0.035],"actuator_force_native":[-0.27614545999490003,-0.10900391934355014,0.156307756678288,0.2859519935508157,0.2734963562516438,-0.25870523211457286,-0.00013023748157814374],"issued_joint_targets_rad":[-0.019870184013776743,1.3018611720177313,-1.0479667974034066,0.08245032426648932,0.1289641278237759,-0.0485776355060927],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8000000000000006,"joint_targets_rad":[-0.019870184013776743,1.3018611720177313,-1.0479667974034066,0.08245032426648932,0.1289641278237759,-0.0485776355060927],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8200000000000006,"qpos":[-0.013526778822835917,1.318521993824577,-1.0672182226199434,0.056398294884448044,0.08422432701495633,-0.015899189984946396,0.03499834248124835,-0.034999788074403446,0.30027007181876914,-0.033971091261457594,0.07989224457978367,0.9999999999999991,-2.0132998031539018e-11,3.480848609462863e-12,-9.235362878508606e-19],"qvel":[-0.04665043502681167,-0.24434327317692112,0.2765596912388557,0.15130549202877666,0.11581320902281077,-0.04138230211429978,2.693838181864808e-05,4.3552533077365926e-05,-5.334427805828787e-12,-3.085394474064245e-11,3.0756144793491565e-15,-9.020734697007089e-11,1.5596990543561694e-11,6.75533803408877e-20],"joint_position_rad":[-0.013526778822835917,1.318521993824577,-1.0672182226199434,0.056398294884448044,0.08422432701495633,-0.015899189984946396],"joint_velocity_rad_s":[-0.04665043502681167,-0.24434327317692112,0.2765596912388557,0.15130549202877666,0.11581320902281077,-0.04138230211429978],"gripper_joint_position_m":[0.03499834248124835,-0.034999788074403446],"tcp_position_m":[0.4125807804505893,-0.0031678546006472224,0.3337637606387887],"tcp_quaternion_wxyz":[0.6140806488463003,0.019781665107868718,0.7889308125075712,0.010090367397197157],"object_position_m":[0.30027007181876914,-0.033971091261457594,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0132998031539018e-11,3.480848609462863e-12,-9.235362878508606e-19],"object_linear_velocity_m_s":[-5.334427805828787e-12,-3.085394474064245e-11,3.0756144793491565e-15],"object_angular_velocity_rad_s":[-9.020734697007074e-11,1.5596990543561665e-11,6.755334821759287e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000809087},{"geom_ids":[1,90],"normal_force_n":0.09810000000570572},{"geom_ids":[1,90],"normal_force_n":0.0980999999919091},{"geom_ids":[1,90],"normal_force_n":0.09809999999429436}],"native_actuator_controls":[-0.019870184013776743,1.3018611720177313,-1.0479667974034066,0.08245032426648932,0.1289641278237759,-0.0485776355060927,0.035],"actuator_force_native":[-0.2742202401412077,-0.11114937866304331,0.1573155611286694,0.2855537151377683,0.27367819455397946,-0.2647110020400134,-6.839115902690374e-05],"issued_joint_targets_rad":[-0.0209715615836774,1.2970854457218361,-1.0423820222363789,0.08618129579809382,0.1309927253696986,-0.05012994857275951],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8200000000000006,"joint_targets_rad":[-0.0209715615836774,1.2970854457218361,-1.0423820222363789,0.08618129579809382,0.1309927253696986,-0.05012994857275951],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8400000000000006,"qpos":[-0.014506091297407367,1.313561874849248,-1.0615059054696114,0.05968382394752116,0.08630378803839209,-0.016720706116093387,0.034998533226831906,-0.035000030959144446,0.30027007181866977,-0.033971091262032155,0.07989224457978367,0.9999999999999991,-1.9337686548621076e-11,3.3433610954546113e-12,-9.229133692006491e-19],"qvel":[-0.04899326878370421,-0.24096699039716352,0.274321235299764,0.15493589290008955,0.11534848820293708,-0.042434351085347974,4.2527225823461264e-05,2.6772075448957612e-05,-6.389604503567152e-12,-3.695665154029899e-11,3.0783900369107192e-15,-6.648378090394857e-10,1.1494965865006843e-10,1.2332566380501049e-19],"joint_position_rad":[-0.014506091297407367,1.313561874849248,-1.0615059054696114,0.05968382394752116,0.08630378803839209,-0.016720706116093387],"joint_velocity_rad_s":[-0.04899326878370421,-0.24096699039716352,0.274321235299764,0.15493589290008955,0.11534848820293708,-0.042434351085347974],"gripper_joint_position_m":[0.034998533226831906,-0.035000030959144446],"tcp_position_m":[0.4110210693458148,-0.003465262088034346,0.3327880436334217],"tcp_quaternion_wxyz":[0.6129604645504432,0.021036092382354984,0.7897612374216679,0.01068361275886852],"object_position_m":[0.30027007181866977,-0.033971091262032155,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9337686548621076e-11,3.3433610954546113e-12,-9.229133692006491e-19],"object_linear_velocity_m_s":[-6.389604503567152e-12,-3.695665154029899e-11,3.0783900369107192e-15],"object_angular_velocity_rad_s":[-6.648378090394846e-10,1.1494965865006823e-10,1.2332552860037805e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000827604},{"geom_ids":[1,90],"normal_force_n":0.09810000000583619},{"geom_ids":[1,90],"normal_force_n":0.09809999999172397},{"geom_ids":[1,90],"normal_force_n":0.09809999999416381}],"native_actuator_controls":[-0.0209715615836774,1.2970854457218361,-1.0423820222363789,0.08618129579809382,0.1309927253696986,-0.05012994857275951,0.035],"actuator_force_native":[-0.2722712789830817,-0.11327937820712464,0.15830448215979231,0.2852194095224583,0.27386664100865965,-0.27044089793863924,-0.0001539652023934135],"issued_joint_targets_rad":[-0.02212173600013894,1.292377090953464,-1.0368393849405246,0.08997486303105046,0.13301034796173902,-0.051699569263353395],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8400000000000006,"joint_targets_rad":[-0.02212173600013894,1.292377090953464,-1.0368393849405246,0.08997486303105046,0.13301034796173902,-0.051699569263353395],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8600000000000007,"qpos":[-0.015533387995536371,1.3086695975130176,-1.0558392801321193,0.06304417365280789,0.08837518676905762,-0.01757376480421725,0.034998373001941745,-0.034999767697236166,0.3002700718185767,-0.033971091262570426,0.07989224457978367,0.9999999999999991,-1.7195184229079924e-11,2.9729523010717493e-12,-9.223396647034275e-19],"qvel":[-0.05135193052283642,-0.237601981915518,0.2721448100887399,0.15845314116984663,0.1148613718079042,-0.043616043160709564,2.9323745738581933e-05,4.77329689564096e-05,-8.142177248825136e-12,-4.7092980140512883e-11,3.0728389217875934e-15,-1.5105973166545544e-09,2.61180151818732e-10,2.251743979132191e-19],"joint_position_rad":[-0.015533387995536371,1.3086695975130176,-1.0558392801321193,0.06304417365280789,0.08837518676905762,-0.01757376480421725],"joint_velocity_rad_s":[-0.05135193052283642,-0.237601981915518,0.2721448100887399,0.15845314116984663,0.1148613718079042,-0.043616043160709564],"gripper_joint_position_m":[0.034998373001941745,-0.034999767697236166],"tcp_position_m":[0.40947837626934214,-0.0037754217359575264,0.3318010450681641],"tcp_quaternion_wxyz":[0.611833675372138,0.022323366143842872,0.7905908888620817,0.01128128773200585],"object_position_m":[0.3002700718185767,-0.033971091262570426,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7195184229079924e-11,2.9729523010717493e-12,-9.223396647034275e-19],"object_linear_velocity_m_s":[-8.142177248825136e-12,-4.7092980140512883e-11,3.0728389217875934e-15],"object_angular_velocity_rad_s":[-1.5105973166545518e-09,2.6118015181873154e-10,2.2517418379529633e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000512145},{"geom_ids":[1,90],"normal_force_n":0.0981000000036116},{"geom_ids":[1,90],"normal_force_n":0.09809999999487859},{"geom_ids":[1,90],"normal_force_n":0.09809999999638841}],"native_actuator_controls":[-0.02212173600013894,1.292377090953464,-1.0368393849405246,0.08997486303105046,0.13301034796173902,-0.051699569263353395,0.035],"actuator_force_native":[-0.27030818775402365,-0.1153906151867119,0.1592675648838764,0.2849618692804694,0.27405955421495776,-0.2758339798502971,-8.153880636263544e-05],"issued_joint_targets_rad":[-0.023320872772154763,1.2877358700127493,-1.0313377205688592,0.09382821986398981,0.13501646086952404,-0.0532922874523345],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8600000000000007,"joint_targets_rad":[-0.023320872772154763,1.2877358700127493,-1.0313377205688592,0.09382821986398981,0.13501646086952404,-0.0532922874523345],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8800000000000007,"qpos":[-0.016609008402344857,1.3038449219859107,-1.0502171588221683,0.06647710222993267,0.09043821411281869,-0.018463593633578974,0.03499858262331711,-0.03500003078626077,0.3002700718184756,-0.03397109126315447,0.07989224457978367,0.9999999999999991,-1.724229465177319e-11,2.9811169684759687e-12,-9.214855085785908e-19],"qvel":[-0.05372385900862052,-0.23424805941337984,0.27003234990446556,0.16185741120603978,0.1143551674102389,-0.04486904823027215,4.6775721076786136e-05,2.8595075192693614e-05,-3.667446786543834e-12,-2.121193088215746e-11,3.075614479349156e-15,6.438212855112675e-10,-1.1131320449378084e-10,2.4397346889878478e-20],"joint_position_rad":[-0.016609008402344857,1.3038449219859107,-1.0502171588221683,0.06647710222993267,0.09043821411281869,-0.018463593633578974],"joint_velocity_rad_s":[-0.05372385900862052,-0.23424805941337984,0.27003234990446556,0.16185741120603978,0.1143551674102389,-0.04486904823027215],"gripper_joint_position_m":[0.03499858262331711,-0.03500003078626077],"tcp_position_m":[0.4079525103267581,-0.00409827135341946,0.3308027094948948],"tcp_quaternion_wxyz":[0.6107001032579372,0.023640758745314308,0.7914198245208364,0.011881067380466633],"object_position_m":[0.3002700718184756,-0.03397109126315447,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.724229465177319e-11,2.9811169684759687e-12,-9.214855085785908e-19],"object_linear_velocity_m_s":[-3.667446786543834e-12,-2.121193088215746e-11,3.075614479349156e-15],"object_angular_velocity_rad_s":[6.438212855112664e-10,-1.1131320449378065e-10,2.4397323913100838e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000169704},{"geom_ids":[1,90],"normal_force_n":0.09810000000119674},{"geom_ids":[1,90],"normal_force_n":0.098099999998303},{"geom_ids":[1,90],"normal_force_n":0.09809999999880327}],"native_actuator_controls":[-0.023320872772154763,1.2877358700127493,-1.0313377205688592,0.09382821986398981,0.13501646086952404,-0.0532922874523345,0.035],"actuator_force_native":[-0.2683298545416899,-0.11748386078600959,0.16019331074238607,0.28475764933208714,0.27424971645169505,-0.280983365842147,-0.00017718353806817078],"issued_joint_targets_rad":[-0.02456910478943713,1.2831615411783697,-1.0258758436749544,0.09773861020242375,0.13701073789922216,-0.05491242982321575],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.8800000000000007,"joint_targets_rad":[-0.02456910478943713,1.2831615411783697,-1.0258758436749544,0.09773861020242375,0.13701073789922216,-0.05491242982321575],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9000000000000007,"qpos":[-0.0177331917512627,1.2990876297979945,-1.0446383097252834,0.06998034994235464,0.09249244904319803,-0.01939456971121242,0.0349984128920985,-0.03499974607886071,0.30027007181837223,-0.03397109126375126,0.07989224457978367,0.9999999999999991,-1.8194407290114945e-11,3.145743279523128e-12,-9.203922319895504e-19],"qvel":[-0.05610559026638902,-0.23090425614052687,0.2679829275570329,0.16514306298265943,0.11382854031956947,-0.046214032643366626,3.165015005450865e-05,5.226622072088524e-05,-3.978330732209959e-12,-2.3009958903094795e-11,3.0797778156915006e-15,5.08366584085766e-10,-8.789424740969312e-11,4.4550850276886107e-20],"joint_position_rad":[-0.0177331917512627,1.2990876297979945,-1.0446383097252834,0.06998034994235464,0.09249244904319803,-0.01939456971121242],"joint_velocity_rad_s":[-0.05610559026638902,-0.23090425614052687,0.2679829275570329,0.16514306298265943,0.11382854031956947,-0.046214032643366626],"gripper_joint_position_m":[0.0349984128920985,-0.03499974607886071],"tcp_position_m":[0.4064432825988292,-0.0044337179906791665,0.3297929711716152],"tcp_quaternion_wxyz":[0.6095595921187523,0.02498583406187268,0.7922480915116112,0.012480915369563403],"object_position_m":[0.30027007181837223,-0.03397109126375126,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8194407290114945e-11,3.145743279523128e-12,-9.203922319895504e-19],"object_linear_velocity_m_s":[-3.978330732209959e-12,-2.3009958903094795e-11,3.0797778156915006e-15],"object_angular_velocity_rad_s":[5.083665840857651e-10,-8.789424740969296e-11,4.455083621770235e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000374738},{"geom_ids":[1,90],"normal_force_n":0.09810000000264245},{"geom_ids":[1,90],"normal_force_n":0.09809999999625266},{"geom_ids":[1,90],"normal_force_n":0.09809999999735756}],"native_actuator_controls":[-0.02456910478943713,1.2831615411783697,-1.0258758436749544,0.09773861020242375,0.13701073789922216,-0.05491242982321575,0.035],"actuator_force_native":[-0.2663450917220094,-0.11956580886734969,0.161082646241141,0.2846150954894675,0.2744400780808871,-0.2858575521549833,-9.476643421235664e-05],"issued_joint_targets_rad":[-0.025866456100070823,1.2786538789194353,-1.0204525242292153,0.10170330562152716,0.13899274280783364,-0.05656355633512129],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9000000000000007,"joint_targets_rad":[-0.025866456100070823,1.2786538789194353,-1.0204525242292153,0.10170330562152716,0.13899274280783364,-0.05656355633512129],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9200000000000007,"qpos":[-0.018906150260655227,1.29439752204611,-1.0391014626859332,0.07355153445647619,0.09453746705166785,-0.02036851338596452,0.03499862178449828,-0.035000002789147555,0.3002700718182717,-0.03397109126433197,0.07989224457978367,0.9999999999999991,-1.87972066072667e-11,3.2499723839515356e-12,-9.191685776749447e-19],"qvel":[-0.05849483698005464,-0.22756942007498593,0.2659962238974087,0.1683121473046158,0.11328160745352259,-0.04759445337182986,4.983577843241445e-05,3.214377546538401e-05,-4.388395644850803e-12,-2.5381613546826192e-11,3.0728389217875938e-15,2.8029806006980065e-10,-4.846211569700354e-11,8.133826624359976e-20],"joint_position_rad":[-0.018906150260655227,1.29439752204611,-1.0391014626859332,0.07355153445647619,0.09453746705166785,-0.02036851338596452],"joint_velocity_rad_s":[-0.05849483698005464,-0.22756942007498593,0.2659962238974087,0.1683121473046158,0.11328160745352259,-0.04759445337182986],"gripper_joint_position_m":[0.03499862178449828,-0.035000002789147555],"tcp_position_m":[0.4049505000537116,-0.004781669079851527,0.328771735086315],"tcp_quaternion_wxyz":[0.6084119562107195,0.026357115544022928,0.7930757337855667,0.01307954435478364],"object_position_m":[0.3002700718182717,-0.03397109126433197,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.87972066072667e-11,3.2499723839515356e-12,-9.191685776749447e-19],"object_linear_velocity_m_s":[-4.388395644850803e-12,-2.5381613546826192e-11,3.0728389217875938e-15],"object_angular_velocity_rad_s":[2.8029806006980013e-10,-4.846211569700346e-11,8.133824913735921e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000583767},{"geom_ids":[1,90],"normal_force_n":0.09810000000411648},{"geom_ids":[1,90],"normal_force_n":0.09809999999416247},{"geom_ids":[1,90],"normal_force_n":0.09809999999588348}],"native_actuator_controls":[-0.025866456100070823,1.2786538789194353,-1.0204525242292153,0.10170330562152716,0.13899274280783364,-0.05656355633512129,0.035],"actuator_force_native":[-0.2643502822529744,-0.1216443497590376,0.16193395705037972,0.28451011007895977,0.27463034638137396,-0.2905587494338229,-0.00019405027209318249],"issued_joint_targets_rad":[-0.027212913479998654,1.2742126728583494,-1.0150664857599885,0.10571973258766151,0.14096202189874854,-0.058247084062758414],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9200000000000007,"joint_targets_rad":[-0.027212913479998654,1.2742126728583494,-1.0150664857599885,0.10571973258766151,0.14096202189874854,-0.058247084062758414],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9400000000000007,"qpos":[-0.02012799299029177,1.289774767156832,-1.0336055559171187,0.07718831887268177,0.0965726753048757,-0.021388662425264316,0.03499854176084732,-0.034999832512943634,0.3002700718181687,-0.03397109126492706,0.07989224457978367,0.9999999999999991,-1.9933412194518792e-11,3.446421209788254e-12,-9.176488001701541e-19],"qvel":[-0.06088766237672114,-0.22423152367495314,0.26406993009891067,0.17135908630650173,0.11270438663781052,-0.049056292865528824,3.6334350127213384e-05,5.4184808930774784e-05,-5.1121740697620076e-12,-2.956781177669762e-11,3.078390036910719e-15,-4.2622008404204126e-11,7.369410844402484e-12,1.4851379382418144e-19],"joint_position_rad":[-0.02012799299029177,1.289774767156832,-1.0336055559171187,0.07718831887268177,0.0965726753048757,-0.021388662425264316],"joint_velocity_rad_s":[-0.06088766237672114,-0.22423152367495314,0.26406993009891067,0.17135908630650173,0.11270438663781052,-0.049056292865528824],"gripper_joint_position_m":[0.03499854176084732,-0.034999832512943634],"tcp_position_m":[0.4034740647654661,-0.005142003406314594,0.3277388828149326],"tcp_quaternion_wxyz":[0.6072570272125987,0.027752549063971843,0.7939028187977561,0.013675277925741844],"object_position_m":[0.3002700718181687,-0.03397109126492706,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9933412194518792e-11,3.446421209788254e-12,-9.176488001701541e-19],"object_linear_velocity_m_s":[-5.1121740697620076e-12,-2.956781177669762e-11,3.078390036910719e-15],"object_angular_velocity_rad_s":[-4.262200840420405e-11,7.36941084440247e-12,1.4851378560373276e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000842703},{"geom_ids":[1,90],"normal_force_n":0.09810000000594236},{"geom_ids":[1,90],"normal_force_n":0.09809999999157291},{"geom_ids":[1,90],"normal_force_n":0.0980999999940577}],"native_actuator_controls":[-0.027212913479998654,1.2742126728583494,-1.0150664857599885,0.10571973258766151,0.14096202189874854,-0.058247084062758414,0.035],"actuator_force_native":[-0.26235532729294464,-0.12380992550384917,0.16277596207585532,0.28446111706668153,0.2748368859820125,-0.29499977707664776,-0.00012334218452858536],"issued_joint_targets_rad":[-0.02860835148764517,1.2698380575819015,-1.0097166604026186,0.10978514272598384,0.14291797884642027,-0.059965537758258275],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9400000000000007,"joint_targets_rad":[-0.02860835148764517,1.2698380575819015,-1.0097166604026186,0.10978514272598384,0.14291797884642027,-0.059965537758258275],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9600000000000007,"qpos":[-0.021398815204907513,1.2852193793871585,-1.0281493967145166,0.08088832002305321,0.09859748989139472,-0.022459911704664166,0.03499871900109401,-0.035000027102034516,0.30027007181806786,-0.03397109126551106,0.07989224457978367,0.9999999999999991,-1.98733730471542e-11,3.436044166467358e-12,-9.160571060066324e-19],"qvel":[-0.06328170282471818,-0.22089651418738618,0.26220639398037676,0.17427512203136153,0.11210221787396372,-0.05066899643615597,4.968566624298959e-05,4.0895495789405516e-05,-6.179321984197191e-12,-3.5739959591064394e-11,3.0797778156915e-15,-5.544197703491491e-10,9.585795945416274e-11,2.711092976388066e-19],"joint_position_rad":[-0.021398815204907513,1.2852193793871585,-1.0281493967145166,0.08088832002305321,0.09859748989139472,-0.022459911704664166],"joint_velocity_rad_s":[-0.06328170282471818,-0.22089651418738618,0.26220639398037676,0.17427512203136153,0.11210221787396372,-0.05066899643615597],"gripper_joint_position_m":[0.03499871900109401,-0.035000027102034516],"tcp_position_m":[0.40201383090492665,-0.005514604737261719,0.3266942940835481],"tcp_quaternion_wxyz":[0.6060946607985263,0.029169402613146628,0.7947294454123832,0.01426592784355475],"object_position_m":[0.30027007181806786,-0.03397109126551106,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.98733730471542e-11,3.436044166467358e-12,-9.160571060066324e-19],"object_linear_velocity_m_s":[-6.179321984197191e-12,-3.5739959591064394e-11,3.0797778156915e-15],"object_angular_velocity_rad_s":[-5.54419770349148e-10,9.585795945416257e-11,2.7110927729862774e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000910826},{"geom_ids":[1,90],"normal_force_n":0.09810000000642292},{"geom_ids":[1,90],"normal_force_n":0.09809999999089172},{"geom_ids":[1,90],"normal_force_n":0.09809999999357712}],"native_actuator_controls":[-0.02860835148764517,1.2698380575819015,-1.0097166604026186,0.10978514272598384,0.14291797884642027,-0.059965537758258275,0.035],"actuator_force_native":[-0.26035438849542203,-0.1260231734836168,0.16358693504993482,0.2844972979604181,0.27505156273931,-0.2990527658817072,-0.00019718837497539887],"issued_joint_targets_rad":[-0.030052622361857035,1.2655300204636757,-1.0044018627835345,0.11389653487214799,0.14486003813481618,-0.06172278514915226],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9600000000000007,"joint_targets_rad":[-0.030052622361857035,1.2655300204636757,-1.0044018627835345,0.11389653487214799,0.14486003813481618,-0.06172278514915226],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9800000000000008,"qpos":[-0.022718706355747062,1.2807312528971593,-1.0227320005820493,0.08465022996483539,0.1006111924074609,-0.02360315498570713,0.0349985829920982,-0.034999785219117785,0.3002700718179712,-0.03397109126607018,0.07989224457978367,0.9999999999999991,-1.8310465396217293e-11,3.1658224525781193e-12,-9.14535818676402e-19],"qvel":[-0.06568204526314214,-0.2175704915746621,0.2603721084639957,0.177128510542986,0.11144274425255848,-0.05463339863337822,3.746038738316311e-05,5.991883440847354e-05,-7.838258593775183e-12,-4.533499806686761e-11,3.0728389217875926e-15,-1.3363216506164732e-09,2.3104473957699266e-10,4.949226915439295e-19],"joint_position_rad":[-0.022718706355747062,1.2807312528971593,-1.0227320005820493,0.08465022996483539,0.1006111924074609,-0.02360315498570713],"joint_velocity_rad_s":[-0.06568204526314214,-0.2175704915746621,0.2603721084639957,0.177128510542986,0.11144274425255848,-0.05463339863337822],"gripper_joint_position_m":[0.0349985829920982,-0.034999785219117785],"tcp_position_m":[0.4005696472118967,-0.005899344828968887,0.32563801861160097],"tcp_quaternion_wxyz":[0.6049250182621536,0.030598968751451877,0.7955558158508876,0.01484483943021991],"object_position_m":[0.3002700718179712,-0.03397109126607018,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8310465396217293e-11,3.1658224525781193e-12,-9.14535818676402e-19],"object_linear_velocity_m_s":[-7.838258593775183e-12,-4.533499806686761e-11,3.0728389217875926e-15],"object_angular_velocity_rad_s":[-1.336321650616471e-09,2.3104473957699225e-10,4.9492273229669925e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000681918},{"geom_ids":[1,90],"normal_force_n":0.09810000000480877},{"geom_ids":[1,90],"normal_force_n":0.0980999999931809},{"geom_ids":[1,90],"normal_force_n":0.09809999999519116}],"native_actuator_controls":[-0.030052622361857035,1.2655300204636757,-1.0044018627835345,0.11389653487214799,0.14486003813481618,-0.06172278514915226,0.035],"actuator_force_native":[-0.2583030541730871,-0.12824613680538732,0.1645504815612071,0.28420964357757406,0.275324340894715,-0.299246203684384,-0.00013062162084387374],"issued_joint_targets_rad":[-0.03154557045071664,1.261288447007581,-0.9991211948451034,0.11804997095528101,0.14678762464877404,-0.06353578100427502],"issued_gripper_position_m":0.035,"command":{"t_seconds":0.9800000000000008,"joint_targets_rad":[-0.03154557045071664,1.261288447007581,-0.9991211948451034,0.11804997095528101,0.14678762464877404,-0.06353578100427502],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0000000000000007,"qpos":[-0.024087578000271507,1.2763101362087683,-1.0173520673866945,0.08846997788221243,0.10261327905452114,-0.024829449819765637,0.034998766673359695,-0.03500000441959161,0.30027007181787113,-0.033971091266649045,0.07989224457978367,0.9999999999999991,-1.7491995911166338e-11,3.0243080737975554e-12,-9.126584578376784e-19],"qvel":[-0.06807563026848831,-0.21425471803670298,0.25860831633840475,0.17983234819827806,0.11077300304290262,-0.05864135889000418,5.367222133848251e-05,4.214467418172425e-05,-3.703538873844634e-12,-2.1420534659529275e-11,3.0756144793491553e-15,6.827147802311271e-10,-1.1803927070561613e-10,5.3621153460137067e-20],"joint_position_rad":[-0.024087578000271507,1.2763101362087683,-1.0173520673866945,0.08846997788221243,0.10261327905452114,-0.024829449819765637],"joint_velocity_rad_s":[-0.06807563026848831,-0.21425471803670298,0.25860831633840475,0.17983234819827806,0.11077300304290262,-0.05864135889000418],"gripper_joint_position_m":[0.034998766673359695,-0.03500000441959161],"tcp_position_m":[0.39914129026677386,-0.006296087146401716,0.32456996460720716],"tcp_quaternion_wxyz":[0.6037480706308073,0.03203534905666217,0.7963822028135249,0.015407487214782958],"object_position_m":[0.30027007181787113,-0.033971091266649045,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7491995911166338e-11,3.0243080737975554e-12,-9.126584578376784e-19],"object_linear_velocity_m_s":[-3.703538873844634e-12,-2.1420534659529275e-11,3.0756144793491553e-15],"object_angular_velocity_rad_s":[6.827147802311259e-10,-1.1803927070561592e-10,5.362115869730852e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000137173},{"geom_ids":[1,90],"normal_force_n":0.09810000000096743},{"geom_ids":[1,90],"normal_force_n":0.09809999999862828},{"geom_ids":[1,90],"normal_force_n":0.09809999999903257}],"native_actuator_controls":[-0.03154557045071664,1.261288447007581,-0.9991211948451034,0.11804997095528101,0.14678762464877404,-0.06353578100427502,0.035],"actuator_force_native":[-0.25626124469316913,-0.13046154591148706,0.16542822163525273,0.28403798193135277,0.27558395137817504,-0.29910127351008764,-0.00021902804108009377],"issued_joint_targets_rad":[-0.03308680024031474,1.257113081640795,-0.9938734261467761,0.12223998501888259,0.14870031596752786,-0.06541327031399422],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0000000000000007,"joint_targets_rad":[-0.03308680024031474,1.257113081640795,-0.9938734261467761,0.12223998501888259,0.14870031596752786,-0.06541327031399422],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0199999999999985,"qpos":[-0.025504930543747178,1.271955866665832,-1.0120082023301016,0.09234438117926885,0.10460351889989797,-0.026137182596168963,0.03499870508340415,-0.03499985253523863,0.3002700718177639,-0.03397109126726994,0.07989224457978367,0.9999999999999991,-1.861238404139117e-11,3.2180189476790583e-12,-9.099514629207107e-19],"qvel":[-0.07044867442260065,-0.21094548956861964,0.25691035425000025,0.18238731886734305,0.11009344571239284,-0.06254068596352569,4.1511438293703e-05,6.198952277663548e-05,-4.027398770927597e-12,-2.3293659713629575e-11,3.081165594472281e-15,5.662230250294792e-10,-9.78981370004199e-11,9.789806267601474e-20],"joint_position_rad":[-0.025504930543747178,1.271955866665832,-1.0120082023301016,0.09234438117926885,0.10460351889989797,-0.026137182596168963],"joint_velocity_rad_s":[-0.07044867442260065,-0.21094548956861964,0.25691035425000025,0.18238731886734305,0.11009344571239284,-0.06254068596352569],"gripper_joint_position_m":[0.03499870508340415,-0.03499985253523863],"tcp_position_m":[0.3977285297208734,-0.006704520389417905,0.3234899042412837],"tcp_quaternion_wxyz":[0.6025635121633299,0.03347784586530699,0.797208836985841,0.015953616433103102],"object_position_m":[0.3002700718177639,-0.03397109126726994,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.861238404139117e-11,3.2180189476790583e-12,-9.099514629207107e-19],"object_linear_velocity_m_s":[-4.027398770927597e-12,-2.3293659713629575e-11,3.081165594472281e-15],"object_angular_velocity_rad_s":[5.662230250294782e-10,-9.789813700041973e-11,9.789806527527761e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000003394},{"geom_ids":[1,90],"normal_force_n":0.09810000000239327},{"geom_ids":[1,90],"normal_force_n":0.09809999999660607},{"geom_ids":[1,90],"normal_force_n":0.09809999999760671}],"native_actuator_controls":[-0.03308680024031474,1.257113081640795,-0.9938734261467761,0.12223998501888259,0.14870031596752786,-0.06541327031399422,0.035],"actuator_force_native":[-0.25430620361240175,-0.1326953541598641,0.1662303234160305,0.2838875592478338,0.27582780210770985,-0.29894984823296405,-0.0001557605276343299],"issued_joint_targets_rad":[-0.03467556859602432,1.2530037460669574,-0.9886571895370404,0.1264635494294073,0.15059788554341386,-0.06735368130263679],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0199999999999985,"joint_targets_rad":[-0.03467556859602432,1.2530037460669574,-0.9886571895370404,0.1264635494294073,0.15059788554341386,-0.06735368130263679],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0399999999999963,"qpos":[-0.026970354295463975,1.267668309413313,-1.0066990905196478,0.09627034156985016,0.1065816484751195,-0.02752406183324915,0.03499882798349796,-0.03499996515547979,0.3002700718176591,-0.033971091267875994,0.07989224457978367,0.9999999999999991,-1.9377974455606815e-11,3.350395938226969e-12,-9.069061206513964e-19],"qvel":[-0.07280265639747227,-0.20764266509348123,0.2552758330480005,0.1847948892621805,0.10939983317869752,-0.06633010024614905,5.147920498367125e-05,5.184840377737665e-05,-4.4285885782069645e-12,-2.5614016390503674e-11,3.081165594472281e-15,3.5898561046721995e-10,-6.206703353371391e-11,1.7873764430694612e-19],"joint_position_rad":[-0.026970354295463975,1.267668309413313,-1.0066990905196478,0.09627034156985016,0.1065816484751195,-0.02752406183324915],"joint_velocity_rad_s":[-0.07280265639747227,-0.20764266509348123,0.2552758330480005,0.1847948892621805,0.10939983317869752,-0.06633010024614905],"gripper_joint_position_m":[0.03499882798349796,-0.03499996515547979],"tcp_position_m":[0.39633114257696045,-0.007124381295116788,0.3223976373276236],"tcp_quaternion_wxyz":[0.6013710631710704,0.0349261086748783,0.7980359117624846,0.016483168710752942],"object_position_m":[0.3002700718176591,-0.033971091267875994,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9377974455606815e-11,3.350395938226969e-12,-9.069061206513964e-19],"object_linear_velocity_m_s":[-4.4285885782069645e-12,-2.5614016390503674e-11,3.081165594472281e-15],"object_angular_velocity_rad_s":[3.589856104672193e-10,-6.206703353371381e-11,1.787376232252664e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000055633},{"geom_ids":[1,90],"normal_force_n":0.09810000000392322},{"geom_ids":[1,90],"normal_force_n":0.0980999999944367},{"geom_ids":[1,90],"normal_force_n":0.09809999999607681}],"native_actuator_controls":[-0.03467556859602432,1.2530037460669574,-0.9886571895370404,0.1264635494294073,0.15059788554341386,-0.06735368130263679,0.035],"actuator_force_native":[-0.25240386205746645,-0.1349517422410429,0.1669729133685962,0.2837538680713827,0.2760626209148971,-0.2988010443246529,-0.00021051536483662758],"issued_joint_targets_rad":[-0.03631121392844801,1.2489602855017101,-0.9834711887395046,0.1307177909471796,0.15248006142271503,-0.06935487929319235],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0399999999999963,"joint_targets_rad":[-0.03631121392844801,1.2489602855017101,-0.9834711887395046,0.1307177909471796,0.15248006142271503,-0.06935487929319235],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.059999999999994,"qpos":[-0.02848345913208474,1.2634473203709418,-1.0014234568593285,0.10024479523012171,0.10854734927680283,-0.028987805751907406,0.034998839397770154,-0.03499990840602823,0.3002700718175573,-0.03397109126846402,0.07989224457978367,0.9999999999999991,-1.961306833297863e-11,3.39104953023285e-12,-9.035667897524613e-19],"qvel":[-0.07513745158715177,-0.20434703664263495,0.25370332063698714,0.1870565329660828,0.10868981148498344,-0.070010273543378,4.5567708217207304e-05,6.292756021425151e-05,-4.9980577757631005e-12,-2.8907626835449242e-11,3.0825533732530625e-15,2.651858872967739e-11,-4.58450884763912e-12,3.263096876626256e-19],"joint_position_rad":[-0.02848345913208474,1.2634473203709418,-1.0014234568593285,0.10024479523012171,0.10854734927680283,-0.028987805751907406],"joint_velocity_rad_s":[-0.07513745158715177,-0.20434703664263495,0.25370332063698714,0.1870565329660828,0.10868981148498344,-0.070010273543378],"gripper_joint_position_m":[0.034998839397770154,-0.03499990840602823],"tcp_position_m":[0.394948904463706,-0.007555427357543779,0.3212929921780622],"tcp_quaternion_wxyz":[0.6001704823351671,0.036379815022048796,0.7988635894453294,0.016996077519762655],"object_position_m":[0.3002700718175573,-0.03397109126846402,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.961306833297863e-11,3.39104953023285e-12,-9.035667897524613e-19],"object_linear_velocity_m_s":[-4.9980577757631005e-12,-2.8907626835449242e-11,3.0825533732530625e-15],"object_angular_velocity_rad_s":[2.6518588729677343e-11,-4.584508847639112e-12,3.263096685375204e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000743106},{"geom_ids":[1,90],"normal_force_n":0.09810000000524004},{"geom_ids":[1,90],"normal_force_n":0.09809999999256892},{"geom_ids":[1,90],"normal_force_n":0.09809999999476}],"native_actuator_controls":[-0.03631121392844801,1.2489602855017101,-0.9834711887395046,0.1307177909471796,0.15248006142271503,-0.06935487929319235,0.035],"actuator_force_native":[-0.25053312577330233,-0.1372276063253537,0.16766484640098156,0.2836371638519024,0.276292404231647,-0.2986553250977824,-0.00018141445189212568],"issued_joint_targets_rad":[-0.037993087456056694,1.2449825335792402,-0.9783141638059741,0.13499985774569492,0.15434651012077302,-0.07141472468318627],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.059999999999994,"joint_targets_rad":[-0.037993087456056694,1.2449825335792402,-0.9783141638059741,0.13499985774569492,0.15434651012077302,-0.07141472468318627],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0799999999999919,"qpos":[-0.030043853920158504,1.2592927378015215,-0.9961800489286525,0.1042647073600634,0.11050026449070573,-0.03052614675679046,0.034998914461351886,-0.034999947183184284,0.3002700718174595,-0.03397109126902876,0.07989224457978367,0.9999999999999991,-1.9054606190472583e-11,3.2945005142596862e-12,-9.000692391863551e-19],"qvel":[-0.07745167903004453,-0.20105949262126893,0.25219181182636635,0.18917371903158964,0.10796183507438796,-0.07358193727289973,5.050360612135179e-05,5.917034814980765e-05,-5.891594497756114e-12,-3.40755972081668e-11,3.0797778156914994e-15,-4.795579355062325e-10,8.291551644053638e-11,5.957608729250654e-19],"joint_position_rad":[-0.030043853920158504,1.2592927378015215,-0.9961800489286525,0.1042647073600634,0.11050026449070573,-0.03052614675679046],"joint_velocity_rad_s":[-0.07745167903004453,-0.20105949262126893,0.25219181182636635,0.18917371903158964,0.10796183507438796,-0.07358193727289973],"gripper_joint_position_m":[0.034998914461351886,-0.034999947183184284],"tcp_position_m":[0.3935815860389964,-0.007997428168717608,0.32017581755554203],"tcp_quaternion_wxyz":[0.5989615564064766,0.037838658249563374,0.799692009665723,0.017492271602090364],"object_position_m":[0.3002700718174595,-0.03397109126902876,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9054606190472583e-11,3.2945005142596862e-12,-9.000692391863551e-19],"object_linear_velocity_m_s":[-5.891594497756114e-12,-3.40755972081668e-11,3.0797778156914994e-15],"object_angular_velocity_rad_s":[-4.795579355062317e-10,8.291551644053624e-11,5.957608356296413e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000813933},{"geom_ids":[1,90],"normal_force_n":0.09810000000573962},{"geom_ids":[1,90],"normal_force_n":0.09809999999186067},{"geom_ids":[1,90],"normal_force_n":0.0980999999942604}],"native_actuator_controls":[-0.037993087456056694,1.2449825335792402,-0.9783141638059741,0.13499985774569492,0.15434651012077302,-0.07141472468318627,0.035],"actuator_force_native":[-0.24868028772163253,-0.1395188746761704,0.16831175068243454,0.2835374202673133,0.27651970368909096,-0.29851287335460847,-0.00020909648468214748],"issued_joint_targets_rad":[-0.03972053434048749,1.2410703046136837,-0.9731848752292509,0.13930691578662835,0.15619685389317334,-0.0735310782942793],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0799999999999919,"joint_targets_rad":[-0.03972053434048749,1.2410703046136837,-0.9731848752292509,0.13930691578662835,0.15619685389317334,-0.0735310782942793],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0999999999999897,"qpos":[-0.031651089103017456,1.2552043824558885,-0.9909676332187111,0.1083270731897808,0.11244001136499601,-0.032136831614446915,0.034998954170862705,-0.034999931731844146,0.3002700718173675,-0.03397109126956082,0.07989224457978367,0.9999999999999991,-1.732848219114233e-11,2.9960597026832615e-12,-8.96726061956158e-19],"qvel":[-0.07974232569240434,-0.1977809246074724,0.25074051358919297,0.19114785406566814,0.10721483434847029,-0.07704576283477053,4.897986801448833e-05,6.418495675243977e-05,-7.374523141051101e-12,-4.265241361498735e-11,3.074226700568374e-15,-1.226125733949731e-09,2.1199480342529636e-10,1.0877334808858887e-18],"joint_position_rad":[-0.031651089103017456,1.2552043824558885,-0.9909676332187111,0.1083270731897808,0.11244001136499601,-0.032136831614446915],"joint_velocity_rad_s":[-0.07974232569240434,-0.1977809246074724,0.25074051358919297,0.19114785406566814,0.10721483434847029,-0.07704576283477053],"gripper_joint_position_m":[0.034998954170862705,-0.034999931731844146],"tcp_position_m":[0.39222895271239916,-0.0084501424210196,0.319045978187736],"tcp_quaternion_wxyz":[0.5977440930687915,0.039302324498548015,0.8005212956240099,0.0179716928205276],"object_position_m":[0.3002700718173675,-0.03397109126956082,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.732848219114233e-11,2.9960597026832615e-12,-8.96726061956158e-19],"object_linear_velocity_m_s":[-7.374523141051101e-12,-4.265241361498735e-11,3.074226700568374e-15],"object_angular_velocity_rad_s":[-1.2261257339497287e-09,2.11994803425296e-10,1.0877334763381663e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000614198},{"geom_ids":[1,90],"normal_force_n":0.09810000000433115},{"geom_ids":[1,90],"normal_force_n":0.09809999999385802},{"geom_ids":[1,90],"normal_force_n":0.09809999999566885}],"native_actuator_controls":[-0.03972053434048749,1.2410703046136837,-0.9731848752292509,0.13930691578662835,0.15619685389317334,-0.0735310782942793,0.035],"actuator_force_native":[-0.24684399053558126,-0.14182160433901458,0.16891807121085378,0.283454433545562,0.27674617375906774,-0.298373822546168,-0.00020306617458065723],"issued_joint_targets_rad":[-0.04149284050497743,1.2372233940511215,-0.968082102004342,0.14363615283491876,0.15803068501526288,-0.07570180335501173],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.0999999999999897,"joint_targets_rad":[-0.04149284050497743,1.2372233940511215,-0.968082102004342,0.14363615283491876,0.15803068501526288,-0.07570180335501173],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1199999999999875,"qpos":[-0.03330465884061064,1.2511820579723791,-0.9857849896807238,0.11242891580818645,0.1143661875797803,-0.03381762025419554,0.034998963547274047,-0.03499987762355787,0.3002700718172732,-0.033971091270105884,0.07989224457978367,0.9999999999999991,-1.642933345153891e-11,2.8406003901888306e-12,-8.926000367470711e-19],"qvel":[-0.08200633035246209,-0.19451214334587405,0.24934881555295701,0.1929803060987726,0.10644798107073168,-0.0804023927573427,4.924464974895374e-05,6.64497334625305e-05,-3.4848320299773903e-12,-2.0155412294261776e-11,3.0728389217875926e-15,6.45799495833566e-10,-1.1165742214817473e-10,1.1784683289739308e-19],"joint_position_rad":[-0.03330465884061064,1.2511820579723791,-0.9857849896807238,0.11242891580818645,0.1143661875797803,-0.03381762025419554],"joint_velocity_rad_s":[-0.08200633035246209,-0.19451214334587405,0.24934881555295701,0.1929803060987726,0.10644798107073168,-0.0804023927573427],"gripper_joint_position_m":[0.034998963547274047,-0.03499987762355787],"tcp_position_m":[0.39089076419498586,-0.008913318797809343,0.3179033506399406],"tcp_quaternion_wxyz":[0.5965179158572724,0.04077049292251388,0.8013515581364309,0.018434295225632762],"object_position_m":[0.3002700718172732,-0.033971091270105884,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.642933345153891e-11,2.8406003901888306e-12,-8.926000367470711e-19],"object_linear_velocity_m_s":[-3.4848320299773903e-12,-2.0155412294261776e-11,3.0728389217875926e-15],"object_angular_velocity_rad_s":[6.457994958335649e-10,-1.1165742214817453e-10,1.1784683033931893e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000117426},{"geom_ids":[1,90],"normal_force_n":0.09810000000082796},{"geom_ids":[1,90],"normal_force_n":0.09809999999882585},{"geom_ids":[1,90],"normal_force_n":0.09809999999917204}],"native_actuator_controls":[-0.04149284050497743,1.2372233940511215,-0.968082102004342,0.14363615283491876,0.15803068501526288,-0.07570180335501173,0.035],"actuator_force_native":[-0.2450228813870332,-0.14413239697123004,0.16948693634576273,0.2833879505754293,0.27697300274872827,-0.29823824187214787,-0.00020476513970657528],"issued_joint_targets_rad":[-0.04330923490535933,1.233441578925658,-0.9630046364571193,0.1479847761627932,0.1598475723314513,-0.07792476417961483],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1199999999999875,"joint_targets_rad":[-0.04330923490535933,1.233441578925658,-0.9630046364571193,0.1479847761627932,0.1598475723314513,-0.07792476417961483],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1399999999999852,"qpos":[-0.03500398891024259,1.2472255526914968,-0.9806309096036656,0.11656728558398351,0.11627837523353066,-0.03556628489522271,0.034999029707011485,-0.03499990436370014,0.30027007181716564,-0.03397109127072775,0.07989224457978367,0.9999999999999991,-1.8307514435827036e-11,3.1653506606431976e-12,-8.8590259053836e-19],"qvel":[-0.08424018233276831,-0.19125388564890447,0.24801620153935128,0.19467239340528447,0.1056606231875496,-0.08365241184345068,5.2828236945458774e-05,6.452432973587103e-05,-3.91688425536874e-12,-2.2654191432991572e-11,3.0756144793491553e-15,5.753506559129326e-10,-9.947707544098105e-11,2.1516552087388787e-19],"joint_position_rad":[-0.03500398891024259,1.2472255526914968,-0.9806309096036656,0.11656728558398351,0.11627837523353066,-0.03556628489522271],"joint_velocity_rad_s":[-0.08424018233276831,-0.19125388564890447,0.24801620153935128,0.19467239340528447,0.1056606231875496,-0.08365241184345068],"gripper_joint_position_m":[0.034999029707011485,-0.03499990436370014],"tcp_position_m":[0.38956677482850366,-0.00938669129208866,0.316747820651618],"tcp_quaternion_wxyz":[0.5952828606369656,0.04224283064668504,0.8021828986266797,0.01888004877441314],"object_position_m":[0.30027007181716564,-0.03397109127072775,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8307514435827036e-11,3.1653506606431976e-12,-8.8590259053836e-19],"object_linear_velocity_m_s":[-3.91688425536874e-12,-2.2654191432991572e-11,3.0756144793491553e-15],"object_angular_velocity_rad_s":[5.753506559129315e-10,-9.947707544098087e-11,2.1516550370563571e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000335153},{"geom_ids":[1,90],"normal_force_n":0.09810000000236337},{"geom_ids":[1,90],"normal_force_n":0.09809999999664842},{"geom_ids":[1,90],"normal_force_n":0.09809999999763663}],"native_actuator_controls":[-0.04330923490535933,1.233441578925658,-0.9630046364571193,0.1479847761627932,0.1598475723314513,-0.07792476417961483,0.035],"actuator_force_native":[-0.24321876794549757,-0.14644847302255926,0.1700208440269506,0.2833376561259664,0.27720103619788206,-0.29810617507874515,-0.0002253294651866078],"issued_joint_targets_rad":[-0.045168878473821006,1.2297246196506948,-0.957951282659661,0.15235001213698876,0.16164706590556982,-0.08019782517194027],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1399999999999852,"joint_targets_rad":[-0.045168878473821006,1.2297246196506948,-0.957951282659661,0.15235001213698876,0.16164706590556982,-0.08019782517194027],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.159999999999983,"qpos":[-0.036748430128354666,1.2433346409145491,-0.975504193961847,0.12073925914217123,0.11817614374056282,-0.03738060878724755,0.034999113705056734,-0.03499994862964555,0.3002700718170588,-0.0339710912713459,0.07989224457978367,0.9999999999999991,-1.958167251555781e-11,3.3856778144036206e-12,-8.783341065471992e-19],"qvel":[-0.08644029828834614,-0.18800683654747627,0.24674223795140968,0.19622537356825204,0.10485223532793576,-0.08679634028411207,5.379157611595802e-05,6.628231983119237e-05,-4.386758671963498e-12,-2.5371602122083505e-11,3.0742267005683736e-15,4.0982307218739715e-10,-7.085699590853419e-11,3.9282478353215715e-19],"joint_position_rad":[-0.036748430128354666,1.2433346409145491,-0.975504193961847,0.12073925914217123,0.11817614374056282,-0.03738060878724755],"joint_velocity_rad_s":[-0.08644029828834614,-0.18800683654747627,0.24674223795140968,0.19622537356825204,0.10485223532793576,-0.08679634028411207],"gripper_joint_position_m":[0.034999113705056734,-0.03499994862964555],"tcp_position_m":[0.38825673385988896,-0.009869976765175712,0.31557928114673245],"tcp_quaternion_wxyz":[0.5940387729520857,0.043718989900071274,0.8030154113945374,0.019308941311210203],"object_position_m":[0.3002700718170588,-0.0339710912713459,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.958167251555781e-11,3.3856778144036206e-12,-8.783341065471992e-19],"object_linear_velocity_m_s":[-4.386758671963498e-12,-2.5371602122083505e-11,3.0742267005683736e-15],"object_angular_velocity_rad_s":[4.0982307218739643e-10,-7.085699590853406e-11,3.9282472274411953e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000548193},{"geom_ids":[1,90],"normal_force_n":0.09810000000386553},{"geom_ids":[1,90],"normal_force_n":0.09809999999451809},{"geom_ids":[1,90],"normal_force_n":0.09809999999613447}],"native_actuator_controls":[-0.045168878473821006,1.2297246196506948,-0.957951282659661,0.15235001213698876,0.16164706590556982,-0.08019782517194027,0.035],"actuator_force_native":[-0.24143437619557684,-0.14876751837097402,0.1705217144178306,0.2833032519514411,0.27743086865816613,-0.2979776534207591,-0.0002335060828491109],"issued_joint_targets_rad":[-0.047070858215761686,1.2260722612568717,-0.9529208551565743,0.15672910521350797,0.16342870040443772,-0.08251884940277013],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.159999999999983,"joint_targets_rad":[-0.047070858215761686,1.2260722612568717,-0.9529208551565743,0.15672910521350797,0.16342870040443772,-0.08251884940277013],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1799999999999808,"qpos":[-0.03853726157854518,1.239509083882247,-0.9704036516711969,0.1249419378866341,0.12005905156632121,-0.03925838479520542,0.034999119179434414,-0.03499988071318063,0.3002700718169537,-0.03397109127195357,0.07989224457978367,0.9999999999999991,-2.018117739775675e-11,3.489353554657594e-12,-8.69969841589184e-19],"qvel":[-0.08860318850470117,-0.1847716276118168,0.24552655409512103,0.1976404467190302,0.10402236702720659,-0.08983463497210864,5.124078359756669e-05,7.224814169522993e-05,-4.969389808608005e-12,-2.8741182267009665e-11,3.0756144793491545e-15,1.1461105232084748e-10,-1.9814976510025695e-11,7.171977481883966e-19],"joint_position_rad":[-0.03853726157854518,1.239509083882247,-0.9704036516711969,0.1249419378866341,0.12005905156632121,-0.03925838479520542],"joint_velocity_rad_s":[-0.08860318850470117,-0.1847716276118168,0.24552655409512103,0.1976404467190302,0.10402236702720659,-0.08983463497210864],"gripper_joint_position_m":[0.034999119179434414,-0.03499988071318063],"tcp_position_m":[0.3869603856197014,-0.010362876360082334,0.3143976305638245],"tcp_quaternion_wxyz":[0.5927855059991429,0.04519860898318929,0.8038491852771795,0.019720977474243707],"object_position_m":[0.3002700718169537,-0.03397109127195357,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.018117739775675e-11,3.489353554657594e-12,-8.69969841589184e-19],"object_linear_velocity_m_s":[-4.969389808608005e-12,-2.8741182267009665e-11,3.0756144793491545e-15],"object_angular_velocity_rad_s":[1.1461105232084727e-10,-1.981497651002566e-11,7.1719769033492015e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000074501},{"geom_ids":[1,90],"normal_force_n":0.09810000000525375},{"geom_ids":[1,90],"normal_force_n":0.0980999999925499},{"geom_ids":[1,90],"normal_force_n":0.09809999999474625}],"native_actuator_controls":[-0.047070858215761686,1.2260722612568717,-0.9529208551565743,0.15672910521350797,0.16342870040443772,-0.08251884940277013,0.035],"actuator_force_native":[-0.23967178845381465,-0.15108767197092732,0.170990950694204,0.2832844594798045,0.277662937840355,-0.297852693617484,-0.00022097109536423076],"issued_joint_targets_rad":[-0.04901419038731967,1.2224842343191777,-0.9479121773174798,0.16111931589853973,0.16519199698749526,-0.08488569663170933],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1799999999999808,"joint_targets_rad":[-0.04901419038731967,1.2224842343191777,-0.9479121773174798,0.16111931589853973,0.16519199698749526,-0.08488569663170933],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1999999999999786,"qpos":[-0.04036969521858774,1.235748630755671,-0.9653280982159134,0.12917244644641726,0.12192664712088773,-0.04119741395270721,0.03499921642311913,-0.034999944802639335,0.30027007181685184,-0.033971091272542754,0.07989224457978367,0.9999999999999991,-1.9936603073166146e-11,3.44708185912804e-12,-8.6108297223578285e-19],"qvel":[-0.09072533006015775,-0.18154883718769224,0.24436881105023645,0.19891876470718856,0.10317061674378268,-0.09276768886045832,5.7219376646180786e-05,6.692290009788404e-05,-5.817538771764041e-12,-3.364641668243748e-11,3.0783900369107177e-15,-3.5311822457130136e-10,6.105650963451881e-11,1.3094131046798597e-18],"joint_position_rad":[-0.04036969521858774,1.235748630755671,-0.9653280982159134,0.12917244644641726,0.12192664712088773,-0.04119741395270721],"joint_velocity_rad_s":[-0.09072533006015775,-0.18154883718769224,0.24436881105023645,0.19891876470718856,0.10317061674378268,-0.09276768886045832],"gripper_joint_position_m":[0.03499921642311913,-0.034999944802639335],"tcp_position_m":[0.38567746974253114,-0.010865077422731694,0.31320277153835907],"tcp_quaternion_wxyz":[0.5915229191005117,0.04668131379073975,0.8046843048911103,0.020116177158966617],"object_position_m":[0.30027007181685184,-0.033971091272542754,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9936603073166146e-11,3.44708185912804e-12,-8.6108297223578285e-19],"object_linear_velocity_m_s":[-5.817538771764041e-12,-3.364641668243748e-11,3.0783900369107177e-15],"object_angular_velocity_rad_s":[-3.5311822457130074e-10,6.105650963451871e-11,1.3094130407367191e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000853236},{"geom_ids":[1,90],"normal_force_n":0.09810000000601672},{"geom_ids":[1,90],"normal_force_n":0.09809999999146762},{"geom_ids":[1,90],"normal_force_n":0.0980999999939833}],"native_actuator_controls":[-0.04901419038731967,1.2224842343191777,-0.9479121773174798,0.16111931589853973,0.16519199698749526,-0.08488569663170933,0.035],"actuator_force_native":[-0.23793296319776536,-0.15340752898100618,0.17142961662349876,0.28328095454895674,0.27789757355040146,-0.2977312934993337,-0.0002547538079959999],"issued_joint_targets_rad":[-0.05099782489149246,1.2189602558628316,-0.9429240799862094,0.16551791844559138,0.1669364642888274,-0.08729622111251487],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.1999999999999786,"joint_targets_rad":[-0.05099782489149246,1.2189602558628316,-0.9429240799862094,0.16551791844559138,0.1669364642888274,-0.08729622111251487],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2199999999999764,"qpos":[-0.04224485966072721,1.2320530193744228,-0.9602763565061931,0.1334279323811066,0.12377847051705763,-0.04319550403473243,0.03499922410663893,-0.03499987594436639,0.300270071816755,-0.03397109127310305,0.07989224457978367,0.9999999999999991,-1.8539027077074943e-11,3.205444256835979e-12,-8.523308783023396e-19],"qvel":[-0.09280297891584513,-0.17833905062751051,0.2432686834761118,0.2000613960103753,0.10229667132423514,-0.09559580360434074,5.2607051962516544e-05,7.569391983098132e-05,-7.182507335887485e-12,-4.154084377220003e-11,3.078390036910718e-15,-1.0546071087912994e-09,1.823444449720243e-10,2.3906715900140374e-18],"joint_position_rad":[-0.04224485966072721,1.2320530193744228,-0.9602763565061931,0.1334279323811066,0.12377847051705763,-0.04319550403473243],"joint_velocity_rad_s":[-0.09280297891584513,-0.17833905062751051,0.2432686834761118,0.2000613960103753,0.10229667132423514,-0.09559580360434074],"gripper_joint_position_m":[0.03499922410663893,-0.03499987594436639],"tcp_position_m":[0.3844077216981971,-0.011376247309292426,0.31199461052856725],"tcp_quaternion_wxyz":[0.5902508766060547,0.048166711330322236,0.8055208518410086,0.020494580618798237],"object_position_m":[0.300270071816755,-0.03397109127310305,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8539027077074943e-11,3.205444256835979e-12,-8.523308783023396e-19],"object_linear_velocity_m_s":[-7.182507335887485e-12,-4.154084377220003e-11,3.078390036910718e-15],"object_angular_velocity_rad_s":[-1.0546071087912975e-09,1.82344444972024e-10,2.390671581408839e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000732691},{"geom_ids":[1,90],"normal_force_n":0.09810000000516665},{"geom_ids":[1,90],"normal_force_n":0.098099999992673},{"geom_ids":[1,90],"normal_force_n":0.0980999999948334}],"native_actuator_controls":[-0.05099782489149246,1.2189602558628316,-0.9429240799862094,0.16551791844559138,0.1669364642888274,-0.08729622111251487,0.035],"actuator_force_native":[-0.23622232388199427,-0.15572582778973754,0.17183870421813197,0.2832924625275153,0.278134930731345,-0.2976134653713133,-0.0002319995253694529],"issued_joint_targets_rad":[-0.05302063046987459,1.2155000301392629,-0.9379554029200434,0.16992220149170167,0.16866160099011707,-0.08974827073467906],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2199999999999764,"joint_targets_rad":[-0.05302063046987459,1.2155000301392629,-0.9379554029200434,0.16992220149170167,0.16866160099011707,-0.08974827073467906],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2399999999999742,"qpos":[-0.04416182257862783,1.2284219761780044,-0.9552472542667034,0.13770556325268055,0.12561405333278677,-0.0452504677215163,0.03499930744590639,-0.03499991817707466,0.3002700718166606,-0.033971091273649,0.07989224457978367,0.9999999999999991,-1.675480333537824e-11,2.8969489062100486e-12,-8.432625068303581e-19],"qvel":[-0.09483285417081176,-0.17514280257085307,0.24222588865615652,0.20106936736181963,0.10140019885548861,-0.09831922426572441,5.832107984290506e-05,7.047614145995044e-05,-3.5466710625472035e-12,-2.0512552865230874e-11,3.0797778156914994e-15,6.883184005051648e-10,-1.1901188528501297e-10,2.5900955110735856e-19],"joint_position_rad":[-0.04416182257862783,1.2284219761780044,-0.9552472542667034,0.13770556325268055,0.12561405333278677,-0.0452504677215163],"joint_velocity_rad_s":[-0.09483285417081176,-0.17514280257085307,0.24222588865615652,0.20106936736181963,0.10140019885548861,-0.09831922426572441],"gripper_joint_position_m":[0.03499930744590639,-0.03499991817707466],"tcp_position_m":[0.3831508725654108,-0.011896042201204026,0.3107730565942895],"tcp_quaternion_wxyz":[0.5889692469323962,0.04965439807393263,0.8063589052778116,0.020856241247409923],"object_position_m":[0.3002700718166606,-0.033971091273649,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.675480333537824e-11,2.8969489062100486e-12,-8.432625068303581e-19],"object_linear_velocity_m_s":[-3.5466710625472035e-12,-2.0512552865230874e-11,3.0797778156914994e-15],"object_angular_velocity_rad_s":[6.883184005051636e-10,-1.1901188528501276e-10,2.590095460974687e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000077901},{"geom_ids":[1,90],"normal_force_n":0.09810000000054911},{"geom_ids":[1,90],"normal_force_n":0.09809999999922099},{"geom_ids":[1,90],"normal_force_n":0.0980999999994509}],"native_actuator_controls":[-0.05302063046987459,1.2155000301392629,-0.9379554029200434,0.16992220149170167,0.16866160099011707,-0.08974827073467906,0.035],"actuator_force_native":[-0.23454036044568127,-0.1580416702450549,0.17221866445201783,0.28331869275174704,0.2783751782900701,-0.2974991937330409,-0.00026390323547009764],"issued_joint_targets_rad":[-0.05508141552517115,1.212103248458997,-0.9330049917014123,0.17432946330000332,0.170366895005173,-0.09223968365219332],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2399999999999742,"joint_targets_rad":[-0.05508141552517115,1.212103248458997,-0.9330049917014123,0.17432946330000332,0.170366895005173,-0.09223968365219332],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.259999999999972,"qpos":[-0.04611957811811534,1.2248552034156932,-0.95023967834845,0.1420025286207006,0.12743320469002054,-0.04736011529323856,0.034999298324460325,-0.034999825320845876,0.3002700718165557,-0.033971091274256016,0.07989224457978367,0.9999999999999991,-1.7834602794069806e-11,3.0836298613023735e-12,-8.28542875874353e-19],"qvel":[-0.09681090333977985,-0.17196162642943097,0.2412418160381977,0.20194359242570015,0.1004827007667349,-0.10093810170976375,5.3627886854983216e-05,7.911749675128214e-05,-3.832268263332851e-12,-2.2164443151390722e-11,3.078390036910718e-15,5.883375677497248e-10,-1.0172524437613287e-10,4.72886808849114e-19],"joint_position_rad":[-0.04611957811811534,1.2248552034156932,-0.95023967834845,0.1420025286207006,0.12743320469002054,-0.04736011529323856],"joint_velocity_rad_s":[-0.09681090333977985,-0.17196162642943097,0.2412418160381977,0.20194359242570015,0.1004827007667349,-0.10093810170976375],"gripper_joint_position_m":[0.034999298324460325,-0.034999825320845876],"tcp_position_m":[0.3819066337321086,-0.012424093039110212,0.3095379938894696],"tcp_quaternion_wxyz":[0.5876778142509128,0.05114394954686743,0.8071986064536856,0.021201245275812117],"object_position_m":[0.3002700718165557,-0.033971091274256016,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7834602794069806e-11,3.0836298613023735e-12,-8.28542875874353e-19],"object_linear_velocity_m_s":[-3.832268263332851e-12,-2.2164443151390722e-11,3.078390036910718e-15],"object_angular_velocity_rad_s":[5.883375677497238e-10,-1.0172524437613269e-10,4.7288683691939105e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000271432},{"geom_ids":[1,90],"normal_force_n":0.0981000000019141},{"geom_ids":[1,90],"normal_force_n":0.09809999999728572},{"geom_ids":[1,90],"normal_force_n":0.09809999999808595}],"native_actuator_controls":[-0.05508141552517115,1.212103248458997,-0.9330049917014123,0.17432946330000332,0.170366895005173,-0.09223968365219332,0.035],"actuator_force_native":[-0.23289247586556527,-0.16034826438853145,0.1725658515720312,0.2833594250436082,0.27861285200142216,-0.2973885310249019,-0.00024007241268786395],"issued_joint_targets_rad":[-0.0571789299112268,1.2087695842065929,-0.9280717555402602,0.17873704711127342,0.17205210707780247,-0.09476832095429732],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.259999999999972,"joint_targets_rad":[-0.0571789299112268,1.2087695842065929,-0.9280717555402602,0.17873704711127342,0.17205210707780247,-0.09476832095429732],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2799999999999698,"qpos":[-0.04811704864965852,1.2213523976403668,-0.9452524474797146,0.14631603701081172,0.12923547893091175,-0.049522270116864865,0.034999415531279505,-0.034999914246497704,0.3002700718164534,-0.03397109127484779,0.07989224457978367,0.9999999999999991,-1.863917719658034e-11,3.2227359760256153e-12,-8.119084311013268e-19],"qvel":[-0.09873409587142337,-0.16879508956898276,0.2403151658080078,0.2026851937377466,0.09954340582626417,-0.10345285065415219,6.209429020200382e-05,7.015783970889263e-05,-4.186174456874931e-12,-2.4211355580075568e-11,3.0811655944722808e-15,4.098097025470635e-10,-7.08569037269115e-11,8.633776671097263e-19],"joint_position_rad":[-0.04811704864965852,1.2213523976403668,-0.9452524474797146,0.14631603701081172,0.12923547893091175,-0.049522270116864865],"joint_velocity_rad_s":[-0.09873409587142337,-0.16879508956898276,0.2403151658080078,0.2026851937377466,0.09954340582626417,-0.10345285065415219],"gripper_joint_position_m":[0.034999415531279505,-0.034999914246497704],"tcp_position_m":[0.38067472266165486,-0.012960022391423182,0.3082893230059273],"tcp_quaternion_wxyz":[0.5863764333056456,0.05263492901410519,0.8080400457250332,0.02152968221122429],"object_position_m":[0.3002700718164534,-0.03397109127484779,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.863917719658034e-11,3.2227359760256153e-12,-8.119084311013268e-19],"object_linear_velocity_m_s":[-4.186174456874931e-12,-2.4211355580075568e-11,3.0811655944722808e-15],"object_angular_velocity_rad_s":[4.098097025470628e-10,-7.085690372691137e-11,8.633776789346131e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000483594},{"geom_ids":[1,90],"normal_force_n":0.09810000000341032},{"geom_ids":[1,90],"normal_force_n":0.09809999999516404},{"geom_ids":[1,90],"normal_force_n":0.09809999999658972}],"native_actuator_controls":[-0.0571789299112268,1.2087695842065929,-0.9280717555402602,0.17873704711127342,0.17205210707780247,-0.09476832095429732,0.035],"actuator_force_native":[-0.23128002156834526,-0.16264962685700368,0.1728795261163043,0.2834144353297354,0.2788511727295109,-0.29728123239309634,-0.00028709270219007266],"issued_joint_targets_rad":[-0.05931184288820027,1.205498697165675,-0.9231545348071214,0.18314227540612044,0.17371674473669968,-0.097332007352779],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2799999999999698,"joint_targets_rad":[-0.05931184288820027,1.205498697165675,-0.9231545348071214,0.18314227540612044,0.17371674473669968,-0.097332007352779],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2999999999999676,"qpos":[-0.05015307340936992,1.2179132563340231,-0.9402843990963566,0.1506433158787936,0.13102040904810738,-0.05173475668308419,0.034999414879780526,-0.03499982672667636,0.30027007181635407,-0.03397109127542227,0.07989224457978367,0.9999999999999991,-1.8998457486810428e-11,3.284883415451579e-12,-7.935249697594277e-19],"qvel":[-0.1005987640664495,-0.16564349512175816,0.23944532157660556,0.20329499398127998,0.09858152918077424,-0.1058634191323633,5.4890295283497155e-05,8.217287088931826e-05,-4.681060854593703e-12,-2.7073314667619902e-11,3.082553373253062e-15,1.2090767181473284e-10,-2.090281488394246e-11,1.5762997415034159e-18],"joint_position_rad":[-0.05015307340936992,1.2179132563340231,-0.9402843990963566,0.1506433158787936,0.13102040904810738,-0.05173475668308419],"joint_velocity_rad_s":[-0.1005987640664495,-0.16564349512175816,0.23944532157660556,0.20329499398127998,0.09858152918077424,-0.1058634191323633],"gripper_joint_position_m":[0.034999414879780526,-0.03499982672667636],"tcp_position_m":[0.379454857668462,-0.013503433749763217,0.3070269510309145],"tcp_quaternion_wxyz":[0.5850649676697376,0.0541268803626302,0.8088833081833534,0.021841661341865694],"object_position_m":[0.30027007181635407,-0.03397109127542227,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8998457486810428e-11,3.284883415451579e-12,-7.935249697594277e-19],"object_linear_velocity_m_s":[-4.681060854593703e-12,-2.7073314667619902e-11,3.082553373253062e-15],"object_angular_velocity_rad_s":[1.2090767181473264e-10,-2.0902814883942424e-11,1.5762996487713774e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000678931},{"geom_ids":[1,90],"normal_force_n":0.0981000000047876},{"geom_ids":[1,90],"normal_force_n":0.09809999999321073},{"geom_ids":[1,90],"normal_force_n":0.09809999999521242}],"native_actuator_controls":[-0.05931184288820027,1.205498697165675,-0.9231545348071214,0.18314227540612044,0.17371674473669968,-0.097332007352779,0.035],"actuator_force_native":[-0.22970773797417987,-0.16494725785906894,0.1731625352557984,0.28348341118667353,0.2790910631147614,-0.29717737799840316,-0.00025104666763842154],"issued_joint_targets_rad":[-0.06147874261515873,1.2022902455265672,-0.9182521900587928,0.18754247795033016,0.17536029390755753,-0.09992855180280105],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.2999999999999676,"joint_targets_rad":[-0.06147874261515873,1.2022902455265672,-0.9182521900587928,0.18754247795033016,0.17536029390755753,-0.09992855180280105],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3199999999999654,"qpos":[-0.052226440238446664,1.2145374673309197,-0.9353343823070167,0.15498160674430117,0.13278753280085626,-0.053995396593294484,0.03499951955031155,-0.03499989423655758,0.3002700718162529,-0.033971091276007316,0.07989224457978367,0.9999999999999991,-1.9788435234004608e-11,3.42149143183572e-12,-7.71046211687674e-19],"qvel":[-0.10240194908084166,-0.16250739587723376,0.23863198529769175,0.2037737567105705,0.09759672057430596,-0.10816970832871818,6.296091547422e-05,7.342029932431506e-05,-5.5479035059556966e-12,-3.2086708676986794e-11,3.085328930814625e-15,-2.9170165672033055e-10,5.0437548001662706e-11,2.8779468839012634e-18],"joint_position_rad":[-0.052226440238446664,1.2145374673309197,-0.9353343823070167,0.15498160674430117,0.13278753280085626,-0.053995396593294484],"joint_velocity_rad_s":[-0.10240194908084166,-0.16250739587723376,0.23863198529769175,0.2037737567105705,0.09759672057430596,-0.10816970832871818],"gripper_joint_position_m":[0.03499951955031155,-0.03499989423655758],"tcp_position_m":[0.3782467534767092,-0.01405392279202294,0.3057507871568086],"tcp_quaternion_wxyz":[0.5837432807919936,0.055619339610457556,0.8097284798043864,0.02213730302394321],"object_position_m":[0.3002700718162529,-0.033971091276007316,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9788435234004608e-11,3.42149143183572e-12,-7.71046211687674e-19],"object_linear_velocity_m_s":[-5.5479035059556966e-12,-3.2086708676986794e-11,3.085328930814625e-15],"object_angular_velocity_rad_s":[-2.9170165672033003e-10,5.0437548001662616e-11,2.877946833035514e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000908158},{"geom_ids":[1,90],"normal_force_n":0.0981000000064038},{"geom_ids":[1,90],"normal_force_n":0.09809999999091842},{"geom_ids":[1,90],"normal_force_n":0.09809999999359624}],"native_actuator_controls":[-0.06147874261515873,1.2022902455265672,-0.9182521900587928,0.18754247795033016,0.17536029390755753,-0.09992855180280105,0.035],"actuator_force_native":[-0.2281744447327565,-0.1672407649620311,0.17341545336945785,0.2835660646883076,0.2793325302055538,-0.29707698960198836,-0.0002955865898330856],"issued_joint_targets_rad":[-0.06367816674048685,1.199143876419334,-0.9133635946785422,0.19193498809412318,0.17698224341434915,-0.10255574572841028],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3199999999999654,"joint_targets_rad":[-0.06367816674048685,1.199143876419334,-0.9133635946785422,0.19193498809412318,0.17698224341434915,-0.10255574572841028],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3399999999999632,"qpos":[-0.05433586050480117,1.2112246994964468,-0.930401288815039,0.1593281672314754,0.1345365615142527,-0.0563020042335915,0.03499957813726258,-0.03499988547771028,0.3002700718161545,-0.03397109127657697,0.07989224457978367,0.9999999999999991,-1.9188775366233044e-11,3.3178155754832794e-12,-7.483610244201738e-19],"qvel":[-0.10413968677431258,-0.15938804254966973,0.2378757952847079,0.20412213871395402,0.09659018766251903,-0.11037151776559256,5.879460622007736e-05,8.137776441843212e-05,-6.8959186600580635e-12,-3.988282187988977e-11,3.0825533732530625e-15,-9.241915036360679e-10,1.597976245512972e-10,5.254376951679307e-18],"joint_position_rad":[-0.05433586050480117,1.2112246994964468,-0.930401288815039,0.1593281672314754,0.1345365615142527,-0.0563020042335915],"joint_velocity_rad_s":[-0.10413968677431258,-0.15938804254966973,0.2378757952847079,0.20412213871395402,0.09659018766251903,-0.11037151776559256],"gripper_joint_position_m":[0.03499957813726258,-0.03499988547771028],"tcp_position_m":[0.37705011191333937,-0.01461106155950018,0.3044607268030798],"tcp_quaternion_wxyz":[0.5824111837769759,0.05711182103849607,0.8105756854973258,0.02241675689543582],"object_position_m":[0.3002700718161545,-0.03397109127657697,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9188775366233044e-11,3.3178155754832794e-12,-7.483610244201738e-19],"object_linear_velocity_m_s":[-6.8959186600580635e-12,-3.988282187988977e-11,3.0825533732530625e-15],"object_angular_velocity_rad_s":[-9.241915036360662e-10,1.597976245512969e-10,5.254376904167139e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000860569},{"geom_ids":[1,90],"normal_force_n":0.09810000000606837},{"geom_ids":[1,90],"normal_force_n":0.0980999999913943},{"geom_ids":[1,90],"normal_force_n":0.09809999999393164}],"native_actuator_controls":[-0.06367816674048685,1.199143876419334,-0.9133635946785422,0.19193498809412318,0.17698224341434915,-0.10255574572841028,0.035],"actuator_force_native":[-0.22668606498329158,-0.16952563342067606,0.17363655449621263,0.2836621409361424,0.2795715375071861,-0.29698013829979897,-0.00027709852160340276],"issued_joint_targets_rad":[-0.06590858766642534,1.1960592214984813,-0.9084876683540359,0.1963171643244902,0.178582253000297,-0.10521138218957606],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3399999999999632,"joint_targets_rad":[-0.06590858766642534,1.1960592214984813,-0.9084876683540359,0.1963171643244902,0.178582253000297,-0.10521138218957606],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.359999999999961,"qpos":[-0.0564799779903977,1.2079746119817858,-0.9254839672500633,0.16368026718655915,0.13626703842080037,-0.058652395863020484,0.03499964599950918,-0.034999892474698986,0.3002700718160616,-0.033971091277114375,0.07989224457978367,0.9999999999999991,-1.6808588649212552e-11,2.906275396014796e-12,-7.284299237604085e-19],"qvel":[-0.10580912754499566,-0.1562853683028427,0.23717580430390675,0.2043408823902697,0.09556108866355684,-0.11246881626319083,6.124626024179033e-05,7.992365991222724e-05,-3.5438861966064834e-12,-2.0496243825130403e-11,3.0783900369107184e-15,7.106435856590558e-10,-1.2287299484888107e-10,5.692695490937548e-19],"joint_position_rad":[-0.0564799779903977,1.2079746119817858,-0.9254839672500633,0.16368026718655915,0.13626703842080037,-0.058652395863020484],"joint_velocity_rad_s":[-0.10580912754499566,-0.1562853683028427,0.23717580430390675,0.2043408823902697,0.09556108866355684,-0.11246881626319083],"gripper_joint_position_m":[0.03499964599950918,-0.034999892474698986],"tcp_position_m":[0.37586463791464136,-0.015174413570773107,0.3031566769929905],"tcp_quaternion_wxyz":[0.5810685344634994,0.05860382670765675,0.8114250176571702,0.022680177947301993],"object_position_m":[0.3002700718160616,-0.033971091277114375,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6808588649212552e-11,2.906275396014796e-12,-7.284299237604085e-19],"object_linear_velocity_m_s":[-3.5438861966064834e-12,-2.0496243825130403e-11,3.0783900369107184e-15],"object_angular_velocity_rad_s":[7.106435856590546e-10,-1.2287299484888086e-10,5.692695404101038e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997210568},{"geom_ids":[1,90],"normal_force_n":0.09809999998032946},{"geom_ids":[1,90],"normal_force_n":0.09810000002789421},{"geom_ids":[1,90],"normal_force_n":0.09810000001967055}],"native_actuator_controls":[-0.06590858766642534,1.1960592214984813,-0.9084876683540359,0.1963171643244902,0.178582253000297,-0.10521138218957606,0.035],"actuator_force_native":[-0.22524313635723203,-0.17180439715014018,0.17382489016264913,0.28377147356589383,0.2798105127996311,-0.2968866388707695,-0.0002920712815759341],"issued_joint_targets_rad":[-0.06816840524908782,1.1930358969251595,-0.90362328816312,0.2006863507550421,0.18015981572916434,-0.10789322101743207],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.359999999999961,"joint_targets_rad":[-0.06816840524908782,1.1930358969251595,-0.90362328816312,0.2006863507550421,0.18015981572916434,-0.10789322101743207],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3799999999999588,"qpos":[-0.058657364702779956,1.2047868599752432,-0.9205812824757691,0.1680351886632549,0.137978493255985,-0.06104438138784791,0.03499966291765232,-0.03499982756778751,0.3002700718159529,-0.033971091277742525,0.07989224457978367,0.9999999999999991,-1.812425172486949e-11,3.1337529710913694e-12,-6.920409524503528e-19],"qvel":[-0.10740684420841307,-0.15319981134768726,0.23653143077223163,0.20443054449027873,0.09450886227589442,-0.11446123276747283,5.8831093940902115e-05,8.488652786976876e-05,-3.865352453161928e-12,-2.235547875742764e-11,3.0756144793491557e-15,6.333500067432996e-10,-1.0950887247643689e-10,1.0393346672743747e-18],"joint_position_rad":[-0.058657364702779956,1.2047868599752432,-0.9205812824757691,0.1680351886632549,0.137978493255985,-0.06104438138784791],"joint_velocity_rad_s":[-0.10740684420841307,-0.15319981134768726,0.23653143077223163,0.20443054449027873,0.09450886227589442,-0.11446123276747283],"gripper_joint_position_m":[0.03499966291765232,-0.03499982756778751],"tcp_position_m":[0.37469003640392967,-0.01574352738538428,0.30183855022838074],"tcp_quaternion_wxyz":[0.5797151966246312,0.06009484240576344,0.812276565938719,0.02292773747000364],"object_position_m":[0.3002700718159529,-0.033971091277742525,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.812425172486949e-11,3.1337529710913694e-12,-6.920409524503528e-19],"object_linear_velocity_m_s":[-3.865352453161928e-12,-2.235547875742764e-11,3.0756144793491557e-15],"object_angular_velocity_rad_s":[6.333500067432985e-10,-1.095088724764367e-10,1.0393346750853668e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000239845},{"geom_ids":[1,90],"normal_force_n":0.09810000000169142},{"geom_ids":[1,90],"normal_force_n":0.09809999999760154},{"geom_ids":[1,90],"normal_force_n":0.09809999999830864}],"native_actuator_controls":[-0.06816840524908782,1.1930358969251595,-0.90362328816312,0.2006863507550421,0.18015981572916434,-0.10789322101743207,0.035],"actuator_force_native":[-0.22384902266256468,-0.17407798726824808,0.17398239115077274,0.28389376122009313,0.2800499313179521,-0.2967965471446322,-0.00028067217579730297],"issued_joint_targets_rad":[-0.07045594978675387,1.1900735126641835,-0.898769349145508,0.20503989314833723,0.18171441136246336,-0.11059899991064435],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3799999999999588,"joint_targets_rad":[-0.07045594978675387,1.1900735126641835,-0.898769349145508,0.20503989314833723,0.18171441136246336,-0.11059899991064435],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3999999999999566,"qpos":[-0.06086652328683513,1.2016613411923598,-0.9156922171538989,0.1723902268328802,0.13967039849368554,-0.06347575605608513,0.034999760683075344,-0.034999879984291084,0.3002700718158463,-0.03397109127835822,0.07989224457978367,0.9999999999999991,-1.911619814280331e-11,3.3052787501108445e-12,-6.507551944906718e-19],"qvel":[-0.10892953913342743,-0.15012414180874922,0.23594169954329053,0.20439173563389418,0.09342865023227791,-0.11634789465265132,6.459582400186547e-05,7.89027368382213e-05,-4.227833386765348e-12,-2.445182789856418e-11,3.086716709595407e-15,4.762412809785708e-10,-8.234366767536299e-11,1.8975578087640226e-18],"joint_position_rad":[-0.06086652328683513,1.2016613411923598,-0.9156922171538989,0.1723902268328802,0.13967039849368554,-0.06347575605608513],"joint_velocity_rad_s":[-0.10892953913342743,-0.15012414180874922,0.23594169954329053,0.20439173563389418,0.09342865023227791,-0.11634789465265132],"gripper_joint_position_m":[0.034999760683075344,-0.034999879984291084],"tcp_position_m":[0.373526069003315,-0.016317942529248657,0.3005062265417839],"tcp_quaternion_wxyz":[0.5783509983328453,0.061584347413109065,0.8131304463693053,0.02315962150720184],"object_position_m":[0.3002700718158463,-0.03397109127835822,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.911619814280331e-11,3.3052787501108445e-12,-6.507551944906718e-19],"object_linear_velocity_m_s":[-4.227833386765348e-12,-2.445182789856418e-11,3.086716709595407e-15],"object_angular_velocity_rad_s":[4.7624128097857e-10,-8.234366767536284e-11,1.897557784126306e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000452432},{"geom_ids":[1,90],"normal_force_n":0.09810000000319025},{"geom_ids":[1,90],"normal_force_n":0.09809999999547568},{"geom_ids":[1,90],"normal_force_n":0.09809999999680974}],"native_actuator_controls":[-0.07045594978675387,1.1900735126641835,-0.898769349145508,0.20503989314833723,0.18171441136246336,-0.11059899991064435,0.035],"actuator_force_native":[-0.2225064243263617,-0.17640557321036,0.17412094295482916,0.28402797444881056,0.2802971533393612,-0.29671059656661514,-0.0003134064430228012],"issued_joint_targets_rad":[-0.07276948226620646,1.187171900501714,-0.8939248619446707,0.20937512577843326,0.183245476365611,-0.11332641482860872],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.3999999999999566,"joint_targets_rad":[-0.07276948226620646,1.187171900501714,-0.8939248619446707,0.20937512577843326,0.183245476365611,-0.11332641482860872],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4199999999999544,"qpos":[-0.06310588588198798,1.1985979475027664,-0.9108157131757226,0.17674268292578332,0.14134220646986834,-0.06594430182099997,0.03499978883909811,-0.034999827455084426,0.3002700718157425,-0.033971091278958136,0.07989224457978367,0.9999999999999991,-1.9659351668743575e-11,3.3992147197786978e-12,-6.048192293273995e-19],"qvel":[-0.11037407239867698,-0.1470587063874413,0.23540727794275604,0.20422468030896135,0.09232214784676147,-0.11812835601128199,5.980136039961426e-05,8.710234028506324e-05,-4.70432275464006e-12,-2.720742810723741e-11,3.0797778156915002e-15,2.1117284208593277e-10,-3.651143309999407e-11,3.4644451670309716e-18],"joint_position_rad":[-0.06310588588198798,1.1985979475027664,-0.9108157131757226,0.17674268292578332,0.14134220646986834,-0.06594430182099997],"joint_velocity_rad_s":[-0.11037407239867698,-0.1470587063874413,0.23540727794275604,0.20422468030896135,0.09232214784676147,-0.11812835601128199],"gripper_joint_position_m":[0.03499978883909811,-0.034999827455084426],"tcp_position_m":[0.3723724915208222,-0.016897184781813374,0.299159568688127],"tcp_quaternion_wxyz":[0.5769757532041385,0.06307180734105444,0.8139867864579243,0.023376030568759112],"object_position_m":[0.3002700718157425,-0.033971091278958136,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9659351668743575e-11,3.3992147197786978e-12,-6.048192293273995e-19],"object_linear_velocity_m_s":[-4.70432275464006e-12,-2.720742810723741e-11,3.0797778156915002e-15],"object_angular_velocity_rad_s":[2.1117284208593239e-10,-3.6511433099994005e-11,3.4644451055709787e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000661896},{"geom_ids":[1,90],"normal_force_n":0.0981000000046676},{"geom_ids":[1,90],"normal_force_n":0.09809999999338107},{"geom_ids":[1,90],"normal_force_n":0.09809999999533241}],"native_actuator_controls":[-0.07276948226620646,1.187171900501714,-0.8939248619446707,0.20937512577843326,0.183245476365611,-0.11332641482860872,0.035],"actuator_force_native":[-0.22121734874409338,-0.17879022814697976,0.1742317087703782,0.2841743125611913,0.2805494771872845,-0.2966285960591645,-0.0002905603659222322],"issued_joint_targets_rad":[-0.07510719687483716,1.1843308823843983,-0.8890887989127191,0.21368938290804634,0.18475242992619206,-0.11607313885203097],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4199999999999544,"joint_targets_rad":[-0.07510719687483716,1.1843308823843983,-0.8890887989127191,0.21368938290804634,0.18475242992619206,-0.11607313885203097],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4399999999999522,"qpos":[-0.06537383840335485,1.1955964071425669,-0.905950633316796,0.18108985857291696,0.14299341867382195,-0.06844779275448437,0.03499987492960504,-0.034999861331602,0.3002700718156423,-0.03397109127953794,0.07989224457978367,0.9999999999999991,-1.9542562167140884e-11,3.3790366410737876e-12,-5.554146454453269e-19],"qvel":[-0.11173779620256838,-0.14400870340775437,0.23492886948551825,0.20392954174179148,0.09119297128985934,-0.11980233047162042,6.502458031011614e-05,8.154921842198666e-05,-5.415970761264929e-12,-3.1323104290549055e-11,3.085328930814626e-15,-2.025583777153904e-10,3.5025066926300065e-11,6.32524647521494e-18],"joint_position_rad":[-0.06537383840335485,1.1955964071425669,-0.905950633316796,0.18108985857291696,0.14299341867382195,-0.06844779275448437],"joint_velocity_rad_s":[-0.11173779620256838,-0.14400870340775437,0.23492886948551825,0.20392954174179148,0.09119297128985934,-0.11980233047162042],"gripper_joint_position_m":[0.03499987492960504,-0.034999861331602],"tcp_position_m":[0.37122901740678194,-0.017480770357266473,0.2977984500047253],"tcp_quaternion_wxyz":[0.5755892813008775,0.06455667369089048,0.8148457105562736,0.023577173739642538],"object_position_m":[0.3002700718156423,-0.03397109127953794,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9542562167140884e-11,3.3790366410737876e-12,-5.554146454453269e-19],"object_linear_velocity_m_s":[-5.415970761264929e-12,-3.1323104290549055e-11,3.085328930814626e-15],"object_angular_velocity_rad_s":[-2.0255837771539003e-10,3.50250669263e-11,6.325246420479811e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000805069},{"geom_ids":[1,90],"normal_force_n":0.09810000000567705},{"geom_ids":[1,90],"normal_force_n":0.09809999999194927},{"geom_ids":[1,90],"normal_force_n":0.09809999999432305}],"native_actuator_controls":[-0.07510719687483716,1.1843308823843983,-0.8890887989127191,0.21368938290804634,0.18475242992619206,-0.11607313885203097,0.035],"actuator_force_native":[-0.21997969670574236,-0.18119846361470593,0.17430240489856885,0.2843332646962189,0.280800655588912,-0.29654996526803534,-0.00032012008575210693],"issued_joint_targets_rad":[-0.07746724608397891,1.1815501257097287,-0.8842600577034337,0.2179800014656469,0.18623473277965702,-0.11883683459651398],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4399999999999522,"joint_targets_rad":[-0.07746724608397891,1.1815501257097287,-0.8842600577034337,0.2179800014656469,0.18623473277965702,-0.11883683459651398],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.45999999999995,"qpos":[-0.0676686891475714,1.1926563804698296,-0.9010958250138696,0.18542906004023174,0.14462347216293536,-0.07098399478446638,0.03499995257826475,-0.034999875619767175,0.3002700718155468,-0.033971091280090446,0.07989224457978367,0.9999999999999991,-1.8452962421899092e-11,3.1906481458953017e-12,-5.055562335337643e-19],"qvel":[-0.11301735130408994,-0.14097643628483963,0.23450537732224208,0.20350660184321331,0.0900413134608368,-0.12136921146419197,6.325211931867505e-05,8.56435568384163e-05,-6.568331297035684e-12,-3.798747898175339e-11,3.0783900369107192e-15,-8.219047100378175e-10,1.42114959497948e-10,1.1548301537977888e-17],"joint_position_rad":[-0.0676686891475714,1.1926563804698296,-0.9010958250138696,0.18542906004023174,0.14462347216293536,-0.07098399478446638],"joint_velocity_rad_s":[-0.11301735130408994,-0.14097643628483963,0.23450537732224208,0.20350660184321331,0.0900413134608368,-0.12136921146419197],"gripper_joint_position_m":[0.03499995257826475,-0.034999875619767175],"tcp_position_m":[0.37009534968956226,-0.018068199782715427,0.29642276903213316],"tcp_quaternion_wxyz":[0.5741914415735089,0.06603837643863704,0.8157073176985437,0.023763272378435934],"object_position_m":[0.3002700718155468,-0.033971091280090446,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8452962421899092e-11,3.1906481458953017e-12,-5.055562335337643e-19],"object_linear_velocity_m_s":[-6.568331297035684e-12,-3.798747898175339e-11,3.0783900369107192e-15],"object_angular_velocity_rad_s":[-8.21904710037816e-10,1.4211495949794775e-10,1.1548301471441826e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000765291},{"geom_ids":[1,90],"normal_force_n":0.09810000000539663},{"geom_ids":[1,90],"normal_force_n":0.09809999999234709},{"geom_ids":[1,90],"normal_force_n":0.0980999999946034}],"native_actuator_controls":[-0.07746724608397891,1.1815501257097287,-0.8842600577034337,0.2179800014656469,0.18623473277965702,-0.11883683459651398,0.035],"actuator_force_native":[-0.21879779839215097,-0.18361819938387214,0.17433449822365787,0.2845046478005404,0.28105063597596125,-0.296474580924188,-0.0003143637271831867],"issued_joint_targets_rad":[-0.07984770579679712,1.1788292302628138,-0.8794375232337651,0.22224431203297274,0.1876917804886602,-0.12161513709528111],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.45999999999995,"joint_targets_rad":[-0.07984770579679712,1.1788292302628138,-0.8794375232337651,0.22224431203297274,0.1876917804886602,-0.12161513709528111],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4799999999999478,"qpos":[-0.06998868920611445,1.1897774859895476,-0.8962501651825032,0.18975759737742143,0.14623185123620108,-0.07355065654793755,0.035000001107981245,-0.03499984940982087,0.3002700718154582,-0.03397109128060301,0.07989224457978367,0.9999999999999991,-1.594765162445563e-11,2.7574676651831096e-12,-4.617507604466687e-19],"qvel":[-0.114209753420732,-0.13796374530753044,0.23413617389678662,0.20295608227192366,0.08886678562458632,-0.12282819462721012,6.282741154948235e-05,8.744386365944359e-05,-3.3745295039331787e-12,-1.9516387836287628e-11,3.081165594472282e-15,6.828870451691256e-10,-1.1807616037799928e-10,1.2511640780824743e-18],"joint_position_rad":[-0.06998868920611445,1.1897774859895476,-0.8962501651825032,0.18975759737742143,0.14623185123620108,-0.07355065654793755],"joint_velocity_rad_s":[-0.114209753420732,-0.13796374530753044,0.23413617389678662,0.20295608227192366,0.08886678562458632,-0.12282819462721012],"gripper_joint_position_m":[0.035000001107981245,-0.03499984940982087],"tcp_position_m":[0.3689711825515583,-0.018658961308309092,0.29503243785173533],"tcp_quaternion_wxyz":[0.5727820945287077,0.0675163310693576,0.81657170776206,0.023934563058301484],"object_position_m":[0.3002700718154582,-0.03397109128060301,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.594765162445563e-11,2.7574676651831096e-12,-4.617507604466687e-19],"object_linear_velocity_m_s":[-3.3745295039331787e-12,-1.9516387836287628e-11,3.081165594472282e-15],"object_angular_velocity_rad_s":[6.828870451691244e-10,-1.1807616037799908e-10,1.2511640751321428e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997397778},{"geom_ids":[1,90],"normal_force_n":0.09809999998164982},{"geom_ids":[1,90],"normal_force_n":0.09810000002602227},{"geom_ids":[1,90],"normal_force_n":0.09810000001835019}],"native_actuator_controls":[-0.07984770579679712,1.1788292302628138,-0.8794375232337651,0.22224431203297274,0.1876917804886602,-0.12161513709528111,0.035],"actuator_force_native":[-0.2176725601509535,-0.1860417316010512,0.17433048641511562,0.28468817486243303,0.2812991140877117,-0.29640251353262037,-0.00031418137699712467],"issued_joint_targets_rad":[-0.08224659922035127,1.176167755409801,-0.874620112380605,0.22647964440431256,0.18912301437030576,-0.1244056547539516],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4799999999999478,"joint_targets_rad":[-0.08224659922035127,1.176167755409801,-0.874620112380605,0.22647964440431256,0.18912301437030576,-0.1244056547539516],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4999999999999456,"qpos":[-0.07233202551129071,1.1869593088198969,-0.8914125525502448,0.1940727843356977,0.14781806966094446,-0.07614550822895443,0.0350000372971536,-0.03499980053196228,0.30027007181535603,-0.033971091281194396,0.07989224457978367,0.9999999999999991,-1.7027844609597675e-11,2.9442379531857355e-12,-3.8177311235688336e-19],"qvel":[-0.11531175524742542,-0.13497211676049398,0.233820642497647,0.2022781718546733,0.08766922268570689,-0.1241784357769346,6.268307962410677e-05,8.920644154609454e-05,-3.638101206953117e-12,-2.104075502455598e-11,3.0839411520338447e-15,6.004755810493595e-10,-1.0382663296937478e-10,2.284308085271296e-18],"joint_position_rad":[-0.07233202551129071,1.1869593088198969,-0.8914125525502448,0.1940727843356977,0.14781806966094446,-0.07614550822895443],"joint_velocity_rad_s":[-0.11531175524742542,-0.13497211676049398,0.233820642497647,0.2022781718546733,0.08766922268570689,-0.1241784357769346],"gripper_joint_position_m":[0.0350000372971536,-0.03499980053196228],"tcp_position_m":[0.36785620375363604,-0.019252528762413543,0.29362737888409807],"tcp_quaternion_wxyz":[0.5713611026837898,0.06898993642082807,0.8174389814114968,0.024091298876316614],"object_position_m":[0.30027007181535603,-0.033971091281194396,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7027844609597675e-11,2.9442379531857355e-12,-3.8177311235688336e-19],"object_linear_velocity_m_s":[-3.638101206953117e-12,-2.104075502455598e-11,3.0839411520338447e-15],"object_angular_velocity_rad_s":[6.004755810493585e-10,-1.038266329693746e-10,2.284308086824999e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000212345},{"geom_ids":[1,90],"normal_force_n":0.09810000000149764},{"geom_ids":[1,90],"normal_force_n":0.09809999999787657},{"geom_ids":[1,90],"normal_force_n":0.09809999999850239}],"native_actuator_controls":[-0.08224659922035127,1.176167755409801,-0.874620112380605,0.22647964440431256,0.18912301437030576,-0.1244056547539516,0.035],"actuator_force_native":[-0.21660712048771735,-0.1884636890052036,0.1742920010829465,0.2848835434712278,0.28154561306505266,-0.29633381158456984,-0.0003149072842643097],"issued_joint_targets_rad":[-0.08466189024981798,1.1735652275284292,-0.8698067664865569,0.23068332718546766,0.19052790524267763,-0.1272059677074972],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.4999999999999456,"joint_targets_rad":[-0.08466189024981798,1.1735652275284292,-0.8698067664865569,0.23068332718546766,0.19052790524267763,-0.1272059677074972],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5199999999999434,"qpos":[-0.07469682307992577,1.184201407853999,-0.8865818990440046,0.19837193689259924,0.1493816351712719,-0.07876626145974594,0.035000103201015195,-0.03499980604233697,0.3002700718152496,-0.033971091281809834,0.07989224457978367,0.9999999999999991,-1.882236687368169e-11,3.254536218263888e-12,-2.794246819683177e-19],"qvel":[-0.11632043755610251,-0.13200271293724936,0.2335580556078591,0.20147301168769888,0.08644840854227175,-0.1254190538991943,5.4997092908449755e-05,9.582637429078086e-05,-4.102543614917442e-12,-2.3726762902847127e-11,3.082553373253063e-15,4.912162840930763e-10,-8.493465723530922e-11,4.170567895037175e-18],"joint_position_rad":[-0.07469682307992577,1.184201407853999,-0.8865818990440046,0.19837193689259924,0.1493816351712719,-0.07876626145974594],"joint_velocity_rad_s":[-0.11632043755610251,-0.13200271293724936,0.2335580556078591,0.20147301168769888,0.08644840854227175,-0.1254190538991943],"gripper_joint_position_m":[0.035000103201015195,-0.03499980604233697],"tcp_position_m":[0.3667500977597537,-0.019848363784176287,0.2922075252050017],"tcp_quaternion_wxyz":[0.5699283384708436,0.07045857607492083,0.8183092347163442,0.02423374596114679],"object_position_m":[0.3002700718152496,-0.033971091281809834,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.882236687368169e-11,3.254536218263888e-12,-2.794246819683177e-19],"object_linear_velocity_m_s":[-4.102543614917442e-12,-2.3726762902847127e-11,3.082553373253063e-15],"object_angular_velocity_rad_s":[4.912162840930754e-10,-8.493465723530907e-11,4.170567875219551e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000451383},{"geom_ids":[1,90],"normal_force_n":0.09810000000318303},{"geom_ids":[1,90],"normal_force_n":0.09809999999548621},{"geom_ids":[1,90],"normal_force_n":0.09809999999681701}],"native_actuator_controls":[-0.08466189024981798,1.1735652275284292,-0.8698067664865569,0.23068332718546766,0.19052790524267763,-0.1272059677074972,0.035],"actuator_force_native":[-0.21560318581086424,-0.19088086135934645,0.17422032655653652,0.2850905532762429,0.28179008790064963,-0.2962684816287212,-0.00027911350515008593],"issued_joint_targets_rad":[-0.08709148414618552,1.1710211456715967,-0.8649964424606732,0.23485268326875025,0.19190591913553764,-0.13001362378919062],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5199999999999434,"joint_targets_rad":[-0.08709148414618552,1.1710211456715967,-0.8649964424606732,0.23485268326875025,0.19190591913553764,-0.13001362378919062],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5399999999999412,"qpos":[-0.0770811416204476,1.1815033200639284,-0.8817571316825834,0.20265237283754517,0.15092204932580444,-0.08141060751465433,0.03500011027959852,-0.03499977496785603,0.3002700718151439,-0.03397109128242103,0.07989224457978367,0.9999999999999991,-1.99155478553292e-11,3.4435636089460064e-12,-1.648748348043112e-19],"qvel":[-0.11723264023088818,-0.12905657809590157,0.23334763751274673,0.2005407228815478,0.08520416022370689,-0.12654904637121514,4.664055226224301e-05,0.00010423895001094783,-4.64204268077161e-12,-2.6846860654370957e-11,3.0839411520338447e-15,2.7159279082655455e-10,-4.696024722004917e-11,7.614435379534954e-18],"joint_position_rad":[-0.0770811416204476,1.1815033200639284,-0.8817571316825834,0.20265237283754517,0.15092204932580444,-0.08141060751465433],"joint_velocity_rad_s":[-0.11723264023088818,-0.12905657809590157,0.23334763751274673,0.2005407228815478,0.08520416022370689,-0.12654904637121514],"gripper_joint_position_m":[0.03500011027959852,-0.03499977496785603],"tcp_position_m":[0.36565254708960365,-0.020445914542014373,0.2907728197690937],"tcp_quaternion_wxyz":[0.5684836832271253,0.07192161704550862,0.8191825601591659,0.024362184572710305],"object_position_m":[0.3002700718151439,-0.03397109128242103,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.99155478553292e-11,3.4435636089460064e-12,-1.648748348043112e-19],"object_linear_velocity_m_s":[-4.64204268077161e-12,-2.6846860654370957e-11,3.0839411520338447e-15],"object_angular_velocity_rad_s":[2.715927908265541e-10,-4.6960247220049087e-11,7.614435363534674e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000663711},{"geom_ids":[1,90],"normal_force_n":0.0981000000046804},{"geom_ids":[1,90],"normal_force_n":0.09809999999336287},{"geom_ids":[1,90],"normal_force_n":0.09809999999531961}],"native_actuator_controls":[-0.08709148414618552,1.1710211456715967,-0.8649964424606732,0.23485268326875025,0.19190591913553764,-0.13001362378919062,0.035],"actuator_force_native":[-0.21466420090459248,-0.19329106090702908,0.1741169501890738,0.2853088028404649,0.28203245776177166,-0.29620659318854026,-0.00023761394525179114],"issued_joint_targets_rad":[-0.0895332248212049,1.1685349855072769,-0.8601881148464615,0.23898503031373727,0.19325651807166352,-0.13282613764934997],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5399999999999412,"joint_targets_rad":[-0.0895332248212049,1.1685349855072769,-0.8601881148464615,0.23898503031373727,0.19325651807166352,-0.13282613764934997],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.559999999999939,"qpos":[-0.07948298061938425,1.1788645619641736,-0.876937192067336,0.20691141015211018,0.1524388076990232,-0.08407621571956571,0.03500007700976669,-0.03499970234966447,0.30027007181504023,-0.03397109128302029,0.07989224457978367,0.9999999999999991,-2.0200609055362263e-11,3.492851839888357e-12,-4.038405413431733e-20],"qvel":[-0.1180455220635161,-0.12613469821491846,0.23318864722472327,0.199481353987368,0.08393630424720172,-0.12756734189771288,5.617931295656426e-05,9.618089148918489e-05,-5.353815589242726e-12,-3.096338260391717e-11,3.0742267005683747e-15,-1.0040578380694003e-10,1.736071648306287e-11,1.390203797492178e-17],"joint_position_rad":[-0.07948298061938425,1.1788645619641736,-0.876937192067336,0.20691141015211018,0.1524388076990232,-0.08407621571956571],"joint_velocity_rad_s":[-0.1180455220635161,-0.12613469821491846,0.23318864722472327,0.199481353987368,0.08393630424720172,-0.12756734189771288],"gripper_joint_position_m":[0.03500007700976669,-0.03499970234966447],"tcp_position_m":[0.3645632327281766,-0.021044617541788817,0.28932321455781573],"tcp_quaternion_wxyz":[0.5670270263472884,0.07337841138557578,0.8200590473509966,0.024476907322146284],"object_position_m":[0.30027007181504023,-0.03397109128302029,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0200609055362263e-11,3.492851839888357e-12,-4.038405413431733e-20],"object_linear_velocity_m_s":[-5.353815589242726e-12,-3.096338260391717e-11,3.0742267005683747e-15],"object_angular_velocity_rad_s":[-1.0040578380693985e-10,1.736071648306284e-11,1.3902037985881977e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000826727},{"geom_ids":[1,90],"normal_force_n":0.09810000000582965},{"geom_ids":[1,90],"normal_force_n":0.0980999999917328},{"geom_ids":[1,90],"normal_force_n":0.09809999999417028}],"native_actuator_controls":[-0.0895332248212049,1.1685349855072769,-0.8601881148464615,0.23898503031373727,0.19325651807166352,-0.13282613764934997,0.035],"actuator_force_native":[-0.2137919258280725,-0.19569262547715027,0.17398294154634186,0.2855380365282443,0.28227264735560076,-0.2961482064512735,-0.0002839769554505711],"issued_joint_targets_rad":[-0.09198489974965646,1.1661062005721625,-0.8553807752545936,0.2430776788806001,0.19457916062914304,-0.13564098896902416],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.559999999999939,"joint_targets_rad":[-0.09198489974965646,1.1661062005721625,-0.8553807752545936,0.2430776788806001,0.19457916062914304,-0.13564098896902416],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5799999999999368,"qpos":[-0.08190028208689434,1.1762846304723205,-0.8721210365804666,0.21114636577340012,0.15393140242422812,-0.08676073206804291,0.03500011231326245,-0.03499968533059329,0.3002700718149402,-0.03397109128359774,0.07989224457978367,0.9999999999999991,-1.946377939827402e-11,3.3654415186212293e-12,8.781713960855077e-20],"qvel":[-0.11875640192849016,-0.12323803583828269,0.2330803660100807,0.19829485565962265,0.08264471858538214,-0.12847285585188908,4.841316539638338e-05,0.00010474494717941006,-6.435724257742532e-12,-3.722049730253275e-11,3.077002258129938e-15,-6.759743860561286e-10,1.1688008644487484e-10,2.5381573531358762e-17],"joint_position_rad":[-0.08190028208689434,1.1762846304723205,-0.8721210365804666,0.21114636577340012,0.15393140242422812,-0.08676073206804291],"joint_velocity_rad_s":[-0.11875640192849016,-0.12323803583828269,0.2330803660100807,0.19829485565962265,0.08264471858538214,-0.12847285585188908],"gripper_joint_position_m":[0.03500011231326245,-0.03499968533059329],"tcp_position_m":[0.3634818343609181,-0.02164389842401,0.2878586698335182],"tcp_quaternion_wxyz":[0.5655582640057308,0.07482829676790168,0.8209387840771047,0.024578218317106784],"object_position_m":[0.3002700718149402,-0.03397109128359774,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.946377939827402e-11,3.3654415186212293e-12,8.781713960855077e-20],"object_linear_velocity_m_s":[-6.435724257742532e-12,-3.722049730253275e-11,3.077002258129938e-15],"object_angular_velocity_rad_s":[-6.759743860561273e-10,1.1688008644487464e-10,2.5381573579450204e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000841033},{"geom_ids":[1,90],"normal_force_n":0.09810000000593075},{"geom_ids":[1,90],"normal_force_n":0.09809999999158965},{"geom_ids":[1,90],"normal_force_n":0.09809999999406926}],"native_actuator_controls":[-0.09198489974965646,1.1661062005721625,-0.8553807752545936,0.2430776788806001,0.19457916062914304,-0.13564098896902416,0.035],"actuator_force_native":[-0.21298740337851818,-0.19808421282121458,0.17381907601944135,0.28577824598988677,0.28251050417107604,-0.29609328523197886,-0.00024655835747977584],"issued_joint_targets_rad":[-0.09444424287876549,1.1637342230238694,-0.8505734325956219,0.2471279313179295,0.19587330492577276,-0.1384556212916923],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5799999999999368,"joint_targets_rad":[-0.09444424287876549,1.1637342230238694,-0.8505734325956219,0.2471279313179295,0.19587330492577276,-0.1384556212916923],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5999999999999346,"qpos":[-0.08433096119486182,1.1737629835859553,-0.8673077447779073,0.2153545579260882,0.15539986927160235,-0.08946176567024361,0.035000089650179755,-0.034999597877148826,0.3002700718148464,-0.03397109128413993,0.07989224457978367,0.9999999999999991,-1.733298727489078e-11,2.9970039264056853e-12,2.0589076199424725e-19],"qvel":[-0.11936152703764354,-0.12036954705419022,0.23302487118248133,0.19698121102769345,0.0813345950519872,-0.12926418803107823,5.650357406569759e-05,9.815483888791517e-05,-8.213921313577716e-12,-4.750484413281567e-11,3.0797778156915006e-15,-1.527613609910468e-09,2.6413119693890184e-10,4.634042359948589e-17],"joint_position_rad":[-0.08433096119486182,1.1737629835859553,-0.8673077447779073,0.2153545579260882,0.15539986927160235,-0.08946176567024361],"joint_velocity_rad_s":[-0.11936152703764354,-0.12036954705419022,0.23302487118248133,0.19698121102769345,0.0813345950519872,-0.12926418803107823],"gripper_joint_position_m":[0.035000089650179755,-0.034999597877148826],"tcp_position_m":[0.3624079991865192,-0.02224315577990773,0.2863791046578175],"tcp_quaternion_wxyz":[0.5640771300541645,0.0762705897747089,0.8218219720424071,0.02466647022993665],"object_position_m":[0.3002700718148464,-0.03397109128413993,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.733298727489078e-11,2.9970039264056853e-12,2.0589076199424725e-19],"object_linear_velocity_m_s":[-8.213921313577716e-12,-4.750484413281567e-11,3.0797778156915006e-15],"object_angular_velocity_rad_s":[-1.5276136099104654e-09,2.6413119693890137e-10,4.634042376210878e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000519951},{"geom_ids":[1,90],"normal_force_n":0.09810000000366641},{"geom_ids":[1,90],"normal_force_n":0.0980999999948005},{"geom_ids":[1,90],"normal_force_n":0.09809999999633365}],"native_actuator_controls":[-0.09444424287876549,1.1637342230238694,-0.8505734325956219,0.2471279313179295,0.19587330492577276,-0.1384556212916923,0.035],"actuator_force_native":[-0.21225489952407628,-0.20045310969592833,0.17362061867042655,0.28602888053518427,0.2827324639637234,-0.29604227416786966,-0.00028610387751859534],"issued_joint_targets_rad":[-0.09690899000915808,1.1614184609649547,-0.8457652246585936,0.2511331205907696,0.19713894626872347,-0.14126748339259895],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.5999999999999346,"joint_targets_rad":[-0.09690899000915808,1.1614184609649547,-0.8457652246585936,0.2511331205907696,0.19713894626872347,-0.14126748339259895],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6199999999999324,"qpos":[-0.08677283585447217,1.1712990617174963,-0.8624962626362778,0.21953330280604946,0.15684377786552528,-0.09217691915139418,0.035000119083807554,-0.03499955301726355,0.30027007181474447,-0.03397109128472905,0.07989224457978367,0.9999999999999991,-1.739634147872925e-11,3.0079430110059296e-12,3.8167088988592457e-19],"qvel":[-0.11985879057128315,-0.11752826803040028,0.23301999934839432,0.19554048800569293,0.08000337968171667,-0.12994080103615843,4.8086567092407606e-05,0.00010673195260148419,-3.699692894379483e-12,-2.1397027696402024e-11,3.085328930814626e-15,6.490196566343067e-10,-1.1222019549529584e-10,5.0206025273616255e-18],"joint_position_rad":[-0.08677283585447217,1.1712990617174963,-0.8624962626362778,0.21953330280604946,0.15684377786552528,-0.09217691915139418],"joint_velocity_rad_s":[-0.11985879057128315,-0.11752826803040028,0.23301999934839432,0.19554048800569293,0.08000337968171667,-0.12994080103615843],"gripper_joint_position_m":[0.035000119083807554,-0.03499955301726355],"tcp_position_m":[0.36134139172033214,-0.02284178297261874,0.28488446878404167],"tcp_quaternion_wxyz":[0.5625834905394824,0.07770458908331151,0.8227087251237858,0.02474200099023625],"object_position_m":[0.30027007181474447,-0.03397109128472905,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.739634147872925e-11,3.0079430110059296e-12,3.8167088988592457e-19],"object_linear_velocity_m_s":[-3.699692894379483e-12,-2.1397027696402024e-11,3.085328930814626e-15],"object_angular_velocity_rad_s":[6.490196566343055e-10,-1.1222019549529564e-10,5.020602540764551e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000172621},{"geom_ids":[1,90],"normal_force_n":0.0981000000012171},{"geom_ids":[1,90],"normal_force_n":0.09809999999827371},{"geom_ids":[1,90],"normal_force_n":0.09809999999878298}],"native_actuator_controls":[-0.09690899000915808,1.1614184609649547,-0.8457652246585936,0.2511331205907696,0.19713894626872347,-0.14126748339259895,0.035],"actuator_force_native":[-0.21159837951845795,-0.20280672005132772,0.1733830414727464,0.28629027136034146,0.28294661450940684,-0.2959944408578101,-0.00024519618776408514],"issued_joint_targets_rad":[-0.09937676721500056,1.159158290119465,-0.8409551568435094,0.2550905455275836,0.19837562684902565,-0.14407396659360272],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6199999999999324,"joint_targets_rad":[-0.09937676721500056,1.159158290119465,-0.8409551568435094,0.2550905455275836,0.19837562684902565,-0.14407396659360272],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6399999999999302,"qpos":[-0.08922367718669716,1.168892309738046,-0.8576855731085105,0.2236799150408682,0.1582626673257518,-0.09490377016668369,0.035000085950056235,-0.03499944135155457,0.3002700718146405,-0.03397109128533135,0.07989224457978367,0.9999999999999991,-1.836532687360186e-11,3.17549323776173e-12,6.066192079946617e-19],"qvel":[-0.12024574398933362,-0.11471459483932907,0.23306440767885,0.19397266227703072,0.07864996020003699,-0.13050127884609766,5.6193638484747924e-05,9.951418177502256e-05,-4.0156196015815265e-12,-2.3224149470464146e-11,3.0783900369107196e-15,5.128127867225879e-10,-8.866858034546778e-11,9.166350764747799e-18],"joint_position_rad":[-0.08922367718669716,1.168892309738046,-0.8576855731085105,0.2236799150408682,0.1582626673257518,-0.09490377016668369],"joint_velocity_rad_s":[-0.12024574398933362,-0.11471459483932907,0.23306440767885,0.19397266227703072,0.07864996020003699,-0.13050127884609766],"gripper_joint_position_m":[0.035000085950056235,-0.03499944135155457],"tcp_position_m":[0.3602816838952957,-0.023439167550176075,0.2833747268000057],"tcp_quaternion_wxyz":[0.5610772286676988,0.07912958297982801,0.8235991481566248,0.024805155183858143],"object_position_m":[0.3002700718146405,-0.03397109128533135,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.836532687360186e-11,3.17549323776173e-12,6.066192079946617e-19],"object_linear_velocity_m_s":[-4.0156196015815265e-12,-2.3224149470464146e-11,3.0783900369107196e-15],"object_angular_velocity_rad_s":[5.12812786722587e-10,-8.866858034546762e-11,9.166350752597757e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000378997},{"geom_ids":[1,90],"normal_force_n":0.09810000000267265},{"geom_ids":[1,90],"normal_force_n":0.09809999999621004},{"geom_ids":[1,90],"normal_force_n":0.09809999999732738}],"native_actuator_controls":[-0.09937676721500056,1.159158290119465,-0.8409551568435094,0.2550905455275836,0.19837562684902565,-0.14407396659360272,0.035],"actuator_force_native":[-0.21101848231760378,-0.20514859528982754,0.17311126280581846,0.2865619080834616,0.2831546549326831,-0.2959500460000437,-0.0002844061946731813],"issued_joint_targets_rad":[-0.10184515589440929,1.1569530859559851,-0.8361422731245126,0.2589974903993626,0.19958286396337455,-0.14687241782239427],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6399999999999302,"joint_targets_rad":[-0.10184515589440929,1.1569530859559851,-0.8361422731245126,0.2589974903993626,0.19958286396337455,-0.14687241782239427],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.659999999999928,"qpos":[-0.09168120772741024,1.1665421587268916,-0.8528746821636671,0.22779170511736,0.15965606130932156,-0.09763986680782988,0.035000106913590796,-0.03499938031968795,0.3002700718145391,-0.03397109128591758,0.07989224457978367,0.9999999999999991,-1.8977591649265353e-11,3.281360872419782e-12,8.583836935401225e-19],"qvel":[-0.12052016190068579,-0.11192938965324331,0.23315705958060315,0.19227751942966334,0.07727392682873666,-0.13094426271946233,4.769153730517669e-05,0.00010768958115712705,-4.430653059852398e-12,-2.562447401188006e-11,3.083941152033845e-15,2.8279057136245846e-10,-4.8896294038924296e-11,1.6735457688303307e-17],"joint_position_rad":[-0.09168120772741024,1.1665421587268916,-0.8528746821636671,0.22779170511736,0.15965606130932156,-0.09763986680782988],"joint_velocity_rad_s":[-0.12052016190068579,-0.11192938965324331,0.23315705958060315,0.19227751942966334,0.07727392682873666,-0.13094426271946233],"gripper_joint_position_m":[0.035000106913590796,-0.03499938031968795],"tcp_position_m":[0.35922854981136665,-0.02403468949591944,0.28184985565129217],"tcp_quaternion_wxyz":[0.5595582404893413,0.08054484832460339,0.8244933401598733,0.024856285741334402],"object_position_m":[0.3002700718145391,-0.03397109128591758,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8977591649265353e-11,3.281360872419782e-12,8.583836935401225e-19],"object_linear_velocity_m_s":[-4.430653059852398e-12,-2.562447401188006e-11,3.083941152033845e-15],"object_angular_velocity_rad_s":[2.8279057136245794e-10,-4.8896294038924205e-11,1.673545768027423e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000589743},{"geom_ids":[1,90],"normal_force_n":0.09810000000415886},{"geom_ids":[1,90],"normal_force_n":0.09809999999410256},{"geom_ids":[1,90],"normal_force_n":0.09809999999584117}],"native_actuator_controls":[-0.10184515589440929,1.1569530859559851,-0.8361422731245126,0.2589974903993626,0.19958286396337455,-0.14687241782239427,0.035],"actuator_force_native":[-0.21051504385649622,-0.207478873406302,0.172807425229351,0.28684381413178706,0.283357136297425,-0.29590911606645043,-0.0002427342301576374],"issued_joint_targets_rad":[-0.10431169244265744,1.1548022070080264,-0.8313256427335483,0.26285122619572726,0.20076016469340704,-0.14966013942119444],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.659999999999928,"joint_targets_rad":[-0.10431169244265744,1.1548022070080264,-0.8313256427335483,0.26285122619572726,0.20076016469340704,-0.14966013942119444],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6799999999999258,"qpos":[-0.09414310044718517,1.1642480206141008,-0.8480626155122385,0.23186597821131225,0.16102347688813207,-0.10038272622985529,0.03500006662913781,-0.0349992572525322,0.3002700718144411,-0.033971091286484775,0.07989224457978367,0.9999999999999991,-1.9030323255460253e-11,3.2904835748623612e-12,1.1319953394205148e-18],"qvel":[-0.12067951659277716,-0.10917365646711666,0.23329696816947226,0.1904548677936389,0.07587519506395152,-0.13126821361688515,5.5887818429629246e-05,0.00010001369068386658,-5.0429140554905106e-12,-2.91654235991039e-11,3.0756144793491565e-15,-7.848916149312427e-11,1.3572094100399309e-11,3.055450806174503e-17],"joint_position_rad":[-0.09414310044718517,1.1642480206141008,-0.8480626155122385,0.23186597821131225,0.16102347688813207,-0.10038272622985529],"joint_velocity_rad_s":[-0.12067951659277716,-0.10917365646711666,0.23329696816947226,0.1904548677936389,0.07587519506395152,-0.13126821361688515],"gripper_joint_position_m":[0.03500006662913781,-0.0349992572525322],"tcp_position_m":[0.35818166418667696,-0.02462772023752827,0.28030984343623244],"tcp_quaternion_wxyz":[0.5580264322360549,0.08194964928256318,0.8253913964365917,0.02489575459426441],"object_position_m":[0.3002700718144411,-0.033971091286484775,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9030323255460253e-11,3.2904835748623612e-12,1.1319953394205148e-18],"object_linear_velocity_m_s":[-5.0429140554905106e-12,-2.91654235991039e-11,3.0756144793491565e-15],"object_angular_velocity_rad_s":[-7.848916149312413e-11,1.3572094100399286e-11,3.05545080336624e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000753961},{"geom_ids":[1,90],"normal_force_n":0.09810000000531661},{"geom_ids":[1,90],"normal_force_n":0.09809999999246043},{"geom_ids":[1,90],"normal_force_n":0.09809999999468336}],"native_actuator_controls":[-0.10431169244265744,1.1548022070080264,-0.8313256427335483,0.26285122619572726,0.20076016469340704,-0.14966013942119444,0.035],"actuator_force_native":[-0.21008977667389495,-0.209796806150365,0.17247298144786782,0.28713558040840503,0.2835540854568226,-0.29587181148806385,-0.0002821042576601762],"issued_joint_targets_rad":[-0.10677386824038744,1.1527049899730648,-0.8265043572096356,0.2666490109937366,0.20190703517889624,-0.15243438959058703],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6799999999999258,"joint_targets_rad":[-0.10677386824038744,1.1527049899730648,-0.8265043572096356,0.2666490109937366,0.20190703517889624,-0.15243438959058703],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6999999999999236,"qpos":[-0.09660697888115287,1.1620092862939928,-0.8432484175959994,0.23590003266337062,0.16236442862211567,-0.10312983346046595,0.0350001034532971,-0.03499920856955177,0.3002700718143421,-0.033971091287058,0.07989224457978367,0.9999999999999991,-1.9381046027513722e-11,3.3511358932902997e-12,1.4594941779240027e-18],"qvel":[-0.12072155887968643,-0.10644845798723634,0.23348320559498326,0.18850438186151092,0.07445379186361183,-0.13147162727294423,5.716519432784331e-05,9.852386035651298e-05,-6.104687791283026e-12,-3.530597122204497e-11,3.0728389217875934e-15,-5.979811164442925e-10,1.0339714414269976e-10,5.578493606743096e-17],"joint_position_rad":[-0.09660697888115287,1.1620092862939928,-0.8432484175959994,0.23590003266337062,0.16236442862211567,-0.10312983346046595],"joint_velocity_rad_s":[-0.12072155887968643,-0.10644845798723634,0.23348320559498326,0.18850438186151092,0.07445379186361183,-0.13147162727294423],"gripper_joint_position_m":[0.0350001034532971,-0.03499920856955177],"tcp_position_m":[0.3571407019368201,-0.025217622356925096,0.27875468887900867],"tcp_quaternion_wxyz":[0.5564817191402155,0.08334323649917291,0.82629340961915,0.024923932525841373],"object_position_m":[0.3002700718143421,-0.033971091287058,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9381046027513722e-11,3.3511358932902997e-12,1.4594941779240027e-18],"object_linear_velocity_m_s":[-6.104687791283026e-12,-3.530597122204497e-11,3.0728389217875934e-15],"object_angular_velocity_rad_s":[-5.979811164442915e-10,1.0339714414269958e-10,5.578493600977703e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000925473},{"geom_ids":[1,90],"normal_force_n":0.09810000000652595},{"geom_ids":[1,90],"normal_force_n":0.09809999999074533},{"geom_ids":[1,90],"normal_force_n":0.09809999999347406}],"native_actuator_controls":[-0.10677386824038744,1.1527049899730648,-0.8265043572096356,0.2666490109937366,0.20190703517889624,-0.15243438959058703,0.035],"actuator_force_native":[-0.20974335434033264,-0.2121014157380472,0.17210880293417574,0.2874372239070855,0.2837453777723882,-0.29583812039179436,-0.0002899641035229994],"issued_joint_targets_rad":[-0.10922913035140468,1.1506607478722068,-0.8216775295645312,0.2703880890112891,0.20302298529581095,-0.15519238189346118],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.6999999999999236,"joint_targets_rad":[-0.10922913035140468,1.1506607478722068,-0.8216775295645312,0.2703880890112891,0.20302298529581095,-0.15519238189346118],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7199999999999214,"qpos":[-0.09907045166145174,1.1598253087160266,-0.8384312584785318,0.23989116193361126,0.16367895201260932,-0.10587862877491086,0.0350001276962451,-0.034999148497225116,0.3002700718142467,-0.03397109128760983,0.07989224457978367,0.9999999999999991,-1.8116984278264364e-11,3.1325771100551355e-12,1.772535320253267e-18],"qvel":[-0.12064306770321924,-0.10375685823151926,0.23371722463976352,0.18642575133063335,0.07301605218094874,-0.13155265381511252,4.6887827842810646e-05,0.00010803612115485312,-7.827246341304075e-12,-4.5268112312350874e-11,3.0797778156915006e-15,-1.3736551666662396e-09,2.375183574641533e-10,1.0184930699414595e-16],"joint_position_rad":[-0.09907045166145174,1.1598253087160266,-0.8384312584785318,0.23989116193361126,0.16367895201260932,-0.10587862877491086],"joint_velocity_rad_s":[-0.12064306770321924,-0.10375685823151926,0.23371722463976352,0.18642575133063335,0.07301605218094874,-0.13155265381511252],"gripper_joint_position_m":[0.0350001276962451,-0.034999148497225116],"tcp_position_m":[0.35610530816840236,-0.025803732745243595,0.2771843560682472],"tcp_quaternion_wxyz":[0.5549238643819342,0.08472483990513026,0.8271995774052894,0.02494123860158158],"object_position_m":[0.3002700718142467,-0.03397109128760983,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8116984278264364e-11,3.1325771100551355e-12,1.772535320253267e-18],"object_linear_velocity_m_s":[-7.827246341304075e-12,-4.5268112312350874e-11,3.0797778156915006e-15],"object_angular_velocity_rad_s":[-1.3736551666662371e-09,2.375183574641529e-10,1.0184930692291422e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000707324},{"geom_ids":[1,90],"normal_force_n":0.09810000000498785},{"geom_ids":[1,90],"normal_force_n":0.09809999999292678},{"geom_ids":[1,90],"normal_force_n":0.09809999999501212}],"native_actuator_controls":[-0.10922913035140468,1.1506607478722068,-0.8216775295645312,0.2703880890112891,0.20302298529581095,-0.15519238189346118,0.035],"actuator_force_native":[-0.2094789566801385,-0.21438057634797758,0.17171218992122306,0.2877483264539453,0.2839162545605931,-0.2958085504628345,-0.000239546989017958],"issued_joint_targets_rad":[-0.11167493948354164,1.1486687697085347,-0.8168444034338864,0.27406572292993814,0.20410804178990888,-0.15793132226342105],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7199999999999214,"joint_targets_rad":[-0.11167493948354164,1.1486687697085347,-0.8168444034338864,0.27406572292993814,0.20410804178990888,-0.15793132226342105],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7399999999999192,"qpos":[-0.10153104791189775,1.1576954098225556,-0.8336102247807196,0.2438366527393519,0.16496685622415003,-0.10862653112508541,0.03500007559435568,-0.034999010879768325,0.30027007181414683,-0.033971091288186844,0.07989224457978367,0.9999999999999991,-1.747322848939623e-11,3.0212721892694384e-12,2.1588740453615067e-18],"qvel":[-0.12044177030477078,-0.10109890401626688,0.23399799612265587,0.1842187852251745,0.07156118792615636,-0.13151020813616965,5.4796468087596775e-05,0.00010025461805906909,-3.693026697843871e-12,-2.1358263022978525e-11,3.081165594472282e-15,6.759222919601766e-10,-1.16872628889833e-10,1.1034542167987967e-17],"joint_position_rad":[-0.10153104791189775,1.1576954098225556,-0.8336102247807196,0.2438366527393519,0.16496685622415003,-0.10862653112508541],"joint_velocity_rad_s":[-0.12044177030477078,-0.10109890401626688,0.23399799612265587,0.1842187852251745,0.07156118792615636,-0.13151020813616965],"gripper_joint_position_m":[0.03500007559435568,-0.034999010879768325],"tcp_position_m":[0.3550751325098677,-0.026385378014335235,0.2755988210172551],"tcp_quaternion_wxyz":[0.5533526928807189,0.08609366934210846,0.8281100592333968,0.024948089652898235],"object_position_m":[0.30027007181414683,-0.033971091288186844,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.747322848939623e-11,3.0212721892694384e-12,2.1588740453615067e-18],"object_linear_velocity_m_s":[-3.693026697843871e-12,-2.1358263022978525e-11,3.081165594472282e-15],"object_angular_velocity_rad_s":[6.759222919601753e-10,-1.168726288898328e-10,1.1034542161839832e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000151191},{"geom_ids":[1,90],"normal_force_n":0.09810000000106617},{"geom_ids":[1,90],"normal_force_n":0.09809999999848809},{"geom_ids":[1,90],"normal_force_n":0.09809999999893385}],"native_actuator_controls":[-0.11167493948354164,1.1486687697085347,-0.8168444034338864,0.27406572292993814,0.20410804178990888,-0.15793132226342105,0.035],"actuator_force_native":[-0.20930247420765724,-0.2166366890403424,0.17127572713336292,0.28806888149757803,0.2840700737683539,-0.2957825991791021,-0.00027700611466530134],"issued_joint_targets_rad":[-0.11410867690543684,1.1467283050452082,-0.8120041420594882,0.2776791567596738,0.20516201766571102,-0.16064837245454183],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7399999999999192,"joint_targets_rad":[-0.11410867690543684,1.1467283050452082,-0.8120041420594882,0.2776791567596738,0.20516201766571102,-0.16064837245454183],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.759999999999917,"qpos":[-0.10398624206872993,1.155618911444203,-0.8287843836546294,0.24773378431850895,0.16622774375296098,-0.11137093435773944,0.035000100141855,-0.03499894703486146,0.300270071814039,-0.03397109128880982,0.07989224457978367,0.9999999999999991,-1.870077863032326e-11,3.233516821703807e-12,2.7159406083492632e-18],"qvel":[-0.12011616922037627,-0.09847441693155379,0.23432359654453594,0.1818831743360403,0.07008687702516485,-0.13134288065843266,5.595576383261481e-05,9.844125530308533e-05,-4.042968597749955e-12,-2.33821792157335e-11,3.082553373253063e-15,5.649033351781858e-10,-9.767678621513408e-11,2.0146250608392005e-17],"joint_position_rad":[-0.10398624206872993,1.155618911444203,-0.8287843836546294,0.24773378431850895,0.16622774375296098,-0.11137093435773944],"joint_velocity_rad_s":[-0.12011616922037627,-0.09847441693155379,0.23432359654453594,0.1818831743360403,0.07008687702516485,-0.13134288065843266],"gripper_joint_position_m":[0.035000100141855,-0.03499894703486146],"tcp_position_m":[0.3540498395508967,-0.02696188445150316,0.27399808501026574],"tcp_quaternion_wxyz":[0.5517680974558186,0.08744892429151266,0.8290249722088533,0.024944893753101462],"object_position_m":[0.300270071814039,-0.03397109128880982,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.870077863032326e-11,3.233516821703807e-12,2.7159406083492632e-18],"object_linear_velocity_m_s":[-4.042968597749955e-12,-2.33821792157335e-11,3.082553373253063e-15],"object_angular_velocity_rad_s":[5.649033351781848e-10,-9.76767862151339e-11,2.014625062343076e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000034992},{"geom_ids":[1,90],"normal_force_n":0.09810000000246745},{"geom_ids":[1,90],"normal_force_n":0.09809999999650089},{"geom_ids":[1,90],"normal_force_n":0.09809999999753248}],"native_actuator_controls":[-0.11410867690543684,1.1467283050452082,-0.8120041420594882,0.2776791567596738,0.20516201766571102,-0.16064837245454183,0.035],"actuator_force_native":[-0.20921394083467248,-0.21887642726181866,0.1708013448886163,0.2883990259663918,0.28421242358975296,-0.2957600599803749,-0.00028378449336297074],"issued_joint_targets_rad":[-0.11652766600344362,1.1448385922357964,-0.8071558907179909,0.28122560580087574,0.2061845326054799,-0.16334063593897152],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.759999999999917,"joint_targets_rad":[-0.11652766600344362,1.1448385922357964,-0.8071558907179909,0.28122560580087574,0.2061845326054799,-0.16334063593897152],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7799999999999148,"qpos":[-0.10643347426555864,1.1535951274179066,-0.823952837475119,0.2515798271804283,0.16746119321153824,-0.11410919590316689,0.03500011323002876,-0.03499887370330974,0.30027007181393345,-0.033971091289419816,0.07989224457978367,0.9999999999999991,-1.952207848801217e-11,3.3755009338395223e-12,3.3426336956749878e-18],"qvel":[-0.11966452565728602,-0.09588422208612335,0.23469253679253596,0.1794185176977363,0.06859250487837819,-0.13104884580415926,4.555824270099579e-05,0.00010761227701454359,-4.460168160792176e-12,-2.5795223828424675e-11,3.0881044883761884e-15,3.5912054530819576e-10,-6.20959018246627e-11,3.678198805586636e-17],"joint_position_rad":[-0.10643347426555864,1.1535951274179066,-0.823952837475119,0.2515798271804283,0.16746119321153824,-0.11410919590316689],"joint_velocity_rad_s":[-0.11966452565728602,-0.09588422208612335,0.23469253679253596,0.1794185176977363,0.06859250487837819,-0.13104884580415926],"gripper_joint_position_m":[0.03500011323002876,-0.03499887370330974],"tcp_position_m":[0.3530291000914409,-0.027532575774868243,0.27238216710646],"tcp_quaternion_wxyz":[0.550169990812363,0.0887897961761582,0.8299444231937805,0.024932061969746348],"object_position_m":[0.30027007181393345,-0.033971091289419816,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.952207848801217e-11,3.3755009338395223e-12,3.3426336956749878e-18],"object_linear_velocity_m_s":[-4.460168160792176e-12,-2.5795223828424675e-11,3.0881044883761884e-15],"object_angular_velocity_rad_s":[3.5912054530819513e-10,-6.209590182466259e-11,3.678198811453261e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000565551},{"geom_ids":[1,90],"normal_force_n":0.09810000000398823},{"geom_ids":[1,90],"normal_force_n":0.09809999999434452},{"geom_ids":[1,90],"normal_force_n":0.09809999999601178}],"native_actuator_controls":[-0.11652766600344362,1.1448385922357964,-0.8071558907179909,0.28122560580087574,0.2061845326054799,-0.16334063593897152,0.035],"actuator_force_native":[-0.20921271074436731,-0.2211017041381922,0.17029305660756222,0.2887385563292142,0.2843446366218496,-0.2957411316518075,-0.00023232041465526265],"issued_joint_targets_rad":[-0.1189291992259605,1.1429988560354023,-0.8022988318084138,0.28470226302118606,0.20717519194532097,-0.16600516013333566],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7799999999999148,"joint_targets_rad":[-0.1189291992259605,1.1429988560354023,-0.8022988318084138,0.28470226302118606,0.20717519194532097,-0.16600516013333566],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7999999999999126,"qpos":[-0.10887016923896696,1.1516233422009703,-0.8191147817475528,0.2553720426670009,0.16866708722309104,-0.11683862710244178,0.035000062892774846,-0.034998735631128965,0.300270071813831,-0.03397109129001263,0.07989224457978367,0.9999999999999991,-1.978298078206575e-11,3.4205869132565135e-12,4.02985861112936e-18],"qvel":[-0.11908440664761669,-0.09333071074060129,0.2351047278823783,0.1768243919041352,0.06708264332553289,-0.1306259768486562,6.496613877041783e-05,8.844675569005034e-05,-5.041269005323893e-12,-2.9156233536641277e-11,3.086716709595407e-15,2.515162633067828e-11,-4.350860887227791e-12,6.715451947115112e-17],"joint_position_rad":[-0.10887016923896696,1.1516233422009703,-0.8191147817475528,0.2553720426670009,0.16866708722309104,-0.11683862710244178],"joint_velocity_rad_s":[-0.11908440664761669,-0.09333071074060129,0.2351047278823783,0.1768243919041352,0.06708264332553289,-0.1306259768486562],"gripper_joint_position_m":[0.035000062892774846,-0.034998735631128965],"tcp_position_m":[0.35201256958761923,-0.02809676016363058,0.2707510761380736],"tcp_quaternion_wxyz":[0.5485582054687278,0.09011546164803738,0.8308685749878765,0.02491003577888491],"object_position_m":[0.300270071813831,-0.03397109129001263,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.978298078206575e-11,3.4205869132565135e-12,4.02985861112936e-18],"object_linear_velocity_m_s":[-5.041269005323893e-12,-2.9156233536641277e-11,3.086716709595407e-15],"object_angular_velocity_rad_s":[2.5151626330678236e-11,-4.3508608872277804e-12,6.715451955049789e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000752267},{"geom_ids":[1,90],"normal_force_n":0.09810000000530468},{"geom_ids":[1,90],"normal_force_n":0.09809999999247733},{"geom_ids":[1,90],"normal_force_n":0.09809999999469533}],"native_actuator_controls":[-0.1189291992259605,1.1429988560354023,-0.8022988318084138,0.28470226302118606,0.20717519194532097,-0.16600516013333566,0.035],"actuator_force_native":[-0.20930036572140054,-0.22330533954243492,0.16975235571922553,0.2890868546467278,0.28445708223399957,-0.2957263650359545,-0.0003273464048458852],"issued_joint_targets_rad":[-0.12131057234557772,1.1412082976558091,-0.7974322443129431,0.28810631888579313,0.20813390751232716,-0.16863895970856874],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.7999999999999126,"joint_targets_rad":[-0.12131057234557772,1.1412082976558091,-0.7974322443129431,0.28810631888579313,0.20813390751232716,-0.16863895970856874],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8199999999999104,"qpos":[-0.11129372352531033,1.1497027970081135,-0.8142694620505375,0.2591076824529212,0.16984559137120647,-0.11955649802448429,0.03500013584274498,-0.03499871947467243,0.30027007181373244,-0.0339710912905824,0.07989224457978367,0.9999999999999991,-1.923032394274347e-11,3.3250271680665576e-12,4.7496532731540155e-18],"qvel":[-0.11837359466321844,-0.09081616846337155,0.2355607368942135,0.17410023042016032,0.06556251609984344,-0.13007258784958708,3.7550465849695094e-05,0.0001132879333552941,-5.946541262201695e-12,-3.439182750900136e-11,3.0853289308146257e-15,-4.850059011284762e-10,8.386134832320361e-11,1.2260702873816955e-16],"joint_position_rad":[-0.11129372352531033,1.1497027970081135,-0.8142694620505375,0.2591076824529212,0.16984559137120647,-0.11955649802448429],"joint_velocity_rad_s":[-0.11837359466321844,-0.09081616846337155,0.2355607368942135,0.17410023042016032,0.06556251609984344,-0.13007258784958708],"gripper_joint_position_m":[0.03500013584274498,-0.03499871947467243],"tcp_position_m":[0.3509998828499231,-0.028653724688161138,0.2691048011858727],"tcp_quaternion_wxyz":[0.546932490283656,0.09142507555069226,0.8317976482208947,0.02487928951671912],"object_position_m":[0.30027007181373244,-0.0339710912905824,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.923032394274347e-11,3.3250271680665576e-12,4.7496532731540155e-18],"object_linear_velocity_m_s":[-5.946541262201695e-12,-3.439182750900136e-11,3.0853289308146257e-15],"object_angular_velocity_rad_s":[-4.850059011284754e-10,8.386134832320345e-11,1.2260702869197613e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000822826},{"geom_ids":[1,90],"normal_force_n":0.09810000000580223},{"geom_ids":[1,90],"normal_force_n":0.09809999999177177},{"geom_ids":[1,90],"normal_force_n":0.09809999999419775}],"native_actuator_controls":[-0.12131057234557772,1.1412082976558091,-0.7974322443129431,0.28810631888579313,0.20813390751232716,-0.16863895970856874,0.035],"actuator_force_native":[-0.2094799323052996,-0.22547910586749254,0.16917373453649276,0.28944430521407405,0.28453938726144146,-0.29571573506646365,-0.0001931860390473883],"issued_joint_targets_rad":[-0.12366907406018215,1.1394660815227122,-0.7925554614798266,0.29143496631640853,0.20906087768013595,-0.17123902799780497],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8199999999999104,"joint_targets_rad":[-0.12366907406018215,1.1394660815227122,-0.7925554614798266,0.29143496631640853,0.20906087768013595,-0.17123902799780497],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8399999999999082,"qpos":[-0.11370145153915479,1.1478327128869485,-0.8094160128295572,0.26278398714126944,0.17099644933831412,-0.12226005649608496,0.035000013413283064,-0.03499850918083617,0.30027007181363974,-0.03397109129111943,0.07989224457978367,0.9999999999999991,-1.7492701830707628e-11,3.024593771395789e-12,5.4376717627546724e-18],"qvel":[-0.11753043582020944,-0.08833977383678603,0.23605859828975767,0.17124573060772416,0.06402705112482539,-0.12938735978720947,6.239112221217712e-05,8.884064324849402e-05,-7.445510923177009e-12,-4.306066002607688e-11,3.0839411520338443e-15,-1.238450381938722e-09,2.141416371111586e-10,2.2385005856836637e-16],"joint_position_rad":[-0.11370145153915479,1.1478327128869485,-0.8094160128295572,0.26278398714126944,0.17099644933831412,-0.12226005649608496],"joint_velocity_rad_s":[-0.11753043582020944,-0.08833977383678603,0.23605859828975767,0.17124573060772416,0.06402705112482539,-0.12938735978720947],"gripper_joint_position_m":[0.035000013413283064,-0.03499850918083617],"tcp_position_m":[0.34999069368800617,-0.02920275771879263,0.2674433638424173],"tcp_quaternion_wxyz":[0.5452927203517491,0.09271777859102633,0.8327317836326762,0.0248402735990701],"object_position_m":[0.30027007181363974,-0.03397109129111943,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7492701830707628e-11,3.024593771395789e-12,5.4376717627546724e-18],"object_linear_velocity_m_s":[-7.445510923177009e-12,-4.306066002607688e-11,3.0839411520338443e-15],"object_angular_velocity_rad_s":[-1.2384503819387197e-09,2.1414163711115822e-10,2.2385005835537373e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000620651},{"geom_ids":[1,90],"normal_force_n":0.09810000000437676},{"geom_ids":[1,90],"normal_force_n":0.09809999999379355},{"geom_ids":[1,90],"normal_force_n":0.09809999999562319}],"native_actuator_controls":[-0.12366907406018215,1.1394660815227122,-0.7925554614798266,0.29143496631640853,0.20906087768013595,-0.17123902799780497,0.035],"actuator_force_native":[-0.20975762258114194,-0.22763163995497848,0.16855111652966315,0.2898105139669429,0.28460370673098034,-0.295708675336386,-0.0003124921423833804],"issued_joint_targets_rad":[-0.12600190313738935,1.1377713342471085,-0.7876677076670812,0.29468536324507777,0.20995590078832974,-0.17380229368171904],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8399999999999082,"joint_targets_rad":[-0.12600190313738935,1.1377713342471085,-0.7876677076670812,0.29468536324507777,0.20995590078832974,-0.17380229368171904],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.859999999999906,"qpos":[-0.1160906943134476,1.1460122803352297,-0.8045537576446535,0.26639818899288376,0.17212015348961288,-0.12494649577659284,0.035000099215124765,-0.0349985019213926,0.30027007181354465,-0.033971091291669704,0.07989224457978367,0.9999999999999991,-1.6587312525738275e-11,2.8680666229712527e-12,6.286788372062915e-18],"qvel":[-0.11655234245952036,-0.08590472475429398,0.23660081971183544,0.16826021269219932,0.06248041872082952,-0.12856833942764317,4.488804276935797e-05,0.00010373809888329328,-3.518397840877015e-12,-2.034848703917762e-11,3.0839411520338443e-15,6.519253211787162e-10,-1.1272181717172724e-10,2.4252333416767862e-17],"joint_position_rad":[-0.1160906943134476,1.1460122803352297,-0.8045537576446535,0.26639818899288376,0.17212015348961288,-0.12494649577659284],"joint_velocity_rad_s":[-0.11655234245952036,-0.08590472475429398,0.23660081971183544,0.16826021269219932,0.06248041872082952,-0.12856833942764317],"gripper_joint_position_m":[0.035000099215124765,-0.0349985019213926],"tcp_position_m":[0.34898461678028536,-0.029743117821482187,0.2657667368984679],"tcp_quaternion_wxyz":[0.5436385511892537,0.09399269042624919,0.8336712672784078,0.024793505635513798],"object_position_m":[0.30027007181354465,-0.033971091291669704,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6587312525738275e-11,2.8680666229712527e-12,6.286788372062915e-18],"object_linear_velocity_m_s":[-3.518397840877015e-12,-2.034848703917762e-11,3.0839411520338443e-15],"object_angular_velocity_rad_s":[6.519253211787151e-10,-1.1272181717172703e-10,2.4252333390278927e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000118776},{"geom_ids":[1,90],"normal_force_n":0.09810000000083736},{"geom_ids":[1,90],"normal_force_n":0.09809999999881229},{"geom_ids":[1,90],"normal_force_n":0.09809999999916265}],"native_actuator_controls":[-0.12600190313738935,1.1377713342471085,-0.7876677076670812,0.29468536324507777,0.20995590078832974,-0.17380229368171904,0.035],"actuator_force_native":[-0.21013499361773746,-0.2297520632782124,0.1678798996466,0.2901859066267658,0.2846368449059242,-0.2957054699097972,-0.0002284088188371225],"issued_joint_targets_rad":[-0.12830632371773837,1.1361231706778736,-0.7827684002290283,0.2978546877869957,0.21081951799562143,-0.1763256855945508],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.859999999999906,"joint_targets_rad":[-0.12830632371773837,1.1361231706778736,-0.7827684002290283,0.2978546877869957,0.21081951799562143,-0.1763256855945508],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8799999999999037,"qpos":[-0.11845876784367942,1.1442406605100408,-0.7996820481191983,0.2699475124381291,0.17321738620700963,-0.12761297610507633,0.03500005335768835,-0.03499836582746814,0.3002700718134432,-0.033971091292256686,0.07989224457978367,0.9999999999999991,-1.757519176756006e-11,3.0389033885884237e-12,7.511141565307934e-18],"qvel":[-0.11543763567237891,-0.08351329630084234,0.23718590610311746,0.16514357473454047,0.06093793108952705,-0.12761339459917645,6.239036565299942e-05,8.576461424383262e-05,-3.806195155089857e-12,-2.2012770042700213e-11,3.082553373253063e-15,5.374189105522771e-10,-9.292341178726505e-11,4.4278601533879714e-17],"joint_position_rad":[-0.11845876784367942,1.1442406605100408,-0.7996820481191983,0.2699475124381291,0.17321738620700963,-0.12761297610507633],"joint_velocity_rad_s":[-0.11543763567237891,-0.08351329630084234,0.23718590610311746,0.16514357473454047,0.06093793108952705,-0.12761339459917645],"gripper_joint_position_m":[0.03500005335768835,-0.03499836582746814],"tcp_position_m":[0.34798125247515527,-0.030274046209570332,0.2640748778168475],"tcp_quaternion_wxyz":[0.5419695783850091,0.09524890958239766,0.8346164250863108,0.024739529192892785],"object_position_m":[0.3002700718134432,-0.033971091292256686,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.757519176756006e-11,3.0389033885884237e-12,7.511141565307934e-18],"object_linear_velocity_m_s":[-3.806195155089857e-12,-2.2012770042700213e-11,3.082553373253063e-15],"object_angular_velocity_rad_s":[5.374189105522761e-10,-9.292341178726488e-11,4.427860149914661e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000314147},{"geom_ids":[1,90],"normal_force_n":0.0981000000022151},{"geom_ids":[1,90],"normal_force_n":0.0980999999968586},{"geom_ids":[1,90],"normal_force_n":0.09809999999778495}],"native_actuator_controls":[-0.12830632371773837,1.1361231706778736,-0.7827684002290283,0.2978546877869957,0.21081951799562143,-0.1763256855945508,0.035],"actuator_force_native":[-0.2106162915628218,-0.23183270506918063,0.16716230069800986,0.2905691402819617,0.2846144212518271,-0.29570700299597985,-0.00031408613579886335],"issued_joint_targets_rad":[-0.13057959315791895,1.1345206777466506,-0.7778569875223798,0.30094011616532634,0.2116524685571832,-0.17880611238831123],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8799999999999037,"joint_targets_rad":[-0.13057959315791895,1.1345206777466506,-0.7778569875223798,0.30094011616532634,0.2116524685571832,-0.17880611238831123],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8999999999999015,"qpos":[-0.12080288098262998,1.1425169997613385,-0.7948000263096162,0.27342916996733974,0.17428804253983635,-0.13025664647162322,0.035000143451247426,-0.03499836327553944,0.300270071813338,-0.03397109129286528,0.07989224457978367,0.9999999999999991,-1.9245482105359805e-11,3.327726409582132e-12,9.068693955848136e-18],"qvel":[-0.11418629122770464,-0.08116295198660152,0.23781165488528358,0.1618951912186985,0.05938620047074141,-0.12652213060782744,4.315768664295293e-05,0.00010205956801336514,-4.315848363650686e-12,-2.4960177919021767e-11,3.0770022581299375e-15,3.812126759696226e-10,-6.591453765119043e-11,8.084162018756598e-17],"joint_position_rad":[-0.12080288098262998,1.1425169997613385,-0.7948000263096162,0.27342916996733974,0.17428804253983635,-0.13025664647162322],"joint_velocity_rad_s":[-0.11418629122770464,-0.08116295198660152,0.23781165488528358,0.1618951912186985,0.05938620047074141,-0.12652213060782744],"gripper_joint_position_m":[0.035000143451247426,-0.03499836327553944],"tcp_position_m":[0.34698023808776807,-0.030794798754602462,0.26236779950276723],"tcp_quaternion_wxyz":[0.5402856297790375,0.09648552510206988,0.8355674341482924,0.024678830824948168],"object_position_m":[0.300270071813338,-0.03397109129286528,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9245482105359805e-11,3.327726409582132e-12,9.068693955848136e-18],"object_linear_velocity_m_s":[-4.315848363650686e-12,-2.4960177919021767e-11,3.0770022581299375e-15],"object_angular_velocity_rad_s":[3.8121267596962194e-10,-6.59145376511903e-11,8.084162015869656e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000056991},{"geom_ids":[1,90],"normal_force_n":0.09810000000401871},{"geom_ids":[1,90],"normal_force_n":0.09809999999430093},{"geom_ids":[1,90],"normal_force_n":0.0980999999959813}],"native_actuator_controls":[-0.13057959315791895,1.1345206777466506,-0.7778569875223798,0.30094011616532634,0.2116524685571832,-0.17880611238831123,0.035],"actuator_force_native":[-0.2112055178845953,-0.23389100124202855,0.16638482855250203,0.29096189182597243,0.28456495946735627,-0.295711463255139,-0.0002215264831115782],"issued_joint_targets_rad":[-0.13281884042290243,1.1329628958335807,-0.7729327097802686,0.3039387724766431,0.2124547389001032,-0.18124039975404926],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.8999999999999015,"joint_targets_rad":[-0.13281884042290243,1.1329628958335807,-0.7729327097802686,0.3039387724766431,0.2124547389001032,-0.18124039975404926],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9199999999998993,"qpos":[-0.123120267914045,1.1408404601383884,-0.7899069698299395,0.2768403535121739,0.17533220763249055,-0.13287461266177658,0.03500007484601163,-0.034998205387886255,0.30027007181323356,-0.03397109129346864,0.07989224457978367,0.9999999999999991,-2.0101513447304832e-11,3.4757479427291685e-12,1.0790018298041908e-17],"qvel":[-0.11279764632071991,-0.07885522416889126,0.2384756472133165,0.15851474220467124,0.05782960063910966,-0.1252919700914001,4.8775898745979805e-05,9.508543708437857e-05,-4.951230531258115e-12,-2.8634790714113597e-11,3.0728389217875934e-15,9.683433328850773e-11,-1.6743256366665262e-11,1.475960847448089e-16],"joint_position_rad":[-0.123120267914045,1.1408404601383884,-0.7899069698299395,0.2768403535121739,0.17533220763249055,-0.13287461266177658],"joint_velocity_rad_s":[-0.11279764632071991,-0.07885522416889126,0.2384756472133165,0.15851474220467124,0.05782960063910966,-0.1252919700914001],"gripper_joint_position_m":[0.03500007484601163,-0.034998205387886255],"tcp_position_m":[0.34598121549079236,-0.03130463630297814,0.2606455305502776],"tcp_quaternion_wxyz":[0.5385865004337724,0.09770162323335049,0.8365244937022733,0.024611903709900174],"object_position_m":[0.30027007181323356,-0.03397109129346864,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0101513447304832e-11,3.4757479427291685e-12,1.0790018298041908e-17],"object_linear_velocity_m_s":[-4.951230531258115e-12,-2.8634790714113597e-11,3.0728389217875934e-15],"object_angular_velocity_rad_s":[9.683433328850756e-11,-1.6743256366665223e-11,1.4759608473092523e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000768516},{"geom_ids":[1,90],"normal_force_n":0.0981000000054195},{"geom_ids":[1,90],"normal_force_n":0.09809999999231483},{"geom_ids":[1,90],"normal_force_n":0.0980999999945805}],"native_actuator_controls":[-0.13281884042290243,1.1329628958335807,-0.7729327097802686,0.3039387724766431,0.2124547389001032,-0.18124039975404926,0.035],"actuator_force_native":[-0.21189756910499646,-0.23592902354016587,0.1655625679070809,0.29136304755541076,0.28448091171746204,-0.29571991578562673,-0.0002468733341949303],"issued_joint_targets_rad":[-0.13502122759252005,1.1314488754290846,-0.7679949427546924,0.30684773830511697,0.21322651609458623,-0.18362531007856545],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9199999999998993,"joint_targets_rad":[-0.13502122759252005,1.1314488754290846,-0.7679949427546924,0.30684773830511697,0.21322651609458623,-0.18362531007856545],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9399999999998971,"qpos":[-0.12540816897902826,1.139210155463064,-0.7850022901967602,0.28017762642091376,0.1763504113957121,-0.13546392527558063,0.03500006741024548,-0.03499810487373883,0.30027007181313164,-0.03397109129405789,0.07989224457978367,0.9999999999999991,-1.9992728312229605e-11,3.456933244975111e-12,1.2618902834499327e-17],"qvel":[-0.11127157268162814,-0.0765936243192527,0.23917810422070024,0.1550058877716418,0.0562784680783136,-0.12392370195279287,4.914789047794564e-05,9.245748076884182e-05,-5.838912676731294e-12,-3.3768663752605544e-11,3.0783900369107192e-15,-3.664911228192595e-10,6.336883810793899e-11,2.694732744136803e-16],"joint_position_rad":[-0.12540816897902826,1.139210155463064,-0.7850022901967602,0.28017762642091376,0.1763504113957121,-0.13546392527558063],"joint_velocity_rad_s":[-0.11127157268162814,-0.0765936243192527,0.23917810422070024,0.1550058877716418,0.0562784680783136,-0.12392370195279287],"gripper_joint_position_m":[0.03500006741024548,-0.03499810487373883],"tcp_position_m":[0.3449837979827649,-0.03180281982816349,0.25890808384043607],"tcp_quaternion_wxyz":[0.536871871040257,0.0988960456865766,0.8374879102376582,0.02453907983304128],"object_position_m":[0.30027007181313164,-0.03397109129405789,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9992728312229605e-11,3.456933244975111e-12,1.2618902834499327e-17],"object_linear_velocity_m_s":[-5.838912676731294e-12,-3.3768663752605544e-11,3.0783900369107192e-15],"object_angular_velocity_rad_s":[-3.664911228192588e-10,6.336883810793889e-11,2.694732744524452e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000871898},{"geom_ids":[1,90],"normal_force_n":0.09810000000614827},{"geom_ids":[1,90],"normal_force_n":0.09809999999128104},{"geom_ids":[1,90],"normal_force_n":0.09809999999385174}],"native_actuator_controls":[-0.13502122759252005,1.1314488754290846,-0.7679949427546924,0.30684773830511697,0.21322651609458623,-0.18362531007856545,0.035],"actuator_force_native":[-0.21268682567120223,-0.2379342811220937,0.16469727426192549,0.29177503650991987,0.2843433448712711,-0.2957282951006588,-0.00024843586220879565],"issued_joint_targets_rad":[-0.1371839274130112,1.1299776301708002,-0.7630432079860191,0.3096634594467598,0.2139684424574344,-0.18595751059243296],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9399999999998971,"joint_targets_rad":[-0.1371839274130112,1.1299776301708002,-0.7630432079860191,0.3096634594467598,0.2139684424574344,-0.18595751059243296],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.959999999999895,"qpos":[-0.12766374830600288,1.1376253857739245,-0.7800853031393292,0.2834381486926646,0.1773426001764992,-0.13802160718256226,0.035000069647306314,-0.034998015860606926,0.3002700718130344,-0.03397109129462073,0.07989224457978367,0.9999999999999991,-1.865235468579764e-11,3.2251687316888055e-12,1.4420062960940865e-17],"qvel":[-0.10960615922033189,-0.07437109023124351,0.23991739044324692,0.15136333059358867,0.05471785730485336,-0.12241240875717005,4.831219419405129e-05,9.081618937546115e-05,-7.2347282619512335e-12,-4.1841057142689235e-11,3.0783900369107192e-15,-1.069855243781462e-09,1.8498939496261334e-10,4.91993080956839e-16],"joint_position_rad":[-0.12766374830600288,1.1376253857739245,-0.7800853031393292,0.2834381486926646,0.1773426001764992,-0.13802160718256226],"joint_velocity_rad_s":[-0.10960615922033189,-0.07437109023124351,0.23991739044324692,0.15136333059358867,0.05471785730485336,-0.12241240875717005],"gripper_joint_position_m":[0.035000069647306314,-0.034998015860606926],"tcp_position_m":[0.34398766550098747,-0.03228860919823794,0.25715547673103867],"tcp_quaternion_wxyz":[0.5351415387499944,0.10006786122355668,0.8384578840861181,0.02446085174847661],"object_position_m":[0.3002700718130344,-0.03397109129462073,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.865235468579764e-11,3.2251687316888055e-12,1.4420062960940865e-17],"object_linear_velocity_m_s":[-7.2347282619512335e-12,-4.1841057142689235e-11,3.0783900369107192e-15],"object_angular_velocity_rad_s":[-1.06985524378146e-09,1.84989394962613e-10,4.919930809085817e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000745599},{"geom_ids":[1,90],"normal_force_n":0.09810000000525765},{"geom_ids":[1,90],"normal_force_n":0.09809999999254401},{"geom_ids":[1,90],"normal_force_n":0.09809999999474234}],"native_actuator_controls":[-0.1371839274130112,1.1299776301708002,-0.7630432079860191,0.3096634594467598,0.2139684424574344,-0.18595751059243296,0.035],"actuator_force_native":[-0.21358353245900474,-0.23996499709372188,0.16378066004857317,0.29219577719586454,0.2841816368520722,-0.2957404209629517,-0.0002443468632227219],"issued_joint_targets_rad":[-0.13930404552620687,1.128548302992256,-0.7580769198227417,0.312382941204359,0.2146806233769793,-0.18823363228320156],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.959999999999895,"joint_targets_rad":[-0.13930404552620687,1.128548302992256,-0.7580769198227417,0.312382941204359,0.2146806233769793,-0.18823363228320156],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9799999999998927,"qpos":[-0.1298842506867499,1.1360853967684252,-0.7751555485768705,0.2866190503547668,0.1783095729206608,-0.14054460857938253,0.03500007058178244,-0.03499792611077886,0.30027007181293935,-0.03397109129517057,0.07989224457978367,0.9999999999999991,-1.688572389063316e-11,2.9197060634463722e-12,1.6286309919230123e-17],"qvel":[-0.10780100933774481,-0.07219342306968032,0.24069175613551777,0.14758631379059778,0.05317529174764784,-0.12075452838642449,4.7162430534180254e-05,8.937525263834101e-05,-3.572877304637623e-12,-2.0663257896530323e-11,3.0756144793491565e-15,6.925922012039754e-10,-1.1975566523568152e-10,5.3303410207525953e-17],"joint_position_rad":[-0.1298842506867499,1.1360853967684252,-0.7751555485768705,0.2866190503547668,0.1783095729206608,-0.14054460857938253],"joint_velocity_rad_s":[-0.10780100933774481,-0.07219342306968032,0.24069175613551777,0.14758631379059778,0.05317529174764784,-0.12075452838642449],"gripper_joint_position_m":[0.03500007058178244,-0.03499792611077886],"tcp_position_m":[0.3429924489584104,-0.03276124244066129,0.2553876860935831],"tcp_quaternion_wxyz":[0.5333950654702864,0.1012161261414445,0.8394347644388843,0.024377780709139804],"object_position_m":[0.30027007181293935,-0.03397109129517057,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.688572389063316e-11,2.9197060634463722e-12,1.6286309919230123e-17],"object_linear_velocity_m_s":[-3.572877304637623e-12,-2.0663257896530323e-11,3.0756144793491565e-15],"object_angular_velocity_rad_s":[6.925922012039742e-10,-1.197556652356813e-10,5.330341019842217e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000081368},{"geom_ids":[1,90],"normal_force_n":0.0981000000005737},{"geom_ids":[1,90],"normal_force_n":0.09809999999918635},{"geom_ids":[1,90],"normal_force_n":0.0980999999994263}],"native_actuator_controls":[-0.13930404552620687,1.128548302992256,-0.7580769198227417,0.312382941204359,0.2146806233769793,-0.18823363228320156,0.035],"actuator_force_native":[-0.21457854046783353,-0.242000386745147,0.1628315196527197,0.29262406503069904,0.2839475669417135,-0.2957584444585535,-0.000238635423968514],"issued_joint_targets_rad":[-0.1413788058159201,1.127160000328319,-0.7530957179038793,0.31500317739636546,0.2153640100767393,-0.1904502838185371],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9799999999998927,"joint_targets_rad":[-0.1413788058159201,1.127160000328319,-0.7530957179038793,0.31500317739636546,0.2153640100767393,-0.1904502838185371],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9999999999998905,"qpos":[-0.13206681012734997,1.1345892504751374,-0.7702122843402706,0.289717435809911,0.17925146485589186,-0.14302985411565539,0.035000067708205074,-0.034997832802177276,0.30027007181283355,-0.033971091295782796,0.07989224457978367,0.9999999999999991,-1.799292308188595e-11,3.111169664814229e-12,1.9315548014779978e-17],"qvel":[-0.10585502740396717,-0.07006265452287501,0.24150240120055372,0.1436735570279622,0.05163283274253085,-0.11894971504549191,4.590532739399914e-05,8.786169098040006e-05,-3.865695893355121e-12,-2.2356609284098546e-11,3.074226700568375e-15,5.929016769875372e-10,-1.0251857180031299e-10,9.73180405565373e-17],"joint_position_rad":[-0.13206681012734997,1.1345892504751374,-0.7702122843402706,0.289717435809911,0.17925146485589186,-0.14302985411565539],"joint_velocity_rad_s":[-0.10585502740396717,-0.07006265452287501,0.24150240120055372,0.1436735570279622,0.05163283274253085,-0.11894971504549191],"gripper_joint_position_m":[0.035000067708205074,-0.034997832802177276],"tcp_position_m":[0.3419977743491412,-0.03321996229550876,0.2536047479117311],"tcp_quaternion_wxyz":[0.5316322366083367,0.10233987629200489,0.8404187600832669,0.024290377095853653],"object_position_m":[0.30027007181283355,-0.033971091295782796,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.799292308188595e-11,3.111169664814229e-12,1.9315548014779978e-17],"object_linear_velocity_m_s":[-3.865695893355121e-12,-2.2356609284098546e-11,3.074226700568375e-15],"object_angular_velocity_rad_s":[5.929016769875361e-10,-1.0251857180031279e-10,9.731804053866755e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000275425},{"geom_ids":[1,90],"normal_force_n":0.0981000000019421},{"geom_ids":[1,90],"normal_force_n":0.0980999999972458},{"geom_ids":[1,90],"normal_force_n":0.09809999999805792}],"native_actuator_controls":[-0.1413788058159201,1.127160000328319,-0.7530957179038793,0.31500317739636546,0.2153640100767393,-0.1904502838185371,0.035],"actuator_force_native":[-0.2156845180657747,-0.24402673913110107,0.16181330890852763,0.29306187831836716,0.283676203094678,-0.2957797244605793,-0.0002322349651728839],"issued_joint_targets_rad":[-0.14340531003140086,1.1258116282805826,-0.7480989658558591,0.3175211217520868,0.21601891918314364,-0.19260400490327756],"issued_gripper_position_m":0.035,"command":{"t_seconds":1.9999999999998905,"joint_targets_rad":[-0.14340531003140086,1.1258116282805826,-0.7480989658558591,0.3175211217520868,0.21601891918314364,-0.19260400490327756],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0199999999998886,"qpos":[-0.13420863820652779,1.1331359647970984,-0.7652550082572275,0.2927303888446195,0.18016907980068766,-0.14547421512421785,0.035000061226691956,-0.03499773527526572,0.30027007181273024,-0.033971091296380006,0.07989224457978367,0.9999999999999991,-1.881335822334178e-11,3.253055713536975e-12,2.2738828673168028e-17],"qvel":[-0.10376882358438229,-0.06798418090917488,0.2423445320439383,0.1396243432812441,0.050117482251850705,-0.11699424867406141,4.4592725987941776e-05,8.624599908945983e-05,-4.225224804946263e-12,-2.4435721009121692e-11,3.079777815691501e-15,4.132474482874801e-10,-7.14541046363246e-11,1.7767852347799214e-16],"joint_position_rad":[-0.13420863820652779,1.1331359647970984,-0.7652550082572275,0.2927303888446195,0.18016907980068766,-0.14547421512421785],"joint_velocity_rad_s":[-0.10376882358438229,-0.06798418090917488,0.2423445320439383,0.1396243432812441,0.050117482251850705,-0.11699424867406141],"gripper_joint_position_m":[0.035000061226691956,-0.03499773527526572],"tcp_position_m":[0.34100323792210496,-0.03366399987756066,0.25180669527599403],"tcp_quaternion_wxyz":[0.5298526810328256,0.10343813584430311,0.8414101776900845,0.024199201121575004],"object_position_m":[0.30027007181273024,-0.033971091296380006,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.881335822334178e-11,3.253055713536975e-12,2.2738828673168028e-17],"object_linear_velocity_m_s":[-4.225224804946263e-12,-2.4435721009121692e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[4.1324744828747935e-10,-7.145410463632444e-11,1.7767852342738042e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000488966},{"geom_ids":[1,90],"normal_force_n":0.09810000000344797},{"geom_ids":[1,90],"normal_force_n":0.09809999999511039},{"geom_ids":[1,90],"normal_force_n":0.09809999999655204}],"native_actuator_controls":[-0.14340531003140086,1.1258116282805826,-0.7480989658558591,0.3175211217520868,0.21601891918314364,-0.19260400490327756,0.035],"actuator_force_native":[-0.21688962806793555,-0.2460260167753887,0.16076073188978057,0.29350759989247166,0.28332217044678387,-0.295806524779505,-0.00022541269761799931],"issued_joint_targets_rad":[-0.145380764791101,1.124502059206882,-0.7430862676365602,0.3199337063449247,0.21664633557462348,-0.1946913030549792],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0199999999998886,"joint_targets_rad":[-0.145380764791101,1.124502059206882,-0.7430862676365602,0.3199337063449247,0.21664633557462348,-0.1946913030549792],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0399999999998863,"qpos":[-0.13630686089999264,1.1317244708306466,-0.7602830632180506,0.29565497004428776,0.18106275686394402,-0.14787452396679415,0.035000051334043415,-0.03499763408723431,0.30027007181263005,-0.03397109129695991,0.07989224457978367,0.9999999999999991,-1.917990407389532e-11,3.316462367547974e-12,2.652205390588036e-17],"qvel":[-0.10154094551251214,-0.06595863187833863,0.24321967236656067,0.13543739298099186,0.0486097736310459,-0.1148872165564386,4.323054809960428e-05,8.446485480984607e-05,-4.725961262805353e-12,-2.733135694120331e-11,3.0839411520338455e-15,1.2182637307616956e-10,-2.106353800307013e-11,3.2439515700071193e-16],"joint_position_rad":[-0.13630686089999264,1.1317244708306466,-0.7602830632180506,0.29565497004428776,0.18106275686394402,-0.14787452396679415],"joint_velocity_rad_s":[-0.10154094551251214,-0.06595863187833863,0.24321967236656067,0.13543739298099186,0.0486097736310459,-0.1148872165564386],"gripper_joint_position_m":[0.035000051334043415,-0.03499763408723431],"tcp_position_m":[0.34000844511826345,-0.03409259053574287,0.24999360601162565],"tcp_quaternion_wxyz":[0.5280561837455992,0.10450991390443468,0.8424092261667407,0.024104779046385267],"object_position_m":[0.30027007181263005,-0.03397109129695991,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.917990407389532e-11,3.316462367547974e-12,2.652205390588036e-17],"object_linear_velocity_m_s":[-4.725961262805353e-12,-2.733135694120331e-11,3.0839411520338455e-15],"object_angular_velocity_rad_s":[1.2182637307616935e-10,-2.106353800307007e-11,3.243951569288247e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000685862},{"geom_ids":[1,90],"normal_force_n":0.09810000000483628},{"geom_ids":[1,90],"normal_force_n":0.0980999999931414},{"geom_ids":[1,90],"normal_force_n":0.09809999999516378}],"native_actuator_controls":[-0.145380764791101,1.124502059206882,-0.7430862676365602,0.3199337063449247,0.21664633557462348,-0.1946913030549792,0.035],"actuator_force_native":[-0.21820758372610882,-0.2479997705094803,0.1596452846864338,0.29396248712051687,0.28292112666022584,-0.29583696604719245,-0.0002182061022344417],"issued_joint_targets_rad":[-0.1473022874848192,1.1232300545448444,-0.7380570760149497,0.3222378219238656,0.21724681492456346,-0.19670860922339098],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0399999999998863,"joint_targets_rad":[-0.1473022874848192,1.1232300545448444,-0.7380570760149497,0.3222378219238656,0.21724681492456346,-0.19670860922339098],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.059999999999884,"qpos":[-0.13835868209697186,1.1303536767203586,-0.7552960192556726,0.2984882167561798,0.18193344439459735,-0.1502275571293971,0.0350000494685891,-0.034997539732580026,0.3002700718125335,-0.03397109129751834,0.07989224457978367,0.9999999999999991,-1.8851326750133606e-11,3.2596427753579123e-12,3.0541704449481764e-17],"qvel":[-0.09917316279890456,-0.06399059789657974,0.24412099057907316,0.13111191555753088,0.04714333338899381,-0.11262463713853091,5.243892263457088e-05,7.246099600302719e-05,-5.499083063899118e-12,-3.180262968445938e-11,3.079777815691501e-15,-3.2542136142127394e-10,5.6267701669623696e-11,5.922685327634183e-16],"joint_position_rad":[-0.13835868209697186,1.1303536767203586,-0.7552960192556726,0.2984882167561798,0.18193344439459735,-0.1502275571293971],"joint_velocity_rad_s":[-0.09917316279890456,-0.06399059789657974,0.24412099057907316,0.13111191555753088,0.04714333338899381,-0.11262463713853091],"gripper_joint_position_m":[0.0350000494685891,-0.034997539732580026],"tcp_position_m":[0.33901297804105507,-0.03450496146387853,0.24816555366298487],"tcp_quaternion_wxyz":[0.5262423839922701,0.10555421100039981,0.8434162039124627,0.02400768227267734],"object_position_m":[0.3002700718125335,-0.03397109129751834,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8851326750133606e-11,3.2596427753579123e-12,3.0541704449481764e-17],"object_linear_velocity_m_s":[-5.499083063899118e-12,-3.180262968445938e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[-3.2542136142127337e-10,5.626770166962359e-11,5.922685328365374e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000794888},{"geom_ids":[1,90],"normal_force_n":0.09810000000560513},{"geom_ids":[1,90],"normal_force_n":0.09809999999205116},{"geom_ids":[1,90],"normal_force_n":0.09809999999439485}],"native_actuator_controls":[-0.1473022874848192,1.1232300545448444,-0.7380570760149497,0.3222378219238656,0.21724681492456346,-0.19670860922339098,0.035],"actuator_force_native":[-0.2196226170332629,-0.24993678455822987,0.158510506362461,0.29442462891977605,0.28241870521617063,-0.2958735652321425,-0.00026417335673678544],"issued_joint_targets_rad":[-0.1491670988299649,1.1219943553063991,-0.7330110702530481,0.32443032951384787,0.21782152870217864,-0.19865231373678563],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.059999999999884,"joint_targets_rad":[-0.1491670988299649,1.1219943553063991,-0.7330110702530481,0.32443032951384787,0.21782152870217864,-0.19865231373678563],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.079999999999882,"qpos":[-0.14036122353629962,1.1290224060389593,-0.7502932879865507,0.301227139894992,0.18278164708410333,-0.15253004769704603,0.03500011268243614,-0.03499751088931399,0.30027007181243687,-0.03397109129807734,0.07989224457978367,0.9999999999999991,-1.8652334234005652e-11,3.225219876480129e-12,3.521022630218455e-17],"qvel":[-0.0966637707037549,-0.062080666568877466,0.24505189857887757,0.1266463260119528,0.04569311682446584,-0.11020572482091603,3.282500571750414e-05,8.749890783885531e-05,-6.824502998360207e-12,-3.9468079515462823e-11,3.0811655944722824e-15,-9.720582852528306e-10,1.6807829354540427e-10,1.0813317736793035e-15],"joint_position_rad":[-0.14036122353629962,1.1290224060389593,-0.7502932879865507,0.301227139894992,0.18278164708410333,-0.15253004769704603],"joint_velocity_rad_s":[-0.0966637707037549,-0.062080666568877466,0.24505189857887757,0.1266463260119528,0.04569311682446584,-0.11020572482091603],"gripper_joint_position_m":[0.03500011268243614,-0.03499751088931399],"tcp_position_m":[0.3380164266081376,-0.034900344774449706,0.24632265025953715],"tcp_quaternion_wxyz":[0.5244110669767332,0.10657001352275083,0.8444313182011114,0.023908448113955687],"object_position_m":[0.30027007181243687,-0.03397109129807734,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8652334234005652e-11,3.225219876480129e-12,3.521022630218455e-17],"object_linear_velocity_m_s":[-6.824502998360207e-12,-3.9468079515462823e-11,3.0811655944722824e-15],"object_angular_velocity_rad_s":[-9.72058285252829e-10,1.6807829354540396e-10,1.0813317737776896e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000870317},{"geom_ids":[1,90],"normal_force_n":0.09810000000613713},{"geom_ids":[1,90],"normal_force_n":0.09809999999129687},{"geom_ids":[1,90],"normal_force_n":0.09809999999386289}],"native_actuator_controls":[-0.1491670988299649,1.1219943553063991,-0.7330110702530481,0.32443032951384787,0.21782152870217864,-0.19865231373678563,0.035],"actuator_force_native":[-0.22115116997444773,-0.25184072576043093,0.1573179257858186,0.2948959546944696,0.28185914094405473,-0.2959140731660219,-0.0001686323260330358],"issued_joint_targets_rad":[-0.15097233641701865,1.1207935896749792,-0.7279477748827998,0.32650804675115436,0.21837124552370232,-0.20051872912872315],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.079999999999882,"joint_targets_rad":[-0.15097233641701865,1.1207935896749792,-0.7279477748827998,0.32650804675115436,0.21837124552370232,-0.20051872912872315],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0999999999998797,"qpos":[-0.14231168315573833,1.1277294647881053,-0.7452744788159033,0.30386872261541237,0.18360834955349623,-0.15477867488933006,0.03500003022090375,-0.034997337738166164,0.3002700718123453,-0.03397109129860674,0.07989224457978367,0.9999999999999991,-1.6576143513197724e-11,2.8662120034356318e-12,3.931197446421849e-17],"qvel":[-0.0940156399881781,-0.06023287687495477,0.2460036567923704,0.12203976375754141,0.04429620759031891,-0.10762631023078495,4.736025605660551e-05,7.034437045821077e-05,-3.4877646139004805e-12,-2.0170751736427116e-11,3.0853289308146265e-15,6.914069975741949e-10,-1.1955289482354828e-10,1.171534313823215e-16],"joint_position_rad":[-0.14231168315573833,1.1277294647881053,-0.7452744788159033,0.30386872261541237,0.18360834955349623,-0.15477867488933006],"joint_velocity_rad_s":[-0.0940156399881781,-0.06023287687495477,0.2460036567923704,0.12203976375754141,0.04429620759031891,-0.10762631023078495],"gripper_joint_position_m":[0.03500003022090375,-0.034997337738166164],"tcp_position_m":[0.33701836514639233,-0.03527797248807405,0.244465012772068],"tcp_quaternion_wxyz":[0.5225619111554041,0.10755630314718394,0.8454548401604347,0.023807643987093764],"object_position_m":[0.3002700718123453,-0.03397109129860674,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6576143513197724e-11,2.8662120034356318e-12,3.931197446421849e-17],"object_linear_velocity_m_s":[-3.4877646139004805e-12,-2.0170751736427116e-11,3.0853289308146265e-15],"object_angular_velocity_rad_s":[6.914069975741937e-10,-1.1955289482354802e-10,1.171534313961339e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997195841},{"geom_ids":[1,90],"normal_force_n":0.098099999980226},{"geom_ids":[1,90],"normal_force_n":0.09810000002804153},{"geom_ids":[1,90],"normal_force_n":0.0981000000197741}],"native_actuator_controls":[-0.15097233641701865,1.1207935896749792,-0.7279477748827998,0.32650804675115436,0.21837124552370232,-0.20051872912872315,0.035],"actuator_force_native":[-0.22277406096153562,-0.25370562467531954,0.1561180306864145,0.29537414664197215,0.2811846483165823,-0.29596107704775343,-0.00023801011643276304],"issued_joint_targets_rad":[-0.15271523349605648,1.1196263605847954,-0.7228669109121472,0.32846774452074046,0.21889722959386715,-0.20230411182771432],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.0999999999998797,"joint_targets_rad":[-0.15271523349605648,1.1196263605847954,-0.7228669109121472,0.32846774452074046,0.21889722959386715,-0.20230411182771432],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1199999999998775,"qpos":[-0.1442072123445915,1.1264735714947043,-0.7402391137662373,0.30640991743404083,0.18441435272445048,-0.15697006441932113,0.0350000703723131,-0.03499728410565591,0.3002700718122369,-0.03397109129923304,0.07989224457978367,0.9999999999999991,-1.8097878511815248e-11,3.1293218689619213e-12,4.6800758008309534e-17],"qvel":[-0.0912278455579646,-0.058449089278646046,0.24697877190609782,0.1172904182311576,0.04293740553389014,-0.10488501985298046,2.9711403619788e-05,8.308653730725907e-05,-3.8531260326232076e-12,-2.2283838543960664e-11,3.0853289308146265e-15,6.25194485608733e-10,-1.0810355878126677e-10,2.1389329014232866e-16],"joint_position_rad":[-0.1442072123445915,1.1264735714947043,-0.7402391137662373,0.30640991743404083,0.18441435272445048,-0.15697006441932113],"joint_velocity_rad_s":[-0.0912278455579646,-0.058449089278646046,0.24697877190609782,0.1172904182311576,0.04293740553389014,-0.10488501985298046],"gripper_joint_position_m":[0.0350000703723131,-0.03499728410565591],"tcp_position_m":[0.33601836308755406,-0.03563707693412567,0.2425927818986158],"tcp_quaternion_wxyz":[0.5206946671594341,0.10851204792039351,0.8464869951678977,0.023705823324075143],"object_position_m":[0.3002700718122369,-0.03397109129923304,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8097878511815248e-11,3.1293218689619213e-12,4.6800758008309534e-17],"object_linear_velocity_m_s":[-3.8531260326232076e-12,-2.2283838543960664e-11,3.0853289308146265e-15],"object_angular_velocity_rad_s":[6.251944856087318e-10,-1.0810355878126651e-10,2.1389329016292298e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000025549},{"geom_ids":[1,90],"normal_force_n":0.09810000000180157},{"geom_ids":[1,90],"normal_force_n":0.09809999999744515},{"geom_ids":[1,90],"normal_force_n":0.09809999999819842}],"native_actuator_controls":[-0.15271523349605648,1.1196263605847954,-0.7228669109121472,0.32846774452074046,0.21889722959386715,-0.20230411182771432,0.035],"actuator_force_native":[-0.22450246432737586,-0.2555314263995001,0.15488236879672002,0.2958609923121962,0.2804226603933315,-0.29601294430446123,-0.00015137191062275512],"issued_joint_targets_rad":[-0.15439298570815913,1.1184911585551374,-0.7177681149675285,0.3303061540469052,0.21940059997247485,-0.20400464981859717],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1199999999998775,"joint_targets_rad":[-0.15439298570815913,1.1184911585551374,-0.7177681149675285,0.3303061540469052,0.21940059997247485,-0.20400464981859717],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1399999999998753,"qpos":[-0.1460449854341901,1.125253406595014,-0.7351867702715826,0.30884764354497185,0.18520050078872094,-0.1591007929532024,0.03499998507438607,-0.03499710755837352,0.3002700718121302,-0.03397109129985051,0.07989224457978367,0.9999999999999991,-1.920227560257164e-11,3.3202675502323276e-12,5.529734965332298e-17],"qvel":[-0.08830188648793824,-0.056732031640451173,0.2479731089319665,0.11239697341272524,0.041627349171169295,-0.10197875465170869,4.378068891978414e-05,6.59254507436717e-05,-4.243400048796553e-12,-2.4541058679647842e-11,3.0783900369107196e-15,4.73554343565245e-10,-8.188320135460032e-11,3.905165099045017e-16],"joint_position_rad":[-0.1460449854341901,1.125253406595014,-0.7351867702715826,0.30884764354497185,0.18520050078872094,-0.1591007929532024],"joint_velocity_rad_s":[-0.08830188648793824,-0.056732031640451173,0.2479731089319665,0.11239697341272524,0.041627349171169295,-0.10197875465170869],"gripper_joint_position_m":[0.03499998507438607,-0.03499710755837352],"tcp_position_m":[0.3350159903212708,-0.03597690197145777,0.24070612663781177],"tcp_quaternion_wxyz":[0.5188091059680935,0.10943621248274268,0.8475279938305622,0.023603530150414675],"object_position_m":[0.3002700718121302,-0.03397109129985051,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.920227560257164e-11,3.3202675502323276e-12,5.529734965332298e-17],"object_linear_velocity_m_s":[-4.243400048796553e-12,-2.4541058679647842e-11,3.0783900369107196e-15],"object_angular_velocity_rad_s":[4.735543435652442e-10,-8.188320135460011e-11,3.9051650993785987e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000464508},{"geom_ids":[1,90],"normal_force_n":0.0981000000032758},{"geom_ids":[1,90],"normal_force_n":0.09809999999535492},{"geom_ids":[1,90],"normal_force_n":0.09809999999672421}],"native_actuator_controls":[-0.15439298570815913,1.1184911585551374,-0.7177681149675285,0.3303061540469052,0.21940059997247485,-0.20400464981859717,0.035],"actuator_force_native":[-0.2263305894778327,-0.25731968498787694,0.1536268796645004,0.29635555301370786,0.2795599680807852,-0.29607043667638466,-0.00021830642004161405],"issued_joint_targets_rad":[-0.15600281833639895,1.1173864084068845,-0.7126510790772206,0.3320199384026441,0.21988255563339063,-0.20561644655964065],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1399999999998753,"joint_targets_rad":[-0.15600281833639895,1.1173864084068845,-0.7126510790772206,0.3320199384026441,0.21988255563339063,-0.20561644655964065],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.159999999999873,"qpos":[-0.14782221102689372,1.1240675853304716,-0.730117103588777,0.31117878327337406,0.18596787224312497,-0.161167374868743,0.03500003880182542,-0.03499706688357035,0.3002700718120259,-0.03397109130045415,0.07989224457978367,0.9999999999999991,-1.9802449777080897e-11,3.4240163418728573e-12,6.475096130581715e-17],"qvel":[-0.08524139006477162,-0.05508532393376609,0.2489791053319998,0.10735767622784632,0.0403945015469861,-0.09890422421633205,3.5125939522331055e-05,6.973692710094647e-05,-4.7374221354741966e-12,-2.7398381970306313e-11,3.0742267005683755e-15,2.096132413883296e-10,-3.624582372011026e-11,7.129825287981476e-16],"joint_position_rad":[-0.14782221102689372,1.1240675853304716,-0.730117103588777,0.31117878327337406,0.18596787224312497,-0.161167374868743],"joint_velocity_rad_s":[-0.08524139006477162,-0.05508532393376609,0.2489791053319998,0.10735767622784632,0.0403945015469861,-0.09890422421633205],"gripper_joint_position_m":[0.03500003880182542,-0.03499706688357035],"tcp_position_m":[0.3340108008342496,-0.036296692617255225,0.2388052293600898],"tcp_quaternion_wxyz":[0.5169049621885831,0.11032775445744504,0.8485780662784854,0.023501321074864228],"object_position_m":[0.3002700718120259,-0.03397109130045415,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9802449777080897e-11,3.4240163418728573e-12,6.475096130581715e-17],"object_linear_velocity_m_s":[-4.7374221354741966e-12,-2.7398381970306313e-11,3.0742267005683755e-15],"object_angular_velocity_rad_s":[2.0961324138832924e-10,-3.6245823720110144e-11,7.129825288720261e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000672421},{"geom_ids":[1,90],"normal_force_n":0.09810000000474184},{"geom_ids":[1,90],"normal_force_n":0.09809999999327582},{"geom_ids":[1,90],"normal_force_n":0.09809999999525822}],"native_actuator_controls":[-0.15600281833639895,1.1173864084068845,-0.7126510790772206,0.3320199384026441,0.21988255563339063,-0.20561644655964065,0.035],"actuator_force_native":[-0.22824163443656076,-0.25906753421811857,0.15238643426451404,0.29685782403156935,0.27855508158217757,-0.2961343805844785,-0.00017718177062842067],"issued_joint_targets_rad":[-0.1575420081496006,1.116310448425963,-0.7075155734350396,0.33360570787126526,0.22034456235641844,-0.20713553683844926],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.159999999999873,"joint_targets_rad":[-0.1575420081496006,1.116310448425963,-0.7075155734350396,0.33360570787126526,0.22034456235641844,-0.20713553683844926],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.179999999999871,"qpos":[-0.1495361455439454,1.1229145998610135,-0.7250298966376962,0.31340018414433746,0.1867183963840586,-0.1631662448689912,0.0350000319203396,-0.03499696781351547,0.30027007181192494,-0.03397109130103856,0.07989224457978367,0.9999999999999991,-1.970977231448673e-11,3.407975714124325e-12,7.4918350358555e-17],"qvel":[-0.0820419995147993,-0.05351487884949598,0.25000522989507407,0.10217063535008503,0.039227573394645936,-0.09565911132753399,4.128058066236073e-05,5.960968921298243e-05,-5.462516303267317e-12,-3.159196317953551e-11,3.077002258129938e-15,-2.062763392329421e-10,3.566545425178389e-11,1.3017243991483367e-15],"joint_position_rad":[-0.1495361455439454,1.1229145998610135,-0.7250298966376962,0.31340018414433746,0.1867183963840586,-0.1631662448689912],"joint_velocity_rad_s":[-0.0820419995147993,-0.05351487884949598,0.25000522989507407,0.10217063535008503,0.039227573394645936,-0.09565911132753399],"gripper_joint_position_m":[0.0350000319203396,-0.03499696781351547],"tcp_position_m":[0.33300227988437797,-0.036595651530875906,0.2368902186880152],"tcp_quaternion_wxyz":[0.51498172773752,0.1111855997214841,0.8496375873565669,0.023399843203853122],"object_position_m":[0.30027007181192494,-0.03397109130103856,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.970977231448673e-11,3.407975714124325e-12,7.4918350358555e-17],"object_linear_velocity_m_s":[-5.462516303267317e-12,-3.159196317953551e-11,3.077002258129938e-15],"object_angular_velocity_rad_s":[-2.0627633923294174e-10,3.5665454251783843e-11,1.3017243992018778e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000081498},{"geom_ids":[1,90],"normal_force_n":0.09810000000574691},{"geom_ids":[1,90],"normal_force_n":0.09809999999185016},{"geom_ids":[1,90],"normal_force_n":0.09809999999425316}],"native_actuator_controls":[-0.1575420081496006,1.116310448425963,-0.7075155734350396,0.33360570787126526,0.22034456235641844,-0.20713553683844926,0.035],"actuator_force_native":[-0.23025901087841838,-0.260757720556569,0.15111970673716257,0.29736777232668743,0.27742029963162973,-0.29620425270327977,-0.00020767971689550357],"issued_joint_targets_rad":[-0.1590079383247382,1.1152614996431292,-0.7023614972465716,0.3350601083947201,0.22078894985922812,-0.2085579930123516],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.179999999999871,"joint_targets_rad":[-0.1590079383247382,1.1152614996431292,-0.7023614972465716,0.3350601083947201,0.22078894985922812,-0.2085579930123516],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1999999999998687,"qpos":[-0.15118367462197804,1.1217928941511308,-0.7199248036208225,0.3155083308935411,0.18745347651564465,-0.1650933412843426,0.035000070079632864,-0.03499691085070142,0.3002700718118286,-0.03397109130159593,0.07989224457978367,0.9999999999999991,-1.862168925659392e-11,3.2198372207788838e-12,8.517913068089187e-17],"qvel":[-0.07870311216878075,-0.05202181606545551,0.2510398702258059,0.09683820407272592,0.038159794892537346,-0.09224286049054471,2.3184997912231378e-05,7.19802749612563e-05,-6.629294951962365e-12,-3.8339861536225316e-11,3.0728389217875934e-15,-8.30740628542176e-10,1.4364317318517195e-10,2.3766230352878267e-15],"joint_position_rad":[-0.15118367462197804,1.1217928941511308,-0.7199248036208225,0.3155083308935411,0.18745347651564465,-0.1650933412843426],"joint_velocity_rad_s":[-0.07870311216878075,-0.05202181606545551,0.2510398702258059,0.09683820407272592,0.038159794892537346,-0.09224286049054471],"gripper_joint_position_m":[0.035000070079632864,-0.03499691085070142],"tcp_position_m":[0.3319899449083936,-0.036872913024993285,0.2349612727923483],"tcp_quaternion_wxyz":[0.5130390611196065,0.11200860925426824,0.850706831802801,0.02329977558859192],"object_position_m":[0.3002700718118286,-0.03397109130159593,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.862168925659392e-11,3.2198372207788838e-12,8.517913068089187e-17],"object_linear_velocity_m_s":[-6.629294951962365e-12,-3.8339861536225316e-11,3.0728389217875934e-15],"object_angular_velocity_rad_s":[-8.307406285421746e-10,1.4364317318517164e-10,2.376623035229946e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000773779},{"geom_ids":[1,90],"normal_force_n":0.0981000000054565},{"geom_ids":[1,90],"normal_force_n":0.09809999999226225},{"geom_ids":[1,90],"normal_force_n":0.09809999999454355}],"native_actuator_controls":[-0.1590079383247382,1.1152614996431292,-0.7023614972465716,0.3350601083947201,0.22078894985922812,-0.2085579930123516,0.035],"actuator_force_native":[-0.23242553537691002,-0.26240248031285773,0.14986515881103912,0.2978800796835319,0.27611504109702856,-0.29628222654427283,-0.00011872817487557086],"issued_joint_targets_rad":[-0.16039769615993663,1.1142376742557403,-0.6971886300814224,0.33637963350545763,0.22121762119937807,-0.20987960815187898],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.1999999999998687,"joint_targets_rad":[-0.16039769615993663,1.1142376742557403,-0.6971886300814224,0.33637963350545763,0.22121762119937807,-0.20987960815187898],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2199999999998665,"qpos":[-0.1527615516510423,1.1207008456302334,-0.7148014947487709,0.31749941127559556,0.18817442417306507,-0.16694491354889018,0.03499997811103146,-0.03499672312996552,0.30027007181173915,-0.03397109130211323,0.07989224457978367,0.9999999999999991,-1.609775451669071e-11,2.7834336338655082e-12,9.419422727251365e-17],"qvel":[-0.07522530481293292,-0.050609190959078794,0.25207845200437823,0.09136260265701222,0.037201468211836605,-0.08865697483658745,3.500165126368799e-05,5.5692384793414296e-05,-3.4060193662695704e-12,-1.969842006920488e-11,3.0728389217875934e-15,6.891404771411333e-10,-1.191577937401773e-10,2.5748763553566333e-16],"joint_position_rad":[-0.1527615516510423,1.1207008456302334,-0.7148014947487709,0.31749941127559556,0.18817442417306507,-0.16694491354889018],"joint_velocity_rad_s":[-0.07522530481293292,-0.050609190959078794,0.25207845200437823,0.09136260265701222,0.037201468211836605,-0.08865697483658745],"gripper_joint_position_m":[0.03499997811103146,-0.03499672312996552],"tcp_position_m":[0.3309733202687249,-0.03712759283669584,0.2330186114828833],"tcp_quaternion_wxyz":[0.5110766922082833,0.1127953302342624,0.8517860720488557,0.02320162973510967],"object_position_m":[0.30027007181173915,-0.03397109130211323,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.609775451669071e-11,2.7834336338655082e-12,9.419422727251365e-17],"object_linear_velocity_m_s":[-3.4060193662695704e-12,-1.969842006920488e-11,3.0728389217875934e-15],"object_angular_velocity_rad_s":[6.891404771411321e-10,-1.1915779374017697e-10,2.574876355279226e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997372404},{"geom_ids":[1,90],"normal_force_n":0.09809999998147138},{"geom_ids":[1,90],"normal_force_n":0.09810000002627596},{"geom_ids":[1,90],"normal_force_n":0.09810000001852864}],"native_actuator_controls":[-0.16039769615993663,1.1142376742557403,-0.6971886300814224,0.33637963350545763,0.22121762119937807,-0.20987960815187898,0.035],"actuator_force_native":[-0.23476503664688053,-0.2640077551640587,0.1486369133659906,0.2983958759094225,0.2746297679453751,-0.2963614837750066,-0.0001741326975766011],"issued_joint_targets_rad":[-0.1617082902437423,1.1132369723082063,-0.6919967880085915,0.3375605164139612,0.22163249347105402,-0.211096491235445],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2199999999998665,"joint_targets_rad":[-0.1617082902437423,1.1132369723082063,-0.6919967880085915,0.3375605164139612,0.22163249347105402,-0.211096491235445],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2399999999998643,"qpos":[-0.15426690706311558,1.1196367400909129,-0.7096596164262391,0.31937023518228513,0.18888247277805822,-0.1687173298504337,0.03500001717669831,-0.0349966665210929,0.30027007181163595,-0.033971091302710275,0.07989224457978367,0.9999999999999991,-1.7191188431067642e-11,2.972516092811131e-12,1.1065348694056066e-16],"qvel":[-0.07161641362843776,-0.04928118055251026,0.2531255587329492,0.08573842931008133,0.03632729342711246,-0.08489802744925791,3.531986809835506e-05,4.9506253133715774e-05,-3.6729030625364206e-12,-2.1241815787931416e-11,3.0770022581299375e-15,6.061351536922061e-10,-1.0480573587102218e-10,4.701067615515972e-16],"joint_position_rad":[-0.15426690706311558,1.1196367400909129,-0.7096596164262391,0.31937023518228513,0.18888247277805822,-0.1687173298504337],"joint_velocity_rad_s":[-0.07161641362843776,-0.04928118055251026,0.2531255587329492,0.08573842931008133,0.03632729342711246,-0.08489802744925791],"gripper_joint_position_m":[0.03500001717669831,-0.0349966665210929],"tcp_position_m":[0.3299519177731295,-0.03735892258959313,0.23106249652365557],"tcp_quaternion_wxyz":[0.5090944255854677,0.11354463555584744,0.8528754865984425,0.023105971820340965],"object_position_m":[0.30027007181163595,-0.033971091302710275,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7191188431067642e-11,2.972516092811131e-12,1.1065348694056066e-16],"object_linear_velocity_m_s":[-3.6729030625364206e-12,-2.1241815787931416e-11,3.0770022581299375e-15],"object_angular_velocity_rad_s":[6.061351536922051e-10,-1.0480573587102184e-10,4.701067615289069e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000214641},{"geom_ids":[1,90],"normal_force_n":0.09810000000151357},{"geom_ids":[1,90],"normal_force_n":0.09809999999785352},{"geom_ids":[1,90],"normal_force_n":0.09809999999848651}],"native_actuator_controls":[-0.1617082902437423,1.1132369723082063,-0.6919967880085915,0.3375605164139612,0.22163249347105402,-0.211096491235445,0.035],"actuator_force_native":[-0.23722858630795152,-0.2655755198539822,0.14739847974706066,0.2989191027166349,0.27300926678928916,-0.29644457267622615,-0.00017728640842418208],"issued_joint_targets_rad":[-0.16293705719321855,1.1122572391076682,-0.6867857400311196,0.33859939329501043,0.22203543109207788,-0.2122046742832062],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2399999999998643,"joint_targets_rad":[-0.16293705719321855,1.1122572391076682,-0.6867857400311196,0.33859939329501043,0.22203543109207788,-0.2122046742832062],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.259999999999862,"qpos":[-0.15569703410008318,1.1185987821432009,-0.7044988638071339,0.3211175739704335,0.1895787868559694,-0.17040691411383546,0.03500005005950147,-0.03499661251599632,0.3002700718115352,-0.03397109130329253,0.07989224457978367,0.9999999999999991,-1.8053372640838356e-11,3.1216111602655444e-12,1.2932770250702293e-16],"qvel":[-0.0678893402185944,-0.04804159208992918,0.25416396065623037,0.07996433890014995,0.035587546545100046,-0.08096330761486567,1.765294086308968e-05,6.053215578350301e-05,-3.995805160755119e-12,-2.310914789172559e-11,3.077002258129937e-15,4.530728350408971e-10,-7.834025531962744e-11,8.582959064210697e-16],"joint_position_rad":[-0.15569703410008318,1.1185987821432009,-0.7044988638071339,0.3211175739704335,0.1895787868559694,-0.17040691411383546],"joint_velocity_rad_s":[-0.0678893402185944,-0.04804159208992918,0.25416396065623037,0.07996433890014995,0.035587546545100046,-0.08096330761486567],"gripper_joint_position_m":[0.03500005005950147,-0.03499661251599632],"tcp_position_m":[0.32892525034473374,-0.03756620342422039,0.2290932489012909],"tcp_quaternion_wxyz":[0.5070921521577049,0.11425545466740296,0.8539751918068816,0.023013302179649316],"object_position_m":[0.3002700718115352,-0.03397109130329253,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8053372640838356e-11,3.1216111602655444e-12,1.2932770250702293e-16],"object_linear_velocity_m_s":[-3.995805160755119e-12,-2.310914789172559e-11,3.077002258129937e-15],"object_angular_velocity_rad_s":[4.5307283504089626e-10,-7.834025531962716e-11,8.582959063982758e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000420083},{"geom_ids":[1,90],"normal_force_n":0.09810000000296241},{"geom_ids":[1,90],"normal_force_n":0.0980999999957992},{"geom_ids":[1,90],"normal_force_n":0.09809999999703761}],"native_actuator_controls":[-0.16293705719321855,1.1122572391076682,-0.6867857400311196,0.33859939329501043,0.22203543109207788,-0.2122046742832062,0.035],"actuator_force_native":[-0.23975514635785622,-0.2671154823929527,0.1462300987999967,0.29945107848232766,0.27118512254343474,-0.2965326402714086,-9.026708437409603e-05],"issued_joint_targets_rad":[-0.16408147178514665,1.1112961684697555,-0.6815552986816301,0.33949272524348006,0.22242829622589355,-0.21319999606107898],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.259999999999862,"joint_targets_rad":[-0.16408147178514665,1.1112961684697555,-0.6815552986816301,0.33949272524348006,0.22242829622589355,-0.21319999606107898],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.27999999999986,"qpos":[-0.15704931897274593,1.1175850342880917,-0.6993189883811375,0.3227381545139471,0.19026475148173186,-0.1720099184217901,0.03499995736706047,-0.03499643817215702,0.30027007181143134,-0.033971091303893745,0.07989224457978367,0.9999999999999991,-1.9550582812877684e-11,3.3805043911845126e-12,1.5290180143153681e-16],"qvel":[-0.06404584888884654,-0.046897315269631853,0.255195725288216,0.0740379283292522,0.03497406236004861,-0.07685031068928849,2.7855465185617156e-05,4.5321047006479244e-05,-4.568540894197339e-12,-2.6421399321323525e-11,3.0756144793491553e-15,2.4032102296721716e-10,-4.155349204687608e-11,1.5670333923007274e-15],"joint_position_rad":[-0.15704931897274593,1.1175850342880917,-0.6993189883811375,0.3227381545139471,0.19026475148173186,-0.1720099184217901],"joint_velocity_rad_s":[-0.06404584888884654,-0.046897315269631853,0.255195725288216,0.0740379283292522,0.03497406236004861,-0.07685031068928849],"gripper_joint_position_m":[0.03499995736706047,-0.03499643817215702],"tcp_position_m":[0.3278928043102397,-0.03774875963851985,0.227111221425635],"tcp_quaternion_wxyz":[0.5050697590557454,0.11492673476520297,0.8550852993209034,0.022924114134688072],"object_position_m":[0.30027007181143134,-0.033971091303893745,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9550582812877684e-11,3.3805043911845126e-12,1.5290180143153681e-16],"object_linear_velocity_m_s":[-4.568540894197339e-12,-2.6421399321323525e-11,3.0756144793491553e-15],"object_angular_velocity_rad_s":[2.4032102296721674e-10,-4.1553492046875874e-11,1.5670333922781525e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000685154},{"geom_ids":[1,90],"normal_force_n":0.09810000000483136},{"geom_ids":[1,90],"normal_force_n":0.0980999999931485},{"geom_ids":[1,90],"normal_force_n":0.09809999999516864}],"native_actuator_controls":[-0.16408147178514665,1.1112961684697555,-0.6815552986816301,0.33949272524348006,0.22242829622589355,-0.21319999606107898,0.035],"actuator_force_native":[-0.24234298054782322,-0.2686226891187289,0.14511654951951414,0.29999318753505655,0.2691743539015439,-0.296625310358956,-0.00013757200834674244],"issued_joint_targets_rad":[-0.16513911840997558,1.1103512517892389,-0.6763053319736771,0.3402368844755257,0.22281324231963553,-0.21407818983878973],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.27999999999986,"joint_targets_rad":[-0.16513911840997558,1.1103512517892389,-0.6763053319736771,0.3402368844755257,0.22281324231963553,-0.21407818983878973],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2999999999998577,"qpos":[-0.15832118890127153,1.11659341594578,-0.6941197187590977,0.3242286493886327,0.19094161319092667,-0.17352253566759523,0.03499998264377891,-0.03499638177413154,0.3002700718113284,-0.03397109130448808,0.07989224457978367,0.9999999999999991,-2.0102369758083154e-11,3.4759147229267616e-12,1.7852163134095605e-16],"qvel":[-0.060084955908778784,-0.04585589310247287,0.2562290791957456,0.06795653500787877,0.034453284723699275,-0.07255644752342771,2.788171186236109e-05,3.920652618555739e-05,-5.335038219259475e-12,-3.0854323227589844e-11,3.0742267005683736e-15,-1.2137101560354782e-10,2.0986100992492158e-11,2.860995788220546e-15],"joint_position_rad":[-0.15832118890127153,1.11659341594578,-0.6941197187590977,0.3242286493886327,0.19094161319092667,-0.17352253566759523],"joint_velocity_rad_s":[-0.060084955908778784,-0.04585589310247287,0.2562290791957456,0.06795653500787877,0.034453284723699275,-0.07255644752342771],"gripper_joint_position_m":[0.03499998264377891,-0.03499638177413154],"tcp_position_m":[0.32685406149965396,-0.037905949395793906,0.22511682679833991],"tcp_quaternion_wxyz":[0.5030272435289894,0.1155574334780347,0.856205850568649,0.02283885477892662],"object_position_m":[0.3002700718113284,-0.03397109130448808,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0102369758083154e-11,3.4759147229267616e-12,1.7852163134095605e-16],"object_linear_velocity_m_s":[-5.335038219259475e-12,-3.0854323227589844e-11,3.0742267005683736e-15],"object_angular_velocity_rad_s":[-1.213710156035476e-10,2.0986100992492194e-11,2.860995788230417e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000851607},{"geom_ids":[1,90],"normal_force_n":0.09810000000600516},{"geom_ids":[1,90],"normal_force_n":0.09809999999148393},{"geom_ids":[1,90],"normal_force_n":0.09809999999399487}],"native_actuator_controls":[-0.16513911840997558,1.1103512517892389,-0.6763053319736771,0.3402368844755257,0.22281324231963553,-0.21407818983878973,0.035],"actuator_force_native":[-0.24500958115242888,-0.27009366701092574,0.1440055468549204,0.30054672843632346,0.26703636420153964,-0.29672187042680354,-0.00013871431046807992],"issued_joint_targets_rad":[-0.16610763080955845,1.1094197479755006,-0.6710356868983162,0.3408281164215921,0.22319238789112922,-0.21483485013830883],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.2999999999998577,"joint_targets_rad":[-0.16610763080955845,1.1094197479755006,-0.6710356868983162,0.3408281164215921,0.22319238789112922,-0.21483485013830883],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3199999999998555,"qpos":[-0.15951012077388046,1.1156217024282207,-0.6889007754896103,0.3255856656807627,0.19161038616957876,-0.17494089305904859,0.03500002422842893,-0.03499634709532916,0.3002700718112288,-0.03397109130506517,0.07989224457978367,0.9999999999999991,-1.950535091295348e-11,3.372688963603377e-12,2.049051130025061e-16],"qvel":[-0.05602537283212047,-0.0449216304652442,0.2572307213710629,0.06171656517989065,0.034125582487034054,-0.06807825873511611,2.566030250298533e-05,3.541547913571817e-05,-6.460387953237056e-12,-3.7362489321708424e-11,3.078390036910718e-15,-6.931483328266537e-10,1.198542699107788e-10,5.223474119175851e-15],"joint_position_rad":[-0.15951012077388046,1.1156217024282207,-0.6889007754896103,0.3255856656807627,0.19161038616957876,-0.17494089305904859],"joint_velocity_rad_s":[-0.05602537283212047,-0.0449216304652442,0.2572307213710629,0.06171656517989065,0.034125582487034054,-0.06807825873511611],"gripper_joint_position_m":[0.03500002422842893,-0.03499634709532916],"tcp_position_m":[0.3258085109131997,-0.038037177343424204,0.22311055927937068],"tcp_quaternion_wxyz":[0.5009647590326192,0.11614652614225623,0.8573367905099352,0.022757906551324453],"object_position_m":[0.3002700718112288,-0.03397109130506517,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.950535091295348e-11,3.372688963603377e-12,2.049051130025061e-16],"object_linear_velocity_m_s":[-6.460387953237056e-12,-3.7362489321708424e-11,3.078390036910718e-15],"object_angular_velocity_rad_s":[-6.931483328266525e-10,1.1985426991077852e-10,5.2234741191241196e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000860267},{"geom_ids":[1,90],"normal_force_n":0.09810000000606625},{"geom_ids":[1,90],"normal_force_n":0.09809999999139735},{"geom_ids":[1,90],"normal_force_n":0.09809999999393379}],"native_actuator_controls":[-0.16610763080955845,1.1094197479755006,-0.6710356868983162,0.3408281164215921,0.22319238789112922,-0.21483485013830883,0.035],"actuator_force_native":[-0.2476739386936373,-0.2715482038913706,0.1430534804482093,0.3011152037337226,0.2646316434849534,-0.2968221826899282,-0.00012927064967205304],"issued_joint_targets_rad":[-0.16698469201961472,1.1084986595258006,-0.6657462051388774,0.3412624869203292,0.22356774524341422,-0.21546537560318887],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3199999999998555,"joint_targets_rad":[-0.16698469201961472,1.1084986595258006,-0.6657462051388774,0.3412624869203292,0.22356774524341422,-0.21546537560318887],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3399999999998533,"qpos":[-0.16061370040693604,1.1146674537217942,-0.6836620264388509,0.32680573508670463,0.19227274562059535,-0.1762610091002914,0.03500003944217242,-0.03499629004420065,0.30027007181113474,-0.033971091305609546,0.07989224457978367,0.9999999999999991,-1.7429544379759708e-11,3.013763435050632e-12,2.292044165010664e-16],"qvel":[-0.05184454110200714,-0.04411113367694942,0.25825189281832955,0.05531488063022854,0.033830613856356696,-0.06341147247913455,9.609751035468029e-06,4.46654102229784e-05,-8.274585904206157e-12,-4.7854668235645696e-11,3.0797778156914994e-15,-1.5478130419605946e-09,2.6763267339408913e-10,9.536759771038655e-15],"joint_position_rad":[-0.16061370040693604,1.1146674537217942,-0.6836620264388509,0.32680573508670463,0.19227274562059535,-0.1762610091002914],"joint_velocity_rad_s":[-0.05184454110200714,-0.04411113367694942,0.25825189281832955,0.05531488063022854,0.033830613856356696,-0.06341147247913455],"gripper_joint_position_m":[0.03500003944217242,-0.03499629004420065],"tcp_position_m":[0.32475558481436667,-0.038141845351222656,0.22109292979608342],"tcp_quaternion_wxyz":[0.4988823459651832,0.1166929860689442,0.8584781258965941,0.022681694020946448],"object_position_m":[0.30027007181113474,-0.033971091305609546,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7429544379759708e-11,3.013763435050632e-12,2.292044165010664e-16],"object_linear_velocity_m_s":[-8.274585904206157e-12,-4.7854668235645696e-11,3.0797778156914994e-15],"object_angular_velocity_rad_s":[-1.5478130419605921e-09,2.6763267339408825e-10,9.536759771092221e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000531241},{"geom_ids":[1,90],"normal_force_n":0.09810000000374612},{"geom_ids":[1,90],"normal_force_n":0.09809999999468752},{"geom_ids":[1,90],"normal_force_n":0.09809999999625396}],"native_actuator_controls":[-0.16698469201961472,1.1084986595258006,-0.6657462051388774,0.3412624869203292,0.22356774524341422,-0.21546537560318887,0.035],"actuator_force_native":[-0.25045662350425957,-0.2729478672947465,0.1420062399062374,0.3016956701938387,0.26220407544365343,-0.2969264563102729,-4.962644207395783e-05],"issued_joint_targets_rad":[-0.16776814799718445,1.1075846912367626,-0.6604368774586566,0.34153598968279664,0.22394209014137414,-0.21596509653275203],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3399999999998533,"joint_targets_rad":[-0.16776814799718445,1.1075846912367626,-0.6604368774586566,0.34153598968279664,0.22394209014137414,-0.21596509653275203],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.359999999999851,"qpos":[-0.16162945127513625,1.1137280451581648,-0.6784030663142343,0.32788530250899683,0.1929290699199154,-0.17747885073507086,0.03499994284128712,-0.03499612447956035,0.3002700718110322,-0.03397109130620282,0.07989224457978367,0.9999999999999991,-1.7531009211178778e-11,3.0313034082047037e-12,2.653796136867605e-16],"qvel":[-0.047547645585004426,-0.04343161026903804,0.259289816414863,0.04874753776064249,0.03354833571054381,-0.05855282916807772,1.784006376832043e-05,3.0794602501946565e-05,-3.726669534436186e-12,-2.155253752094553e-11,3.0839411520338435e-15,6.527288576021961e-10,-1.128641476248459e-10,1.0332297024716033e-15],"joint_position_rad":[-0.16162945127513625,1.1137280451581648,-0.6784030663142343,0.32788530250899683,0.1929290699199154,-0.17747885073507086],"joint_velocity_rad_s":[-0.047547645585004426,-0.04343161026903804,0.259289816414863,0.04874753776064249,0.03354833571054381,-0.05855282916807772],"gripper_joint_position_m":[0.03499994284128712,-0.03499612447956035],"tcp_position_m":[0.32369477955322307,-0.03821944807238621,0.21906461123875365],"tcp_quaternion_wxyz":[0.4967805427050915,0.11719581335256382,0.8596295720212805,0.022610453971033662],"object_position_m":[0.3002700718110322,-0.03397109130620282,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7531009211178778e-11,3.0313034082047037e-12,2.653796136867605e-16],"object_linear_velocity_m_s":[-3.726669534436186e-12,-2.155253752094553e-11,3.0839411520338435e-15],"object_angular_velocity_rad_s":[6.527288576021951e-10,-1.1286414762484531e-10,1.0332297024780033e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000177205},{"geom_ids":[1,90],"normal_force_n":0.09810000000124969},{"geom_ids":[1,90],"normal_force_n":0.09809999999822804},{"geom_ids":[1,90],"normal_force_n":0.09809999999875033}],"native_actuator_controls":[-0.16776814799718445,1.1075846912367626,-0.6604368774586566,0.34153598968279664,0.22394209014137414,-0.21596509653275203,0.035],"actuator_force_native":[-0.25335750983883365,-0.2743102623669813,0.14084602637189647,0.3022897981487791,0.2598076986487716,-0.297033214224695,-8.691397032634107e-05],"issued_joint_targets_rad":[-0.16845574302687036,1.1066741607702495,-0.6551074331533582,0.34164428301799216,0.2243171261904156,-0.21632896881432154],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.359999999999851,"joint_targets_rad":[-0.16845574302687036,1.1066741607702495,-0.6551074331533582,0.34164428301799216,0.2243171261904156,-0.21632896881432154],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.379999999999849,"qpos":[-0.16255540695658077,1.1128006688932741,-0.6731232985275848,0.32882843433126197,0.1935796092191372,-0.1785919819345662,0.03499993316512592,-0.03499608906698711,0.3002700718109272,-0.03397109130681023,0.07989224457978367,0.9999999999999991,-1.852761474857577e-11,3.203630110933284e-12,3.116735305910292e-16],"qvel":[-0.04321485561500786,-0.04288909508813713,0.26039610539834834,0.04357792199341885,0.033282159935414515,-0.05378968580808821,1.5106250008203878e-05,1.918598521600178e-05,-4.050402821322861e-12,-2.342475106265457e-11,3.083941152033844e-15,5.16550768583153e-10,-8.931740121021383e-11,1.8864168255485267e-15],"joint_position_rad":[-0.16255540695658077,1.1128006688932741,-0.6731232985275848,0.32882843433126197,0.1935796092191372,-0.1785919819345662],"joint_velocity_rad_s":[-0.04321485561500786,-0.04288909508813713,0.26039610539834834,0.04357792199341885,0.033282159935414515,-0.05378968580808821],"gripper_joint_position_m":[0.03499993316512592,-0.03499608906698711],"tcp_position_m":[0.3226256272879364,-0.038269384148971054,0.217026374979951],"tcp_quaternion_wxyz":[0.4946600790816931,0.1176564017841336,0.8607903582030464,0.02254631914026751],"object_position_m":[0.3002700718109272,-0.03397109130681023,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.852761474857577e-11,3.203630110933284e-12,3.116735305910292e-16],"object_linear_velocity_m_s":[-4.050402821322861e-12,-2.342475106265457e-11,3.083941152033844e-15],"object_angular_velocity_rad_s":[5.165507685831522e-10,-8.931740121021328e-11,1.8864168255501313e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000384146},{"geom_ids":[1,90],"normal_force_n":0.09810000000270883},{"geom_ids":[1,90],"normal_force_n":0.09809999999615857},{"geom_ids":[1,90],"normal_force_n":0.0980999999972912}],"native_actuator_controls":[-0.16845574302687036,1.1066741607702495,-0.6551074331533582,0.34164428301799216,0.2243171261904156,-0.21632896881432154,0.035],"actuator_force_native":[-0.255952607548128,-0.27567517440128597,0.13928870294638784,0.29474433750211304,0.25745192980966225,-0.296685340085421,-7.285785507771259e-05],"issued_joint_targets_rad":[-0.1690460450035164,1.105762955234411,-0.6497572640656093,0.34159081040066164,0.22469449009955508,-0.21655426816389037],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.379999999999849,"joint_targets_rad":[-0.1690460450035164,1.105762955234411,-0.6497572640656093,0.34159081040066164,0.22469449009955508,-0.21655426816389037],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3999999999998467,"qpos":[-0.1633900304412683,1.111882380929578,-0.6678217421572118,0.3296567514152759,0.19422466401361968,-0.17959812631111768,0.03499993178992858,-0.034996145115031387,0.30027007181082493,-0.03397109130740179,0.07989224457978367,0.9999999999999991,-1.9154560131932634e-11,3.3120422600436987e-12,3.634861570059112e-16],"qvel":[-0.03879113364193531,-0.04249279277867622,0.2615428120646677,0.039559139009992916,0.033031491145085086,-0.04876936892675042,1.2287442569273363e-05,9.118907578061419e-06,-4.471795604843552e-12,-2.586175825148753e-11,3.083941152033844e-15,2.8494577681441016e-10,-4.926961194719118e-11,3.4441234256146262e-15],"joint_position_rad":[-0.1633900304412683,1.111882380929578,-0.6678217421572118,0.3296567514152759,0.19422466401361968,-0.17959812631111768],"joint_velocity_rad_s":[-0.03879113364193531,-0.04249279277867622,0.2615428120646677,0.039559139009992916,0.033031491145085086,-0.04876936892675042],"gripper_joint_position_m":[0.03499993178992858,-0.034996145115031387],"tcp_position_m":[0.32154776972219506,-0.038290540436249444,0.2149791001618633],"tcp_quaternion_wxyz":[0.49252184055207826,0.11808288512965011,0.8619585596625543,0.022496894076870416],"object_position_m":[0.30027007181082493,-0.03397109130740179,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9154560131932634e-11,3.3120422600436987e-12,3.634861570059112e-16],"object_linear_velocity_m_s":[-4.471795604843552e-12,-2.586175825148753e-11,3.083941152033844e-15],"object_angular_velocity_rad_s":[2.849457768144097e-10,-4.926961194719075e-11,3.4441234255852e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000596213},{"geom_ids":[1,90],"normal_force_n":0.09810000000420427},{"geom_ids":[1,90],"normal_force_n":0.09809999999403789},{"geom_ids":[1,90],"normal_force_n":0.09809999999579574}],"native_actuator_controls":[-0.1690460450035164,1.105762955234411,-0.6497572640656093,0.34159081040066164,0.22469449009955508,-0.21655426816389037,0.035],"actuator_force_native":[-0.25852549677017045,-0.2770900917199697,0.13744418700485284,0.27956666436546485,0.2551510241417261,-0.29640736513760135,-5.87088099894828e-05],"issued_joint_targets_rad":[-0.1695391859544729,1.1048464155842277,-0.6443849249274997,0.3413987713541046,0.22507571044090496,-0.21664236067535486],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.3999999999998467,"joint_targets_rad":[-0.1695391859544729,1.1048464155842277,-0.6443849249274997,0.3413987713541046,0.22507571044090496,-0.21664236067535486],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4199999999998445,"qpos":[-0.1641324977926964,1.110970064281009,-0.6624977651893029,0.3304142144756342,0.1948644699435656,-0.18053093561354433,0.034999946350497455,-0.034996292990398234,0.30027007181072596,-0.03397109130797433,0.07989224457978367,0.9999999999999991,-1.921195288123162e-11,3.321966247620468e-12,4.197951502179631e-16],"qvel":[-0.034239606811954995,-0.042267802509383404,0.2626561200140149,0.03631315134305354,0.03278686611665143,-0.045566023488629495,1.2567241797358547e-05,5.96678391591157e-06,-5.0911349764297465e-12,-2.9443606865297326e-11,3.0728389217875926e-15,-7.953815363952582e-11,1.37526929752793e-11,6.2880922883715785e-15],"joint_position_rad":[-0.1641324977926964,1.110970064281009,-0.6624977651893029,0.3304142144756342,0.1948644699435656,-0.18053093561354433],"joint_velocity_rad_s":[-0.034239606811954995,-0.042267802509383404,0.2626561200140149,0.03631315134305354,0.03278686611665143,-0.045566023488629495],"gripper_joint_position_m":[0.034999946350497455,-0.034996292990398234],"tcp_position_m":[0.32046114565367634,-0.03828122668919238,0.2129241845744974],"tcp_quaternion_wxyz":[0.4903677481489269,0.11847664768610304,0.8631326379304999,0.022467862994728475],"object_position_m":[0.30027007181072596,-0.03397109130797433,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.921195288123162e-11,3.321966247620468e-12,4.197951502179631e-16],"object_linear_velocity_m_s":[-5.0911349764297465e-12,-2.9443606865297326e-11,3.0728389217875926e-15],"object_angular_velocity_rad_s":[-7.953815363952565e-11,1.3752692975279452e-11,6.288092288385512e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000761646},{"geom_ids":[1,90],"normal_force_n":0.09810000000537092},{"geom_ids":[1,90],"normal_force_n":0.09809999999238356},{"geom_ids":[1,90],"normal_force_n":0.0980999999946291}],"native_actuator_controls":[-0.1695391859544729,1.1048464155842277,-0.6443849249274997,0.3413987713541046,0.22507571044090496,-0.21664236067535486,0.035],"actuator_force_native":[-0.2613370188823456,-0.27855288319558724,0.13574662087419398,0.25781651842355124,0.2529321057984164,-0.2927652153851612,-6.06902288848854e-05],"issued_joint_targets_rad":[-0.1699376536474146,1.1039195509237782,-0.6389897933984812,0.34111259850043585,0.22546379836366193,-0.21662928022487027],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4199999999998445,"joint_targets_rad":[-0.1699376536474146,1.1039195509237782,-0.6389897933984812,0.34111259850043585,0.22546379836366193,-0.21662928022487027],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4399999999998423,"qpos":[-0.16478061251454876,1.1100595917897418,-0.6571519415996739,0.331106366095752,0.19549921790308808,-0.18142376649758143,0.0349999793093007,-0.0349964161640515,0.3002700718106259,-0.03397109130855305,0.07989224457978367,0.9999999999999991,-1.9568061594088062e-11,3.38353140227224e-12,4.871938657346686e-16],"qvel":[-0.02960968080075887,-0.04226323336587898,0.2637413329758757,0.03309584032903078,0.03255246308011397,-0.0441475454930299,1.1341636641625203e-05,6.529405468126017e-06,-6.163750275655013e-12,-3.5647043843855953e-11,3.072838921787592e-15,-6.039407154359532e-10,1.0442623266465764e-10,1.148042581343059e-14],"joint_position_rad":[-0.16478061251454876,1.1100595917897418,-0.6571519415996739,0.331106366095752,0.19549921790308808,-0.18142376649758143],"joint_velocity_rad_s":[-0.02960968080075887,-0.04226323336587898,0.2637413329758757,0.03309584032903078,0.03255246308011397,-0.0441475454930299],"gripper_joint_position_m":[0.0349999793093007,-0.0349964161640515],"tcp_position_m":[0.3193654700145154,-0.03824075212298994,0.210863340286452],"tcp_quaternion_wxyz":[0.48820013837862763,0.1188240067230583,0.864313220572577,0.02245299661131284],"object_position_m":[0.3002700718106259,-0.03397109130855305,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9568061594088062e-11,3.38353140227224e-12,4.871938657346686e-16],"object_linear_velocity_m_s":[-6.163750275655013e-12,-3.5647043843855953e-11,3.072838921787592e-15],"object_angular_velocity_rad_s":[-6.039407154359522e-10,1.0442623266465732e-10,1.1480425813497416e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000934647},{"geom_ids":[1,90],"normal_force_n":0.09810000000659083},{"geom_ids":[1,90],"normal_force_n":0.09809999999065355},{"geom_ids":[1,90],"normal_force_n":0.09809999999340921}],"native_actuator_controls":[-0.1699376536474146,1.1039195509237782,-0.6389897933984812,0.34111259850043585,0.22546379836366193,-0.21662928022487027,0.035],"actuator_force_native":[-0.26451488662547185,-0.2798871024477023,0.13426519121604485,0.2347700945421991,0.2508171099855674,-0.2858338190333434,-5.588055523597646e-05],"issued_joint_targets_rad":[-0.1702412062843767,1.1029765976269383,-0.633573495120165,0.3407358813568203,0.22586310305171214,-0.21654499363738755],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4399999999998423,"joint_targets_rad":[-0.1702412062843767,1.1029765976269383,-0.633573495120165,0.3407358813568203,0.22586310305171214,-0.21654499363738755],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.45999999999984,"qpos":[-0.16533308130877547,1.1091461302165255,-0.6517842366080709,0.3317326616193791,0.19612928808065397,-0.18229105689526104,0.0350000066200606,-0.03499648447992851,0.30027007181052956,-0.033971091309110225,0.07989224457978367,0.9999999999999991,-1.829262789014074e-11,3.162986720792412e-12,5.516171811643043e-16],"qvel":[-0.024935578491415904,-0.04249998646740552,0.2648342138896318,0.029820971494598437,0.03234055771912924,-0.04293647075310008,9.249155106253308e-06,7.06151923739776e-06,-7.903342627353345e-12,-4.570777935100545e-11,3.074226700568373e-15,-1.3871062676292316e-09,2.398436319685579e-10,2.0960462499603356e-14],"joint_position_rad":[-0.16533308130877547,1.1091461302165255,-0.6517842366080709,0.3317326616193791,0.19612928808065397,-0.18229105689526104],"joint_velocity_rad_s":[-0.024935578491415904,-0.04249998646740552,0.2648342138896318,0.029820971494598437,0.03234055771912924,-0.04293647075310008],"gripper_joint_position_m":[0.0350000066200606,-0.03499648447992851],"tcp_position_m":[0.3182601972170639,-0.038168913081288114,0.20879811746192245],"tcp_quaternion_wxyz":[0.4860210283273013,0.11911746652982831,0.865500229853826,0.02244863724509332],"object_position_m":[0.30027007181052956,-0.033971091309110225,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.829262789014074e-11,3.162986720792412e-12,5.516171811643043e-16],"object_linear_velocity_m_s":[-7.903342627353345e-12,-4.570777935100545e-11,3.074226700568373e-15],"object_angular_velocity_rad_s":[-1.3871062676292291e-09,2.398436319685567e-10,2.0960462499660107e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000714311},{"geom_ids":[1,90],"normal_force_n":0.09810000000503692},{"geom_ids":[1,90],"normal_force_n":0.09809999999285689},{"geom_ids":[1,90],"normal_force_n":0.09809999999496309}],"native_actuator_controls":[-0.1702412062843767,1.1029765976269383,-0.633573495120165,0.3407358813568203,0.22586310305171214,-0.21654499363738755,0.035],"actuator_force_native":[-0.2679721055910189,-0.28106267482995406,0.13268824958431225,0.2110239320246592,0.24882731313188788,-0.2781346612916149,-4.6510577955016785e-05],"issued_joint_targets_rad":[-0.17045009662940194,1.102010668442386,-0.6281366427762107,0.3402673743066374,0.2262776729639234,-0.21640253586926322],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.45999999999984,"joint_targets_rad":[-0.17045009662940194,1.102010668442386,-0.6281366427762107,0.3402673743066374,0.2262776729639234,-0.21640253586926322],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.479999999999838,"qpos":[-0.16578944920285965,1.1082245032596425,-0.646394466259849,0.3322916906534924,0.19675519531290855,-0.1831340655441325,0.035000001966231487,-0.0349964955996757,0.30027007181042886,-0.033971091309692864,0.07989224457978367,0.9999999999999991,-1.7643062209326445e-11,3.0506651142514168e-12,6.311252005329867e-16],"qvel":[-0.020256271430061052,-0.04299551392087607,0.2659299933754993,0.026469987010435906,0.03215507491134502,-0.04171944036835122,8.366514510488868e-07,1.2471767526507819e-05,-3.728935218184749e-12,-2.1565723190250558e-11,3.0783900369107173e-15,6.824764269283901e-10,-1.1800730008016598e-10,2.2708937634321447e-15],"joint_position_rad":[-0.16578944920285965,1.1082245032596425,-0.646394466259849,0.3322916906534924,0.19675519531290855,-0.1831340655441325],"joint_velocity_rad_s":[-0.020256271430061052,-0.04299551392087607,0.2659299933754993,0.026469987010435906,0.03215507491134502,-0.04171944036835122],"gripper_joint_position_m":[0.035000001966231487,-0.0349964955996757],"tcp_position_m":[0.31714469975968923,-0.03806580028300857,0.20673005998773972],"tcp_quaternion_wxyz":[0.4838323221815952,0.1193552203867002,0.8666928160719454,0.022453907189804945],"object_position_m":[0.30027007181042886,-0.033971091309692864,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7643062209326445e-11,3.0506651142514168e-12,6.311252005329867e-16],"object_linear_velocity_m_s":[-3.728935218184749e-12,-2.1565723190250558e-11,3.0783900369107173e-15],"object_angular_velocity_rad_s":[6.82476426928389e-10,-1.1800730008016485e-10,2.2708937634383597e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000152709},{"geom_ids":[1,90],"normal_force_n":0.09810000000107673},{"geom_ids":[1,90],"normal_force_n":0.09809999999847292},{"geom_ids":[1,90],"normal_force_n":0.09809999999892324}],"native_actuator_controls":[-0.17045009662940194,1.102010668442386,-0.6281366427762107,0.3402673743066374,0.2262776729639234,-0.21640253586926322,0.035],"actuator_force_native":[-0.2715704369730769,-0.2821292157761377,0.1309759118135645,0.1866774110736209,0.2469921641431312,-0.2701055426987804,-4.2619065145910184e-06],"issued_joint_targets_rad":[-0.17056533688152503,1.1010138982663056,-0.6226793175829752,0.33970591649902504,0.22671153891353932,-0.2162035514666114],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.479999999999838,"joint_targets_rad":[-0.17056533688152503,1.1010138982663056,-0.6226793175829752,0.33970591649902504,0.22671153891353932,-0.2162035514666114],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4999999999998357,"qpos":[-0.1661499393962352,1.107289024397046,-0.6409825299301525,0.33278188145474585,0.19737752090214697,-0.1839522896093143,0.034999937329825315,-0.03499643918078974,0.30027007181032017,-0.03397109131032191,0.07989224457978367,0.9999999999999991,-1.888281338640463e-11,3.2650522198476626e-12,7.457688598789053e-16],"qvel":[-0.015599749167923935,-0.043779825617369435,0.26702540469622194,0.023040341578332683,0.03199896940872377,-0.040468171781860976,4.005261470517178e-06,6.2603149291466064e-06,-4.082384597710477e-12,-2.3609718881457834e-11,3.0728389217875918e-15,5.703919664959319e-10,-9.862643883881042e-11,4.146075148361635e-15],"joint_position_rad":[-0.1661499393962352,1.107289024397046,-0.6409825299301525,0.33278188145474585,0.19737752090214697,-0.1839522896093143],"joint_velocity_rad_s":[-0.015599749167923935,-0.043779825617369435,0.26702540469622194,0.023040341578332683,0.03199896940872377,-0.040468171781860976],"gripper_joint_position_m":[0.034999937329825315,-0.03499643918078974],"tcp_position_m":[0.31601831966233684,-0.037931729258875335,0.20466087547280903],"tcp_quaternion_wxyz":[0.48163615211535227,0.11953641707183173,0.867889880389373,0.022468143823339722],"object_position_m":[0.30027007181032017,-0.03397109131032191,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.888281338640463e-11,3.2650522198476626e-12,7.457688598789053e-16],"object_linear_velocity_m_s":[-4.082384597710477e-12,-2.3609718881457834e-11,3.0728389217875918e-15],"object_angular_velocity_rad_s":[5.70391966495931e-10,-9.862643883880925e-11,4.146075148331794e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000353339},{"geom_ids":[1,90],"normal_force_n":0.0981000000024917},{"geom_ids":[1,90],"normal_force_n":0.0980999999964666},{"geom_ids":[1,90],"normal_force_n":0.09809999999750832}],"native_actuator_controls":[-0.17056533688152503,1.1010138982663056,-0.6226793175829752,0.33970591649902504,0.22671153891353932,-0.2162035514666114,0.035],"actuator_force_native":[-0.27523305298356426,-0.2831109623723762,0.129129964293071,0.16175969387950317,0.24534172600083792,-0.2618103609001796,-1.751950036510408e-05],"issued_joint_targets_rad":[-0.17058865575318802,1.0999772722516772,-0.6172016533806551,0.3390497890514705,0.22716935074738995,-0.21594765280996603],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.4999999999998357,"joint_targets_rad":[-0.17058865575318802,1.0999772722516772,-0.6172016533806551,0.3390497890514705,0.22716935074738995,-0.21594765280996603],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5199999999998335,"qpos":[-0.16641529782660544,1.1063332603724403,-0.6355483526305581,0.3332016325343241,0.1979969223835865,-0.18474499434808295,0.034999926933367745,-0.03499643721590913,0.3002700718102136,-0.03397109131093785,0.07989224457978367,0.9999999999999991,-1.971222174073268e-11,3.4084780692494446e-12,8.747414499647049e-16],"qvel":[-0.01098946060199015,-0.04489311983947547,0.2681195255236567,0.01953118344543473,0.031876415905133494,-0.03917902635604409,3.6594811366587892e-06,2.9025553278042525e-06,-4.503738788234618e-12,-2.6046436908861358e-11,3.074226700568373e-15,3.6261315807173267e-10,-6.269948454959704e-11,7.569677499181035e-15],"joint_position_rad":[-0.16641529782660544,1.1063332603724403,-0.6355483526305581,0.3332016325343241,0.1979969223835865,-0.18474499434808295],"joint_velocity_rad_s":[-0.01098946060199015,-0.04489311983947547,0.2681195255236567,0.01953118344543473,0.031876415905133494,-0.03917902635604409],"gripper_joint_position_m":[0.034999926933367745,-0.03499643721590913],"tcp_position_m":[0.31488035202205134,-0.03776717869081002,0.20259248245516104],"tcp_quaternion_wxyz":[0.47943497180676303,0.11966047706606622,0.869090128057642,0.022490605810440295],"object_position_m":[0.3002700718102136,-0.03397109131093785,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.971222174073268e-11,3.4084780692494446e-12,8.747414499647049e-16],"object_linear_velocity_m_s":[-4.503738788234618e-12,-2.6046436908861358e-11,3.074226700568373e-15],"object_angular_velocity_rad_s":[3.626131580717322e-10,-6.269948454959599e-11,7.569677499155314e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000571088},{"geom_ids":[1,90],"normal_force_n":0.09810000000402704},{"geom_ids":[1,90],"normal_force_n":0.09809999999428924},{"geom_ids":[1,90],"normal_force_n":0.09809999999597295}],"native_actuator_controls":[-0.17058865575318802,1.0999772722516772,-0.6172016533806551,0.3390497890514705,0.22716935074738995,-0.21594765280996603,0.035],"actuator_force_native":[-0.2789213311166563,-0.2840134504636751,0.12713831237395112,0.1362703434586816,0.2439096597803343,-0.25325804508476457,-1.5374740392815056e-05],"issued_joint_targets_rad":[-0.17052247686647273,1.0988902619666563,-0.6117038497564055,0.33829680311770965,0.22765666237642845,-0.21563385235225974],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5199999999998335,"joint_targets_rad":[-0.17052247686647273,1.0988902619666563,-0.6117038497564055,0.33829680311770965,0.22765666237642845,-0.21563385235225974],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5399999999998313,"qpos":[-0.16660482246883418,1.105349216481276,-0.6300915740170895,0.33354953388562547,0.1986151589999073,-0.18551141338767868,0.03499985006618755,-0.03499663719013345,0.30027007181011,-0.03397109131153643,0.07989224457978367,0.9999999999999991,-1.9975673483373093e-11,3.4540509004872436e-12,1.0161707138079639e-15],"qvel":[-0.008474850362701992,-0.04644521787498497,0.2692426260259622,0.01596097298577704,0.03188635094552877,-0.03785202597831655,-2.672750661331641e-06,-1.7955418590768245e-05,-5.090590670432216e-12,-2.9440195864957615e-11,3.0742267005683728e-15,2.5397554128330255e-11,-4.389751670940372e-12,1.3820229877667314e-14],"joint_position_rad":[-0.16660482246883418,1.105349216481276,-0.6300915740170895,0.33354953388562547,0.1986151589999073,-0.18551141338767868],"joint_velocity_rad_s":[-0.008474850362701992,-0.04644521787498497,0.2692426260259622,0.01596097298577704,0.03188635094552877,-0.03785202597831655],"gripper_joint_position_m":[0.03499985006618755,-0.03499663719013345],"tcp_position_m":[0.31372915601250256,-0.03757832954561833,0.20052696642081516],"tcp_quaternion_wxyz":[0.4772315614303202,0.11973485673624452,0.8702911097399278,0.022516331068238818],"object_position_m":[0.30027007181011,-0.03397109131153643,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9975673483373093e-11,3.4540509004872436e-12,1.0161707138079639e-15],"object_linear_velocity_m_s":[-5.090590670432216e-12,-2.9440195864957615e-11,3.0742267005683728e-15],"object_angular_velocity_rad_s":[2.5397554128330317e-11,-4.38975167093976e-12,1.3820229877594892e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000007596},{"geom_ids":[1,90],"normal_force_n":0.0981000000053563},{"geom_ids":[1,90],"normal_force_n":0.098099999992404},{"geom_ids":[1,90],"normal_force_n":0.0980999999946437}],"native_actuator_controls":[-0.17052247686647273,1.0988902619666563,-0.6117038497564055,0.33829680311770965,0.22765666237642845,-0.21563385235225974,0.035],"actuator_force_native":[-0.27103809999757544,-0.28449027179465247,0.12480481072491045,0.11008590435448085,0.2425855073469183,-0.24444635067833587,1.936110580480488e-05],"issued_joint_targets_rad":[-0.17037294273052106,1.0977399940646513,-0.6061855985211667,0.33740341398287566,0.22817613482072382,-0.2152133623046729],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5399999999998313,"joint_targets_rad":[-0.17037294273052106,1.0977399940646513,-0.6061855985211667,0.33740341398287566,0.22817613482072382,-0.2152133623046729],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.559999999999829,"qpos":[-0.16676503353177224,1.104327616808376,-0.6246115383328316,0.33382251405798136,0.199233916116479,-0.18625024372775736,0.03499977645973067,-0.03499721436799768,0.3002700718100106,-0.033971091312111755,0.07989224457978367,0.9999999999999991,-1.9417646159034466e-11,3.357566053211034e-12,1.1643025397332573e-15],"qvel":[-0.007533836898941332,-0.048419284480712636,0.2703719368703353,0.012182855594266373,0.031895094287739664,-0.036443284104069544,2.5189070739038137e-06,-2.9491278436178078e-05,-6.004718105672663e-12,-3.472685953513512e-11,3.0825533732530614e-15,-4.897334294509516e-10,8.468097405434087e-11,2.5232191893744762e-14],"joint_position_rad":[-0.16676503353177224,1.104327616808376,-0.6246115383328316,0.33382251405798136,0.199233916116479,-0.18625024372775736],"joint_velocity_rad_s":[-0.007533836898941332,-0.048419284480712636,0.2703719368703353,0.012182855594266373,0.031895094287739664,-0.036443284104069544],"gripper_joint_position_m":[0.03499977645973067,-0.03499721436799768],"tcp_position_m":[0.31256197416684844,-0.03737984193878679,0.19846664968378264],"tcp_quaternion_wxyz":[0.475029454280186,0.11977847774703328,0.8714885958408036,0.022533556183978194],"object_position_m":[0.3002700718100106,-0.033971091312111755,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9417646159034466e-11,3.357566053211034e-12,1.1643025397332573e-15],"object_linear_velocity_m_s":[-6.004718105672663e-12,-3.472685953513512e-11,3.0825533732530614e-15],"object_angular_velocity_rad_s":[-4.897334294509508e-10,8.468097405434056e-11,2.5232191893759012e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000830854},{"geom_ids":[1,90],"normal_force_n":0.0981000000058587},{"geom_ids":[1,90],"normal_force_n":0.09809999999169157},{"geom_ids":[1,90],"normal_force_n":0.09809999999414128}],"native_actuator_controls":[-0.17037294273052106,1.0977399940646513,-0.6061855985211667,0.33740341398287566,0.22817613482072382,-0.2152133623046729,0.035],"actuator_force_native":[-0.25096355140519755,-0.28491339709441377,0.1222155005815111,0.0823217190244403,0.2415795456108385,-0.23496625961305107,-3.652924596142526e-06],"issued_joint_targets_rad":[-0.17014161766059815,1.0965111203582318,-0.6006465080586539,0.33623409735695675,0.22872223747895287,-0.21453212192760288],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.559999999999829,"joint_targets_rad":[-0.17014161766059815,1.0965111203582318,-0.6006465080586539,0.33623409735695675,0.22872223747895287,-0.21453212192760288],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.579999999999827,"qpos":[-0.16690837833770425,1.1032592688820198,-0.6191084132764133,0.33401115554032357,0.1998526594720255,-0.18695784901895857,0.03499982868375651,-0.03499778164732262,0.30027007180991694,-0.03397109131265403,0.07989224457978367,0.9999999999999991,-1.766311491964238e-11,3.054180465159331e-12,1.3058948523461855e-15],"qvel":[-0.006739828419402858,-0.0508727113749841,0.2714797213847749,0.007824847270423983,0.03188782892015274,-0.03479419706254752,6.596650746756027e-06,-2.2290139981571522e-05,-7.518250703295221e-12,-4.348021213009464e-11,3.0881044883761872e-15,-1.250521471808611e-09,2.1622885534785866e-10,4.606772507472572e-14],"joint_position_rad":[-0.16690837833770425,1.1032592688820198,-0.6191084132764133,0.33401115554032357,0.1998526594720255,-0.18695784901895857],"joint_velocity_rad_s":[-0.006739828419402858,-0.0508727113749841,0.2714797213847749,0.007824847270423983,0.03188782892015274,-0.03479419706254752],"gripper_joint_position_m":[0.03499982868375651,-0.03499778164732262],"tcp_position_m":[0.31137772396803365,-0.03717602148633787,0.1964144075215156],"tcp_quaternion_wxyz":[0.4728329372167519,0.119794186263503,0.8726800384138605,0.022537013431846498],"object_position_m":[0.30027007180991694,-0.03397109131265403,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.766311491964238e-11,3.054180465159331e-12,1.3058948523461855e-15],"object_linear_velocity_m_s":[-7.518250703295221e-12,-4.348021213009464e-11,3.0881044883761872e-15],"object_angular_velocity_rad_s":[-1.2505214718086092e-09,2.1622885534785665e-10,4.6067725074811894e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000626715},{"geom_ids":[1,90],"normal_force_n":0.0981000000044192},{"geom_ids":[1,90],"normal_force_n":0.09809999999373285},{"geom_ids":[1,90],"normal_force_n":0.0980999999955808}],"native_actuator_controls":[-0.17014161766059815,1.0965111203582318,-0.6006465080586539,0.33623409735695675,0.22872223747895287,-0.21453212192760288,0.035],"actuator_force_native":[-0.22496000373449831,-0.28548832502812616,0.11955381049687475,0.04979343631320887,0.24086403668904444,-0.22355143349262208,-2.6130603994145574e-05],"issued_joint_targets_rad":[-0.16980835064595237,1.0951863580599699,-0.5950888938858687,0.33467482729606074,0.22929526323366503,-0.21346474929108605],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.579999999999827,"joint_targets_rad":[-0.16980835064595237,1.0951863580599699,-0.5950888938858687,0.33467482729606074,0.22929526323366503,-0.21346474929108605],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5999999999998247,"qpos":[-0.16703425489118714,1.1021328603476301,-0.61358251758744,0.3340994755473339,0.20047151285367332,-0.1876274982535611,0.034999930685970904,-0.0349980973634073,0.3002700718098208,-0.033971091313209655,0.07989224457978367,0.9999999999999991,-1.674892538109483e-11,2.8960977644042046e-12,1.4806406824460764e-15],"qvel":[-0.005826940464977173,-0.053923965416503385,0.2725634771809017,0.002569770377690828,0.0319012899354055,-0.032755064965812965,5.993694393631311e-06,-9.480876751666838e-06,-3.552786649454235e-12,-2.054673935436017e-11,3.083941152033843e-15,6.582764514654183e-10,-1.1382453435421764e-10,4.991057520406198e-15],"joint_position_rad":[-0.16703425489118714,1.1021328603476301,-0.61358251758744,0.3340994755473339,0.20047151285367332,-0.1876274982535611],"joint_velocity_rad_s":[-0.005826940464977173,-0.053923965416503385,0.2725634771809017,0.002569770377690828,0.0319012899354055,-0.032755064965812965],"gripper_joint_position_m":[0.034999930685970904,-0.0349980973634073],"tcp_position_m":[0.3101756200395144,-0.0369672570506688,0.19437359177757801],"tcp_quaternion_wxyz":[0.4706467470714371,0.11977783923495544,0.8738636105795734,0.022523294699303704],"object_position_m":[0.3002700718098208,-0.033971091313209655,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.674892538109483e-11,2.8960977644042046e-12,1.4806406824460764e-15],"object_linear_velocity_m_s":[-3.552786649454235e-12,-2.054673935436017e-11,3.083941152033843e-15],"object_angular_velocity_rad_s":[6.582764514654175e-10,-1.1382453435421533e-10,4.9910575204175346e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000119927},{"geom_ids":[1,90],"normal_force_n":0.09810000000084564},{"geom_ids":[1,90],"normal_force_n":0.09809999999880074},{"geom_ids":[1,90],"normal_force_n":0.09809999999915438}],"native_actuator_controls":[-0.16980835064595237,1.0951863580599699,-0.5950888938858687,0.33467482729606074,0.22929526323366503,-0.21346474929108605,0.035],"actuator_force_native":[-0.1927929580563319,-0.2861003559303015,0.11667251022119274,0.010165218060619097,0.24038556889680862,-0.20923991292653055,-2.7195910804245216e-05],"issued_joint_targets_rad":[-0.16933705334203916,1.093744326897352,-0.5895171140576617,0.33259109122711583,0.22989952645118278,-0.21186584633032243],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.5999999999998247,"joint_targets_rad":[-0.16933705334203916,1.093744326897352,-0.5895171140576617,0.33259109122711583,0.22989952645118278,-0.21186584633032243],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6199999999998225,"qpos":[-0.1671389572376708,1.1009345400559412,-0.6080343142546664,0.3340656320708886,0.2010911480297347,-0.18824935440333604,0.034999996231008634,-0.034998105940728164,0.30027007180971826,-0.03397109131380236,0.07989224457978367,0.9999999999999991,-1.774644627691871e-11,3.0685671308653274e-12,1.7326086764002841e-15],"qvel":[-0.0046962911752024845,-0.05769786514095618,0.27360374670082793,-0.003924557162373338,0.031955062373954506,-0.030167363077720638,-1.4202505716578834e-06,6.475308737378435e-06,-3.843353184053486e-12,-2.222726091536075e-11,3.0825533732530618e-15,5.426552545070392e-10,-9.38318959370649e-11,9.11239213117989e-15],"joint_position_rad":[-0.1671389572376708,1.1009345400559412,-0.6080343142546664,0.3340656320708886,0.2010911480297347,-0.18824935440333604],"joint_velocity_rad_s":[-0.0046962911752024845,-0.05769786514095618,0.27360374670082793,-0.003924557162373338,0.031955062373954506,-0.030167363077720638],"gripper_joint_position_m":[0.034999996231008634,-0.034998105940728164],"tcp_position_m":[0.30895480148936355,-0.03675315537129663,0.1923481724004057],"tcp_quaternion_wxyz":[0.4684764215261239,0.11972287047671162,0.8750374489006361,0.02248865892757299],"object_position_m":[0.30027007180971826,-0.03397109131380236,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.774644627691871e-11,3.0685671308653274e-12,1.7326086764002841e-15],"object_linear_velocity_m_s":[-3.843353184053486e-12,-2.222726091536075e-11,3.0825533732530618e-15],"object_angular_velocity_rad_s":[5.426552545070386e-10,-9.383189593706254e-11,9.11239213119712e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000317191},{"geom_ids":[1,90],"normal_force_n":0.0981000000022368},{"geom_ids":[1,90],"normal_force_n":0.09809999999682809},{"geom_ids":[1,90],"normal_force_n":0.09809999999776323}],"native_actuator_controls":[-0.16933705334203916,1.093744326897352,-0.5895171140576617,0.33259109122711583,0.22989952645118278,-0.21186584633032243,0.035],"actuator_force_native":[-0.15236623247345626,-0.28672772698234894,0.11335728225623143,-0.03935884793904165,0.24015119065354895,-0.1909138746532828,7.252012512948269e-06],"issued_joint_targets_rad":[-0.16867045240295442,1.0921580577499732,-0.5839386219310206,0.32978318711400606,0.23054088750175963,-0.2095174486851858],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6199999999998225,"joint_targets_rad":[-0.16867045240295442,1.0921580577499732,-0.5839386219310206,0.32978318711400606,0.23054088750175963,-0.2095174486851858],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6399999999998203,"qpos":[-0.16721673296783365,1.0996483509877684,-0.6024652076189967,0.33387764736065645,0.20171253281692403,-0.18881010417614186,0.03499999346057053,-0.034997824601002356,0.300270071809612,-0.03397109131441689,0.07989224457978367,0.9999999999999991,-1.9433045793829208e-11,3.3601865772756143e-12,2.0531476898045225e-15],"qvel":[-0.0032440867507991973,-0.06232548171173611,0.2745519426239815,-0.012191528383634137,0.03206277458017098,-0.026807371135599358,-7.739706566282111e-06,1.8091305832698688e-05,-4.357951251457829e-12,-2.520343667149933e-11,3.0770022581299363e-15,3.8492613631930824e-10,-6.655859821218653e-11,1.6636934127107314e-14],"joint_position_rad":[-0.16721673296783365,1.0996483509877684,-0.6024652076189967,0.33387764736065645,0.20171253281692403,-0.18881010417614186],"joint_velocity_rad_s":[-0.0032440867507991973,-0.06232548171173611,0.2745519426239815,-0.012191528383634137,0.03206277458017098,-0.026807371135599358],"gripper_joint_position_m":[0.03499999346057053,-0.034997824601002356],"tcp_position_m":[0.3077144673587259,-0.03653310849070322,0.19034289694016443],"tcp_quaternion_wxyz":[0.4663285009687393,0.11961925816020891,0.8761997320319979,0.02242747976266978],"object_position_m":[0.300270071809612,-0.03397109131441689,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9433045793829208e-11,3.3601865772756143e-12,2.0531476898045225e-15],"object_linear_velocity_m_s":[-4.357951251457829e-12,-2.520343667149933e-11,3.0770022581299363e-15],"object_angular_velocity_rad_s":[3.849261363193079e-10,-6.655859821218419e-11,1.6636934127132586e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000575464},{"geom_ids":[1,90],"normal_force_n":0.09810000000405787},{"geom_ids":[1,90],"normal_force_n":0.09809999999424536},{"geom_ids":[1,90],"normal_force_n":0.09809999999594217}],"native_actuator_controls":[-0.16867045240295442,1.0921580577499732,-0.5839386219310206,0.32978318711400606,0.23054088750175963,-0.2095174486851858,0.035],"actuator_force_native":[-0.10007712105566391,-0.2875960504649413,0.10936714191817742,-0.10282076794784523,0.2401893849780996,-0.16686238838704037,3.896011001014443e-05],"issued_joint_targets_rad":[-0.16928344137494444,1.0930989723557012,-0.5862341784556006,0.32407980949958787,0.23654315851042057,-0.20480401871619006],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6399999999998203,"joint_targets_rad":[-0.16928344137494444,1.0930989723557012,-0.5862341784556006,0.32407980949958787,0.23654315851042057,-0.20480401871619006],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.659999999999818,"qpos":[-0.167288413442142,1.0988386321001138,-0.5977713179135382,0.3334138386622343,0.2032054869027966,-0.18929093774777295,0.03499988427309098,-0.034994697950114693,0.3002700718095067,-0.03397109131502612,0.07989224457978367,0.9999999999999991,-2.0297448552197447e-11,3.5096425968273466e-12,2.4073901547650944e-15],"qvel":[-0.0035615693981594964,-0.024538788037944514,0.205153554978662,-0.028781862254084783,0.0941835484313572,-0.021936858693357143,-3.099976281593376e-05,0.00015182704759690937,-4.9995221959314065e-12,-2.8913903512772565e-11,3.0797778156914994e-15,9.777607957735664e-11,-1.6907048178102476e-11,3.037476296098524e-14],"joint_position_rad":[-0.167288413442142,1.0988386321001138,-0.5977713179135382,0.3334138386622343,0.2032054869027966,-0.18929093774777295],"joint_velocity_rad_s":[-0.0035615693981594964,-0.024538788037944514,0.205153554978662,-0.028781862254084783,0.0941835484313572,-0.021936858693357143],"gripper_joint_position_m":[0.03499988427309098,-0.034994697950114693],"tcp_position_m":[0.3065750282693703,-0.036279331321030964,0.18841011230100396],"tcp_quaternion_wxyz":[0.463982747836131,0.11937344682535356,0.8774778383501107,0.022419480544489515],"object_position_m":[0.3002700718095067,-0.03397109131502612,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0297448552197447e-11,3.5096425968273466e-12,2.4073901547650944e-15],"object_linear_velocity_m_s":[-4.9995221959314065e-12,-2.8913903512772565e-11,3.0797778156914994e-15],"object_angular_velocity_rad_s":[9.777607957735675e-11,-1.690704817810074e-11,3.037476296100688e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000776026},{"geom_ids":[1,90],"normal_force_n":0.09810000000547223},{"geom_ids":[1,90],"normal_force_n":0.09809999999223976},{"geom_ids":[1,90],"normal_force_n":0.09809999999452777}],"native_actuator_controls":[-0.16928344137494444,1.0930989723557012,-0.5862341784556006,0.32407980949958787,0.23654315851042057,-0.20480401871619006,0.035],"actuator_force_native":[-0.14179438763340002,-0.3364788393632807,-0.10279661825830289,-0.22945185523543365,0.19210139342920352,-0.12222552164413525,0.00015962789044055015],"issued_joint_targets_rad":[-0.17042280838353213,1.0947676636195778,-0.5907186257871372,0.31835685273244585,0.24456617800939473,-0.20050383971381686],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.659999999999818,"joint_targets_rad":[-0.17042280838353213,1.0947676636195778,-0.5907186257871372,0.31835685273244585,0.24456617800939473,-0.20050383971381686],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.679999999999816,"qpos":[-0.16738895206652035,1.0986001507003815,-0.5947492966107562,0.33227860192183095,0.20622744857143244,-0.1896907906823178,0.03500007342339455,-0.034989042433788274,0.3002700718094038,-0.03397109131562113,0.07989224457978367,0.9999999999999991,-2.018761847626253e-11,3.490645002812318e-12,2.7837692057499855e-15],"qvel":[-0.0052734015857778555,-0.005749281489343384,0.11703864071353318,-0.05835404696214743,0.16759527541143954,-0.016493520594943946,-7.856827736845992e-05,0.00018214842516348282,-5.895870469403976e-12,-3.409785486078451e-11,3.075614479349155e-15,-3.700649139905319e-10,6.398708969224658e-11,5.5456863931153604e-14],"joint_position_rad":[-0.16738895206652035,1.0986001507003815,-0.5947492966107562,0.33227860192183095,0.20622744857143244,-0.1896907906823178],"joint_velocity_rad_s":[-0.0052734015857778555,-0.005749281489343384,0.11703864071353318,-0.05835404696214743,0.16759527541143954,-0.016493520594943946],"gripper_joint_position_m":[0.03500007342339455,-0.034989042433788274],"tcp_position_m":[0.305624883691812,-0.035989463203249084,0.18673718030107866],"tcp_quaternion_wxyz":[0.4614661982641896,0.11877899207060562,0.8788845219920295,0.022416420435219665],"object_position_m":[0.3002700718094038,-0.03397109131562113,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.018761847626253e-11,3.490645002812318e-12,2.7837692057499855e-15],"object_linear_velocity_m_s":[-5.895870469403976e-12,-3.409785486078451e-11,3.075614479349155e-15],"object_angular_velocity_rad_s":[-3.700649139905312e-10,6.398708969224664e-11,5.545686393119008e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000880392},{"geom_ids":[1,90],"normal_force_n":0.09810000000620832},{"geom_ids":[1,90],"normal_force_n":0.0980999999911961},{"geom_ids":[1,90],"normal_force_n":0.0980999999937917}],"native_actuator_controls":[-0.17042280838353213,1.0947676636195778,-0.5907186257871372,0.31835685273244585,0.24456617800939473,-0.20050383971381686,0.035],"actuator_force_native":[-0.21634149743205278,-0.27785255901757466,-0.2627395376781436,-0.26509973276466603,0.13199438126246354,-0.08339020942257447,0.00038990445106046323],"issued_joint_targets_rad":[-0.17176188221269173,1.0965636067920175,-0.5955884196762316,0.31361533888447607,0.2533824445538749,-0.19787286412358449],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.679999999999816,"joint_targets_rad":[-0.17176188221269173,1.0965636067920175,-0.5955884196762316,0.31361533888447607,0.2533824445538749,-0.19787286412358449],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6999999999998137,"qpos":[-0.16757570791855347,1.0985851434839968,-0.5935022401775258,0.3305649923048029,0.21052166854951646,-0.19000152068719442,0.034999453901001475,-0.034984769818424695,0.30027007180930554,-0.03397109131618947,0.07989224457978367,0.9999999999999991,-1.8834180156039574e-11,3.2566158759415326e-12,3.1544419975213707e-15],"qvel":[-0.008855754468386764,0.0013421220691568262,0.029436511638659922,-0.08378756399910901,0.21860745392554265,-0.012459122743523317,-9.688241633892716e-05,6.512660254689305e-05,-7.305244972157773e-12,-4.2248897424205127e-11,3.0770022581299363e-15,-1.080281565851177e-09,1.8678963616753375e-10,1.0125017709648339e-13],"joint_position_rad":[-0.16757570791855347,1.0985851434839968,-0.5935022401775258,0.3305649923048029,0.21052166854951646,-0.19000152068719442],"joint_velocity_rad_s":[-0.008855754468386764,0.0013421220691568262,0.029436511638659922,-0.08378756399910901,0.21860745392554265,-0.012459122743523317],"gripper_joint_position_m":[0.034999453901001475,-0.034984769818424695],"tcp_position_m":[0.3048901114466832,-0.03570173172810255,0.18551520635929275],"tcp_quaternion_wxyz":[0.459087472149795,0.11789367594276595,0.8802490577404604,0.022391302660744083],"object_position_m":[0.30027007180930554,-0.03397109131618947,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8834180156039574e-11,3.2566158759415326e-12,3.1544419975213707e-15],"object_linear_velocity_m_s":[-7.305244972157773e-12,-4.2248897424205127e-11,3.0770022581299363e-15],"object_angular_velocity_rad_s":[-1.0802815658511758e-09,1.8678963616753045e-10,1.0125017709654809e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000752875},{"geom_ids":[1,90],"normal_force_n":0.09810000000530883},{"geom_ids":[1,90],"normal_force_n":0.09809999999247128},{"geom_ids":[1,90],"normal_force_n":0.09809999999469118}],"native_actuator_controls":[-0.17176188221269173,1.0965636067920175,-0.5955884196762316,0.31361533888447607,0.2533824445538749,-0.19787286412358449,0.035],"actuator_force_native":[-0.29061517118912583,-0.16843354570413283,-0.3140769180897607,-0.2590483168175286,0.10069657915527008,-0.060024750248615755,0.0005062560416357886],"issued_joint_targets_rad":[-0.1731002289909848,1.0982883691644467,-0.6002564803405847,0.31027041915578324,0.2618825810406669,-0.19709920487407762],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.6999999999998137,"joint_targets_rad":[-0.1731002289909848,1.0982883691644467,-0.6002564803405847,0.31027041915578324,0.2618825810406669,-0.19709920487407762],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7199999999998115,"qpos":[-0.16785470802215052,1.0986343127281093,-0.5933017001612318,0.32863653879202315,0.21471504938353828,-0.19023401895322722,0.03499761030142878,-0.034986774219150675,0.3002700718092095,-0.033971091316744674,0.07989224457978367,0.9999999999999991,-1.7050318531710284e-11,2.948163465092949e-12,3.538508045543223e-15],"qvel":[-0.016152032800544284,0.0025810372166565516,-0.00023684653309872245,-0.09166154724577734,0.19217843872870144,-0.009603961913298344,-7.88575112518201e-05,-0.00025846878568589463,-3.6077039785938646e-12,-2.0864676923100112e-11,3.0811655944722804e-15,6.993436404294259e-10,-1.2092339781179686e-10,1.0969631693013158e-14],"joint_position_rad":[-0.16785470802215052,1.0986343127281093,-0.5933017001612318,0.32863653879202315,0.21471504938353828,-0.19023401895322722],"joint_velocity_rad_s":[-0.016152032800544284,0.0025810372166565516,-0.00023684653309872245,-0.09166154724577734,0.19217843872870144,-0.009603961913298344],"gripper_joint_position_m":[0.03499761030142878,-0.034986774219150675],"tcp_position_m":[0.30436830616759464,-0.03549761637166217,0.1847180267128817],"tcp_quaternion_wxyz":[0.4571790301751657,0.11695946924119835,0.8813694246585236,0.022265538394909933],"object_position_m":[0.3002700718092095,-0.033971091316744674,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7050318531710284e-11,2.948163465092949e-12,3.538508045543223e-15],"object_linear_velocity_m_s":[-3.6077039785938646e-12,-2.0864676923100112e-11,3.0811655944722804e-15],"object_angular_velocity_rad_s":[6.993436404294256e-10,-1.2092339781179133e-10,1.0969631693019298e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000082156},{"geom_ids":[1,90],"normal_force_n":0.0981000000005793},{"geom_ids":[1,90],"normal_force_n":0.09809999999917847},{"geom_ids":[1,90],"normal_force_n":0.09809999999942075}],"native_actuator_controls":[-0.1731002289909848,1.0982883691644467,-0.6002564803405847,0.31027041915578324,0.2618825810406669,-0.19709920487407762,0.035],"actuator_force_native":[-0.3388815135040186,-0.04058067117628639,-0.5551981816827265,-0.2763370492207091,0.18340765847823404,-0.054245916338556466,0.0004898754991078391],"issued_joint_targets_rad":[-0.17410960183728008,1.0996991342882645,-0.6040423114917455,0.3075190129171957,0.2687302398598761,-0.1968423873894872],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7199999999998115,"joint_targets_rad":[-0.17410960183728008,1.0996991342882645,-0.6040423114917455,0.3075190129171957,0.2687302398598761,-0.1968423873894872],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7399999999998093,"qpos":[-0.16837267752232452,1.0987254691346415,-0.5938861738486996,0.32657267393302564,0.21903762724372663,-0.19043255094749534,0.034997600969512266,-0.034991296254987106,0.3002700718091027,-0.03397109131736285,0.07989224457978367,0.9999999999999991,-1.816836320641699e-11,3.141474570876573e-12,4.161916605340089e-15],"qvel":[-0.027886298434823393,0.005174728976669708,-0.042923397940788414,-0.09761039495191694,0.20789115336249636,-0.008582981542850882,6.945641469132702e-06,-0.0002501911314748124,-3.903354181257042e-12,-2.2574598384571283e-11,3.077002258129936e-15,5.986806748301166e-10,-1.0351773302424075e-10,2.0027796353718793e-14],"joint_position_rad":[-0.16837267752232452,1.0987254691346415,-0.5938861738486996,0.32657267393302564,0.21903762724372663,-0.19043255094749534],"joint_velocity_rad_s":[-0.027886298434823393,0.005174728976669708,-0.042923397940788414,-0.09761039495191694,0.20789115336249636,-0.008582981542850882],"gripper_joint_position_m":[0.034997600969512266,-0.034991296254987106],"tcp_position_m":[0.3039789125455377,-0.035390500524749735,0.18420798649447273],"tcp_quaternion_wxyz":[0.45554221546917056,0.11605234732599924,0.8823416232700938,0.02205453356254385],"object_position_m":[0.3002700718091027,-0.03397109131736285,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.816836320641699e-11,3.141474570876573e-12,4.161916605340089e-15],"object_linear_velocity_m_s":[-3.903354181257042e-12,-2.2574598384571283e-11,3.077002258129936e-15],"object_angular_velocity_rad_s":[5.986806748301165e-10,-1.0351773302423485e-10,2.0027796353734068e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000278116},{"geom_ids":[1,90],"normal_force_n":0.09810000000196101},{"geom_ids":[1,90],"normal_force_n":0.09809999999721886},{"geom_ids":[1,90],"normal_force_n":0.09809999999803896}],"native_actuator_controls":[-0.17410960183728008,1.0996991342882645,-0.6040423114917455,0.3075190129171957,0.2687302398598761,-0.1968423873894872,0.035],"actuator_force_native":[-0.3195224530223282,0.052019567406489386,-0.5978740217397345,-0.2740944658736133,0.18508939611775022,-0.051223892105642266,6.123301216387489e-05],"issued_joint_targets_rad":[-0.1748586153886073,1.100931967417907,-0.6073117656791875,0.3046436941871501,0.274561935684489,-0.19632101671133517],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7399999999998093,"joint_targets_rad":[-0.1748586153886073,1.100931967417907,-0.6073117656791875,0.3046436941871501,0.274561935684489,-0.19632101671133517],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.759999999999807,"qpos":[-0.16903509141369918,1.0988795565664038,-0.5952850130129506,0.3243859951065911,0.22354077945806272,-0.19061242195021869,0.03499850398522544,-0.03499434121174876,0.30027007180899845,-0.03397109131796588,0.07989224457978367,0.9999999999999991,-1.8996829112495976e-11,3.284708804486191e-12,4.866415668167099e-15],"qvel":[-0.03217419627483474,0.007717519396323748,-0.08051185090651536,-0.10313933682360495,0.21091664657017348,-0.007596421885267647,1.5055621513410748e-05,-0.0001594424109230192,-4.2663365230193784e-12,-2.4674014478798936e-11,3.0783900369107173e-15,4.1727580306494207e-10,-7.215118362679334e-11,3.6565603608668715e-14],"joint_position_rad":[-0.16903509141369918,1.0988795565664038,-0.5952850130129506,0.3243859951065911,0.22354077945806272,-0.19061242195021869],"joint_velocity_rad_s":[-0.03217419627483474,0.007717519396323748,-0.08051185090651536,-0.10313933682360495,0.21091664657017348,-0.007596421885267647],"gripper_joint_position_m":[0.03499850398522544,-0.03499434121174876],"tcp_position_m":[0.3037278349807861,-0.035348613790042144,0.18398178810932939],"tcp_quaternion_wxyz":[0.45415880129084807,0.11512650855683318,0.8831823453748353,0.021785661701642946],"object_position_m":[0.30027007180899845,-0.03397109131796588,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8996829112495976e-11,3.284708804486191e-12,4.866415668167099e-15],"object_linear_velocity_m_s":[-4.2663365230193784e-12,-2.4674014478798936e-11,3.0783900369107173e-15],"object_angular_velocity_rad_s":[4.1727580306494233e-10,-7.215118362678777e-11,3.656560360869705e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000493735},{"geom_ids":[1,90],"normal_force_n":0.09810000000348158},{"geom_ids":[1,90],"normal_force_n":0.09809999999506269},{"geom_ids":[1,90],"normal_force_n":0.09809999999651844}],"native_actuator_controls":[-0.1748586153886073,1.100931967417907,-0.6073117656791875,0.3046436941871501,0.274561935684489,-0.19632101671133517,0.035],"actuator_force_native":[-0.30501093661847634,0.12560527113863884,-0.5595809587663894,-0.2739953526596164,0.19383659240900242,-0.04569131478326338,-1.543751658461545e-05],"issued_joint_targets_rad":[-0.17541772592794094,1.102001784534848,-0.6101113545108026,0.3020425653943354,0.2794984850752374,-0.19601447736121547],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.759999999999807,"joint_targets_rad":[-0.17541772592794094,1.102001784534848,-0.6101113545108026,0.3020425653943354,0.2794984850752374,-0.19601447736121547],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.779999999999805,"qpos":[-0.16971610773235488,1.0991075757577542,-0.5973212970044849,0.3221402960689138,0.2279164271956956,-0.1907718881175678,0.03499916357084632,-0.034996083319560195,0.30027007180889725,-0.03397109131855144,0.07989224457978367,0.9999999999999991,-1.9367008674865857e-11,3.3486941367628447e-12,5.644992018794961e-15],"qvel":[-0.03160050886575678,0.010388544575540093,-0.10745422939985196,-0.10541758694392372,0.20036289445060718,-0.006698519326939834,-1.7926374616181785e-07,-0.00011138031159093398,-4.771882204802622e-12,-2.7597992626867345e-11,3.083941152033843e-15,1.2301016845534213e-10,-2.127094122043216e-11,6.67595878745273e-14],"joint_position_rad":[-0.16971610773235488,1.0991075757577542,-0.5973212970044849,0.3221402960689138,0.2279164271956956,-0.1907718881175678],"joint_velocity_rad_s":[-0.03160050886575678,0.010388544575540093,-0.10745422939985196,-0.10541758694392372,0.20036289445060718,-0.006698519326939834],"gripper_joint_position_m":[0.03499916357084632,-0.034996083319560195],"tcp_position_m":[0.3036191860583646,-0.0353519281381962,0.18401322695476208],"tcp_quaternion_wxyz":[0.4530756223718327,0.1141779455463864,0.8838693779863716,0.02146624841856821],"object_position_m":[0.30027007180889725,-0.03397109131855144,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9367008674865857e-11,3.3486941367628447e-12,5.644992018794961e-15],"object_linear_velocity_m_s":[-4.771882204802622e-12,-2.7597992626867345e-11,3.083941152033843e-15],"object_angular_velocity_rad_s":[1.230101684553426e-10,-2.1270941220428148e-11,6.675958787458933e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000692544},{"geom_ids":[1,90],"normal_force_n":0.09810000000488357},{"geom_ids":[1,90],"normal_force_n":0.0980999999930746},{"geom_ids":[1,90],"normal_force_n":0.09809999999511644}],"native_actuator_controls":[-0.17541772592794094,1.102001784534848,-0.6101113545108026,0.3020425653943354,0.2794984850752374,-0.19601447736121547,0.035],"actuator_force_native":[-0.2981269113181,0.17959397928980536,-0.48593345350615635,-0.27682129226351826,0.21527623711950694,-0.042378113446067234,3.435348487812462e-05],"issued_joint_targets_rad":[-0.17579511380014945,1.1028676006746856,-0.6123511791695839,0.2999166027235576,0.2834030872863319,-0.19611611618829833],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.779999999999805,"joint_targets_rad":[-0.17579511380014945,1.1028676006746856,-0.6123511791695839,0.2999166027235576,0.2834030872863319,-0.19611611618829833],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7999999999998026,"qpos":[-0.17034450865539277,1.099377297158057,-0.5997481646806125,0.31991844938766195,0.231936596799725,-0.1909156621209486,0.03499948933167245,-0.034997415564782884,0.30027007180879983,-0.03397109131911533,0.07989224457978367,0.9999999999999991,-1.9035196136120004e-11,3.2912975999583778e-12,6.472216476805533e-15],"qvel":[-0.028358096786572373,0.011882199757677424,-0.122074349081593,-0.10376708780607301,0.18118892085643265,-0.006212808309763122,-8.023209056277966e-06,-9.8337794815232e-05,-5.5524757555908424e-12,-3.2112757672605676e-11,3.0853289308146245e-15,-3.2858708271765395e-10,5.6811761725911835e-11,1.2188555893921146e-13],"joint_position_rad":[-0.17034450865539277,1.099377297158057,-0.5997481646806125,0.31991844938766195,0.231936596799725,-0.1909156621209486],"joint_velocity_rad_s":[-0.028358096786572373,0.011882199757677424,-0.122074349081593,-0.10376708780607301,0.18118892085643265,-0.006212808309763122],"gripper_joint_position_m":[0.03499948933167245,-0.034997415564782884],"tcp_position_m":[0.30363015101061946,-0.03538583042213053,0.1842484553928591],"tcp_quaternion_wxyz":[0.45229517046221146,0.11322747068094326,0.8843998246497767,0.021108501112099626],"object_position_m":[0.30027007180879983,-0.03397109131911533,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9035196136120004e-11,3.2912975999583778e-12,6.472216476805533e-15],"object_linear_velocity_m_s":[-5.5524757555908424e-12,-3.2112757672605676e-11,3.0853289308146245e-15],"object_angular_velocity_rad_s":[-3.2858708271765327e-10,5.681176172591212e-11,1.2188555893932094e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000802625},{"geom_ids":[1,90],"normal_force_n":0.09810000000565977},{"geom_ids":[1,90],"normal_force_n":0.0980999999919738},{"geom_ids":[1,90],"normal_force_n":0.09809999999434016}],"native_actuator_controls":[-0.17579511380014945,1.1028676006746856,-0.6123511791695839,0.2999166027235576,0.2834030872863319,-0.19611611618829833,0.035],"actuator_force_native":[-0.29425792764767245,0.21981328254189236,-0.39786941370974205,-0.28123842753380934,0.24288152358142012,-0.042685328208852624,6.054277838352107e-05],"issued_joint_targets_rad":[-0.17601083676343088,1.1035172805874207,-0.6140194990341085,0.2982876226869622,0.2862741228386292,-0.19661187791345927],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.7999999999998026,"joint_targets_rad":[-0.17601083676343088,1.1035172805874207,-0.6140194990341085,0.2982876226869622,0.2862741228386292,-0.19661187791345927],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8199999999998004,"qpos":[-0.17088274700962447,1.0996424888964664,-0.6023145728522411,0.3177930972794493,0.23547264803375226,-0.19105316023165367,0.034999676248652835,-0.034998739270687154,0.3002700718087022,-0.03397109131967978,0.07989224457978367,0.9999999999999991,-1.8834199529372413e-11,3.2565249794866753e-12,7.432974535673973e-15],"qvel":[-0.0237537161005565,0.01126042642968866,-0.12480200256946174,-0.09882590634861735,0.1578408361155468,-0.006239740956384812,-7.1531661908349305e-06,-9.33847310672572e-05,-6.890736811888933e-12,-3.9852828521946566e-11,3.0728389217875914e-15,-9.815249661834506e-10,1.697074501247119e-10,2.2253298242845052e-13],"joint_position_rad":[-0.17088274700962447,1.0996424888964664,-0.6023145728522411,0.3177930972794493,0.23547264803375226,-0.19105316023165367],"joint_velocity_rad_s":[-0.0237537161005565,0.01126042642968866,-0.12480200256946174,-0.09882590634861735,0.1578408361155468,-0.006239740956384812],"gripper_joint_position_m":[0.034999676248652835,-0.034998739270687154],"tcp_position_m":[0.30372422635673785,-0.03543698254736739,0.18462046655615894],"tcp_quaternion_wxyz":[0.45178265373547327,0.11229842508985648,0.8847891621510597,0.020727663787729635],"object_position_m":[0.3002700718087022,-0.03397109131967978,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8834199529372413e-11,3.2565249794866753e-12,7.432974535673973e-15],"object_linear_velocity_m_s":[-6.890736811888933e-12,-3.9852828521946566e-11,3.0728389217875914e-15],"object_angular_velocity_rad_s":[-9.8152496618345e-10,1.6970745012470538e-10,2.225329824285633e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000878791},{"geom_ids":[1,90],"normal_force_n":0.09810000000619705},{"geom_ids":[1,90],"normal_force_n":0.09809999999121215},{"geom_ids":[1,90],"normal_force_n":0.09809999999380302}],"native_actuator_controls":[-0.17601083676343088,1.1035172805874207,-0.6140194990341085,0.2982876226869622,0.2862741228386292,-0.19661187791345927,0.035],"actuator_force_native":[-0.29147859980172974,0.253681203127897,-0.31238408170208487,-0.2860894519563999,0.27125349387544917,-0.04622756538347872,4.871588484101075e-05],"issued_joint_targets_rad":[-0.17609752093364966,1.1039672672035072,-0.6151746375275287,0.2970960917166007,0.28823087961162597,-0.1974137060899508],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8199999999998004,"joint_targets_rad":[-0.17609752093364966,1.1039672672035072,-0.6151746375275287,0.2970960917166007,0.28823087961162597,-0.1974137060899508],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8399999999997982,"qpos":[-0.17131425876869527,1.0998657431067589,-0.6048037148339508,0.31581787585060944,0.23848104230033357,-0.1911942327284293,0.034999844512135864,-0.03500006054661421,0.3002700718086099,-0.033971091320214315,0.07989224457978367,0.9999999999999991,-1.6737729629380308e-11,2.894026352259416e-12,8.277095070448822e-15],"qvel":[-0.01860569397190703,0.009650449110187078,-0.11805657169326743,-0.09163661691420567,0.13397242453475725,-0.0067321628060996,-3.6388800804347534e-06,-8.445596776708247e-05,-3.5216125349149328e-12,-2.0367386937624624e-11,3.078390036910717e-15,6.981482813361802e-10,-1.20713303248396e-10,2.4109613017823644e-14],"joint_position_rad":[-0.17131425876869527,1.0998657431067589,-0.6048037148339508,0.31581787585060944,0.23848104230033357,-0.1911942327284293],"joint_velocity_rad_s":[-0.01860569397190703,0.009650449110187078,-0.11805657169326743,-0.09163661691420567,0.13397242453475725,-0.0067321628060996],"gripper_joint_position_m":[0.034999844512135864,-0.03500006054661421],"tcp_position_m":[0.30386216493581597,-0.03549292905330722,0.18505987778919242],"tcp_quaternion_wxyz":[0.4514784048504084,0.11140987556785706,0.8850657341096075,0.02034049863466191],"object_position_m":[0.3002700718086099,-0.033971091320214315,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6737729629380308e-11,2.894026352259416e-12,8.277095070448822e-15],"object_linear_velocity_m_s":[-3.5216125349149328e-12,-2.0367386937624624e-11,3.078390036910717e-15],"object_angular_velocity_rad_s":[6.98148281336181e-10,-1.2071330324838343e-10,2.410961301783782e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997168518},{"geom_ids":[1,90],"normal_force_n":0.09809999998003327},{"geom_ids":[1,90],"normal_force_n":0.09810000002831484},{"geom_ids":[1,90],"normal_force_n":0.09810000001996673}],"native_actuator_controls":[-0.17609752093364966,1.1039672672035072,-0.6151746375275287,0.2970960917166007,0.28823087961162597,-0.1974137060899508,0.035],"actuator_force_native":[-0.2896325033368168,0.2798696821889308,-0.23939095701989288,-0.29068828078932185,0.296539736310788,-0.05209648940606537,2.44139149676581e-05],"issued_joint_targets_rad":[-0.17609525589072553,1.1042557522144925,-0.6159236561560927,0.2962505173350823,0.28947454563931835,-0.1984158041142614],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8399999999997982,"joint_targets_rad":[-0.17609525589072553,1.1042557522144925,-0.6159236561560927,0.2962505173350823,0.28947454563931835,-0.1984158041142614],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.859999999999796,"qpos":[-0.1716369750858591,1.1000478916550138,-0.607063838721595,0.31402172284474184,0.240989761502451,-0.1913471397632842,0.03499983449849394,-0.03500102327965246,0.30027007180850057,-0.03397109132084673,0.07989224457978367,0.9999999999999991,-1.8274258813449467e-11,3.159709995439769e-12,9.818245076200306e-15],"qvel":[-0.013525587838994256,0.008457241985967453,-0.10483283783426108,-0.08324137897755704,0.11205113455818036,-0.007567652328254074,-1.934293600873981e-05,-4.5739669564640505e-05,-3.8905419919009915e-12,-2.2501025826706864e-11,3.0797778156914982e-15,6.312887609713672e-10,-1.091526067132067e-10,4.401811120153198e-14],"joint_position_rad":[-0.1716369750858591,1.1000478916550138,-0.607063838721595,0.31402172284474184,0.240989761502451,-0.1913471397632842],"joint_velocity_rad_s":[-0.013525587838994256,0.008457241985967453,-0.10483283783426108,-0.08324137897755704,0.11205113455818036,-0.007567652328254074],"gripper_joint_position_m":[0.03499983449849394,-0.03500102327965246],"tcp_position_m":[0.3040115288684919,-0.0355432515107841,0.18550049600971358],"tcp_quaternion_wxyz":[0.45130391544429127,0.11057338436853979,0.8852681971973978,0.019963005906140033],"object_position_m":[0.30027007180850057,-0.03397109132084673,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8274258813449467e-11,3.159709995439769e-12,9.818245076200306e-15],"object_linear_velocity_m_s":[-3.8905419919009915e-12,-2.2501025826706864e-11,3.0797778156914982e-15],"object_angular_velocity_rad_s":[6.312887609713686e-10,-1.0915260671319251e-10,4.4018111201519053e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000257983},{"geom_ids":[1,90],"normal_force_n":0.09810000000181911},{"geom_ids":[1,90],"normal_force_n":0.09809999999742022},{"geom_ids":[1,90],"normal_force_n":0.09809999999818088}],"native_actuator_controls":[-0.17609525589072553,1.1042557522144925,-0.6159236561560927,0.2962505173350823,0.28947454563931835,-0.1984158041142614,0.035],"actuator_force_native":[-0.289034525194344,0.29434263482845324,-0.18462120558850614,-0.29464132549859556,0.316771139531403,-0.05933516501739078,0.00010333474028612066],"issued_joint_targets_rad":[-0.17604790382659682,1.1044388062079242,-0.616412070353661,0.2956354136689022,0.29026897230668874,-0.19950669956581246],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.859999999999796,"joint_targets_rad":[-0.17604790382659682,1.1044388062079242,-0.616412070353661,0.2956354136689022,0.29026897230668874,-0.19950669956581246],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.879999999999794,"qpos":[-0.17186289270016336,1.1002119730508928,-0.6090077711457647,0.31241053121788914,0.24307759811756144,-0.1915176515038779,0.034999547798171764,-0.0350014489905568,0.30027007180839266,-0.0339710913214702,0.07989224457978367,0.9999999999999991,-1.9389386405059843e-11,3.352515882153772e-12,1.156678939742325e-14],"qvel":[-0.009576973901215936,0.007862744064247026,-0.08815129794995198,-0.07460175839050152,0.0945295852407739,-0.008595800488663595,-3.1718977512022285e-05,-1.875055120239746e-05,-4.284614522304244e-12,-2.4780194983928036e-11,3.0742267005683728e-15,4.781701278221753e-10,-8.267807803693926e-11,8.03658126301414e-14],"joint_position_rad":[-0.17186289270016336,1.1002119730508928,-0.6090077711457647,0.31241053121788914,0.24307759811756144,-0.1915176515038779],"joint_velocity_rad_s":[-0.009576973901215936,0.007862744064247026,-0.08815129794995198,-0.07460175839050152,0.0945295852407739,-0.008595800488663595],"gripper_joint_position_m":[0.034999547798171764,-0.0350014489905568],"tcp_position_m":[0.3041478363157572,-0.03558118875641457,0.1858872534047733],"tcp_quaternion_wxyz":[0.4511774907295669,0.10979438619014784,0.8854375229126954,0.01960759134443898],"object_position_m":[0.30027007180839266,-0.0339710913214702,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9389386405059843e-11,3.352515882153772e-12,1.156678939742325e-14],"object_linear_velocity_m_s":[-4.284614522304244e-12,-2.4780194983928036e-11,3.0742267005683728e-15],"object_angular_velocity_rad_s":[4.781701278221768e-10,-8.267807803692494e-11,8.036581263014976e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000469042},{"geom_ids":[1,90],"normal_force_n":0.09810000000330754},{"geom_ids":[1,90],"normal_force_n":0.09809999999530962},{"geom_ids":[1,90],"normal_force_n":0.09809999999669247}],"native_actuator_controls":[-0.17604790382659682,1.1044388062079242,-0.616412070353661,0.2956354136689022,0.29026897230668874,-0.19950669956581246,0.035],"actuator_force_native":[-0.286916020608599,0.2988329322412824,-0.15158744688194759,-0.29799591000696957,0.3301193640301121,-0.06699677988635022,0.00017668296068973355],"issued_joint_targets_rad":[-0.17599463054243009,1.1045780101909877,-0.6167939098667841,0.2951220562134179,0.290887283617726,-0.2005731624234],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.879999999999794,"joint_targets_rad":[-0.17599463054243009,1.1045780101909877,-0.6167939098667841,0.2951220562134179,0.290887283617726,-0.2005731624234],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8999999999997916,"qpos":[-0.1720391995888773,1.1003668773147215,-0.6106047246589414,0.31097066478637125,0.2448717549342111,-0.19170871604335268,0.03499892367077532,-0.03500142718298561,0.3002700718082873,-0.0339710913220797,0.07989224457978367,0.9999999999999991,-1.9995454609400186e-11,3.457304371232797e-12,1.3512293814430763e-14],"qvel":[-0.008326452016412338,0.007538839057836023,-0.07082674723912966,-0.06677709768352934,0.08286832830170024,-0.009694128510072845,-4.28196730197987e-05,4.934063471753656e-07,-4.783480875927052e-12,-2.7665434416919218e-11,3.0783900369107173e-15,2.1165255296457026e-10,-3.659594169595943e-11,1.4672821357457696e-13],"joint_position_rad":[-0.1720391995888773,1.1003668773147215,-0.6106047246589414,0.31097066478637125,0.2448717549342111,-0.19170871604335268],"joint_velocity_rad_s":[-0.008326452016412338,0.007538839057836023,-0.07082674723912966,-0.06677709768352934,0.08286832830170024,-0.009694128510072845],"gripper_joint_position_m":[0.03499892367077532,-0.03500142718298561],"tcp_position_m":[0.30425008758045297,-0.03560958242413462,0.18618438794638442],"tcp_quaternion_wxyz":[0.4510280489815557,0.1090819273575241,0.8856089338583907,0.019278185237817873],"object_position_m":[0.3002700718082873,-0.0339710913220797,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9995454609400186e-11,3.457304371232797e-12,1.3512293814430763e-14],"object_linear_velocity_m_s":[-4.783480875927052e-12,-2.7665434416919218e-11,3.0783900369107173e-15],"object_angular_velocity_rad_s":[2.1165255296457186e-10,-3.659594169594778e-11,1.4672821357458708e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000678994},{"geom_ids":[1,90],"normal_force_n":0.09810000000478795},{"geom_ids":[1,90],"normal_force_n":0.09809999999321006},{"geom_ids":[1,90],"normal_force_n":0.09809999999521203}],"native_actuator_controls":[-0.17599463054243009,1.1045780101909877,-0.6167939098667841,0.2951220562134179,0.290887283617726,-0.2005731624234,0.035],"actuator_force_native":[-0.2748022162021595,0.2991964348121172,-0.14100108043176363,-0.3000588545004863,0.3358527943825984,-0.07410327103536374,0.0002571515340863417],"issued_joint_targets_rad":[-0.17595465134463747,1.104728031726221,-0.617203393458844,0.29452181571541614,0.2915579662521686,-0.20143293556929123],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.8999999999997916,"joint_targets_rad":[-0.17595465134463747,1.104728031726221,-0.617203393458844,0.29452181571541614,0.2915579662521686,-0.20143293556929123],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9199999999997894,"qpos":[-0.17220054371731966,1.1005185007779492,-0.6118726682696811,0.3096588892383705,0.24649459789923958,-0.191920226901129,0.034998393651136314,-0.03500115170577606,0.30027007180818527,-0.03397109132266981,0.07989224457978367,0.9999999999999991,-1.9901959389250197e-11,3.4411399086046437e-12,1.5604704983137015e-14],"qvel":[-0.007813808436927135,0.0074960945296961845,-0.055247351852789006,-0.061040337193357136,0.07656453554895601,-0.010633163888920844,-2.867805442398341e-05,4.740728063102196e-06,-5.515671944583531e-12,-3.1900065439288875e-11,3.0825533732530618e-15,-2.0829781631924558e-10,3.6015964115347866e-11,2.6789052352634006e-13],"joint_position_rad":[-0.17220054371731966,1.1005185007779492,-0.6118726682696811,0.3096588892383705,0.24649459789923958,-0.191920226901129],"joint_velocity_rad_s":[-0.007813808436927135,0.0074960945296961845,-0.055247351852789006,-0.061040337193357136,0.07656453554895601,-0.010633163888920844],"gripper_joint_position_m":[0.034998393651136314,-0.03500115170577606],"tcp_position_m":[0.3043072250337943,-0.035631148864191726,0.1863772671754912],"tcp_quaternion_wxyz":[0.45080858940805296,0.10842765101742995,0.8858076401918183,0.018970629630187513],"object_position_m":[0.30027007180818527,-0.03397109132266981,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9901959389250197e-11,3.4411399086046437e-12,1.5604704983137015e-14],"object_linear_velocity_m_s":[-5.515671944583531e-12,-3.1900065439288875e-11,3.0825533732530618e-15],"object_angular_velocity_rad_s":[-2.082978163192445e-10,3.6015964115351964e-11,2.6789052352632693e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000822931},{"geom_ids":[1,90],"normal_force_n":0.09810000000580309},{"geom_ids":[1,90],"normal_force_n":0.09809999999177071},{"geom_ids":[1,90],"normal_force_n":0.09809999999419694}],"native_actuator_controls":[-0.17595465134463747,1.104728031726221,-0.617203393458844,0.29452181571541614,0.2915579662521686,-0.20143293556929123,0.035],"actuator_force_native":[-0.2612595680007903,0.29928200321326415,-0.1502212558690843,-0.300281254951388,0.33578688020585634,-0.07917734084824124,0.0002076442266674139],"issued_joint_targets_rad":[-0.1759371477295186,1.1049265605365188,-0.6177322754587735,0.2937060272048963,0.2924351453050409,-0.20198915170298729],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9199999999997894,"joint_targets_rad":[-0.1759371477295186,1.1049265605365188,-0.6177322754587735,0.2937060272048963,0.2924351453050409,-0.20198915170298729],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9399999999997872,"qpos":[-0.1723539372019889,1.1006728385613445,-0.6128707898375572,0.30842062991728114,0.2480599464814891,-0.1921476267177659,0.034998269863094365,-0.03500079425420618,0.30027007180808796,-0.033971091323232616,0.07989224457978367,0.9999999999999991,-1.880332912508389e-11,3.2511852827420924e-12,1.7716335443442702e-14],"qvel":[-0.007446762912107327,0.007732377761346283,-0.043209344694939034,-0.05783087169231286,0.07534288218871743,-0.01124150848261428,-1.12618494610167e-05,1.6455384727333132e-06,-6.693828434677039e-12,-3.871390071910678e-11,3.0811655944722804e-15,-8.388539636207099e-10,1.4504285363111465e-10,4.890996694118728e-13],"joint_position_rad":[-0.1723539372019889,1.1006728385613445,-0.6128707898375572,0.30842062991728114,0.2480599464814891,-0.1921476267177659],"joint_velocity_rad_s":[-0.007446762912107327,0.007732377761346283,-0.043209344694939034,-0.05783087169231286,0.07534288218871743,-0.01124150848261428],"gripper_joint_position_m":[0.034998269863094365,-0.03500079425420618],"tcp_position_m":[0.3043179829193948,-0.03564307682335917,0.1864692698136841],"tcp_quaternion_wxyz":[0.4504933195945361,0.10780734092083376,0.8860498475841638,0.01868191211718995],"object_position_m":[0.30027007180808796,-0.033971091323232616,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.880332912508389e-11,3.2511852827420924e-12,1.7716335443442702e-14],"object_linear_velocity_m_s":[-6.693828434677039e-12,-3.871390071910678e-11,3.0811655944722804e-15],"object_angular_velocity_rad_s":[-8.388539636207104e-10,1.4504285363110307e-10,4.890996694118343e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000781331},{"geom_ids":[1,90],"normal_force_n":0.09810000000550978},{"geom_ids":[1,90],"normal_force_n":0.09809999999218673},{"geom_ids":[1,90],"normal_force_n":0.09809999999449022}],"native_actuator_controls":[-0.1759371477295186,1.1049265605365188,-0.6177322754587735,0.2937060272048963,0.2924351453050409,-0.20198915170298729,0.035],"actuator_force_native":[-0.2494230276418392,0.3016358692072316,-0.1728721262226074,-0.29942975003382877,0.3307376649524416,-0.08155298712829273,0.00012551472353061754],"issued_joint_targets_rad":[-0.17595557574936185,1.1051962352271523,-0.6184349449764759,0.29267554314690497,0.2936148954924541,-0.20229568977710657],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9399999999997872,"joint_targets_rad":[-0.17595557574936185,1.1051962352271523,-0.6184349449764759,0.29267554314690497,0.2936148954924541,-0.20229568977710657],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.959999999999785,"qpos":[-0.1725013318260714,1.1008353834084779,-0.6136814775957216,0.3072101847085785,0.24966293963433844,-0.1923844324400535,0.03499841102642884,-0.035000343058353575,0.30027007180799764,-0.033971091323754976,0.07989224457978367,0.9999999999999991,-1.625480751473658e-11,2.8105366535219803e-12,1.9571606814536605e-14],"qvel":[-0.007152588504589964,0.008217054574638744,-0.03550990817863698,-0.056677643489775234,0.07810321835101519,-0.011525864618391396,-3.871086053205101e-06,-1.1766746245727763e-06,-3.439182321615049e-12,-1.9890592940204934e-11,3.0783900369107177e-15,6.958626268078761e-10,-1.203179330401914e-10,5.298994888422095e-14],"joint_position_rad":[-0.1725013318260714,1.1008353834084779,-0.6136814775957216,0.3072101847085785,0.24966293963433844,-0.1923844324400535],"joint_velocity_rad_s":[-0.007152588504589964,0.008217054574638744,-0.03550990817863698,-0.056677643489775234,0.07810321835101519,-0.011525864618391396],"gripper_joint_position_m":[0.03499841102642884,-0.035000343058353575],"tcp_position_m":[0.30428788450969146,-0.035643105821817546,0.18647654889276533],"tcp_quaternion_wxyz":[0.45007496284077886,0.10719874665355919,0.8863419359552805,0.018410027344431423],"object_position_m":[0.30027007180799764,-0.033971091323754976,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.625480751473658e-11,2.8105366535219803e-12,1.9571606814536605e-14],"object_linear_velocity_m_s":[-3.439182321615049e-12,-1.9890592940204934e-11,3.0783900369107177e-15],"object_angular_velocity_rad_s":[6.9586262680788e-10,-1.2031793304016222e-10,5.2989948884215704e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997346772},{"geom_ids":[1,90],"normal_force_n":0.09809999998129058},{"geom_ids":[1,90],"normal_force_n":0.09810000002653232},{"geom_ids":[1,90],"normal_force_n":0.0981000000187095}],"native_actuator_controls":[-0.17595557574936185,1.1051962352271523,-0.6184349449764759,0.29267554314690497,0.2936148954924541,-0.20229568977710657,0.035],"actuator_force_native":[-0.24057657134028432,0.30778287262076276,-0.20272784956716094,-0.29799744501806735,0.3223647310546345,-0.08182377644294392,8.291437311269689e-05],"issued_joint_targets_rad":[-0.176018834621008,1.1055452231532585,-0.6193302019559465,0.2914816462685517,0.29513279141785775,-0.2024466053850138],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.959999999999785,"joint_targets_rad":[-0.176018834621008,1.1055452231532585,-0.6193302019559465,0.2914816462685517,0.29513279141785775,-0.2024466053850138],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.979999999999783,"qpos":[-0.17264416343615668,1.101019613613591,-0.6143954568508814,0.30599747832105206,0.2513679399765224,-0.19262504942462225,0.034998632951957695,-0.03499984079476222,0.3002700718078934,-0.03397109132435784,0.07989224457978367,0.9999999999999991,-1.7358932840477136e-11,3.001451896542386e-12,2.2958872346269386e-14],"qvel":[-0.00694167556811606,0.009114465037083823,-0.032143219250920396,-0.056850971024882756,0.08327745094655406,-0.011577128109299568,-4.37603486293604e-06,-4.655370485528943e-06,-3.708657194489294e-12,-2.144907821088475e-11,3.0825533732530618e-15,6.120487849930122e-10,-1.0582619968157567e-10,9.674648808073757e-14],"joint_position_rad":[-0.17264416343615668,1.101019613613591,-0.6143954568508814,0.30599747832105206,0.2513679399765224,-0.19262504942462225],"joint_velocity_rad_s":[-0.00694167556811606,0.009114465037083823,-0.032143219250920396,-0.056850971024882756,0.08327745094655406,-0.011577128109299568],"gripper_joint_position_m":[0.034998632951957695,-0.03499984079476222],"tcp_position_m":[0.30422814889714067,-0.0356311131424745,0.18642138586288542],"tcp_quaternion_wxyz":[0.4495597678983997,0.10658659214547068,0.8866824495291745,0.01815343380451238],"object_position_m":[0.3002700718078934,-0.03397109132435784,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7358932840477136e-11,3.001451896542386e-12,2.2958872346269386e-14],"object_linear_velocity_m_s":[-3.708657194489294e-12,-2.144907821088475e-11,3.0825533732530618e-15],"object_angular_velocity_rad_s":[6.120487849930166e-10,-1.0582619968154402e-10,9.674648808072721e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000216737},{"geom_ids":[1,90],"normal_force_n":0.09810000000152841},{"geom_ids":[1,90],"normal_force_n":0.09809999999783273},{"geom_ids":[1,90],"normal_force_n":0.09809999999847152}],"native_actuator_controls":[-0.176018834621008,1.1055452231532585,-0.6193302019559465,0.2914816462685517,0.29513279141785775,-0.2024466053850138,0.035],"actuator_force_native":[-0.23526531694752606,0.31647643798798697,-0.23406351215059829,-0.29637842697560046,0.31273233799352207,-0.08084986743996625,7.656209600681585e-05],"issued_joint_targets_rad":[-0.17612939336791475,1.1059706533604738,-0.6204097532087455,0.2901879855750847,0.296976520581759,-0.2025309472567655],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.979999999999783,"joint_targets_rad":[-0.17612939336791475,1.1059706533604738,-0.6204097532087455,0.2901879855750847,0.296976520581759,-0.2025309472567655],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9999999999997806,"qpos":[-0.17278382803976897,1.1012636585943412,-0.6151041739920047,0.30476800529223547,0.2532061346595377,-0.19286572745764963,0.03499883140087025,-0.034999445116952244,0.30027007180779175,-0.03397109132494581,0.07989224457978367,0.9999999999999991,-1.822954548854002e-11,3.1519785419730232e-12,2.6801976507606826e-14],"qvel":[-0.006808643732621385,0.012749497449538894,-0.03321305380489379,-0.05760799649068344,0.08917589983026188,-0.011493180731829977,-8.576465598073578e-06,-1.4699070161314678e-05,-4.034675916004329e-12,-2.3334651900184712e-11,3.0811655944722808e-15,4.574935114780089e-10,-7.910334886328414e-11,1.7663491627617318e-13],"joint_position_rad":[-0.17278382803976897,1.1012636585943412,-0.6151041739920047,0.30476800529223547,0.2532061346595377,-0.19286572745764963],"joint_velocity_rad_s":[-0.006808643732621385,0.012749497449538894,-0.03321305380489379,-0.05760799649068344,0.08917589983026188,-0.011493180731829977],"gripper_joint_position_m":[0.03499883140087025,-0.034999445116952244],"tcp_position_m":[0.3041555356521416,-0.03560932406016046,0.1863243452333069],"tcp_quaternion_wxyz":[0.44895776349132627,0.10596356966194406,0.8870669890869306,0.017911040662450448],"object_position_m":[0.30027007180779175,-0.03397109132494581,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.822954548854002e-11,3.1519785419730232e-12,2.6801976507606826e-14],"object_linear_velocity_m_s":[-4.034675916004329e-12,-2.3334651900184712e-11,3.0811655944722808e-15],"object_angular_velocity_rad_s":[4.5749351147801346e-10,-7.910334886325304e-11,1.766349162761896e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000424189},{"geom_ids":[1,90],"normal_force_n":0.09810000000299114},{"geom_ids":[1,90],"normal_force_n":0.0980999999957581},{"geom_ids":[1,90],"normal_force_n":0.09809999999700886}],"native_actuator_controls":[-0.17612939336791475,1.1059706533604738,-0.6204097532087455,0.2901879855750847,0.296976520581759,-0.2025309472567655,0.035],"actuator_force_native":[-0.23360200758855498,0.31281209404292554,-0.25838106831479735,-0.2951608062326141,0.3039400094768201,-0.07941242689341355,8.962629318065574e-05],"issued_joint_targets_rad":[-0.17628536071265608,1.1064660625681588,-0.6216566072704578,0.28884016601980667,0.2991169219263897,-0.2026038682380781],"issued_gripper_position_m":0.035,"command":{"t_seconds":2.9999999999997806,"joint_targets_rad":[-0.17628536071265608,1.1064660625681588,-0.6216566072704578,0.28884016601980667,0.2991169219263897,-0.2026038682380781],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0199999999997784,"qpos":[-0.17292228095588827,1.1015982370580508,-0.6158753157387384,0.3035167826789244,0.2551775345616656,-0.1931045554978669,0.03499899127711098,-0.03499920885460947,0.30027007180768683,-0.03397109132555289,0.07989224457978367,0.9999999999999991,-1.974138952465429e-11,3.4133678669678836e-12,3.1653470840904744e-14],"qvel":[-0.006780922674603484,0.017401511324865337,-0.03716239857324109,-0.05857364324834693,0.09498643329672377,-0.011355319325215042,-1.1197910051168778e-05,-2.4715341536367767e-05,-4.6129566066003114e-12,-2.6679263404660054e-11,3.0770022581299367e-15,2.426653527536139e-10,-4.1958795139059115e-11,3.2249183104470756e-13],"joint_position_rad":[-0.17292228095588827,1.1015982370580508,-0.6158753157387384,0.3035167826789244,0.2551775345616656,-0.1931045554978669],"joint_velocity_rad_s":[-0.006780922674603484,0.017401511324865337,-0.03716239857324109,-0.05857364324834693,0.09498643329672377,-0.011355319325215042],"gripper_joint_position_m":[0.03499899127711098,-0.03499920885460947],"tcp_position_m":[0.30408518615018637,-0.035581367536640665,0.18620364808025786],"tcp_quaternion_wxyz":[0.4482851840699433,0.10532782106839476,0.8874873804921878,0.017680308806010146],"object_position_m":[0.30027007180768683,-0.03397109132555289,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.974138952465429e-11,3.4133678669678836e-12,3.1653470840904744e-14],"object_linear_velocity_m_s":[-4.6129566066003114e-12,-2.6679263404660054e-11,3.0770022581299367e-15],"object_angular_velocity_rad_s":[2.4266535275361836e-10,-4.1958795139030946e-11,3.2249183104474457e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000691829},{"geom_ids":[1,90],"normal_force_n":0.0981000000048786},{"geom_ids":[1,90],"normal_force_n":0.09809999999308171},{"geom_ids":[1,90],"normal_force_n":0.09809999999512137}],"native_actuator_controls":[-0.17628536071265608,1.1064660625681588,-0.6216566072704578,0.28884016601980667,0.2991169219263897,-0.2026038682380781,0.035],"actuator_force_native":[-0.2351417671684075,0.30241848418431516,-0.276691329671344,-0.2941964501229748,0.2969142237021556,-0.07796014841428955,9.633846581680316e-05],"issued_joint_targets_rad":[-0.1764785562774497,1.1070195833403658,-0.6230406933511546,0.28746538766771385,0.3015000190092597,-0.20269065970757114],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.0199999999997784,"joint_targets_rad":[-0.1764785562774497,1.1070195833403658,-0.6230406933511546,0.28746538766771385,0.3015000190092597,-0.20269065970757114],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.039999999999776,"qpos":[-0.17306147752279333,1.1020271156463792,-0.6167502871993619,0.30224379060579937,0.25727243964577184,-0.19334083673841504,0.034999137670620836,-0.03499910881142662,0.3002700718075831,-0.03397109132615304,0.07989224457978367,0.9999999999999991,-2.0298604694625894e-11,3.5097021050303372e-12,3.6925989956928746e-14],"qvel":[-0.006847278707139765,0.021737705015805894,-0.042712845820035227,-0.059532386920423015,0.10033215325383912,-0.011207870632654451,-1.2544193407625128e-05,-3.180800666317003e-05,-5.386901246173548e-12,-3.115552818676344e-11,3.078390036910718e-15,-1.2256041652608973e-10,2.1190154176137518e-11,5.887885899411198e-13],"joint_position_rad":[-0.17306147752279333,1.1020271156463792,-0.6167502871993619,0.30224379060579937,0.25727243964577184,-0.19334083673841504],"joint_velocity_rad_s":[-0.006847278707139765,0.021737705015805894,-0.042712845820035227,-0.059532386920423015,0.10033215325383912,-0.011207870632654451],"gripper_joint_position_m":[0.034999137670620836,-0.03499910881142662],"tcp_position_m":[0.30402649361821427,-0.035550230923109626,0.1860766181373319],"tcp_quaternion_wxyz":[0.4475628424614022,0.10467930674988586,0.8879329598657725,0.017458624523182285],"object_position_m":[0.3002700718075831,-0.03397109132615304,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0298604694625894e-11,3.5097021050303372e-12,3.6925989956928746e-14],"object_linear_velocity_m_s":[-5.386901246173548e-12,-3.115552818676344e-11,3.078390036910718e-15],"object_angular_velocity_rad_s":[-1.2256041652608697e-10,2.1190154176152333e-11,5.887885899411588e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000859918},{"geom_ids":[1,90],"normal_force_n":0.09810000000606388},{"geom_ids":[1,90],"normal_force_n":0.09809999999140086},{"geom_ids":[1,90],"normal_force_n":0.0980999999939361}],"native_actuator_controls":[-0.1764785562774497,1.1070195833403658,-0.6230406933511546,0.28746538766771385,0.3015000190092597,-0.20269065970757114,0.035],"actuator_force_native":[-0.239129906836812,0.29070889043988757,-0.28966826304324655,-0.29347418292130634,0.29177756375412045,-0.07668642374257928,9.721414220464908e-05],"issued_joint_targets_rad":[-0.17669906866145585,1.107615533947472,-0.6245226780864033,0.28609547655391915,0.30405584041876,-0.20281665093120754],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.039999999999776,"joint_targets_rad":[-0.17669906866145585,1.107615533947472,-0.6245226780864033,0.28609547655391915,0.30405584041876,-0.20281665093120754],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.059999999999774,"qpos":[-0.1732029215190827,1.10253603576019,-0.6177487285914872,0.3009537570480086,0.2594746952289454,-0.19357459341622973,0.03499927481791573,-0.034999107111527206,0.3002700718074824,-0.03397109132673576,0.07989224457978367,0.9999999999999991,-1.9695777082501478e-11,3.4054617894998357e-12,4.235565539128965e-14],"qvel":[-0.006981047641173471,0.025176868981998574,-0.04891533887160061,-0.060259716128018496,0.10491571172340511,-0.011085555893970818,-1.3513489089714726e-05,-3.6569465093838464e-05,-6.523143698269542e-12,-3.7727241254887814e-11,3.0853289308146253e-15,-6.999158138543209e-10,1.2101606265994804e-10,1.074978191338014e-12],"joint_position_rad":[-0.1732029215190827,1.10253603576019,-0.6177487285914872,0.3009537570480086,0.2594746952289454,-0.19357459341622973],"joint_velocity_rad_s":[-0.006981047641173471,0.025176868981998574,-0.04891533887160061,-0.060259716128018496,0.10491571172340511,-0.011085555893970818],"gripper_joint_position_m":[0.03499927481791573,-0.034999107111527206],"tcp_position_m":[0.30398423099599886,-0.03551810019579037,0.1859582743650826],"tcp_quaternion_wxyz":[0.4468127861158369,0.10401976907810603,0.888392292723314,0.017244014444290797],"object_position_m":[0.3002700718074824,-0.03397109132673576,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9695777082501478e-11,3.4054617894998357e-12,4.235565539128965e-14],"object_linear_velocity_m_s":[-6.523143698269542e-12,-3.7727241254887814e-11,3.0853289308146253e-15],"object_angular_velocity_rad_s":[-6.999158138543226e-10,1.2101606265993087e-10,1.0749781913380743e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000086866},{"geom_ids":[1,90],"normal_force_n":0.0981000000061255},{"geom_ids":[1,90],"normal_force_n":0.09809999999131343},{"geom_ids":[1,90],"normal_force_n":0.09809999999387452}],"native_actuator_controls":[-0.17669906866145585,1.107615533947472,-0.6245226780864033,0.28609547655391915,0.30405584041876,-0.20281665093120754,0.035],"actuator_force_native":[-0.24478653318398358,0.2804755100725629,-0.29733926523528,-0.293032639123485,0.28843788431303796,-0.07579224130882167,9.657472881952067e-05],"issued_joint_targets_rad":[-0.17693722063577547,1.1082370207820373,-0.6260604199186399,0.2847643324814836,0.30671000216428246,-0.20300564567736176],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.059999999999774,"joint_targets_rad":[-0.17693722063577547,1.1082370207820373,-0.6260604199186399,0.2847643324814836,0.30671000216428246,-0.20300564567736176],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.079999999999772,"qpos":[-0.17334759118661014,1.1031034872925514,-0.6188728145273017,0.29965581188960794,0.26176179696667756,-0.19380649008704312,0.034999398636524945,-0.03499918748828262,0.30027007180738735,-0.033971091327285416,0.07989224457978367,0.9999999999999991,-1.7599704672264802e-11,3.043039857758456e-12,4.7356392323793436e-14],"qvel":[-0.00715708635591456,0.027529045652320425,-0.05499166811554128,-0.06055445706993947,0.10846314268876815,-0.011020606857006216,-1.4097792600607435e-05,-4.000050100604591e-05,-8.355002555535147e-12,-4.832181488352141e-11,3.0770022581299367e-15,-1.5629199221613666e-09,2.7023509925050357e-10,1.962641532914627e-12],"joint_position_rad":[-0.17334759118661014,1.1031034872925514,-0.6188728145273017,0.29965581188960794,0.26176179696667756,-0.19380649008704312],"joint_velocity_rad_s":[-0.00715708635591456,0.027529045652320425,-0.05499166811554128,-0.06055445706993947,0.10846314268876815,-0.011020606857006216],"gripper_joint_position_m":[0.034999398636524945,-0.03499918748828262],"tcp_position_m":[0.30396007525952107,-0.03548659128070191,0.18585977888316868],"tcp_quaternion_wxyz":[0.4460553678671974,0.10335288441781454,0.8888546504291209,0.017035271935087568],"object_position_m":[0.30027007180738735,-0.033971091327285416,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7599704672264802e-11,3.043039857758456e-12,4.7356392323793436e-14],"object_linear_velocity_m_s":[-8.355002555535147e-12,-4.832181488352141e-11,3.0770022581299367e-15],"object_angular_velocity_rad_s":[-1.5629199221613775e-09,2.702350992504241e-10,1.962641532914563e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000053643},{"geom_ids":[1,90],"normal_force_n":0.09810000000378259},{"geom_ids":[1,90],"normal_force_n":0.09809999999463573},{"geom_ids":[1,90],"normal_force_n":0.09809999999621737}],"native_actuator_controls":[-0.17693722063577547,1.1082370207820373,-0.6260604199186399,0.2847643324814836,0.30671000216428246,-0.20300564567736176,0.035],"actuator_force_native":[-0.251384924153653,0.27303745089727727,-0.30005009072935707,-0.29288689097527687,0.2867873379428967,-0.07546064561767718,9.454350200521766e-05],"issued_joint_targets_rad":[-0.17718437884763688,1.1088681620345529,-0.6276145585176841,0.28350045580176814,0.3093932825076368,-0.20327309691374534],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.079999999999772,"joint_targets_rad":[-0.17718437884763688,1.1088681620345529,-0.6276145585176841,0.28350045580176814,0.3093932825076368,-0.20327309691374534],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0999999999997696,"qpos":[-0.17349601349664215,1.1037069310516547,-0.6201117691870439,0.2983619638958635,0.26410770921567245,-0.19403776879584927,0.03499950849961177,-0.034999343160552886,0.3002700718072839,-0.03397109132788449,0.07989224457978367,0.9999999999999991,-1.7702148251572828e-11,3.0607576325005016e-12,5.480115963487181e-14],"qvel":[-0.007354207690239404,0.02882406228633927,-0.06035496769815898,-0.06028703045764088,0.11080749612753568,-0.011036861445851857,-1.4185363886433261e-05,-4.244188594663283e-05,-3.762881421865412e-12,-2.176293881588968e-11,3.078390036910718e-15,6.591014156905524e-10,-1.1396059981342172e-10,2.1263634567649878e-13],"joint_position_rad":[-0.17349601349664215,1.1037069310516547,-0.6201117691870439,0.2983619638958635,0.26410770921567245,-0.19403776879584927],"joint_velocity_rad_s":[-0.007354207690239404,0.02882406228633927,-0.06035496769815898,-0.06028703045764088,0.11080749612753568,-0.011036861445851857],"gripper_joint_position_m":[0.03499950849961177,-0.034999343160552886],"tcp_position_m":[0.30395355238788263,-0.035456824376612406,0.18578791872047729],"tcp_quaternion_wxyz":[0.4453072497607545,0.10268366927080146,0.8893110837129247,0.016831926833879757],"object_position_m":[0.3002700718072839,-0.03397109132788449,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7702148251572828e-11,3.0607576325005016e-12,5.480115963487181e-14],"object_linear_velocity_m_s":[-3.762881421865412e-12,-2.176293881588968e-11,3.078390036910718e-15],"object_angular_velocity_rad_s":[6.591014156905651e-10,-1.1396059981334175e-10,2.1263634567649388e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000178934},{"geom_ids":[1,90],"normal_force_n":0.09810000000126183},{"geom_ids":[1,90],"normal_force_n":0.09809999999821062},{"geom_ids":[1,90],"normal_force_n":0.09809999999873818}],"native_actuator_controls":[-0.17718437884763688,1.1088681620345529,-0.6276145585176841,0.28350045580176814,0.3093932825076368,-0.20327309691374534,0.035],"actuator_force_native":[-0.25829818962838047,0.2687781672001677,-0.2984483079604203,-0.2930251714756089,0.2866444887283399,-0.07579798901018298,9.058683496165898e-05],"issued_joint_targets_rad":[-0.17743362151762807,1.1094956600014494,-0.6291524450078181,0.2823236790104196,0.3120484370957433,-0.2036245578518858],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.0999999999997696,"joint_targets_rad":[-0.17743362151762807,1.1094956600014494,-0.6291524450078181,0.2823236790104196,0.3120484370957433,-0.2036245578518858],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1199999999997674,"qpos":[-0.1736483618573509,1.1043259960791079,-0.6214455508633367,0.2970853287850797,0.2664853950825572,-0.1942700571433138,0.03499960715737453,-0.034999564001593986,0.30027007180717785,-0.03397109132849785,0.07989224457978367,0.9999999999999991,-1.870848221525132e-11,3.2347674800659947e-12,6.432836919905202e-14],"qvel":[-0.007555891011503176,0.029210755544850357,-0.06461098406073262,-0.05941217999979638,0.11192987347056443,-0.011146461421792405,-1.3796287690869072e-05,-4.3737965465056126e-05,-4.089764921848322e-12,-2.365342819639195e-11,3.0756144793491553e-15,5.215936424598671e-10,-9.018492443847676e-11,3.882214418963053e-13],"joint_position_rad":[-0.1736483618573509,1.1043259960791079,-0.6214455508633367,0.2970853287850797,0.2664853950825572,-0.1942700571433138],"joint_velocity_rad_s":[-0.007555891011503176,0.029210755544850357,-0.06461098406073262,-0.05941217999979638,0.11192987347056443,-0.011146461421792405],"gripper_joint_position_m":[0.03499960715737453,-0.034999564001593986],"tcp_position_m":[0.3039626493756993,-0.03542948787767136,0.18574521435909405],"tcp_quaternion_wxyz":[0.44458049175997905,0.10201777758675222,0.8897549480134678,0.01663405808172039],"object_position_m":[0.30027007180717785,-0.03397109132849785,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.870848221525132e-11,3.2347674800659947e-12,6.432836919905202e-14],"object_linear_velocity_m_s":[-4.089764921848322e-12,-2.365342819639195e-11,3.0756144793491553e-15],"object_angular_velocity_rad_s":[5.215936424598802e-10,-9.018492443839496e-11,3.8822144189628245e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000387893},{"geom_ids":[1,90],"normal_force_n":0.09810000000273525},{"geom_ids":[1,90],"normal_force_n":0.09809999999612107},{"geom_ids":[1,90],"normal_force_n":0.09809999999726476}],"native_actuator_controls":[-0.17743362151762807,1.1094956600014494,-0.6291524450078181,0.2823236790104196,0.3120484370957433,-0.2036245578518858,0.035],"actuator_force_native":[-0.26504131776465734,0.2675193360630743,-0.29349661125484516,-0.29340509098742196,0.2877356099260142,-0.07682531495303113,8.469514347297924e-05],"issued_joint_targets_rad":[-0.17767989775250073,1.1101095671270134,-0.6306500107829628,0.2812438889395998,0.31463336716877555,-0.20405597719348745],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.1199999999997674,"joint_targets_rad":[-0.17767989775250073,1.1101095671270134,-0.6306500107829628,0.2812438889395998,0.31463336716877555,-0.20405597719348745],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.139999999999765,"qpos":[-0.17380454995920083,1.104944170333866,-0.6228486194581953,0.29583842651840175,0.2688696626207505,-0.19450513537933717,0.0349996979412598,-0.034999831096528475,0.3002700718070745,-0.03397109132909518,0.07989224457978367,0.9999999999999991,-1.934158371586341e-11,3.3442332348555246e-12,7.499136768738398e-14],"qvel":[-0.007750020007963277,0.028897087567739663,-0.06755406385389504,-0.057963565558502364,0.11194806095432847,-0.011349376617512076,-1.3092491220700398e-05,-4.365924847019947e-05,-4.5152554034813185e-12,-2.611427950710794e-11,3.0783900369107184e-15,2.877252436995373e-10,-4.974881215116041e-11,7.087983233532507e-13],"joint_position_rad":[-0.17380454995920083,1.104944170333866,-0.6228486194581953,0.29583842651840175,0.2688696626207505,-0.19450513537933717],"joint_velocity_rad_s":[-0.007750020007963277,0.028897087567739663,-0.06755406385389504,-0.057963565558502364,0.11194806095432847,-0.011349376617512076],"gripper_joint_position_m":[0.0349996979412598,-0.034999831096528475],"tcp_position_m":[0.30398431166213974,-0.0354048692631639,0.18573047002771537],"tcp_quaternion_wxyz":[0.44388220947515344,0.10136075867996996,0.8901821370427768,0.016442128853392298],"object_position_m":[0.3002700718070745,-0.03397109132909518,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.934158371586341e-11,3.3442332348555246e-12,7.499136768738398e-14],"object_linear_velocity_m_s":[-4.5152554034813185e-12,-2.611427950710794e-11,3.0783900369107184e-15],"object_angular_velocity_rad_s":[2.87725243699549e-10,-4.974881215108975e-11,7.087983233532504e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000602043},{"geom_ids":[1,90],"normal_force_n":0.09810000000424529},{"geom_ids":[1,90],"normal_force_n":0.09809999999397963},{"geom_ids":[1,90],"normal_force_n":0.09809999999575468}],"native_actuator_controls":[-0.17767989775250073,1.1101095671270134,-0.6306500107829628,0.2812438889395998,0.31463336716877555,-0.20405597719348745,0.035],"actuator_force_native":[-0.2712777234241752,0.2687463056130923,-0.2863409867119273,-0.29396367535956713,0.2897149540487578,-0.07848435321523439,7.754480571153799e-05],"issued_joint_targets_rad":[-0.17792007869320917,1.1107036562470411,-0.6320925665649475,0.28026168336159046,0.3171224472482424,-0.20455579218930167],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.139999999999765,"joint_targets_rad":[-0.17792007869320917,1.1107036562470411,-0.6320925665649475,0.28026168336159046,0.3171224472482424,-0.20455579218930167],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.159999999999763,"qpos":[-0.17396446045663658,1.1055494469564797,-0.6242932298611956,0.2946318550305732,0.271239294499808,-0.19474471047067132,0.0349997669219376,-0.035000097124732475,0.30027007180697446,-0.03397109132967332,0.07989224457978367,0.9999999999999991,-1.9399583499552005e-11,3.3542579812858048e-12,8.657976402665955e-14],"qvel":[-0.007931269321189113,0.028112382882672295,-0.06914744679752269,-0.056036892528788566,0.11108862468972089,-0.011635409727753001,-2.021641300548209e-05,-3.076045190488254e-05,-5.140627648237944e-12,-2.9731178766939845e-11,3.0742267005683743e-15,-8.031942381387774e-11,1.3887134137054979e-11,1.294091251569895e-12],"joint_position_rad":[-0.17396446045663658,1.1055494469564797,-0.6242932298611956,0.2946318550305732,0.271239294499808,-0.19474471047067132],"joint_velocity_rad_s":[-0.007931269321189113,0.028112382882672295,-0.06914744679752269,-0.056036892528788566,0.11108862468972089,-0.011635409727753001],"gripper_joint_position_m":[0.0349997669219376,-0.035000097124732475],"tcp_position_m":[0.3040148623706599,-0.03538294814271277,0.18573956507136258],"tcp_quaternion_wxyz":[0.4432147987938746,0.10071753230139836,0.890591004765671,0.016256784666544496],"object_position_m":[0.30027007180697446,-0.03397109132967332,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9399583499552005e-11,3.3542579812858048e-12,8.657976402665955e-14],"object_linear_velocity_m_s":[-5.140627648237944e-12,-2.9731178766939845e-11,3.0742267005683743e-15],"object_angular_velocity_rad_s":[-8.031942381387131e-11,1.3887134137091255e-11,1.2940912515699075e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000769094},{"geom_ids":[1,90],"normal_force_n":0.09810000000542339},{"geom_ids":[1,90],"normal_force_n":0.09809999999230908},{"geom_ids":[1,90],"normal_force_n":0.09809999999457657}],"native_actuator_controls":[-0.17792007869320917,1.1107036562470411,-0.6320925665649475,0.28026168336159046,0.3171224472482424,-0.20455579218930167,0.035],"actuator_force_native":[-0.2767931123198615,0.27177482883155335,-0.2782097023125374,-0.29462240411536733,0.2921985904497624,-0.08065770259467397,0.00011040518752358786],"issued_joint_targets_rad":[-0.17815270597129826,1.1112753565477491,-0.6334744868829051,0.2793693665340158,0.31950584129386117,-0.20510678453448708],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.159999999999763,"joint_targets_rad":[-0.17815270597129826,1.1112753565477491,-0.6334744868829051,0.2793693665340158,0.31950584129386117,-0.20510678453448708],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.179999999999761,"qpos":[-0.17412867610661084,1.1061346799757212,-0.6257533209563063,0.2934733140428284,0.2735795603079767,-0.19499024332674245,0.0349996830414828,-0.035000165142556564,0.30027007180687876,-0.03397109133022636,0.07989224457978367,0.9999999999999991,-1.8593031606632437e-11,3.2147975370953724e-12,9.851355534406739e-14],"qvel":[-0.008111995737511259,0.027080366661332973,-0.06950501333489577,-0.05377311584189577,0.10961463052659876,-0.011986701754396251,-2.7387185716525902e-05,-1.72216133247239e-05,-6.141597966358187e-12,-3.552045248948251e-11,3.0783900369107184e-15,-6.348648533033029e-10,1.0976942291537567e-10,2.362680502303667e-12],"joint_position_rad":[-0.17412867610661084,1.1061346799757212,-0.6257533209563063,0.2934733140428284,0.2735795603079767,-0.19499024332674245],"joint_velocity_rad_s":[-0.008111995737511259,0.027080366661332973,-0.06950501333489577,-0.05377311584189577,0.10961463052659876,-0.011986701754396251],"gripper_joint_position_m":[0.0349996830414828,-0.035000165142556564],"tcp_position_m":[0.30405046600672225,-0.035363619703414555,0.18576651793417254],"tcp_quaternion_wxyz":[0.4425764051205597,0.10009214258001202,0.8909821353339908,0.016078654794063913],"object_position_m":[0.30027007180687876,-0.03397109133022636,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8593031606632437e-11,3.2147975370953724e-12,9.851355534406739e-14],"object_linear_velocity_m_s":[-6.141597966358187e-12,-3.552045248948251e-11,3.0783900369107184e-15],"object_angular_velocity_rad_s":[-6.348648533033082e-10,1.0976942291533825e-10,2.362680502303694e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000790411},{"geom_ids":[1,90],"normal_force_n":0.09810000000557359},{"geom_ids":[1,90],"normal_force_n":0.09809999999209586},{"geom_ids":[1,90],"normal_force_n":0.0980999999944265}],"native_actuator_controls":[-0.17815270597129826,1.1112753565477491,-0.6334744868829051,0.2793693665340158,0.31950584129386117,-0.20510678453448708,0.035],"actuator_force_native":[-0.2813624104874375,0.27585229245556775,-0.2701682074534233,-0.29529232114302495,0.2948408640689464,-0.08318535944585204,0.00014961426927073695],"issued_joint_targets_rad":[-0.17837755120456572,1.1118254888891481,-0.6347983954215408,0.27855155776035334,0.32178788137802455,-0.20568696179489443],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.179999999999761,"joint_targets_rad":[-0.17837755120456572,1.1118254888891481,-0.6347983954215408,0.27855155776035334,0.32178788137802455,-0.20568696179489443],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1999999999997586,"qpos":[-0.1742978890839491,1.106697142996002,-0.6272067588954919,0.2923668784924454,0.2758820215245295,-0.19524279727673968,0.03499952759735367,-0.03500012936909369,0.3002700718067841,-0.033971091330773175,0.07989224457978367,0.9999999999999991,-1.770415422727556e-11,3.061102833805533e-12,1.1177189355232181e-13],"qvel":[-0.008293192200965608,0.025998770923155407,-0.06885239379179539,-0.051341695840813543,0.10781201579472988,-0.012378165614513213,-2.5702601094125567e-05,-1.4545173060330876e-05,-7.83741940750621e-12,-4.5328481129503864e-11,3.0783900369107184e-15,-1.4402967682795786e-09,2.4902983860100854e-10,4.313650143982667e-12],"joint_position_rad":[-0.1742978890839491,1.106697142996002,-0.6272067588954919,0.2923668784924454,0.2758820215245295,-0.19524279727673968],"joint_velocity_rad_s":[-0.008293192200965608,0.025998770923155407,-0.06885239379179539,-0.051341695840813543,0.10781201579472988,-0.012378165614513213],"gripper_joint_position_m":[0.03499952759735367,-0.03500012936909369],"tcp_position_m":[0.30408757345368337,-0.0353466592206395,0.1858045523166822],"tcp_quaternion_wxyz":[0.4419621656053889,0.09948719080621209,0.8913577695293471,0.015908165782106576],"object_position_m":[0.3002700718067841,-0.033971091330773175,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.770415422727556e-11,3.061102833805533e-12,1.1177189355232181e-13],"object_linear_velocity_m_s":[-7.83741940750621e-12,-4.5328481129503864e-11,3.0783900369107184e-15],"object_angular_velocity_rad_s":[-1.4402967682796053e-09,2.4902983860083886e-10,4.313650143982727e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000717176},{"geom_ids":[1,90],"normal_force_n":0.09810000000505746},{"geom_ids":[1,90],"normal_force_n":0.09809999999282823},{"geom_ids":[1,90],"normal_force_n":0.09809999999494255}],"native_actuator_controls":[-0.17837755120456572,1.1118254888891481,-0.6347983954215408,0.27855155776035334,0.32178788137802455,-0.20568696179489443,0.035],"actuator_force_native":[-0.28490700864450247,0.28027381683591557,-0.26306895312493594,-0.29590435007961524,0.2973405748428557,-0.0858743967597777,0.00014740911132404833],"issued_joint_targets_rad":[-0.1785953045392757,1.1123573963747597,-0.6360729143390884,0.2777890098560643,0.3239831862790129,-0.20627402368718653],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.1999999999997586,"joint_targets_rad":[-0.1785953045392757,1.1123573963747597,-0.6360729143390884,0.2777890098560643,0.3239831862790129,-0.20627402368718653],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2199999999997564,"qpos":[-0.174472055601589,1.1072378063205923,-0.6286369216661105,0.29131296589566125,0.2781441304438425,-0.1955029332225939,0.034999394924367384,-0.03500010406657355,0.30027007180668475,-0.0339710913313476,0.07989224457978367,0.9999999999999991,-1.738999943443576e-11,3.0067780959319592e-12,1.2813459649299438e-13],"qvel":[-0.008461491658268526,0.025023869493096224,-0.06748067009703601,-0.04890706465782042,0.10595644995218353,-0.012782159313386636,-2.1934184695697833e-05,-1.4750488787518343e-05,-3.668792317169283e-12,-2.121881475372772e-11,3.083941152033844e-15,6.613963491863354e-10,-1.143574484115857e-10,4.673485290664096e-13],"joint_position_rad":[-0.174472055601589,1.1072378063205923,-0.6286369216661105,0.29131296589566125,0.2781441304438425,-0.1955029332225939],"joint_velocity_rad_s":[-0.008461491658268526,0.025023869493096224,-0.06748067009703601,-0.04890706465782042,0.10595644995218353,-0.012782159313386636],"gripper_joint_position_m":[0.034999394924367384,-0.03500010406657355],"tcp_position_m":[0.3041232623129987,-0.035331563647285895,0.18584702325825447],"tcp_quaternion_wxyz":[0.44136539200886893,0.09890342130652949,0.8917212456831671,0.01574560217906182],"object_position_m":[0.30027007180668475,-0.0339710913313476,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.738999943443576e-11,3.0067780959319592e-12,1.2813459649299438e-13],"object_linear_velocity_m_s":[-3.668792317169283e-12,-2.121881475372772e-11,3.083941152033844e-15],"object_angular_velocity_rad_s":[6.613963491863663e-10,-1.1435744841139974e-10,4.673485290664165e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000172703},{"geom_ids":[1,90],"normal_force_n":0.0981000000012179},{"geom_ids":[1,90],"normal_force_n":0.098099999998273},{"geom_ids":[1,90],"normal_force_n":0.09809999999878209}],"native_actuator_controls":[-0.1785953045392757,1.1123573963747597,-0.6360729143390884,0.2777890098560643,0.3239831862790129,-0.20627402368718653,0.035],"actuator_force_native":[-0.28755245672359386,0.28444785686791363,-0.25747606335304596,-0.2964229182947751,0.2994558834234282,-0.08853766567584631,0.00013387394878328074],"issued_joint_targets_rad":[-0.17880764731709026,1.112876100258631,-0.6373105013763318,0.2770637606144945,0.3261131204489888,-0.20685087107069408],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.2199999999997564,"joint_targets_rad":[-0.17880764731709026,1.112876100258631,-0.6373105013763318,0.2770637606144945,0.3261131204489888,-0.20685087107069408],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.239999999999754,"qpos":[-0.17465082527406797,1.1077603447606994,-0.6300333774421667,0.29030912319415547,0.2803685605867615,-0.19577071821283615,0.034999306420629914,-0.035000085467888506,0.3002700718065764,-0.03397109133197431,0.07989224457978367,0.9999999999999991,-1.8848336276138577e-11,3.2589234876814466e-12,1.517282317117711e-13],"qvel":[-0.008614262566729184,0.02426332276108026,-0.0656968289279956,-0.046597994383554726,0.1042727020082252,-0.013175781612730466,-1.8036521919057744e-05,-1.409764126116528e-05,-4.068298567977106e-12,-2.3529422280988124e-11,3.077002258129937e-15,5.606062998782124e-10,-9.693043986677817e-11,8.532617335375412e-13],"joint_position_rad":[-0.17465082527406797,1.1077603447606994,-0.6300333774421667,0.29030912319415547,0.2803685605867615,-0.19577071821283615],"joint_velocity_rad_s":[-0.008614262566729184,0.02426332276108026,-0.0656968289279956,-0.046597994383554726,0.1042727020082252,-0.013175781612730466],"gripper_joint_position_m":[0.034999306420629914,-0.035000085467888506],"tcp_position_m":[0.30415537874427157,-0.03531772179376385,0.18588811229268054],"tcp_quaternion_wxyz":[0.4407786221233162,0.09834017039661833,0.8920764174123926,0.015591108430942672],"object_position_m":[0.3002700718065764,-0.03397109133197431,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8848336276138577e-11,3.2589234876814466e-12,1.517282317117711e-13],"object_linear_velocity_m_s":[-4.068298567977106e-12,-2.3529422280988124e-11,3.077002258129937e-15],"object_angular_velocity_rad_s":[5.606062998782463e-10,-9.69304398665757e-11,8.532617335375486e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000370832},{"geom_ids":[1,90],"normal_force_n":0.09810000000261504},{"geom_ids":[1,90],"normal_force_n":0.0980999999962917},{"geom_ids":[1,90],"normal_force_n":0.09809999999738499}],"native_actuator_controls":[-0.17880764731709026,1.112876100258631,-0.6373105013763318,0.2770637606144945,0.3261131204489888,-0.20685087107069408,0.035],"actuator_force_native":[-0.2894744506081377,0.28794382602912094,-0.25368577009323445,-0.2968245312686655,0.3010365456099353,-0.09103785615948379,0.00011792578439884238],"issued_joint_targets_rad":[-0.17901678746380728,1.1133874561955803,-0.6385253824963247,0.2763601277014103,0.3282021435240443,-0.20740544201302963],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.239999999999754,"joint_targets_rad":[-0.17901678746380728,1.1133874561955803,-0.6385253824963247,0.2763601277014103,0.3282021435240443,-0.20740544201302963],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.259999999999752,"qpos":[-0.1748337812202875,1.108270121010013,-0.6313917504662154,0.28935057689377813,0.2825618756592736,-0.19604586212461575,0.034999260824744145,-0.0350000717293384,0.3002700718064697,-0.03397109133259172,0.07989224457978367,0.9999999999999991,-1.9796376397247754e-11,3.4228488667522947e-12,1.7827067748432473e-13],"qvel":[-0.008755124267863703,0.023777464899086477,-0.06380010044583939,-0.04464206040153578,0.10293231419302626,-0.013558999017266095,-1.4374101574282265e-05,-1.3625714050545157e-05,-4.5196301949755974e-12,-2.613969804113134e-11,3.0783900369107184e-15,3.5826028971804526e-10,-6.194392230331057e-11,1.5578325211769967e-12],"joint_position_rad":[-0.1748337812202875,1.108270121010013,-0.6313917504662154,0.28935057689377813,0.2825618756592736,-0.19604586212461575],"joint_velocity_rad_s":[-0.008755124267863703,0.023777464899086477,-0.06380010044583939,-0.04464206040153578,0.10293231419302626,-0.013558999017266095],"gripper_joint_position_m":[0.034999260824744145,-0.0350000717293384],"tcp_position_m":[0.30418259542824133,-0.03530455912781965,0.18592330024729253],"tcp_quaternion_wxyz":[0.44019459769869107,0.09779565360326228,0.8924271352894556,0.015444561899062622],"object_position_m":[0.3002700718064697,-0.03397109133259172,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9796376397247754e-11,3.4228488667522947e-12,1.7827067748432473e-13],"object_linear_velocity_m_s":[-4.5196301949755974e-12,-2.613969804113134e-11,3.0783900369107184e-15],"object_angular_velocity_rad_s":[3.5826028971807737e-10,-6.194392230312104e-11,1.5578325211769827e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000584915},{"geom_ids":[1,90],"normal_force_n":0.0981000000041246},{"geom_ids":[1,90],"normal_force_n":0.09809999999415085},{"geom_ids":[1,90],"normal_force_n":0.0980999999958754}],"native_actuator_controls":[-0.17901678746380728,1.1133874561955803,-0.6385253824963247,0.2763601277014103,0.3282021435240443,-0.20740544201302963,0.035],"actuator_force_native":[-0.2908648781422656,0.2904994903499585,-0.25169006017955553,-0.2964076656870347,0.3020042073581677,-0.09325730035823954,0.00010143751810587354],"issued_joint_targets_rad":[-0.17922494160848962,1.1138973414789592,-0.6397316338595335,0.27566496756493275,0.3302744129797346,-0.20793018168291247],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.259999999999752,"joint_targets_rad":[-0.17922494160848962,1.1138973414789592,-0.6397316338595335,0.27566496756493275,0.3302744129797346,-0.20793018168291247],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.27999999999975,"qpos":[-0.17502076172176803,1.1087732118713998,-0.6327130278419172,0.2884297676906324,0.284733103125106,-0.19632790411410728,0.03499925526531176,-0.035000053511813504,0.3002700718063658,-0.03397109133319387,0.07989224457978367,0.9999999999999991,-2.0118227408399417e-11,3.4785088756573465e-12,2.073768026258246e-13],"qvel":[-0.008894436364254486,0.023581499362633176,-0.0620386143829092,-0.04326459799581219,0.10202173133471407,-0.013930758572410001,-1.0637037130602282e-05,-1.1957036571685771e-05,-5.126099091533805e-12,-2.9647162710335863e-11,3.082553373253063e-15,2.1738007596462133e-11,-3.757475325597841e-12,2.8442038012301437e-12],"joint_position_rad":[-0.17502076172176803,1.1087732118713998,-0.6327130278419172,0.2884297676906324,0.284733103125106,-0.19632790411410728],"joint_velocity_rad_s":[-0.008894436364254486,0.023581499362633176,-0.0620386143829092,-0.04326459799581219,0.10202173133471407,-0.013930758572410001],"gripper_joint_position_m":[0.03499925526531176,-0.035000053511813504],"tcp_position_m":[0.30420435334077045,-0.035291747056356196,0.18594959774287823],"tcp_quaternion_wxyz":[0.4396069868054726,0.09726692276643716,0.8927769022208244,0.015305088969016082],"object_position_m":[0.3002700718063658,-0.03397109133319387,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0118227408399417e-11,3.4785088756573465e-12,2.073768026258246e-13],"object_linear_velocity_m_s":[-5.126099091533805e-12,-2.9647162710335863e-11,3.082553373253063e-15],"object_angular_velocity_rad_s":[2.173800759648344e-11,-3.7574753254743776e-12,2.8442038012300944e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000771431},{"geom_ids":[1,90],"normal_force_n":0.09810000000543989},{"geom_ids":[1,90],"normal_force_n":0.09809999999228572},{"geom_ids":[1,90],"normal_force_n":0.09809999999456008}],"native_actuator_controls":[-0.17922494160848962,1.1138973414789592,-0.6397316338595335,0.27566496756493275,0.3302744129797346,-0.20793018168291247,0.035],"actuator_force_native":[-0.2918622091164558,0.2920228717916018,-0.2512954094947588,-0.29426901504892555,0.3023805015442149,-0.09512663782943709,8.297457318295898e-05],"issued_joint_targets_rad":[-0.17943350544975123,1.1144110228152315,-0.6409417823606737,0.27496540140732206,0.33235112050101157,-0.20841974833672963],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.27999999999975,"joint_targets_rad":[-0.17943350544975123,1.1144110228152315,-0.6409417823606737,0.27496540140732206,0.33235112050101157,-0.20841974833672963],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2999999999997476,"qpos":[-0.17521187266042829,1.1092755916269126,-0.6340022219515303,0.287538507926321,0.2868919933310839,-0.19661599601998173,0.034999283548739775,-0.03500003430866059,0.3002700718062656,-0.033971091333773705,0.07989224457978367,0.9999999999999991,-1.9582090353572882e-11,3.3858293644205175e-12,2.378623150311661e-13],"qvel":[-0.009034007693415159,0.023659140175832014,-0.0605733851905615,-0.04223266989226537,0.10154141112773744,-0.01424840617495391,-6.5443703288619224e-06,-1.2175616030806869e-05,-6.056234268297233e-12,-3.502638182297951e-11,3.0839411520338447e-15,-4.964054888707263e-10,8.583398852237805e-11,5.192779870963455e-12],"joint_position_rad":[-0.17521187266042829,1.1092755916269126,-0.6340022219515303,0.287538507926321,0.2868919933310839,-0.19661599601998173],"joint_velocity_rad_s":[-0.009034007693415159,0.023659140175832014,-0.0605733851905615,-0.04223266989226537,0.10154141112773744,-0.01424840617495391],"gripper_joint_position_m":[0.034999283548739775,-0.03500003430866059],"tcp_position_m":[0.3042207772679866,-0.0352791773572671,0.18596555926674752],"tcp_quaternion_wxyz":[0.4390109578988118,0.09675088240081936,0.8931284725239393,0.01517159076976777],"object_position_m":[0.3002700718062656,-0.033971091333773705,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9582090353572882e-11,3.3858293644205175e-12,2.378623150311661e-13],"object_linear_velocity_m_s":[-6.056234268297233e-12,-3.502638182297951e-11,3.0839411520338447e-15],"object_angular_velocity_rad_s":[-4.964054888707311e-10,8.583398852234512e-11,5.1927798709633165e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000841207},{"geom_ids":[1,90],"normal_force_n":0.09810000000593203},{"geom_ids":[1,90],"normal_force_n":0.0980999999915879},{"geom_ids":[1,90],"normal_force_n":0.098099999994068}],"native_actuator_controls":[-0.17943350544975123,1.1144110228152315,-0.6409417823606737,0.27496540140732206,0.33235112050101157,-0.20841974833672963,0.035],"actuator_force_native":[-0.29256058467876045,0.292538794186342,-0.25229790677866504,-0.291760911298633,0.3022791550076702,-0.09666491390504839,6.137990205346e-05],"issued_joint_targets_rad":[-0.17964320491414149,1.1149326239720527,-0.6421655537551436,0.27425104500357994,0.33444851950778826,-0.2088710892245243],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.2999999999997476,"joint_targets_rad":[-0.17964320491414149,1.1149326239720527,-0.6421655537551436,0.27425104500357994,0.33444851950778826,-0.2088710892245243],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3199999999997454,"qpos":[-0.17540681752595685,1.109782546998424,-0.6352670412652521,0.2866693980211239,0.28904773342031603,-0.19690912093711121,0.03499934424243875,-0.03500002300140404,0.30027007180617094,-0.03397109133432072,0.07989224457978367,0.9999999999999991,-1.7823579054075932e-11,3.0817909902313355e-12,2.670019645037644e-13],"qvel":[-0.009157660296180457,0.023967493596169637,-0.0595159655407429,-0.04147253667855881,0.10146452034688001,-0.014503168118301038,-3.836475402233984e-06,-1.2015839889966887e-05,-7.588017905221653e-12,-4.3885240638772775e-11,3.0853289308146265e-15,-1.2636169542108782e-09,2.1848930701075085e-10,9.48070725825193e-12],"joint_position_rad":[-0.17540681752595685,1.109782546998424,-0.6352670412652521,0.2866693980211239,0.28904773342031603,-0.19690912093711121],"joint_velocity_rad_s":[-0.009157660296180457,0.023967493596169637,-0.0595159655407429,-0.04147253667855881,0.10146452034688001,-0.014503168118301038],"gripper_joint_position_m":[0.03499934424243875,-0.03500002300140404],"tcp_position_m":[0.30423256980398977,-0.03526672955260362,0.185971146443502],"tcp_quaternion_wxyz":[0.4384034395940789,0.09624451481522857,0.8934836993656692,0.015043154187230784],"object_position_m":[0.30027007180617094,-0.03397109133432072,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7823579054075932e-11,3.0817909902313355e-12,2.670019645037644e-13],"object_linear_velocity_m_s":[-7.588017905221653e-12,-4.3885240638772775e-11,3.0853289308146265e-15],"object_angular_velocity_rad_s":[-1.263616954210934e-09,2.1848930701041364e-10,9.480707258251797e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000633955},{"geom_ids":[1,90],"normal_force_n":0.09810000000447043},{"geom_ids":[1,90],"normal_force_n":0.09809999999366051},{"geom_ids":[1,90],"normal_force_n":0.0980999999955295}],"native_actuator_controls":[-0.17964320491414149,1.1149326239720527,-0.6421655537551436,0.27425104500357994,0.33444851950778826,-0.2088710892245243,0.035],"actuator_force_native":[-0.2931226895738668,0.29216868990944533,-0.25430117148759734,-0.2893714373089633,0.3018110803544021,-0.09786493069667923,4.5412679461342975e-05],"issued_joint_targets_rad":[-0.17985465389264846,1.1154649013499303,-0.6434093404142504,0.27351735310385167,0.3365773367623238,-0.20928624258296338],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3199999999997454,"joint_targets_rad":[-0.17985465389264846,1.1154649013499303,-0.6434093404142504,0.27351735310385167,0.3365773367623238,-0.20928624258296338],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.339999999999743,"qpos":[-0.17560517216623467,1.1102981920305006,-0.6365165387429638,0.28581639673988696,0.29120825674285356,-0.19720621355020962,0.03499941981221286,-0.03500001177352474,0.30027007180607385,-0.033971091334881506,0.07989224457978367,0.9999999999999991,-1.6906698806515324e-11,2.923268398705533e-12,3.029645395694665e-13],"qvel":[-0.009267453876803984,0.024444024464051414,-0.05891014480079074,-0.040920482665140645,0.10172666455807375,-0.014697850272465398,-3.2120888657155377e-06,-1.0468313230952915e-05,-3.585805954087224e-12,-2.0738494205988617e-11,3.0811655944722824e-15,6.642699111011997e-10,-1.1485587338593854e-10,1.0271571424108665e-12],"joint_position_rad":[-0.17560517216623467,1.1102981920305006,-0.6365165387429638,0.28581639673988696,0.29120825674285356,-0.19720621355020962],"joint_velocity_rad_s":[-0.009267453876803984,0.024444024464051414,-0.05891014480079074,-0.040920482665140645,0.10172666455807375,-0.014697850272465398],"gripper_joint_position_m":[0.03499941981221286,-0.03500001177352474],"tcp_position_m":[0.30424079253373926,-0.03525432151811796,0.1859674441653529],"tcp_quaternion_wxyz":[0.4377830534704272,0.09574523097213049,0.8938435376079397,0.014919085653148107],"object_position_m":[0.30027007180607385,-0.033971091334881506,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6906698806515324e-11,2.923268398705533e-12,3.029645395694665e-13],"object_linear_velocity_m_s":[-3.585805954087224e-12,-2.0738494205988617e-11,3.0811655944722824e-15],"object_angular_velocity_rad_s":[6.642699111012742e-10,-1.1485587338550111e-10,1.0271571424108536e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000012159},{"geom_ids":[1,90],"normal_force_n":0.09810000000085738},{"geom_ids":[1,90],"normal_force_n":0.09809999999878412},{"geom_ids":[1,90],"normal_force_n":0.09809999999914266}],"native_actuator_controls":[-0.17985465389264846,1.1154649013499303,-0.6434093404142504,0.27351735310385167,0.3365773367623238,-0.20928624258296338,0.035],"actuator_force_native":[-0.29362126872908334,0.29111662323411736,-0.25687340969896866,-0.28735933211570774,0.3011008033575924,-0.09875351491883966,3.926795581432607e-05],"issued_joint_targets_rad":[-0.18006826335042098,1.116009245209292,-0.6446762601303186,0.2727643880260924,0.33874283461648236,-0.2096704996204194],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.339999999999743,"joint_targets_rad":[-0.18006826335042098,1.116009245209292,-0.6446762601303186,0.2727643880260924,0.33874283461648236,-0.2096704996204194],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.359999999999741,"qpos":[-0.17580661794740313,1.1108252183775305,-0.6377598325942173,0.28497480387845825,0.2933795924823766,-0.19750630410062536,0.03499949086274017,-0.03499999088943104,0.3002700718059702,-0.03397109133547986,0.07989224457978367,0.9999999999999991,-1.7916877036179944e-11,3.097947124078469e-12,3.548195830558062e-13],"qvel":[-0.009370404583854214,0.025019315134216208,-0.05874072621503228,-0.04052839832900789,0.10223570154748088,-0.014841007835555467,-1.9704157755228853e-06,-1.1080010995411103e-05,-3.8800082458547786e-12,-2.2439920656905514e-11,3.0811655944722824e-15,5.477459163796492e-10,-9.470851305225236e-11,1.8753330444479742e-12],"joint_position_rad":[-0.17580661794740313,1.1108252183775305,-0.6377598325942173,0.28497480387845825,0.2933795924823766,-0.19750630410062536],"joint_velocity_rad_s":[-0.009370404583854214,0.025019315134216208,-0.05874072621503228,-0.04052839832900789,0.10223570154748088,-0.014841007835555467],"gripper_joint_position_m":[0.03499949086274017,-0.03499999088943104],"tcp_position_m":[0.304246664582095,-0.03524198041036669,0.1859563181587331],"tcp_quaternion_wxyz":[0.4371499386377124,0.09525098045359122,0.8942081292091987,0.01479876778177582],"object_position_m":[0.3002700718059702,-0.03397109133547986,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7916877036179944e-11,3.097947124078469e-12,3.548195830558062e-13],"object_linear_velocity_m_s":[-3.8800082458547786e-12,-2.2439920656905514e-11,3.0811655944722824e-15],"object_angular_velocity_rad_s":[5.47745916379727e-10,-9.47085130517963e-11,1.875333044447957e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000032054},{"geom_ids":[1,90],"normal_force_n":0.09810000000226017},{"geom_ids":[1,90],"normal_force_n":0.09809999999679472},{"geom_ids":[1,90],"normal_force_n":0.09809999999773979}],"native_actuator_controls":[-0.18006826335042098,1.116009245209292,-0.6446762601303186,0.2727643880260924,0.33874283461648236,-0.2096704996204194,0.035],"actuator_force_native":[-0.2940796093221554,0.28962557086984475,-0.2596105718129422,-0.2857746424495957,0.3002788690198366,-0.09938044344460706,3.021756927079622e-05],"issued_joint_targets_rad":[-0.18028401756541151,1.1165657767531219,-0.6459664545938186,0.27199470184902597,0.3409452085675215,-0.21003018790419442],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.359999999999741,"joint_targets_rad":[-0.18028401756541151,1.1165657767531219,-0.6459664545938186,0.27199470184902597,0.3409452085675215,-0.21003018790419442],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3799999999997388,"qpos":[-0.17601091392359008,1.111364877528518,-0.639005075699548,0.28414116307397724,0.29556549408591604,-0.1978085712497327,0.03499958376070543,-0.0350000072155059,0.3002700718058694,-0.033971091336062624,0.07989224457978367,0.9999999999999991,-1.8620105526755098e-11,3.219550260512864e-12,4.1315595306744185e-13],"qvel":[-0.009467514579731575,0.025627037492386047,-0.05894765806950926,-0.04025427505010583,0.10288838818863538,-0.014942689875852913,-1.4652148709397694e-06,-1.1160640540737823e-05,-4.2567743761779795e-12,-2.4618841821179767e-11,3.082553373253064e-15,3.4657756909276814e-10,-5.992526082842859e-11,3.4238877594884028e-12],"joint_position_rad":[-0.17601091392359008,1.111364877528518,-0.639005075699548,0.28414116307397724,0.29556549408591604,-0.1978085712497327],"joint_velocity_rad_s":[-0.009467514579731575,0.025627037492386047,-0.05894765806950926,-0.04025427505010583,0.10288838818863538,-0.014942689875852913],"gripper_joint_position_m":[0.03499958376070543,-0.0350000072155059],"tcp_position_m":[0.3042514013923009,-0.03522982769258818,0.1859400577486401],"tcp_quaternion_wxyz":[0.4365054587428469,0.09476024115336787,0.8945769567975819,0.014681605873655832],"object_position_m":[0.3002700718058694,-0.033971091336062624,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8620105526755098e-11,3.219550260512864e-12,4.1315595306744185e-13],"object_linear_velocity_m_s":[-4.2567743761779795e-12,-2.4618841821179767e-11,3.082553373253064e-15],"object_angular_velocity_rad_s":[3.4657756909283907e-10,-5.99252608280146e-11,3.423887759488378e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000531247},{"geom_ids":[1,90],"normal_force_n":0.09810000000374614},{"geom_ids":[1,90],"normal_force_n":0.09809999999468755},{"geom_ids":[1,90],"normal_force_n":0.09809999999625389}],"native_actuator_controls":[-0.18028401756541151,1.1165657767531219,-0.6459664545938186,0.27199470184902597,0.3409452085675215,-0.21003018790419442,0.035],"actuator_force_native":[-0.29451071844705545,0.28793675050636125,-0.2621720211941039,-0.284587073747522,0.2994645625331014,-0.09980213173083774,2.3975646137541773e-05],"issued_joint_targets_rad":[-0.18050147097573,1.1171335629612562,-0.6472776379225067,0.27121215629516526,0.3431804971378719,-0.21037162196971693],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3799999999997388,"joint_targets_rad":[-0.18050147097573,1.1171335629612562,-0.6472776379225067,0.27121215629516526,0.3431804971378719,-0.21037162196971693],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3999999999997366,"qpos":[-0.17621782324296129,1.1119171248412534,-0.64025875978736,0.2833130318769723,0.29776746333912424,-0.19811236139779517,0.03499965043459145,-0.03500000007491082,0.30027007180576576,-0.03397109133666144,0.07989224457978367,0.9999999999999991,-1.9897755109276517e-11,3.440455500313439e-12,4.860594942589843e-13],"qvel":[-0.009559627616678506,0.026209878931096303,-0.05944131575671808,-0.04006356842044197,0.10358606796365152,-0.015012585248370677,-2.2008297007212667e-06,-1.0107419240136161e-05,-4.923493967001757e-12,-2.8474873182386716e-11,3.082553373253064e-15,6.323616240197592e-11,-1.0934881681665131e-11,6.251166053024341e-12],"joint_position_rad":[-0.17621782324296129,1.1119171248412534,-0.64025875978736,0.2833130318769723,0.29776746333912424,-0.19811236139779517],"joint_velocity_rad_s":[-0.009559627616678506,0.026209878931096303,-0.05944131575671808,-0.04006356842044197,0.10358606796365152,-0.015012585248370677],"gripper_joint_position_m":[0.03499965043459145,-0.03500000007491082],"tcp_position_m":[0.3042560836497971,-0.03521804033810045,0.18592104113920338],"tcp_quaternion_wxyz":[0.43585181126878314,0.0942719270915819,0.8949490516130614,0.014566996706340166],"object_position_m":[0.30027007180576576,-0.03397109133666144,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9897755109276517e-11,3.440455500313439e-12,4.860594942589843e-13],"object_linear_velocity_m_s":[-4.923493967001757e-12,-2.8474873182386716e-11,3.082553373253064e-15],"object_angular_velocity_rad_s":[6.323616240202944e-11,-1.0934881681354871e-11,6.251166053024367e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000796784},{"geom_ids":[1,90],"normal_force_n":0.09810000000561868},{"geom_ids":[1,90],"normal_force_n":0.0980999999920322},{"geom_ids":[1,90],"normal_force_n":0.0980999999943813}],"native_actuator_controls":[-0.18050147097573,1.1171335629612562,-0.6472776379225067,0.27121215629516526,0.3431804971378719,-0.21037162196971693,0.035],"actuator_force_native":[-0.29489368053810416,0.2862656549447422,-0.26430367202814864,-0.28371718117007205,0.2987512360419995,-0.10007372784666169,2.4986764845413845e-05],"issued_joint_targets_rad":[-0.18071983224913152,1.1177109262879443,-0.6486058485598305,0.27042100397745594,0.34544186081110806,-0.21070048366247182],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.3999999999997366,"joint_targets_rad":[-0.18071983224913152,1.1177109262879443,-0.6486058485598305,0.27042100397745594,0.34544186081110806,-0.21070048366247182],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4199999999997344,"qpos":[-0.17642705606704262,1.1124808730620228,-0.6415253274834267,0.2824887410643966,0.29998499610424323,-0.1984171830999687,0.0349997011426314,-0.034999988784123894,0.30027007180566395,-0.03397109133725084,0.07989224457978367,0.9999999999999991,-2.0066874728301038e-11,3.4696875267969276e-12,5.635187257799328e-13],"qvel":[-0.009644071954055453,0.026724331241816533,-0.060118433043495775,-0.03992932505758304,0.10424450529355143,-0.015059214633608695,-2.5971860364261046e-06,-9.80313770767802e-06,-5.8771304612392635e-12,-3.3990357684180274e-11,3.083941152033846e-15,-3.9498896806226527e-10,6.82949143906321e-11,1.1413083225726177e-11],"joint_position_rad":[-0.17642705606704262,1.1124808730620228,-0.6415253274834267,0.2824887410643966,0.29998499610424323,-0.1984171830999687],"joint_velocity_rad_s":[-0.009644071954055453,0.026724331241816533,-0.060118433043495775,-0.03992932505758304,0.10424450529355143,-0.015059214633608695],"gripper_joint_position_m":[0.0349997011426314,-0.034999988784123894],"tcp_position_m":[0.304261567325594,-0.03520681299661169,0.18590145774427605],"tcp_quaternion_wxyz":[0.4351916291568038,0.09378529102407238,0.8953232029505725,0.014454319690147103],"object_position_m":[0.30027007180566395,-0.03397109133725084,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0066874728301038e-11,3.4696875267969276e-12,5.635187257799328e-13],"object_linear_velocity_m_s":[-5.8771304612392635e-12,-3.3990357684180274e-11,3.083941152033846e-15],"object_angular_velocity_rad_s":[-3.949889680622623e-10,6.829491439064486e-11,1.1413083225726203e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000906528},{"geom_ids":[1,90],"normal_force_n":0.09810000000639266},{"geom_ids":[1,90],"normal_force_n":0.09809999999093474},{"geom_ids":[1,90],"normal_force_n":0.0980999999936074}],"native_actuator_controls":[-0.18071983224913152,1.1177109262879443,-0.6486058485598305,0.27042100397745594,0.34544186081110806,-0.21070048366247182,0.035],"actuator_force_native":[-0.29520173479683365,0.28478260186464865,-0.26584952089481817,-0.28306285818971055,0.2982018891283209,-0.10024418367461818,2.4940224926162102e-05],"issued_joint_targets_rad":[-0.18093807552667854,1.118295769493839,-0.6499462200977741,0.2696251736642188,0.34772089901794984,-0.2110214075942844],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4199999999997344,"joint_targets_rad":[-0.18093807552667854,1.118295769493839,-0.6499462200977741,0.2696251736642188,0.34772089901794984,-0.2110214075942844],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.439999999999732,"qpos":[-0.17663820711637343,1.1130543140334794,-0.6428070822818573,0.28166739201755253,0.30221601218523214,-0.19872267394471355,0.03499976108847997,-0.035000007351508614,0.30027007180556586,-0.03397109133781828,0.07989224457978367,0.9999999999999991,-1.885791551065447e-11,3.2606399728201805e-12,6.39803593093373e-13],"qvel":[-0.009713110726071714,0.027142946160032686,-0.06087614125111904,-0.03982548958139588,0.10479999589550971,-0.015090009547666115,-2.3485800810151122e-06,-1.028850652042884e-05,-7.335010976600033e-12,-4.2422169775474547e-11,3.0908800459377535e-15,-1.1022019757566486e-09,1.9057331762035924e-10,2.0837401021201813e-11],"joint_position_rad":[-0.17663820711637343,1.1130543140334794,-0.6428070822818573,0.28166739201755253,0.30221601218523214,-0.19872267394471355],"joint_velocity_rad_s":[-0.009713110726071714,0.027142946160032686,-0.06087614125111904,-0.03982548958139588,0.10479999589550971,-0.015090009547666115],"gripper_joint_position_m":[0.03499976108847997,-0.035000007351508614],"tcp_position_m":[0.3042684394536727,-0.03519630249522641,0.1858831063586179],"tcp_quaternion_wxyz":[0.43452761285409264,0.09329990463197187,0.8956981404918634,0.014343032538720367],"object_position_m":[0.30027007180556586,-0.03397109133781828,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.885791551065447e-11,3.2606399728201805e-12,6.39803593093373e-13],"object_linear_velocity_m_s":[-7.335010976600033e-12,-4.2422169775474547e-11,3.0908800459377535e-15],"object_angular_velocity_rad_s":[-1.1022019757567546e-09,1.905733176197344e-10,2.0837401021201914e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000772089},{"geom_ids":[1,90],"normal_force_n":0.09810000000544436},{"geom_ids":[1,90],"normal_force_n":0.09809999999227907},{"geom_ids":[1,90],"normal_force_n":0.09809999999455563}],"native_actuator_controls":[-0.18093807552667854,1.118295769493839,-0.6499462200977741,0.2696251736642188,0.34772089901794984,-0.2110214075942844,0.035],"actuator_force_native":[-0.2954239191940484,0.28360170602860535,-0.2667503190177527,-0.28256128622637,0.2978488744839125,-0.10035232217420953,2.1299361206539302e-05],"issued_joint_targets_rad":[-0.18115515990042644,1.1188858846800138,-0.6512936882954671,0.26882824627620944,0.3500089045769707,-0.2113380811007835],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.439999999999732,"joint_targets_rad":[-0.18115515990042644,1.1188858846800138,-0.6512936882954671,0.26882824627620944,0.3500089045769707,-0.2113380811007835],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.45999999999973,"qpos":[-0.1768507309647996,1.1136352532547786,-0.6441043731893507,0.28084859981419097,0.30445741422839784,-0.19902859315950203,0.03499979738510283,-0.03500000769760725,0.3002700718054695,-0.033971091338375545,0.07989224457978367,0.9999999999999991,-1.7138330105763685e-11,2.963301459553351e-12,7.188448231215782e-13],"qvel":[-0.009762411749692654,0.027453594268234082,-0.061623551680618734,-0.039734330376899225,0.10521487065137114,-0.015110956068512062,-2.964187333161053e-06,-9.698980395644085e-06,-3.6226138023921395e-12,-2.095145488483423e-11,3.079777815691502e-15,7.003826376231995e-10,-1.210999880156757e-10,2.2575621499527105e-12],"joint_position_rad":[-0.1768507309647996,1.1136352532547786,-0.6441043731893507,0.28084859981419097,0.30445741422839784,-0.19902859315950203],"joint_velocity_rad_s":[-0.009762411749692654,0.027453594268234082,-0.061623551680618734,-0.039734330376899225,0.10521487065137114,-0.015110956068512062],"gripper_joint_position_m":[0.03499979738510283,-0.03500000769760725],"tcp_position_m":[0.3042770078704083,-0.035186598835602226,0.1858672766634448],"tcp_quaternion_wxyz":[0.43386221562692445,0.09281553318684788,0.8960727010452743,0.014232676907867474],"object_position_m":[0.3002700718054695,-0.033971091338375545,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7138330105763685e-11,2.963301459553351e-12,7.188448231215782e-13],"object_linear_velocity_m_s":[-3.6226138023921395e-12,-2.095145488483423e-11,3.079777815691502e-15],"object_angular_velocity_rad_s":[7.003826376233857e-10,-1.2109998801459118e-10,2.2575621499527198e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000089074},{"geom_ids":[1,90],"normal_force_n":0.09810000000062828},{"geom_ids":[1,90],"normal_force_n":0.09809999999910926},{"geom_ids":[1,90],"normal_force_n":0.09809999999937175}],"native_actuator_controls":[-0.18115515990042644,1.1188858846800138,-0.6512936882954671,0.26882824627620944,0.3500089045769707,-0.2113380811007835,0.035],"actuator_force_native":[-0.2955422561016814,0.28278254267763714,-0.26702745008622486,-0.28214248963476507,0.2976925975086724,-0.10042844531004658,2.2925532552564576e-05],"issued_joint_targets_rad":[-0.18137015257884986,1.1194792258176194,-0.6526436119562503,0.2680331803523128,0.35229793078442195,-0.21165328795415203],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.45999999999973,"joint_targets_rad":[-0.18137015257884986,1.1194792258176194,-0.6526436119562503,0.2680331803523128,0.35229793078442195,-0.21165328795415203],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4799999999997278,"qpos":[-0.17706398616486396,1.114221419442667,-0.6454159408228132,0.2800323442362977,0.3067056190843333,-0.1993347961221705,0.03499982398723261,-0.03500000819319985,0.3002700718053619,-0.033971091338998095,0.07989224457978367,0.9999999999999991,-1.8307832330611494e-11,3.1655018381447704e-12,8.471423208148871e-13],"qvel":[-0.009785445963886882,0.02765834242411845,-0.062288842890236375,-0.03964314084648176,0.10547300497687306,-0.015126740179675982,-3.179603169084575e-06,-9.612907174760015e-06,-3.931383396527217e-12,-2.2737335399506432e-11,3.079777815691502e-15,6.016906103879029e-10,-1.0403516567411163e-10,4.121719656352175e-12],"joint_position_rad":[-0.17706398616486396,1.114221419442667,-0.6454159408228132,0.2800323442362977,0.3067056190843333,-0.1993347961221705],"joint_velocity_rad_s":[-0.009785445963886882,0.02765834242411845,-0.062288842890236375,-0.03964314084648176,0.10547300497687306,-0.015126740179675982],"gripper_joint_position_m":[0.03499982398723261,-0.03500000819319985],"tcp_position_m":[0.30428732350692506,-0.035177719597869264,0.1858547102473327],"tcp_quaternion_wxyz":[0.4331974272291898,0.0923320821989471,0.8964459377852589,0.01412289867999481],"object_position_m":[0.3002700718053619,-0.033971091338998095,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8307832330611494e-11,3.1655018381447704e-12,8.471423208148871e-13],"object_linear_velocity_m_s":[-3.931383396527217e-12,-2.2737335399506432e-11,3.079777815691502e-15],"object_angular_velocity_rad_s":[6.016906103881042e-10,-1.040351656729411e-10,4.121719656352179e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000283976},{"geom_ids":[1,90],"normal_force_n":0.09810000000200256},{"geom_ids":[1,90],"normal_force_n":0.09809999999716021},{"geom_ids":[1,90],"normal_force_n":0.09809999999799747}],"native_actuator_controls":[-0.18137015257884986,1.1194792258176194,-0.6526436119562503,0.2680331803523128,0.35229793078442195,-0.21165328795415203,0.035],"actuator_force_native":[-0.29556608329943757,0.28233279787559695,-0.2667694762237929,-0.2817508511269864,0.297713609535577,-0.1004948080503012,2.293852654111639e-05],"issued_joint_targets_rad":[-0.18158231010827153,1.120074099865143,-0.6539921970813041,0.26724215069218193,0.35458151332226895,-0.21196889803219357],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4799999999997278,"joint_targets_rad":[-0.18158231010827153,1.120074099865143,-0.6539921970813041,0.26724215069218193,0.35458151332226895,-0.21196889803219357],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4999999999997256,"qpos":[-0.17727725850695455,1.1148107273802386,-0.6467393840102857,0.2792188394701433,0.3089570594660278,-0.19964121204299523,0.03499984554772834,-0.03500001199459452,0.3002700718052567,-0.03397109133960619,0.07989224457978367,0.9999999999999991,-1.9164126555910707e-11,3.3135536399612067e-12,9.92129560444534e-13],"qvel":[-0.009779374431351795,0.02777025400214435,-0.06282401657558184,-0.039543812088093794,0.10558030552856941,-0.015140762521487945,-4.2891055565259265e-06,-8.164257044621587e-06,-4.303036746674368e-12,-2.4886852024831008e-11,3.0783900369107204e-15,4.1998161368157847e-10,-7.26166197459366e-11,7.525272615469278e-12],"joint_position_rad":[-0.17727725850695455,1.1148107273802386,-0.6467393840102857,0.2792188394701433,0.3089570594660278,-0.19964121204299523],"joint_velocity_rad_s":[-0.009779374431351795,0.02777025400214435,-0.06282401657558184,-0.039543812088093794,0.10558030552856941,-0.015140762521487945],"gripper_joint_position_m":[0.03499984554772834,-0.03500001199459452],"tcp_position_m":[0.3042992277476027,-0.03516960391780256,0.18584562978422398],"tcp_quaternion_wxyz":[0.4325346451403858,0.09184953470803729,0.8968171867447341,0.014013468038233737],"object_position_m":[0.3002700718052567,-0.03397109133960619,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9164126555910707e-11,3.3135536399612067e-12,9.92129560444534e-13],"object_linear_velocity_m_s":[-4.303036746674368e-12,-2.4886852024831008e-11,3.0783900369107204e-15],"object_angular_velocity_rad_s":[4.199816136817717e-10,-7.26166197448147e-11,7.52527261546927e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000500137},{"geom_ids":[1,90],"normal_force_n":0.09810000000352666},{"geom_ids":[1,90],"normal_force_n":0.09809999999499863},{"geom_ids":[1,90],"normal_force_n":0.09809999999647333}],"native_actuator_controls":[-0.18158231010827153,1.120074099865143,-0.6539921970813041,0.26724215069218193,0.35458151332226895,-0.21196889803219357,0.035],"actuator_force_native":[-0.29550725594859983,0.282218528781641,-0.2661049628035528,-0.2813484906779866,0.2978740802695574,-0.10056571610975151,2.7623618649386117e-05],"issued_joint_targets_rad":[-0.18179115124479828,1.1206692896767612,-0.6553367568885454,0.26645663326330693,0.356855118710793,-0.21228609491115796],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.4999999999997256,"joint_targets_rad":[-0.18179115124479828,1.1206692896767612,-0.6553367568885454,0.26645663326330693,0.356855118710793,-0.21228609491115796],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5199999999997234,"qpos":[-0.17748984383358346,1.1154014665804164,-0.648071658470652,0.2784083897093656,0.3112085870381552,-0.19994782756522209,0.0349998556436347,-0.03500000924582376,0.3002700718051545,-0.033971091340197074,0.07989224457978367,0.9999999999999991,-1.9547354275302152e-11,3.3798018724617544e-12,1.1523622829178882e-12],"qvel":[-0.009745762666477134,0.027809856563440566,-0.06320517895610832,-0.0394326538043463,0.10555871325147356,-0.015155521752058925,-3.6343126595572866e-06,-9.476348884766136e-06,-4.8160017028146176e-12,-2.7853747920752835e-11,3.0797778156915014e-15,1.2356164361134022e-10,-2.136538672759927e-11,1.3739268806971742e-11],"joint_position_rad":[-0.17748984383358346,1.1154014665804164,-0.648071658470652,0.2784083897093656,0.3112085870381552,-0.19994782756522209],"joint_velocity_rad_s":[-0.009745762666477134,0.027809856563440566,-0.06320517895610832,-0.0394326538043463,0.10555871325147356,-0.015155521752058925],"gripper_joint_position_m":[0.0349998556436347,-0.03500000924582376],"tcp_position_m":[0.30431241036420337,-0.03516213428857614,0.1858398189251766],"tcp_quaternion_wxyz":[0.43187463533376336,0.09136790831328163,0.8971860878115213,0.013904262772325857],"object_position_m":[0.3002700718051545,-0.033971091340197074,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9547354275302152e-11,3.3798018724617544e-12,1.1523622829178882e-12],"object_linear_velocity_m_s":[-4.8160017028146176e-12,-2.7853747920752835e-11,3.0797778156915014e-15],"object_angular_velocity_rad_s":[1.2356164361148214e-10,-2.1365386726777322e-11,1.3739268806971763e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000700073},{"geom_ids":[1,90],"normal_force_n":0.09810000000493667},{"geom_ids":[1,90],"normal_force_n":0.0980999999929993},{"geom_ids":[1,90],"normal_force_n":0.09809999999506333}],"native_actuator_controls":[-0.18179115124479828,1.1206692896767612,-0.6553367568885454,0.26645663326330693,0.356855118710793,-0.21228609491115796,0.035],"actuator_force_native":[-0.2953757795648002,0.28237656489038443,-0.2651819786509293,-0.2809069888206164,0.29812724684916825,-0.10064939083127022,2.39458179100982e-05],"issued_joint_targets_rad":[-0.18199644382973723,1.1212640990748193,-0.6566757972939632,0.26567733356176754,0.359116268486373,-0.21260539112927476],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5199999999997234,"joint_targets_rad":[-0.18199644382973723,1.1212640990748193,-0.6566757972939632,0.26567733356176754,0.359116268486373,-0.21260539112927476],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.539999999999721,"qpos":[-0.1777011297174931,1.1159924139468558,-0.6494095493822094,0.27760122834104056,0.31345774647188296,-0.20025466710411738,0.034999870515239895,-0.03500000625602614,0.30027007180505594,-0.033971091340766243,0.07989224457978367,0.9999999999999991,-1.9216812541478045e-11,3.3226447829141967e-12,1.3226074495617668e-12],"qvel":[-0.009690898491412176,0.027801478181151824,-0.06343059435518157,-0.03931194537070756,0.10544105303681298,-0.015171462903094362,-3.7198110209281458e-06,-9.286806002538585e-06,-5.605435639568547e-12,-3.2419554834244926e-11,3.077002258129939e-15,-3.321029940033413e-10,5.742126316461401e-11,2.5084424052830552e-11],"joint_position_rad":[-0.1777011297174931,1.1159924139468558,-0.6494095493822094,0.27760122834104056,0.31345774647188296,-0.20025466710411738],"joint_velocity_rad_s":[-0.009690898491412176,0.027801478181151824,-0.06343059435518157,-0.03931194537070756,0.10544105303681298,-0.015171462903094362],"gripper_joint_position_m":[0.034999870515239895,-0.03500000625602614],"tcp_position_m":[0.30432647217043185,-0.035155168074295876,0.1858367344463258],"tcp_quaternion_wxyz":[0.43121756996956156,0.09088721216150261,0.8975525687845619,0.013795226829981353],"object_position_m":[0.30027007180505594,-0.033971091340766243,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9216812541478045e-11,3.3226447829141967e-12,1.3226074495617668e-12],"object_linear_velocity_m_s":[-5.605435639568547e-12,-3.2419554834244926e-11,3.077002258129939e-15],"object_angular_velocity_rad_s":[-3.3210299400332597e-10,5.7421263164699505e-11,2.508442405283052e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000810826},{"geom_ids":[1,90],"normal_force_n":0.09810000000571781},{"geom_ids":[1,90],"normal_force_n":0.09809999999189178},{"geom_ids":[1,90],"normal_force_n":0.09809999999428219}],"native_actuator_controls":[-0.18199644382973723,1.1212640990748193,-0.6566757972939632,0.26567733356176754,0.359116268486373,-0.21260539112927476,0.035],"actuator_force_native":[-0.2951706365224691,0.28272741933132295,-0.26414686116439157,-0.28039606431738306,0.2984236405896805,-0.10075004589693215,2.3778445509048396e-05],"issued_joint_targets_rad":[-0.18219814154868175,1.1218583313340527,-0.6580089549899578,0.26490409828253486,0.361364402338726,-0.21292660943433664],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.539999999999721,"joint_targets_rad":[-0.18219814154868175,1.1218583313340527,-0.6580089549899578,0.26490409828253486,0.361364402338726,-0.21292660943433664],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.559999999999719,"qpos":[-0.17791064901343354,1.1165828758246756,-0.6507500527724533,0.27679764002356844,0.3157028898025238,-0.20056175970248855,0.034999884014941,-0.03500001501105966,0.3002700718049626,-0.03397109134130571,0.07989224457978367,0.9999999999999991,-1.7829253567114802e-11,3.0827280083268453e-12,1.4902712766863093e-12],"qvel":[-0.009618953554737481,0.02777039970964248,-0.06351614676075584,-0.039180246821835865,0.10526281312777601,-0.015189681797289929,-5.845995951834001e-06,-6.634965442165976e-06,-6.902760979663045e-12,-3.9922710414316994e-11,3.0783900369107204e-15,-1.0085738278321313e-09,1.7438453869284588e-10,4.5797775318254155e-11],"joint_position_rad":[-0.17791064901343354,1.1165828758246756,-0.6507500527724533,0.27679764002356844,0.3157028898025238,-0.20056175970248855],"joint_velocity_rad_s":[-0.009618953554737481,0.02777039970964248,-0.06351614676075584,-0.039180246821835865,0.10526281312777601,-0.015189681797289929],"gripper_joint_position_m":[0.034999884014941,-0.03500001501105966],"tcp_position_m":[0.3043409899135209,-0.035148552444801945,0.18583563268857145],"tcp_quaternion_wxyz":[0.43056313394551426,0.09040750933567915,0.8979167846070512,0.013686411643338378],"object_position_m":[0.3002700718049626,-0.03397109134130571,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7829253567114802e-11,3.0827280083268453e-12,1.4902712766863093e-12],"object_linear_velocity_m_s":[-6.902760979663045e-12,-3.9922710414316994e-11,3.0783900369107204e-15],"object_angular_velocity_rad_s":[-1.0085738278323669e-09,1.7438453869147255e-10,4.57977753182541e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000698985},{"geom_ids":[1,90],"normal_force_n":0.0981000000049291},{"geom_ids":[1,90],"normal_force_n":0.09809999999301015},{"geom_ids":[1,90],"normal_force_n":0.09809999999507088}],"native_actuator_controls":[-0.18219814154868175,1.1218583313340527,-0.6580089549899578,0.26490409828253486,0.361364402338726,-0.21292660943433664,0.035],"actuator_force_native":[-0.29490463504616926,0.28318444220194294,-0.2631314435965777,-0.2798404355321651,0.2987209056703577,-0.10086397462254615,3.386938211913382e-05],"issued_joint_targets_rad":[-0.18239638808038372,1.1224522068935114,-0.6593367904410197,0.2641363091056726,0.3636005349088202,-0.21324911967553017],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.559999999999719,"joint_targets_rad":[-0.18239638808038372,1.1224522068935114,-0.6593367904410197,0.2641363091056726,0.3636005349088202,-0.21324911967553017],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5799999999997167,"qpos":[-0.17811808448103333,1.1171726626269805,-0.6520906838690915,0.2759978133821864,0.31794321786968593,-0.20086914409512496,0.034999880264490926,-0.03500000946643381,0.30027007180487186,-0.03397109134183044,0.07989224457978367,0.9999999999999991,-1.6095013217651784e-11,2.7828704772722333e-12,1.6639931216369254e-12],"qvel":[-0.009539319240475626,0.027739099828237312,-0.06349043686920124,-0.03904165203549148,0.10506069337981076,-0.015209706579856614,-5.474853810953022e-06,-7.562234296496821e-06,-3.4081184473948933e-12,-1.971118104740012e-11,3.0756144793491577e-15,6.619236835453676e-10,-1.1444844553108744e-10,4.96181220337169e-12],"joint_position_rad":[-0.17811808448103333,1.1171726626269805,-0.6520906838690915,0.2759978133821864,0.31794321786968593,-0.20086914409512496],"joint_velocity_rad_s":[-0.009539319240475626,0.027739099828237312,-0.06349043686920124,-0.03904165203549148,0.10506069337981076,-0.015209706579856614],"gripper_joint_position_m":[0.034999880264490926,-0.03500000946643381],"tcp_position_m":[0.3043555679300449,-0.03514214293498469,0.1858356933527041],"tcp_quaternion_wxyz":[0.42991065115138594,0.0899288465758505,0.898279062824453,0.013577918520551315],"object_position_m":[0.30027007180487186,-0.03397109134183044,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6095013217651784e-11,2.7828704772722333e-12,1.6639931216369254e-12],"object_linear_velocity_m_s":[-3.4081184473948933e-12,-1.971118104740012e-11,3.0756144793491577e-15],"object_angular_velocity_rad_s":[6.61923683545775e-10,-1.1444844552872464e-10,4.961812203371683e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997199435},{"geom_ids":[1,90],"normal_force_n":0.09809999998025119},{"geom_ids":[1,90],"normal_force_n":0.09810000002800555},{"geom_ids":[1,90],"normal_force_n":0.09810000001974867}],"native_actuator_controls":[-0.18239638808038372,1.1224522068935114,-0.6593367904410197,0.2641363091056726,0.3636005349088202,-0.21324911967553017,0.035],"actuator_force_native":[-0.29456769174565345,0.28366804218127584,-0.26223634140825425,-0.27925191088309376,0.2989821303216269,-0.10098519593426714,3.2163689418052144e-05],"issued_joint_targets_rad":[-0.18259144380739195,1.1230462648208481,-0.6606605597050994,0.263372963432507,0.3658268494370341,-0.21357202197102088],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5799999999997167,"joint_targets_rad":[-0.18259144380739195,1.1230462648208481,-0.6606605597050994,0.263372963432507,0.3658268494370341,-0.21357202197102088],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5999999999997145,"qpos":[-0.17832328228693758,1.117762009135898,-0.6534296427067737,0.2752017986723497,0.3201786705950704,-0.20117684801092026,0.034999881584266986,-0.03500001277821399,0.30027007180476384,-0.03397109134245461,0.07989224457978367,0.9999999999999991,-1.7999620045431095e-11,3.1121662310099606e-12,1.9811657351787705e-12],"qvel":[-0.009456258239363692,0.027725961200514924,-0.06338854740252009,-0.03890114941532667,0.10486452980446173,-0.015230602104526453,-6.596411634579322e-06,-6.170282601370643e-06,-3.82700201729859e-12,-2.2133949804866227e-11,3.0811655944722828e-15,6.082916307091824e-10,-1.0517521795019766e-10,9.059023745240127e-12],"joint_position_rad":[-0.17832328228693758,1.117762009135898,-0.6534296427067737,0.2752017986723497,0.3201786705950704,-0.20117684801092026],"joint_velocity_rad_s":[-0.009456258239363692,0.027725961200514924,-0.06338854740252009,-0.03890114941532667,0.10486452980446173,-0.015230602104526453],"gripper_joint_position_m":[0.034999881584266986,-0.03500001277821399],"tcp_position_m":[0.30436987751793276,-0.035135824650512404,0.18583612721888],"tcp_quaternion_wxyz":[0.4292592396930701,0.08945124943329201,0.8986398288128244,0.013469862070856821],"object_position_m":[0.30027007180476384,-0.03397109134245461,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7999620045431095e-11,3.1121662310099606e-12,1.9811657351787705e-12],"object_linear_velocity_m_s":[-3.82700201729859e-12,-2.2133949804866227e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[6.082916307096544e-10,-1.051752179474611e-10,9.05902374524013e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000278767},{"geom_ids":[1,90],"normal_force_n":0.09810000000196582},{"geom_ids":[1,90],"normal_force_n":0.09809999999721236},{"geom_ids":[1,90],"normal_force_n":0.09809999999803416}],"native_actuator_controls":[-0.18259144380739195,1.1230462648208481,-0.6606605597050994,0.263372963432507,0.3658268494370341,-0.21357202197102088,0.035],"actuator_force_native":[-0.2941716304395303,0.28411064879344394,-0.2615306228534493,-0.2786476625170735,0.29918499371294427,-0.10110583644421656,3.771868749358198e-05],"issued_joint_targets_rad":[-0.18278360536295657,1.123641232762097,-0.6619819204420907,0.26261276809829154,0.36804618339204787,-0.21389421065093],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.5999999999997145,"joint_targets_rad":[-0.18278360536295657,1.123641232762097,-0.6619819204420907,0.26261276809829154,0.36804618339204787,-0.21389421065093],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6199999999997123,"qpos":[-0.1785261776173498,1.1183514673022885,-0.6547658857314304,0.2744093896730848,0.32240977658369546,-0.20148488500287787,0.03499987776466525,-0.035000008496931176,0.30027007180465654,-0.033971091343075195,0.07989224457978367,0.9999999999999991,-1.9344343739738782e-11,3.344658269761748e-12,2.341020870599586e-12],"qvel":[-0.009373043045263983,0.027743662665106146,-0.06324715761859394,-0.038766457957141794,0.10469775978018422,-0.015250760414857782,-4.483076514635135e-06,-9.513436346445093e-06,-4.269049577358572e-12,-2.4690697767051548e-11,3.0756144793491573e-15,4.66512741140778e-10,-8.066120488046285e-11,1.6539488027962796e-11],"joint_position_rad":[-0.1785261776173498,1.1183514673022885,-0.6547658857314304,0.2744093896730848,0.32240977658369546,-0.20148488500287787],"joint_velocity_rad_s":[-0.009373043045263983,0.027743662665106146,-0.06324715761859394,-0.038766457957141794,0.10469775978018422,-0.015250760414857782],"gripper_joint_position_m":[0.03499987776466525,-0.035000008496931176],"tcp_position_m":[0.3043836824937102,-0.03512951086928523,0.18583625896518413],"tcp_quaternion_wxyz":[0.42860795176905425,0.08897464794354377,0.8989995462328615,0.013362319288496072],"object_position_m":[0.30027007180465654,-0.033971091343075195,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9344343739738782e-11,3.344658269761748e-12,2.341020870599586e-12],"object_linear_velocity_m_s":[-4.269049577358572e-12,-2.4690697767051548e-11,3.0756144793491573e-15],"object_angular_velocity_rad_s":[4.665127411412654e-10,-8.066120487763858e-11,1.6539488027962792e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000048831},{"geom_ids":[1,90],"normal_force_n":0.09810000000344347},{"geom_ids":[1,90],"normal_force_n":0.09809999999511694},{"geom_ids":[1,90],"normal_force_n":0.09809999999655653}],"native_actuator_controls":[-0.18278360536295657,1.123641232762097,-0.6619819204420907,0.26261276809829154,0.36804618339204787,-0.21389421065093,0.035],"actuator_force_native":[-0.2937290044222216,0.28446292345915936,-0.2610469887598583,-0.2780325732060227,0.2993174284132474,-0.10121711585823467,2.730479596313451e-05],"issued_joint_targets_rad":[-0.1829731524735135,1.1242379120178578,-0.6633026764619756,0.2618543127636521,0.37026159313270374,-0.21421465490194477],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6199999999997123,"joint_targets_rad":[-0.1829731524735135,1.1242379120178578,-0.6633026764619756,0.2618543127636521,0.37026159313270374,-0.21421465490194477],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.63999999999971,"qpos":[-0.1787267957544547,1.118941782318446,-0.6560990886494565,0.27362026906638937,0.3246374869393061,-0.20179323772754015,0.03499988490900447,-0.03500001670320411,0.30027007180455095,-0.03397109134368582,0.07989224457978367,0.9999999999999991,-2.0074249105394034e-11,3.470855608528508e-12,2.7414081893293207e-12],"qvel":[-0.009293196155265,0.02779893369897272,-0.06310006650639151,-0.03864166570765518,0.10457642450249521,-0.015268757522909186,-9.297687339787724e-06,-2.939771781392119e-06,-4.800156318917809e-12,-2.7762452261983154e-11,3.074226700568376e-15,2.0528112701646069e-10,-3.549345264892832e-11,3.019684511481527e-11],"joint_position_rad":[-0.1787267957544547,1.118941782318446,-0.6560990886494565,0.27362026906638937,0.3246374869393061,-0.20179323772754015],"joint_velocity_rad_s":[-0.009293196155265,0.02779893369897272,-0.06310006650639151,-0.03864166570765518,0.10457642450249521,-0.015268757522909186],"gripper_joint_position_m":[0.03499988490900447,-0.03500001670320411],"tcp_position_m":[0.30439684613093465,-0.035123145504257484,0.1858355781790707],"tcp_quaternion_wxyz":[0.4279558889925072,0.08849894228576864,0.89935865473171,0.013255355525285442],"object_position_m":[0.30027007180455095,-0.03397109134368582,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0074249105394034e-11,3.470855608528508e-12,2.7414081893293207e-12],"object_linear_velocity_m_s":[-4.800156318917809e-12,-2.7762452261983154e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[2.0528112701686453e-10,-3.549345264659039e-11,3.0196845114815226e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000694416},{"geom_ids":[1,90],"normal_force_n":0.09810000000489683},{"geom_ids":[1,90],"normal_force_n":0.09809999999305591},{"geom_ids":[1,90],"normal_force_n":0.09809999999510317}],"native_actuator_controls":[-0.1829731524735135,1.1242379120178578,-0.6633026764619756,0.2618543127636521,0.37026159313270374,-0.21421465490194477,0.035],"actuator_force_native":[-0.29324255674838007,0.28469570745808426,-0.26078669246957276,-0.2774299235712139,0.2993764251802338,-0.10131103545968223,5.109207652020942e-05],"issued_joint_targets_rad":[-0.18316033995190753,1.124837075816821,-0.6646245489554143,0.2610963308092737,0.3724759797504634,-0.21453250329015486],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.63999999999971,"joint_targets_rad":[-0.18316033995190753,1.124837075816821,-0.6646245489554143,0.2610963308092737,0.3724759797504634,-0.21453250329015486],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.659999999999708,"qpos":[-0.1789252322873812,1.1195337731174693,-0.657429533882325,0.27283412703777987,0.32686297452499974,-0.20210185975967385,0.03499985896751818,-0.0349999808827729,0.3002700718044483,-0.03397109134427923,0.07989224457978367,0.9999999999999991,-2.0039548976688578e-11,3.4648581793065034e-12,3.1720255903617594e-12],"qvel":[-0.009218388864716362,0.027893185954103786,-0.06297481159365739,-0.0385282541935355,0.10450734058446022,-0.01528365378547784,-5.394119133478052e-06,-9.148321703116809e-06,-5.554311919859287e-12,-3.2124195804320765e-11,3.074226700568376e-15,-2.1450493261508454e-10,3.708846989245821e-11,5.513164344984804e-11],"joint_position_rad":[-0.1789252322873812,1.1195337731174693,-0.657429533882325,0.27283412703777987,0.32686297452499974,-0.20210185975967385],"joint_velocity_rad_s":[-0.009218388864716362,0.027893185954103786,-0.06297481159365739,-0.0385282541935355,0.10450734058446022,-0.01528365378547784],"gripper_joint_position_m":[0.03499985896751818,-0.0349999808827729],"tcp_position_m":[0.304409327969752,-0.03511670031483022,0.18583376337642732],"tcp_quaternion_wxyz":[0.4273022962100651,0.08802404593035737,0.8997175210733861,0.013149040467548898],"object_position_m":[0.3002700718044483,-0.03397109134427923,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0039548976688578e-11,3.4648581793065034e-12,3.1720255903617594e-12],"object_linear_velocity_m_s":[-5.554311919859287e-12,-3.2124195804320765e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[-2.1450493261493738e-10,3.708846989330694e-11,5.513164344984793e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000835706},{"geom_ids":[1,90],"normal_force_n":0.09810000000589315},{"geom_ids":[1,90],"normal_force_n":0.09809999999164297},{"geom_ids":[1,90],"normal_force_n":0.09809999999410686}],"native_actuator_controls":[-0.18316033995190753,1.124837075816821,-0.6646245489554143,0.2610963308092737,0.3724759797504634,-0.21453250329015486,0.035],"actuator_force_native":[-0.29271666883852454,0.2847982861776046,-0.2607271478788604,-0.27687057817257,0.29936904137794684,-0.10138095462659358,3.26118949405263e-05],"issued_joint_targets_rad":[-0.1833453933690437,1.125439385044941,-0.6659489909643175,0.26033790017033787,0.37469178848971696,-0.21484717935408482],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.659999999999708,"joint_targets_rad":[-0.1833453933690437,1.125439385044941,-0.6659489909643175,0.26033790017033787,0.37469178848971696,-0.21484717935408482],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6799999999997057,"qpos":[-0.1791215745868971,1.1201282291264896,-0.6587579612717331,0.2720506028307125,0.3290874427653635,-0.20241068955874225,0.03499988153435424,-0.03500001088030226,0.3002700718043503,-0.03397109134484633,0.07989224457978367,0.9999999999999991,-1.895950935827772e-11,3.2781182680683646e-12,3.6065988523386986e-12],"qvel":[-0.009146776376838042,0.028023281341119588,-0.06289145156706735,-0.038428086811613554,0.10449094562851555,-0.015294648192488618,-6.011845445601436e-06,-8.441829747706715e-06,-6.751501524040751e-12,-3.9048362515376026e-11,3.0797778156915014e-15,-8.490533413094742e-10,1.468021335328212e-10,1.0065692085234717e-10],"joint_position_rad":[-0.1791215745868971,1.1201282291264896,-0.6587579612717331,0.2720506028307125,0.3290874427653635,-0.20241068955874225],"joint_velocity_rad_s":[-0.009146776376838042,0.028023281341119588,-0.06289145156706735,-0.038428086811613554,0.10449094562851555,-0.015294648192488618],"gripper_joint_position_m":[0.03499988153435424,-0.03500001088030226],"tcp_position_m":[0.30442117217985093,-0.03511016299762187,0.1858306814716842],"tcp_quaternion_wxyz":[0.4266466209233895,0.08754983482102663,0.9000764170582212,0.013043417232440466],"object_position_m":[0.3002700718043503,-0.03397109134484633,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.895950935827772e-11,3.2781182680683646e-12,3.6065988523386986e-12],"object_linear_velocity_m_s":[-6.751501524040751e-12,-3.9048362515376026e-11,3.0797778156915014e-15],"object_angular_velocity_rad_s":[-8.490533413098717e-10,1.4680213353051336e-10,1.0065692085234699e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000791391},{"geom_ids":[1,90],"normal_force_n":0.09810000000558076},{"geom_ids":[1,90],"normal_force_n":0.09809999999208609},{"geom_ids":[1,90],"normal_force_n":0.09809999999441926}],"native_actuator_controls":[-0.1833453933690437,1.125439385044941,-0.6659489909643175,0.26033790017033787,0.37469178848971696,-0.21484717935408482,0.035],"actuator_force_native":[-0.29217162068753844,0.2847760667705046,-0.26082511757141447,-0.2763676723569173,0.2993070388007615,-0.10142292566469235,3.479785305859906e-05],"issued_joint_targets_rad":[-0.18352849072073069,1.126045336087188,-0.6672770797735892,0.2595784965646259,0.3769108314678015,-0.21515852049657677],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6799999999997057,"joint_targets_rad":[-0.18352849072073069,1.126045336087188,-0.6672770797735892,0.2595784965646259,0.3769108314678015,-0.21515852049657677],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6999999999997035,"qpos":[-0.17931594258748426,1.1207258244932483,-0.6600854003666278,0.2712693252470948,0.3313120233609101,-0.20271965357842062,0.03499988845244717,-0.03500001513142547,0.3002700718042592,-0.033971091345373204,0.07989224457978367,0.9999999999999991,-1.6400301843905884e-11,2.8356279352523472e-12,3.9884145326600396e-12],"qvel":[-0.0090810291625772,0.028182339065026485,-0.06286071008856117,-0.03834160902138224,0.10452121746456665,-0.015301366695459322,-9.24257023655675e-06,-4.2798613694396315e-06,-3.4691958674641413e-12,-2.0064636587246876e-11,3.07839003691072e-15,7.016654284778648e-10,-1.2131879202220561e-10,1.0905364062134491e-11],"joint_position_rad":[-0.17931594258748426,1.1207258244932483,-0.6600854003666278,0.2712693252470948,0.3313120233609101,-0.20271965357842062],"joint_velocity_rad_s":[-0.0090810291625772,0.028182339065026485,-0.06286071008856117,-0.03834160902138224,0.10452121746456665,-0.015301366695459322],"gripper_joint_position_m":[0.03499988845244717,-0.03500001513142547],"tcp_position_m":[0.3044324803239312,-0.03510354799820021,0.1858263625331032],"tcp_quaternion_wxyz":[0.4259885225687711,0.08707618782103975,0.900435512124081,0.012938495278589613],"object_position_m":[0.3002700718042592,-0.033971091345373204,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6400301843905884e-11,2.8356279352523472e-12,3.9884145326600396e-12],"object_linear_velocity_m_s":[-3.4691958674641413e-12,-2.0064636587246876e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[7.016654284788931e-10,-1.2131879201625064e-10,1.0905364062134476e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999732095},{"geom_ids":[1,90],"normal_force_n":0.09809999998110809},{"geom_ids":[1,90],"normal_force_n":0.09810000002679051},{"geom_ids":[1,90],"normal_force_n":0.09810000001889199}],"native_actuator_controls":[-0.18352849072073069,1.126045336087188,-0.6672770797735892,0.2595784965646259,0.3769108314678015,-0.21515852049657677,0.035],"actuator_force_native":[-0.2915987048468267,0.28464923219004845,-0.26103080211409946,-0.2759251021918452,0.2992062548720642,-0.10143661913837265,5.06747532962315e-05],"issued_joint_targets_rad":[-0.18370972805116664,1.1266552450102933,-0.668609491083832,0.2588178197179795,0.37913423325767004,-0.21546652967635146],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.6999999999997035,"joint_targets_rad":[-0.18370972805116664,1.1266552450102933,-0.668609491083832,0.2588178197179795,0.37913423325767004,-0.21546652967635146],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7199999999997013,"qpos":[-0.17950842928901345,1.1213270683786793,-0.6614129857794802,0.27048993144697786,0.3335376144278126,-0.20302867380446304,0.03499987192905636,-0.03499998833227152,0.30027007180415405,-0.03397109134598168,0.07989224457978367,0.9999999999999991,-1.752190661161726e-11,3.0295511351071046e-12,4.685512354340427e-12],"qvel":[-0.009018260396116008,0.028362110126766798,-0.0628857361596823,-0.03826848929849953,0.10458791175849529,-0.015303696214718589,-5.786165445084168e-06,-9.886796752747088e-06,-3.7430532261914355e-12,-2.1648552766947115e-11,3.0811655944722828e-15,6.175466286751721e-10,-1.0677453509266239e-10,1.9910378730350692e-11],"joint_position_rad":[-0.17950842928901345,1.1213270683786793,-0.6614129857794802,0.27048993144697786,0.3335376144278126,-0.20302867380446304],"joint_velocity_rad_s":[-0.009018260396116008,0.028362110126766798,-0.0628857361596823,-0.03826848929849953,0.10458791175849529,-0.015303696214718589],"gripper_joint_position_m":[0.03499987192905636,-0.03499998833227152],"tcp_position_m":[0.304443393502233,-0.03509688228560585,0.18582096551203264],"tcp_quaternion_wxyz":[0.42532788234252783,0.08660297736992978,0.9007948705560176,0.012834250763167613],"object_position_m":[0.30027007180415405,-0.03397109134598168,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.752190661161726e-11,3.0295511351071046e-12,4.685512354340427e-12],"object_linear_velocity_m_s":[-3.7430532261914355e-12,-2.1648552766947115e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[6.175466286762922e-10,-1.067745350861774e-10,1.9910378730350667e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000219389},{"geom_ids":[1,90],"normal_force_n":0.0981000000015471},{"geom_ids":[1,90],"normal_force_n":0.09809999999780614},{"geom_ids":[1,90],"normal_force_n":0.09809999999845292}],"native_actuator_controls":[-0.18370972805116664,1.1266552450102933,-0.668609491083832,0.2588178197179795,0.37913423325767004,-0.21546652967635146,0.035],"actuator_force_native":[-0.2910125989916743,0.2844435798952816,-0.26129174354974083,-0.27554202266743566,0.2990843206608318,-0.10142301439680645,3.4053664971223085e-05],"issued_joint_targets_rad":[-0.1838891311587133,1.127269236408703,-0.6699464800505682,0.25805584386800073,0.3813624092474743,-0.21577144273763596],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7199999999997013,"joint_targets_rad":[-0.1838891311587133,1.127269236408703,-0.6699464800505682,0.25805584386800073,0.3813624092474743,-0.21577144273763596],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.739999999999699,"qpos":[-0.17969912542417935,1.1219322808955459,-0.662741821296868,0.26971209958922654,0.3357648714623458,-0.2033376715961068,0.034999894512480395,-0.035000015694255676,0.30027007180405146,-0.03397109134657522,0.07989224457978367,0.9999999999999991,-1.8404161580376763e-11,3.18209132845732e-12,5.476415942202018e-12],"qvel":[-0.008959390358132263,0.028553282193865274,-0.06296254731119424,-0.03820708889667267,0.10467926794668532,-0.015301837870042577,-6.819757812893924e-06,-8.717949565675428e-06,-4.073084615263934e-12,-2.3557367560507004e-11,3.07839003691072e-15,4.617298372259779e-10,-7.983349758302279e-11,3.6351146136788317e-11],"joint_position_rad":[-0.17969912542417935,1.1219322808955459,-0.662741821296868,0.26971209958922654,0.3357648714623458,-0.2033376715961068],"joint_velocity_rad_s":[-0.008959390358132263,0.028553282193865274,-0.06296254731119424,-0.03820708889667267,0.10467926794668532,-0.015301837870042577],"gripper_joint_position_m":[0.034999894512480395,-0.035000015694255676],"tcp_position_m":[0.3044540646739113,-0.03509020605585911,0.1858147325680249],"tcp_quaternion_wxyz":[0.42466475849884416,0.08613009591500739,0.9011544708962622,0.012730634330928609],"object_position_m":[0.30027007180405146,-0.03397109134657522,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8404161580376763e-11,3.18209132845732e-12,5.476415942202018e-12],"object_linear_velocity_m_s":[-4.073084615263934e-12,-2.3557367560507004e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[4.617298372270828e-10,-7.983349757662737e-11,3.635114613678826e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000428576},{"geom_ids":[1,90],"normal_force_n":0.09810000000302214},{"geom_ids":[1,90],"normal_force_n":0.09809999999571431},{"geom_ids":[1,90],"normal_force_n":0.09809999999697785}],"native_actuator_controls":[-0.1838891311587133,1.127269236408703,-0.6699464800505682,0.25805584386800073,0.3813624092474743,-0.21577144273763596,0.035],"actuator_force_native":[-0.29040350697205497,0.28419003008322363,-0.26155996374004786,-0.2752147843656694,0.29895647593125707,-0.10138495461022767,3.8318289848904286e-05],"issued_joint_targets_rad":[-0.18406665870918226,1.1278872773110413,-0.6712879611202892,0.2572926863453968,0.38359519761588956,-0.21607355993253438],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.739999999999699,"joint_targets_rad":[-0.18406665870918226,1.1278872773110413,-0.6712879611202892,0.2572926863453968,0.38359519761588956,-0.21607355993253438],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.759999999999697,"qpos":[-0.1798880749392119,1.122541595356937,-0.6640728534651773,0.26893555319200685,0.3379941438186464,-0.20364657354121146,0.03499990226554748,-0.03500002001078901,0.30027007180395177,-0.03397109134715217,0.07989224457978367,0.9999999999999991,-1.889172273677225e-11,3.266387311045687e-12,6.356400365220096e-12],"qvel":[-0.00890169013291314,0.028747453240741398,-0.06308242853247625,-0.038155748140242376,0.10478274120737516,-0.015296141776997889,-9.05341414395888e-06,-6.052449941917451e-06,-4.521418224249859e-12,-2.615040653146217e-11,3.0811655944722828e-15,2.0491262206794215e-10,-3.5429876590251994e-11,6.636758489905489e-11],"joint_position_rad":[-0.1798880749392119,1.122541595356937,-0.6640728534651773,0.26893555319200685,0.3379941438186464,-0.20364657354121146],"joint_velocity_rad_s":[-0.00890169013291314,0.028747453240741398,-0.06308242853247625,-0.038155748140242376,0.10478274120737516,-0.015296141776997889],"gripper_joint_position_m":[0.03499990226554748,-0.03500002001078901],"tcp_position_m":[0.3044646431102678,-0.03508355886552428,0.18580794712727922],"tcp_quaternion_wxyz":[0.4239993561064442,0.08565744345242257,0.9015142221263779,0.012627577217665248],"object_position_m":[0.30027007180395177,-0.03397109134715217,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.889172273677225e-11,3.266387311045687e-12,6.356400365220096e-12],"object_linear_velocity_m_s":[-4.521418224249859e-12,-2.615040653146217e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[2.049126220688258e-10,-3.542987658513932e-11,6.636758489905479e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000632307},{"geom_ids":[1,90],"normal_force_n":0.09810000000445875},{"geom_ids":[1,90],"normal_force_n":0.0980999999936769},{"geom_ids":[1,90],"normal_force_n":0.09809999999554125}],"native_actuator_controls":[-0.18406665870918226,1.1278872773110413,-0.6712879611202892,0.2572926863453968,0.38359519761588956,-0.21607355993253438,0.035],"actuator_force_native":[-0.28977825093306286,0.2839172901246343,-0.2617964697465709,-0.27493593316318865,0.29883642616136896,-0.10132565124773274,4.917644882085348e-05],"issued_joint_targets_rad":[-0.1842422265649648,1.128509202625878,-0.6726335664714262,0.2565286225078552,0.38583196658835794,-0.21637329220084703],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.759999999999697,"joint_targets_rad":[-0.1842422265649648,1.128509202625878,-0.6726335664714262,0.2565286225078552,0.38583196658835794,-0.21637329220084703],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7799999999996947,"qpos":[-0.1800753413832101,1.1231549784471564,-0.6654068078380402,0.2681600547857805,0.3402255410076288,-0.2039553139579075,0.034999892057129195,-0.03500000211829033,0.3002700718038498,-0.03397109134774165,0.07989224457978367,0.9999999999999991,-1.986411478559777e-11,3.4345052988488447e-12,7.441465197676246e-12],"qvel":[-0.008847042144424977,0.02893716438214934,-0.06323303541090644,-0.03811270921145997,0.10488646170194767,-0.015287085877567913,-6.23546973575444e-06,-1.0772749184239002e-05,-5.310059889960233e-12,-3.0711742453628944e-11,3.074226700568376e-15,-1.6038970279400738e-10,2.773053488657074e-11,1.2117052824519701e-10],"joint_position_rad":[-0.1800753413832101,1.1231549784471564,-0.6654068078380402,0.2681600547857805,0.3402255410076288,-0.2039553139579075],"joint_velocity_rad_s":[-0.008847042144424977,0.02893716438214934,-0.06323303541090644,-0.03811270921145997,0.10488646170194767,-0.015287085877567913],"gripper_joint_position_m":[0.034999892057129195,-0.03500000211829033],"tcp_position_m":[0.3044752525478612,-0.035076992769162,0.1858008916447247],"tcp_quaternion_wxyz":[0.4233319610397725,0.08518495430215325,0.901873992879165,0.012524986664760129],"object_position_m":[0.3002700718038498,-0.03397109134774165,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.986411478559777e-11,3.4345052988488447e-12,7.441465197676246e-12],"object_linear_velocity_m_s":[-5.310059889960233e-12,-3.0711742453628944e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[-1.6038970279358749e-10,2.7730534888997515e-11,1.2117052824519683e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000879004},{"geom_ids":[1,90],"normal_force_n":0.09810000000619845},{"geom_ids":[1,90],"normal_force_n":0.09809999999120997},{"geom_ids":[1,90],"normal_force_n":0.09809999999380153}],"native_actuator_controls":[-0.1842422265649648,1.128509202625878,-0.6726335664714262,0.2565286225078552,0.38583196658835794,-0.21637329220084703,0.035],"actuator_force_native":[-0.2891156038182512,0.2836521123869886,-0.2619755136163633,-0.27469374505971267,0.29873456325436987,-0.10124915361304332,3.549506351108178e-05],"issued_joint_targets_rad":[-0.1844156873139235,1.1291347677352597,-0.6739827663896744,0.2557638131643775,0.3880718000561392,-0.21667085675601327],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7799999999996947,"joint_targets_rad":[-0.1844156873139235,1.1291347677352597,-0.6739827663896744,0.2557638131643775,0.3880718000561392,-0.21667085675601327],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7999999999996925,"qpos":[-0.18026091270164804,1.123772270513086,-0.6667441412854554,0.2673854001755198,0.34245890934593026,-0.20426383522658179,0.034999909705717,-0.03500002287959404,0.30027007180375026,-0.033971091348318085,0.07989224457978367,0.9999999999999991,-1.9548983911773033e-11,3.3800106003641737e-12,8.558874186045993e-12],"qvel":[-0.008791305474076952,0.029117407296497314,-0.0634019622101271,-0.038076428769470726,0.10498189436471006,-0.015274991590446173,-9.36994917533851e-06,-6.702236480976581e-06,-6.50582532156916e-12,-3.7627763484172476e-11,3.0783900369107204e-15,-7.2920355869274e-10,1.2607778113839168e-10,2.2122773336313647e-10],"joint_position_rad":[-0.18026091270164804,1.123772270513086,-0.6667441412854554,0.2673854001755198,0.34245890934593026,-0.20426383522658179],"joint_velocity_rad_s":[-0.008791305474076952,0.029117407296497314,-0.0634019622101271,-0.038076428769470726,0.10498189436471006,-0.015274991590446173],"gripper_joint_position_m":[0.034999909705717,-0.03500002287959404],"tcp_position_m":[0.30448599046505564,-0.03507054388947252,0.18579381954112162],"tcp_quaternion_wxyz":[0.4226629098057176,0.08471255681900162,0.9022336295605627,0.012422764657063956],"object_position_m":[0.30027007180375026,-0.033971091348318085,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9548983911773033e-11,3.3800106003641737e-12,8.558874186045993e-12],"object_linear_velocity_m_s":[-6.50582532156916e-12,-3.7627763484172476e-11,3.0783900369107204e-15],"object_angular_velocity_rad_s":[-7.292035586934013e-10,1.2607778113455868e-10,2.2122773336313614e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000895167},{"geom_ids":[1,90],"normal_force_n":0.09810000000631257},{"geom_ids":[1,90],"normal_force_n":0.09809999999104836},{"geom_ids":[1,90],"normal_force_n":0.0980999999936875}],"native_actuator_controls":[-0.1844156873139235,1.1291347677352597,-0.6739827663896744,0.2557638131643775,0.3880718000561392,-0.21667085675601327,0.035],"actuator_force_native":[-0.2884254416116523,0.28341274129141425,-0.2620801972868776,-0.2744813365983383,0.29865606555502433,-0.10115772790864552,5.046151719678704e-05],"issued_joint_targets_rad":[-0.1845868924358361,1.1297636796079225,-0.6753349331773633,0.2549985091660741,0.39031362886877624,-0.21696656191844607],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.7999999999996925,"joint_targets_rad":[-0.1845868924358361,1.1297636796079225,-0.6753349331773633,0.2549985091660741,0.39031362886877624,-0.21696656191844607],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8199999999996903,"qpos":[-0.1804448200364781,1.1243932234469862,-0.6680850575391576,0.2666114675132659,0.3446939723937219,-0.20457208397253068,0.034999898928718784,-0.035000005964136806,0.30027007180365545,-0.03397109134886628,0.07989224457978367,0.9999999999999991,-1.7599871298669473e-11,3.0430090860618276e-12,9.588013295333358e-12],"qvel":[-0.008737326136074294,0.0292846349818362,-0.06357614613384942,-0.03804472005821325,0.10506159496161668,-0.015260410385836615,-6.613211118466626e-06,-1.134453122195237e-05,-8.391954402850077e-12,-4.8536000044177945e-11,3.0811655944722828e-15,-1.5902416210396503e-09,2.749599795072003e-10,4.039074204652965e-10],"joint_position_rad":[-0.1804448200364781,1.1243932234469862,-0.6680850575391576,0.2666114675132659,0.3446939723937219,-0.20457208397253068],"joint_velocity_rad_s":[-0.008737326136074294,0.0292846349818362,-0.06357614613384942,-0.03804472005821325,0.10506159496161668,-0.015260410385836615],"gripper_joint_position_m":[0.034999898928718784,-0.035000005964136806],"tcp_position_m":[0.3044969132442838,-0.03506425540125861,0.1857869293151757],"tcp_quaternion_wxyz":[0.42199252144962646,0.0842402400087447,0.9025929820175485,0.012320820448539294],"object_position_m":[0.30027007180365545,-0.03397109134886628,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7599871298669473e-11,3.0430090860618276e-12,9.588013295333358e-12],"object_linear_velocity_m_s":[-8.391954402850077e-12,-4.8536000044177945e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[-1.5902416210424619e-09,2.749599794909227e-10,4.039074204652955e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000554331},{"geom_ids":[1,90],"normal_force_n":0.09810000000390888},{"geom_ids":[1,90],"normal_force_n":0.09809999999445675},{"geom_ids":[1,90],"normal_force_n":0.09809999999609115}],"native_actuator_controls":[-0.1845868924358361,1.1297636796079225,-0.6753349331773633,0.2549985091660741,0.39031362886877624,-0.21696656191844607,0.035],"actuator_force_native":[-0.287679161268267,0.2832133179657035,-0.2621093203872107,-0.2742947335966086,0.29860417230811853,-0.101054163880399,3.710890684094359e-05],"issued_joint_targets_rad":[-0.18475567243081834,1.1303956510835813,-0.6766894606346284,0.25423278422731493,0.39255641237175287,-0.21726043167440315],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8199999999996903,"joint_targets_rad":[-0.18475567243081834,1.1303956510835813,-0.6766894606346284,0.25423278422731493,0.39255641237175287,-0.21726043167440315],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.839999999999688,"qpos":[-0.18062703835389882,1.1250175492525094,-0.6694295233988987,0.26583815439182457,0.34693031593944545,-0.20488001478336673,0.03499990984018833,-0.0350000194612207,0.30027007180355136,-0.03397109134946761,0.07989224457978367,0.9999999999999991,-1.7790468354846814e-11,3.0759882620656194e-12,1.112013029555894e-11],"qvel":[-0.00868192937738266,0.029437937877779864,-0.06374561263552843,-0.03801668849945242,0.10512267494212983,-0.015243541264944094,-1.1479130809787916e-05,-4.829465377336869e-06,-3.7778233065946466e-12,-2.1849649477195356e-11,3.085328930814627e-15,6.593296487572115e-10,-1.1399789681007455e-10,4.3760064307182035e-11],"joint_position_rad":[-0.18062703835389882,1.1250175492525094,-0.6694295233988987,0.26583815439182457,0.34693031593944545,-0.20488001478336673],"joint_velocity_rad_s":[-0.00868192937738266,0.029437937877779864,-0.06374561263552843,-0.03801668849945242,0.10512267494212983,-0.015243541264944094],"gripper_joint_position_m":[0.03499990984018833,-0.0350000194612207],"tcp_position_m":[0.3045080467135485,-0.035058153419050775,0.18578035744201707],"tcp_quaternion_wxyz":[0.4213210865079382,0.08376798655803618,0.902951915024989,0.01221906888792519],"object_position_m":[0.30027007180355136,-0.03397109134946761,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7790468354846814e-11,3.0759882620656194e-12,1.112013029555894e-11],"object_linear_velocity_m_s":[-3.7778233065946466e-12,-2.1849649477195356e-11,3.085328930814627e-15],"object_angular_velocity_rad_s":[6.593296487600149e-10,-1.1399789679385366e-10,4.376006430718193e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000187215},{"geom_ids":[1,90],"normal_force_n":0.09810000000132024},{"geom_ids":[1,90],"normal_force_n":0.09809999999812791},{"geom_ids":[1,90],"normal_force_n":0.09809999999867969}],"native_actuator_controls":[-0.18475567243081834,1.1303956510835813,-0.6766894606346284,0.25423278422731493,0.39255641237175287,-0.21726043167440315,0.035],"actuator_force_native":[-0.2868810792666494,0.28305845709685684,-0.2620669156807338,-0.2741313640831251,0.29857695190987954,-0.10093885701294791,6.1002046515712394e-05],"issued_joint_targets_rad":[-0.18492187850744518,1.1310304171610868,-0.6780457955666811,0.25346670964605394,0.39479920812703506,-0.21755250735277842],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.839999999999688,"joint_targets_rad":[-0.18492187850744518,1.1310304171610868,-0.6780457955666811,0.25346670964605394,0.39479920812703506,-0.21755250735277842],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.859999999999686,"qpos":[-0.18080753299395075,1.125644956743611,-0.670777330112767,0.26506537463894114,0.3491675040462019,-0.20518758525129194,0.03499987942919548,-0.03499997866502164,0.30027007180344445,-0.033971091350085136,0.07989224457978367,0.9999999999999991,-1.8850067730887304e-11,3.25920346504944e-12,1.308080524496653e-11],"qvel":[-0.008625472348394598,0.029577713811399516,-0.06390216169357393,-0.037991945440605544,0.10516367879095607,-0.015224546711222845,-7.384143152597907e-06,-1.1494155017678629e-05,-4.118841646770558e-12,-2.3821913801601594e-11,3.0867167095954086e-15,5.236359739469524e-10,-9.053716381742393e-11,7.989496281948622e-11],"joint_position_rad":[-0.18080753299395075,1.125644956743611,-0.670777330112767,0.26506537463894114,0.3491675040462019,-0.20518758525129194],"joint_velocity_rad_s":[-0.008625472348394598,0.029577713811399516,-0.06390216169357393,-0.037991945440605544,0.10516367879095607,-0.015224546711222845],"gripper_joint_position_m":[0.03499987942919548,-0.03499997866502164],"tcp_position_m":[0.3045193848019407,-0.03505225511237021,0.185774174132882],"tcp_quaternion_wxyz":[0.4206488279975616,0.08329578800709103,0.9033103248416294,0.0121174353336674],"object_position_m":[0.30027007180344445,-0.033971091350085136,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8850067730887304e-11,3.25920346504944e-12,1.308080524496653e-11],"object_linear_velocity_m_s":[-4.118841646770558e-12,-2.3821913801601594e-11,3.0867167095954086e-15],"object_angular_velocity_rad_s":[5.236359739498409e-10,-9.053716380071255e-11,7.989496281948607e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000039506},{"geom_ids":[1,90],"normal_force_n":0.09810000000278586},{"geom_ids":[1,90],"normal_force_n":0.0980999999960494},{"geom_ids":[1,90],"normal_force_n":0.09809999999721415}],"native_actuator_controls":[-0.18492187850744518,1.1310304171610868,-0.6780457955666811,0.25346670964605394,0.39479920812703506,-0.21755250735277842,0.035],"actuator_force_native":[-0.28602027933758123,0.2829482643410586,-0.2619664278452589,-0.27398687251245946,0.2985715226218977,-0.10081240094803068,4.174354794383994e-05],"issued_joint_targets_rad":[-0.18508538083150122,1.131667769258485,-0.6794035102227391,0.25270025791000283,0.39704128587406395,-0.21784273144370683],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.859999999999686,"joint_targets_rad":[-0.18508538083150122,1.131667769258485,-0.6794035102227391,0.25270025791000283,0.39704128587406395,-0.21784273144370683],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8799999999996837,"qpos":[-0.18098630231151852,1.1262751816894723,-0.6721281480382557,0.2642930471255747,0.3514051272657517,-0.2054947547847096,0.03499989788891332,-0.035000007364659726,0.3002700718033403,-0.033971091350687446,0.07989224457978367,0.9999999999999991,-1.9510435640200288e-11,3.3733864540092002e-12,1.527521183223435e-11],"qvel":[-0.008568770313081208,0.029705778823063664,-0.06404076560858224,-0.03797017869678425,0.10518583547195243,-0.015203497939159465,-6.256844019238766e-06,-1.340428578653071e-05,-4.553946850964594e-12,-2.6338371021753047e-11,3.082553373253065e-15,2.890656331795846e-10,-4.9979585650215645e-11,1.458680752824826e-10],"joint_position_rad":[-0.18098630231151852,1.1262751816894723,-0.6721281480382557,0.2642930471255747,0.3514051272657517,-0.2054947547847096],"joint_velocity_rad_s":[-0.008568770313081208,0.029705778823063664,-0.06404076560858224,-0.03797017869678425,0.10518583547195243,-0.015203497939159465],"gripper_joint_position_m":[0.03499989788891332,-0.035000007364659726],"tcp_position_m":[0.30453089470578326,-0.03504658107835296,0.18576838864673456],"tcp_quaternion_wxyz":[0.4199758913138403,0.08282365705184505,0.9036681425861134,0.012015848811787284],"object_position_m":[0.3002700718033403,-0.033971091350687446,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9510435640200288e-11,3.3733864540092002e-12,1.527521183223435e-11],"object_linear_velocity_m_s":[-4.553946850964594e-12,-2.6338371021753047e-11,3.082553373253065e-15],"object_angular_velocity_rad_s":[2.890656331820951e-10,-4.9979585635692577e-11,1.4586807528248232e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000609594},{"geom_ids":[1,90],"normal_force_n":0.09810000000429857},{"geom_ids":[1,90],"normal_force_n":0.09809999999390406},{"geom_ids":[1,90],"normal_force_n":0.09809999999570142}],"native_actuator_controls":[-0.18508538083150122,1.131667769258485,-0.6794035102227391,0.25270025791000283,0.39704128587406395,-0.21784273144370683,0.035],"actuator_force_native":[-0.2850824300332082,0.28287811140569374,-0.26182514671576484,-0.2738606751389536,0.29858283287519427,-0.10067451968123331,3.536866356346202e-05],"issued_joint_targets_rad":[-0.18524604670976036,1.1323075631735207,-0.6807623196968883,0.25193319327072927,0.39928214494783304,-0.2181308179560076],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8799999999996837,"joint_targets_rad":[-0.18524604670976036,1.1323075631735207,-0.6807623196968883,0.25193319327072927,0.39928214494783304,-0.2181308179560076],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8999999999996815,"qpos":[-0.1811632696514546,1.1269080145952288,-0.6734815840106242,0.26352107416488146,0.35364280290599864,-0.20580148228325285,0.034999909995831184,-0.0350000223019767,0.3002700718032395,-0.03397109135127077,0.07989224457978367,0.9999999999999991,-1.9579107490890454e-11,3.38526985132188e-12,1.76600546397311e-11],"qvel":[-0.00850894560080407,0.029825092881067303,-0.06415992408819379,-0.037951978634994304,0.10519284204380984,-0.015180173242982225,-1.3579149833474092e-05,-3.390730963047886e-06,-5.188092261720078e-12,-3.000590785809013e-11,3.0839411520338463e-15,-8.179524693810933e-11,1.41436055667616e-11,2.663183128441038e-10],"joint_position_rad":[-0.1811632696514546,1.1269080145952288,-0.6734815840106242,0.26352107416488146,0.35364280290599864,-0.20580148228325285],"joint_velocity_rad_s":[-0.00850894560080407,0.029825092881067303,-0.06415992408819379,-0.037951978634994304,0.10519284204380984,-0.015180173242982225],"gripper_joint_position_m":[0.034999909995831184,-0.0350000223019767],"tcp_position_m":[0.30454253346186577,-0.03504112630571601,0.1857629635080854],"tcp_quaternion_wxyz":[0.419302355841,0.08235157079634912,0.9040253335269464,0.011914256798259821],"object_position_m":[0.3002700718032395,-0.03397109135127077,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9579107490890454e-11,3.38526985132188e-12,1.76600546397311e-11],"object_linear_velocity_m_s":[-5.188092261720078e-12,-3.000590785809013e-11,3.0839411520338463e-15],"object_angular_velocity_rad_s":[-8.179524693680562e-11,1.4143605574301109e-11,2.663183128441033e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000777414},{"geom_ids":[1,90],"normal_force_n":0.09810000000548202},{"geom_ids":[1,90],"normal_force_n":0.09809999999222585},{"geom_ids":[1,90],"normal_force_n":0.098099999994518}],"native_actuator_controls":[-0.18524604670976036,1.1323075631735207,-0.6807623196968883,0.25193319327072927,0.39928214494783304,-0.2181308179560076,0.035],"actuator_force_native":[-0.2840774366604393,0.2828384218580311,-0.26165923446015427,-0.2737553425911159,0.29860415735262924,-0.10052309686307437,7.149591592003901e-05],"issued_joint_targets_rad":[-0.18540380280713173,1.132949717295479,-0.6821220699814514,0.2511653856299301,0.4015215214584887,-0.21841666636761445],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.8999999999996815,"joint_targets_rad":[-0.18540380280713173,1.132949717295479,-0.6821220699814514,0.2511653856299301,0.4015215214584887,-0.21841666636761445],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9199999999996793,"qpos":[-0.18133845881464672,1.1275433044713092,-0.6748372462789906,0.26274935472574923,0.355880279509807,-0.20610772326829846,0.03499986121948066,-0.034999958354945654,0.30027007180314297,-0.03397109135182899,0.07989224457978367,0.9999999999999991,-1.8769542577706353e-11,3.2452988168554743e-12,2.011597713547927e-11],"qvel":[-0.00844978702575356,0.02993848111682847,-0.06425932686099683,-0.03793778577167029,0.10518701902952589,-0.015154550044260823,-8.25486410527543e-06,-1.1937985701996804e-05,-6.20011711317918e-12,-3.585903427885826e-11,3.0756144793491577e-15,-6.413742107581597e-10,1.1089532387989762e-10,4.862293532307489e-10],"joint_position_rad":[-0.18133845881464672,1.1275433044713092,-0.6748372462789906,0.26274935472574923,0.355880279509807,-0.20610772326829846],"joint_velocity_rad_s":[-0.00844978702575356,0.02993848111682847,-0.06425932686099683,-0.03793778577167029,0.10518701902952589,-0.015154550044260823],"gripper_joint_position_m":[0.03499986121948066,-0.034999958354945654],"tcp_position_m":[0.3045542422633706,-0.03503590734033595,0.18575782385621692],"tcp_quaternion_wxyz":[0.41862821869192324,0.08187954825040132,0.9043818974610708,0.011812605040842727],"object_position_m":[0.30027007180314297,-0.03397109135182899,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8769542577706353e-11,3.2452988168554743e-12,2.011597713547927e-11],"object_linear_velocity_m_s":[-6.20011711317918e-12,-3.585903427885826e-11,3.0756144793491577e-15],"object_angular_velocity_rad_s":[-6.413742107594642e-10,1.1089532387234628e-10,4.86229353230748e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000798504},{"geom_ids":[1,90],"normal_force_n":0.09810000000563071},{"geom_ids":[1,90],"normal_force_n":0.09809999999201496},{"geom_ids":[1,90],"normal_force_n":0.09809999999436929}],"native_actuator_controls":[-0.18540380280713173,1.132949717295479,-0.6821220699814514,0.2511653856299301,0.4015215214584887,-0.21841666636761445,0.035],"actuator_force_native":[-0.2829785842700332,0.2828206203494261,-0.2614892618918816,-0.27366983497441133,0.29863189094252807,-0.10035760592676901,4.68255412999774e-05],"issued_joint_targets_rad":[-0.18555854601955252,1.1335942181400525,-0.6834827563374615,0.25039638751706056,0.4037593774112356,-0.2186998005338419],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9199999999996793,"joint_targets_rad":[-0.18555854601955252,1.1335942181400525,-0.6834827563374615,0.25039638751706056,0.4037593774112356,-0.2186998005338419],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.939999999999677,"qpos":[-0.181511820341056,1.1281809714606474,-0.6761947756342237,0.26197775372267074,0.3581173538056766,-0.2064134297703934,0.03499987629527541,-0.03499998470483928,0.3002700718030527,-0.03397109135235122,0.07989224457978367,0.9999999999999991,-1.6675179804811193e-11,2.8831801839415768e-12,2.237788708250714e-11],"qvel":[-0.008388099969159572,0.030049387085385813,-0.06434229621976911,-0.037928612545597595,0.10517390816656422,-0.015126181454478112,-6.704077563999809e-06,-1.4405927504286607e-05,-7.89298685851403e-12,-4.564988236548876e-11,3.0742267005683763e-15,-1.4621433323155352e-09,2.52809452175562e-10,8.877314038256881e-10],"joint_position_rad":[-0.181511820341056,1.1281809714606474,-0.6761947756342237,0.26197775372267074,0.3581173538056766,-0.2064134297703934],"joint_velocity_rad_s":[-0.008388099969159572,0.030049387085385813,-0.06434229621976911,-0.037928612545597595,0.10517390816656422,-0.015126181454478112],"gripper_joint_position_m":[0.03499987629527541,-0.03499998470483928],"tcp_position_m":[0.3045659692662393,-0.03503091911539832,0.18575287821722125],"tcp_quaternion_wxyz":[0.4179534366934609,0.08140756431726273,0.9047378566093645,0.011710851632079633],"object_position_m":[0.3002700718030527,-0.03397109135235122,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6675179804811193e-11,2.8831801839415768e-12,2.237788708250714e-11],"object_linear_velocity_m_s":[-7.89298685851403e-12,-4.564988236548876e-11,3.0742267005683763e-15],"object_angular_velocity_rad_s":[-1.462143332321728e-09,2.5280945213972833e-10,8.877314038256865e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000494512},{"geom_ids":[1,90],"normal_force_n":0.09810000000348741},{"geom_ids":[1,90],"normal_force_n":0.09809999999505487},{"geom_ids":[1,90],"normal_force_n":0.09809999999651262}],"native_actuator_controls":[-0.18555854601955252,1.1335942181400525,-0.6834827563374615,0.25039638751706056,0.4037593774112356,-0.2186998005338419,0.035],"actuator_force_native":[-0.2817975544339255,0.2828127989254625,-0.26132697516018055,-0.27361158549642006,0.2986593738057435,-0.10017443545276761,3.8468576803785126e-05],"issued_joint_targets_rad":[-0.18571022421562117,1.1342410941281953,-0.6848444580882191,0.2496258963122436,0.4059958314635683,-0.2189799782156181],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.939999999999677,"joint_targets_rad":[-0.18571022421562117,1.1342410941281953,-0.6848444580882191,0.2496258963122436,0.4059958314635683,-0.2189799782156181],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.959999999999675,"qpos":[-0.18168331025763867,1.1288209958711073,-0.6775538890795267,0.2612061196289551,0.36035393768168705,-0.20671854708745888,0.03499990160554775,-0.03500001970441067,0.3002700718029549,-0.0339710913529174,0.07989224457978367,0.9999999999999991,-1.6711905856429836e-11,2.8895340605036602e-12,2.5745264093849907e-11],"qvel":[-0.008324326536782386,0.03016037484018295,-0.06441246527845178,-0.037925150502362365,0.10515741957637548,-0.015094811842644506,-1.0986416100570193e-05,-8.581483359209803e-06,-3.5552226971871334e-12,-2.056198694675399e-11,3.0742267005683763e-15,6.243292544887963e-10,-1.0794818856780748e-10,9.617849596449403e-11],"joint_position_rad":[-0.18168331025763867,1.1288209958711073,-0.6775538890795267,0.2612061196289551,0.36035393768168705,-0.20671854708745888],"joint_velocity_rad_s":[-0.008324326536782386,0.03016037484018295,-0.06441246527845178,-0.037925150502362365,0.10515741957637548,-0.015094811842644506],"gripper_joint_position_m":[0.03499990160554775,-0.03500001970441067],"tcp_position_m":[0.3045776668349043,-0.03502615430737572,0.18574802955728537],"tcp_quaternion_wxyz":[0.417277923063663,0.08093558749556366,0.9050932535157183,0.011608963810570264],"object_position_m":[0.3002700718029549,-0.0339710913529174,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6711905856429836e-11,2.8895340605036602e-12,2.5745264093849907e-11],"object_linear_velocity_m_s":[-3.5552226971871334e-12,-2.056198694675399e-11,3.0742267005683763e-15],"object_angular_velocity_rad_s":[6.243292544949094e-10,-1.0794818853244559e-10,9.617849596449386e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000163704},{"geom_ids":[1,90],"normal_force_n":0.09810000000115425},{"geom_ids":[1,90],"normal_force_n":0.09809999999836296},{"geom_ids":[1,90],"normal_force_n":0.09809999999884578}],"native_actuator_controls":[-0.18571022421562117,1.1342410941281953,-0.6848444580882191,0.2496258963122436,0.4059958314635683,-0.2189799782156181,0.035],"actuator_force_native":[-0.28053148395468774,0.2828059863661281,-0.2611831943031291,-0.27358318015664906,0.29868280845424877,-0.09997209351762537,5.886785859288146e-05],"issued_joint_targets_rad":[-0.18585880441641148,1.134890415208954,-0.6862073392927408,0.24885360729311234,0.40823114491670853,-0.21925697511945008],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.959999999999675,"joint_targets_rad":[-0.18585880441641148,1.134890415208954,-0.6862073392927408,0.24885360729311234,0.40823114491670853,-0.21925697511945008],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9799999999996727,"qpos":[-0.1818529550821974,1.1294634047512688,-0.6789143904771037,0.26043428593864765,0.3625900408990515,-0.20702301606117093,0.034999886100296564,-0.03499999849207787,0.30027007180284804,-0.033971091353535286,0.07989224457978367,0.9999999999999991,-1.8550426498888926e-11,3.20742680190448e-12,3.060073255718406e-11],"qvel":[-0.008260563610843433,0.030273503629055842,-0.06447380913070412,-0.037928173507198217,0.1051399351055289,-0.015060262833232488,-7.890858691488887e-06,-1.371226533226022e-05,-4.001535527943126e-12,-2.3143213714934582e-11,3.074226700568376e-15,5.355273425157555e-10,-9.259405633383255e-11,1.7559748587591536e-10],"joint_position_rad":[-0.1818529550821974,1.1294634047512688,-0.6789143904771037,0.26043428593864765,0.3625900408990515,-0.20702301606117093],"joint_velocity_rad_s":[-0.008260563610843433,0.030273503629055842,-0.06447380913070412,-0.037928173507198217,0.1051399351055289,-0.015060262833232488],"gripper_joint_position_m":[0.034999886100296564,-0.03499999849207787],"tcp_position_m":[0.30458929265831347,-0.03502162469759495,0.18574318633929943],"tcp_quaternion_wxyz":[0.41660156615036437,0.08046360867499852,0.9054481398669207,0.01150690104212301],"object_position_m":[0.30027007180284804,-0.033971091353535286,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8550426498888926e-11,3.20742680190448e-12,3.060073255718406e-11],"object_linear_velocity_m_s":[-4.001535527943126e-12,-2.3143213714934582e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[5.355273425225479e-10,-9.25940562945425e-11,1.7559748587591505e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000392184},{"geom_ids":[1,90],"normal_force_n":0.09810000000276567},{"geom_ids":[1,90],"normal_force_n":0.09809999999607814},{"geom_ids":[1,90],"normal_force_n":0.09809999999723436}],"native_actuator_controls":[-0.18585880441641148,1.134890415208954,-0.6862073392927408,0.24885360729311234,0.40823114491670853,-0.21925697511945008,0.035],"actuator_force_native":[-0.27916512868290866,0.2827933184695439,-0.2610668595974488,-0.27358627828542303,0.2987011375182771,-0.09974919633294288,4.4010281595063816e-05],"issued_joint_targets_rad":[-0.18600422271653003,1.1355422715696883,-0.6875716079949924,0.2480790447416854,0.410465635082683,-0.21953035994338038],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9799999999996727,"joint_targets_rad":[-0.18600422271653003,1.1355422715696883,-0.6875716079949924,0.2480790447416854,0.410465635082683,-0.21953035994338038],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9999999999996705,"qpos":[-0.18202067657518722,1.1301082670816613,-0.6802761722296452,0.25966202042036357,0.36482569339038207,-0.20732677411812112,0.034999904860958816,-0.03500002426153656,0.30027007180274184,-0.033971091354149247,0.07989224457978367,0.9999999999999991,-1.973891740972284e-11,3.4129287689080686e-12,3.606307931771971e-11],"qvel":[-0.008193390760875004,0.030390455205884417,-0.06453152933843503,-0.03793918980940014,0.10512551232447558,-0.015021987251092469,-9.560798407653047e-06,-1.1702758607593044e-05,-4.502730394160254e-12,-2.6041878077649854e-11,3.0742267005683755e-15,3.444305791594683e-10,-5.955272959898967e-11,3.2059687497151014e-10],"joint_position_rad":[-0.18202067657518722,1.1301082670816613,-0.6802761722296452,0.25966202042036357,0.36482569339038207,-0.20732677411812112],"joint_velocity_rad_s":[-0.008193390760875004,0.030390455205884417,-0.06453152933843503,-0.03793918980940014,0.10512551232447558,-0.015021987251092469],"gripper_joint_position_m":[0.034999904860958816,-0.03500002426153656],"tcp_position_m":[0.30460082461352983,-0.03501731727153582,0.18573827546158922],"tcp_quaternion_wxyz":[0.41592426294495227,0.07999154711306133,0.9058025692500756,0.01140462292752724],"object_position_m":[0.30027007180274184,-0.033971091354149247,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.973891740972284e-11,3.4129287689080686e-12,3.606307931771971e-11],"object_linear_velocity_m_s":[-4.502730394160254e-12,-2.6041878077649854e-11,3.0742267005683755e-15],"object_angular_velocity_rad_s":[3.444305791659513e-10,-5.955272956149064e-11,3.2059687497150957e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000605933},{"geom_ids":[1,90],"normal_force_n":0.09810000000427287},{"geom_ids":[1,90],"normal_force_n":0.09809999999394067},{"geom_ids":[1,90],"normal_force_n":0.09809999999572716}],"native_actuator_controls":[-0.18600422271653003,1.1355422715696883,-0.6875716079949924,0.2480790447416854,0.410465635082683,-0.21953035994338038,0.035],"actuator_force_native":[-0.2777167375030487,0.2827680830127406,-0.2609772145355933,-0.2736230781001261,0.29871114843629565,-0.09950287737595431,5.160955368554987e-05],"issued_joint_targets_rad":[-0.18614646123312464,1.1361967543111557,-0.6889374679375838,0.24730197356611527,0.4126996320872812,-0.21980007110011635],"issued_gripper_position_m":0.035,"command":{"t_seconds":3.9999999999996705,"joint_targets_rad":[-0.18614646123312464,1.1361967543111557,-0.6889374679375838,0.24730197356611527,0.4126996320872812,-0.21980007110011635],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.019999999999677,"qpos":[-0.18218650512837398,1.1307556662728067,-0.6816392177622312,0.2588890606802179,0.3670610178810176,-0.20762975297373432,0.034999905164315545,-0.035000023423201215,0.3002700718026375,-0.0339710913547521,0.07989224457978367,0.9999999999999991,-2.01896683468772e-11,3.4908645214020104e-12,4.20530463580678e-11],"qvel":[-0.008125896689620344,0.03051163031860025,-0.06458872360526988,-0.0379589773526876,0.10511422762665242,-0.014979848434684695,-1.0226139000081176e-05,-1.134836662394033e-05,-5.144011055488298e-12,-2.975079160831329e-11,3.0742267005683755e-15,1.2936054671075108e-11,-2.2369779995158373e-12,5.85330207403391e-10],"joint_position_rad":[-0.18218650512837398,1.1307556662728067,-0.6816392177622312,0.2588890606802179,0.3670610178810176,-0.20762975297373432],"joint_velocity_rad_s":[-0.008125896689620344,0.03051163031860025,-0.06458872360526988,-0.0379589773526876,0.10511422762665242,-0.014979848434684695],"gripper_joint_position_m":[0.034999905164315545,-0.035000023423201215],"tcp_position_m":[0.3046122435803479,-0.035013251248642074,0.18573324129657787],"tcp_quaternion_wxyz":[0.41524590369061376,0.07951935591200053,0.9061565950839896,0.011302065709248774],"object_position_m":[0.3002700718026375,-0.0339710913547521,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.01896683468772e-11,3.4908645214020104e-12,4.20530463580678e-11],"object_linear_velocity_m_s":[-5.144011055488298e-12,-2.975079160831329e-11,3.0742267005683755e-15],"object_angular_velocity_rad_s":[1.2936054675349845e-11,-2.2369779747925865e-12,5.8533020740339e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000788349},{"geom_ids":[1,90],"normal_force_n":0.09810000000555914},{"geom_ids":[1,90],"normal_force_n":0.09809999999211656},{"geom_ids":[1,90],"normal_force_n":0.09809999999444087}],"native_actuator_controls":[-0.18614646123312464,1.1361967543111557,-0.6889374679375838,0.24730197356611527,0.4126996320872812,-0.21980007110011635,0.035],"actuator_force_native":[-0.2761670049319509,0.28272889147493174,-0.26091639600186056,-0.2736885978006658,0.29871480062265743,-0.0992334086117932,5.492412237861899e-05],"issued_joint_targets_rad":[-0.18628543529420277,1.1368539556436519,-0.6903051300454819,0.24652188051469917,0.41493344850369407,-0.22006570867358444],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.019999999999677,"joint_targets_rad":[-0.18628543529420277,1.1368539556436519,-0.6903051300454819,0.24652188051469917,0.41493344850369407,-0.22006570867358444],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.039999999999684,"qpos":[-0.18235042155440745,1.1314056965626924,-0.6830035724951624,0.2581151588249151,0.36929612205562884,-0.2079318774870422,0.03499989968488549,-0.035000015483380414,0.3002700718025366,-0.03397109135533496,0.07989224457978367,0.9999999999999991,-1.9712367002983584e-11,3.4083213973446587e-12,4.832690821984321e-11],"qvel":[-0.008056515805819071,0.030637366337359893,-0.06464897135097544,-0.037987621805022645,0.10510744892985556,-0.014933535632516304,-1.0519008222497033e-05,-1.1546895234643704e-05,-6.099007635037876e-12,-3.527432890468439e-11,3.085328930814627e-15,-5.057387202864634e-10,8.744045355540088e-11,1.0686660125730307e-09],"joint_position_rad":[-0.18235042155440745,1.1314056965626924,-0.6830035724951624,0.2581151588249151,0.36929612205562884,-0.2079318774870422],"joint_velocity_rad_s":[-0.008056515805819071,0.030637366337359893,-0.06464897135097544,-0.037987621805022645,0.10510744892985556,-0.014933535632516304],"gripper_joint_position_m":[0.03499989968488549,-0.035000015483380414],"tcp_position_m":[0.30462354738087827,-0.035009433785489014,0.18572805232617884],"tcp_quaternion_wxyz":[0.41456640820987095,0.07904697299119455,0.9065102578916943,0.01119917773900743],"object_position_m":[0.3002700718025366,-0.03397109135533496,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9712367002983584e-11,3.4083213973446587e-12,4.832690821984321e-11],"object_linear_velocity_m_s":[-6.099007635037876e-12,-3.527432890468439e-11,3.085328930814627e-15],"object_angular_velocity_rad_s":[-5.057387202876292e-10,8.744045354865102e-11,1.0686660125730288e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000085455},{"geom_ids":[1,90],"normal_force_n":0.09810000000602606},{"geom_ids":[1,90],"normal_force_n":0.0980999999914545},{"geom_ids":[1,90],"normal_force_n":0.09809999999397397}],"native_actuator_controls":[-0.18628543529420277,1.1368539556436519,-0.6903051300454819,0.24652188051469917,0.41493344850369407,-0.22006570867358444,0.035],"actuator_force_native":[-0.2745185201545297,0.2826738947899514,-0.2608797472706783,-0.2737930233835222,0.29871209108586916,-0.09893800841664824,5.660764569315191e-05],"issued_joint_targets_rad":[-0.1864210901833294,1.1375139451265344,-0.6916747526579139,0.24573845729044935,0.4171673251506103,-0.22032709645978457],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.039999999999684,"joint_targets_rad":[-0.1864210901833294,1.1375139451265344,-0.6916747526579139,0.24573845729044935,0.4171673251506103,-0.22032709645978457],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.0599999999996905,"qpos":[-0.18251241018765635,1.1320584473242754,-0.6843693338239426,0.25734010257865875,0.3715311247287198,-0.20823306642675785,0.034999895397789506,-0.03500001030944833,0.3002700718024413,-0.03397109135588602,0.07989224457978367,0.9999999999999991,-1.7968255514129183e-11,3.1067477451070693e-12,5.4323804692096026e-11],"qvel":[-0.007985218870125491,0.030767153765582148,-0.06471436490025972,-0.03802462334664048,0.10510501398718147,-0.014882986219484633,-8.204174173085585e-06,-1.5439289180073627e-05,-7.653816927447664e-12,-4.426681951287947e-11,3.082553373253064e-15,-1.2781193516179656e-09,2.2098859882443958e-10,1.951116939241328e-09],"joint_position_rad":[-0.18251241018765635,1.1320584473242754,-0.6843693338239426,0.25734010257865875,0.3715311247287198,-0.20823306642675785],"joint_velocity_rad_s":[-0.007985218870125491,0.030767153765582148,-0.06471436490025972,-0.03802462334664048,0.10510501398718147,-0.014882986219484633],"gripper_joint_position_m":[0.034999895397789506,-0.03500001030944833],"tcp_position_m":[0.3046347430691639,-0.03500587211986441,0.18572269833474847],"tcp_quaternion_wxyz":[0.4138857183636209,0.07857435063332727,0.9068635862922874,0.01109591881150389],"object_position_m":[0.3002700718024413,-0.03397109135588602,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7968255514129183e-11,3.1067477451070693e-12,5.4323804692096026e-11],"object_linear_velocity_m_s":[-7.653816927447664e-12,-4.426681951287947e-11,3.082553373253064e-15],"object_angular_velocity_rad_s":[-1.2781193516298501e-09,2.209885987556909e-10,1.9511169392413246e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000642796},{"geom_ids":[1,90],"normal_force_n":0.09810000000453292},{"geom_ids":[1,90],"normal_force_n":0.09809999999357201},{"geom_ids":[1,90],"normal_force_n":0.09809999999546712}],"native_actuator_controls":[-0.1864210901833294,1.1375139451265344,-0.6916747526579139,0.24573845729044935,0.4171673251506103,-0.22032709645978457,0.035],"actuator_force_native":[-0.2727683053032166,0.28260405535280597,-0.26086168221640094,-0.2739426947951742,0.2987044832381329,-0.0986158210010406,4.520495928539425e-05],"issued_joint_targets_rad":[-0.1865533808648439,1.1381767730902073,-0.6930464510651992,0.2449514897175494,0.4194014373968178,-0.22058411876865922],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.0599999999996905,"joint_targets_rad":[-0.1865533808648439,1.1381767730902073,-0.6930464510651992,0.2449514897175494,0.4194014373968178,-0.22058411876865922],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.079999999999697,"qpos":[-0.18267284080024584,1.1327139801538335,-0.6857366233046319,0.25656383610191236,0.3737662095428514,-0.20853323003986407,0.03499990457558639,-0.03500002528778968,0.30027007180234344,-0.03397109135645165,0.07989224457978367,0.9999999999999991,-1.7057668904818843e-11,2.9493021026297602e-12,6.172485553891963e-11],"qvel":[-0.007919008976789332,0.03090009079805496,-0.06478461356507015,-0.03806796001682033,0.10510209482855909,-0.014828665784353793,-1.424310983967348e-05,-6.962197928833448e-06,-3.6170014152848894e-12,-2.0919385107508998e-11,3.0839411520338455e-15,6.696942334903096e-10,-1.1579155973545574e-10,2.1138745683533298e-10],"joint_position_rad":[-0.18267284080024584,1.1327139801538335,-0.6857366233046319,0.25656383610191236,0.3737662095428514,-0.20853323003986407],"joint_velocity_rad_s":[-0.007919008976789332,0.03090009079805496,-0.06478461356507015,-0.03806796001682033,0.10510209482855909,-0.014828665784353793],"gripper_joint_position_m":[0.03499990457558639,-0.03500002528778968],"tcp_position_m":[0.30464582217573954,-0.035002675919184004,0.1857171805363353],"tcp_quaternion_wxyz":[0.4132037798106619,0.07810166955430226,0.9072165873755527,0.010992231514520863],"object_position_m":[0.30027007180234344,-0.03397109135645165,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7057668904818843e-11,2.9493021026297602e-12,6.172485553891963e-11],"object_linear_velocity_m_s":[-3.6170014152848894e-12,-2.0919385107508998e-11,3.0839411520338455e-15],"object_angular_velocity_rad_s":[6.696942335058496e-10,-1.1579155964557042e-10,2.1138745683533262e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000123986},{"geom_ids":[1,90],"normal_force_n":0.09810000000087421},{"geom_ids":[1,90],"normal_force_n":0.09809999999876015},{"geom_ids":[1,90],"normal_force_n":0.09809999999912582}],"native_actuator_controls":[-0.1865533808648439,1.1381767730902073,-0.6930464510651992,0.2449514897175494,0.4194014373968178,-0.22058411876865922,0.035],"actuator_force_native":[-0.27084816028389724,0.282522980919623,-0.2608631530200398,-0.2741540552904169,0.2986991362968259,-0.0982658886114205,7.50325257430351e-05],"issued_joint_targets_rad":[-0.1866820773088964,1.138842460538457,-0.6944202964169713,0.24415999779985575,0.42163581068909445,-0.2208354728443548],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.079999999999697,"joint_targets_rad":[-0.1866820773088964,1.138842460538457,-0.6944202964169713,0.24415999779985575,0.42163581068909445,-0.2208354728443548],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.099999999999704,"qpos":[-0.18283195545286945,1.1333723475528223,-0.6871055657506476,0.25578615620225464,0.3760014329375086,-0.20883227573214244,0.03499986150043337,-0.034999971619626584,0.30027007180223914,-0.03397109135705555,0.07989224457978367,0.9999999999999991,-1.8084960537726917e-11,3.126919741468363e-12,7.239654835816984e-11],"qvel":[-0.007855008837554732,0.031035557452316214,-0.06486041698605728,-0.038122066659628244,0.10509665826148275,-0.014769188463658139,-9.112269923480724e-06,-1.4639214430800468e-05,-3.915961844109857e-12,-2.264847285650048e-11,3.0811655944722828e-15,5.525852833551669e-10,-9.554306207587731e-11,3.85940833714286e-10],"joint_position_rad":[-0.18283195545286945,1.1333723475528223,-0.6871055657506476,0.25578615620225464,0.3760014329375086,-0.20883227573214244],"joint_velocity_rad_s":[-0.007855008837554732,0.031035557452316214,-0.06486041698605728,-0.038122066659628244,0.10509665826148275,-0.014769188463658139],"gripper_joint_position_m":[0.03499986150043337,-0.034999971619626584],"tcp_position_m":[0.30465679382095967,-0.034999936224931465,0.18571152052616124],"tcp_quaternion_wxyz":[0.4125205919251193,0.07762900855375421,0.9075692532085765,0.01088801630864116],"object_position_m":[0.30027007180223914,-0.03397109135705555,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8084960537726917e-11,3.126919741468363e-12,7.239654835816984e-11],"object_linear_velocity_m_s":[-3.915961844109857e-12,-2.264847285650048e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[5.525852833714136e-10,-9.554306198190717e-11,3.859408337142853e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000032423},{"geom_ids":[1,90],"normal_force_n":0.09810000000228648},{"geom_ids":[1,90],"normal_force_n":0.09809999999675771},{"geom_ids":[1,90],"normal_force_n":0.09809999999771352}],"native_actuator_controls":[-0.1866820773088964,1.138842460538457,-0.6944202964169713,0.24415999779985575,0.42163581068909445,-0.2208354728443548,0.035],"actuator_force_native":[-0.26873470429438306,0.2824312515892018,-0.26087636837561234,-0.274436002797815,0.29869879012363443,-0.0978781884266362,5.1101332282588174e-05],"issued_joint_targets_rad":[-0.1868069425737911,1.139510984792019,-0.6957962722098834,0.24336312941153704,0.42387033270500885,-0.22108016309031944],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.099999999999704,"joint_targets_rad":[-0.1868069425737911,1.139510984792019,-0.6957962722098834,0.24336312941153704,0.42387033270500885,-0.22108016309031944],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.119999999999711,"qpos":[-0.18298975175622573,1.1340335842350209,-0.6884762832335141,0.25500671018372917,0.3782367639205373,-0.2091300887113403,0.03499987840906314,-0.03499999975486074,0.3002700718021374,-0.03397109135764386,0.07989224457978367,0.9999999999999991,-1.8798516912486455e-11,3.2502946079293357e-12,8.440207793637953e-11],"qvel":[-0.007787592148712595,0.031172156441382794,-0.06494190902699949,-0.038190105890669984,0.10508927244944262,-0.014703007688577753,-7.540111979420589e-06,-1.6566384984933984e-05,-4.297293543482192e-12,-2.485397360329049e-11,3.082553373253064e-15,3.497178974546934e-10,-6.046678394375768e-11,7.046304921231391e-10],"joint_position_rad":[-0.18298975175622573,1.1340335842350209,-0.6884762832335141,0.25500671018372917,0.3782367639205373,-0.2091300887113403],"joint_velocity_rad_s":[-0.007787592148712595,0.031172156441382794,-0.06494190902699949,-0.038190105890669984,0.10508927244944262,-0.014703007688577753],"gripper_joint_position_m":[0.03499987840906314,-0.03499999975486074],"tcp_position_m":[0.30466768200794925,-0.03499768700532639,0.1857057543635396],"tcp_quaternion_wxyz":[0.41183619078036937,0.07715629776077844,0.9079215720904679,0.010783163364187167],"object_position_m":[0.3002700718021374,-0.03397109135764386,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8798516912486455e-11,3.2502946079293357e-12,8.440207793637953e-11],"object_linear_velocity_m_s":[-4.297293543482192e-12,-2.485397360329049e-11,3.082553373253064e-15],"object_angular_velocity_rad_s":[3.4971789746948034e-10,-6.046678385823173e-11,7.046304921231379e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000536696},{"geom_ids":[1,90],"normal_force_n":0.0981000000037847},{"geom_ids":[1,90],"normal_force_n":0.09809999999463301},{"geom_ids":[1,90],"normal_force_n":0.09809999999621534}],"native_actuator_controls":[-0.1868069425737911,1.139510984792019,-0.6957962722098834,0.24336312941153704,0.42387033270500885,-0.22108016309031944,0.035],"actuator_force_native":[-0.2664373046616646,0.28233126235294037,-0.2608895729745484,-0.2747927014343361,0.2987017791705515,-0.09744623225692495,4.256419737136419e-05],"issued_joint_targets_rad":[-0.18692782062782315,1.1401823036878047,-0.6971743155602621,0.24256047765005148,0.42610485523241076,-0.2213179045830591],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.119999999999711,"joint_targets_rad":[-0.18692782062782315,1.1401823036878047,-0.6971743155602621,0.24256047765005148,0.42610485523241076,-0.2213179045830591],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.139999999999717,"qpos":[-0.18314614135202703,1.1346976910679665,-0.6898488764195857,0.25422512139681575,0.3804721531732229,-0.2094265357013097,0.034999903818872004,-0.035000031677051444,0.30027007180203885,-0.0339710913582141,0.07989224457978367,0.9999999999999991,-1.901277477225931e-11,3.2873259288189995e-12,9.756718423849478e-11],"qvel":[-0.007715077762962237,0.031308169042545846,-0.0650276254530543,-0.03827247337273618,0.10507932189051411,-0.014629585306827836,-1.1976269929694528e-05,-1.0018079508640063e-05,-4.84538031316705e-12,-2.8024050942781594e-11,3.0797778156915014e-15,2.6619016175325925e-11,-4.603923610475868e-12,1.2864726324050766e-09],"joint_position_rad":[-0.18314614135202703,1.1346976910679665,-0.6898488764195857,0.25422512139681575,0.3804721531732229,-0.2094265357013097],"joint_velocity_rad_s":[-0.007715077762962237,0.031308169042545846,-0.0650276254530543,-0.03827247337273618,0.10507932189051411,-0.014629585306827836],"gripper_joint_position_m":[0.034999903818872004,-0.035000031677051444],"tcp_position_m":[0.30467850910357774,-0.03499593854961811,0.18569992201070884],"tcp_quaternion_wxyz":[0.4111506241485634,0.07668342949268195,0.9082735300342661,0.010677571942221669],"object_position_m":[0.30027007180203885,-0.0339710913582141,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.901277477225931e-11,3.2873259288189995e-12,9.756718423849478e-11],"object_linear_velocity_m_s":[-4.84538031316705e-12,-2.8024050942781594e-11,3.0797778156915014e-15],"object_angular_velocity_rad_s":[2.6619016184682368e-11,-4.6039235563627464e-12,1.2864726324050743e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000718766},{"geom_ids":[1,90],"normal_force_n":0.09810000000506869},{"geom_ids":[1,90],"normal_force_n":0.09809999999281235},{"geom_ids":[1,90],"normal_force_n":0.0980999999949313}],"native_actuator_controls":[-0.18692782062782315,1.1401823036878047,-0.6971743155602621,0.24256047765005148,0.42610485523241076,-0.2213179045830591,0.035],"actuator_force_native":[-0.26395895324887775,0.28222816437433096,-0.26089700398883764,-0.27522338300688887,0.29870803775610755,-0.09696931085725247,6.372859476844184e-05],"issued_joint_targets_rad":[-0.18704459715921895,1.1408563690239706,-0.6985543476833771,0.2417518398249775,0.4283392236580945,-0.22154868169989575],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.139999999999717,"joint_targets_rad":[-0.18704459715921895,1.1408563690239706,-0.6985543476833771,0.2417518398249775,0.4283392236580945,-0.22154868169989575],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.159999999999724,"qpos":[-0.18330102098631956,1.1353646388509355,-0.6912234106072161,0.25344102843864585,0.3827075345298283,-0.20972147908775615,0.034999885732493415,-0.03500000190665939,0.3002700718019389,-0.03397109135879272,0.07989224457978367,0.9999999999999991,-1.9594956073503394e-11,3.387982482821428e-12,1.1350804970978564e-10],"qvel":[-0.007637386539645487,0.03144235864478593,-0.06511566945160621,-0.038368673632922144,0.10506572670796267,-0.014548955257747222,-8.624788247076043e-06,-1.5128705796170848e-05,-5.800917948231597e-12,-3.355056489729934e-11,3.07839003691072e-15,-4.3648407192112274e-10,7.546886578801764e-11,2.3487747475734808e-09],"joint_position_rad":[-0.18330102098631956,1.1353646388509355,-0.6912234106072161,0.25344102843864585,0.3827075345298283,-0.20972147908775615],"joint_velocity_rad_s":[-0.007637386539645487,0.03144235864478593,-0.06511566945160621,-0.038368673632922144,0.10506572670796267,-0.014548955257747222],"gripper_joint_position_m":[0.034999885732493415,-0.03500000190665939],"tcp_position_m":[0.30468929139502837,-0.034994695686192547,0.1856940611514563],"tcp_quaternion_wxyz":[0.41046394501305045,0.07621029840420356,0.9086251103187949,0.010571147507410533],"object_position_m":[0.3002700718019389,-0.03397109135879272,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9594956073503394e-11,3.387982482821428e-12,1.1350804970978564e-10],"object_linear_velocity_m_s":[-5.800917948231597e-12,-3.355056489729934e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[-4.364840719223394e-10,7.546886578097686e-11,2.3487747475734766e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000922943},{"geom_ids":[1,90],"normal_force_n":0.09810000000650836},{"geom_ids":[1,90],"normal_force_n":0.09809999999077063},{"geom_ids":[1,90],"normal_force_n":0.09809999999349166}],"native_actuator_controls":[-0.18704459715921895,1.1408563690239706,-0.6985543476833771,0.2417518398249775,0.4283392236580945,-0.22154868169989575,0.035],"actuator_force_native":[-0.2612991611337243,0.2821266206188682,-0.26089661883484183,-0.2757241763821252,0.2987183012207182,-0.09644859323477561,4.769464149889657e-05],"issued_joint_targets_rad":[-0.18715716836154733,1.1415331277781786,-0.6999362794609753,0.24093706593430622,0.43057327218818053,-0.22177252485333246],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.159999999999724,"joint_targets_rad":[-0.18715716836154733,1.1415331277781786,-0.6999362794609753,0.24093706593430622,0.43057327218818053,-0.22177252485333246],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.179999999999731,"qpos":[-0.18345428494717952,1.1360343796120096,-0.6925999149309944,0.2526540910959686,0.3849428261051276,-0.21001478340388344,0.03499990360906269,-0.03500002193167651,0.30027007180184195,-0.03397109135935322,0.07989224457978367,0.9999999999999991,-1.8681229383347435e-11,3.2299978819292308e-12,1.2920723581834707e-10],"qvel":[-0.007554191782738634,0.03157404264703355,-0.06520445039329541,-0.03847772138149848,0.10504821452148912,-0.014461314198838886,-1.0133560129926646e-05,-1.2962412011415918e-05,-7.320765992910122e-12,-4.234095398023154e-11,3.0853289308146273e-15,-1.1365946161601742e-09,1.9651679309735222e-10,4.288275636700911e-09],"joint_position_rad":[-0.18345428494717952,1.1360343796120096,-0.6925999149309944,0.2526540910959686,0.3849428261051276,-0.21001478340388344],"joint_velocity_rad_s":[-0.007554191782738634,0.03157404264703355,-0.06520445039329541,-0.03847772138149848,0.10504821452148912,-0.014461314198838886],"gripper_joint_position_m":[0.03499990360906269,-0.03500002193167651],"tcp_position_m":[0.30470003919260397,-0.034993961096364476,0.18568820338874809],"tcp_quaternion_wxyz":[0.4097762059958246,0.0757368066589243,0.9089762956162223,0.010463800675968863],"object_position_m":[0.30027007180184195,-0.03397109135935322,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8681229383347435e-11,3.2299978819292308e-12,1.2920723581834707e-10],"object_linear_velocity_m_s":[-7.320765992910122e-12,-4.234095398023154e-11,3.0853289308146273e-15],"object_angular_velocity_rad_s":[-1.1365946161832526e-09,1.965167929638599e-10,4.288275636700904e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000079812},{"geom_ids":[1,90],"normal_force_n":0.0981000000056281},{"geom_ids":[1,90],"normal_force_n":0.09809999999201882},{"geom_ids":[1,90],"normal_force_n":0.09809999999437188}],"native_actuator_controls":[-0.18715716836154733,1.1415331277781786,-0.6999362794609753,0.24093706593430622,0.43057327218818053,-0.22177252485333246,0.035],"actuator_force_native":[-0.2584597142357321,0.2820296400583402,-0.2608869104319922,-0.27629239955900253,0.29873213904829576,-0.09588544319623216,5.4523438142162206e-05],"issued_joint_targets_rad":[-0.18726543584491698,1.1422125265061858,-0.7013200210738262,0.24011602415223393,0.4328068368940644,-0.22198946804229958],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.179999999999731,"joint_targets_rad":[-0.18726543584491698,1.1422125265061858,-0.7013200210738262,0.24011602415223393,0.4328068368940644,-0.22198946804229958],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.199999999999737,"qpos":[-0.18360582704432585,1.1367068550350086,-0.6939783889104078,0.25186392102113947,0.38717793664897227,-0.21030632072283656,0.03499990379329686,-0.03500001572290648,0.3002700718017458,-0.03397109135990867,0.07989224457978367,0.9999999999999991,-1.7122246076276146e-11,2.960443756874834e-12,1.4547368703402308e-10],"qvel":[-0.0074656322091918755,0.03170290346750963,-0.06529232400566297,-0.038600454187268214,0.10502591296075459,-0.014366727781318447,-1.064421231631514e-05,-1.249198383908349e-05,-3.612407124746508e-12,-2.089298392648158e-11,3.083941152033846e-15,6.941762120930495e-10,-1.2002371121336027e-10,4.6459952123477904e-10],"joint_position_rad":[-0.18360582704432585,1.1367068550350086,-0.6939783889104078,0.25186392102113947,0.38717793664897227,-0.21030632072283656],"joint_velocity_rad_s":[-0.0074656322091918755,0.03170290346750963,-0.06529232400566297,-0.038600454187268214,0.10502591296075459,-0.014366727781318447],"gripper_joint_position_m":[0.03499990379329686,-0.03500001572290648],"tcp_position_m":[0.30471075633637895,-0.03499374087074236,0.18568237197557574],"tcp_quaternion_wxyz":[0.4090874526904208,0.07526283810776527,0.9093270734357362,0.010355422155867043],"object_position_m":[0.3002700718017458,-0.03397109135990867,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7122246076276146e-11,2.960443756874834e-12,1.4547368703402308e-10],"object_linear_velocity_m_s":[-3.612407124746508e-12,-2.089298392648158e-11,3.083941152033846e-15],"object_angular_velocity_rad_s":[6.941762121307197e-10,-1.2002371099548134e-10,4.645995212347782e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000102291},{"geom_ids":[1,90],"normal_force_n":0.09810000000072136},{"geom_ids":[1,90],"normal_force_n":0.09809999999897709},{"geom_ids":[1,90],"normal_force_n":0.09809999999927871}],"native_actuator_controls":[-0.18726543584491698,1.1422125265061858,-0.7013200210738262,0.24011602415223393,0.4328068368940644,-0.22198946804229958,0.035],"actuator_force_native":[-0.2554405430013311,0.2819392003566321,-0.26086895304516133,-0.27691360381987984,0.2987501330097899,-0.09528138152265253,5.706932970728218e-05],"issued_joint_targets_rad":[-0.18736927860725258,1.142894517133589,-0.7027054975513362,0.23928848462116553,0.43503976997262195,-0.22219948359904942],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.199999999999737,"joint_targets_rad":[-0.18736927860725258,1.142894517133589,-0.7027054975513362,0.23928848462116553,0.43503976997262195,-0.22219948359904942],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.219999999999744,"qpos":[-0.18375554239809347,1.1373820044892584,-0.6953588094028829,0.2510700314121253,0.38941276912160117,-0.2105959691027731,0.034999901289211655,-0.03500000648214889,0.3002700718016376,-0.033971091360533424,0.07989224457978367,0.9999999999999991,-1.83961690878954e-11,3.1807042448022854e-12,1.7187706428110905e-10],"qvel":[-0.007371601979672693,0.03182899492223525,-0.06537806403761644,-0.03873866960881112,0.1049984258495046,-0.014265034469239697,-8.427823207063452e-06,-1.6010128478622585e-05,-3.946419907440149e-12,-2.2824819153428883e-11,3.081165594472283e-15,6.009367261960035e-10,-1.0390226993218395e-10,8.482421156365989e-10],"joint_position_rad":[-0.18375554239809347,1.1373820044892584,-0.6953588094028829,0.2510700314121253,0.38941276912160117,-0.2105959691027731],"joint_velocity_rad_s":[-0.007371601979672693,0.03182899492223525,-0.06537806403761644,-0.03873866960881112,0.1049984258495046,-0.014265034469239697],"gripper_joint_position_m":[0.034999901289211655,-0.03500000648214889],"tcp_position_m":[0.30472144048605254,-0.03499404898977823,0.18567658060241798],"tcp_quaternion_wxyz":[0.4083977192604806,0.07478824241038214,0.9096774395049299,0.010245865300600378],"object_position_m":[0.3002700718016376,-0.033971091360533424,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.83961690878954e-11,3.1807042448022854e-12,1.7187706428110905e-10],"object_linear_velocity_m_s":[-3.946419907440149e-12,-2.2824819153428883e-11,3.081165594472283e-15],"object_angular_velocity_rad_s":[6.009367262371153e-10,-1.0390226969440046e-10,8.482421156365973e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000029372},{"geom_ids":[1,90],"normal_force_n":0.0981000000020712},{"geom_ids":[1,90],"normal_force_n":0.09809999999706283},{"geom_ids":[1,90],"normal_force_n":0.0980999999979288}],"native_actuator_controls":[-0.18736927860725258,1.142894517133589,-0.7027054975513362,0.23928848462116553,0.43503976997262195,-0.22219948359904942,0.035],"actuator_force_native":[-0.2522408868343664,0.28185603693526673,-0.2608447316881737,-0.2775685235943346,0.2987723697359508,-0.09463759325890386,4.608754756918465e-05],"issued_joint_targets_rad":[-0.1874685314920651,1.1435790605685134,-0.7040926588031675,0.23845403573408164,0.43727194776398987,-0.22240242942812993],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.219999999999744,"joint_targets_rad":[-0.1874685314920651,1.1435790605685134,-0.7040926588031675,0.23845403573408164,0.43727194776398987,-0.22240242942812993],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.239999999999751,"qpos":[-0.1839033210156645,1.1380597755270916,-0.6967411299072301,0.2502720927735037,0.3916472291164025,-0.2108835947667873,0.034999921470323735,-0.03500002806542002,0.3002700718015317,-0.03397109136114552,0.07989224457978367,0.9999999999999991,-1.930735057468778e-11,3.3382530616485706e-12,2.0171496486581278e-10],"qvel":[-0.007271934577187754,0.03195281283236752,-0.06546124254207243,-0.03888873647367412,0.10496679014863293,-0.01415652483317063,-1.0315361147166297e-05,-1.3494667183040884e-05,-4.333398557344602e-12,-2.5062952358904323e-11,3.0853289308146273e-15,4.208219319747944e-10,-7.276014507998064e-11,1.5486760434000413e-09],"joint_position_rad":[-0.1839033210156645,1.1380597755270916,-0.6967411299072301,0.2502720927735037,0.3916472291164025,-0.2108835947667873],"joint_velocity_rad_s":[-0.007271934577187754,0.03195281283236752,-0.06546124254207243,-0.03888873647367412,0.10496679014863293,-0.01415652483317063],"gripper_joint_position_m":[0.034999921470323735,-0.03500002806542002],"tcp_position_m":[0.3047320882075204,-0.03499488585438791,0.1856708337593362],"tcp_quaternion_wxyz":[0.40770703104593936,0.07431292873451469,0.9100273876947752,0.010135043365840373],"object_position_m":[0.3002700718015317,-0.03397109136114552,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.930735057468778e-11,3.3382530616485706e-12,2.0171496486581278e-10],"object_linear_velocity_m_s":[-4.333398557344602e-12,-2.5062952358904323e-11,3.0853289308146273e-15],"object_angular_velocity_rad_s":[4.208219320144871e-10,-7.276014485040668e-11,1.5486760434000387e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000508627},{"geom_ids":[1,90],"normal_force_n":0.09810000000358698},{"geom_ids":[1,90],"normal_force_n":0.09809999999491366},{"geom_ids":[1,90],"normal_force_n":0.09809999999641313}],"native_actuator_controls":[-0.1874685314920651,1.1435790605685134,-0.7040926588031675,0.23845403573408164,0.43727194776398987,-0.22240242942812993,0.035],"actuator_force_native":[-0.24885716522610934,0.28177873915191753,-0.2608160989646322,-0.2782785992085124,0.2987970012529235,-0.09395355936367045,5.471799278655709e-05],"issued_joint_targets_rad":[-0.18756309741182542,1.1442661266978025,-0.7054814645160224,0.23761250396739805,0.43950328809267075,-0.22259828826244815],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.239999999999751,"joint_targets_rad":[-0.18756309741182542,1.1442661266978025,-0.7054814645160224,0.23761250396739805,0.43950328809267075,-0.22259828826244815],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.259999999999757,"qpos":[-0.18404905319340034,1.1387401250572171,-0.6981252981736399,0.24946980214296724,0.39388123728185936,-0.2111690710903602,0.03499992013750318,-0.035000019369238716,0.30027007180142873,-0.033971091361741236,0.07989224457978367,0.9999999999999991,-1.9717023965062578e-11,3.409089493783792e-12,2.3469028350450276e-10],"qvel":[-0.0071667960715626885,0.03207479358232473,-0.0655415682244127,-0.03905005374696191,0.10493135713205828,-0.014041466863009989,-1.0944455813203427e-05,-1.3037507807032266e-05,-4.857263729047638e-12,-2.8092808569231873e-11,3.083941152033846e-15,1.2319417801905905e-10,-2.130004120288266e-11,2.8274916559032967e-09],"joint_position_rad":[-0.18404905319340034,1.1387401250572171,-0.6981252981736399,0.24946980214296724,0.39388123728185936,-0.2111690710903602],"joint_velocity_rad_s":[-0.0071667960715626885,0.03207479358232473,-0.0655415682244127,-0.03905005374696191,0.10493135713205828,-0.014041466863009989],"gripper_joint_position_m":[0.03499992013750318,-0.035000019369238716],"tcp_position_m":[0.3047426940651796,-0.03499624922989447,0.18566512898782017],"tcp_quaternion_wxyz":[0.4070154009472641,0.07383681285028158,0.910376916639846,0.010022879285764723],"object_position_m":[0.30027007180142873,-0.033971091361741236,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9717023965062578e-11,3.409089493783792e-12,2.3469028350450276e-10],"object_linear_velocity_m_s":[-4.857263729047638e-12,-2.8092808569231873e-11,3.083941152033846e-15],"object_angular_velocity_rad_s":[1.2319417804833502e-10,-2.1300041033558227e-11,2.8274916559032917e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000708732},{"geom_ids":[1,90],"normal_force_n":0.09810000000499779},{"geom_ids":[1,90],"normal_force_n":0.0980999999929127},{"geom_ids":[1,90],"normal_force_n":0.0980999999950022}],"native_actuator_controls":[-0.18756309741182542,1.1442661266978025,-0.7054814645160224,0.23761250396739805,0.43950328809267075,-0.22259828826244815,0.035],"actuator_force_native":[-0.24528955711619282,0.28170616333520115,-0.26078546626854404,-0.2790416582879569,0.29882347241002627,-0.09322997142636469,5.791677893896008e-05],"issued_joint_targets_rad":[-0.18765289276494038,1.1449556973263135,-0.706871897116053,0.23676374329136776,0.44173375031636364,-0.22278705971790957],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.259999999999757,"joint_targets_rad":[-0.18765289276494038,1.1449556973263135,-0.706871897116053,0.23676374329136776,0.44173375031636364,-0.22278705971790957],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.279999999999764,"qpos":[-0.18419263071840147,1.139423020395238,-0.6995112619088595,0.2486628725735713,0.3961147277844107,-0.2114522754342493,0.0349999153384838,-0.035000007921427836,0.3002700718013294,-0.0339710913623155,0.07989224457978367,0.9999999999999991,-1.9394161391562178e-11,3.353264093879396e-12,2.697261212274398e-10],"qvel":[-0.0070562274560778526,0.0321954491413821,-0.06561917481962566,-0.039222028484993524,0.10489282968192508,-0.01392005453534702,-8.790849380952246e-06,-1.6579559873072994e-05,-5.657267220994868e-12,-3.271976869873547e-11,3.0742267005683763e-15,-3.360867022632462e-10,5.810909877423464e-11,5.162283834824976e-09],"joint_position_rad":[-0.18419263071840147,1.139423020395238,-0.6995112619088595,0.2486628725735713,0.3961147277844107,-0.2114522754342493],"joint_velocity_rad_s":[-0.0070562274560778526,0.0321954491413821,-0.06561917481962566,-0.039222028484993524,0.10489282968192508,-0.01392005453534702],"gripper_joint_position_m":[0.0349999153384838,-0.035000007921427836],"tcp_position_m":[0.30475325176940454,-0.03499813570167207,0.1856594588783588],"tcp_quaternion_wxyz":[0.406322831736279,0.07335981530593966,0.9107260288593512,0.00990930200197453],"object_position_m":[0.3002700718013294,-0.0339710913623155,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9394161391562178e-11,3.353264093879396e-12,2.697261212274398e-10],"object_linear_velocity_m_s":[-5.657267220994868e-12,-3.271976869873547e-11,3.0742267005683763e-15],"object_angular_velocity_rad_s":[-3.3608670225997164e-10,5.8109098793168144e-11,5.162283834824967e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000819633},{"geom_ids":[1,90],"normal_force_n":0.09810000000578001},{"geom_ids":[1,90],"normal_force_n":0.09809999999180369},{"geom_ids":[1,90],"normal_force_n":0.09809999999422006}],"native_actuator_controls":[-0.18765289276494038,1.1449556973263135,-0.706871897116053,0.23676374329136776,0.44173375031636364,-0.22278705971790957,0.035],"actuator_force_native":[-0.24153982644272354,0.2816369087791202,-0.2607549424773623,-0.2798550288631745,0.29885098079664196,-0.09246776103358245,4.734070755296749e-05],"issued_joint_targets_rad":[-0.1877378418067779,1.1456477639030862,-0.7082639575792555,0.2359076190949757,0.44396332641758424,-0.22296874722627572],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.279999999999764,"joint_targets_rad":[-0.1877378418067779,1.1456477639030862,-0.7082639575792555,0.2359076190949757,0.44396332641758424,-0.22296874722627572],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.299999999999771,"qpos":[-0.18433394869833417,1.1401084369831176,-0.7008989819337671,0.24785084874575775,0.3983476518533457,-0.21173309855455094,0.03499993312246169,-0.03500002694542441,0.3002700718012354,-0.033971091362859994,0.07989224457978367,0.9999999999999991,-1.799826802215903e-11,3.1119142500431073e-12,3.0423074677976817e-10],"qvel":[-0.006940076353225398,0.032315157010699556,-0.06569428517297843,-0.039408530090473556,0.10485140007244269,-0.013792051148546126,-1.066095955996829e-05,-1.4218500740139642e-05,-6.9686161359700536e-12,-4.030407415139567e-11,3.077002258129939e-15,-1.0187516302229312e-09,1.7614466432305412e-10,9.425024370931498e-09],"joint_position_rad":[-0.18433394869833417,1.1401084369831176,-0.7008989819337671,0.24785084874575775,0.3983476518533457,-0.21173309855455094],"joint_velocity_rad_s":[-0.006940076353225398,0.032315157010699556,-0.06569428517297843,-0.039408530090473556,0.10485140007244269,-0.013792051148546126],"gripper_joint_position_m":[0.03499993312246169,-0.03500002694542441],"tcp_position_m":[0.30476375216568835,-0.03500055549262453,0.185653812786955],"tcp_quaternion_wxyz":[0.4056293130198318,0.0728817938055749,0.9110747382207989,0.009794178201553717],"object_position_m":[0.3002700718012354,-0.033971091362859994,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.799826802215903e-11,3.1119142500431073e-12,3.0423074677976817e-10],"object_linear_velocity_m_s":[-6.9686161359700536e-12,-4.030407415139567e-11,3.077002258129939e-15],"object_angular_velocity_rad_s":[-1.0187516302714468e-09,1.761446640424509e-10,9.425024370931481e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000706244},{"geom_ids":[1,90],"normal_force_n":0.09810000000498022},{"geom_ids":[1,90],"normal_force_n":0.09809999999293749},{"geom_ids":[1,90],"normal_force_n":0.09809999999501984}],"native_actuator_controls":[-0.1877378418067779,1.1456477639030862,-0.7082639575792555,0.2359076190949757,0.44396332641758424,-0.22296874722627572,0.035],"actuator_force_native":[-0.23761106690937162,0.28157036854398143,-0.2607266257741827,-0.2806865355789139,0.2988796455337219,-0.09166840999442849,5.597989933225911e-05],"issued_joint_targets_rad":[-0.18781779808507362,1.1463423290292407,-0.709657678630085,0.23504372238060678,0.44619203334143026,-0.22314320152991954],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.299999999999771,"joint_targets_rad":[-0.18781779808507362,1.1463423290292407,-0.709657678630085,0.23504372238060678,0.44619203334143026,-0.22314320152991954],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.319999999999777,"qpos":[-0.18447289846131093,1.1407963623876511,-0.7022884242353208,0.24703335088262765,0.4005799722005632,-0.21201141975783044,0.03499993015537413,-0.03500001657175554,0.30027007180114385,-0.03397109136338972,0.07989224457978367,0.9999999999999991,-1.6249588343306447e-11,2.8095718628293148e-12,3.399821095506698e-10],"qvel":[-0.00681840903392884,0.032434541710889574,-0.0657675356567349,-0.03960754458161828,0.10480800729447233,-0.013657479128117194,-1.1306274647034981e-05,-1.3890253438653577e-05,-3.4406912853239785e-12,-1.98997734706161e-11,3.0756144793491577e-15,6.682030107280668e-10,-1.1553270601924275e-10,1.0211242549212341e-09],"joint_position_rad":[-0.18447289846131093,1.1407963623876511,-0.7022884242353208,0.24703335088262765,0.4005799722005632,-0.21201141975783044],"joint_velocity_rad_s":[-0.00681840903392884,0.032434541710889574,-0.0657675356567349,-0.03960754458161828,0.10480800729447233,-0.013657479128117194],"gripper_joint_position_m":[0.03499993015537413,-0.03500001657175554],"tcp_position_m":[0.3047741880760637,-0.035003512104373934,0.18564817816937532],"tcp_quaternion_wxyz":[0.4049348292337072,0.07240263611401383,0.9114230577413419,0.009677405366765472],"object_position_m":[0.30027007180114385,-0.03397109136338972,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6249588343306447e-11,2.8095718628293148e-12,3.399821095506698e-10],"object_linear_velocity_m_s":[-3.4406912853239785e-12,-1.98997734706161e-11,3.0756144793491577e-15],"object_angular_velocity_rad_s":[6.682030108123616e-10,-1.1553270553170271e-10,1.0211242549212323e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000073847},{"geom_ids":[1,90],"normal_force_n":0.09810000000052084},{"geom_ids":[1,90],"normal_force_n":0.09809999999926154},{"geom_ids":[1,90],"normal_force_n":0.09809999999947915}],"native_actuator_controls":[-0.18781779808507362,1.1463423290292407,-0.709657678630085,0.23504372238060678,0.44619203334143026,-0.22314320152991954,0.035],"actuator_force_native":[-0.2334999247313725,0.28150462277271515,-0.2607026732974589,-0.28154741717274234,0.2989086004669623,-0.09083159902871518,5.932515827034024e-05],"issued_joint_targets_rad":[-0.18789265000334804,1.147039400954156,-0.7110530994116203,0.2341717687548313,0.4484199114021041,-0.22331034017233725],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.319999999999777,"joint_targets_rad":[-0.18789265000334804,1.147039400954156,-0.7110530994116203,0.2341717687548313,0.4484199114021041,-0.22331034017233725],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.339999999999784,"qpos":[-0.18460937057401824,1.141486796162655,-0.7036795667739959,0.24621009999896473,0.40281166941359114,-0.21228711617531446,0.034999920832275405,-0.03499999970934771,0.3002700718010421,-0.03397109136397817,0.07989224457978367,0.9999999999999991,-1.7286015733311187e-11,2.988778496774395e-12,3.9801294632415123e-10],"qvel":[-0.006691260431987774,0.032554100966917354,-0.06583977147039803,-0.039816555461166143,0.10476371238536077,-0.013516637680129137,-9.313050685838699e-06,-1.7383324569683615e-05,-3.714846501993806e-12,-2.148534193645764e-11,3.0742267005683763e-15,5.706161235501038e-10,-9.866001489503723e-11,1.8643145175203363e-09],"joint_position_rad":[-0.18460937057401824,1.141486796162655,-0.7036795667739959,0.24621009999896473,0.40281166941359114,-0.21228711617531446],"joint_velocity_rad_s":[-0.006691260431987774,0.032554100966917354,-0.06583977147039803,-0.039816555461166143,0.10476371238536077,-0.013516637680129137],"gripper_joint_position_m":[0.034999920832275405,-0.03499999970934771],"tcp_position_m":[0.3047845553087486,-0.035007000927709926,0.1856425429212712],"tcp_quaternion_wxyz":[0.40423936135383376,0.07192226507313595,0.9117709984347876,0.009558918988289353],"object_position_m":[0.3002700718010421,-0.03397109136397817,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7286015733311187e-11,2.988778496774395e-12,3.9801294632415123e-10],"object_linear_velocity_m_s":[-3.714846501993806e-12,-2.148534193645764e-11,3.0742267005683763e-15],"object_angular_velocity_rad_s":[5.706161236397828e-10,-9.866001437635871e-11,1.864314517520333e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000262174},{"geom_ids":[1,90],"normal_force_n":0.09810000000184883},{"geom_ids":[1,90],"normal_force_n":0.09809999999737828},{"geom_ids":[1,90],"normal_force_n":0.0980999999981512}],"native_actuator_controls":[-0.18789265000334804,1.147039400954156,-0.7110530994116203,0.2341717687548313,0.4484199114021041,-0.22331034017233725,0.035],"actuator_force_native":[-0.2292060521864432,0.2814378784855194,-0.2606837536579647,-0.28245047245950694,0.29893685130708825,-0.08995728345003418,4.973196241309097e-05],"issued_joint_targets_rad":[-0.1879623312996097,1.1477389925372399,-0.7124502618944157,0.23329163469027986,0.4506470220434827,-0.22347017445822887],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.339999999999784,"joint_targets_rad":[-0.1879623312996097,1.1477389925372399,-0.7124502618944157,0.23329163469027986,0.4506470220434827,-0.22347017445822887],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.359999999999791,"qpos":[-0.1847432580755931,1.1421797443621193,-0.7050724063707444,0.2453807780548269,0.405042740889068,-0.21256007480935027,0.034999936473229624,-0.035000017322407116,0.30027007180093646,-0.03397109136458942,0.07989224457978367,0.9999999999999991,-1.9021642772487395e-11,3.288895933477736e-12,4.72069816665878e-10],"qvel":[-0.006558580046384033,0.032674054498516944,-0.06591171755947552,-0.04003657249797835,0.10471899468202751,-0.01336964844728278,-1.107053168295073e-05,-1.530653645157957e-05,-4.199355096698741e-12,-2.428737916938302e-11,3.077002258129939e-15,4.391600553259955e-10,-7.593092657722193e-11,3.4037676543893655e-09],"joint_position_rad":[-0.1847432580755931,1.1421797443621193,-0.7050724063707444,0.2453807780548269,0.405042740889068,-0.21256007480935027],"joint_velocity_rad_s":[-0.006558580046384033,0.032674054498516944,-0.06591171755947552,-0.04003657249797835,0.10471899468202751,-0.01336964844728278],"gripper_joint_position_m":[0.034999936473229624,-0.035000017322407116],"tcp_position_m":[0.30479485069686435,-0.035011021154589296,0.18563689715117154],"tcp_quaternion_wxyz":[0.4035428865829853,0.0714405860660028,0.9121185742253164,0.009438638884574557],"object_position_m":[0.30027007180093646,-0.03397109136458942,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9021642772487395e-11,3.288895933477736e-12,4.72069816665878e-10],"object_linear_velocity_m_s":[-4.199355096698741e-12,-2.428737916938302e-11,3.077002258129939e-15],"object_angular_velocity_rad_s":[4.3916005542007344e-10,-7.593092603310287e-11,3.4037676543893593e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000509975},{"geom_ids":[1,90],"normal_force_n":0.09810000000359614},{"geom_ids":[1,90],"normal_force_n":0.09809999999490024},{"geom_ids":[1,90],"normal_force_n":0.09809999999640388}],"native_actuator_controls":[-0.1879623312996097,1.1477389925372399,-0.7124502618944157,0.23329163469027986,0.4506470220434827,-0.22347017445822887,0.035],"actuator_force_native":[-0.22473295768940815,0.2813695815170689,-0.2606698540963279,-0.2833828720919911,0.29896431952110536,-0.08904652381786171,5.789372922992975e-05],"issued_joint_targets_rad":[-0.18802675928628557,1.1484411203743055,-0.713849217193357,0.23240313496438003,0.45287343540445857,-0.223622687149933],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.359999999999791,"joint_targets_rad":[-0.18802675928628557,1.1484411203743055,-0.713849217193357,0.23240313496438003,0.45287343540445857,-0.223622687149933],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.379999999999797,"qpos":[-0.18487445658051535,1.142875215274192,-0.7064669590741847,0.24454492220863006,0.40727319383102933,-0.21283019216034002,0.03499992448988245,-0.034999996073115,0.3002700718008315,-0.033971091365196014,0.07989224457978367,0.9999999999999991,-2.0002584975403773e-11,3.4585323873735193e-12,5.544683364294062e-10],"qvel":[-0.006420494209209719,0.03279446569531192,-0.06598379288263063,-0.04027159507827048,0.10467345442780764,-0.013216277778998664,-9.731351525026905e-06,-1.8017286778544942e-05,-4.78224282481216e-12,-2.76583175133028e-11,3.074226700568376e-15,1.88935256722003e-10,-3.266581727365968e-11,6.214420772895487e-09],"joint_position_rad":[-0.18487445658051535,1.142875215274192,-0.7064669590741847,0.24454492220863006,0.40727319383102933,-0.21283019216034002],"joint_velocity_rad_s":[-0.006420494209209719,0.03279446569531192,-0.06598379288263063,-0.04027159507827048,0.10467345442780764,-0.013216277778998664],"gripper_joint_position_m":[0.03499992448988245,-0.034999996073115],"tcp_position_m":[0.30480507045858585,-0.03501558463023959,0.1856312335148867],"tcp_quaternion_wxyz":[0.40284537842444823,0.07095745138398035,0.9124658050061296,0.0093164300925258],"object_position_m":[0.3002700718008315,-0.033971091365196014,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0002584975403773e-11,3.4585323873735193e-12,5.544683364294062e-10],"object_linear_velocity_m_s":[-4.78224282481216e-12,-2.76583175133028e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[1.8893525680121254e-10,-3.266581681553343e-11,6.214420772895476e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000717126},{"geom_ids":[1,90],"normal_force_n":0.09810000000505675},{"geom_ids":[1,90],"normal_force_n":0.09809999999282878},{"geom_ids":[1,90],"normal_force_n":0.0980999999949433}],"native_actuator_controls":[-0.18802675928628557,1.1484411203743055,-0.713849217193357,0.23240313496438003,0.45287343540445857,-0.223622687149933,0.035],"actuator_force_native":[-0.2200817454155679,0.281300079532528,-0.26066168512063825,-0.28431351437864727,0.298992234092581,-0.08810053322743139,5.167716232734598e-05],"issued_joint_targets_rad":[-0.18808578734288955,1.1491458034650543,-0.7152500290757334,0.23150585837601328,0.45509921905872514,-0.22376773532122438],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.379999999999797,"joint_targets_rad":[-0.18808578734288955,1.1491458034650543,-0.7152500290757334,0.23150585837601328,0.45509921905872514,-0.22376773532122438],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.399999999999804,"qpos":[-0.1850028571007038,1.1435732239350835,-0.7078632427450405,0.2437022686031566,0.4095030361086255,-0.21309734570799935,0.03499994094600831,-0.03500001503926295,0.3002700718007288,-0.033971091365789734,0.07989224457978367,0.9999999999999991,-2.0101394593372963e-11,3.4756327309383467e-12,6.430883173393376e-10],"qvel":[-0.006276877156703954,0.0329157132414492,-0.06605688099655001,-0.040515610859214714,0.10462849990928172,-0.013056791107908963,-9.195038906592157e-06,-1.934693035774133e-05,-5.5742443329393845e-12,-3.223873464138528e-11,3.0811655944722828e-15,-2.2620719389630695e-10,3.911374801933597e-11,1.1345962415033103e-08],"joint_position_rad":[-0.1850028571007038,1.1435732239350835,-0.7078632427450405,0.2437022686031566,0.4095030361086255,-0.21309734570799935],"joint_velocity_rad_s":[-0.006276877156703954,0.0329157132414492,-0.06605688099655001,-0.040515610859214714,0.10462849990928172,-0.013056791107908963],"gripper_joint_position_m":[0.03499994094600831,-0.03500001503926295],"tcp_position_m":[0.3048152159482376,-0.03502068706220863,0.1856255472277792],"tcp_quaternion_wxyz":[0.40214681681327663,0.07047278884988305,0.9128127007281527,0.009192233028202802],"object_position_m":[0.3002700718007288,-0.033971091365789734,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0101394593372963e-11,3.4756327309383467e-12,6.430883173393376e-10],"object_linear_velocity_m_s":[-5.5742443329393845e-12,-3.223873464138528e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[-2.2620719386774492e-10,3.911374818453282e-11,1.1345962415033084e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000853852},{"geom_ids":[1,90],"normal_force_n":0.09810000000602126},{"geom_ids":[1,90],"normal_force_n":0.0980999999914615},{"geom_ids":[1,90],"normal_force_n":0.09809999999397877}],"native_actuator_controls":[-0.18808578734288955,1.1491458034650543,-0.7152500290757334,0.23150585837601328,0.45509921905872514,-0.22376773532122438,0.035],"actuator_force_native":[-0.21525003359134054,0.2812277961904215,-0.2606585014726832,-0.2852783547896589,0.2990190796370742,-0.08711870947038669,4.833735420084473e-05],"issued_joint_targets_rad":[-0.18813935506631121,1.149853056586133,-0.7166527408824821,0.23059971477393643,0.45732443955787994,-0.22390535120339283],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.399999999999804,"joint_targets_rad":[-0.18813935506631121,1.149853056586133,-0.7166527408824821,0.23059971477393643,0.45732443955787994,-0.22390535120339283],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.419999999999811,"qpos":[-0.1851283541706818,1.1442737854504121,-0.7092612939138621,0.24285246131265745,0.411732290384645,-0.21336143071934296,0.03499993695331181,-0.03500000725715078,0.3002700718006303,-0.033971091366359535,0.07989224457978367,0.9999999999999991,-1.907926849018848e-11,3.29891415787202e-12,7.325222436144286e-10],"qvel":[-0.006127845318777834,0.03303763142220873,-0.0661312687374821,-0.04077200336440896,0.10458369693502129,-0.012891304528492289,-1.0101265486496103e-05,-1.8954774409643208e-05,-6.8000796651175085e-12,-3.93280902423839e-11,3.075614479349157e-15,-8.621227232858139e-10,1.490688512985455e-10,2.071486167723936e-08],"joint_position_rad":[-0.1851283541706818,1.1442737854504121,-0.7092612939138621,0.24285246131265745,0.411732290384645,-0.21336143071934296],"joint_velocity_rad_s":[-0.006127845318777834,0.03303763142220873,-0.0661312687374821,-0.04077200336440896,0.10458369693502129,-0.012891304528492289],"gripper_joint_position_m":[0.03499993695331181,-0.03500000725715078],"tcp_position_m":[0.30482528813059295,-0.03502633257825176,0.1856198368273989],"tcp_quaternion_wxyz":[0.4014471791010431,0.06998648754390785,0.9131592755301334,0.009065950935402679],"object_position_m":[0.3002700718006303,-0.033971091366359535,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.907926849018848e-11,3.29891415787202e-12,7.325222436144286e-10],"object_linear_velocity_m_s":[-6.8000796651175085e-12,-3.93280902423839e-11,3.075614479349157e-15],"object_angular_velocity_rad_s":[-8.621227233675318e-10,1.490688508259459e-10,2.0714861677239323e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000080464},{"geom_ids":[1,90],"normal_force_n":0.09810000000567412},{"geom_ids":[1,90],"normal_force_n":0.09809999999195355},{"geom_ids":[1,90],"normal_force_n":0.09809999999432589}],"native_actuator_controls":[-0.18813935506631121,1.149853056586133,-0.7166527408824821,0.23059971477393643,0.45732443955787994,-0.22390535120339283,0.035],"actuator_force_native":[-0.2102408450564628,0.2811535337466182,-0.2606594138022018,-0.28624984472679493,0.29904594632981674,-0.08610224804776045,5.3028194960447195e-05],"issued_joint_targets_rad":[-0.18818736114984405,1.1505628966590795,-0.71805740508404,0.2296844694100865,0.45954916354177505,-0.22403549549309537],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.419999999999811,"joint_targets_rad":[-0.18818736114984405,1.1505628966590795,-0.71805740508404,0.2296844694100865,0.45954916354177505,-0.22403549549309537],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.439999999999817,"qpos":[-0.1852508429623649,1.144976913805124,-0.7106611543882145,0.24199513118362495,0.41396097669316784,-0.21362234086004236,0.03499992692664724,-0.03499999074795907,0.3002700718005386,-0.033971091366890145,0.07989224457978367,0.9999999999999991,-1.6528873904171927e-11,2.8579466549374185e-12,8.110986482755564e-10],"qvel":[-0.005973384458670908,0.03316020337566778,-0.06620724878145766,-0.041040849290958394,0.10453913397534734,-0.012719788257931684,-1.0345760933903858e-05,-1.9405420295514403e-05,-3.494899271614077e-12,-2.0212690438925355e-11,3.079777815691501e-15,7.061540287083119e-10,-1.2209814981880438e-10,2.2442856532410406e-09],"joint_position_rad":[-0.1852508429623649,1.144976913805124,-0.7106611543882145,0.24199513118362495,0.41396097669316784,-0.21362234086004236],"joint_velocity_rad_s":[-0.005973384458670908,0.03316020337566778,-0.06620724878145766,-0.041040849290958394,0.10453913397534734,-0.012719788257931684],"gripper_joint_position_m":[0.03499992692664724,-0.03499999074795907],"tcp_position_m":[0.3048352889000691,-0.035032527532704916,0.18561410338378115],"tcp_quaternion_wxyz":[0.4007464457330148,0.06949843369131732,0.9135055420646723,0.008937480849714286],"object_position_m":[0.3002700718005386,-0.033971091366890145,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6528873904171927e-11,2.8579466549374185e-12,8.110986482755564e-10],"object_linear_velocity_m_s":[-3.494899271614077e-12,-2.0212690438925355e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[7.061540289192061e-10,-1.2209814859909198e-10,2.2442856532410365e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999729487},{"geom_ids":[1,90],"normal_force_n":0.09809999998092458},{"geom_ids":[1,90],"normal_force_n":0.09810000002705123},{"geom_ids":[1,90],"normal_force_n":0.09810000001907535}],"native_actuator_controls":[-0.18818736114984405,1.1505628966590795,-0.71805740508404,0.2296844694100865,0.45954916354177505,-0.22403549549309537,0.035],"actuator_force_native":[-0.20505453270497576,0.28107761143810706,-0.26066381175874653,-0.2872222244867455,0.29907316752305135,-0.08505186394363262,5.4651738780053805e-05],"issued_joint_targets_rad":[-0.18822969522855404,1.1512753373652242,-0.7194640683221387,0.2287598662234016,0.4617734456875822,-0.22415811116123432],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.439999999999817,"joint_targets_rad":[-0.18822969522855404,1.1512753373652242,-0.7194640683221387,0.2287598662234016,0.4617734456875822,-0.22415811116123432],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.459999999999824,"qpos":[-0.18537021742964607,1.1456826233582147,-0.7120628670536048,0.24112999326565665,0.4161891154829349,-0.2138799652040979,0.034999925009781066,-0.034999999090030307,0.3002700718004326,-0.03397109136750385,0.07989224457978367,0.9999999999999991,-1.7677716061482064e-11,3.056625049203898e-12,9.54559322457556e-10],"qvel":[-0.005813535888140192,0.033283444450496746,-0.06628508894160809,-0.041319655926318165,0.10449522258818451,-0.0125424470146182,-1.06385967898996e-05,-2.034665601442705e-05,-3.775718055034106e-12,-2.1836550032974432e-11,3.077002258129938e-15,6.224346522367677e-10,-1.0762311515197626e-10,4.097498875169885e-09],"joint_position_rad":[-0.18537021742964607,1.1456826233582147,-0.7120628670536048,0.24112999326565665,0.4161891154829349,-0.2138799652040979],"joint_velocity_rad_s":[-0.005813535888140192,0.033283444450496746,-0.06628508894160809,-0.041319655926318165,0.10449522258818451,-0.0125424470146182],"gripper_joint_position_m":[0.034999925009781066,-0.034999999090030307],"tcp_position_m":[0.3048452221682539,-0.03503927183750276,0.1856083499157975],"tcp_quaternion_wxyz":[0.400044601045101,0.06900854436987486,0.9138515082480012,0.00880675033540947],"object_position_m":[0.3002700718004326,-0.03397109136750385,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7677716061482064e-11,3.056625049203898e-12,9.54559322457556e-10],"object_linear_velocity_m_s":[-3.775718055034106e-12,-2.1836550032974432e-11,3.077002258129938e-15],"object_angular_velocity_rad_s":[6.224346524672809e-10,-1.0762311381880562e-10,4.097498875169877e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000022282},{"geom_ids":[1,90],"normal_force_n":0.09810000000157122},{"geom_ids":[1,90],"normal_force_n":0.0980999999977718},{"geom_ids":[1,90],"normal_force_n":0.09809999999842879}],"native_actuator_controls":[-0.18822969522855404,1.1512753373652242,-0.7194640683221387,0.2287598662234016,0.4617734456875822,-0.22415811116123432,0.035],"actuator_force_native":[-0.19969054447193635,0.28099989830828065,-0.26067065677467127,-0.28820680205861215,0.29910046816419644,-0.0839677890494368,5.6192592707171585e-05],"issued_joint_targets_rad":[-0.18826628235168158,1.1519903895458987,-0.7208727664278151,0.22782578227323477,0.46399733656426984,-0.22427321417550974],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.459999999999824,"joint_targets_rad":[-0.18826628235168158,1.1519903895458987,-0.7208727664278151,0.22782578227323477,0.46399733656426984,-0.22427321417550974],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.479999999999831,"qpos":[-0.1854863733012741,1.1463909250076745,-0.7134664835540443,0.2402566579356922,0.4184167331513124,-0.21413420675193115,0.0349999297944057,-0.035000003644049614,0.300270071800329,-0.033971091368102856,0.07989224457978367,0.9999999999999991,-1.857637403311642e-11,3.2120123173766993e-12,1.1173258104402012e-09],"qvel":[-0.005648259513599136,0.03340708730853857,-0.06636470740828922,-0.041612566863297104,0.10445135945018662,-0.012359317800012037,-1.0718310468475698e-05,-2.047012694308527e-05,-4.111044912960304e-12,-2.3775857185280457e-11,3.0756144793491565e-15,4.656905184324232e-10,-8.052178100316507e-11,7.480998109058222e-09],"joint_position_rad":[-0.1854863733012741,1.1463909250076745,-0.7134664835540443,0.2402566579356922,0.4184167331513124,-0.21413420675193115],"joint_velocity_rad_s":[-0.005648259513599136,0.03340708730853857,-0.06636470740828922,-0.041612566863297104,0.10445135945018662,-0.012359317800012037],"gripper_joint_position_m":[0.0349999297944057,-0.035000003644049614],"tcp_position_m":[0.3048550901335051,-0.03504657468845836,0.1856025809458665],"tcp_quaternion_wxyz":[0.3993416270269935,0.06851669548798162,0.9141971861909092,0.008673645338910217],"object_position_m":[0.300270071800329,-0.033971091368102856,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.857637403311642e-11,3.2120123173766993e-12,1.1173258104402012e-09],"object_linear_velocity_m_s":[-4.111044912960304e-12,-2.3775857185280457e-11,3.0756144793491565e-15],"object_angular_velocity_rad_s":[4.656905186604186e-10,-8.052177968456922e-11,7.480998109058209e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000433372},{"geom_ids":[1,90],"normal_force_n":0.09810000000305616},{"geom_ids":[1,90],"normal_force_n":0.09809999999566621},{"geom_ids":[1,90],"normal_force_n":0.09809999999694392}],"native_actuator_controls":[-0.18826628235168158,1.1519903895458987,-0.7208727664278151,0.22782578227323477,0.46399733656426984,-0.22427321417550974,0.035],"actuator_force_native":[-0.19415142646460204,0.2809217265152597,-0.2606790928602152,-0.28917219218181245,0.29912899495429457,-0.08285109753576814,5.639977611449076e-05],"issued_joint_targets_rad":[-0.18829699999321825,1.1527080655062967,-0.7222835439037861,0.22688193038599613,0.4662208841386166,-0.22438073329326783],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.479999999999831,"joint_targets_rad":[-0.18829699999321825,1.1527080655062967,-0.7222835439037861,0.22688193038599613,0.4662208841386166,-0.22438073329326783],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.4999999999998375,"qpos":[-0.18559920517733092,1.1471018289678676,-0.7148720490726894,0.23937482270046717,0.42064384912772895,-0.21438495836326166,0.03499991149569401,-0.03499997031246013,0.30027007180022836,-0.03397109136868525,0.07989224457978367,0.9999999999999991,-1.9072402584893274e-11,3.2977816773204378e-12,1.2984260418110319e-09],"qvel":[-0.005477632510720909,0.03353120261311015,-0.06644619353317331,-0.04191652408508138,0.10440800063217497,-0.012170499844523482,-1.1226364173888505e-05,-2.065781810838345e-05,-4.564764868983773e-12,-2.6399882981755185e-11,3.079777815691501e-15,2.0665337837698615e-10,-3.5732054186161565e-11,1.3658413087613215e-08],"joint_position_rad":[-0.18559920517733092,1.1471018289678676,-0.7148720490726894,0.23937482270046717,0.42064384912772895,-0.21438495836326166],"joint_velocity_rad_s":[-0.005477632510720909,0.03353120261311015,-0.06644619353317331,-0.04191652408508138,0.10440800063217497,-0.012170499844523482],"gripper_joint_position_m":[0.03499991149569401,-0.03499997031246013],"tcp_position_m":[0.30486489646534104,-0.0350544388250315,0.18559680143510476],"tcp_quaternion_wxyz":[0.3986375100070979,0.06802279794848837,0.9145425827692422,0.008538083881294938],"object_position_m":[0.30027007180022836,-0.03397109136868525,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9072402584893274e-11,3.2977816773204378e-12,1.2984260418110319e-09],"object_linear_velocity_m_s":[-4.564764868983773e-12,-2.6399882981755185e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[2.066533785598616e-10,-3.573205312851574e-11,1.365841308761319e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000063878},{"geom_ids":[1,90],"normal_force_n":0.09810000000450435},{"geom_ids":[1,90],"normal_force_n":0.09809999999361223},{"geom_ids":[1,90],"normal_force_n":0.09809999999549568}],"native_actuator_controls":[-0.18829699999321825,1.1527080655062967,-0.7222835439037861,0.22688193038599613,0.4662208841386166,-0.22438073329326783,0.035],"actuator_force_native":[-0.18843542271738123,0.28084291000877215,-0.26068861882186667,-0.2901330721534343,0.29915834916061357,-0.08170199953327684,5.967199310918936e-05],"issued_joint_targets_rad":[-0.18832176106550783,1.1534283739438294,-0.7236964329480076,0.22592815626227042,0.46844412995207213,-0.2244806621559577],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.4999999999998375,"joint_targets_rad":[-0.18832176106550783,1.1534283739438294,-0.7236964329480076,0.22592815626227042,0.46844412995207213,-0.2244806621559577],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.519999999999844,"qpos":[-0.185708609436039,1.1478153443626027,-0.7162796111133022,0.23848416460126215,0.4228704874021968,-0.21463212077720117,0.03499991424521743,-0.03499997399957138,0.3002700718001361,-0.03397109136921868,0.07989224457978367,0.9999999999999991,-1.7934143892565285e-11,3.1009632213649976e-12,1.4676693620892661e-09],"qvel":[-0.005301651627136206,0.03365566336085398,-0.06652946521090412,-0.0422327914575991,0.10436502897875057,-0.011976149225739363,-1.1410498122079435e-05,-2.1794331784504647e-05,-5.158352603050445e-12,-2.983289807035633e-11,3.079777815691501e-15,-2.226609563197909e-10,3.849912156317289e-11,2.4936813579876986e-08],"joint_position_rad":[-0.185708609436039,1.1478153443626027,-0.7162796111133022,0.23848416460126215,0.4228704874021968,-0.21463212077720117],"joint_velocity_rad_s":[-0.005301651627136206,0.03365566336085398,-0.06652946521090412,-0.0422327914575991,0.10436502897875057,-0.011976149225739363],"gripper_joint_position_m":[0.03499991424521743,-0.03499997399957138],"tcp_position_m":[0.3048746440324724,-0.03506286945003111,0.1855910165031173],"tcp_quaternion_wxyz":[0.39793223465180616,0.06752675326578798,0.9148877060339615,0.008399974185487602],"object_position_m":[0.3002700718001361,-0.03397109136921868,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7934143892565285e-11,3.1009632213649976e-12,1.4676693620892661e-09],"object_linear_velocity_m_s":[-5.158352603050445e-12,-2.983289807035633e-11,3.079777815691501e-15],"object_angular_velocity_rad_s":[-2.2266095627814221e-10,3.8499121804028305e-11,2.4936813579876943e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000668945},{"geom_ids":[1,90],"normal_force_n":0.09810000000471716},{"geom_ids":[1,90],"normal_force_n":0.09809999999331055},{"geom_ids":[1,90],"normal_force_n":0.09809999999528285}],"native_actuator_controls":[-0.18832176106550783,1.1534283739438294,-0.7236964329480076,0.22592815626227042,0.46844412995207213,-0.2244806621559577,0.035],"actuator_force_native":[-0.18254387222182444,0.2807640496938575,-0.2606984207219085,-0.2910763762716737,0.2991888820306272,-0.08052118994895618,6.048268191349848e-05],"issued_joint_targets_rad":[-0.1883404675790634,1.1541513250632778,-0.7251114696750736,0.22496426842800546,0.4706671183577241,-0.2245729742064474],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.519999999999844,"joint_targets_rad":[-0.1883404675790634,1.1541513250632778,-0.7251114696750736,0.22496426842800546,0.4706671183577241,-0.2245729742064474],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.539999999999851,"qpos":[-0.18581448275288542,1.1485314783819536,-0.7176892179794088,0.23758431261234247,0.4250966747812522,-0.21487559989857374,0.034999916733245,-0.034999979564400756,0.3002700718000506,-0.03397109136971301,0.07989224457978367,0.9999999999999991,-1.6193338744696413e-11,2.7999632432589736e-12,1.6343466600389615e-09],"qvel":[-0.00512034016391804,0.03378033742673584,-0.06661442719177303,-0.04256487532199435,0.10432221525073421,-0.011776386480321869,-1.1885710534764864e-05,-2.223795163138748e-05,-6.1924300548875846e-12,-3.581331718474049e-11,3.085328930814627e-15,-8.454711050718437e-10,1.461902764323706e-10,4.552832399840003e-08],"joint_position_rad":[-0.18581448275288542,1.1485314783819536,-0.7176892179794088,0.23758431261234247,0.4250966747812522,-0.21487559989857374],"joint_velocity_rad_s":[-0.00512034016391804,0.03378033742673584,-0.06661442719177303,-0.04256487532199435,0.10432221525073421,-0.011776386480321869],"gripper_joint_position_m":[0.034999916733245,-0.034999979564400756],"tcp_position_m":[0.3048843341856397,-0.035071876129478555,0.18558523077504963],"tcp_quaternion_wxyz":[0.3972257829965307,0.0670284449846661,0.9152325662988176,0.008259205277245201],"object_position_m":[0.3002700718000506,-0.03397109136971301,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6193338744696413e-11,2.7999632432589736e-12,1.6343466600389615e-09],"object_linear_velocity_m_s":[-6.1924300548875846e-12,-3.581331718474049e-11,3.085328930814627e-15],"object_angular_velocity_rad_s":[-8.45471105294738e-10,1.4619027514329573e-10,4.552832399839995e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000576176},{"geom_ids":[1,90],"normal_force_n":0.09810000000406291},{"geom_ids":[1,90],"normal_force_n":0.09809999999423827},{"geom_ids":[1,90],"normal_force_n":0.09809999999593712}],"native_actuator_controls":[-0.1883404675790634,1.1541513250632778,-0.7251114696750736,0.22496426842800546,0.4706671183577241,-0.2245729742064474,0.035],"actuator_force_native":[-0.176477085274648,0.28068604737225655,-0.26070799969431846,-0.2919773907635097,0.29922111288861775,-0.07930916335825389,6.275922287413138e-05],"issued_joint_targets_rad":[-0.18835299896072613,1.154876931173431,-0.7265286967597031,0.22398999885602608,0.47288989676280774,-0.22465759927238046],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.539999999999851,"joint_targets_rad":[-0.18835299896072613,1.154876931173431,-0.7265286967597031,0.22398999885602608,0.47288989676280774,-0.22465759927238046],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.5599999999998575,"qpos":[-0.1859167199871543,1.1492502389480608,-0.719100912581098,0.236674942662087,0.42732243530699626,-0.21511529567497503,0.03499991153847619,-0.034999973694228234,0.30027007179996906,-0.03397109137018464,0.07989224457978367,0.9999999999999991,-1.439003623531888e-11,2.4881617000716254e-12,1.807046437798098e-09],"qvel":[-0.004933672784111953,0.03390533612344704,-0.06670108959987076,-0.04291116077491763,0.10427994920174231,-0.011571294528888542,-1.2593546341282456e-05,-2.2214862355667467e-05,-3.058943152785743e-12,-1.7691101441735752e-11,3.0811655944722828e-15,6.006402717610366e-10,-1.0385565571303457e-10,4.932621065315794e-09],"joint_position_rad":[-0.1859167199871543,1.1492502389480608,-0.719100912581098,0.236674942662087,0.42732243530699626,-0.21511529567497503],"joint_velocity_rad_s":[-0.004933672784111953,0.03390533612344704,-0.06670108959987076,-0.04291116077491763,0.10427994920174231,-0.011571294528888542],"gripper_joint_position_m":[0.03499991153847619,-0.034999973694228234],"tcp_position_m":[0.30489396863451756,-0.03508146466331735,0.18557944788947434],"tcp_quaternion_wxyz":[0.3965181375181438,0.06652777554315083,0.9155771717219132,0.008115683712696642],"object_position_m":[0.30027007179996906,-0.03397109137018464,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.439003623531888e-11,2.4881617000716254e-12,1.807046437798098e-09],"object_linear_velocity_m_s":[-3.058943152785743e-12,-1.7691101441735752e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[6.006402721609258e-10,-1.0385565340030347e-10,4.932621065315785e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000043333},{"geom_ids":[1,90],"normal_force_n":0.09810000000030548},{"geom_ids":[1,90],"normal_force_n":0.09809999999956673},{"geom_ids":[1,90],"normal_force_n":0.0980999999996945}],"native_actuator_controls":[-0.18835299896072613,1.154876931173431,-0.7265286967597031,0.22398999885602608,0.47288989676280774,-0.22465759927238046,0.035],"actuator_force_native":[-0.1702339539651856,0.28060869741239003,-0.260717286289065,-0.2928419483678475,0.29925469075550115,-0.07806609418072119,6.650619265879953e-05],"issued_joint_targets_rad":[-0.1883592543188425,1.1556052045684269,-0.7279481536973654,0.22300515139640234,0.47511251499635254,-0.22473450211499585],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.5599999999998575,"joint_targets_rad":[-0.1883592543188425,1.1556052045684269,-0.7279481536973654,0.22300515139640234,0.47511251499635254,-0.22473450211499585],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.579999999999864,"qpos":[-0.1860152172510622,1.1499716352155287,-0.7205147395293426,0.2357557180896038,0.4295478000937869,-0.215351113579745,0.034999907124589696,-0.03499996523812811,0.30027007179987963,-0.03397109137070155,0.07989224457978367,0.9999999999999991,-1.5145387505065445e-11,2.6187787055614337e-12,2.087369030407017e-09],"qvel":[-0.004741724713049521,0.034030644649466264,-0.06678948427667404,-0.043274221661687234,0.10423830007303292,-0.011361127079429585,-1.2915406797989382e-05,-2.282809958579329e-05,-3.2612445848227336e-12,-1.8861012486558257e-11,3.0839411520338455e-15,5.056053580718504e-10,-8.742353285270644e-11,9.005720410640568e-09],"joint_position_rad":[-0.1860152172510622,1.1499716352155287,-0.7205147395293426,0.2357557180896038,0.4295478000937869,-0.215351113579745],"joint_velocity_rad_s":[-0.004741724713049521,0.034030644649466264,-0.06678948427667404,-0.043274221661687234,0.10423830007303292,-0.011361127079429585],"gripper_joint_position_m":[0.034999907124589696,-0.03499996523812811],"tcp_position_m":[0.30490354815478393,-0.03509164239901694,0.18557367050017948],"tcp_quaternion_wxyz":[0.39580927693443463,0.06602464156075921,0.9159215321717232,0.007969310109168877],"object_position_m":[0.30027007179987963,-0.03397109137070155,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.5145387505065445e-11,2.6187787055614337e-12,2.087369030407017e-09],"object_linear_velocity_m_s":[-3.2612445848227336e-12,-1.8861012486558257e-11,3.0839411520338455e-15],"object_angular_velocity_rad_s":[5.056053584839878e-10,-8.742353046914611e-11,9.005720410640552e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000216544},{"geom_ids":[1,90],"normal_force_n":0.09810000000152698},{"geom_ids":[1,90],"normal_force_n":0.09809999999783454},{"geom_ids":[1,90],"normal_force_n":0.09809999999847303}],"native_actuator_controls":[-0.1883592543188425,1.1556052045684269,-0.7279481536973654,0.22300515139640234,0.47511251499635254,-0.22473450211499585,0.035],"actuator_force_native":[-0.1638143418571758,0.2805323249845202,-0.2607257120584521,-0.2936515594196223,0.29928969891610624,-0.07679219473336385,6.829205040226327e-05],"issued_joint_targets_rad":[-0.18835912622093792,1.1563361612240686,-0.729369887421423,0.2220095058893191,0.47733503283513445,-0.2248036338204314],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.579999999999864,"joint_targets_rad":[-0.18835912622093792,1.1563361612240686,-0.729369887421423,0.2220095058893191,0.47733503283513445,-0.2248036338204314],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.599999999999871,"qpos":[-0.18610987052346892,1.1506956777457995,-0.7219307435796748,0.2348262953988981,0.43177280387985373,-0.21558296024461268,0.03499990593644693,-0.03499995915126683,0.300270071799798,-0.03397109137117368,0.07989224457978367,0.9999999999999991,-1.4982863292311002e-11,2.590677496749107e-12,2.3675115691974743e-09],"qvel":[-0.004544534720954241,0.034156314440509816,-0.06687976380294694,-0.04365671808198627,0.10419754831125937,-0.011146153021076067,-1.3055450007685488e-05,-2.369484079580493e-05,-3.4303900045024575e-12,-1.9839248366827358e-11,3.0742267005683755e-15,3.1791056501325596e-10,-5.4969904207736014e-11,1.644217115728911e-08],"joint_position_rad":[-0.18610987052346892,1.1506956777457995,-0.7219307435796748,0.2348262953988981,0.43177280387985373,-0.21558296024461268],"joint_velocity_rad_s":[-0.004544534720954241,0.034156314440509816,-0.06687976380294694,-0.04365671808198627,0.10419754831125937,-0.011146153021076067],"gripper_joint_position_m":[0.03499990593644693,-0.03499995915126683],"tcp_position_m":[0.3049130729161981,-0.035102417551848245,0.18556790023855324],"tcp_quaternion_wxyz":[0.3950991771822503,0.06551893740044364,0.9162656584819711,0.007819981996473067],"object_position_m":[0.300270071799798,-0.03397109137117368,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4982863292311002e-11,2.590677496749107e-12,2.3675115691974743e-09],"object_linear_velocity_m_s":[-3.4303900045024575e-12,-1.9839248366827358e-11,3.0742267005683755e-15],"object_angular_velocity_rad_s":[3.1791056535873187e-10,-5.4969902209720426e-11,1.644217115728908e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000362552},{"geom_ids":[1,90],"normal_force_n":0.09810000000255649},{"geom_ids":[1,90],"normal_force_n":0.09809999999637449},{"geom_ids":[1,90],"normal_force_n":0.09809999999744352}],"native_actuator_controls":[-0.18835912622093792,1.1563361612240686,-0.729369887421423,0.2220095058893191,0.47733503283513445,-0.2248036338204314,0.035],"actuator_force_native":[-0.15721778219274718,0.2804571060589751,-0.2607326883251133,-0.2943879899732291,0.2993259670859185,-0.07548750622657252,6.903979216144052e-05],"issued_joint_targets_rad":[-0.18835250341766457,1.15706981984901,-0.7307939500168881,0.221002829720014,0.47955751740357266,-0.22486493630265983],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.599999999999871,"joint_targets_rad":[-0.18835250341766457,1.15706981984901,-0.7307939500168881,0.221002829720014,0.47955751740357266,-0.22486493630265983],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.6199999999998775,"qpos":[-0.18620057522895245,1.1514223795036937,-0.7233489702757673,0.23388633716351792,0.43399748621785145,-0.21581074237853237,0.0349999041003992,-0.03499995236030307,0.3002700717997208,-0.03397109137161995,0.07989224457978367,0.9999999999999991,-1.474358401205093e-11,2.5493088181220194e-12,2.674713154783337e-09],"qvel":[-0.004342172312296411,0.03428244613031835,-0.06697221059491207,-0.044061436105841824,0.10415816680296909,-0.01092674492529743,-1.3690863635608989e-05,-2.4076253598994666e-05,-3.75654229587992e-12,-2.1725434978612412e-11,3.07839003691072e-15,4.922287123650876e-11,-8.51046433574477e-12,3.0019252338316685e-08],"joint_position_rad":[-0.18620057522895245,1.1514223795036937,-0.7233489702757673,0.23388633716351792,0.43399748621785145,-0.21581074237853237],"joint_velocity_rad_s":[-0.004342172312296411,0.03428244613031835,-0.06697221059491207,-0.044061436105841824,0.10415816680296909,-0.01092674492529743],"gripper_joint_position_m":[0.0349999041003992,-0.03499995236030307],"tcp_position_m":[0.30492254282399417,-0.035113797973555405,0.18556213776445074],"tcp_quaternion_wxyz":[0.3943878113774808,0.06501055977698567,0.9166095620711971,0.007667598973082606],"object_position_m":[0.3002700717997208,-0.03397109137161995,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.474358401205093e-11,2.5493088181220194e-12,2.674713154783337e-09],"object_linear_velocity_m_s":[-3.75654229587992e-12,-2.1725434978612412e-11,3.07839003691072e-15],"object_angular_velocity_rad_s":[4.922287143509146e-11,-8.510463187247894e-12,3.001925233831663e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000513086},{"geom_ids":[1,90],"normal_force_n":0.09810000000361807},{"geom_ids":[1,90],"normal_force_n":0.0980999999948691},{"geom_ids":[1,90],"normal_force_n":0.09809999999638194}],"native_actuator_controls":[-0.18835250341766457,1.15706981984901,-0.7307939500168881,0.221002829720014,0.47955751740357266,-0.22486493630265983,0.035],"actuator_force_native":[-0.15044339353548786,0.2803829969736995,-0.2607373263151018,-0.2950331172109486,0.29936306165275894,-0.07415182185332903,7.229030221012067e-05],"issued_joint_targets_rad":[-0.18833927714437532,1.1578062021461755,-0.7322203983358933,0.21998489912612482,0.48178004472225966,-0.22491835492679113],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.6199999999998775,"joint_targets_rad":[-0.18833927714437532,1.1578062021461755,-0.7322203983358933,0.21998489912612482,0.48178004472225966,-0.22491835492679113],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.639999999999884,"qpos":[-0.18628722685766166,1.1521517563410473,-0.7247694680140964,0.2329355044828925,0.4362218937134001,-0.2160343684718369,0.03499990032314758,-0.03499994331492067,0.30027007179965154,-0.033971091372020396,0.07989224457978367,0.9999999999999991,-1.3349174285538947e-11,2.308204455667447e-12,2.9515435902983665e-09],"qvel":[-0.004134812488862855,0.03440913492800057,-0.06706739079713081,-0.0444942971546522,0.10412090662233475,-0.01070363171285515,-1.4114575124657495e-05,-2.4595644437131352e-05,-4.303064036610259e-12,-2.488621918248011e-11,3.0811655944722828e-15,-3.515392592789371e-10,6.078439442778952e-11,5.4807574096236145e-08],"joint_position_rad":[-0.18628722685766166,1.1521517563410473,-0.7247694680140964,0.2329355044828925,0.4362218937134001,-0.2160343684718369],"joint_velocity_rad_s":[-0.004134812488862855,0.03440913492800057,-0.06706739079713081,-0.0444942971546522,0.10412090662233475,-0.01070363171285515],"gripper_joint_position_m":[0.03499990032314758,-0.03499994331492067],"tcp_position_m":[0.30493195747098845,-0.03512579189079348,0.18555638296214183],"tcp_quaternion_wxyz":[0.39367514918009133,0.06449940455829553,0.916953255454423,0.007512059717154534],"object_position_m":[0.30027007179965154,-0.033971091372020396,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.3349174285538947e-11,2.308204455667447e-12,2.9515435902983665e-09],"object_linear_velocity_m_s":[-4.303064036610259e-12,-2.488621918248011e-11,3.0811655944722828e-15],"object_angular_velocity_rad_s":[-3.515392593847379e-10,6.078439381589424e-11,5.4807574096236045e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000475678},{"geom_ids":[1,90],"normal_force_n":0.09810000000335438},{"geom_ids":[1,90],"normal_force_n":0.09809999999524323},{"geom_ids":[1,90],"normal_force_n":0.09809999999664562}],"native_actuator_controls":[-0.18833927714437532,1.1578062021461755,-0.7322203983358933,0.21998489912612482,0.48178004472225966,-0.22491835492679113,0.035],"actuator_force_native":[-0.1434899604927775,0.28030998977024524,-0.26073747175809814,-0.29555272849744796,0.299400150155094,-0.07278441698025961,7.455994972027646e-05],"issued_joint_targets_rad":[-0.1883193378051582,1.1585453334222335,-0.7336492955343934,0.2189554872812064,0.4840027009574847,-0.22496383264884526],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.639999999999884,"joint_targets_rad":[-0.1883193378051582,1.1585453334222335,-0.7336492955343934,0.2189554872812064,0.4840027009574847,-0.22496383264884526],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.659999999999891,"qpos":[-0.18636971981928027,1.1528838272824984,-0.7261922860630161,0.23197348711648866,0.43844607657963,-0.21625374450377427,0.03499989981218649,-0.034999937144562045,0.3002700717995918,-0.033971091372365904,0.07989224457978367,0.9999999999999991,-1.075486343111322e-11,1.8596221239934853e-12,3.1594417739957826e-09],"qvel":[-0.003922640249937932,0.03453659181125923,-0.06716602922996966,-0.044959147825839964,0.10408696797453164,-0.010477601245312657,-1.4159541843528453e-05,-2.5377346907688947e-05,-2.294490631075248e-12,-1.32698688234474e-11,3.0728389217875946e-15,4.918651356031082e-10,-8.504827396346342e-11,5.937951822019271e-09],"joint_position_rad":[-0.18636971981928027,1.1528838272824984,-0.7261922860630161,0.23197348711648866,0.43844607657963,-0.21625374450377427],"joint_velocity_rad_s":[-0.003922640249937932,0.03453659181125923,-0.06716602922996966,-0.044959147825839964,0.10408696797453164,-0.010477601245312657],"gripper_joint_position_m":[0.03499989981218649,-0.034999937144562045],"tcp_position_m":[0.3049413169538074,-0.03513840520327991,0.18555063520588647],"tcp_quaternion_wxyz":[0.3929611588140004,0.06398537853568348,0.9172967504372118,0.00735327372908512],"object_position_m":[0.3002700717995918,-0.033971091372365904,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.075486343111322e-11,1.8596221239934853e-12,3.1594417739957826e-09],"object_linear_velocity_m_s":[-2.294490631075248e-12,-1.32698688234474e-11,3.0728389217875946e-15],"object_angular_velocity_rad_s":[4.918651361626022e-10,-8.504827072770104e-11,5.93795182201926e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999842714},{"geom_ids":[1,90],"normal_force_n":0.09809999998890867},{"geom_ids":[1,90],"normal_force_n":0.09810000001572865},{"geom_ids":[1,90],"normal_force_n":0.09810000001109125}],"native_actuator_controls":[-0.1883193378051582,1.1585453334222335,-0.7336492955343934,0.2189554872812064,0.4840027009574847,-0.22496383264884526,0.035],"actuator_force_native":[-0.13635623762054294,0.2802375321225128,-0.2607306115603336,-0.2959242542820917,0.29943579181674895,-0.07138447958274119,7.480522175806747e-05],"issued_joint_targets_rad":[-0.1882925886616969,1.1592872409353097,-0.7350807060356385,0.21791441234645847,0.4862255791383911,-0.2250013357313459],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.659999999999891,"joint_targets_rad":[-0.1882925886616969,1.1592872409353097,-0.7350807060356385,0.21791441234645847,0.4862255791383911,-0.2250013357313459],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.679999999999898,"qpos":[-0.18644794789930655,1.1536186147963534,-0.727617475227166,0.23100002297883798,0.4406700902226542,-0.21646877526770175,0.03499989832438721,-0.03499993018951794,0.3002700717995269,-0.03397109137274018,0.07989224457978367,0.9999999999999991,-1.0698298943697132e-11,1.8498366437612077e-12,3.5390113560002364e-09],"qvel":[-0.0037059452018505332,0.03466507425077759,-0.06726912421880024,-0.045460281537405424,0.10405806574665823,-0.01024978155709588,-1.4730772233640721e-05,-2.5460842464499926e-05,-2.308297682409557e-12,-1.3349746233794785e-11,3.074226700568376e-15,4.028231077677342e-10,-6.965223262666975e-11,1.0841200494344297e-08],"joint_position_rad":[-0.18644794789930655,1.1536186147963534,-0.727617475227166,0.23100002297883798,0.4406700902226542,-0.21646877526770175],"joint_velocity_rad_s":[-0.0037059452018505332,0.03466507425077759,-0.06726912421880024,-0.045460281537405424,0.10405806574665823,-0.01024978155709588],"gripper_joint_position_m":[0.03499989832438721,-0.03499993018951794],"tcp_position_m":[0.3049506222598922,-0.035151639837238555,0.18554489372444238],"tcp_quaternion_wxyz":[0.3922458076114894,0.06346840537263819,0.9176400574453787,0.007191168354809927],"object_position_m":[0.3002700717995269,-0.03397109137274018,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.0698298943697132e-11,1.8498366437612077e-12,3.5390113560002364e-09],"object_linear_velocity_m_s":[-2.308297682409557e-12,-1.3349746233794785e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[4.0282310830084246e-10,-6.965222954351372e-11,1.0841200494344277e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000077891},{"geom_ids":[1,90],"normal_force_n":0.09810000000054922},{"geom_ids":[1,90],"normal_force_n":0.09809999999922116},{"geom_ids":[1,90],"normal_force_n":0.09809999999945081}],"native_actuator_controls":[-0.1882925886616969,1.1592872409353097,-0.7350807060356385,0.21791441234645847,0.4862255791383911,-0.2250013357313459,0.035],"actuator_force_native":[-0.129041534981976,0.2801647198626256,-0.2607128435837893,-0.29612301760815285,0.29946779053738126,-0.06995093230079785,7.772088567992164e-05],"issued_joint_targets_rad":[-0.18825895488540817,1.1600319537144317,-0.7365146939785183,0.21686156658593359,0.48844877963996974,-0.22503087188659196],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.679999999999898,"joint_targets_rad":[-0.18825895488540817,1.1600319537144317,-0.7365146939785183,0.21686156658593359,0.48844877963996974,-0.22503087188659196],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.699999999999904,"qpos":[-0.18652180536921986,1.154356144118918,-0.7290450879077072,0.23001490347197817,0.44289399506264865,-0.21667936599815085,0.03499990196233119,-0.03499992840018655,0.30027007179946935,-0.03397109137307295,0.07989224457978367,0.9999999999999991,-1.031963042108331e-11,1.7843513446733159e-12,3.9203631340286905e-09],"qvel":[-0.003485228066582441,0.034794887882722836,-0.06737818967021679,-0.0460051349511827,0.10403678821875816,-0.010021948278058898,-1.4379163333001354e-05,-2.6145335315424174e-05,-2.3335093542228413e-12,-1.3495657546451304e-11,3.077002258129939e-15,2.671988289499986e-10,-4.620130230427126e-11,1.97932942492722e-08],"joint_position_rad":[-0.18652180536921986,1.154356144118918,-0.7290450879077072,0.23001490347197817,0.44289399506264865,-0.21667936599815085],"joint_velocity_rad_s":[-0.003485228066582441,0.034794887882722836,-0.06737818967021679,-0.0460051349511827,0.10403678821875816,-0.010021948278058898],"gripper_joint_position_m":[0.03499990196233119,-0.03499992840018655],"tcp_position_m":[0.3049598753642243,-0.03516549354104746,0.18553915798124115],"tcp_quaternion_wxyz":[0.3915290627865731,0.0629484270041951,0.9179831851443346,0.007025690245641825],"object_position_m":[0.30027007179946935,-0.03397109137307295,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.031963042108331e-11,1.7843513446733159e-12,3.9203631340286905e-09],"object_linear_velocity_m_s":[-2.3335093542228413e-12,-1.3495657546451304e-11,3.077002258129939e-15],"object_angular_velocity_rad_s":[2.671988293828863e-10,-4.620129980071934e-11,1.9793294249272163e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000193597},{"geom_ids":[1,90],"normal_force_n":0.09810000000136525},{"geom_ids":[1,90],"normal_force_n":0.09809999999806408},{"geom_ids":[1,90],"normal_force_n":0.09809999999863472}],"native_actuator_controls":[-0.18825895488540817,1.1600319537144317,-0.7365146939785183,0.21686156658593359,0.48844877963996974,-0.22503087188659196,0.035],"actuator_force_native":[-0.12154582096215094,0.28009032822748736,-0.2606775373138106,-0.2961078006858724,0.29949266344507386,-0.06848213646732271,7.581732341765957e-05],"issued_joint_targets_rad":[-0.1882183855295886,1.1607795018844647,-0.7379513216513958,0.21579692190858346,0.4906724082099682,-0.2250524933473676],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.699999999999904,"joint_targets_rad":[-0.1882183855295886,1.1607795018844647,-0.7379513216513958,0.21579692190858346,0.4906724082099682,-0.2250524933473676],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.719999999999911,"qpos":[-0.18659118705528638,1.1550964422406182,-0.7304751757143307,0.22901798963981435,0.4451178525605148,-0.21688542133013342,0.03499990027412045,-0.03499992250507596,0.3002700717994186,-0.033971091373366576,0.07989224457978367,0.9999999999999991,-9.580847411268058e-12,1.6566102300301645e-12,4.290176301324987e-09],"qvel":[-0.003259808881813064,0.034926193531859016,-0.06749121640175537,-0.046565798783832914,0.10402090560673594,-0.009791322714638836,-1.5039326597821253e-05,-2.5734219824585443e-05,-2.429017713776564e-12,-1.4048009261917628e-11,3.074226700568376e-15,7.532075849126336e-11,-1.3023516453320319e-11,3.613755693930901e-08],"joint_position_rad":[-0.18659118705528638,1.1550964422406182,-0.7304751757143307,0.22901798963981435,0.4451178525605148,-0.21688542133013342],"joint_velocity_rad_s":[-0.003259808881813064,0.034926193531859016,-0.06749121640175537,-0.046565798783832914,0.10402090560673594,-0.009791322714638836],"gripper_joint_position_m":[0.03499990027412045,-0.03499992250507596],"tcp_position_m":[0.3049690796150178,-0.035179958592857136,0.18553342796621392],"tcp_quaternion_wxyz":[0.39081089348435255,0.062425409621181795,0.9183261391839009,0.00685681115246293],"object_position_m":[0.3002700717994186,-0.033971091373366576,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.580847411268058e-12,1.6566102300301645e-12,4.290176301324987e-09],"object_linear_velocity_m_s":[-2.429017713776564e-12,-1.4048009261917628e-11,3.074226700568376e-15],"object_angular_velocity_rad_s":[7.532075872274128e-11,-1.3023515114584791e-11,3.613755693930894e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000273399},{"geom_ids":[1,90],"normal_force_n":0.09810000000192778},{"geom_ids":[1,90],"normal_force_n":0.098099999997266},{"geom_ids":[1,90],"normal_force_n":0.09809999999807223}],"native_actuator_controls":[-0.1882183855295886,1.1607795018844647,-0.7379513216513958,0.21579692190858346,0.4906724082099682,-0.2250524933473676,0.035],"actuator_force_native":[-0.11387683353511413,0.28001380384841923,-0.2606355929564259,-0.29601371533007104,0.2995141980844309,-0.06698373610038377,7.918566817122219e-05],"issued_joint_targets_rad":[-0.18817086043406564,1.1615299147983542,-0.7393906450434338,0.2147205529662541,0.4928965711305635,-0.22506630878569273],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.719999999999911,"joint_targets_rad":[-0.18817086043406564,1.1615299147983542,-0.7393906450434338,0.2147205529662541,0.4928965711305635,-0.22506630878569273],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.739999999999918,"qpos":[-0.18665599146804013,1.1558395390008804,-0.731907793191205,0.22800925332903493,0.44734173691036094,-0.21708685329308705,0.03499989682556505,-0.03499991562037755,0.3002700717993745,-0.03397109137362207,0.07989224457978367,0.9999999999999991,-8.401350746771749e-12,1.4526576528367039e-12,4.623428292219403e-09],"qvel":[-0.0030294188051282053,0.035058935201508684,-0.06760687185690077,-0.04712575165270505,0.10400867333712584,-0.009556483668826775,-1.484944338638172e-05,-2.6145279708717872e-05,-2.6851111649662228e-12,-1.5529283773812684e-11,3.071451143006813e-15,-1.87683147583268e-10,3.244968920859681e-11,6.597805305681766e-08],"joint_position_rad":[-0.18665599146804013,1.1558395390008804,-0.731907793191205,0.22800925332903493,0.44734173691036094,-0.21708685329308705],"joint_velocity_rad_s":[-0.0030294188051282053,0.035058935201508684,-0.06760687185690077,-0.04712575165270505,0.10400867333712584,-0.009556483668826775],"gripper_joint_position_m":[0.03499989682556505,-0.03499991562037755],"tcp_position_m":[0.3049782398526047,-0.03519501842292321,0.18552770450195757],"tcp_quaternion_wxyz":[0.3900912691320148,0.06189935429310207,0.9186689221793217,0.006684542389297475],"object_position_m":[0.3002700717993745,-0.03397109137362207,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.401350746771749e-12,1.4526576528367039e-12,4.623428292219403e-09],"object_linear_velocity_m_s":[-2.6851111649662228e-12,-1.5529283773812684e-11,3.071451143006813e-15],"object_angular_velocity_rad_s":[-1.8768314769163826e-10,3.244968858172713e-11,6.597805305681754e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000262138},{"geom_ids":[1,90],"normal_force_n":0.09810000000184861},{"geom_ids":[1,90],"normal_force_n":0.0980999999973787},{"geom_ids":[1,90],"normal_force_n":0.09809999999815143}],"native_actuator_controls":[-0.18817086043406564,1.1615299147983542,-0.7393906450434338,0.2147205529662541,0.4928965711305635,-0.22506630878569273,0.035],"actuator_force_native":[-0.10604242325639923,0.27993538779035987,-0.26059378889380014,-0.2959192562477089,0.29953533219633677,-0.0654598294228168,7.837419433021076e-05],"issued_joint_targets_rad":[-0.1881164097555546,1.1622832235825642,-0.7408327162025874,0.2136326945688965,0.49512138499914243,-0.22507252197713593],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.739999999999918,"joint_targets_rad":[-0.1881164097555546,1.1622832235825642,-0.7408327162025874,0.2136326945688965,0.49512138499914243,-0.22507252197713593],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.759999999999924,"qpos":[-0.18671612207169364,1.156585464663634,-0.73334299626106,0.22698874094665378,0.4495657288300226,-0.21728358263453273,0.034999900288422904,-0.034999916427449415,0.3002700717993371,-0.03397109137383779,0.07989224457978367,0.9999999999999991,-6.659779479444072e-12,1.151520064050823e-12,4.873698763446846e-09],"qvel":[-0.0027943470800716945,0.03519307575000499,-0.06772525205338976,-0.047683409779687415,0.10400032678537235,-0.009317952051363996,-1.46491263382363e-05,-2.6572682731758005e-05,-1.4281867788427658e-12,-8.259866041032353e-12,3.0797778156915014e-15,3.093152547887917e-10,-5.34829574221585e-11,7.148181745053492e-09],"joint_position_rad":[-0.18671612207169364,1.156585464663634,-0.73334299626106,0.22698874094665378,0.4495657288300226,-0.21728358263453273],"joint_velocity_rad_s":[-0.0027943470800716945,0.03519307575000499,-0.06772525205338976,-0.047683409779687415,0.10400032678537235,-0.009317952051363996],"gripper_joint_position_m":[0.034999900288422904,-0.034999916427449415],"tcp_position_m":[0.3049873619164267,-0.035210651241250834,0.18552198953466265],"tcp_quaternion_wxyz":[0.3893701608080552,0.06137028489373566,0.919011534181849,0.0065089204247140466],"object_position_m":[0.3002700717993371,-0.03397109137383779,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.659779479444072e-12,1.151520064050823e-12,4.873698763446846e-09],"object_linear_velocity_m_s":[-1.4281867788427658e-12,-8.259866041032353e-12,3.0797778156915014e-15],"object_angular_velocity_rad_s":[3.0931525532657337e-10,-5.348295431192903e-11,7.1481817450534795e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098099999990497},{"geom_ids":[1,90],"normal_force_n":0.09809999999329884},{"geom_ids":[1,90],"normal_force_n":0.09810000000950293},{"geom_ids":[1,90],"normal_force_n":0.09810000000670109}],"native_actuator_controls":[-0.1881164097555546,1.1622832235825642,-0.7408327162025874,0.2136326945688965,0.49512138499914243,-0.22507252197713593,0.035],"actuator_force_native":[-0.09805127930851754,0.27985533476440594,-0.26055133505524,-0.29582480621185425,0.29955607151313934,-0.0639124653489862,7.72340947752248e-05],"issued_joint_targets_rad":[-0.1880550959560345,1.1630394591439257,-0.7422775818064865,0.21253368202217826,0.4973469682212224,-0.22507139464319026],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.759999999999924,"joint_targets_rad":[-0.1880550959560345,1.1630394591439257,-0.7422775818064865,0.21253368202217826,0.4973469682212224,-0.22507139464319026],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.779999999999931,"qpos":[-0.18677148822018522,1.15733424856286,-0.7347808406234689,0.225956540941438,0.4517899116038857,-0.21747553864553368,0.034999895292118256,-0.03499991006772498,0.30027007179929743,-0.033971091374067286,0.07989224457978367,0.9999999999999991,-6.537892877285643e-12,1.1304353501397777e-12,5.330629442414177e-09],"qvel":[-0.002554904587516241,0.03532857308822259,-0.06784632605258646,-0.04823672548798707,0.10399601118578672,-0.009076150985698512,-1.5423576082433104e-05,-2.6017804433176367e-05,-1.4144260549680724e-12,-8.180355722489441e-12,3.079777815691501e-15,2.4922065851042374e-10,-4.309184369365181e-11,1.3050774713488566e-08],"joint_position_rad":[-0.18677148822018522,1.15733424856286,-0.7347808406234689,0.225956540941438,0.4517899116038857,-0.21747553864553368],"joint_velocity_rad_s":[-0.002554904587516241,0.03532857308822259,-0.06784632605258646,-0.04823672548798707,0.10399601118578672,-0.009076150985698512],"gripper_joint_position_m":[0.034999895292118256,-0.03499991006772498],"tcp_position_m":[0.3049964519914202,-0.03522683318223241,0.18551628582181517],"tcp_quaternion_wxyz":[0.3886475412415911,0.06083823784583748,0.9193539735449154,0.006329994459236779],"object_position_m":[0.30027007179929743,-0.033971091374067286,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.537892877285643e-12,1.1304353501397777e-12,5.330629442414177e-09],"object_linear_velocity_m_s":[-1.4144260549680724e-12,-8.180355722489441e-12,3.079777815691501e-15],"object_angular_velocity_rad_s":[2.492206589993427e-10,-4.309184086599664e-11,1.3050774713488543e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000040196},{"geom_ids":[1,90],"normal_force_n":0.0981000000002835},{"geom_ids":[1,90],"normal_force_n":0.09809999999959804},{"geom_ids":[1,90],"normal_force_n":0.09809999999971653}],"native_actuator_controls":[-0.1880550959560345,1.1630394591439257,-0.7422775818064865,0.21253368202217826,0.4973469682212224,-0.22507139464319026,0.035],"actuator_force_native":[-0.08991409593036259,0.2797739810441584,-0.26050766437847983,-0.29573072933045275,0.29957654939468714,-0.062344333498018045,8.130619568214037e-05],"issued_joint_targets_rad":[-0.18798699797097984,1.163798651559993,-0.7437252840969159,0.21142389829489477,0.49957343707025775,-0.22506321278308947],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.779999999999931,"joint_targets_rad":[-0.18798699797097984,1.163798651559993,-0.7437252840969159,0.21142389829489477,0.49957343707025775,-0.22506321278308947],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.799999999999938,"qpos":[-0.18682200595748985,1.1580859191630788,-0.7362213803021594,0.22491278569549866,0.4540143708473675,-0.2176626590069906,0.034999893843134754,-0.03499990750216968,0.30027007179926235,-0.03397109137426986,0.07989224457978367,0.9999999999999991,-6.2665422482845395e-12,1.0835032539072058e-12,5.789705553704873e-09],"qvel":[-0.0023114319830572477,0.035465389547878826,-0.06796999637274902,-0.04878363653215633,0.10399584748962153,-0.008831520742797411,-1.488962386322413e-05,-2.672845311171878e-05,-1.4185690971171517e-12,-8.204421114069446e-12,3.0839411520338455e-15,1.6420480008155915e-10,-2.8392244470244564e-11,2.3827418882288807e-08],"joint_position_rad":[-0.18682200595748985,1.1580859191630788,-0.7362213803021594,0.22491278569549866,0.4540143708473675,-0.2176626590069906],"joint_velocity_rad_s":[-0.0023114319830572477,0.035465389547878826,-0.06796999637274902,-0.04878363653215633,0.10399584748962153,-0.008831520742797411],"gripper_joint_position_m":[0.034999893843134754,-0.03499990750216968],"tcp_position_m":[0.3050055163743131,-0.03524353825846718,0.1855105964186211],"tcp_quaternion_wxyz":[0.38792338438130547,0.06030326314769567,0.9196962370940913,0.006147827165962341],"object_position_m":[0.30027007179926235,-0.03397109137426986,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.2665422482845395e-12,1.0835032539072058e-12,5.789705553704873e-09],"object_linear_velocity_m_s":[-1.4185690971171517e-12,-8.204421114069446e-12,3.0839411520338455e-15],"object_angular_velocity_rad_s":[1.642048004619585e-10,-2.839224227021857e-11,2.3827418882288764e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000113395},{"geom_ids":[1,90],"normal_force_n":0.09810000000079976},{"geom_ids":[1,90],"normal_force_n":0.09809999999886607},{"geom_ids":[1,90],"normal_force_n":0.09809999999920026}],"native_actuator_controls":[-0.18798699797097984,1.163798651559993,-0.7437252840969159,0.21142389829489477,0.49957343707025775,-0.22506321278308947,0.035],"actuator_force_native":[-0.08164220116391263,0.27969164401375224,-0.26046232171676564,-0.2956373133633736,0.2995968909944704,-0.060758256646792574,7.869439392615973e-05],"issued_joint_targets_rad":[-0.18791221184761975,1.164560830479506,-0.7451758615954015,0.21030377419860008,0.5018009068602401,-0.22504828523657625],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.799999999999938,"joint_targets_rad":[-0.18791221184761975,1.164560830479506,-0.7451758615954015,0.21030377419860008,0.5018009068602401,-0.22504828523657625],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.819999999999944,"qpos":[-0.1868675980491051,1.1588405043024694,-0.7376646665870037,0.22385765185534198,0.45623919413027997,-0.21784489023173642,0.03499989732939125,-0.03499991064862735,0.30027007179923304,-0.03397109137443959,0.07989224457978367,0.9999999999999991,-5.52922434558728e-12,9.560102905423019e-13,6.17926741063306e-09],"qvel":[-0.0020642750146790136,0.03560350361521086,-0.06809612811154969,-0.04932203196961382,0.10399996939200222,-0.008584518029506903,-1.4879838763600919e-05,-2.6930576183511403e-05,-1.4413637507041423e-12,-8.33635647211365e-12,3.079777815691501e-15,3.826283844419725e-11,-6.6166897818209346e-12,4.3502849722114445e-08],"joint_position_rad":[-0.1868675980491051,1.1588405043024694,-0.7376646665870037,0.22385765185534198,0.45623919413027997,-0.21784489023173642],"joint_velocity_rad_s":[-0.0020642750146790136,0.03560350361521086,-0.06809612811154969,-0.04932203196961382,0.10399996939200222,-0.008584518029506903],"gripper_joint_position_m":[0.03499989732939125,-0.03499991064862735],"tcp_position_m":[0.30501456134123145,-0.035260738238330834,0.1855049242519299],"tcp_quaternion_wxyz":[0.3871976650400691,0.059765424248232016,0.9200383203469794,0.005962494868451805],"object_position_m":[0.30027007179923304,-0.03397109137443959,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.52922434558728e-12,9.560102905423019e-13,6.17926741063306e-09],"object_linear_velocity_m_s":[-1.4413637507041423e-12,-8.33635647211365e-12,3.079777815691501e-15],"object_angular_velocity_rad_s":[3.8262838609148116e-11,-6.6166888278742695e-12,4.3502849722114365e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000139069},{"geom_ids":[1,90],"normal_force_n":0.09810000000098063},{"geom_ids":[1,90],"normal_force_n":0.09809999999860929},{"geom_ids":[1,90],"normal_force_n":0.09809999999901935}],"native_actuator_controls":[-0.18791221184761975,1.164560830479506,-0.7451758615954015,0.21030377419860008,0.5018009068602401,-0.22504828523657625,0.035],"actuator_force_native":[-0.0732477288077753,0.27960857608687206,-0.26041496011406906,-0.29554494642160734,0.29961717321159753,-0.059157173004137587,7.850601816805636e-05],"issued_joint_targets_rad":[-0.18783085112115733,1.1653260255126914,-0.7466293498378944,0.20917378795045444,0.5040294930652487,-0.22502694372794219],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.819999999999944,"joint_targets_rad":[-0.18783085112115733,1.1653260255126914,-0.7466293498378944,0.20917378795045444,0.5040294930652487,-0.22502694372794219],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.839999999999951,"qpos":[-0.1869081946170537,1.1595980315208725,-0.7391107475274354,0.22279136102863492,0.45846447156429343,-0.21802218795201928,0.03499989477404516,-0.03499990872661117,0.30027007179920817,-0.03397109137458342,0.07989224457978367,0.9999999999999991,-4.654116263308985e-12,8.046888455985532e-13,6.5221762416492316e-09],"qvel":[-0.0018138134448864392,0.035742908658334585,-0.0682245624880944,-0.04984979150077384,0.10400852169984297,-0.008335617204726734,-1.5261551277042186e-05,-2.6719896671879507e-05,-1.5740143817343364e-12,-9.103912265993835e-12,3.0881044883761896e-15,-1.263556684530195e-10,2.1842568230064224e-11,7.942521777062476e-08],"joint_position_rad":[-0.1869081946170537,1.1595980315208725,-0.7391107475274354,0.22279136102863492,0.45846447156429343,-0.21802218795201928],"joint_velocity_rad_s":[-0.0018138134448864392,0.035742908658334585,-0.0682245624880944,-0.04984979150077384,0.10400852169984297,-0.008335617204726734],"gripper_joint_position_m":[0.03499989477404516,-0.03499990872661117],"tcp_position_m":[0.30502359298742965,-0.035278402630179055,0.1854992717535278],"tcp_quaternion_wxyz":[0.3864703583458822,0.059224798326941955,0.9203802177863345,0.005774087868942136],"object_position_m":[0.30027007179920817,-0.03397109137458342,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.654116263308985e-12,8.046888455985532e-13,6.5221762416492316e-09],"object_linear_velocity_m_s":[-1.5740143817343364e-12,-9.103912265993835e-12,3.0881044883761896e-15],"object_angular_velocity_rad_s":[-1.2635566861011624e-10,2.1842567321144702e-11,7.942521777062461e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000121608},{"geom_ids":[1,90],"normal_force_n":0.09810000000085749},{"geom_ids":[1,90],"normal_force_n":0.09809999999878391},{"geom_ids":[1,90],"normal_force_n":0.09809999999914246}],"native_actuator_controls":[-0.18783085112115733,1.1653260255126914,-0.7466293498378944,0.20917378795045444,0.5040294930652487,-0.22502694372794219,0.035],"actuator_force_native":[-0.06474345310385665,0.2795249760538354,-0.2603653723962367,-0.2954539656233486,0.2996374324597886,-0.05754413195213903,8.051679457898864e-05],"issued_joint_targets_rad":[-0.18774304715528553,1.166094266794482,-0.7480857824239245,0.20803446437292764,0.5062593128914998,-0.2249995418563747],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.839999999999951,"joint_targets_rad":[-0.18774304715528553,1.166094266794482,-0.7480857824239245,0.20803446437292764,0.5062593128914998,-0.2249995418563747],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.859999999999958,"qpos":[-0.1869437336449799,1.1603585284630682,-0.7405596677279639,0.221714179900121,0.4606902961264815,-0.21819451726551828,0.03499989467319115,-0.03499990966280176,0.3002700717991868,-0.03397109137470729,0.07989224457978367,0.9999999999999991,-3.760350907800806e-12,6.5014505265242e-13,6.8234550117220124e-09],"qvel":[-0.0015604444396012673,0.03588361946749192,-0.06835513756063756,-0.05036478805001687,0.10402166231080348,-0.008085309810268063,-1.5090176558656946e-05,-2.704230357596029e-05,-8.09787366646202e-13,-4.6836872847303374e-12,3.083941152033845e-15,1.7161288672462512e-10,-2.9671651238507664e-11,8.605071918186039e-09],"joint_position_rad":[-0.1869437336449799,1.1603585284630682,-0.7405596677279639,0.221714179900121,0.4606902961264815,-0.21819451726551828],"joint_velocity_rad_s":[-0.0015604444396012673,0.03588361946749192,-0.06835513756063756,-0.05036478805001687,0.10402166231080348,-0.008085309810268063],"gripper_joint_position_m":[0.03499989467319115,-0.03499990966280176],"tcp_position_m":[0.3050326171590755,-0.03529649870765957,0.18549364061495688],"tcp_quaternion_wxyz":[0.38574143937978356,0.058681476296312485,0.9207219230734087,0.005582710533582518],"object_position_m":[0.3002700717991868,-0.03397109137470729,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.760350907800806e-12,6.5014505265242e-13,6.8234550117220124e-09],"object_linear_velocity_m_s":[-8.09787366646202e-13,-4.6836872847303374e-12,3.083941152033845e-15],"object_angular_velocity_rad_s":[1.7161288714074027e-10,-2.9671648831805807e-11,8.605071918186024e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999981117},{"geom_ids":[1,90],"normal_force_n":0.09809999999986685},{"geom_ids":[1,90],"normal_force_n":0.09810000000018887},{"geom_ids":[1,90],"normal_force_n":0.09810000000013315}],"native_actuator_controls":[-0.18774304715528553,1.166094266794482,-0.7480857824239245,0.20803446437292764,0.5062593128914998,-0.2249995418563747,0.035],"actuator_force_native":[-0.05614285862644408,0.27944096917563854,-0.2603134878736668,-0.29536468083765044,0.2996576741839778,-0.055922281193161893,7.966395514746871e-05],"issued_joint_targets_rad":[-0.18764894923020223,1.1668655853661878,-0.749545191750597,0.20688637361396903,0.5084904862703012,-0.22496645408540838],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.859999999999958,"joint_targets_rad":[-0.18764894923020223,1.1668655853661878,-0.749545191750597,0.20688637361396903,0.5084904862703012,-0.22496645408540838],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.879999999999964,"qpos":[-0.18697416113737875,1.1611220233418895,-0.7420114685024074,0.22062642021836673,0.4629167640117086,-0.21836185309494685,0.034999889892201305,-0.034999906818471635,0.30027007179916515,-0.03397109137483291,0.07989224457978367,0.9999999999999991,-3.6338589920195192e-12,6.282573935614234e-13,7.312484280496772e-09],"qvel":[-0.0013045813845184672,0.03602567248913971,-0.06848770664346981,-0.050864880798420484,0.1040395787924547,-0.00783410054967617,-1.543100817471194e-05,-2.6845280109209063e-05,-7.921541843727979e-13,-4.581839378587098e-12,3.0783900369107196e-15,1.3271857321267434e-10,-2.2946303142814982e-11,1.571068826421473e-08],"joint_position_rad":[-0.18697416113737875,1.1611220233418895,-0.7420114685024074,0.22062642021836673,0.4629167640117086,-0.21836185309494685],"joint_velocity_rad_s":[-0.0013045813845184672,0.03602567248913971,-0.06848770664346981,-0.050864880798420484,0.1040395787924547,-0.00783410054967617],"gripper_joint_position_m":[0.034999889892201305,-0.034999906818471635],"tcp_position_m":[0.3050416394660193,-0.03531499145365284,0.18548803165747635],"tcp_quaternion_wxyz":[0.38501088292737723,0.05813556258236751,0.921063429226834,0.00538848138327418],"object_position_m":[0.30027007179916515,-0.03397109137483291,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.6338589920195192e-12,6.282573935614234e-13,7.312484280496772e-09],"object_linear_velocity_m_s":[-7.921541843727979e-13,-4.581839378587098e-12,3.0783900369107196e-15],"object_angular_velocity_rad_s":[1.3271857356800379e-10,-2.294630108762913e-11,1.5710688264214703e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000027354},{"geom_ids":[1,90],"normal_force_n":0.09810000000019299},{"geom_ids":[1,90],"normal_force_n":0.09809999999972646},{"geom_ids":[1,90],"normal_force_n":0.098099999999807}],"native_actuator_controls":[-0.18764894923020223,1.1668655853661878,-0.749545191750597,0.20688637361396903,0.5084904862703012,-0.22496645408540838,0.035],"actuator_force_native":[-0.0474601405032864,0.27935659949817193,-0.26025932663782214,-0.2952774601838044,0.2996778543972445,-0.05429485908010134,8.155935282139204e-05],"issued_joint_targets_rad":[-0.18754872477911302,1.1676400134781493,-0.7510076095781543,0.20573013058727282,0.5107231366354792,-0.2249280758306246],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.879999999999964,"joint_targets_rad":[-0.18754872477911302,1.1676400134781493,-0.7510076095781543,0.20573013058727282,0.5107231366354792,-0.2249280758306246],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.899999999999971,"qpos":[-0.18699943181741388,1.1618885453141814,-0.7434661882798385,0.2195284388701248,0.4651439752803576,-0.21852418040678512,0.03499989500990405,-0.034999914092127216,0.30027007179914716,-0.03397109137493746,0.07989224457978367,0.9999999999999991,-3.288798479897315e-12,5.685881615331686e-13,7.74399620134038e-09],"qvel":[-0.001046664087306187,0.03616911969336921,-0.06862213999630441,-0.05134794805436637,0.10406246427582629,-0.007582509538945167,-1.470012809198918e-05,-2.769420669600463e-05,-7.714641970735001e-13,-4.4622250680064214e-12,3.082553373253064e-15,7.475584268692484e-11,-1.2925135784810062e-11,2.8683749339129483e-08],"joint_position_rad":[-0.18699943181741388,1.1618885453141814,-0.7434661882798385,0.2195284388701248,0.4651439752803576,-0.21852418040678512],"joint_velocity_rad_s":[-0.001046664087306187,0.03616911969336921,-0.06862213999630441,-0.05134794805436637,0.10406246427582629,-0.007582509538945167],"gripper_joint_position_m":[0.03499989500990405,-0.034999914092127216],"tcp_position_m":[0.3050506652815316,-0.035333843649750986,0.1854824447860517],"tcp_quaternion_wxyz":[0.38427866325803045,0.05758717522009561,0.9214047287691979,0.005191533160082075],"object_position_m":[0.30027007179914716,-0.03397109137493746,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.288798479897315e-12,5.685881615331686e-13,7.74399620134038e-09],"object_linear_velocity_m_s":[-7.714641970735001e-13,-4.4622250680064214e-12,3.082553373253064e-15],"object_angular_velocity_rad_s":[7.475584291972758e-11,-1.292513443832197e-11,2.8683749339129437e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000059124},{"geom_ids":[1,90],"normal_force_n":0.09810000000041709},{"geom_ids":[1,90],"normal_force_n":0.09809999999940874},{"geom_ids":[1,90],"normal_force_n":0.09809999999958297}],"native_actuator_controls":[-0.18754872477911302,1.1676400134781493,-0.7510076095781543,0.20573013058727282,0.5107231366354792,-0.2249280758306246,0.035],"actuator_force_native":[-0.03871011649940037,0.2792718546505739,-0.2602030038837384,-0.29519259104224815,0.2996979171374772,-0.05266518992997726,7.770024429798461e-05],"issued_joint_targets_rad":[-0.18744255936642323,1.1684175848257021,-0.752473067494229,0.2045663936250472,0.5129573914443941,-0.22488482219843067],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.899999999999971,"joint_targets_rad":[-0.18744255936642323,1.1684175848257021,-0.752473067494229,0.2045663936250472,0.5129573914443941,-0.22488482219843067],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.919999999999978,"qpos":[-0.18701950907786707,1.1626581248208312,-0.7449238630475571,0.21842063740498316,0.46737203382376813,-0.2186814945857544,0.03499988628421101,-0.034999909086295126,0.30027007179913184,-0.03397109137502684,0.07989224457978367,0.9999999999999991,-2.9081806818612958e-12,5.027737207282084e-13,8.153037286879783e-09],"qvel":[-0.000787138079475981,0.036314029418459924,-0.06875833881259462,-0.051811853164220975,0.10409053784720258,-0.007331066717264829,-1.6119051400564478e-05,-2.6412257280176036e-05,-7.928490981998718e-13,-4.586077482904293e-12,3.07839003691072e-15,1.3222473918704288e-12,-2.29901025546855e-13,5.236928275215989e-08],"joint_position_rad":[-0.18701950907786707,1.1626581248208312,-0.7449238630475571,0.21842063740498316,0.46737203382376813,-0.2186814945857544],"joint_velocity_rad_s":[-0.000787138079475981,0.036314029418459924,-0.06875833881259462,-0.051811853164220975,0.10409053784720258,-0.007331066717264829],"gripper_joint_position_m":[0.03499988628421101,-0.034999909086295126],"tcp_position_m":[0.3050596998538435,-0.035353015835089624,0.1854768790541478],"tcp_quaternion_wxyz":[0.3835447542056195,0.05703644538032861,0.9217458137842567,0.00499201271293481],"object_position_m":[0.30027007179913184,-0.03397109137502684,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.9081806818612958e-12,5.027737207282084e-13,8.153037286879783e-09],"object_linear_velocity_m_s":[-7.928490981998718e-13,-4.586077482904293e-12,3.07839003691072e-15],"object_angular_velocity_rad_s":[1.3222474482790056e-12,-2.299006993875167e-13,5.2369282752159806e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000079099},{"geom_ids":[1,90],"normal_force_n":0.0981000000005577},{"geom_ids":[1,90],"normal_force_n":0.09809999999920911},{"geom_ids":[1,90],"normal_force_n":0.09809999999944226}],"native_actuator_controls":[-0.18744255936642323,1.1684175848257021,-0.752473067494229,0.2045663936250472,0.5129573914443941,-0.22488482219843067,0.035],"actuator_force_native":[-0.029908332687114125,0.2791866532973728,-0.2601446616707861,-0.295110485376334,0.2997177694354569,-0.05103667605086537,8.51438885625111e-05],"issued_joint_targets_rad":[-0.1873306567324963,1.1691983345284664,-0.7539415968993557,0.20339586383402133,0.5151933819892887,-0.22483712839702538],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.919999999999978,"joint_targets_rad":[-0.1873306567324963,1.1691983345284664,-0.7539415968993557,0.20339586383402133,0.5151933819892887,-0.22483712839702538],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.939999999999984,"qpos":[-0.18703436610545737,1.1634307937497277,-0.7463845269511388,0.2173034621804718,0.469601048111352,-0.21883380148177423,0.03499989983962708,-0.03499992570570647,0.30027007179911924,-0.03397109137509926,0.07989224457978367,0.9999999999999991,-2.3053431787609735e-12,3.9854642083264106e-13,8.446911152656615e-09],"qvel":[-0.0005264950939014707,0.036460471407012536,-0.0688962195212441,-0.052254520344154246,0.10412399898004444,-0.0070803171505758435,-1.3965288914073939e-05,-2.8620432370041117e-05,-8.847548951210611e-13,-5.117819477668123e-12,3.0797778156915014e-15,-9.440732828693738e-11,1.6319481809933776e-11,9.561308546141033e-08],"joint_position_rad":[-0.18703436610545737,1.1634307937497277,-0.7463845269511388,0.2173034621804718,0.469601048111352,-0.21883380148177423],"joint_velocity_rad_s":[-0.0005264950939014707,0.036460471407012536,-0.0688962195212441,-0.052254520344154246,0.10412399898004444,-0.0070803171505758435],"gripper_joint_position_m":[0.03499989983962708,-0.03499992570570647],"tcp_position_m":[0.3050687483027289,-0.03537246651955615,0.18547133274386804],"tcp_quaternion_wxyz":[0.38280912908952036,0.0564835177447626,0.9220866759869225,0.00479008103147257],"object_position_m":[0.30027007179911924,-0.03397109137509926,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.3053431787609735e-12,3.9854642083264106e-13,8.446911152656615e-09],"object_linear_velocity_m_s":[-8.847548951210611e-13,-5.117819477668123e-12,3.0797778156915014e-15],"object_angular_velocity_rad_s":[-9.440732848642313e-11,1.6319480655875067e-11,9.561308546141017e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000038879},{"geom_ids":[1,90],"normal_force_n":0.09810000000027425},{"geom_ids":[1,90],"normal_force_n":0.0980999999996112},{"geom_ids":[1,90],"normal_force_n":0.09809999999972574}],"native_actuator_controls":[-0.1873306567324963,1.1691983345284664,-0.7539415968993557,0.20339586383402133,0.5151933819892887,-0.22483712839702538,0.035],"actuator_force_native":[-0.021070774693605188,0.27910090526405895,-0.260084498251139,-0.2950313321372491,0.2997373403093002,-0.04941279342664728,7.383285948736606e-05],"issued_joint_targets_rad":[-0.18721323852977526,1.1699822991861406,-0.7554132291630428,0.20221928320319857,0.5174312433528458,-0.22478544741906115],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.939999999999984,"joint_targets_rad":[-0.18721323852977526,1.1699822991861406,-0.7554132291630428,0.20221928320319857,0.5174312433528458,-0.22478544741906115],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.959999999999991,"qpos":[-0.1870439850577722,1.164206585578911,-0.7478482125939706,0.21617740305791083,0.4718311301480852,-0.21898111794858732,0.03499988949793431,-0.03499992093149512,0.30027007179910775,-0.03397109137516599,0.07989224457978367,0.9999999999999991,-1.9639735330206298e-12,3.395252476131851e-13,8.80959436083851e-09],"qvel":[-0.00026519754081686796,0.036608527029905205,-0.06903573401095424,-0.05267382520515714,0.10416307638011156,-0.006830810147861823,-1.647653480825278e-05,-2.6234404010013723e-05,-4.255586345850513e-13,-2.461620275559946e-12,3.0756144793491573e-15,8.535164058980181e-11,-1.4755558358610167e-11,1.0358894818455792e-08],"joint_position_rad":[-0.1870439850577722,1.164206585578911,-0.7478482125939706,0.21617740305791083,0.4718311301480852,-0.21898111794858732],"joint_velocity_rad_s":[-0.00026519754081686796,0.036608527029905205,-0.06903573401095424,-0.05267382520515714,0.10416307638011156,-0.006830810147861823],"gripper_joint_position_m":[0.03499988949793431,-0.03499992093149512],"tcp_position_m":[0.30507781583533855,-0.035392152043426064,0.18546580355870929],"tcp_quaternion_wxyz":[0.38207176121468184,0.05592854937301347,0.9224273066486355,0.004585912808331949],"object_position_m":[0.30027007179910775,-0.03397109137516599,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9639735330206298e-12,3.395252476131851e-13,8.80959436083851e-09],"object_linear_velocity_m_s":[-4.255586345850513e-13,-2.461620275559946e-12,3.0756144793491573e-15],"object_angular_velocity_rad_s":[8.535164085681684e-11,-1.4755556814094285e-11,1.0358894818455776e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999995063},{"geom_ids":[1,90],"normal_force_n":0.09809999999996528},{"geom_ids":[1,90],"normal_force_n":0.09810000000004936},{"geom_ids":[1,90],"normal_force_n":0.09810000000003476}],"native_actuator_controls":[-0.18721323852977526,1.1699822991861406,-0.7554132291630428,0.20221928320319857,0.5174312433528458,-0.22478544741906115,0.035],"actuator_force_native":[-0.012214290056158816,0.2790144534288572,-0.2600226554709977,-0.29495566816270546,0.29975651747743903,-0.04779707948294565,8.680275666894666e-05],"issued_joint_targets_rad":[-0.18709054424390034,1.1707695164665868,-0.7568879949155356,0.20103743421377393,0.5196711131241992,-0.22473025182033662],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.959999999999991,"joint_targets_rad":[-0.18709054424390034,1.1707695164665868,-0.7568879949155356,0.20103743421377393,0.5196711131241992,-0.22473025182033662],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.979999999999998,"qpos":[-0.18704835896896235,1.1649855352534546,-0.7493149515983876,0.21504299403286325,0.4740623966982097,-0.21912347159652493,0.03499990021928663,-0.034999936110771866,0.30027007179909704,-0.03397109137522804,0.07989224457978367,0.9999999999999991,-1.8481644610343747e-12,3.1949047316216746e-13,9.273725070770345e-09],"qvel":[-3.7861143600720804e-06,0.036758259568242184,-0.06917682836079897,-0.05306776432059724,0.10420794127102509,-0.006583111448543457,-1.4031337447813634e-05,-2.8678252813509265e-05,-4.103131339933435e-13,-2.373518756052563e-12,3.0770022581299387e-15,6.061483491739814e-11,-1.0479089518241995e-11,1.8912725993604114e-08],"joint_position_rad":[-0.18704835896896235,1.1649855352534546,-0.7493149515983876,0.21504299403286325,0.4740623966982097,-0.21912347159652493],"joint_velocity_rad_s":[-3.7861143600720804e-06,0.036758259568242184,-0.06917682836079897,-0.05306776432059724,0.10420794127102509,-0.006583111448543457],"gripper_joint_position_m":[0.03499990021928663,-0.034999936110771866],"tcp_position_m":[0.3050869076329782,-0.03541202695022747,0.18546028871505846],"tcp_quaternion_wxyz":[0.3813326237175244,0.05537171070400314,0.9227676966604669,0.004379696605677296],"object_position_m":[0.30027007179909704,-0.03397109137522804,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8481644610343747e-12,3.1949047316216746e-13,9.273725070770345e-09],"object_linear_velocity_m_s":[-4.103131339933435e-13,-2.373518756052563e-12,3.0770022581299387e-15],"object_angular_velocity_rad_s":[6.061483512384329e-11,-1.0479088324083691e-11,1.891272599360408e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000019671},{"geom_ids":[1,90],"normal_force_n":0.09810000000013891},{"geom_ids":[1,90],"normal_force_n":0.09809999999980323},{"geom_ids":[1,90],"normal_force_n":0.09809999999986119}],"native_actuator_controls":[-0.18709054424390034,1.1707695164665868,-0.7568879949155356,0.20103743421377393,0.5196711131241992,-0.22473025182033662,0.035],"actuator_force_native":[-0.0033558914232401094,0.27892719920936315,-0.25995932356784834,-0.2948835711605877,0.2997752523533572,-0.04619313506530176,7.414791577398105e-05],"issued_joint_targets_rad":[-0.18696283074197229,1.171560025174157,-0.758365924251759,0.19985113725346892,0.5219131313628459,-0.22467202961826505],"issued_gripper_position_m":0.035,"command":{"t_seconds":4.979999999999998,"joint_targets_rad":[-0.18696283074197229,1.171560025174157,-0.758365924251759,0.19985113725346892,0.5219131313628459,-0.22467202961826505],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.000000000000004,"qpos":[-0.18704749027654125,1.1657676791284908,-0.7507847745163876,0.2139008110326774,0.47629496719365166,-0.21926090148234226,0.03499988720951435,-0.03499993008746731,0.30027007179908777,-0.033971091375281794,0.07989224457978367,0.9999999999999991,-1.7118771802803159e-12,2.9594224093368774e-13,9.731564928990165e-09],"qvel":[0.00025725478175600645,0.03690974042903781,-0.06931947875771749,-0.05343426376550533,0.10425879560892239,-0.006337785879845826,-1.6638209926611768e-05,-2.616027210991556e-05,-4.109407401435912e-13,-2.3770614074082437e-12,3.0825533732530645e-15,2.956843961313859e-11,-5.110480230063551e-12,3.452986160388964e-08],"joint_position_rad":[-0.18704749027654125,1.1657676791284908,-0.7507847745163876,0.2139008110326774,0.47629496719365166,-0.21926090148234226],"joint_velocity_rad_s":[0.00025725478175600645,0.03690974042903781,-0.06931947875771749,-0.05343426376550533,0.10425879560892239,-0.006337785879845826],"gripper_joint_position_m":[0.03499988720951435,-0.03499993008746731],"tcp_position_m":[0.305096029121935,-0.035432043785183186,0.18545478517159017],"tcp_quaternion_wxyz":[0.38059169038930646,0.05481318381591037,0.9231078363636057,0.004171634053462495],"object_position_m":[0.30027007179908777,-0.033971091375281794,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7118771802803159e-12,2.9594224093368774e-13,9.731564928990165e-09],"object_linear_velocity_m_s":[-4.109407401435912e-13,-2.3770614074082437e-12,3.0825533732530645e-15],"object_angular_velocity_rad_s":[2.9568439733042164e-11,-5.110479536347397e-12,3.452986160388958e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000039112},{"geom_ids":[1,90],"normal_force_n":0.09810000000027566},{"geom_ids":[1,90],"normal_force_n":0.09809999999960892},{"geom_ids":[1,90],"normal_force_n":0.09809999999972435}],"native_actuator_controls":[-0.18696283074197229,1.171560025174157,-0.758365924251759,0.19985113725346892,0.5219131313628459,-0.22467202961826505,0.035],"actuator_force_native":[0.0054864888567358605,0.2788389815081018,-0.25989458504113117,-0.29481563234081154,0.29979344827855847,-0.044604602539459304,8.770266905910873e-05],"issued_joint_targets_rad":[-0.18683037195689534,1.172353864522269,-0.7598470454931998,0.19866124997037735,0.5241574384475834,-0.22461128684741835],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.000000000000004,"joint_targets_rad":[-0.18683037195689534,1.172353864522269,-0.7598470454931998,0.19866124997037735,0.5241574384475834,-0.22461128684741835],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.020000000000011,"qpos":[-0.187041392947844,1.166553054656586,-0.7522577111792981,0.21275147267161323,0.4785289651042902,-0.21939345769626467,0.034999897030313566,-0.034999945707978604,0.30027007179908005,-0.033971091375326265,0.07989224457978367,0.9999999999999991,-1.4528451880542884e-12,2.5117865277741756e-13,1.0101673062615404e-08],"qvel":[0.000517352472421453,0.037063011175533095,-0.06946363665481134,-0.05377140045010306,0.10431576581349912,-0.006095412901080433,-1.4010664890915623e-05,-2.8742509573373613e-05,-4.3044041700943657e-13,-2.4896724000834253e-12,3.0770022581299387e-15,-1.2802976084819881e-11,2.216429299252129e-12,6.304280740100552e-08],"joint_position_rad":[-0.187041392947844,1.166553054656586,-0.7522577111792981,0.21275147267161323,0.4785289651042902,-0.21939345769626467],"joint_velocity_rad_s":[0.000517352472421453,0.037063011175533095,-0.06946363665481134,-0.05377140045010306,0.10431576581349912,-0.006095412901080433],"gripper_joint_position_m":[0.034999897030313566,-0.034999945707978604],"tcp_position_m":[0.3051051857785797,-0.03545215350601507,0.1854492896750552],"tcp_quaternion_wxyz":[0.37984893544901926,0.054253163643940124,0.9234477156308017,0.003961940070763093],"object_position_m":[0.30027007179908005,-0.033971091375326265,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4528451880542884e-12,2.5117865277741756e-13,1.0101673062615404e-08],"object_linear_velocity_m_s":[-4.3044041700943657e-13,-2.4896724000834253e-12,3.0770022581299387e-15],"object_angular_velocity_rad_s":[-1.2802976097929132e-11,2.2164292237720468e-12,6.304280740100541e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000037389},{"geom_ids":[1,90],"normal_force_n":0.0981000000002636},{"geom_ids":[1,90],"normal_force_n":0.09809999999962613},{"geom_ids":[1,90],"normal_force_n":0.09809999999973641}],"native_actuator_controls":[-0.18683037195689534,1.172353864522269,-0.7598470454931998,0.19866124997037735,0.5241574384475834,-0.22461128684741835,0.035],"actuator_force_native":[0.014294916913787148,0.2787497333769693,-0.25982856183809133,-0.2947519057989201,0.29981108471268403,-0.04303517215991626,7.41721119121852e-05],"issued_joint_targets_rad":[-0.18669345837312198,1.1731510742484172,-0.7613313854958996,0.19746866445132685,0.526404175194441,-0.2245485428627989],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.020000000000011,"joint_targets_rad":[-0.18669345837312198,1.1731510742484172,-0.7613313854958996,0.19746866445132685,0.526404175194441,-0.2245485428627989],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.040000000000018,"qpos":[-0.18703009085747288,1.1673417001846045,-0.75373379026966,0.21159563756477884,0.48076451545069493,-0.21952120205005335,0.034999882373887126,-0.03499993950017098,0.30027007179907367,-0.03397109137536314,0.07989224457978367,0.9999999999999991,-1.1489641948993781e-12,1.9865355853764339e-13,1.0394944484935695e-08],"qvel":[0.0007759989586551626,0.03721811747652729,-0.06960927073477176,-0.054077186348903995,0.10437900180395032,-0.005856567775988661,-1.6724446958892702e-05,-2.6077823514261654e-05,-4.944282247111507e-13,-2.8594813878543793e-12,3.0811655944722828e-15,-6.782426174392644e-11,1.1730349099167928e-11,1.1510024602883169e-07],"joint_position_rad":[-0.18703009085747288,1.1673417001846045,-0.75373379026966,0.21159563756477884,0.48076451545069493,-0.21952120205005335],"joint_velocity_rad_s":[0.0007759989586551626,0.03721811747652729,-0.06960927073477176,-0.054077186348903995,0.10437900180395032,-0.005856567775988661],"gripper_joint_position_m":[0.034999882373887126,-0.03499993950017098],"tcp_position_m":[0.30511438337104735,-0.03547230529498276,0.18544379894492977],"tcp_quaternion_wxyz":[0.37910433442185487,0.05369185604280256,0.923787323685766,0.0037508418696403627],"object_position_m":[0.30027007179907367,-0.03397109137536314,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.1489641948993781e-12,1.9865355853764339e-13,1.0394944484935695e-08],"object_linear_velocity_m_s":[-4.944282247111507e-13,-2.8594813878543793e-12,3.0811655944722828e-15],"object_angular_velocity_rad_s":[-6.782426194206882e-11,1.1730347953601158e-11,1.151002460288315e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000015816},{"geom_ids":[1,90],"normal_force_n":0.09810000000011158},{"geom_ids":[1,90],"normal_force_n":0.09809999999984184},{"geom_ids":[1,90],"normal_force_n":0.09809999999988846}],"native_actuator_controls":[-0.18669345837312198,1.1731510742484172,-0.7613313854958996,0.19746866445132685,0.526404175194441,-0.2245485428627989,0.035],"actuator_force_native":[0.02305060395479508,0.27865933772238805,-0.25976126442530756,-0.294692992793558,0.29982809473153527,-0.041488556463472825,8.832727930951911e-05],"issued_joint_targets_rad":[-0.1865523964814285,1.1739516938131649,-0.762818968325915,0.19627430598153472,0.5286534805259315,-0.2244843326428792],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.040000000000018,"joint_targets_rad":[-0.1865523964814285,1.1739516938131649,-0.762818968325915,0.19627430598153472,0.5286534805259315,-0.2244843326428792],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.0600000000000245,"qpos":[-0.18701361993240379,1.1681336545607004,-0.7552130394279382,0.2104340048767637,0.4830017461231276,-0.21964420756540573,0.034999891879043434,-0.034999956179854845,0.30027007179906745,-0.03397109137539923,0.07989224457978367,0.9999999999999991,-1.0453282783264597e-12,1.8074600507925868e-13,1.083154713498519e-08],"qvel":[0.0010325971315023991,0.03737507136943161,-0.06975631222143275,-0.05434980650209745,0.10444857079895187,-0.005621837483306137,-1.3937495286366091e-05,-2.8771015702467893e-05,-2.2638187934110783e-13,-1.3092737988042209e-12,3.07839003691072e-15,4.2742899952124136e-11,-7.390289067164371e-12,1.2470169082253301e-08],"joint_position_rad":[-0.18701361993240379,1.1681336545607004,-0.7552130394279382,0.2104340048767637,0.4830017461231276,-0.21964420756540573],"joint_velocity_rad_s":[0.0010325971315023991,0.03737507136943161,-0.06975631222143275,-0.05434980650209745,0.10444857079895187,-0.005621837483306137],"gripper_joint_position_m":[0.034999891879043434,-0.034999956179854845],"tcp_position_m":[0.3051236277099403,-0.035492446990115424,0.18543830964999],"tcp_quaternion_wxyz":[0.3783578638432255,0.05312947900369286,0.9241266492135289,0.0035385791163514077],"object_position_m":[0.30027007179906745,-0.03397109137539923,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.0453282783264597e-12,1.8074600507925868e-13,1.083154713498519e-08],"object_linear_velocity_m_s":[-2.2638187934110783e-13,-1.3092737988042209e-12,3.07839003691072e-15],"object_angular_velocity_rad_s":[4.274290011672846e-11,-7.390288115150045e-12,1.247016908225328e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001703},{"geom_ids":[1,90],"normal_force_n":0.09810000000001219},{"geom_ids":[1,90],"normal_force_n":0.09809999999998292},{"geom_ids":[1,90],"normal_force_n":0.09809999999998789}],"native_actuator_controls":[-0.1865523964814285,1.1739516938131649,-0.762818968325915,0.19627430598153472,0.5286534805259315,-0.2244843326428792,0.035],"actuator_force_native":[0.03173489042051081,0.2785677833500131,-0.2596927507309772,-0.29463892329867303,0.2998444878296107,-0.03996849454977536,7.401231469472691e-05],"issued_joint_targets_rad":[-0.1864075081353335,1.1747557625669203,-0.7643098156887007,0.1950791298322471,0.530905491759165,-0.22441920172883553],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.0600000000000245,"joint_targets_rad":[-0.1864075081353335,1.1747557625669203,-0.7643098156887007,0.1950791298322471,0.530905491759165,-0.22441920172883553],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.080000000000031,"qpos":[-0.18699202640799029,1.1689289568995331,-0.7566954846131981,0.20926731119901784,0.48524078525128955,-0.21976255912742176,0.03499988294415245,-0.03499995698489937,0.30027007179906207,-0.03397109137543026,0.07989224457978367,0.9999999999999991,-9.507331794267774e-13,1.6440127677965093e-13,1.1270199771179966e-08],"qvel":[0.0012866218537891069,0.037533889052828506,-0.06990470104518469,-0.05458739228484871,0.10452456057360858,-0.005391801301709964,-1.646322796413684e-05,-2.625410028000383e-05,-2.1618702949682506e-13,-1.2502273285860437e-12,3.0839411520338455e-15,2.753231433626282e-11,-4.760183686613824e-12,2.2767379634121832e-08],"joint_position_rad":[-0.18699202640799029,1.1689289568995331,-0.7566954846131981,0.20926731119901784,0.48524078525128955,-0.21976255912742176],"joint_velocity_rad_s":[0.0012866218537891069,0.037533889052828506,-0.06990470104518469,-0.05458739228484871,0.10452456057360858,-0.005391801301709964],"gripper_joint_position_m":[0.03499988294415245,-0.03499995698489937],"tcp_position_m":[0.3051329248593384,-0.03551252490592207,0.1854328185289009],"tcp_quaternion_wxyz":[0.3776095020879735,0.05256626055279781,0.9244656802070358,0.0033254027892539516],"object_position_m":[0.30027007179906207,-0.03397109137543026,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.507331794267774e-13,1.6440127677965093e-13,1.1270199771179966e-08],"object_linear_velocity_m_s":[-2.1618702949682506e-13,-1.2502273285860437e-12,3.0839411520338455e-15],"object_angular_velocity_rad_s":[2.753231445104518e-11,-4.760183022733043e-12,2.2767379634121796e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000012441},{"geom_ids":[1,90],"normal_force_n":0.09810000000008769},{"geom_ids":[1,90],"normal_force_n":0.09809999999987563},{"geom_ids":[1,90],"normal_force_n":0.09809999999991233}],"native_actuator_controls":[-0.1864075081353335,1.1747557625669203,-0.7643098156887007,0.1950791298322471,0.530905491759165,-0.22441920172883553,0.035],"actuator_force_native":[0.040328352543598456,0.2784750081268186,-0.25962298081427804,-0.29459029324658736,0.29986022421834235,-0.03847872406157249,8.699837372283525e-05],"issued_joint_targets_rad":[-0.18625912982521128,1.1755633189847623,-0.7658039457096398,0.1938841194907908,0.533160342411979,-0.22435370829011766],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.080000000000031,"joint_targets_rad":[-0.18625912982521128,1.1755633189847623,-0.7658039457096398,0.1938841194907908,0.533160342411979,-0.22435370829011766],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.100000000000038,"qpos":[-0.18696536885958856,1.1697276462061756,-0.7581811500837378,0.20809633080924136,0.48748176253161324,-0.2198763528919713,0.03499989461097851,-0.03499997735064566,0.3002700717990575,-0.033971091375456786,0.07989224457978367,0.9999999999999991,-8.537183913101664e-13,1.476277371630826e-13,1.1695580036488496e-08],"qvel":[0.0015374591272891795,0.037694553942548385,-0.07005433521148646,-0.05478826465504996,0.10460698067878696,-0.0051670456472427415,-1.3811161374900671e-05,-2.8763428587710574e-05,-2.1658671409258568e-13,-1.2525123238368825e-12,3.0797778156915014e-15,8.86669896114018e-12,-1.5331006684689732e-12,4.15674857300553e-08],"joint_position_rad":[-0.18696536885958856,1.1697276462061756,-0.7581811500837378,0.20809633080924136,0.48748176253161324,-0.2198763528919713],"joint_velocity_rad_s":[0.0015374591272891795,0.037694553942548385,-0.07005433521148646,-0.05478826465504996,0.10460698067878696,-0.0051670456472427415],"gripper_joint_position_m":[0.03499989461097851,-0.03499997735064566],"tcp_position_m":[0.3051422808575289,-0.035532484255633844,0.1854273223042886],"tcp_quaternion_wxyz":[0.37685922898232266,0.05200243986980222,0.9248044041189148,0.003111575275614659],"object_position_m":[0.3002700717990575,-0.033971091375456786,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.537183913101664e-13,1.476277371630826e-13,1.1695580036488496e-08],"object_linear_velocity_m_s":[-2.1658671409258568e-13,-1.2525123238368825e-12,3.0797778156915014e-15],"object_angular_velocity_rad_s":[8.866699009274194e-12,-1.5331003900927413e-12,4.156748573005523e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000002088},{"geom_ids":[1,90],"normal_force_n":0.09810000000014724},{"geom_ids":[1,90],"normal_force_n":0.09809999999979113},{"geom_ids":[1,90],"normal_force_n":0.09809999999985285}],"native_actuator_controls":[-0.18625912982521128,1.1755633189847623,-0.7658039457096398,0.1938841194907908,0.533160342411979,-0.22435370829011766,0.035],"actuator_force_native":[0.04881182711373633,0.2783810525741899,-0.25955197401473384,-0.2945471294627735,0.2998753277854762,-0.03702298551059924,7.327136773427334e-05],"issued_joint_targets_rad":[-0.18610761195361672,1.1763744009222605,-0.7673013735427188,0.19269028322849951,0.5354181627718597,-0.22428841804118163],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.100000000000038,"joint_targets_rad":[-0.18610761195361672,1.1763744009222605,-0.7673013735427188,0.19269028322849951,0.5354181627718597,-0.22428841804118163],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1200000000000445,"qpos":[-0.18693371652782884,1.1705297611695082,-0.759670057696579,0.20692187216430138,0.4897248066788233,-0.21998569685171254,0.034999884133531875,-0.0349999781107617,0.3002700717990536,-0.03397109137547935,0.07989224457978367,0.9999999999999991,-7.355443353995037e-13,1.271980361452033e-13,1.2078905544781045e-08],"qvel":[0.0017845716053391367,0.03785705579921658,-0.07020511730365718,-0.054950712387061965,0.10469585535549601,-0.004948146547880254,-1.6501757589910693e-05,-2.6027691542675897e-05,-2.3427561066504746e-13,-1.3546945065598386e-12,3.081165594472283e-15,-1.4862650380578587e-11,2.57148780547847e-12,7.589173185065942e-08],"joint_position_rad":[-0.18693371652782884,1.1705297611695082,-0.759670057696579,0.20692187216430138,0.4897248066788233,-0.21998569685171254],"joint_velocity_rad_s":[0.0017845716053391367,0.03785705579921658,-0.07020511730365718,-0.054950712387061965,0.10469585535549601,-0.004948146547880254],"gripper_joint_position_m":[0.034999884133531875,-0.0349999781107617],"tcp_position_m":[0.30515170189471297,-0.03555226902760957,0.18542181774975613],"tcp_quaternion_wxyz":[0.3761070265274577,0.05143826514098585,0.9251428077482253,0.0028973690979863255],"object_position_m":[0.3002700717990536,-0.03397109137547935,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.355443353995037e-13,1.271980361452033e-13,1.2078905544781045e-08],"object_linear_velocity_m_s":[-2.3427561066504746e-13,-1.3546945065598386e-12,3.081165594472283e-15],"object_angular_velocity_rad_s":[-1.4862650423393517e-11,2.5714875580728322e-12,7.589173185065929e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000021056},{"geom_ids":[1,90],"normal_force_n":0.09810000000014851},{"geom_ids":[1,90],"normal_force_n":0.0980999999997895},{"geom_ids":[1,90],"normal_force_n":0.09809999999985151}],"native_actuator_controls":[-0.18610761195361672,1.1763744009222605,-0.7673013735427188,0.19269028322849951,0.5354181627718597,-0.22428841804118163,0.035],"actuator_force_native":[0.05716550791027508,0.278285901224109,-0.2594796811728983,-0.2945099954967656,0.29988977789712035,-0.03560499207287027,8.714344667448692e-05],"issued_joint_targets_rad":[-0.18595331787105696,1.177189044932652,-0.7688021103401681,0.19149865158878226,0.5376790779523136,-0.22422390565106265],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.1200000000000445,"joint_targets_rad":[-0.18595331787105696,1.177189044932652,-0.7688021103401681,0.19149865158878226,0.5376790779523136,-0.22422390565106265],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.140000000000051,"qpos":[-0.1868971512123965,1.1713353380181832,-0.7611622210475921,0.205744777979914,0.49197004176673403,-0.2200907101123678,0.03499989470909902,-0.034999998680388465,0.3002700717990503,-0.03397109137549816,0.07989224457978367,0.9999999999999991,-5.779758478166491e-13,9.995358666134746e-14,1.2366780961089509e-08],"qvel":[0.002027335500198655,0.038021379367148986,-0.07035684893411871,-0.05507324934115461,0.10479129332911338,-0.004735684040475904,-1.3714067619151236e-05,-2.8614325179188085e-05,-1.2434488385477268e-13,-7.190250406092044e-13,3.0797778156915018e-15,2.7069694499382453e-11,-4.681037869032357e-12,8.22224765590225e-09],"joint_position_rad":[-0.1868971512123965,1.1713353380181832,-0.7611622210475921,0.205744777979914,0.49197004176673403,-0.2200907101123678],"joint_velocity_rad_s":[0.002027335500198655,0.038021379367148986,-0.07035684893411871,-0.05507324934115461,0.10479129332911338,-0.004735684040475904],"gripper_joint_position_m":[0.03499989470909902,-0.034999998680388465],"tcp_position_m":[0.3051611934307913,-0.03557182246703666,0.18541630056591735],"tcp_quaternion_wxyz":[0.3753528788473209,0.05087399498195071,0.9254808772358111,0.002683066610803438],"object_position_m":[0.3002700717990503,-0.03397109137549816,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.779758478166491e-13,9.995358666134746e-14,1.2366780961089509e-08],"object_linear_velocity_m_s":[-1.2434488385477268e-13,-7.190250406092044e-13,3.0797778156915018e-15],"object_angular_velocity_rad_s":[2.7069694616804825e-11,-4.6810371899978625e-12,8.222247655902238e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999996112},{"geom_ids":[1,90],"normal_force_n":0.09809999999997258},{"geom_ids":[1,90],"normal_force_n":0.09810000000003893},{"geom_ids":[1,90],"normal_force_n":0.09810000000002743}],"native_actuator_controls":[-0.18595331787105696,1.177189044932652,-0.7688021103401681,0.19149865158878226,0.5376790779523136,-0.22422390565106265,0.035],"actuator_force_native":[0.06536998980616993,0.2781896563217572,-0.2594068987354774,-0.2944788089394974,0.29990342186212615,-0.034228429326234266,7.278197413507215e-05],"issued_joint_targets_rad":[-0.18579662230826438,1.178007286046652,-0.7703061630773019,0.19031027175466486,0.5399432070542859,-0.2241607468759168],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.140000000000051,"joint_targets_rad":[-0.18579662230826438,1.178007286046652,-0.7703061630773019,0.19031027175466486,0.5399432070542859,-0.2241607468759168],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.160000000000058,"qpos":[-0.18685576542024082,1.172144408338957,-0.7626576355828149,0.20456592145195093,0.49421758061507304,-0.22019152330320121,0.03499986970788279,-0.034999964504822574,0.30027007179904713,-0.03397109137551684,0.07989224457978367,0.9999999999999991,-5.391847610908985e-13,9.32549668407105e-14,1.2834054192432131e-08],"qvel":[0.002265190067049513,0.03818759690199568,-0.07050923166310007,-0.055154460724907574,0.10489374670956718,-0.004530227026956447,-1.4840523547275847e-05,-2.7123258899239078e-05,-1.180447962442646e-13,-6.825335047253109e-13,3.0770022581299387e-15,2.0436284959314576e-11,-3.533972567240366e-12,1.5011747845384278e-08],"joint_position_rad":[-0.18685576542024082,1.172144408338957,-0.7626576355828149,0.20456592145195093,0.49421758061507304,-0.22019152330320121],"joint_velocity_rad_s":[0.002265190067049513,0.03818759690199568,-0.07050923166310007,-0.055154460724907574,0.10489374670956718,-0.004530227026956447],"gripper_joint_position_m":[0.03499986970788279,-0.034999964504822574],"tcp_position_m":[0.30517075894196194,-0.03559108681056852,0.18541076303613058],"tcp_quaternion_wxyz":[0.3745967713918488,0.050309896624728956,0.925818598542793,0.002468958620640172],"object_position_m":[0.30027007179904713,-0.03397109137551684,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.391847610908985e-13,9.32549668407105e-14,1.2834054192432131e-08],"object_linear_velocity_m_s":[-1.180447962442646e-13,-6.825335047253109e-13,3.0770022581299387e-15],"object_angular_velocity_rad_s":[2.0436285052824766e-11,-3.5339720264913708e-12,1.5011747845384252e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002575},{"geom_ids":[1,90],"normal_force_n":0.0981000000000181},{"geom_ids":[1,90],"normal_force_n":0.09809999999997426},{"geom_ids":[1,90],"normal_force_n":0.09809999999998187}],"native_actuator_controls":[-0.18579662230826438,1.178007286046652,-0.7703061630773019,0.19031027175466486,0.5399432070542859,-0.2241607468759168,0.035],"actuator_force_native":[0.07340549862286849,0.27809223210563516,-0.259336041243472,-0.2944536842669052,0.2999156443277773,-0.03289689518672123,7.941430242475178e-05],"issued_joint_targets_rad":[-0.18563790977703126,1.1788291585489306,-0.7718135361867979,0.18912620146072798,0.5422106651953722,-0.22409951605084918],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.160000000000058,"joint_targets_rad":[-0.18563790977703126,1.1788291585489306,-0.7718135361867979,0.18912620146072798,0.5422106651953722,-0.22409951605084918],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1800000000000646,"qpos":[-0.18680966454733172,1.1729570126319557,-0.7641563133427999,0.20338620198489624,0.49646756085818294,-0.22028827812620788,0.03499989361690377,-0.03500000335333402,0.30027007179904436,-0.03397109137553293,0.07989224457978367,0.9999999999999991,-5.003419886918823e-13,8.654779871382677e-14,1.3301027292083599e-08],"qvel":[0.002497576818453729,0.038355761826713825,-0.07066238580837271,-0.05519293416754918,0.1050030605518772,-0.004332317033375109,-1.3311917210551534e-05,-2.9039649482580545e-05,-1.1550640154798014e-13,-6.677509915708519e-13,3.1422278608266676e-15,1.2329010762322752e-11,-2.1321056819472907e-12,2.7407660627129513e-08],"joint_position_rad":[-0.18680966454733172,1.1729570126319557,-0.7641563133427999,0.20338620198489624,0.49646756085818294,-0.22028827812620788],"joint_velocity_rad_s":[0.002497576818453729,0.038355761826713825,-0.07066238580837271,-0.05519293416754918,0.1050030605518772,-0.004332317033375109],"gripper_joint_position_m":[0.03499989361690377,-0.03500000335333402],"tcp_position_m":[0.30518040258799595,-0.03561000344099419,0.18540519825239388],"tcp_quaternion_wxyz":[0.37383868433846906,0.04974624338174947,0.9261559602878755,0.0022553458114553584],"object_position_m":[0.30027007179904436,-0.03397109137553293,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.003419886918823e-13,8.654779871382677e-14,1.3301027292083599e-08],"object_linear_velocity_m_s":[-1.1550640154798014e-13,-6.677509915708519e-13,3.1422278608266676e-15],"object_angular_velocity_rad_s":[1.2329010823785265e-11,-2.1321053265438624e-12,2.740766062712947e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000008791},{"geom_ids":[1,90],"normal_force_n":0.09810000000006217},{"geom_ids":[1,90],"normal_force_n":0.09809999999991217},{"geom_ids":[1,90],"normal_force_n":0.09809999999993793}],"native_actuator_controls":[-0.18563790977703126,1.1788291585489306,-0.7718135361867979,0.18912620146072798,0.5422106651953722,-0.22409951605084918,0.035],"actuator_force_native":[0.08125249753176789,0.2779928642244158,-0.25926589847797743,-0.2944353501289845,0.2999264525440779,-0.03161390369635031,7.081490990223926e-05],"issued_joint_targets_rad":[-0.18547757730443112,1.179654703457105,-0.7733242448692852,0.18794751109312152,0.5444815845682568,-0.2240407939839759],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.1800000000000646,"joint_targets_rad":[-0.18547757730443112,1.179654703457105,-0.7733242448692852,0.18794751109312152,0.5444815845682568,-0.2240407939839759],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.200000000000071,"qpos":[-0.18675896340140724,1.1737731915518963,-0.765658268608994,0.2022065463625304,0.49872011978707226,-0.22038112751321,0.03499979050417939,-0.03499987308925735,0.3002700717990419,-0.03397109137554621,0.07989224457978367,0.9999999999999991,-4.315612501814154e-13,7.464560722719047e-14,1.369187087117439e-08],"qvel":[0.0027238735962047647,0.03852586328630539,-0.07081636525055757,-0.055187587173634665,0.10511905031450282,-0.004142504507652039,-1.6377508269516508e-05,-2.530765658165526e-05,-1.1679054196977915e-13,-6.752713884059242e-13,3.158881206196044e-15,1.3807494878898853e-12,-2.3966256989864053e-13,5.0039467007517e-08],"joint_position_rad":[-0.18675896340140724,1.1737731915518963,-0.765658268608994,0.2022065463625304,0.49872011978707226,-0.22038112751321],"joint_velocity_rad_s":[0.0027238735962047647,0.03852586328630539,-0.07081636525055757,-0.055187587173634665,0.10511905031450282,-0.004142504507652039],"gripper_joint_position_m":[0.03499979050417939,-0.03499987308925735],"tcp_position_m":[0.3051901294414675,-0.0356285126570978,0.1853996007588969],"tcp_quaternion_wxyz":[0.3730786013034984,0.04918331453522569,0.9264929502500722,0.0020425370673810145],"object_position_m":[0.3002700717990419,-0.03397109137554621,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.315612501814154e-13,7.464560722719047e-14,1.369187087117439e-08],"object_linear_velocity_m_s":[-1.1679054196977915e-13,-6.752713884059242e-13,3.158881206196044e-15],"object_angular_velocity_rad_s":[1.3807495019231926e-12,-2.3966248889836264e-13,5.0039467007516923e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000010491},{"geom_ids":[1,90],"normal_force_n":0.09810000000007402},{"geom_ids":[1,90],"normal_force_n":0.09809999999989519},{"geom_ids":[1,90],"normal_force_n":0.09809999999992591}],"native_actuator_controls":[-0.18547757730443112,1.179654703457105,-0.7733242448692852,0.18794751109312152,0.5444815845682568,-0.2240407939839759,0.035],"actuator_force_native":[0.08889151977706611,0.27789163598517064,-0.2591962745705132,-0.2944234749081822,0.299936072340091,-0.03038290794618037,9.026737417205943e-05],"issued_joint_targets_rad":[-0.18531603274285002,1.1804839592643166,-0.7748382985909735,0.1867752873203989,0.5467560886010893,-0.2239851704731231],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.200000000000071,"joint_targets_rad":[-0.18531603274285002,1.1804839592643166,-0.7748382985909735,0.1867752873203989,0.5467560886010893,-0.2239851704731231],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.220000000000078,"qpos":[-0.18670379172519794,1.1745929856262856,-0.7671635155601935,0.20102790277774074,0.5009753872710627,-0.2204702346042787,0.034999802721571695,-0.034999910975270075,0.30027007179904003,-0.033971091375557295,0.07989224457978367,0.9999999999999991,-3.5459458215031766e-13,6.131933694162924e-14,1.4026333939140272e-08],"qvel":[0.0029435687092779213,0.03869788352415731,-0.0709712161500365,-0.05513710156646709,0.10524165500468688,-0.003961310616370665,-1.3017842869994732e-05,-2.948510409084465e-05,-1.2853002787863114e-13,-7.435760498847863e-13,3.160268984976825e-15,-1.2545697370224185e-11,2.1637702484899563e-12,9.135943022562471e-08],"joint_position_rad":[-0.18670379172519794,1.1745929856262856,-0.7671635155601935,0.20102790277774074,0.5009753872710627,-0.2204702346042787],"joint_velocity_rad_s":[0.0029435687092779213,0.03869788352415731,-0.0709712161500365,-0.05513710156646709,0.10524165500468688,-0.003961310616370665],"gripper_joint_position_m":[0.034999802721571695,-0.034999910975270075],"tcp_position_m":[0.305199945658245,-0.035646556235964307,0.18539396658172724],"tcp_quaternion_wxyz":[0.372316511214397,0.04862139674596503,0.9268295545889595,0.0018308457176562294],"object_position_m":[0.30027007179904003,-0.033971091375557295,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.5459458215031766e-13,6.131933694162924e-14,1.4026333939140272e-08],"object_linear_velocity_m_s":[-1.2853002787863114e-13,-7.435760498847863e-13,3.160268984976825e-15],"object_angular_velocity_rad_s":[-1.2545697419719489e-11,2.1637699613407885e-12,9.135943022562457e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000008005},{"geom_ids":[1,90],"normal_force_n":0.09810000000005627},{"geom_ids":[1,90],"normal_force_n":0.09809999999992004},{"geom_ids":[1,90],"normal_force_n":0.09809999999994369}],"native_actuator_controls":[-0.18531603274285002,1.1804839592643166,-0.7748382985909735,0.1867752873203989,0.5467560886010893,-0.2239851704731231,0.035],"actuator_force_native":[0.09630287504144341,0.2777884734217082,-0.2591265617122218,-0.2944191104613392,0.29994453079323513,-0.029207392763888063,7.298035148228799e-05],"issued_joint_targets_rad":[-0.18515368748538297,1.1813169591372634,-0.7763556970220747,0.18561061251155284,0.5490342835384064,-0.2239332212778347],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.220000000000078,"joint_targets_rad":[-0.18515368748538297,1.1813169591372634,-0.7763556970220747,0.18561061251155284,0.5490342835384064,-0.2239332212778347],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.240000000000085,"qpos":[-0.18664428716142117,1.1754164330460766,-0.768672067457153,0.19985124295065085,0.503233492361651,-0.22055577349147554,0.034999849212834395,-0.034999989652811495,0.3002700717990384,-0.03397109137556718,0.07989224457978367,0.9999999999999991,-2.9581715360038547e-13,5.1135986141476215e-14,1.4372882019790089e-08],"qvel":[0.003156065114700219,0.03887167643244405,-0.07112678416417291,-0.05504066975936013,0.10537055193739474,-0.0037892619957936298,-1.2187654950806707e-05,-2.991691041153893e-05,-6.38211200928464e-14,-3.6917468618351607e-13,3.1685956576615132e-15,1.3105468242065952e-11,-2.266294298651493e-12,9.898046107353977e-09],"joint_position_rad":[-0.18664428716142117,1.1754164330460766,-0.768672067457153,0.19985124295065085,0.503233492361651,-0.22055577349147554],"joint_velocity_rad_s":[0.003156065114700219,0.03887167643244405,-0.07112678416417291,-0.05504066975936013,0.10537055193739474,-0.0037892619957936298],"gripper_joint_position_m":[0.034999849212834395,-0.034999989652811495],"tcp_position_m":[0.3052098575349364,-0.03566407454252302,0.18538829268982587],"tcp_quaternion_wxyz":[0.3715524061224082,0.04806078072716883,0.9271657589347175,0.0016205923464259232],"object_position_m":[0.3002700717990384,-0.03397109137556718,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.9581715360038547e-13,5.1135986141476215e-14,1.4372882019790089e-08],"object_linear_velocity_m_s":[-6.38211200928464e-14,-3.6917468618351607e-13,3.1685956576615132e-15],"object_angular_velocity_rad_s":[1.310546830822458e-11,-2.2662939160687672e-12,9.898046107353962e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999056},{"geom_ids":[1,90],"normal_force_n":0.09809999999999326},{"geom_ids":[1,90],"normal_force_n":0.09810000000000949},{"geom_ids":[1,90],"normal_force_n":0.09810000000000672}],"native_actuator_controls":[-0.18515368748538297,1.1813169591372634,-0.7763556970220747,0.18561061251155284,0.5490342835384064,-0.2239332212778347,0.035],"actuator_force_native":[0.10346764850955381,0.27768370513273055,-0.2590564443728738,-0.2944218687671194,0.299952083861462,-0.028090584869901125,6.696976137843258e-05],"issued_joint_targets_rad":[-0.1849909628518798,1.1821537340407864,-0.7778764349819335,0.18445458190893357,0.5513162680063681,-0.22388553155979135],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.240000000000085,"joint_targets_rad":[-0.1849909628518798,1.1821537340407864,-0.7778764349819335,0.18445458190893357,0.5513162680063681,-0.22388553155979135],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.260000000000091,"qpos":[-0.1865806001134217,1.176243569325119,-0.7701839338133608,0.19867755542364718,0.5054945564745243,-0.220637928254319,0.034999854329642616,-0.03500000705864403,0.30027007179903686,-0.03397109137557685,0.07989224457978367,0.9999999999999991,-2.838033661933354e-13,4.906569845979904e-14,1.4872574656528842e-08],"qvel":[0.0033607784283664526,0.039047124215393005,-0.07128289860252102,-0.05489740654861696,0.10550545775959261,-0.00362685252920121,-1.3363647430595252e-05,-2.7957059203155094e-05,-6.233217592727987e-14,-3.6053940750742273e-13,3.1713712152230763e-15,9.783880196265189e-12,-1.691297208365833e-12,1.8071332624694346e-08],"joint_position_rad":[-0.1865806001134217,1.176243569325119,-0.7701839338133608,0.19867755542364718,0.5054945564745243,-0.220637928254319],"joint_velocity_rad_s":[0.0033607784283664526,0.039047124215393005,-0.07128289860252102,-0.05489740654861696,0.10550545775959261,-0.00362685252920121],"gripper_joint_position_m":[0.034999854329642616,-0.03500000705864403],"tcp_position_m":[0.30521987154511276,-0.03568100893409123,0.1853825768054595],"tcp_quaternion_wxyz":[0.3707862827117105,0.047501762101884885,0.9275015477728484,0.0014121009234983807],"object_position_m":[0.30027007179903686,-0.03397109137557685,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.838033661933354e-13,4.906569845979904e-14,1.4872574656528842e-08],"object_linear_velocity_m_s":[-6.233217592727987e-14,-3.6053940750742273e-13,3.1713712152230763e-15],"object_angular_velocity_rad_s":[9.783880248346422e-12,-1.691296907085442e-12,1.807133262469432e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002743},{"geom_ids":[1,90],"normal_force_n":0.0981000000000192},{"geom_ids":[1,90],"normal_force_n":0.09809999999997264},{"geom_ids":[1,90],"normal_force_n":0.09809999999998072}],"native_actuator_controls":[-0.1849909628518798,1.1821537340407864,-0.7778764349819335,0.18445458190893357,0.5513162680063681,-0.22388553155979135,0.035],"actuator_force_native":[0.1103670887815209,0.2775775561764391,-0.25898560047320984,-0.2944319078454596,0.2999589286790485,-0.027035754260921863,7.264505144854994e-05],"issued_joint_targets_rad":[-0.18482828287311232,1.1829943103554386,-0.7794004991165299,0.1833082831937372,0.5536021258119423,-0.22384267399499705],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.260000000000091,"joint_targets_rad":[-0.18482828287311232,1.1829943103554386,-0.7794004991165299,0.1833082831937372,0.5536021258119423,-0.22384267399499705],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.280000000000098,"qpos":[-0.18651289225496587,1.1770744270645703,-0.771699119730495,0.19750784398120508,0.5077586944913132,-0.22071689275224643,0.03499975188126344,-0.034999883071278756,0.30027007179903553,-0.033971091375584885,0.07989224457978367,0.9999999999999991,-2.547925436611965e-13,4.4037067765911994e-14,1.531004603795206e-08],"qvel":[0.0035571616917432465,0.039224079971554915,-0.07143932572003796,-0.05470660208103502,0.10564606732629399,-0.0034745599972671798,-1.5735206124150884e-05,-2.4990432286535967e-05,-6.101014286827764e-14,-3.5302548173161e-13,3.1630445425383877e-15,4.964535137790337e-12,-8.592643056762845e-13,3.299368979129508e-08],"joint_position_rad":[-0.18651289225496587,1.1770744270645703,-0.771699119730495,0.19750784398120508,0.5077586944913132,-0.22071689275224643],"joint_velocity_rad_s":[0.0035571616917432465,0.039224079971554915,-0.07143932572003796,-0.05470660208103502,0.10564606732629399,-0.0034745599972671798],"gripper_joint_position_m":[0.03499975188126344,-0.034999883071278756],"tcp_position_m":[0.3052299940487666,-0.03569730131426556,0.18537681702026776],"tcp_quaternion_wxyz":[0.37001814151096313,0.0469446402109246,0.9278369048484263,0.0012056987734420399],"object_position_m":[0.30027007179903553,-0.033971091375584885,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.547925436611965e-13,4.4037067765911994e-14,1.531004603795206e-08],"object_linear_velocity_m_s":[-6.101014286827764e-14,-3.5302548173161e-13,3.1630445425383877e-15],"object_angular_velocity_rad_s":[4.9645351670069705e-12,-8.592641368486673e-13,3.2993689791295024e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005024},{"geom_ids":[1,90],"normal_force_n":0.09810000000003542},{"geom_ids":[1,90],"normal_force_n":0.0980999999999497},{"geom_ids":[1,90],"normal_force_n":0.09809999999996469}],"native_actuator_controls":[-0.18482828287311232,1.1829943103554386,-0.7794004991165299,0.1833082831937372,0.5536021258119423,-0.22384267399499705,0.035],"actuator_force_native":[0.11698294208956916,0.27747026341167214,-0.2589137222825997,-0.2944494210935398,0.2999652122168506,-0.026045972431605335,8.86007800833255e-05],"issued_joint_targets_rad":[-0.1846660746474329,1.1838387107899828,-0.7809278695833742,0.18217279691704147,0.555891928723616,-0.22380521157978955],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.280000000000098,"joint_targets_rad":[-0.1846660746474329,1.1838387107899828,-0.7809278695833742,0.18217279691704147,0.555891928723616,-0.22380521157978955],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.300000000000105,"qpos":[-0.18644133724079112,1.1779090358535709,-0.7732176248394057,0.19634312366114076,0.5100260131687193,-0.22079286994765762,0.0349997690592138,-0.03499993124040572,0.3002700717990343,-0.03397109137559172,0.07989224457978367,0.9999999999999991,-2.2268433162191234e-13,3.847629398387269e-14,1.571887548951475e-08],"qvel":[0.0037447528307062755,0.03940239471660673,-0.07159582063151798,-0.0544675843388469,0.10579215987030174,-0.0033328370195191558,-1.2251254990174675e-05,-2.9125411521672126e-05,-6.340248136700137e-14,-3.670011112184656e-13,3.1630445425383877e-15,-1.1435692705530045e-12,1.961739564247121e-13,6.023814561493722e-08],"joint_position_rad":[-0.18644133724079112,1.1779090358535709,-0.7732176248394057,0.19634312366114076,0.5100260131687193,-0.22079286994765762],"joint_velocity_rad_s":[0.0037447528307062755,0.03940239471660673,-0.07159582063151798,-0.0544675843388469,0.10579215987030174,-0.0033328370195191558],"gripper_joint_position_m":[0.0349997690592138,-0.03499993124040572],"tcp_position_m":[0.30524023117717747,-0.035712894757827476,0.18537101154587504],"tcp_quaternion_wxyz":[0.3692479869190505,0.04638971752849589,0.9281718132064298,0.0010017150011928538],"object_position_m":[0.3002700717990343,-0.03397109137559172,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.2268433162191234e-13,3.847629398387269e-14,1.571887548951475e-08],"object_linear_velocity_m_s":[-6.340248136700137e-14,-3.670011112184656e-13,3.1630445425383877e-15],"object_angular_velocity_rad_s":[-1.1435692720847895e-12,1.961739473016482e-13,6.023814561493713e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000615},{"geom_ids":[1,90],"normal_force_n":0.09810000000004354},{"geom_ids":[1,90],"normal_force_n":0.09809999999993849},{"geom_ids":[1,90],"normal_force_n":0.09809999999995651}],"native_actuator_controls":[-0.1846660746474329,1.1838387107899828,-0.7809278695833742,0.18217279691704147,0.555891928723616,-0.22380521157978955,0.035],"actuator_force_native":[0.12329724331512715,0.27736202132993526,-0.25884047635989305,-0.29447514806973807,0.29997091574351487,-0.025124160792040495,7.049390639890518e-05],"issued_joint_targets_rad":[-0.18450476576916353,1.184686954107895,-0.7824585199525083,0.18104918907277756,0.5581857356719034,-0.22377369141023584],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.300000000000105,"joint_targets_rad":[-0.18450476576916353,1.184686954107895,-0.7824585199525083,0.18104918907277756,0.5581857356719034,-0.22377369141023584],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.320000000000111,"qpos":[-0.1863661161796073,1.1787474213857994,-0.7747394431307303,0.19518441979714846,0.5122966157873333,-0.2208660721389519,0.03499982088202512,-0.035000019209599366,0.3002700717990332,-0.03397109137559724,0.07989224457978367,0.9999999999999991,-1.728208841487435e-13,2.9857252468172874e-14,1.599909979059236e-08],"qvel":[0.003923004094719356,0.03958187919794803,-0.07175204199262955,-0.05418012846722773,0.10594333722721126,-0.0032021222798390373,-1.1402559493287805e-05,-2.940248885275925e-05,-7.222338539235191e-14,-4.179315944738143e-13,3.164432321319169e-15,-9.058063241359572e-12,1.566306716372426e-12,1.0997964186115797e-07],"joint_position_rad":[-0.1863661161796073,1.1787474213857994,-0.7747394431307303,0.19518441979714846,0.5122966157873333,-0.2208660721389519],"joint_velocity_rad_s":[0.003923004094719356,0.03958187919794803,-0.07175204199262955,-0.05418012846722773,0.10594333722721126,-0.0032021222798390373],"gripper_joint_position_m":[0.03499982088202512,-0.035000019209599366],"tcp_position_m":[0.3052505882132538,-0.03572773187593728,0.1853651582444385],"tcp_quaternion_wxyz":[0.3684758253839111,0.045837296882553336,0.9285062560647983,0.0008004815284500087],"object_position_m":[0.3002700717990332,-0.03397109137559724,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.728208841487435e-13,2.9857252468172874e-14,1.599909979059236e-08],"object_linear_velocity_m_s":[-7.222338539235191e-14,-4.179315944738143e-13,3.164432321319169e-15],"object_angular_velocity_rad_s":[-9.05806328491117e-12,1.5663064645442654e-12,1.099796418611578e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002007},{"geom_ids":[1,90],"normal_force_n":0.09810000000001416},{"geom_ids":[1,90],"normal_force_n":0.09809999999997994},{"geom_ids":[1,90],"normal_force_n":0.09809999999998584}],"native_actuator_controls":[-0.18450476576916353,1.184686954107895,-0.7824585199525083,0.18104918907277756,0.5581857356719034,-0.22377369141023584,0.035],"actuator_force_native":[0.12929301236190582,0.27725322177791156,-0.25876593577908835,-0.2945085866386963,0.2999761930048841,-0.02427300929308096,6.417751646159431e-05],"issued_joint_targets_rad":[-0.18434478725284303,1.1855390575283147,-0.7839924211876901,0.17993851851058879,0.5604835998158071,-0.22374865729229929],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.320000000000111,"joint_targets_rad":[-0.18434478725284303,1.1855390575283147,-0.7839924211876901,0.17993851851058879,0.5604835998158071,-0.22374865729229929],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.340000000000118,"qpos":[-0.1862874212468874,1.1795896062202091,-0.7762645621401555,0.19403276148137044,0.514570597720375,-0.2209367199526656,0.03499972805678583,-0.034999907470957485,0.3002700717990321,-0.033971091375602544,0.07989224457978367,0.9999999999999991,-1.535518293015299e-13,2.6531803037687242e-14,1.6416278769306735e-08],"qvel":[0.0040913748082666915,0.03976240936499208,-0.07190769650770712,-0.05384403148745811,0.10609924308986093,-0.0030828148657447273,-1.5015858109682762e-05,-2.453697842714175e-05,-3.333864611412723e-14,-1.9294346025299162e-13,3.1658201000999505e-15,6.418950942422751e-12,-1.109174396895192e-12,1.1915393553910936e-08],"joint_position_rad":[-0.1862874212468874,1.1795896062202091,-0.7762645621401555,0.19403276148137044,0.514570597720375,-0.2209367199526656],"joint_velocity_rad_s":[0.0040913748082666915,0.03976240936499208,-0.07190769650770712,-0.05384403148745811,0.10609924308986093,-0.0030828148657447273],"gripper_joint_position_m":[0.03499972805678583,-0.034999907470957485],"tcp_position_m":[0.3052610698202589,-0.03574175679508939,0.18535925456072344],"tcp_quaternion_wxyz":[0.36770166625581724,0.04528768171876302,0.9288402164614318,0.0006023297402666684],"object_position_m":[0.3002700717990321,-0.033971091375602544,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.535518293015299e-13,2.6531803037687242e-14,1.6416278769306735e-08],"object_linear_velocity_m_s":[-3.333864611412723e-14,-1.9294346025299162e-13,3.1658201000999505e-15],"object_angular_velocity_rad_s":[6.418950979472044e-12,-1.1091741824853526e-12,1.1915393553910918e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999952},{"geom_ids":[1,90],"normal_force_n":0.09809999999999972},{"geom_ids":[1,90],"normal_force_n":0.09810000000000045},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028}],"native_actuator_controls":[-0.18434478725284303,1.1855390575283147,-0.7839924211876901,0.17993851851058879,0.5604835998158071,-0.22374865729229929,0.035],"actuator_force_native":[0.13495384548221878,0.2771440578234916,-0.2586902412642331,-0.2945495613939748,0.2999811563195305,-0.023495151097719713,8.595701911540132e-05],"issued_joint_targets_rad":[-0.18418656749731055,1.1863950351816874,-0.785529539664427,0.17884182020278916,0.5627855638728569,-0.2237306326104541],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.340000000000118,"joint_targets_rad":[-0.18418656749731055,1.1863950351816874,-0.785529539664427,0.17884182020278916,0.5627855638728569,-0.2237306326104541],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.360000000000125,"qpos":[-0.186205456940492,1.1804356108494314,-0.77779296352633,0.19288917749864443,0.5168480448046947,-0.22100504138326205,0.03499974956214098,-0.0349999605994503,0.300270071799031,-0.0339710913756073,0.07989224457978367,0.9999999999999991,-1.4369616539222405e-13,2.483887758861641e-14,1.6889598432320837e-08],"qvel":[0.004249477753660553,0.03994388874009214,-0.07206255910324597,-0.05345905230258438,0.10625968849912368,-0.002975279648709852,-1.1604240056222069e-05,-2.8500985512985243e-05,-3.223986118602458e-14,-1.8651356751074955e-13,3.2227190301119897e-15,4.3625195413937985e-12,-7.535756465897879e-13,2.1754499618472602e-08],"joint_position_rad":[-0.186205456940492,1.1804356108494314,-0.77779296352633,0.19288917749864443,0.5168480448046947,-0.22100504138326205],"joint_velocity_rad_s":[0.004249477753660553,0.03994388874009214,-0.07206255910324597,-0.05345905230258438,0.10625968849912368,-0.002975279648709852],"gripper_joint_position_m":[0.03499974956214098,-0.0349999605994503],"tcp_position_m":[0.3052716803222235,-0.035754916063962625,0.1853532975591702],"tcp_quaternion_wxyz":[0.36692552202864076,0.0447411758962751,0.9291736771641897,0.00040758877080246554],"object_position_m":[0.300270071799031,-0.0339710913756073,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4369616539222405e-13,2.483887758861641e-14,1.6889598432320837e-08],"object_linear_velocity_m_s":[-3.223986118602458e-14,-1.8651356751074955e-13,3.2227190301119897e-15],"object_angular_velocity_rad_s":[4.362519567929685e-12,-7.535754929753036e-13,2.1754499618472572e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001853},{"geom_ids":[1,90],"normal_force_n":0.09810000000001307},{"geom_ids":[1,90],"normal_force_n":0.09809999999998148},{"geom_ids":[1,90],"normal_force_n":0.09809999999998706}],"native_actuator_controls":[-0.18418656749731055,1.1863950351816874,-0.785529539664427,0.17884182020278916,0.5627855638728569,-0.2237306326104541,0.035],"actuator_force_native":[0.1402637666862141,0.27703450288002784,-0.258613295531525,-0.2945990303212884,0.29998565793293697,-0.022792992798855494,6.803871464211575e-05],"issued_joint_targets_rad":[-0.18403052931092814,1.1872548975340689,-0.7870698365636991,0.17776009730573047,0.5650916584987435,-0.22372011285057827],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.360000000000125,"joint_targets_rad":[-0.18403052931092814,1.1872548975340689,-0.7870698365636991,0.17776009730573047,0.5650916584987435,-0.22372011285057827],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.380000000000131,"qpos":[-0.18612043304828466,1.1812854526347307,-0.7793246240348788,0.19175469665888353,0.5191290406779928,-0.2210712721788995,0.034999803755186035,-0.03500005115480823,0.30027007179903015,-0.033971091375611225,0.07989224457978367,0.9999999999999991,-1.2603650591800872e-13,2.179631530458398e-14,1.7296054290152988e-08],"qvel":[0.004396848553706863,0.04012615595525868,-0.07221631798167413,-0.05302550924524171,0.10642428670925484,-0.0028798675557133433,-1.1307483228011518e-05,-2.792160593126373e-05,-3.182984486803764e-14,-1.8406630933330016e-13,3.2435357118237106e-15,1.5731974951882128e-12,-2.710718342236452e-13,3.9718222607576485e-08],"joint_position_rad":[-0.18612043304828466,1.1812854526347307,-0.7793246240348788,0.19175469665888353,0.5191290406779928,-0.2210712721788995],"joint_velocity_rad_s":[0.004396848553706863,0.04012615595525868,-0.07221631798167413,-0.05302550924524171,0.10642428670925484,-0.0028798675557133433],"gripper_joint_position_m":[0.034999803755186035,-0.03500005115480823],"tcp_position_m":[0.30528242303475867,-0.035767156026443016,0.18534728361016892],"tcp_quaternion_wxyz":[0.3661474059850884,0.04419807995796734,0.9295066217667298,0.00021658767563939192],"object_position_m":[0.30027007179903015,-0.033971091375611225,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.2603650591800872e-13,2.179631530458398e-14,1.7296054290152988e-08],"object_linear_velocity_m_s":[-3.182984486803764e-14,-1.8406630933330016e-13,3.2435357118237106e-15],"object_angular_velocity_rad_s":[1.5731975062965776e-12,-2.71071769791534e-13,3.9718222607576425e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002767},{"geom_ids":[1,90],"normal_force_n":0.09810000000001952},{"geom_ids":[1,90],"normal_force_n":0.0980999999999724},{"geom_ids":[1,90],"normal_force_n":0.09809999999998044}],"native_actuator_controls":[-0.18403052931092814,1.1872548975340689,-0.7870698365636991,0.17776009730573047,0.5650916584987435,-0.22372011285057827,0.035],"actuator_force_native":[0.1452080562199871,0.2769248121707619,-0.25853541239725075,-0.29465642789991353,0.29998974814362445,-0.022168605383217965,6.43872086989461e-05],"issued_joint_targets_rad":[-0.18387709521575601,1.188118654689419,-0.7886132731082036,0.17669433549454722,0.567401911982975,-0.22371758671948658],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.380000000000131,"joint_targets_rad":[-0.18387709521575601,1.188118654689419,-0.7886132731082036,0.17669433549454722,0.567401911982975,-0.22371758671948658],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.400000000000138,"qpos":[-0.1860325691152168,1.182139146506748,-0.7808595149887915,0.190630339749817,0.5214136611920952,-0.22113565458534623,0.034999713381727374,-0.0349999424827381,0.30027007179902965,-0.033971091375614534,0.07989224457978367,0.9999999999999991,-1.068846014424585e-13,1.848719512144715e-14,1.7662326331902006e-08],"qvel":[0.004532994010627596,0.04030912197739023,-0.07236873733328766,-0.05254379506361003,0.10659266065384783,-0.0027968833535315304,-1.437559956803874e-05,-2.3760090771309895e-05,-3.387352888385205e-14,-1.958438481638683e-13,3.249086826946836e-15,-1.9333851362076298e-12,3.344346395094567e-13,7.251544437991837e-08],"joint_position_rad":[-0.1860325691152168,1.182139146506748,-0.7808595149887915,0.190630339749817,0.5214136611920952,-0.22113565458534623],"joint_velocity_rad_s":[0.004532994010627596,0.04030912197739023,-0.07236873733328766,-0.05254379506361003,0.10659266065384783,-0.0027968833535315304],"gripper_joint_position_m":[0.034999713381727374,-0.0349999424827381],"tcp_position_m":[0.30529330065416754,-0.03577842532616683,0.1853412085920303],"tcp_quaternion_wxyz":[0.36536733363225643,0.043658691504558304,0.9298390340759911,2.9651192088514756e-05],"object_position_m":[0.30027007179902965,-0.033971091375614534,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.068846014424585e-13,1.848719512144715e-14,1.7662326331902006e-08],"object_linear_velocity_m_s":[-3.387352888385205e-14,-1.958438481638683e-13,3.249086826946836e-15],"object_angular_velocity_rad_s":[-1.9333851453401993e-12,3.344345867148664e-13,7.251544437991827e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002826},{"geom_ids":[1,90],"normal_force_n":0.09810000000001985},{"geom_ids":[1,90],"normal_force_n":0.09809999999997175},{"geom_ids":[1,90],"normal_force_n":0.09809999999998019}],"native_actuator_controls":[-0.18387709521575601,1.188118654689419,-0.7886132731082036,0.17669433549454722,0.567401911982975,-0.22371758671948658,0.035],"actuator_force_native":[0.14977294190372525,0.2768150447267317,-0.25845696288652675,-0.29472119489274196,0.29999351692802545,-0.02162399631110601,8.334272874543913e-05],"issued_joint_targets_rad":[-0.18372667995976472,1.188986314058962,-0.7901598073449037,0.17564548304500435,0.5697163433687045,-0.2237235154925865],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.400000000000138,"joint_targets_rad":[-0.18372667995976472,1.188986314058962,-0.7901598073449037,0.17564548304500435,0.5697163433687045,-0.2237235154925865],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.420000000000145,"qpos":[-0.18594209541132148,1.182996706004472,-0.7823976033730308,0.18951711566566307,0.5237019728827882,-0.22119843624610722,0.034999736721848404,-0.0349999978712857,0.3002700717990294,-0.033971091375617254,0.07989224457978367,0.9999999999999991,-8.32527805006491e-14,1.439981727051843e-14,1.793739468560372e-08],"qvel":[0.004657631118721867,0.040492719909845126,-0.07251967192547493,-0.05201416611260325,0.10676464273061899,-0.0027265856154609918,-1.097215599695833e-05,-2.763332534356915e-05,-1.7962831852885593e-14,-1.0385242326987769e-13,3.2504746057276174e-15,3.931919668314572e-12,-6.800547194812949e-13,7.856454557465108e-09],"joint_position_rad":[-0.18594209541132148,1.182996706004472,-0.7823976033730308,0.18951711566566307,0.5237019728827882,-0.22119843624610722],"joint_velocity_rad_s":[0.004657631118721867,0.040492719909845126,-0.07251967192547493,-0.05201416611260325,0.10676464273061899,-0.0027265856154609918],"gripper_joint_position_m":[0.034999736721848404,-0.0349999978712857],"tcp_position_m":[0.30530431564256205,-0.035788675750108884,0.18533506812682785],"tcp_quaternion_wxyz":[0.36458532314708975,0.043123305000689394,0.9301708979174549,-0.00015290188192561605],"object_position_m":[0.3002700717990294,-0.033971091375617254,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.32527805006491e-14,1.439981727051843e-14,1.793739468560372e-08],"object_linear_velocity_m_s":[-1.7962831852885593e-14,-1.0385242326987769e-13,3.2504746057276174e-15],"object_angular_velocity_rad_s":[3.931919692937647e-12,-6.800545771163601e-13,7.856454557465096e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999988438},{"geom_ids":[1,90],"normal_force_n":0.09809999999991843},{"geom_ids":[1,90],"normal_force_n":0.09810000000011555},{"geom_ids":[1,90],"normal_force_n":0.09810000000008136}],"native_actuator_controls":[-0.18372667995976472,1.188986314058962,-0.7901598073449037,0.17564548304500435,0.5697163433687045,-0.2237235154925865,0.035],"actuator_force_native":[0.1539450805309297,0.2767050448099866,-0.258377958122459,-0.29479447426333216,0.2999967407632349,-0.021160914041601586,6.539190604870626e-05],"issued_joint_targets_rad":[-0.1835796877639459,1.1898578795789447,-0.7917093931292489,0.1746144441475568,0.5720349603392485,-0.22373832665864724],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.420000000000145,"joint_targets_rad":[-0.1835796877639459,1.1898578795789447,-0.7917093931292489,0.1746144441475568,0.5720349603392485,-0.22373832665864724],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.440000000000151,"qpos":[-0.1858492456237834,1.1838581419695942,-0.7839388528741894,0.18841602166666527,0.5259940402193405,-0.22125987055398794,0.03499974033543084,-0.03500002066499921,0.3002700717990291,-0.03397109137562009,0.07989224457978367,0.9999999999999991,-8.055158044523705e-14,1.3920027028169589e-14,1.8439600036044534e-08],"qvel":[0.00477035471501375,0.04067680422642337,-0.0726688814986222,-0.0514375611611077,0.10693980060277199,-0.002669220443876227,-1.1531074654649877e-05,-2.6131533782316685e-05,-1.7471674206746135e-14,-1.0109643126184031e-13,3.2490868269468356e-15,3.1124325838309424e-12,-5.38443713434068e-13,1.4343902019816603e-08],"joint_position_rad":[-0.1858492456237834,1.1838581419695942,-0.7839388528741894,0.18841602166666527,0.5259940402193405,-0.22125987055398794],"joint_velocity_rad_s":[0.00477035471501375,0.04067680422642337,-0.0726688814986222,-0.0514375611611077,0.10693980060277199,-0.002669220443876227],"gripper_joint_position_m":[0.03499974033543084,-0.03500002066499921],"tcp_position_m":[0.3053154695746207,-0.03579785956078756,0.1853288573882093],"tcp_quaternion_wxyz":[0.36380139319323207,0.042592207937203135,0.930502198134852,-0.0003307565658043348],"object_position_m":[0.3002700717990291,-0.03397109137562009,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.055158044523705e-14,1.3920027028169589e-14,1.8439600036044534e-08],"object_linear_velocity_m_s":[-1.7471674206746135e-14,-1.0109643126184031e-13,3.2490868269468356e-15],"object_angular_velocity_rad_s":[3.112432604087644e-12,-5.384435963391949e-13,1.4343902019816582e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000392},{"geom_ids":[1,90],"normal_force_n":0.09810000000000277},{"geom_ids":[1,90],"normal_force_n":0.0980999999999961},{"geom_ids":[1,90],"normal_force_n":0.0980999999999972}],"native_actuator_controls":[-0.1835796877639459,1.1898578795789447,-0.7917093931292489,0.1746144441475568,0.5720349603392485,-0.22373832665864724,0.035],"actuator_force_native":[0.15771285521193157,0.2765949876159226,-0.25829881291165435,-0.2948752949587998,0.2999995002949216,-0.020780730380778767,6.804195603971053e-05],"issued_joint_targets_rad":[-0.18343651758674281,1.1907333548527468,-0.7932619850281726,0.17360209347677574,0.5743577684003984,-0.2237624353091954],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.440000000000151,"joint_targets_rad":[-0.18343651758674281,1.1907333548527468,-0.7932619850281726,0.17360209347677574,0.5743577684003984,-0.2237624353091954],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.460000000000158,"qpos":[-0.185754262404061,1.184723463238605,-0.7854832232805795,0.18732803442369028,0.528289918372749,-0.2213202150324454,0.03499965584669457,-0.03499992539069751,0.300270071799029,-0.03397109137562245,0.07989224457978367,0.9999999999999991,-7.325486225628647e-14,1.2663941125645613e-14,1.888579833728932e-08],"qvel":[0.004870819134590865,0.040861303532976144,-0.07281622885323895,-0.050814800599124306,0.10711780408838273,-0.0026249712950961158,-1.3362698892272668e-05,-2.3443557352397232e-05,-1.68869436109413e-14,-9.76796881363265e-14,3.2449234906044915e-15,1.894441889991571e-12,-3.2721500214802123e-13,2.6188342801875314e-08],"joint_position_rad":[-0.185754262404061,1.184723463238605,-0.7854832232805795,0.18732803442369028,0.528289918372749,-0.2213202150324454],"joint_velocity_rad_s":[0.004870819134590865,0.040861303532976144,-0.07281622885323895,-0.050814800599124306,0.10711780408838273,-0.0026249712950961158],"gripper_joint_position_m":[0.03499965584669457,-0.03499992539069751],"tcp_position_m":[0.3053267636912831,-0.03580593255466894,0.18532257148061262],"tcp_quaternion_wxyz":[0.3630155649921112,0.04206568170785987,0.9308329196887349,-0.0005036066489501714],"object_position_m":[0.300270071799029,-0.03397109137562245,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.325486225628647e-14,1.2663941125645613e-14,1.888579833728932e-08],"object_linear_velocity_m_s":[-1.68869436109413e-14,-9.76796881363265e-14,3.2449234906044915e-15],"object_angular_velocity_rad_s":[1.894441903014295e-12,-3.272149267550787e-13,2.6188342801875277e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001157},{"geom_ids":[1,90],"normal_force_n":0.09810000000000815},{"geom_ids":[1,90],"normal_force_n":0.09809999999998849},{"geom_ids":[1,90],"normal_force_n":0.09809999999999178}],"native_actuator_controls":[-0.18343651758674281,1.1907333548527468,-0.7932619850281726,0.17360209347677574,0.5743577684003984,-0.2237624353091954,0.035],"actuator_force_native":[0.16106548971250056,0.2764848114664744,-0.2582197955412511,-0.29496363488096033,0.30000179414392036,-0.02048474582485582,8.057962667873397e-05],"issued_joint_targets_rad":[-0.18329755433028777,1.1916127399303196,-0.7948175337049909,0.1726092535389527,0.576684761610767,-0.22379621973694702],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.460000000000158,"joint_targets_rad":[-0.18329755433028777,1.1916127399303196,-0.7948175337049909,0.1726092535389527,0.576684761610767,-0.22379621973694702],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.480000000000165,"qpos":[-0.1856573955402072,1.1855926769523564,-0.7870306716401004,0.18625410798567354,0.5305896544127982,-0.22137973056536284,0.034999687496266606,-0.03499999396337301,0.300270071799029,-0.033971091375624464,0.07989224457978367,0.9999999999999991,-6.539092385504856e-14,1.1297125435332207e-14,1.9313959671055543e-08],"qvel":[0.0049587999405073906,0.04104612321128067,-0.07296160069250784,-0.05014684860964344,0.10729838078189155,-0.0025939882379662355,-9.937509583981587e-06,-2.7133911561342813e-05,-1.713188167545874e-14,-9.921331846978203e-14,3.246311269385273e-15,3.645162812416965e-13,-6.387945177363106e-14,4.7813300576477934e-08],"joint_position_rad":[-0.1856573955402072,1.1855926769523564,-0.7870306716401004,0.18625410798567354,0.5305896544127982,-0.22137973056536284],"joint_velocity_rad_s":[0.0049587999405073906,0.04104612321128067,-0.07296160069250784,-0.05014684860964344,0.10729838078189155,-0.0025939882379662355],"gripper_joint_position_m":[0.034999687496266606,-0.03499999396337301],"tcp_position_m":[0.3053381990037199,-0.03581285372147888,0.18531620558956186],"tcp_quaternion_wxyz":[0.3622278620209987,0.04154400044439674,0.931163047781563,-0.0006711549170877625],"object_position_m":[0.300270071799029,-0.033971091375624464,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.539092385504856e-14,1.1297125435332207e-14,1.9313959671055543e-08],"object_linear_velocity_m_s":[-1.713188167545874e-14,-9.921331846978203e-14,3.246311269385273e-15],"object_angular_velocity_rad_s":[3.6451628478953166e-13,-6.38794314400136e-14,4.781330057647787e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001708},{"geom_ids":[1,90],"normal_force_n":0.0981000000000121},{"geom_ids":[1,90],"normal_force_n":0.09809999999998284},{"geom_ids":[1,90],"normal_force_n":0.09809999999998802}],"native_actuator_controls":[-0.18329755433028777,1.1916127399303196,-0.7948175337049909,0.1726092535389527,0.576684761610767,-0.22379621973694702,0.035],"actuator_force_native":[0.16399329709101806,0.2763744221806661,-0.2581409617286923,-0.29505993482061577,0.30000350080685134,-0.020273909358892617,6.218769725574447e-05],"issued_joint_targets_rad":[-0.18316316893545978,1.1924960316778437,-0.7963759865752644,0.17163669594028647,0.5790159238708187,-0.22384002468119715],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.480000000000165,"joint_targets_rad":[-0.18316316893545978,1.1924960316778437,-0.7963759865752644,0.17163669594028647,0.5790159238708187,-0.22384002468119715],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.500000000000171,"qpos":[-0.18555889721309896,1.1864657873595403,-0.7885811525249966,0.185195172070745,0.5328932912527494,-0.22143868128429545,0.03499970276404091,-0.03500003226118341,0.300270071799029,-0.033971091375626115,0.07989224457978367,0.9999999999999991,-5.278330060135697e-14,9.1139682677806e-15,1.963354307503597e-08],"qvel":[0.005034010306210558,0.04123111492517659,-0.07310481859055129,-0.049435129782337585,0.10748108127061401,-0.002576389105780472,-1.0856275301425363e-05,-2.494535121511744e-05,-1.8727881861826193e-14,-1.0852692206414554e-13,3.2407601542621474e-15,-1.6353716920370369e-12,2.815353389060237e-13,8.72950124902758e-08],"joint_position_rad":[-0.18555889721309896,1.1864657873595403,-0.7885811525249966,0.185195172070745,0.5328932912527494,-0.22143868128429545],"joint_velocity_rad_s":[0.005034010306210558,0.04123111492517659,-0.07310481859055129,-0.049435129782337585,0.10748108127061401,-0.002576389105780472],"gripper_joint_position_m":[0.03499970276404091,-0.03500003226118341],"tcp_position_m":[0.30534977582494477,-0.035818583765161977,0.18530975487922613],"tcp_quaternion_wxyz":[0.3614383087788847,0.04102742816854329,0.9314925684128611,-0.0008331125647029061],"object_position_m":[0.300270071799029,-0.033971091375626115,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.278330060135697e-14,9.1139682677806e-15,1.963354307503597e-08],"object_linear_velocity_m_s":[-1.8727881861826193e-14,-1.0852692206414554e-13,3.2407601542621474e-15],"object_angular_velocity_rad_s":[-1.6353717015008981e-12,2.8153528390517977e-13,8.729501249027567e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001072},{"geom_ids":[1,90],"normal_force_n":0.09810000000000767},{"geom_ids":[1,90],"normal_force_n":0.09809999999998925},{"geom_ids":[1,90],"normal_force_n":0.09809999999999246}],"native_actuator_controls":[-0.18316316893545978,1.1924960316778437,-0.7963759865752644,0.17163669594028647,0.5790159238708187,-0.22384002468119715,0.035],"actuator_force_native":[0.16648821068008068,0.27626397083838583,-0.2580626310686682,-0.2951633963066538,0.3000047042747713,-0.02014885031034641,6.617081487103604e-05],"issued_joint_targets_rad":[-0.18303372061206163,1.1933832255171455,-0.7979372905709827,0.17068514810954816,0.5813512340078999,-0.22389417294943564],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.500000000000171,"joint_targets_rad":[-0.18303372061206163,1.1933832255171455,-0.7979372905709827,0.17068514810954816,0.5813512340078999,-0.22389417294943564],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.520000000000178,"qpos":[-0.18545902613419277,1.1873427963233747,-0.7901346175276183,0.18415212430084177,0.5352008618099978,-0.2214973330343125,0.0349996304741404,-0.034999951718688645,0.300270071799029,-0.033971091375627566,0.07989224457978367,0.9999999999999991,-4.3286521222556284e-14,7.470868794136096e-15,1.9964673851071152e-08],"qvel":[0.005096200793117957,0.04141618050330844,-0.07324577199200717,-0.04868107510527663,0.10766550050406097,-0.0025722349893120104,-1.227753225259891e-05,-2.2721857743262788e-05,-9.351839742852883e-15,-5.417996473626898e-14,3.2449234906044915e-15,1.9487114684626342e-12,-3.364328247444637e-13,9.457699729843437e-09],"joint_position_rad":[-0.18545902613419277,1.1873427963233747,-0.7901346175276183,0.18415212430084177,0.5352008618099978,-0.2214973330343125],"joint_velocity_rad_s":[0.005096200793117957,0.04141618050330844,-0.07324577199200717,-0.04868107510527663,0.10766550050406097,-0.0025722349893120104],"gripper_joint_position_m":[0.0349996304741404,-0.034999951718688645],"tcp_position_m":[0.3053614942144511,-0.03582308755973293,0.18530321479657316],"tcp_quaternion_wxyz":[0.3606469324294081,0.04051621933183973,0.9318214676519696,-0.000989203336852623],"object_position_m":[0.300270071799029,-0.033971091375627566,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.3286521222556284e-14,7.470868794136096e-15,1.9964673851071152e-08],"object_linear_velocity_m_s":[-9.351839742852883e-15,-5.417996473626898e-14,3.2449234906044915e-15],"object_angular_velocity_rad_s":[1.9487114820374876e-12,-3.3643274611490334e-13,9.457699729843424e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098099999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999855},{"geom_ids":[1,90],"normal_force_n":0.09810000000000205},{"geom_ids":[1,90],"normal_force_n":0.09810000000000149}],"native_actuator_controls":[-0.18303372061206163,1.1933832255171455,-0.7979372905709827,0.17068514810954816,0.5813512340078999,-0.22389417294943564,0.035],"actuator_force_native":[0.16854343780490133,0.27615343298512585,-0.25798498350911103,-0.2952736721253606,0.30000547122292964,-0.02011004666726368,7.616869564719408e-05],"issued_joint_targets_rad":[-0.18290954966139794,1.1942743128134268,-0.799501388421864,0.1697552754069076,0.5836906584172591,-0.2239589463237062],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.520000000000178,"joint_targets_rad":[-0.18290954966139794,1.1942743128134268,-0.799501388421864,0.1697552754069076,0.5836906584172591,-0.2239589463237062],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.540000000000185,"qpos":[-0.1853580457505334,1.188223703425358,-0.7916910159574755,0.1831258281192095,0.5375123898159154,-0.2215559524844149,0.034999667638641166,-0.035000025137822896,0.300270071799029,-0.03397109137562896,0.07989224457978367,0.9999999999999991,-4.0949268081248266e-14,7.070263834818779e-15,2.0442136055636478e-08],"qvel":[0.005145285540740383,0.04160119684540254,-0.07338436621090724,-0.04788615238523764,0.10785133133213969,-0.0025815433188639174,-9.058305565716846e-06,-2.6071064023866624e-05,-9.002547362105254e-15,-5.21403275771129e-14,3.246311269385273e-15,1.4355302329641397e-12,-2.4759741512952997e-13,1.7267371339910928e-08],"joint_position_rad":[-0.1853580457505334,1.188223703425358,-0.7916910159574755,0.1831258281192095,0.5375123898159154,-0.2215559524844149],"joint_velocity_rad_s":[0.005145285540740383,0.04160119684540254,-0.07338436621090724,-0.04788615238523764,0.10785133133213969,-0.0025815433188639174],"gripper_joint_position_m":[0.034999667638641166,-0.035000025137822896],"tcp_position_m":[0.3053733540287801,-0.035826333856043224,0.18529658116152264],"tcp_quaternion_wxyz":[0.3598537625487089,0.040010617769064935,0.9321497317228793,-0.0011391638333914883],"object_position_m":[0.300270071799029,-0.03397109137562896,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.0949268081248266e-14,7.070263834818779e-15,2.0442136055636478e-08],"object_linear_velocity_m_s":[-9.002547362105254e-15,-5.21403275771129e-14,3.246311269385273e-15],"object_angular_velocity_rad_s":[1.4355302433311463e-12,-2.475973550247483e-13,1.7267371339910905e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000345},{"geom_ids":[1,90],"normal_force_n":0.09810000000000237},{"geom_ids":[1,90],"normal_force_n":0.09809999999999655},{"geom_ids":[1,90],"normal_force_n":0.09809999999999765}],"native_actuator_controls":[-0.18290954966139794,1.1942743128134268,-0.799501388421864,0.1697552754069076,0.5836906584172591,-0.2239589463237062,0.035],"actuator_force_native":[0.17015325942713488,0.2760427668184917,-0.2579079660965462,-0.2953913465658875,0.30000568901522673,-0.020157623414617465,5.858598218222433e-05],"issued_joint_targets_rad":[-0.1827909774199844,1.195169281152489,-0.8010682191545307,0.1688476822097657,0.5860341520994807,-0.22403458831863982],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.540000000000185,"joint_targets_rad":[-0.1827909774199844,1.195169281152489,-0.8010682191545307,0.1688476822097657,0.5860341520994807,-0.22403458831863982],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.5600000000001915,"qpos":[-0.18525621926515592,1.189108504683923,-0.7932502948072975,0.18211711132510564,0.5398278939482802,-0.22161480702388384,0.03499961840648268,-0.034999975368245194,0.300270071799029,-0.03397109137563011,0.07989224457978367,0.9999999999999991,-3.648760007515673e-14,6.316480976639549e-15,2.086014511732733e-08],"qvel":[0.00518107544645636,0.0417859837236505,-0.07352041983167285,-0.04705238422349415,0.10803803993743138,-0.0026043016655947263,-1.1134156816821636e-05,-2.2673511685473223e-05,-8.75853319177664e-15,-5.059185800265744e-14,3.2449234906044915e-15,7.293034900763373e-13,-1.2486321196851697e-13,3.152585951241928e-08],"joint_position_rad":[-0.18525621926515592,1.189108504683923,-0.7932502948072975,0.18211711132510564,0.5398278939482802,-0.22161480702388384],"joint_velocity_rad_s":[0.00518107544645636,0.0417859837236505,-0.07352041983167285,-0.04705238422349415,0.10803803993743138,-0.0026043016655947263],"gripper_joint_position_m":[0.03499961840648268,-0.034999975368245194],"tcp_position_m":[0.30538535437036135,-0.035828293711180834,0.18528984995928827],"tcp_quaternion_wxyz":[0.35905882971942227,0.03951085385020414,0.932477347606612,-0.0012827427975825628],"object_position_m":[0.300270071799029,-0.03397109137563011,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.648760007515673e-14,6.316480976639549e-15,2.086014511732733e-08],"object_linear_velocity_m_s":[-8.75853319177664e-15,-5.059185800265744e-14,3.2449234906044915e-15],"object_angular_velocity_rad_s":[7.293034956839301e-13,-1.2486317924115748e-13,3.152585951241924e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000683},{"geom_ids":[1,90],"normal_force_n":0.09810000000000488},{"geom_ids":[1,90],"normal_force_n":0.09809999999999311},{"geom_ids":[1,90],"normal_force_n":0.09809999999999522}],"native_actuator_controls":[-0.1827909774199844,1.195169281152489,-0.8010682191545307,0.1688476822097657,0.5860341520994807,-0.22403458831863982,0.035],"actuator_force_native":[0.1713139703814388,0.27593219886702514,-0.25783184862029884,-0.29551524349612635,0.3000055216058577,-0.020291360449167684,7.093452477713313e-05],"issued_joint_targets_rad":[-0.18267830868359888,1.196068116284572,-0.8026377211624605,0.16796291919808592,0.588381664266451,-0.22412131627068263],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.5600000000001915,"joint_targets_rad":[-0.18267830868359888,1.196068116284572,-0.8026377211624605,0.16796291919808592,0.588381664266451,-0.22412131627068263],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.580000000000198,"qpos":[-0.1851538154677179,1.1899971934554678,-0.794812398051091,0.18112675744407455,0.542147380012829,-0.22167416275618887,0.03499966180650437,-0.03500005407908432,0.300270071799029,-0.03397109137563109,0.07989224457978367,0.9999999999999991,-3.1761854154161693e-14,5.501185716117451e-15,2.1250786477418246e-08],"qvel":[0.005203546967715106,0.0419704297748922,-0.07365385670899277,-0.04618151061865943,0.10822529877379038,-0.002640427333014747,-9.21970150935237e-06,-2.413911205405733e-05,-9.059477455160558e-15,-5.233822149252002e-14,3.2421479330429284e-15,-1.511853617506133e-13,2.5870886404154794e-14,5.755825819884609e-08],"joint_position_rad":[-0.1851538154677179,1.1899971934554678,-0.794812398051091,0.18112675744407455,0.542147380012829,-0.22167416275618887],"joint_velocity_rad_s":[0.005203546967715106,0.0419704297748922,-0.07365385670899277,-0.04618151061865943,0.10822529877379038,-0.002640427333014747],"gripper_joint_position_m":[0.03499966180650437,-0.03500005407908432],"tcp_position_m":[0.30539749423131074,-0.035828943700465694,0.18528301769931665],"tcp_quaternion_wxyz":[0.3582621677322325,0.03901714590655814,0.932804302054743,-0.001419706051213538],"object_position_m":[0.300270071799029,-0.03397109137563109,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.1761854154161693e-14,5.501185716117451e-15,2.1250786477418246e-08],"object_linear_velocity_m_s":[-9.059477455160558e-15,-5.233822149252002e-14,3.2421479330429284e-15],"object_angular_velocity_rad_s":[-1.5118536221688906e-13,2.5870883634853074e-14,5.755825819884601e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000867},{"geom_ids":[1,90],"normal_force_n":0.09810000000000606},{"geom_ids":[1,90],"normal_force_n":0.09809999999999129},{"geom_ids":[1,90],"normal_force_n":0.09809999999999407}],"native_actuator_controls":[-0.18267830868359888,1.196068116284572,-0.8026377211624605,0.16796291919808592,0.588381664266451,-0.22412131627068263,0.035],"actuator_force_native":[0.17202280789094537,0.27582167745387665,-0.2577565653645877,-0.2956459767462478,0.3000048943755331,-0.020510894145415737,5.962624737199107e-05],"issued_joint_targets_rad":[-0.18257182293462992,1.1969707986258862,-0.8042098271628032,0.16710146176616655,0.5907331286101956,-0.2242192969196192],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.580000000000198,"joint_targets_rad":[-0.18257182293462992,1.1969707986258862,-0.8042098271628032,0.16710146176616655,0.5907331286101956,-0.2242192969196192],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.600000000000205,"qpos":[-0.18505110196420388,1.1908897594974182,-0.7963772701672293,0.18015547843762772,0.5444708519818512,-0.22173428824379157,0.034999613331082535,-0.03500000243840648,0.300270071799029,-0.033971091375631916,0.07989224457978367,0.9999999999999991,-2.5962976008208307e-14,4.493368948142033e-15,2.157377863908637e-08],"qvel":[0.005211671376025404,0.04215439985462242,-0.07378683362243808,-0.045301850563539844,0.10841552278163892,-0.0026929232777545085,-1.0514590976618155e-05,-2.160173068875126e-05,-1.0283065479419632e-14,-5.954849254124238e-14,3.2504746057276166e-15,-1.271099528071216e-12,2.1748592837339532e-13,1.0508684420098743e-07],"joint_position_rad":[-0.18505110196420388,1.1908897594974182,-0.7963772701672293,0.18015547843762772,0.5444708519818512,-0.22173428824379157],"joint_velocity_rad_s":[0.005211671376025404,0.04215439985462242,-0.07378683362243808,-0.045301850563539844,0.10841552278163892,-0.0026929232777545085],"gripper_joint_position_m":[0.034999613331082535,-0.03500000243840648],"tcp_position_m":[0.3054097710672889,-0.035828266237643125,0.18527608101583642],"tcp_quaternion_wxyz":[0.35746380890457224,0.03852968644265048,0.933130583876061,-0.001549845536847003],"object_position_m":[0.300270071799029,-0.033971091375631916,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.5962976008208307e-14,4.493368948142033e-15,2.157377863908637e-08],"object_linear_velocity_m_s":[-1.0283065479419632e-14,-5.954849254124238e-14,3.2504746057276166e-15],"object_angular_velocity_rad_s":[-1.271099536510812e-12,2.174858789852896e-13,1.0508684420098728e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000536},{"geom_ids":[1,90],"normal_force_n":0.09810000000000389},{"geom_ids":[1,90],"normal_force_n":0.09809999999999466},{"geom_ids":[1,90],"normal_force_n":0.0980999999999961}],"native_actuator_controls":[-0.18257182293462992,1.1969707986258862,-0.8042098271628032,0.16710146176616655,0.5907331286101956,-0.2242192969196192,0.035],"actuator_force_native":[0.17228396548578928,0.27571113100432854,-0.25767039153372195,-0.2956514140407469,0.2999994821109855,-0.020810701841644796,6.80397115817577e-05],"issued_joint_targets_rad":[-0.18247176592673403,1.1978773085371326,-0.8057844742644847,0.16626368625166008,0.5930884768178177,-0.22432864624409732],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.600000000000205,"joint_targets_rad":[-0.18247176592673403,1.1978773085371326,-0.8057844742644847,0.16626368625166008,0.5930884768178177,-0.22432864624409732],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6200000000002115,"qpos":[-0.18494835571608295,1.1917861877368032,-0.7979448697797974,0.1792036475941807,0.5467983164053164,-0.2217954708876694,0.03499956382824007,-0.03499995280697907,0.300270071799029,-0.033971091375632693,0.07989224457978367,0.9999999999999991,-2.278595092055439e-14,3.9364616943200206e-15,2.197239807081213e-08],"qvel":[0.005203329018193836,0.04233745966955755,-0.07392467365108576,-0.04449137934259033,0.10861405612605964,-0.002769035559696533,-9.628168453617834e-06,-2.1045769264893443e-05,-4.909253077788749e-15,-2.8412640810520186e-14,3.247699048166054e-15,9.63168445954197e-13,-1.6659906184816982e-13,1.1385298995416632e-08],"joint_position_rad":[-0.18494835571608295,1.1917861877368032,-0.7979448697797974,0.1792036475941807,0.5467983164053164,-0.2217954708876694],"joint_velocity_rad_s":[0.005203329018193836,0.04233745966955755,-0.07392467365108576,-0.04449137934259033,0.10861405612605964,-0.002769035559696533],"gripper_joint_position_m":[0.03499956382824007,-0.03499995280697907],"tcp_position_m":[0.305422175564805,-0.03582628117039159,0.18526903637928624],"tcp_quaternion_wxyz":[0.3566637718483694,0.038048556655623886,0.933456191775267,-0.0016730880831431036],"object_position_m":[0.300270071799029,-0.033971091375632693,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.278595092055439e-14,3.9364616943200206e-15,2.197239807081213e-08],"object_linear_velocity_m_s":[-4.909253077788749e-15,-2.8412640810520186e-14,3.247699048166054e-15],"object_angular_velocity_rad_s":[9.63168453364992e-13,-1.6659901900307873e-13,1.1385298995416617e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.18247176592673403,1.1978773085371326,-0.8057844742644847,0.16626368625166008,0.5930884768178177,-0.22432864624409732,0.035],"actuator_force_native":[0.17211053805694299,0.2756023656785658,-0.2575449905195626,-0.2951415569878737,0.29998051993592423,-0.021178200224734045,6.558771266540475e-05],"issued_joint_targets_rad":[-0.18237821252791936,1.1987876322897146,-0.8073616299533238,0.1654494956047591,0.5954476436415979,-0.2244491998163127],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.6200000000002115,"joint_targets_rad":[-0.18237821252791936,1.1987876322897146,-0.8073616299533238,0.1654494956047591,0.5954476436415979,-0.2244491998163127],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.640000000000218,"qpos":[-0.1848458488953909,1.1926864541865454,-0.799515161059028,0.17827114066550803,0.549129757179781,-0.2218579927950064,0.03499961508169955,-0.035000035926417025,0.300270071799029,-0.03397109137563339,0.07989224457978367,0.9999999999999991,-2.0946093048107765e-14,3.619506990236268e-15,2.2424660588141296e-08],"qvel":[0.005180345527620916,0.042519017059336056,-0.07406373490506747,-0.04373718228137195,0.10881440172398632,-0.002863225427304878,-7.197884691046507e-06,-2.1398467972937498e-05,-4.69927042459962e-15,-2.7182993081886468e-14,3.2837812964663706e-15,6.553021318027405e-13,-1.1314012833986236e-13,2.078668081950786e-08],"joint_position_rad":[-0.1848458488953909,1.1926864541865454,-0.799515161059028,0.17827114066550803,0.549129757179781,-0.2218579927950064],"joint_velocity_rad_s":[0.005180345527620916,0.042519017059336056,-0.07406373490506747,-0.04373718228137195,0.10881440172398632,-0.002863225427304878],"gripper_joint_position_m":[0.03499961508169955,-0.035000035926417025],"tcp_position_m":[0.3054346896717921,-0.035823060046108496,0.18526187832802932],"tcp_quaternion_wxyz":[0.35586206030687545,0.037573684323571103,0.9337811359084196,-0.001789553597973163],"object_position_m":[0.300270071799029,-0.03397109137563339,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.0946093048107765e-14,3.619506990236268e-15,2.2424660588141296e-08],"object_linear_velocity_m_s":[-4.69927042459962e-15,-2.7182993081886468e-14,3.2837812964663706e-15],"object_angular_velocity_rad_s":[6.55302137027472e-13,-1.131400980792068e-13,2.0786680819507834e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000235},{"geom_ids":[1,90],"normal_force_n":0.09810000000000184},{"geom_ids":[1,90],"normal_force_n":0.09809999999999774},{"geom_ids":[1,90],"normal_force_n":0.09809999999999826}],"native_actuator_controls":[-0.18237821252791936,1.1987876322897146,-0.8073616299533238,0.1654494956047591,0.5954476436415979,-0.2244491998163127,0.035],"actuator_force_native":[0.17150918175961927,0.27549916295686216,-0.25739883701832866,-0.29417989102309683,0.29995726203218975,-0.02161723207210553,5.138615547339853e-05],"issued_joint_targets_rad":[-0.1822909930345,1.1997017589936825,-0.8089412949075687,0.16465813448866032,0.5978105540038601,-0.22458039498487403],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.640000000000218,"joint_targets_rad":[-0.1822909930345,1.1997017589936825,-0.8089412949075687,0.16465813448866032,0.5978105540038601,-0.22458039498487403],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.660000000000225,"qpos":[-0.18474383498009647,1.1935905369011819,-0.8010881081491938,0.17735762676149924,0.551465145574647,-0.2219221068366923,0.03499959892053392,-0.03500000844426234,0.300270071799029,-0.03397109137563398,0.07989224457978367,0.9999999999999991,-1.9002893723872418e-14,3.2985770666529777e-15,2.2867262751675745e-08],"qvel":[0.005144401566779329,0.042699145849653265,-0.0742019996309295,-0.043028406697866714,0.1090130390979732,-0.0029712062114859153,-7.430690127240946e-06,-1.8539276908453822e-05,-4.702591304586646e-15,-2.706763479267464e-14,3.326802438670595e-15,2.7356444355269883e-13,-4.6046656181346424e-14,3.795122988571798e-08],"joint_position_rad":[-0.18474383498009647,1.1935905369011819,-0.8010881081491938,0.17735762676149924,0.551465145574647,-0.2219221068366923],"joint_velocity_rad_s":[0.005144401566779329,0.042699145849653265,-0.0742019996309295,-0.043028406697866714,0.1090130390979732,-0.0029712062114859153],"gripper_joint_position_m":[0.03499959892053392,-0.03500000844426234],"tcp_position_m":[0.3054472926182872,-0.03581869151205333,0.1852545984273405],"tcp_quaternion_wxyz":[0.35505866923050994,0.03710493936068174,0.9341054314307816,-0.0018994343403128926],"object_position_m":[0.300270071799029,-0.03397109137563398,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9002893723872418e-14,3.2985770666529777e-15,2.2867262751675745e-08],"object_linear_velocity_m_s":[-4.702591304586646e-15,-2.706763479267464e-14,3.326802438670595e-15],"object_angular_velocity_rad_s":[2.735644459089902e-13,-4.6046642227639915e-14,3.795122988571793e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000448},{"geom_ids":[1,90],"normal_force_n":0.09810000000000307},{"geom_ids":[1,90],"normal_force_n":0.09809999999999554},{"geom_ids":[1,90],"normal_force_n":0.09809999999999694}],"native_actuator_controls":[-0.1822909930345,1.1997017589936825,-0.8089412949075687,0.16465813448866032,0.5978105540038601,-0.22458039498487403,0.035],"actuator_force_native":[0.17050534781382076,0.2754020381517819,-0.25724494251534225,-0.29283765742422396,0.2999345256451713,-0.022126072164588617,5.3196629279606e-05],"issued_joint_targets_rad":[-0.18220984542150837,1.200619682020252,-0.8105234875260486,0.163888611664761,0.6001771389009777,-0.22472152945998838],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.660000000000225,"joint_targets_rad":[-0.18220984542150837,1.200619682020252,-0.8105234875260486,0.163888611664761,0.6001771389009777,-0.22472152945998838],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6800000000002315,"qpos":[-0.18464254897293286,1.1944984209608218,-0.8026636782383942,0.17646265492284716,0.5538044427775465,-0.22198803230966543,0.034999587953010045,-0.03499999482955312,0.300270071799029,-0.03397109137563447,0.07989224457978367,0.9999999999999991,-1.5796266630936228e-14,2.749697792923644e-15,2.3217240005053768e-08],"qvel":[0.005097190646543977,0.04287833731614836,-0.07433862460582881,-0.042353446591374085,0.10920872005046155,-0.0030896516962850324,-6.335574169941812e-06,-1.7681795482589043e-05,-4.958258371590396e-15,-2.850715374160185e-14,3.3351291113552835e-15,-2.2878301473452506e-13,4.05119638377959e-14,6.928936189210888e-08],"joint_position_rad":[-0.18464254897293286,1.1944984209608218,-0.8026636782383942,0.17646265492284716,0.5538044427775465,-0.22198803230966543],"joint_velocity_rad_s":[0.005097190646543977,0.04287833731614836,-0.07433862460582881,-0.042353446591374085,0.10920872005046155,-0.0030896516962850324],"gripper_joint_position_m":[0.034999587953010045,-0.03499999482955312],"tcp_position_m":[0.3054599637063944,-0.03581327266297809,0.18524718630429837],"tcp_quaternion_wxyz":[0.3542535881563999,0.036642163036011,0.93442909592695,-0.002002960683837585],"object_position_m":[0.300270071799029,-0.03397109137563447,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.5796266630936228e-14,2.749697792923644e-15,2.3217240005053768e-08],"object_linear_velocity_m_s":[-4.958258371590396e-15,-2.850715374160185e-14,3.3351291113552835e-15],"object_angular_velocity_rad_s":[-2.2878301623462695e-13,4.051195540340196e-14,6.92893618921088e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000382},{"geom_ids":[1,90],"normal_force_n":0.09810000000000262},{"geom_ids":[1,90],"normal_force_n":0.09809999999999608},{"geom_ids":[1,90],"normal_force_n":0.09809999999999745}],"native_actuator_controls":[-0.18220984542150837,1.200619682020252,-0.8105234875260486,0.163888611664761,0.6001771389009777,-0.22472152945998838,0.035],"actuator_force_native":[0.16913033088123974,0.27530919817365884,-0.25709161998319985,-0.29119449736657543,0.29991388115861994,-0.022700493958802248,4.8159750448029115e-05],"issued_joint_targets_rad":[-0.18213445805331832,1.2015413973959754,-0.8121082361317434,0.16313981984283638,0.6025473345303705,-0.2248718308698499],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.6800000000002315,"joint_targets_rad":[-0.18213445805331832,1.2015413973959754,-0.8121082361317434,0.16313981984283638,0.6025473345303705,-0.2248718308698499],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.700000000000238,"qpos":[-0.1845422003728445,1.1954100998364932,-0.8042418458606302,0.17558574388306603,0.5561476125198961,-0.22205595832754374,0.034999631145634987,-0.035000051094407354,0.300270071799029,-0.033971091375634865,0.07989224457978367,0.9999999999999991,-1.2120458746913914e-14,2.113076060405313e-15,2.3480071059426685e-08],"qvel":[0.00504015879861867,0.043057096085564316,-0.07447353603385472,-0.04170368561992375,0.10940129784991759,-0.0032163442325637,-7.351432978916189e-06,-1.33295765068686e-05,-2.642296563702971e-15,-1.5168918232128893e-14,3.3379046689168463e-15,5.805556260451138e-13,-1.0095504876927405e-13,7.506934938815553e-09],"joint_position_rad":[-0.1845422003728445,1.1954100998364932,-0.8042418458606302,0.17558574388306603,0.5561476125198961,-0.22205595832754374],"joint_velocity_rad_s":[0.00504015879861867,0.043057096085564316,-0.07447353603385472,-0.04170368561992375,0.10940129784991759,-0.0032163442325637],"gripper_joint_position_m":[0.034999631145634987,-0.035000051094407354],"tcp_position_m":[0.30547268398089733,-0.035806897015339595,0.1852396309545799],"tcp_quaternion_wxyz":[0.3534468025835965,0.03618519034237172,0.9347521480113239,-0.0021003646194131917],"object_position_m":[0.300270071799029,-0.033971091375634865,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.2120458746913914e-14,2.113076060405313e-15,2.3480071059426685e-08],"object_linear_velocity_m_s":[-2.642296563702971e-15,-1.5168918232128893e-14,3.3379046689168463e-15],"object_angular_velocity_rad_s":[5.805556308177014e-13,-1.0095502132432412e-13,7.506934938815543e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999835},{"geom_ids":[1,90],"normal_force_n":0.09809999999998842},{"geom_ids":[1,90],"normal_force_n":0.0981000000000165},{"geom_ids":[1,90],"normal_force_n":0.09810000000001157}],"native_actuator_controls":[-0.18213445805331832,1.2015413973959754,-0.8121082361317434,0.16313981984283638,0.6025473345303705,-0.2248718308698499,0.035],"actuator_force_native":[0.1674185915690014,0.27521832433075133,-0.2569435415197745,-0.28931853350956693,0.29989527332986654,-0.023334209074215906,5.1511339495213804e-05],"issued_joint_targets_rad":[-0.18206451905726212,1.2024669057173218,-0.8136955765285191,0.16241066955911404,0.6049210909411836,-0.22503055275490322],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.700000000000238,"joint_targets_rad":[-0.18206451905726212,1.2024669057173218,-0.8136955765285191,0.16241066955911404,0.6049210909411836,-0.22503055275490322],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.720000000000245,"qpos":[-0.18444297768997714,1.196325573309103,-0.8058225975899913,0.1747263642758113,0.558494623589404,-0.22212605179015094,0.03499962329778734,-0.035000031328992716,0.300270071799029,-0.03397109137563527,0.07989224457978367,0.9999999999999991,-1.156727961171789e-14,2.0030732636818657e-15,2.3959934191604705e-08],"qvel":[0.004974366701884117,0.04323576119568198,-0.07460700590142764,-0.0410755285526555,0.10959062576461841,-0.0033496611026129614,-8.067266812763304e-06,-1.0093238091923474e-05,-2.520542786970612e-15,-1.455356417917125e-14,3.3351291113552835e-15,4.526573333337536e-13,-7.893271323950568e-14,1.3705767461135337e-08],"joint_position_rad":[-0.18444297768997714,1.196325573309103,-0.8058225975899913,0.1747263642758113,0.558494623589404,-0.22212605179015094],"joint_velocity_rad_s":[0.004974366701884117,0.04323576119568198,-0.07460700590142764,-0.0410755285526555,0.10959062576461841,-0.0033496611026129614],"gripper_joint_position_m":[0.03499962329778734,-0.035000031328992716],"tcp_position_m":[0.30548543606449957,-0.03579965786285919,0.1852319224829407],"tcp_quaternion_wxyz":[0.3526382948084735,0.035733842745485314,0.9350746072580941,-0.0021918892158347605],"object_position_m":[0.300270071799029,-0.03397109137563527,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.156727961171789e-14,2.0030732636818657e-15,2.3959934191604705e-08],"object_linear_velocity_m_s":[-2.520542786970612e-15,-1.455356417917125e-14,3.3351291113552835e-15],"object_angular_velocity_rad_s":[4.52657337171105e-13,-7.893269123114877e-14,1.370576746113532e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000037},{"geom_ids":[1,90],"normal_force_n":0.09809999999999963},{"geom_ids":[1,90],"normal_force_n":0.09809999999999963}],"native_actuator_controls":[-0.18206451905726212,1.2024669057173218,-0.8136955765285191,0.16241066955911404,0.6049210909411836,-0.22503055275490322,0.035],"actuator_force_native":[0.16540485710778263,0.2751277866790929,-0.2568032855750886,-0.28725014590461306,0.2998787348708678,-0.024020517993603274,5.5404422570459744e-05],"issued_joint_targets_rad":[-0.1819997050598593,1.2033962106956615,-0.815285550777258,0.1617000594884467,0.6072983672084217,-0.2251969567531975],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.720000000000245,"joint_targets_rad":[-0.1819997050598593,1.2033962106956615,-0.815285550777258,0.1617000594884467,0.6072983672084217,-0.2251969567531975],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.740000000000252,"qpos":[-0.18434505156906908,1.1972448444962813,-0.8074059348834481,0.17388387072857867,0.5608454457071251,-0.22219846116432257,0.03499961890479313,-0.03500001691567104,0.300270071799029,-0.03397109137563562,0.07989224457978367,0.9999999999999991,-1.0937276784715665e-14,1.860596762498014e-15,2.4442050431437175e-08],"qvel":[0.00490098816339904,0.043414512103866834,-0.07473944294710468,-0.04046911686257709,0.10977655781296577,-0.0034881023209683217,-5.49427563224393e-06,-1.1650771670793393e-05,-2.4441206475860472e-15,-1.435257406697711e-14,3.3281902174513763e-15,2.938067508901061e-13,-5.194008942683983e-14,2.5023270246686906e-08],"joint_position_rad":[-0.18434505156906908,1.1972448444962813,-0.8074059348834481,0.17388387072857867,0.5608454457071251,-0.22219846116432257],"joint_velocity_rad_s":[0.00490098816339904,0.043414512103866834,-0.07473944294710468,-0.04046911686257709,0.10977655781296577,-0.0034881023209683217],"gripper_joint_position_m":[0.03499961890479313,-0.03500001691567104],"tcp_position_m":[0.30549820327875876,-0.035791656946132275,0.1852240533024987],"tcp_quaternion_wxyz":[0.35182804404406165,0.03528790732067815,0.9353964948453873,-0.0022778173807666284],"object_position_m":[0.300270071799029,-0.03397109137563562,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.0937276784715665e-14,1.860596762498014e-15,2.4442050431437175e-08],"object_linear_velocity_m_s":[-2.4441206475860472e-15,-1.435257406697711e-14,3.3281902174513763e-15],"object_angular_velocity_rad_s":[2.938067535222664e-13,-5.1940074516988e-14,2.5023270246686876e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000178},{"geom_ids":[1,90],"normal_force_n":0.09810000000000137},{"geom_ids":[1,90],"normal_force_n":0.09809999999999824},{"geom_ids":[1,90],"normal_force_n":0.09809999999999867}],"native_actuator_controls":[-0.1819997050598593,1.2033962106956615,-0.815285550777258,0.1617000594884467,0.6072983672084217,-0.2251969567531975,0.035],"actuator_force_native":[0.16312277991978874,0.27503673543107254,-0.2566720567692613,-0.2850068652923934,0.29986437829351686,-0.024752802407296937,4.271518643594874e-05],"issued_joint_targets_rad":[-0.18193964533485818,1.20432931697716,-0.816878207552835,0.1610067830278002,0.6096791231203533,-0.22537025317074588],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.740000000000252,"joint_targets_rad":[-0.18193964533485818,1.20432931697716,-0.816878207552835,0.1610067830278002,0.6096791231203533,-0.22537025317074588],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.760000000000258,"qpos":[-0.18424856867460432,1.1981679194275812,-0.8089918674308632,0.17305761999820718,0.5632000463823831,-0.2222733059824704,0.034999638784143215,-0.035000033557439275,0.300270071799029,-0.033971091375635934,0.07989224457978367,0.9999999999999991,-9.601622559590415e-15,1.623315087134751e-15,2.4851163632871047e-08],"qvel":[0.004821229090682199,0.043593584873621555,-0.07487136110694595,-0.03988106637189968,0.10995947321995957,-0.0036303707073237464,-6.5658706437221045e-06,-7.9826807458672e-06,-2.4534129538913187e-15,-1.448725741289801e-14,3.3601091294093497e-15,6.995210454416378e-14,-1.2294572299507133e-14,4.5686172307670615e-08],"joint_position_rad":[-0.18424856867460432,1.1981679194275812,-0.8089918674308632,0.17305761999820718,0.5632000463823831,-0.2222733059824704],"joint_velocity_rad_s":[0.004821229090682199,0.043593584873621555,-0.07487136110694595,-0.03988106637189968,0.10995947321995957,-0.0036303707073237464],"gripper_joint_position_m":[0.034999638784143215,-0.035000033557439275],"tcp_position_m":[0.30551097201478905,-0.035782990029572095,0.18521601847025554],"tcp_quaternion_wxyz":[0.3510160325928862,0.034847175394242265,0.9357178298343914,-0.0023584231617010654],"object_position_m":[0.300270071799029,-0.033971091375635934,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.601622559590415e-15,1.623315087134751e-15,2.4851163632871047e-08],"object_linear_velocity_m_s":[-2.4534129538913187e-15,-1.448725741289801e-14,3.3601091294093497e-15],"object_angular_velocity_rad_s":[6.995210530355855e-14,-1.2294567945401941e-14,4.568617230767056e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000024},{"geom_ids":[1,90],"normal_force_n":0.09810000000000169},{"geom_ids":[1,90],"normal_force_n":0.09809999999999774},{"geom_ids":[1,90],"normal_force_n":0.09809999999999844}],"native_actuator_controls":[-0.18193964533485818,1.20432931697716,-0.816878207552835,0.1610067830278002,0.6096791231203533,-0.22537025317074588,0.035],"actuator_force_native":[0.16060772172627935,0.27494387959821154,-0.2565504042230202,-0.28262814695678173,0.2998515575497631,-0.025523915821769716,4.7277987490046414e-05],"issued_joint_targets_rad":[-0.18188398287697224,1.2052662266430183,-0.8184735892231761,0.16032969403751068,0.6120633147108153,-0.22554970137648275],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.760000000000258,"joint_targets_rad":[-0.18188398287697224,1.2052662266430183,-0.8184735892231761,0.16032969403751068,0.6120633147108153,-0.22554970137648275],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.780000000000265,"qpos":[-0.18415365686133864,1.199094803812191,-0.8105804178097582,0.17224687289665708,0.5655583935615859,-0.22235068970395003,0.03499964471477343,-0.03500002801346881,0.300270071799029,-0.03397109137563619,0.07989224457978367,0.9999999999999991,-8.057831002122877e-15,1.3579728797566247e-15,2.5211282384581275e-08],"qvel":[0.004736057638425552,0.04377294752592229,-0.0750030696349699,-0.039312604327275145,0.1101389961594048,-0.0037752405719016797,-7.412306684179675e-06,-5.028245315886425e-06,-2.6434590190246602e-15,-1.5746344560248997e-14,3.4072936079559178e-15,-2.1485264267511888e-13,3.509644479085134e-14,8.341141343843274e-08],"joint_position_rad":[-0.18415365686133864,1.199094803812191,-0.8105804178097582,0.17224687289665708,0.5655583935615859,-0.22235068970395003],"joint_velocity_rad_s":[0.004736057638425552,0.04377294752592229,-0.0750030696349699,-0.039312604327275145,0.1101389961594048,-0.0037752405719016797],"gripper_joint_position_m":[0.03499964471477343,-0.03500002801346881],"tcp_position_m":[0.3055237293343685,-0.035773759067794765,0.1852078161425397],"tcp_quaternion_wxyz":[0.35020224190587107,0.034411408848741644,0.936038631832749,-0.0024340135212935943],"object_position_m":[0.300270071799029,-0.03397109137563619,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.057831002122877e-15,1.3579728797566247e-15,2.5211282384581275e-08],"object_linear_velocity_m_s":[-2.6434590190246602e-15,-1.5746344560248997e-14,3.4072936079559178e-15],"object_angular_velocity_rad_s":[-2.1485264421823027e-13,3.5096435301660115e-14,8.341141343843265e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000205},{"geom_ids":[1,90],"normal_force_n":0.09810000000000145},{"geom_ids":[1,90],"normal_force_n":0.09809999999999795},{"geom_ids":[1,90],"normal_force_n":0.09809999999999858}],"native_actuator_controls":[-0.18188398287697224,1.2052662266430183,-0.8184735892231761,0.16032969403751068,0.6120633147108153,-0.22554970137648275,0.035],"actuator_force_native":[0.15789363055718297,0.2748490888365751,-0.2564383648985853,-0.28012413272947967,0.2998407172531872,-0.02632725586747453,5.127294248374881e-05],"issued_joint_targets_rad":[-0.18183232342783123,1.2062069409286906,-0.8200717406268277,0.15966757024878134,0.6144508949491393,-0.22573452914793665],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.780000000000265,"joint_targets_rad":[-0.18183232342783123,1.2062069409286906,-0.8200717406268277,0.15966757024878134,0.6144508949491393,-0.22573452914793665],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.800000000000272,"qpos":[-0.18406042450376758,1.2000255008660663,-0.8121716176182406,0.1714507683870231,0.5679204488458404,-0.22243069572378957,0.03499965006122177,-0.03500002182522361,0.300270071799029,-0.0339710913756364,0.07989224457978367,0.9999999999999991,-6.498927482046866e-15,1.0915125817662331e-15,2.5527681744340108e-08],"qvel":[0.004646582444054464,0.04395255520193835,-0.07513478937847866,-0.03876501498919474,0.11031481791811538,-0.003921360636401845,-5.227853518718337e-06,-6.634357873984754e-06,-1.3609979349097366e-15,-8.098946463262505e-15,3.415620280640606e-15,2.9684662146160257e-13,-5.0010395222387467e-14,9.036943576021585e-09],"joint_position_rad":[-0.18406042450376758,1.2000255008660663,-0.8121716176182406,0.1714507683870231,0.5679204488458404,-0.22243069572378957],"joint_velocity_rad_s":[0.004646582444054464,0.04395255520193835,-0.07513478937847866,-0.03876501498919474,0.11031481791811538,-0.003921360636401845],"gripper_joint_position_m":[0.03499965006122177,-0.03500002182522361],"tcp_position_m":[0.30553646237672727,-0.03576407524455116,0.1851994471400919],"tcp_quaternion_wxyz":[0.34938665311252826,0.0339803344356772,0.936358920917026,-0.002504938635522476],"object_position_m":[0.300270071799029,-0.0339710913756364,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.498927482046866e-15,1.0915125817662331e-15,2.5527681744340108e-08],"object_linear_velocity_m_s":[-1.3609979349097366e-15,-8.098946463262505e-15,3.415620280640606e-15],"object_angular_velocity_rad_s":[2.9684662403462864e-13,-5.00103799493143e-14,9.036943576021575e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.0981000000000004},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.18183232342783123,1.2062069409286906,-0.8200717406268277,0.15966757024878134,0.6144508949491393,-0.22573452914793665,0.035],"actuator_force_native":[0.15501517385463615,0.27475242900025876,-0.2563358937945708,-0.27750285058369784,0.29983223415581595,-0.02715629328686786,4.01368187228357e-05],"issued_joint_targets_rad":[-0.18178422236926245,1.2071514587031498,-0.8216727079724829,0.1590190813558808,0.6168418090299516,-0.22592390903959053],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.800000000000272,"joint_targets_rad":[-0.18178422236926245,1.2071514587031498,-0.8216727079724829,0.1590190813558808,0.6168418090299516,-0.22592390903959053],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.820000000000278,"qpos":[-0.18396895670327965,1.2009600125290776,-0.8137655023952604,0.1706684138466233,0.5702861684758854,-0.22251338135192406,0.034999659983016296,-0.035000019982311344,0.300270071799029,-0.03397109137563659,0.07989224457978367,0.9999999999999991,-6.015551155515233e-15,9.979832533944368e-16,2.598390250896836e-08],"qvel":[0.004554010684475689,0.0441324164361022,-0.07526676159631365,-0.03823755671522385,0.1104870501762876,-0.004067549899393112,-7.610822168609308e-06,-1.9200861629052013e-06,-1.2739520095033617e-15,-7.672042500640473e-15,3.4114569442982615e-15,2.1658261686771234e-13,-3.641314004740833e-14,1.6499176857329957e-08],"joint_position_rad":[-0.18396895670327965,1.2009600125290776,-0.8137655023952604,0.1706684138466233,0.5702861684758854,-0.22251338135192406],"joint_velocity_rad_s":[0.004554010684475689,0.0441324164361022,-0.07526676159631365,-0.03823755671522385,0.1104870501762876,-0.004067549899393112],"gripper_joint_position_m":[0.034999659983016296,-0.035000019982311344],"tcp_position_m":[0.3055491597292595,-0.0357540479861343,0.18519091426974985],"tcp_quaternion_wxyz":[0.3485692495156787,0.03355367263593594,0.936678715703176,-0.00257155465928189],"object_position_m":[0.300270071799029,-0.03397109137563659,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.015551155515233e-15,9.979832533944368e-16,2.598390250896836e-08],"object_linear_velocity_m_s":[-1.2739520095033617e-15,-7.672042500640473e-15,3.4114569442982615e-15],"object_angular_velocity_rad_s":[2.1658261879295457e-13,-3.641312859358175e-14,1.6499176857329937e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"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":0.09809999999999967},{"geom_ids":[1,90],"normal_force_n":0.09809999999999965}],"native_actuator_controls":[-0.18178422236926245,1.2071514587031498,-0.8216727079724829,0.1590190813558808,0.6168418090299516,-0.22592390903959053,0.035],"actuator_force_native":[0.15200869329899547,0.2746536117452649,-0.25624263819624105,-0.2747855160535799,0.29982583027622933,-0.02800395202757544,5.165479019142438e-05],"issued_joint_targets_rad":[-0.18173923142493784,1.208099776305018,-0.8232765332787616,0.15838291300608012,0.6192359973731665,-0.2261170340777492],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.820000000000278,"joint_targets_rad":[-0.18173923142493784,1.208099776305018,-0.8232765332787616,0.15838291300608012,0.6192359973731665,-0.2261170340777492],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.840000000000285,"qpos":[-0.18387931806634572,1.2018983385161799,-0.8153621119933716,0.16989885644716346,0.5726555044642769,-0.2225987836926606,0.03499965714565914,-0.035000002300559684,0.300270071799029,-0.03397109137563677,0.07989224457978367,0.9999999999999991,-5.5450353419699876e-15,9.069912712171887e-16,2.6437071165578338e-08],"qvel":[0.0044592587634532345,0.04431246570834233,-0.07539906478811507,-0.037730894665213406,0.11065534379322195,-0.004212675655530533,-2.312033640315106e-06,-8.539884219326997e-06,-1.2337140831964018e-15,-7.54247062727333e-15,3.4156202806406056e-15,1.1888151527142846e-13,-2.0155907407581355e-14,3.012333038039494e-08],"joint_position_rad":[-0.18387931806634572,1.2018983385161799,-0.8153621119933716,0.16989885644716346,0.5726555044642769,-0.2225987836926606],"joint_velocity_rad_s":[0.0044592587634532345,0.04431246570834233,-0.07539906478811507,-0.037730894665213406,0.11065534379322195,-0.004212675655530533],"gripper_joint_position_m":[0.03499965714565914,-0.035000002300559684],"tcp_position_m":[0.3055618104120585,-0.03574378894126843,0.18518222202325196],"tcp_quaternion_wxyz":[0.3477500147899834,0.03313112759824795,0.9369980343604504,-0.0026342365662556343],"object_position_m":[0.300270071799029,-0.03397109137563677,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.5450353419699876e-15,9.069912712171887e-16,2.6437071165578338e-08],"object_linear_velocity_m_s":[-1.2337140831964018e-15,-7.54247062727333e-15,3.4156202806406056e-15],"object_angular_velocity_rad_s":[1.1888151639179768e-13,-2.0155900787753284e-14,3.012333038039491e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000011},{"geom_ids":[1,90],"normal_force_n":0.09810000000000077},{"geom_ids":[1,90],"normal_force_n":0.0980999999999989},{"geom_ids":[1,90],"normal_force_n":0.09809999999999923}],"native_actuator_controls":[-0.18173923142493784,1.208099776305018,-0.8232765332787616,0.15838291300608012,0.6192359973731665,-0.2261170340777492,0.035],"actuator_force_native":[0.14891063749536393,0.2745526945653438,-0.25615837889063187,-0.27198326431726727,0.2998219133990627,-0.028863490367590394,2.5274341836079017e-05],"issued_joint_targets_rad":[-0.181696883261572,1.2090518887342185,-0.8248832581730788,0.15775772534959884,0.6216333975611317,-0.2263130927274635],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.840000000000285,"joint_targets_rad":[-0.181696883261572,1.2090518887342185,-0.8248832581730788,0.15775772534959884,0.6216333975611317,-0.2263130927274635],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.860000000000292,"qpos":[-0.1837915514795055,1.2028404760050344,-0.8169614897063461,0.1691410683472467,0.5750284052104718,-0.22268691986423755,0.034999670238650554,-0.03499999906580689,0.300270071799029,-0.03397109137563691,0.07989224457978367,0.9999999999999991,-4.7307260144596e-15,7.670094512350691e-16,2.68103335898935e-08],"qvel":[0.004363672248970646,0.04449262802330555,-0.07553178294404937,-0.037245625760147526,0.11081981554070461,-0.004355607107941527,-7.566094115841949e-06,-8.015629555725737e-08,-1.2535201245330676e-15,-7.720828785357511e-15,3.415620280640605e-15,-9.736550655097495e-15,7.885014263552438e-16,5.499759418622663e-08],"joint_position_rad":[-0.1837915514795055,1.2028404760050344,-0.8169614897063461,0.1691410683472467,0.5750284052104718,-0.22268691986423755],"joint_velocity_rad_s":[0.004363672248970646,0.04449262802330555,-0.07553178294404937,-0.037245625760147526,0.11081981554070461,-0.004355607107941527],"gripper_joint_position_m":[0.034999670238650554,-0.03499999906580689],"tcp_position_m":[0.3055744032200813,-0.03573341328408679,0.18517337595005867],"tcp_quaternion_wxyz":[0.346928931431075,0.03271238219034891,0.9373168953298466,-0.0026933838832064873],"object_position_m":[0.300270071799029,-0.03397109137563691,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.7307260144596e-15,7.670094512350691e-16,2.68103335898935e-08],"object_linear_velocity_m_s":[-1.2535201245330676e-15,-7.720828785357511e-15,3.415620280640605e-15],"object_angular_velocity_rad_s":[-9.736550613010108e-15,7.885014246320012e-16,5.499759418622657e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000011},{"geom_ids":[1,90],"normal_force_n":0.09810000000000092},{"geom_ids":[1,90],"normal_force_n":0.09809999999999897},{"geom_ids":[1,90],"normal_force_n":0.09809999999999908}],"native_actuator_controls":[-0.181696883261572,1.2090518887342185,-0.8248832581730788,0.15775772534959884,0.6216333975611317,-0.2263130927274635,0.035],"actuator_force_native":[0.14575509618982707,0.2744498782181921,-0.25608256261837425,-0.26910559110517696,0.29982020019554145,-0.029728317970347362,5.102092455722129e-05],"issued_joint_targets_rad":[-0.18165668508542063,1.2100077911324576,-0.8264929271137725,0.15714213621704426,0.624033947667969,-0.2265112597100532],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.860000000000292,"joint_targets_rad":[-0.18165668508542063,1.2100077911324576,-0.8264929271137725,0.15714213621704426,0.624033947667969,-0.2265112597100532],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.880000000000298,"qpos":[-0.18370569053280925,1.203786405845174,-0.818563704180622,0.16839310718087447,0.5774048072161798,-0.22277781829490922,0.03499966013909027,-0.03499997020211256,0.300270071799029,-0.03397109137563705,0.07989224457978367,0.9999999999999991,-3.81343769700223e-15,6.116917400742452e-16,2.7118956407689106e-08],"qvel":[0.0042685918670342035,0.04467256934508416,-0.07566397571507684,-0.03679494454814946,0.11097802077051097,-0.004493326689634569,-2.3048972883567674e-06,-7.650832569855822e-06,-1.3809066072297844e-15,-8.679919008960574e-15,3.4197836169829493e-15,-1.7717321657944544e-13,2.6142930534330844e-14,1.0041171836178381e-07],"joint_position_rad":[-0.18370569053280925,1.203786405845174,-0.818563704180622,0.16839310718087447,0.5774048072161798,-0.22277781829490922],"joint_velocity_rad_s":[0.0042685918670342035,0.04467256934508416,-0.07566397571507684,-0.03679494454814946,0.11097802077051097,-0.004493326689634569],"gripper_joint_position_m":[0.03499966013909027,-0.03499997020211256],"tcp_position_m":[0.30558690887631246,-0.03572313745089646,0.18516437973266114],"tcp_quaternion_wxyz":[0.34610594531091915,0.03229683632145926,0.93763533838865,-0.0027497616008968534],"object_position_m":[0.300270071799029,-0.03397109137563705,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.81343769700223e-15,6.116917400742452e-16,2.7118956407689106e-08],"object_linear_velocity_m_s":[-1.3809066072297844e-15,-8.679919008960574e-15,3.4197836169829493e-15],"object_angular_velocity_rad_s":[-1.7717321787454096e-13,2.614292169065297e-14,1.004117183617837e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000076},{"geom_ids":[1,90],"normal_force_n":0.0981000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999933},{"geom_ids":[1,90],"normal_force_n":0.09809999999999945}],"native_actuator_controls":[-0.18165668508542063,1.2100077911324576,-0.8264929271137725,0.15714213621704426,0.624033947667969,-0.2265112597100532,0.035],"actuator_force_native":[0.14257747645591934,0.2743479762572747,-0.25601795607666133,-0.26606411581246103,0.2998243733621253,-0.030594424116987984,2.511892283107997e-05],"issued_joint_targets_rad":[-0.18161769956128995,1.210967495119907,-0.828105661788375,0.15653363321064473,0.6264375987835614,-0.22671003349793475],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.880000000000298,"joint_targets_rad":[-0.18161769956128995,1.210967495119907,-0.828105661788375,0.15653363321064473,0.6264375987835614,-0.22671003349793475],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.900000000000305,"qpos":[-0.18362171489733575,1.2047361334379958,-0.8201687905178651,0.16765397520062042,0.5797846493331369,-0.22287140914905273,0.03499970319517886,-0.03500001560314104,0.300270071799029,-0.03397109137563719,0.07989224457978367,0.9999999999999991,-3.3161749870356156e-15,5.245339434017247e-16,2.7499841973492452e-08],"qvel":[0.004175605447888277,0.04485336534164385,-0.0757971155710802,-0.03636441690088736,0.11113349772319943,-0.004625853427500846,-3.675282878395613e-06,-5.3311448829352265e-06,-6.578412791055585e-16,-4.144425622647328e-15,3.4170080594213865e-15,1.4152071056463513e-13,-2.284109720659246e-14,1.0878787396124576e-08],"joint_position_rad":[-0.18362171489733575,1.2047361334379958,-0.8201687905178651,0.16765397520062042,0.5797846493331369,-0.22287140914905273],"joint_velocity_rad_s":[0.004175605447888277,0.04485336534164385,-0.0757971155710802,-0.03636441690088736,0.11113349772319943,-0.004625853427500846],"gripper_joint_position_m":[0.03499970319517886,-0.03500001560314104],"tcp_position_m":[0.3055993190885604,-0.03571305892055643,0.1851552350350804],"tcp_quaternion_wxyz":[0.345281035900843,0.03188420023014105,0.937953380017709,-0.002803736128885169],"object_position_m":[0.300270071799029,-0.03397109137563719,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.3161749870356156e-15,5.245339434017247e-16,2.7499841973492452e-08],"object_linear_velocity_m_s":[-6.578412791055585e-16,-4.144425622647328e-15,3.4170080594213865e-15],"object_angular_velocity_rad_s":[1.4152071183230048e-13,-2.284108935084612e-14,1.0878787396124564e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006}],"native_actuator_controls":[-0.18161769956128995,1.210967495119907,-0.828105661788375,0.15653363321064473,0.6264375987835614,-0.22671003349793475,0.035],"actuator_force_native":[0.1394431996442247,0.2742421078446853,-0.2559641237853896,-0.2629915950945909,0.29982924791944665,-0.03144746334756876,3.024860723765954e-05],"issued_joint_targets_rad":[-0.18157948383878128,1.2119310021183198,-0.8297215104948711,0.1559310217158661,0.6288443121917912,-0.22690871433192122],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.900000000000305,"joint_targets_rad":[-0.18157948383878128,1.2119310021183198,-0.8297215104948711,0.1559310217158661,0.6288443121917912,-0.22690871433192122],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.920000000000312,"qpos":[-0.18353957868173001,1.2056896800262613,-0.8217767808747748,0.16692340065490802,0.5821678982134729,-0.22296760165142693,0.0349997112427903,-0.0350000058415711,0.300270071799029,-0.03397109137563733,0.07989224457978367,0.9999999999999991,-3.1544464443343076e-15,4.823518261109745e-16,2.7987266491792405e-08],"qvel":[0.004084902533655092,0.04503514526865859,-0.07593219547973178,-0.03594424263355844,0.11128764886615579,-0.0047543983547164255,-7.4899973985158985e-06,2.0762241504499577e-07,-6.204246633535239e-16,-4.042858610604823e-15,3.4170080594213865e-15,1.0203796703732677e-13,-1.614785557809829e-14,1.986191854936234e-08],"joint_position_rad":[-0.18353957868173001,1.2056896800262613,-0.8217767808747748,0.16692340065490802,0.5821678982134729,-0.22296760165142693],"joint_velocity_rad_s":[0.004084902533655092,0.04503514526865859,-0.07593219547973178,-0.03594424263355844,0.11128764886615579,-0.0047543983547164255],"gripper_joint_position_m":[0.0349997112427903,-0.0350000058415711],"tcp_position_m":[0.30561164186919937,-0.03570318676449463,0.18514594815184765],"tcp_quaternion_wxyz":[0.34445420912038593,0.03147440116975518,0.938271019860436,-0.002855377437723345],"object_position_m":[0.300270071799029,-0.03397109137563733,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.1544464443343076e-15,4.823518261109745e-16,2.7987266491792405e-08],"object_linear_velocity_m_s":[-6.204246633535239e-16,-4.042858610604823e-15,3.4170080594213865e-15],"object_angular_velocity_rad_s":[1.0203796796035604e-13,-1.614784974126398e-14,1.986191854936232e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999972}],"native_actuator_controls":[-0.18157948383878128,1.2119310021183198,-0.8297215104948711,0.1559310217158661,0.6288443121917912,-0.22690871433192122,0.035],"actuator_force_native":[0.1363830747676218,0.2741300410213796,-0.2559173922090423,-0.2599739443938853,0.29983266648394835,-0.032279529272868146,4.900027538079499e-05],"issued_joint_targets_rad":[-0.18154196746436624,1.2128983059765135,-0.8313404670499989,0.15533408343741378,0.6312540566402337,-0.2271072224362302],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.920000000000312,"joint_targets_rad":[-0.18154196746436624,1.2128983059765135,-0.8313404670499989,0.15533408343741378,0.6312540566402337,-0.2271072224362302],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.940000000000318,"qpos":[-0.1834592372746949,1.2066470587570282,-0.8233877146378558,0.16620119102022185,0.5845545208583454,-0.22306632224122513,0.0349996956343249,-0.03499997619491189,0.300270071799029,-0.03397109137563745,0.07989224457978367,0.9999999999999991,-2.800925455674207e-15,4.488120076092581e-16,2.8410178076293705e-08],"qvel":[0.003996346359475803,0.04521729176680552,-0.07606923648540416,-0.035533247750851454,0.11143990884029156,-0.004879438804466328,-2.4606671627139646e-06,-7.362766983786451e-06,-6.46991979133362e-16,-3.97712945021013e-15,3.4128447230790424e-15,4.552554338747606e-14,-5.214429595622033e-15,3.626284751202805e-08],"joint_position_rad":[-0.1834592372746949,1.2066470587570282,-0.8233877146378558,0.16620119102022185,0.5845545208583454,-0.22306632224122513],"joint_velocity_rad_s":[0.003996346359475803,0.04521729176680552,-0.07606923648540416,-0.035533247750851454,0.11143990884029156,-0.004879438804466328],"gripper_joint_position_m":[0.0349996956343249,-0.03499997619491189],"tcp_position_m":[0.3056238882651639,-0.03569352220902374,0.18513653208088643],"tcp_quaternion_wxyz":[0.34362548296331413,0.031067382717015923,0.9385882525035627,-0.0029047291873205323],"object_position_m":[0.300270071799029,-0.03397109137563745,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.800925455674207e-15,4.488120076092581e-16,2.8410178076293705e-08],"object_linear_velocity_m_s":[-6.46991979133362e-16,-3.97712945021013e-15,3.4128447230790424e-15],"object_angular_velocity_rad_s":[4.552554371631209e-14,-5.214426805705364e-15,3.6262847512028015e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000056},{"geom_ids":[1,90],"normal_force_n":0.09810000000000044},{"geom_ids":[1,90],"normal_force_n":0.09809999999999945},{"geom_ids":[1,90],"normal_force_n":0.09809999999999959}],"native_actuator_controls":[-0.18154196746436624,1.2128983059765135,-0.8313404670499989,0.15533408343741378,0.6312540566402337,-0.2271072224362302,0.035],"actuator_force_native":[0.133399853028914,0.2740133187247977,-0.2558740105444315,-0.257018064558066,0.2998354945584456,-0.03308984374335111,2.4477962817570642e-05],"issued_joint_targets_rad":[-0.18150511694187846,1.2138693894621313,-0.8329625029541795,0.15474270330326584,0.6336667764832319,-0.22730555265743546],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.940000000000318,"joint_targets_rad":[-0.18150511694187846,1.2138693894621313,-0.8329625029541795,0.15474270330326584,0.6336667764832319,-0.22730555265743546],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.960000000000325,"qpos":[-0.1833806451105483,1.2076082686797858,-0.8250016260408526,0.16548716917724388,0.5869444716321234,-0.22316750313710487,0.034999728482752415,-0.035000015763512866,0.300270071799029,-0.033971091375637516,0.07989224457978367,0.9999999999999991,-2.409746287844359e-15,3.9883580632553846e-16,2.8798861209989285e-08],"qvel":[0.003910173286145064,0.04539911046751892,-0.07620786924975324,-0.03513075485604842,0.11158990036847957,-0.005001164204200612,-4.952438292189675e-06,-3.41282650629779e-06,-7.008102333142827e-16,-4.17439837009689e-15,3.4128447230790424e-15,-2.7000849926183865e-14,5.6239166057034485e-15,6.62068020474332e-08],"joint_position_rad":[-0.1833806451105483,1.2076082686797858,-0.8250016260408526,0.16548716917724388,0.5869444716321234,-0.22316750313710487],"joint_velocity_rad_s":[0.003910173286145064,0.04539911046751892,-0.07620786924975324,-0.03513075485604842,0.11158990036847957,-0.005001164204200612],"gripper_joint_position_m":[0.034999728482752415,-0.035000015763512866],"tcp_position_m":[0.305636069786403,-0.0356840651380848,0.18512700408725402],"tcp_quaternion_wxyz":[0.34279488625757193,0.03066309049001811,0.9389050684294085,-0.002951832452502311],"object_position_m":[0.300270071799029,-0.033971091375637516,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.409746287844359e-15,3.9883580632553846e-16,2.8798861209989285e-08],"object_linear_velocity_m_s":[-7.008102333142827e-16,-4.17439837009689e-15,3.4128447230790424e-15],"object_angular_velocity_rad_s":[-2.7000850197297306e-14,5.623915369599167e-15,6.620680204743313e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000065},{"geom_ids":[1,90],"normal_force_n":0.09810000000000055},{"geom_ids":[1,90],"normal_force_n":0.09809999999999931},{"geom_ids":[1,90],"normal_force_n":0.09809999999999955}],"native_actuator_controls":[-0.18150511694187846,1.2138693894621313,-0.8329625029541795,0.15474270330326584,0.6336667764832319,-0.22730555265743546,0.035],"actuator_force_native":[0.13049138706286278,0.2738941102500405,-0.2558308068173858,-0.2541248606788802,0.2998381979583655,-0.03387874889700493,3.562288136449432e-05],"issued_joint_targets_rad":[-0.18146890432243956,1.2148442233301386,-0.83458756946313,0.1541567883305614,0.6360823874807549,-0.22750371628486746],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.960000000000325,"joint_targets_rad":[-0.18146890432243956,1.2148442233301386,-0.83458756946313,0.1541567883305614,0.6360823874807549,-0.22750371628486746],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.980000000000332,"qpos":[-0.18330375724002354,1.208573294604827,-0.8266185365740267,0.16478116446160143,0.589337689902174,-0.22327107927070314,0.034999730998326865,-0.035000011605872586,0.300270071799029,-0.033971091375637544,0.07989224457978367,0.9999999999999991,-1.8208611724206828e-15,3.056278880602207e-16,2.9049999380606087e-08],"qvel":[0.0038261319371270153,0.0455799608434766,-0.0763473474396095,-0.034736722365411275,0.11173671954529492,-0.005119669684985877,-5.644953192634242e-06,-2.3401710305452366e-06,-3.8079479870850877e-16,-2.274664649998147e-15,3.4877847772412394e-15,8.876322767288665e-14,-1.4719206501816996e-14,7.172964823252036e-09],"joint_position_rad":[-0.18330375724002354,1.208573294604827,-0.8266185365740267,0.16478116446160143,0.589337689902174,-0.22327107927070314],"joint_velocity_rad_s":[0.0038261319371270153,0.0455799608434766,-0.0763473474396095,-0.034736722365411275,0.11173671954529492,-0.005119669684985877],"gripper_joint_position_m":[0.034999730998326865,-0.035000011605872586],"tcp_position_m":[0.3056481968928588,-0.03567481537952815,0.1851173829799821],"tcp_quaternion_wxyz":[0.3419624557091908,0.030261471920324596,0.9392214551529253,-0.0029967287125691783],"object_position_m":[0.300270071799029,-0.033971091375637544,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.8208611724206828e-15,3.056278880602207e-16,2.9049999380606087e-08],"object_linear_velocity_m_s":[-3.8079479870850877e-16,-2.274664649998147e-15,3.4877847772412394e-15],"object_angular_velocity_rad_s":[8.87632285324568e-14,-1.4719201318551593e-14,7.172964823252029e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999748},{"geom_ids":[1,90],"normal_force_n":0.09809999999999838},{"geom_ids":[1,90],"normal_force_n":0.09810000000000231},{"geom_ids":[1,90],"normal_force_n":0.09810000000000155}],"native_actuator_controls":[-0.18146890432243956,1.2148442233301386,-0.83458756946313,0.1541567883305614,0.6360823874807549,-0.22750371628486746,0.035],"actuator_force_native":[0.1276575737210841,0.2737744938075366,-0.25578589393020934,-0.2512914334145444,0.29984189646786685,-0.0346468656141643,3.898483288855559e-05],"issued_joint_targets_rad":[-0.18143330197327467,1.215822768980295,-0.8362156026846963,0.15357625182689005,0.6385007832729754,-0.22770172611176753],"issued_gripper_position_m":0.035,"command":{"t_seconds":5.980000000000332,"joint_targets_rad":[-0.18143330197327467,1.215822768980295,-0.8362156026846963,0.15357625182689005,0.6385007832729754,-0.22770172611176753],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.000000000000338,"qpos":[-0.18322853044779078,1.2095421096063146,-0.8282384516064787,0.16408301056721447,0.5917341008527477,-0.2233769872992757,0.03499973173520049,-0.035000006935921125,0.300270071799029,-0.03397109137563758,0.07989224457978367,0.9999999999999991,-1.6915269005934848e-15,3.063792951178732e-16,2.950851425986565e-08],"qvel":[0.0037442233819617986,0.04575933185621573,-0.0764868578889582,-0.03435084293749142,0.11187986777922033,-0.005235044035389381,-3.324711114252554e-06,-5.545620564676806e-06,-3.837355687484709e-16,-2.136082206226611e-15,3.4988870074874903e-15,6.792034909384766e-14,-1.1569466775370017e-14,1.3096022368041276e-08],"joint_position_rad":[-0.18322853044779078,1.2095421096063146,-0.8282384516064787,0.16408301056721447,0.5917341008527477,-0.2233769872992757],"joint_velocity_rad_s":[0.0037442233819617986,0.04575933185621573,-0.0764868578889582,-0.03435084293749142,0.11187986777922033,-0.005235044035389381],"gripper_joint_position_m":[0.03499973173520049,-0.035000006935921125],"tcp_position_m":[0.30566027823373176,-0.035665773111162015,0.18510768690637497],"tcp_quaternion_wxyz":[0.3411282326779413,0.029862476738735794,0.9395373984227438,-0.0030394601617945807],"object_position_m":[0.300270071799029,-0.03397109137563758,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6915269005934848e-15,3.063792951178732e-16,2.950851425986565e-08],"object_linear_velocity_m_s":[-3.837355687484709e-16,-2.136082206226611e-15,3.4988870074874903e-15],"object_angular_velocity_rad_s":[6.792034978466773e-14,-1.1569462722608258e-14,1.3096022368041264e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.18143330197327467,1.215822768980295,-0.8362156026846963,0.15357625182689005,0.6385007832729754,-0.22770172611176753,0.035],"actuator_force_native":[0.12489716105147863,0.27365609063735974,-0.25573779681261044,-0.24851613492551916,0.29984702253344686,-0.03539482207183431,2.7354147551728047e-05],"issued_joint_targets_rad":[-0.18139828128860072,1.2168049818265576,-0.8378465293894516,0.15300100767885183,0.6409218438185398,-0.2278995905398432],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.000000000000338,"joint_targets_rad":[-0.18139828128860072,1.2168049818265576,-0.8378465293894516,0.15300100767885183,0.6409218438185398,-0.2278995905398432],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.020000000000345,"qpos":[-0.18315492132099465,1.2105146775398445,-0.8298613592971704,0.16339254733894157,0.5941336206224981,-0.22348516566947296,0.03499973379106181,-0.035000002745189586,0.300270071799029,-0.0339710913756376,0.07989224457978367,0.9999999999999991,-1.5955546337048715e-15,3.066059310019737e-16,2.99691820100477e-08],"qvel":[0.003664532659845441,0.04593683613390961,-0.07662556444830128,-0.033972733884865595,0.11201908490652315,-0.005347382495511761,-7.929782610920706e-06,1.1729195624488392e-06,-4.029671845219968e-16,-2.0996819616595057e-15,3.501662565049053e-15,4.291803362812832e-14,-7.335291358093474e-15,2.3910029686499898e-08],"joint_position_rad":[-0.18315492132099465,1.2105146775398445,-0.8298613592971704,0.16339254733894157,0.5941336206224981,-0.22348516566947296],"joint_velocity_rad_s":[0.003664532659845441,0.04593683613390961,-0.07662556444830128,-0.033972733884865595,0.11201908490652315,-0.005347382495511761],"gripper_joint_position_m":[0.03499973379106181,-0.035000002745189586],"tcp_position_m":[0.3056723199074695,-0.03565693774026696,0.1850979315285942],"tcp_quaternion_wxyz":[0.34029225930104634,0.029466056469535967,0.9398528836782561,-0.0030800677898132314],"object_position_m":[0.300270071799029,-0.0339710913756376,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.5955546337048715e-15,3.066059310019737e-16,2.99691820100477e-08],"object_linear_velocity_m_s":[-4.029671845219968e-16,-2.0996819616595057e-15,3.501662565049053e-15],"object_angular_velocity_rad_s":[4.2918034082455486e-14,-7.335288709357214e-15,2.3910029686499878e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.18139828128860072,1.2168049818265576,-0.8378465293894516,0.15300100767885183,0.6409218438185398,-0.2278995905398432,0.035],"actuator_force_native":[0.12220853929228781,0.2735401622674942,-0.25568578514098306,-0.2457979169792619,0.2998536046006324,-0.03612317496043449,5.029727058225575e-05],"issued_joint_targets_rad":[-0.18136381522946377,1.2177908159794242,-0.8394802745088336,0.15243097429951455,0.643345447228385,-0.22809731898718155],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.020000000000345,"joint_targets_rad":[-0.18136381522946377,1.2177908159794242,-0.8394802745088336,0.15243097429951455,0.643345447228385,-0.22809731898718155],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.040000000000352,"qpos":[-0.18308288781571513,1.2114909561188643,-0.8314872311797763,0.16270961877257084,0.5965361583675214,-0.2235955546054479,0.03499970943036901,-0.03499996636654492,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.4891737868302812e-15,2.8651581079690066e-16,3.041591127514432e-08],"qvel":[0.0035868033092955366,0.04611225621073504,-0.07676266334043898,-0.03360240741967451,0.11215388803287074,-0.005456757093930649,-2.446272128903567e-06,-6.70853540642516e-06,-4.183549686477906e-16,-2.1939453438641576e-15,3.503050343829835e-15,1.0234233808797494e-14,-2.325415548397058e-15,4.365367617304887e-08],"joint_position_rad":[-0.18308288781571513,1.2114909561188643,-0.8314872311797763,0.16270961877257084,0.5965361583675214,-0.2235955546054479],"joint_velocity_rad_s":[0.0035868033092955366,0.04611225621073504,-0.07676266334043898,-0.03360240741967451,0.11215388803287074,-0.005456757093930649],"gripper_joint_position_m":[0.03499970943036901,-0.03499996636654492],"tcp_position_m":[0.3056843253487109,-0.03564830853127312,0.18508812900125804],"tcp_quaternion_wxyz":[0.33945457626586195,0.02907216455369902,0.9401678968590325,-0.003118591988407942],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4891737868302812e-15,2.8651581079690066e-16,3.041591127514432e-08],"object_linear_velocity_m_s":[-4.183549686477906e-16,-2.1939453438641576e-15,3.503050343829835e-15],"object_angular_velocity_rad_s":[1.0234233975271666e-14,-2.3254147958141356e-15,4.365367617304883e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000052},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024},{"geom_ids":[1,90],"normal_force_n":0.09809999999999958},{"geom_ids":[1,90],"normal_force_n":0.09809999999999965}],"native_actuator_controls":[-0.18136381522946377,1.2177908159794242,-0.8394802745088336,0.15243097429951455,0.643345447228385,-0.22809731898718155,0.035],"actuator_force_native":[0.11959179035363121,0.27342750779111213,-0.25563014962239095,-0.24313374182387903,0.2998620565593306,-0.0368325081764409,2.3854145884349975e-05],"issued_joint_targets_rad":[-0.18132987691457286,1.2187802265927343,-0.8411167651560456,0.1518660695027742,0.6457714754090875,-0.22829491702988883],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.040000000000352,"joint_targets_rad":[-0.18132987691457286,1.2187802265927343,-0.8411167651560456,0.1518660695027742,0.6457714754090875,-0.22829491702988883],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.060000000000358,"qpos":[-0.1830123881591004,1.2124709006644643,-0.8331160256981822,0.16203407394254932,0.5989416215689745,-0.22370809585981188,0.034999744921476846,-0.035000011970176784,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.2475540524924433e-15,2.3563725769565143e-16,3.0760008987360765e-08],"qvel":[0.003511256385886002,0.046285524683099336,-0.07689759956035831,-0.0332393498364433,0.11228452731754449,-0.005563263100073487,-2.266200043352238e-06,-6.454220231035471e-06,-4.4211478899286905e-16,-2.4102083985028505e-15,3.5127647952953048e-15,-3.1540884503021216e-14,4.7524773102709634e-15,7.97005887657702e-08],"joint_position_rad":[-0.1830123881591004,1.2124709006644643,-0.8331160256981822,0.16203407394254932,0.5989416215689745,-0.22370809585981188],"joint_velocity_rad_s":[0.003511256385886002,0.046285524683099336,-0.07689759956035831,-0.0332393498364433,0.11228452731754449,-0.005563263100073487],"gripper_joint_position_m":[0.034999744921476846,-0.035000011970176784],"tcp_position_m":[0.3056962955416712,-0.03563988402758146,0.18507828749924832],"tcp_quaternion_wxyz":[0.3386152203611239,0.02868075601970008,0.9404824253005006,-0.003155071285090005],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.2475540524924433e-15,2.3563725769565143e-16,3.0760008987360765e-08],"object_linear_velocity_m_s":[-4.4211478899286905e-16,-2.4102083985028505e-15,3.5127647952953048e-15],"object_angular_velocity_rad_s":[-3.154088475783277e-14,4.752475568736755e-15,7.970058876577014e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000041},{"geom_ids":[1,90],"normal_force_n":0.09810000000000027},{"geom_ids":[1,90],"normal_force_n":0.09809999999999973},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.18132987691457286,1.2187802265927343,-0.8411167651560456,0.1518660695027742,0.6457714754090875,-0.22829491702988883,0.035],"actuator_force_native":[0.1170446176327733,0.27331845084610507,-0.25557115882728,-0.24052342840878804,0.29987174742481404,-0.037523317050659255,2.153414114314245e-05],"issued_joint_targets_rad":[-0.18129644126550132,1.2197731728926917,-0.8427559354057659,0.15130621326844926,0.6481998215349128,-0.2284923901319253],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.060000000000358,"joint_targets_rad":[-0.18129644126550132,1.2197731728926917,-0.8427559354057659,0.15130621326844926,0.6481998215349128,-0.2284923901319253],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.080000000000365,"qpos":[-0.18294337971933697,1.2134544664907587,-0.834747691316085,0.16136576812774947,0.6013499200130841,-0.22382273317331614,0.03499975133276564,-0.03499999977936617,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-9.994944318387713e-16,1.8555787258475296e-16,3.106233230521829e-08],"qvel":[0.00343778098038728,0.046456695002277795,-0.0770299240257212,-0.03288343242837421,0.1124109734152769,-0.00566699099264162,-7.424165240294211e-06,1.3459805158011312e-06,-2.309599871146654e-16,-1.2465001778216537e-15,3.579378176772816e-15,4.61341892484101e-14,-8.69355193642225e-15,8.634906111305197e-09],"joint_position_rad":[-0.18294337971933697,1.2134544664907587,-0.834747691316085,0.16136576812774947,0.6013499200130841,-0.22382273317331614],"joint_velocity_rad_s":[0.00343778098038728,0.046456695002277795,-0.0770299240257212,-0.03288343242837421,0.1124109734152769,-0.00566699099264162],"gripper_joint_position_m":[0.03499975133276564,-0.03499999977936617],"tcp_position_m":[0.305708229267424,-0.03563166148638272,0.18506841118260367],"tcp_quaternion_wxyz":[0.33777422307710814,0.02829178688323463,0.9407964582446328,-0.0031895413407705894],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.994944318387713e-16,1.8555787258475296e-16,3.106233230521829e-08],"object_linear_velocity_m_s":[-2.309599871146654e-16,-1.2465001778216537e-15,3.579378176772816e-15],"object_angular_velocity_rad_s":[4.6134189791698524e-14,-8.69354905309011e-15,8.63490611130519e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.18129644126550132,1.2197731728926917,-0.8427559354057659,0.15130621326844926,0.6481998215349128,-0.2284923901319253,0.035],"actuator_force_native":[0.1145661714049151,0.2732130371432646,-0.2555099070458624,-0.23796503223013765,0.29988255509537254,-0.038196083097129296,4.706751557614908e-05],"issued_joint_targets_rad":[-0.18126348652869773,1.2207696200550981,-0.8443977291497786,0.15075133082674602,0.6506303945943068,-0.22868974793515887],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.080000000000365,"joint_targets_rad":[-0.18126348652869773,1.2207696200550981,-0.8443977291497786,0.15075133082674602,0.6506303945943068,-0.22868974793515887],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.100000000000372,"qpos":[-0.18287582413513567,1.214441611868147,-0.8363821707950304,0.16070455674457168,0.6037609651400081,-0.22393941147356838,0.03499972703646985,-0.03499996343881662,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-9.602936853683347e-16,1.693438263322663e-16,3.1553057061925136e-08],"qvel":[0.003366139983837891,0.046625960220666764,-0.07715943588260964,-0.03253467855831607,0.11253328792401458,-0.005767983455529792,-2.41277477149377e-06,-6.440591431179003e-06,-2.132088520442744e-16,-1.2117415313782938e-15,3.586317070676724e-15,3.5451473974907057e-14,-6.4700224323586686e-15,1.5765157973869804e-08],"joint_position_rad":[-0.18287582413513567,1.214441611868147,-0.8363821707950304,0.16070455674457168,0.6037609651400081,-0.22393941147356838],"joint_velocity_rad_s":[0.003366139983837891,0.046625960220666764,-0.07715943588260964,-0.03253467855831607,0.11253328792401458,-0.005767983455529792],"gripper_joint_position_m":[0.03499972703646985,-0.03499996343881662],"tcp_position_m":[0.3057201239313796,-0.03562363937076446,0.18505850088846573],"tcp_quaternion_wxyz":[0.33693161108866,0.02790521511766628,0.9411099866051896,-0.003222038239387898],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.602936853683347e-16,1.693438263322663e-16,3.1553057061925136e-08],"object_linear_velocity_m_s":[-2.132088520442744e-16,-1.2117415313782938e-15,3.586317070676724e-15],"object_angular_velocity_rad_s":[3.545147438854439e-14,-6.470020164875524e-15,1.576515797386979e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.18126348652869773,1.2207696200550981,-0.8443977291497786,0.15075133082674602,0.6506303945943068,-0.22868974793515887,0.035],"actuator_force_native":[0.11215630859584635,0.27311085385275646,-0.2554474889668086,-0.2354556439214459,0.2998943626569659,-0.03885138943261035,2.2982415063488304e-05],"issued_joint_targets_rad":[-0.18123098886378,1.2217695379900948,-0.8460420986260756,0.1502013393052582,0.6530631158380972,-0.22888698946870276],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.100000000000372,"joint_targets_rad":[-0.18123098886378,1.2217695379900948,-0.8460420986260756,0.1502013393052582,0.6530631158380972,-0.22888698946870276],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1200000000003785,"qpos":[-0.18280968109025417,1.2154322996826248,-0.8380194056667182,0.16005030220394006,0.6061746760027238,-0.22405807728059904,0.034999759477949796,-0.03500000875937272,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-8.757374886126664e-16,1.4313378910716173e-16,3.198606505511427e-08],"qvel":[0.0032965958354767276,0.046793540610061767,-0.07728613773604011,-0.032192557575423324,0.11265201245340682,-0.005866347981627466,-2.222929027827818e-06,-6.2224549265906135e-06,-1.9778026878217575e-16,-1.1886004668746066e-15,3.590480407019069e-15,1.9298788704025634e-14,-3.9964933613973004e-15,2.878319726206208e-08],"joint_position_rad":[-0.18280968109025417,1.2154322996826248,-0.8380194056667182,0.16005030220394006,0.6061746760027238,-0.22405807728059904],"joint_velocity_rad_s":[0.0032965958354767276,0.046793540610061767,-0.07728613773604011,-0.032192557575423324,0.11265201245340682,-0.005866347981627466],"gripper_joint_position_m":[0.034999759477949796,-0.03500000875937272],"tcp_position_m":[0.30573197607687636,-0.03561581450954386,0.18504855468713055],"tcp_quaternion_wxyz":[0.33608740531917974,0.02752099925048871,0.9414230033394275,-0.003252594264307238],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-8.757374886126664e-16,1.4313378910716173e-16,3.198606505511427e-08],"object_linear_velocity_m_s":[-1.9778026878217575e-16,-1.1886004668746066e-15,3.590480407019069e-15],"object_angular_velocity_rad_s":[1.9298788967929466e-14,-3.9964920763996175e-15,2.8783197262062058e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.18123098886378,1.2217695379900948,-0.8460420986260756,0.1502013393052582,0.6530631158380972,-0.22888698946870276,0.035],"actuator_force_native":[0.10981239894054973,0.2730113615472902,-0.25538474806837996,-0.23299572807015867,0.2999063796736241,-0.03948959990859624,2.0735527147319743e-05],"issued_joint_targets_rad":[-0.18119892924178532,1.2227729034139094,-0.8476890070045217,0.14965616490530048,0.6554979241905179,-0.22908412257930025],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.1200000000003785,"joint_targets_rad":[-0.18119892924178532,1.2227729034139094,-0.8476890070045217,0.14965616490530048,0.6554979241905179,-0.22908412257930025],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.140000000000385,"qpos":[-0.18274490995250897,1.2164264978065937,-0.8396593387703796,0.1594028720582119,0.608590978964927,-0.22417867908277778,0.03499976807438908,-0.03500000186955189,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-7.792651358856326e-16,1.338887720218839e-16,3.2396524305499045e-08],"qvel":[0.0032290183040318944,0.04695969301599124,-0.07741012888951602,-0.03185698083713512,0.11276733848370554,-0.005962167680732476,-7.062851756746467e-06,1.239127428995278e-06,-2.2424868131733765e-16,-1.2289746876089583e-15,3.589092628238287e-15,-1.4368910278276787e-16,1.4335492603647982e-15,5.255084953794937e-08],"joint_position_rad":[-0.18274490995250897,1.2164264978065937,-0.8396593387703796,0.1594028720582119,0.608590978964927,-0.22417867908277778],"joint_velocity_rad_s":[0.0032290183040318944,0.04695969301599124,-0.07741012888951602,-0.03185698083713512,0.11276733848370554,-0.005962167680732476],"gripper_joint_position_m":[0.03499976807438908,-0.03500000186955189],"tcp_position_m":[0.30574378187026163,-0.035608182923506426,0.18503856874229277],"tcp_quaternion_wxyz":[0.33524162195141755,0.027139098343090653,0.941735503059184,-0.003281239152019396],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.792651358856326e-16,1.338887720218839e-16,3.2396524305499045e-08],"object_linear_velocity_m_s":[-2.2424868131733765e-16,-1.2289746876089583e-15,3.589092628238287e-15],"object_angular_velocity_rad_s":[-1.4368918159485961e-16,1.4335493329568295e-15,5.255084953794933e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09809999999999981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.18119892924178532,1.2227729034139094,-0.8476890070045217,0.14965616490530048,0.6554979241905179,-0.22908412257930025,0.035],"actuator_force_native":[0.10753336533773172,0.2729139835053047,-0.25532281428378667,-0.23058338193078143,0.2999184445303511,-0.04011118344412612,4.4591283220540845e-05],"issued_joint_targets_rad":[-0.18116729166489187,1.223779698555299,-0.8493384263871632,0.14911573900860717,0.6579347727750665,-0.22928115995371862],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.140000000000385,"joint_targets_rad":[-0.18116729166489187,1.223779698555299,-0.8493384263871632,0.14911573900860717,0.6579347727750665,-0.22928115995371862],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.160000000000392,"qpos":[-0.18268147460457515,1.217424179904671,-0.8413019171324974,0.15876213338290932,0.6110098051371966,-0.22430116641593095,0.03499974441038978,-0.03499996797557343,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-6.23063023477425e-16,1.1548686905185127e-16,3.269141704584397e-08],"qvel":[0.003163160128906886,0.047124702535162835,-0.07753165493829756,-0.031527998139473566,0.11287943213859485,-0.006055479210958994,-2.3091811425769496e-06,-6.176698437875703e-06,-2.929719159905703e-16,-1.4253060722153585e-15,3.5863170706767235e-15,-2.970814948136154e-14,8.4169933824011e-15,9.59445805139992e-08],"joint_position_rad":[-0.18268147460457515,1.217424179904671,-0.8413019171324974,0.15876213338290932,0.6110098051371966,-0.22430116641593095],"joint_velocity_rad_s":[0.003163160128906886,0.047124702535162835,-0.07753165493829756,-0.031527998139473566,0.11287943213859485,-0.006055479210958994],"gripper_joint_position_m":[0.03499974441038978,-0.03499996797557343],"tcp_position_m":[0.30575553782390363,-0.03560074221643171,0.18502853838081457],"tcp_quaternion_wxyz":[0.33439427416406586,0.026759473077114238,0.9420474813512646,-0.0033080034252796022],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.23063023477425e-16,1.1548686905185127e-16,3.269141704584397e-08],"object_linear_velocity_m_s":[-2.929719159905703e-16,-1.4253060722153585e-15,3.5863170706767235e-15],"object_angular_velocity_rad_s":[-2.970815000952766e-14,8.416991559557109e-15,9.594458051399913e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999}],"native_actuator_controls":[-0.18116729166489187,1.223779698555299,-0.8493384263871632,0.14911573900860717,0.6579347727750665,-0.22928115995371862,0.035],"actuator_force_native":[0.10531883453012902,0.2728179793744232,-0.255262465681767,-0.22821578427471767,0.29993052817080734,-0.04071671656143794,2.1769490121892332e-05],"issued_joint_targets_rad":[-0.18113605796634652,1.2247899084949538,-0.8509903339782772,0.14857998622345164,0.6603736219486341,-0.22947810532092974],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.160000000000392,"joint_targets_rad":[-0.18113605796634652,1.2247899084949538,-0.8509903339782772,0.14857998622345164,0.6603736219486341,-0.22947810532092974],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1800000000003985,"qpos":[-0.1826193371815974,1.218425324970923,-0.8429470939596486,0.1581279599359793,0.6134310937477673,-0.2244254903535119,0.03499977474969999,-0.035000011682447665,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.457017163127611e-16,1.0907805672352909e-16,3.305535769371907e-08],"qvel":[0.0030992740524971737,0.0472887892257518,-0.07765103936223548,-0.03120508815183173,0.11298883378146578,-0.006146388778522496,-2.1626961991858296e-06,-5.892742587416535e-06,-1.3614203009910685e-16,-6.803606404540977e-16,3.590480407019069e-15,2.3001074160235086e-14,-4.526793224750832e-15,1.0394809592457188e-08],"joint_position_rad":[-0.1826193371815974,1.218425324970923,-0.8429470939596486,0.1581279599359793,0.6134310937477673,-0.2244254903535119],"joint_velocity_rad_s":[0.0030992740524971737,0.0472887892257518,-0.07765103936223548,-0.03120508815183173,0.11298883378146578,-0.006146388778522496],"gripper_joint_position_m":[0.03499977474969999,-0.035000011682447665],"tcp_position_m":[0.3057672410720089,-0.03559348871067706,0.18501845869521338],"tcp_quaternion_wxyz":[0.33354537223467534,0.02638208447742902,0.9423589347809145,-0.003332914345972219],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.457017163127611e-16,1.0907805672352909e-16,3.305535769371907e-08],"object_linear_velocity_m_s":[-1.3614203009910685e-16,-6.803606404540977e-16,3.590480407019069e-15],"object_angular_velocity_rad_s":[2.300107446177225e-14,-4.52679169278842e-15,1.0394809592457182e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998}],"native_actuator_controls":[-0.18113605796634652,1.2247899084949538,-0.8509903339782772,0.14857998622345164,0.6603736219486341,-0.22947810532092974,0.035],"actuator_force_native":[0.10316596695758307,0.27272273579370676,-0.25520400467911486,-0.22589350774194816,0.29994203133647,-0.04130656650639475,1.982349299667341e-05],"issued_joint_targets_rad":[-0.1811052144829727,1.2258035220025065,-0.8526447126967539,0.14804884133928464,0.6628144417374815,-0.22967497223633143],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.1800000000003985,"joint_targets_rad":[-0.1811052144829727,1.2258035220025065,-0.8526447126967539,0.14804884133928464,0.6628144417374815,-0.22967497223633143],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.200000000000405,"qpos":[-0.1825584602366648,1.2194299159578694,-0.8445948285725964,0.1575002297137236,0.6158547900569549,-0.2245516037639625,0.034999770063465364,-0.03500000082941025,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.150235264696972e-16,1.0646257525165617e-16,3.3521097566549535e-08],"qvel":[0.0030371994774635817,0.04745213206558213,-0.07776857177933724,-0.030888201353209528,0.1130956641893634,-0.006234968933477895,-7.038716261220624e-06,1.1949281987560906e-06,-1.3680580886102033e-16,-6.602000705920816e-16,3.584929291895942e-15,1.6943059497098222e-14,-3.4244730980115424e-15,1.897829729947342e-08],"joint_position_rad":[-0.1825584602366648,1.2194299159578694,-0.8445948285725964,0.1575002297137236,0.6158547900569549,-0.2245516037639625],"joint_velocity_rad_s":[0.0030371994774635817,0.04745213206558213,-0.07776857177933724,-0.030888201353209528,0.1130956641893634,-0.006234968933477895],"gripper_joint_position_m":[0.034999770063465364,-0.03500000082941025],"tcp_position_m":[0.3057788894502329,-0.03558641848652782,0.18500832516208637],"tcp_quaternion_wxyz":[0.33269492492533165,0.026006894120526838,0.942669860379051,-0.00335599762695404],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.150235264696972e-16,1.0646257525165617e-16,3.3521097566549535e-08],"object_linear_velocity_m_s":[-1.3680580886102033e-16,-6.602000705920816e-16,3.584929291895942e-15],"object_angular_velocity_rad_s":[1.6943059730723324e-14,-3.424471942563092e-15,1.8978297299473407e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.1811052144829727,1.2258035220025065,-0.8526447126967539,0.14804884133928464,0.6628144417374815,-0.22967497223633143,0.035],"actuator_force_native":[0.10107366290804976,0.2726278232430559,-0.2551478710359305,-0.2236145282115105,0.2999530205212215,-0.041881231323472434,4.439104269171601e-05],"issued_joint_targets_rad":[-0.1810747496083141,1.2268205296671033,-0.8543015483583483,0.1475222439259114,0.6652572070495159,-0.22987177817210286],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.200000000000405,"joint_targets_rad":[-0.1810747496083141,1.2268205296671033,-0.8543015483583483,0.1475222439259114,0.6652572070495159,-0.22987177817210286],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.220000000000412,"qpos":[-0.18249880919239164,1.2204379392718383,-0.8462450865408174,0.15687882222855978,0.6182808418043304,-0.22467946085757665,0.03499974675159756,-0.03499996835227981,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-4.728710923504202e-16,9.345994438500839e-17,3.398052477700675e-08],"qvel":[0.002976765627569416,0.04761488597679798,-0.07788455788830558,-0.030577294317906446,0.11319997565660754,-0.006321280348135622,-2.097033582316326e-06,-5.850610225962771e-06,-1.3046903017428494e-16,-6.574914433713838e-16,3.589092628238287e-15,8.727873126975222e-15,-1.9966847672301112e-15,3.464957825187612e-08],"joint_position_rad":[-0.18249880919239164,1.2204379392718383,-0.8462450865408174,0.15687882222855978,0.6182808418043304,-0.22467946085757665],"joint_velocity_rad_s":[0.002976765627569416,0.04761488597679798,-0.07788455788830558,-0.030577294317906446,0.11319997565660754,-0.006321280348135622],"gripper_joint_position_m":[0.03499974675159756,-0.03499996835227981],"tcp_position_m":[0.30579048188669555,-0.03557952864690542,0.1849981342497341],"tcp_quaternion_wxyz":[0.3318429412099745,0.025633864813075117,0.9429802550044877,-0.00337727930878716],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.728710923504202e-16,9.345994438500839e-17,3.398052477700675e-08],"object_linear_velocity_m_s":[-1.3046903017428494e-16,-6.574914433713838e-16,3.589092628238287e-15],"object_angular_velocity_rad_s":[8.727873269148684e-15,-1.9966841413051195e-15,3.46495782518761e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.1810747496083141,1.2268205296671033,-0.8543015483583483,0.1475222439259114,0.6652572070495159,-0.22987177817210286,0.035],"actuator_force_native":[0.09904093858835594,0.2725328017371993,-0.255094155960947,-0.2213766605164027,0.29996368896694214,-0.042441252623058645,2.0615104009413798e-05],"issued_joint_targets_rad":[-0.1810446510419368,1.2278409215231558,-0.8559608261134934,0.14700013245160026,0.6677018917441351,-0.23006853735978428],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.220000000000412,"joint_targets_rad":[-0.1810446510419368,1.2278409215231558,-0.8559608261134934,0.14700013245160026,0.6677018917441351,-0.23006853735978428],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.2400000000004185,"qpos":[-0.18244034924537617,1.2214493835726494,-0.8478978394918215,0.15626362206982494,0.6207092011700245,-0.22480901727916772,0.03499977733188381,-0.03500000896260691,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.9281964158932774e-16,7.459666496283193e-17,3.435191609291774e-08],"qvel":[0.0029181365472382027,0.04777711749304139,-0.07799928257235424,-0.030271936036772466,0.11330213970132803,-0.006405411792250611,-1.9866578293145387e-06,-5.513046361728325e-06,-1.2347859986604845e-16,-6.686750391101502e-16,3.623787097757823e-15,-2.357583753123944e-15,-1.7605593507986727e-16,6.326137977964196e-08],"joint_position_rad":[-0.18244034924537617,1.2214493835726494,-0.8478978394918215,0.15626362206982494,0.6207092011700245,-0.22480901727916772],"joint_velocity_rad_s":[0.0029181365472382027,0.04777711749304139,-0.07799928257235424,-0.030271936036772466,0.11330213970132803,-0.006405411792250611],"gripper_joint_position_m":[0.03499977733188381,-0.03500000896260691],"tcp_position_m":[0.30580201818671776,-0.0355728158180962,0.18498788352851536],"tcp_quaternion_wxyz":[0.33098943010221277,0.025262960022775904,0.9432901154322456,-0.00339678367297254],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.9281964158932774e-16,7.459666496283193e-17,3.435191609291774e-08],"object_linear_velocity_m_s":[-1.2347859986604845e-16,-6.686750391101502e-16,3.623787097757823e-15],"object_angular_velocity_rad_s":[-2.3575837315900455e-15,-1.760560473542799e-16,6.326137977964192e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1810446510419368,1.2278409215231558,-0.8559608261134934,0.14700013245160026,0.6677018917441351,-0.23006853735978428,0.035],"actuator_force_native":[0.09706517353895805,0.2724374485753174,-0.2550425168719812,-0.2191799045451246,0.29997369618911396,-0.04298708311778965,1.88400137943745e-05],"issued_joint_targets_rad":[-0.1810149090947894,1.2288646877076768,-0.857622531155538,0.14648245240020283,0.6701484704465304,-0.2302652697447876],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.2400000000004185,"joint_targets_rad":[-0.1810149090947894,1.2288646877076768,-0.857622531155538,0.14648245240020283,0.6701484704465304,-0.2302652697447876],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.260000000000425,"qpos":[-0.18238304541087938,1.2224642381312791,-0.8495530632041746,0.1556545190114997,0.6231398229609788,-0.22494023054445042,0.03499978870046949,-0.035000003994928426,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.0165877143284034e-16,5.451528309040807e-17,3.464620430104788e-08],"qvel":[0.0028611934445519653,0.047938844232344506,-0.07811291387243845,-0.02997201917784318,0.11340212674191306,-0.006487449245373446,-5.872422577885081e-06,5.809825385677657e-07,-9.789950645948951e-17,-6.776177018604323e-16,3.6668082399620515e-15,-1.0562110601744924e-14,-3.278211505943728e-16,1.1549930398958415e-07],"joint_position_rad":[-0.18238304541087938,1.2224642381312791,-0.8495530632041746,0.1556545190114997,0.6231398229609788,-0.22494023054445042],"joint_velocity_rad_s":[0.0028611934445519653,0.047938844232344506,-0.07811291387243845,-0.02997201917784318,0.11340212674191306,-0.006487449245373446],"gripper_joint_position_m":[0.03499978870046949,-0.035000003994928426],"tcp_position_m":[0.30581349881692693,-0.03556627615218571,0.18497757168778042],"tcp_quaternion_wxyz":[0.33013440137038735,0.02489414378466756,0.943599438108281,-0.003414533464547013],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.0165877143284034e-16,5.451528309040807e-17,3.464620430104788e-08],"object_linear_velocity_m_s":[-9.789950645948951e-17,-6.776177018604323e-16,3.6668082399620515e-15],"object_angular_velocity_rad_s":[-1.0562110566436423e-14,-3.278218127856986e-16,1.1549930398958409e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1810149090947894,1.2288646877076768,-0.857622531155538,0.14648245240020283,0.6701484704465304,-0.2302652697447876,0.035],"actuator_force_native":[0.09514493806443802,0.2723417449500971,-0.2549928667468748,-0.21702256856265922,0.29998328474264646,-0.043519218135311455,3.7814094109966945e-05],"issued_joint_targets_rad":[-0.1809855165077526,1.229891817623134,-0.8592866473816041,0.14596915608013017,0.6725969165238549,-0.23046200081171542],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.260000000000425,"joint_targets_rad":[-0.1809855165077526,1.229891817623134,-0.8592866473816041,0.14596915608013017,0.6725969165238549,-0.23046200081171542],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.280000000000432,"qpos":[-0.18232686705893603,1.22348249242724,-0.8512107366642822,0.1550514025773055,0.6255726610941744,-0.22507305924158189,0.034999772272517264,-0.03499997872033848,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.5014776653884126e-16,3.726261642757723e-17,3.508432067299824e-08],"qvel":[0.0028057089458622627,0.048100070807420625,-0.0782255946729446,-0.029677568902731367,0.11349986676881776,-0.006567432019012302,-1.9315104985199683e-06,-5.705516354890124e-06,-5.041727423640725e-17,-3.184185260716835e-16,3.6668082399620515e-15,1.1533235686276577e-14,-2.1002410322053425e-15,1.251340374413197e-08],"joint_position_rad":[-0.18232686705893603,1.22348249242724,-0.8512107366642822,0.1550514025773055,0.6255726610941744,-0.22507305924158189],"joint_velocity_rad_s":[0.0028057089458622627,0.048100070807420625,-0.0782255946729446,-0.029677568902731367,0.11349986676881776,-0.006567432019012302],"gripper_joint_position_m":[0.034999772272517264,-0.03499997872033848],"tcp_position_m":[0.3058249249267379,-0.03555990750700452,0.18496719864327568],"tcp_quaternion_wxyz":[0.3292778665106563,0.02452738177705486,0.9439082187771829,-0.0034305530513938894],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.5014776653884126e-16,3.726261642757723e-17,3.508432067299824e-08],"object_linear_velocity_m_s":[-5.041727423640725e-17,-3.184185260716835e-16,3.6668082399620515e-15],"object_angular_velocity_rad_s":[1.1533235834580166e-14,-2.1002402166734575e-15,1.2513403744131964e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.1809855165077526,1.229891817623134,-0.8592866473816041,0.14596915608013017,0.6725969165238549,-0.23046200081171542,0.035],"actuator_force_native":[0.09327949936536051,0.27224566163440045,-0.2549448840210431,-0.21490201537335718,0.2999927541435783,-0.04403826767281638,1.8766651802115675e-05],"issued_joint_targets_rad":[-0.1809564635933738,1.2309222980947714,-0.8609531549509494,0.14546019112393951,0.6750471973714565,-0.23065874841104275],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.280000000000432,"joint_targets_rad":[-0.1809564635933738,1.2309222980947714,-0.8609531549509494,0.14546019112393951,0.6750471973714565,-0.23065874841104275],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.300000000000439,"qpos":[-0.18227178198832306,1.2245041353534385,-0.8528708410293308,0.15445416910504878,0.628007671370824,-0.22520746358493088,0.03499979448494709,-0.03500001028204599,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.073061134781837e-16,3.354204870664085e-17,3.5524494138492474e-08],"qvel":[0.0027519202156535178,0.04826074179573026,-0.0783374161262317,-0.029388058287138957,0.11359562353842977,-0.006645470701378193,-4.269120006926958e-06,-1.9859568063938385e-06,-4.660008354522656e-17,-2.7680570895387113e-16,3.669583797523616e-15,7.106981317706527e-15,-8.962398568458085e-16,2.2846315208777484e-08],"joint_position_rad":[-0.18227178198832306,1.2245041353534385,-0.8528708410293308,0.15445416910504878,0.628007671370824,-0.22520746358493088],"joint_velocity_rad_s":[0.0027519202156535178,0.04826074179573026,-0.0783374161262317,-0.029388058287138957,0.11359562353842977,-0.006645470701378193],"gripper_joint_position_m":[0.03499979448494709,-0.03500001028204599],"tcp_position_m":[0.305836298050125,-0.03555370658752383,0.18495676517120718],"tcp_quaternion_wxyz":[0.32841983787230083,0.0241626402110003,0.944216452843071,-0.003444864353519148],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.073061134781837e-16,3.354204870664085e-17,3.5524494138492474e-08],"object_linear_velocity_m_s":[-4.660008354522656e-17,-2.7680570895387113e-16,3.669583797523616e-15],"object_angular_velocity_rad_s":[7.106981382916064e-15,-8.962393424296118e-16,2.284631520877747e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1809564635933738,1.2309222980947714,-0.8609531549509494,0.14546019112393951,0.6750471973714565,-0.23065874841104275,0.035],"actuator_force_native":[0.09146587051767163,0.2721493103279897,-0.2548980330983426,-0.21281882780867534,0.3000018246986791,-0.044544642209051855,2.9566202151221077e-05],"issued_joint_targets_rad":[-0.18092774447713714,1.2319561152474878,-0.862622032661137,0.1449555153094537,0.6774992793699449,-0.23085553928285138],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.300000000000439,"joint_targets_rad":[-0.18092774447713714,1.2319561152474878,-0.862622032661137,0.1449555153094537,0.6774992793699449,-0.23085553928285138],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.320000000000445,"qpos":[-0.1822177590962673,1.2255291543252926,-0.854533357763313,0.15386271859509432,0.6304448092967562,-0.22534340559754168,0.034999795039368245,-0.03500000946384127,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.7848682865082773e-16,3.0143320714174126e-17,3.595134921718552e-08],"qvel":[0.002699558240082984,0.048420791452611855,-0.07844835298946942,-0.0291035641834076,0.11368915167001055,-0.006721631573408832,-2.63092756281556e-06,-4.151441328681662e-06,-4.544258231550046e-17,-2.624942866295498e-16,3.669583797523616e-15,2.0648151371189332e-15,-2.8814078867976174e-16,4.1711602158091767e-08],"joint_position_rad":[-0.1822177590962673,1.2255291543252926,-0.854533357763313,0.15386271859509432,0.6304448092967562,-0.22534340559754168],"joint_velocity_rad_s":[0.002699558240082984,0.048420791452611855,-0.07844835298946942,-0.0291035641834076,0.11368915167001055,-0.006721631573408832],"gripper_joint_position_m":[0.034999795039368245,-0.03500000946384127],"tcp_position_m":[0.3058476198220949,-0.03554767016571262,0.18494627269470146],"tcp_quaternion_wxyz":[0.32756032898026,0.023799886183471477,0.9445241352488246,-0.003457488750154394],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.7848682865082773e-16,3.0143320714174126e-17,3.595134921718552e-08],"object_linear_velocity_m_s":[-4.544258231550046e-17,-2.624942866295498e-16,3.669583797523616e-15],"object_angular_velocity_rad_s":[2.064815160351679e-15,-2.8814062532403746e-16,4.171160215809175e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.18092774447713714,1.2319561152474878,-0.862622032661137,0.1449555153094537,0.6774992793699449,-0.23085553928285138,0.035],"actuator_force_native":[0.08970337832999853,0.272052916512564,-0.2548522268785831,-0.21077031050858608,0.30001097322687187,-0.04503888949298407,2.1353063084594837e-05],"issued_joint_targets_rad":[-0.18089935423073902,1.232993253732778,-0.8642932570111952,0.1444550895418076,0.6799531258530214,-0.2310524015262379],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.320000000000445,"joint_targets_rad":[-0.18089935423073902,1.232993253732778,-0.8642932570111952,0.1444550895418076,0.6799531258530214,-0.2310524015262379],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.340000000000452,"qpos":[-0.18216476827331834,1.2265575356617766,-0.8561982683065155,0.1532769549399829,0.6328840297981122,-0.22548084884266426,0.034999803596612984,-0.035000004916624895,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.4796839197528642e-16,3.8669563247621544e-17,3.633600373302736e-08],"qvel":[0.0026487287584622955,0.04858016380380195,-0.078558414581421,-0.028823703585937128,0.11378061196473094,-0.006796007003547906,-4.749752484061671e-06,-5.503161900714232e-07,-1.0045724908346006e-16,-2.693625757571138e-16,3.6668082399620515e-15,-2.1141408722077976e-15,4.348390106780946e-15,7.615485204924238e-08],"joint_position_rad":[-0.18216476827331834,1.2265575356617766,-0.8561982683065155,0.1532769549399829,0.6328840297981122,-0.22548084884266426],"joint_velocity_rad_s":[0.0026487287584622955,0.04858016380380195,-0.078558414581421,-0.028823703585937128,0.11378061196473094,-0.006796007003547906],"gripper_joint_position_m":[0.034999803596612984,-0.035000004916624895],"tcp_position_m":[0.30585889198909877,-0.03554179502063022,0.18493572308188067],"tcp_quaternion_wxyz":[0.32669935435433034,0.02343908784038385,0.9448312605443424,-0.0034684468950106164],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4796839197528642e-16,3.8669563247621544e-17,3.633600373302736e-08],"object_linear_velocity_m_s":[-1.0045724908346006e-16,-2.693625757571138e-16,3.6668082399620515e-15],"object_angular_velocity_rad_s":[-2.1141411823242803e-15,4.348389975679094e-15,7.615485204924234e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.18089935423073902,1.232993253732778,-0.8642932570111952,0.1444550895418076,0.6799531258530214,-0.2310524015262379,0.035],"actuator_force_native":[0.08798947961403414,0.2719566266610798,-0.25480702346727924,-0.20875609799732509,0.30002004260199566,-0.04552151633041479,3.1604897901216233e-05],"issued_joint_targets_rad":[-0.18087128903956912,1.2340336969302272,-0.8659668025236215,0.14395887808312108,0.6824086976265873,-0.23124936463831866],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.340000000000452,"joint_targets_rad":[-0.18087128903956912,1.2340336969302272,-0.8659668025236215,0.14395887808312108,0.6824086976265873,-0.23124936463831866],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.360000000000459,"qpos":[-0.182112782204043,1.22758926426337,-0.8578655531720616,0.15269678353807212,0.6353252870422065,-0.225619758155285,0.03499979606502418,-0.034999993127559983,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.1293453424313198e-16,4.087934908201508e-17,3.662487722692511e-08],"qvel":[0.002599189135759651,0.0487387959881453,-0.07866753053377154,-0.028548532529722736,0.1138698467948986,-0.00686864180200992,-1.5764345992127612e-06,-5.588790995274204e-06,-4.8760811446833243e-17,-1.4229565754094206e-16,3.668196018742833e-15,5.4356899207042396e-15,-1.7271551847565975e-15,8.250754574700772e-09],"joint_position_rad":[-0.182112782204043,1.22758926426337,-0.8578655531720616,0.15269678353807212,0.6353252870422065,-0.225619758155285],"joint_velocity_rad_s":[0.002599189135759651,0.0487387959881453,-0.07866753053377154,-0.028548532529722736,0.1138698467948986,-0.00686864180200992],"gripper_joint_position_m":[0.03499979606502418,-0.034999993127559983],"tcp_position_m":[0.3058701160982149,-0.03553607873983136,0.18492511838011821],"tcp_quaternion_wxyz":[0.32583692915245593,0.023080214683774972,0.9451378230061347,-0.0034777598929098094],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.1293453424313198e-16,4.087934908201508e-17,3.662487722692511e-08],"object_linear_velocity_m_s":[-4.8760811446833243e-17,-1.4229565754094206e-16,3.668196018742833e-15],"object_angular_velocity_rad_s":[5.435690047892487e-15,-1.72715478473005e-15,8.250754574700769e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.18087128903956912,1.2340336969302272,-0.8659668025236215,0.14395887808312108,0.6824086976265873,-0.23124936463831866,0.035],"actuator_force_native":[0.0863235074791131,0.2718606334078544,-0.254762295455933,-0.2067735555494279,0.3000293356514607,-0.04599310212732144,1.603957202900297e-05],"issued_joint_targets_rad":[-0.18084354437028805,1.2350774270850988,-0.8676426421604925,0.1434668438745397,0.6848659531784056,-0.23144645452932167],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.360000000000459,"joint_targets_rad":[-0.18084354437028805,1.2350774270850988,-0.8676426421604925,0.1434668438745397,0.6848659531784056,-0.23144645452932167],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.380000000000465,"qpos":[-0.18206177262890863,1.2286243239043582,-0.8595351917307191,0.15212211584619825,0.6377685361492592,-0.22576010001464497,0.034999802180957586,-0.03500000189473263,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.4724143114594305e-16,5.2052508947287636e-17,3.70937705164558e-08],"qvel":[0.002551143821118753,0.04889663025751857,-0.07877565507665119,-0.028277556846319878,0.1139570881875142,-0.006939645524943944,-6.703220576686838e-06,1.9736941277644627e-06,-6.418121628471192e-17,-1.8283536867668536e-16,3.6709715763043976e-15,3.8201623331080304e-15,-1.4751223197467667e-15,1.5063794278377013e-08],"joint_position_rad":[-0.18206177262890863,1.2286243239043582,-0.8595351917307191,0.15212211584619825,0.6377685361492592,-0.22576010001464497],"joint_velocity_rad_s":[0.002551143821118753,0.04889663025751857,-0.07877565507665119,-0.028277556846319878,0.1139570881875142,-0.006939645524943944],"gripper_joint_position_m":[0.034999802180957586,-0.03500000189473263],"tcp_position_m":[0.305881293457351,-0.03553051792221128,0.18491446051907107],"tcp_quaternion_wxyz":[0.3249730684804623,0.022723236879912807,0.9454438169080277,-0.0034854466675261586],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4724143114594305e-16,5.2052508947287636e-17,3.70937705164558e-08],"object_linear_velocity_m_s":[-6.418121628471192e-17,-1.8283536867668536e-16,3.6709715763043976e-15],"object_angular_velocity_rad_s":[3.8201624441119324e-15,-1.475122031902283e-15,1.5063794278377006e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.18084354437028805,1.2350774270850988,-0.8676426421604925,0.1434668438745397,0.6848659531784056,-0.23144645452932167,0.035],"actuator_force_native":[0.0847025415840541,0.2717651031716457,-0.25471775899860916,-0.2048230946347429,0.30003853801019353,-0.0464540768593511,4.1428864580250746e-05],"issued_joint_targets_rad":[-0.18081611884953416,1.2361244266673976,-0.8693207490932962,0.1429789575217017,0.6873248521603876,-0.2316437035945165],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.380000000000465,"joint_targets_rad":[-0.18081611884953416,1.2361244266673976,-0.8693207490932962,0.1429789575217017,0.6873248521603876,-0.2316437035945165],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.400000000000472,"qpos":[-0.1820117130001201,1.2296626972551992,-0.8612071615824962,0.1515528661403369,0.6402137315675109,-0.22590184265720295,0.034999774480468274,-0.034999965892222554,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.6395188267992454e-16,4.5398527247955793e-17,3.756236263371947e-08],"qvel":[0.002504262174234903,0.04905363384071022,-0.07888267941572487,-0.028010941781049625,0.11404203504075937,-0.007009076660414432,-1.8738378027355764e-06,-4.917728044455604e-06,-5.933916059511632e-17,-2.1652049888111117e-16,3.729258285097218e-15,2.5392452266003693e-15,-1.2540457771788343e-15,2.7502684270484583e-08],"joint_position_rad":[-0.1820117130001201,1.2296626972551992,-0.8612071615824962,0.1515528661403369,0.6402137315675109,-0.22590184265720295],"joint_velocity_rad_s":[0.002504262174234903,0.04905363384071022,-0.07888267941572487,-0.028010941781049625,0.11404203504075937,-0.007009076660414432],"gripper_joint_position_m":[0.034999774480468274,-0.034999965892222554],"tcp_position_m":[0.3058924250785101,-0.03552510943736648,0.18490375121145347],"tcp_quaternion_wxyz":[0.324107787601855,0.02236812559472374,0.9457492364366341,-0.0034915258459669797],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6395188267992454e-16,4.5398527247955793e-17,3.756236263371947e-08],"object_linear_velocity_m_s":[-5.933916059511632e-17,-2.1652049888111117e-16,3.729258285097218e-15],"object_angular_velocity_rad_s":[2.539245323307368e-15,-1.2540455774004964e-15,2.7502684270484573e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.18081611884953416,1.2361244266673976,-0.8693207490932962,0.1429789575217017,0.6873248521603876,-0.2316437035945165,0.035],"actuator_force_native":[0.08312622117570001,0.2716701837723292,-0.2546736037853634,-0.20290163584015897,0.30004815336762913,-0.046904994382514165,1.8389970283028134e-05],"issued_joint_targets_rad":[-0.18078901151008075,1.2371746777404231,-0.8710010959813056,0.14249519065221342,0.6897853537019726,-0.23184114363612315],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.400000000000472,"joint_targets_rad":[-0.18078901151008075,1.2371746777404231,-0.8710010959813056,0.14249519065221342,0.6897853537019726,-0.23184114363612315],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.420000000000479,"qpos":[-0.1819625778880557,1.2307043667945161,-0.8628814394982514,0.15098895214808186,0.6426608283548063,-0.22604495564666768,0.03499980116437509,-0.03500000362018612,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.4992033916347956e-16,3.616018625853253e-17,3.79545612858168e-08],"qvel":[0.002458720209621443,0.049209791438009895,-0.07898858855811768,-0.027748228944045494,0.11412499192551244,-0.007077024142595015,-4.449087044289417e-07,-6.462831081057165e-06,-5.2747275490316987e-17,-2.351114041193692e-16,3.751462745589723e-15,-2.5861896324803576e-16,-5.238170458381853e-16,5.02129561851324e-08],"joint_position_rad":[-0.1819625778880557,1.2307043667945161,-0.8628814394982514,0.15098895214808186,0.6426608283548063,-0.22604495564666768],"joint_velocity_rad_s":[0.002458720209621443,0.049209791438009895,-0.07898858855811768,-0.027748228944045494,0.11412499192551244,-0.007077024142595015],"gripper_joint_position_m":[0.03499980116437509,-0.03500000362018612],"tcp_position_m":[0.30590351176668323,-0.03551985013704943,0.18489299187859087],"tcp_quaternion_wxyz":[0.323241101413335,0.022014853042902696,0.9460540758754113,-0.003496015176588551],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.4992033916347956e-16,3.616018625853253e-17,3.79545612858168e-08],"object_linear_velocity_m_s":[-5.2747275490316987e-17,-2.351114041193692e-16,3.751462745589723e-15],"object_angular_velocity_rad_s":[-2.586189198541235e-16,-5.238170504138352e-16,5.021295618513238e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.18078901151008075,1.2371746777404231,-0.8710010959813056,0.14249519065221342,0.6897853537019726,-0.23184114363612315,0.035],"actuator_force_native":[0.08159170918988856,0.2715759184825117,-0.25462957585375534,-0.20100931511451048,0.3000577655833938,-0.04734634368066226,1.0177968518654268e-05],"issued_joint_targets_rad":[-0.18076222249389742,1.238228162655628,-0.872683656006455,0.14201551733312967,0.692247418081936,-0.23203880733722743],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.420000000000479,"joint_targets_rad":[-0.18076222249389742,1.238228162655628,-0.872683656006455,0.14201551733312967,0.692247418081936,-0.23203880733722743],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.440000000000485,"qpos":[-0.1819143419533508,1.2317493144981972,-0.8645580010228183,0.15043029629785734,0.6451097833976948,-0.2261894103045994,0.034999803469172176,-0.03500000165930288,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.2321049263537617e-16,3.17832020777199e-17,3.8290183952901176e-08],"qvel":[0.002414389538519732,0.04936508717837895,-0.07909330802074097,-0.02748934166301772,0.11420590662118041,-0.007143566154483931,-3.321676601484348e-06,-2.2318551595649767e-06,-8.113777714117919e-17,-2.5175301000061403e-16,3.748687188028161e-15,-3.626279233198493e-15,2.8106573674164942e-15,9.167617764335243e-08],"joint_position_rad":[-0.1819143419533508,1.2317493144981972,-0.8645580010228183,0.15043029629785734,0.6451097833976948,-0.2261894103045994],"joint_velocity_rad_s":[0.002414389538519732,0.04936508717837895,-0.07909330802074097,-0.02748934166301772,0.11420590662118041,-0.007143566154483931],"gripper_joint_position_m":[0.034999803469172176,-0.03500000165930288],"tcp_position_m":[0.3059145538925979,-0.03551473629525325,0.18488218347099833],"tcp_quaternion_wxyz":[0.3223730239377871,0.021663392102431307,0.9463583297902103,-0.0034989307662695803],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.2321049263537617e-16,3.17832020777199e-17,3.8290183952901176e-08],"object_linear_velocity_m_s":[-8.113777714117919e-17,-2.5175301000061403e-16,3.748687188028161e-15],"object_angular_velocity_rad_s":[-3.6262794426121326e-15,2.810657112305622e-15,9.16761776433524e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.18076222249389742,1.238228162655628,-0.872683656006455,0.14201551733312967,0.692247418081936,-0.23203880733722743,0.035],"actuator_force_native":[0.08009760906367092,0.27148241670256823,-0.2545858585872196,-0.19914445027401761,0.3000674869106419,-0.04777862109455411,2.4469616120459392e-05],"issued_joint_targets_rad":[-0.1807357541511526,1.2392848648320782,-0.8743684039808857,0.14153991639814456,0.6947110085916989,-0.2322367312593296],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.440000000000485,"joint_targets_rad":[-0.1807357541511526,1.2392848648320782,-0.8743684039808857,0.14153991639814456,0.6947110085916989,-0.2322367312593296],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.460000000000492,"qpos":[-0.1818669825528166,1.2327975226237469,-0.8662368209511006,0.14987682245284908,0.6475605528825097,-0.22633517936119493,0.034999809323532076,-0.03500000711306808,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-9.953881000834573e-17,3.255721722734554e-17,3.8637933531954955e-08],"qvel":[0.002371190409738383,0.04951955640333153,-0.07919683651243778,-0.027234140544809226,0.11428481601376866,-0.0072087692944994295,-2.146236545370455e-06,-3.7192908029703304e-06,-3.8748983091112063e-17,-1.2486939752688426e-16,3.757013860712852e-15,4.558468004365255e-15,-1.3171815540663695e-15,9.932363096088525e-09],"joint_position_rad":[-0.1818669825528166,1.2327975226237469,-0.8662368209511006,0.14987682245284908,0.6475605528825097,-0.22633517936119493],"joint_velocity_rad_s":[0.002371190409738383,0.04951955640333153,-0.07919683651243778,-0.027234140544809226,0.11428481601376866,-0.0072087692944994295],"gripper_joint_position_m":[0.034999809323532076,-0.03500000711306808],"tcp_position_m":[0.30592555176168945,-0.03550976496390407,0.1848713266613469],"tcp_quaternion_wxyz":[0.3215035691043874,0.021313716870714476,0.9466619927424158,-0.003500289024415005],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-9.953881000834573e-17,3.255721722734554e-17,3.8637933531954955e-08],"object_linear_velocity_m_s":[-3.8748983091112063e-17,-1.2486939752688426e-16,3.757013860712852e-15],"object_angular_velocity_rad_s":[4.558468106798327e-15,-1.3171811998294866e-15,9.932363096088522e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.1807357541511526,1.2392848648320782,-0.8743684039808857,0.14153991639814456,0.6947110085916989,-0.2322367312593296,0.035],"actuator_force_native":[0.0786423200844304,0.271389594649861,-0.25454245982062673,-0.19730553946413476,0.3000773330712381,-0.04820236503959752,1.8358241443916512e-05],"issued_joint_targets_rad":[-0.18070960831724625,1.2403447674297763,-0.8760553145277089,0.14106836531168282,0.6971760882470005,-0.23243494886395508],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.460000000000492,"joint_targets_rad":[-0.18070960831724625,1.2403447674297763,-0.8760553145277089,0.14106836531168282,0.6971760882470005,-0.23243494886395508],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.480000000000499,"qpos":[-0.1818204765042272,1.2338489738764136,-0.8679178741402986,0.14932845981658535,0.6500130959948722,-0.22648223711752707,0.03499980589838068,-0.03499999781922572,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-7.116637599465623e-17,3.493715721351572e-17,3.90829534704284e-08],"qvel":[0.0023291437337906273,0.04967319925624441,-0.07929915067182149,-0.026982370819475653,0.11436184749666603,-0.007272722674250628,-6.510265554717599e-06,2.6088341182649195e-06,-4.3583911854265366e-17,-9.270063739841437e-17,3.825015020971143e-15,3.5570447251224405e-15,-9.418552650167293e-16,1.813398677939018e-08],"joint_position_rad":[-0.1818204765042272,1.2338489738764136,-0.8679178741402986,0.14932845981658535,0.6500130959948722,-0.22648223711752707],"joint_velocity_rad_s":[0.0023291437337906273,0.04967319925624441,-0.07929915067182149,-0.026982370819475653,0.11436184749666603,-0.007272722674250628],"gripper_joint_position_m":[0.03499980589838068,-0.03499999781922572],"tcp_position_m":[0.305936505426287,-0.035504932329590386,0.1848604217126819],"tcp_quaternion_wxyz":[0.32063274963977423,0.020965802010329472,0.9469650596907724,-0.003500104191802097],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.116637599465623e-17,3.493715721351572e-17,3.90829534704284e-08],"object_linear_velocity_m_s":[-4.3583911854265366e-17,-9.270063739841437e-17,3.825015020971143e-15],"object_angular_velocity_rad_s":[3.5570448000104996e-15,-9.418549843960388e-16,1.8133986779390178e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.18070960831724625,1.2403447674297763,-0.8760553145277089,0.14106836531168282,0.6971760882470005,-0.23243494886395508,0.035],"actuator_force_native":[0.07722373628952184,0.27129748798779474,-0.25449947763372904,-0.19549192609872268,0.3000871512762844,-0.048618033452904275,4.0315392546785844e-05],"issued_joint_targets_rad":[-0.1806837897184418,1.241407855170158,-0.8777443645965627,0.14060084773028028,0.6996426242223726,-0.23263349919533802],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.480000000000499,"joint_targets_rad":[-0.1806837897184418,1.241407855170158,-0.8777443645965627,0.14060084773028028,0.6996426242223726,-0.23263349919533802],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.500000000000505,"qpos":[-0.18177480283947578,1.2349036513382006,-0.8696011351377395,0.14878513949420427,0.6524673719868239,-0.22663055945164,0.03499977673462648,-0.034999957459041914,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.506135921422738e-17,2.4561170379493652e-17,3.952194158559268e-08],"qvel":[0.0022880287098829364,0.04982605622422797,-0.0794002474832323,-0.026734078756429462,0.11443687808625047,-0.007335488018238462,-1.6880052072146321e-06,-4.356284484582504e-06,-3.201917105368152e-17,-7.716445112520649e-17,3.8416683663405234e-15,1.5221983594538835e-15,-1.2065554392775295e-15,3.310808045716664e-08],"joint_position_rad":[-0.18177480283947578,1.2349036513382006,-0.8696011351377395,0.14878513949420427,0.6524673719868239,-0.22663055945164],"joint_velocity_rad_s":[0.0022880287098829364,0.04982605622422797,-0.0794002474832323,-0.026734078756429462,0.11443687808625047,-0.007335488018238462],"gripper_joint_position_m":[0.03499977673462648,-0.034999957459041914],"tcp_position_m":[0.30594741487815236,-0.0355002351166966,0.18484946866227703],"tcp_quaternion_wxyz":[0.3197605780230701,0.02061962317430874,0.9472675256475984,-0.003498390483988695],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.506135921422738e-17,2.4561170379493652e-17,3.952194158559268e-08],"object_linear_velocity_m_s":[-3.201917105368152e-17,-7.716445112520649e-17,3.8416683663405234e-15],"object_angular_velocity_rad_s":[1.5221984564510517e-15,-1.2065553153111043e-15,3.310808045716663e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.1806837897184418,1.241407855170158,-0.8777443645965627,0.14060084773028028,0.6996426242223726,-0.23263349919533802,0.035],"actuator_force_native":[0.07584090613330474,0.2712060254354469,-0.2544571192896967,-0.19370127677481186,0.30009720522610994,-0.04902616540962201,1.7370640976954732e-05],"issued_joint_targets_rad":[-0.18065830308996852,1.2424741127924077,-0.8794355313137174,0.14013734708832631,0.7021105840502667,-0.23283241978562938],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.500000000000505,"joint_targets_rad":[-0.18065830308996852,1.2424741127924077,-0.8794355313137174,0.14013734708832631,0.7021105840502667,-0.23283241978562938],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.520000000000512,"qpos":[-0.1817299411710687,1.2359615389803436,-0.8712865792582931,0.1482467964478814,0.6549233421221694,-0.22678012364661898,0.03499980206941564,-0.034999992365284574,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.348192020570737e-17,1.4973981221584026e-17,3.9932188467986296e-08],"qvel":[0.002247992119212552,0.049978155979238555,-0.07950017864741583,-0.026488851084258115,0.11451020863953879,-0.007397154531921794,-2.463959401198644e-07,-5.976247756736143e-06,-2.061689362371142e-17,-9.812892577147584e-17,3.8472194814636505e-15,-1.670192153986186e-15,-6.025795155976155e-16,6.04469940831798e-08],"joint_position_rad":[-0.1817299411710687,1.2359615389803436,-0.8712865792582931,0.1482467964478814,0.6549233421221694,-0.22678012364661898],"joint_velocity_rad_s":[0.002247992119212552,0.049978155979238555,-0.07950017864741583,-0.026488851084258115,0.11451020863953879,-0.007397154531921794],"gripper_joint_position_m":[0.03499980206941564,-0.034999992365284574],"tcp_position_m":[0.305958280107202,-0.03549566978287289,0.18483846736391318],"tcp_quaternion_wxyz":[0.31888706600209504,0.020275156776480997,0.9475693858526434,-0.0034951608129758253],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.348192020570737e-17,1.4973981221584026e-17,3.9932188467986296e-08],"object_linear_velocity_m_s":[-2.061689362371142e-17,-9.812892577147584e-17,3.8472194814636505e-15],"object_angular_velocity_rad_s":[-1.6701921040512788e-15,-6.025796425208265e-16,6.044699408317979e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.18065830308996852,1.2424741127924077,-0.8794355313137174,0.14013734708832631,0.7021105840502667,-0.23283241978562938,0.035],"actuator_force_native":[0.07449108589194964,0.2711151250689454,-0.25441527119686214,-0.1919337189609136,0.30010710632166493,-0.049427229592221344,9.149203075153878e-06],"issued_joint_targets_rad":[-0.1806331548932112,1.243543525876203,-0.881128793097807,0.13967785043491937,0.7045799376225599,-0.23303175092567108],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.520000000000512,"joint_targets_rad":[-0.1806331548932112,1.243543525876203,-0.881128793097807,0.13967785043491937,0.7045799376225599,-0.23303175092567108],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.540000000000519,"qpos":[-0.18168587145590415,1.2370226211316193,-0.8729741821636033,0.14771336980076705,0.6573809698670191,-0.22693090871865695,0.034999813022259955,-0.03500000192850695,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-4.619436174884285e-17,1.1837484291834979e-17,4.0213384319824415e-08],"qvel":[0.002208925022617444,0.050129520080962706,-0.07959895410246014,-0.02624659902449805,0.11458183853324534,-0.0074578002112813705,-3.977745817284276e-06,-4.6969289173547153e-07,-8.49335722067565e-17,-1.0167602284956601e-16,3.847219481463651e-15,-1.6776232715101035e-15,5.35240914495732e-15,1.1036094642874573e-07],"joint_position_rad":[-0.18168587145590415,1.2370226211316193,-0.8729741821636033,0.14771336980076705,0.6573809698670191,-0.22693090871865695],"joint_velocity_rad_s":[0.002208925022617444,0.050129520080962706,-0.07959895410246014,-0.02624659902449805,0.11458183853324534,-0.0074578002112813705],"gripper_joint_position_m":[0.034999813022259955,-0.03500000192850695],"tcp_position_m":[0.3059691009648372,-0.03549123236946198,0.1848274174783317],"tcp_quaternion_wxyz":[0.3180122245811481,0.01993237978866029,0.9478706357803734,-0.003490426653103078],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.619436174884285e-17,1.1837484291834979e-17,4.0213384319824415e-08],"object_linear_velocity_m_s":[-8.49335722067565e-17,-1.0167602284956601e-16,3.847219481463651e-15],"object_angular_velocity_rad_s":[-1.6776236993742782e-15,5.35240902022759e-15,1.1036094642874572e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1806331548932112,1.243543525876203,-0.881128793097807,0.13967785043491937,0.7045799376225599,-0.23303175092567108,0.035],"actuator_force_native":[0.07317269990235076,0.27102477916187695,-0.25437410422399864,-0.19018777951141708,0.3001169197555402,-0.04982172175321864,2.7367838688174828e-05],"issued_joint_targets_rad":[-0.18060835354104302,1.2446160809144948,-0.8828241297338355,0.139222348910248,0.7070506573367411,-0.23323153646948722],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.540000000000519,"joint_targets_rad":[-0.18060835354104302,1.2446160809144948,-0.8828241297338355,0.139222348910248,0.7070506573367411,-0.23323153646948722],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.560000000000525,"qpos":[-0.18164257612661486,1.2380868828609137,-0.8746639201510603,0.147184800123233,0.6598402185187052,-0.22708289512156343,0.0349998090291238,-0.03499999345626195,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.8475166527885067e-17,2.7521734907688656e-17,4.063200967759048e-08],"qvel":[0.0021706725039157713,0.05028019460957466,-0.07969661575377204,-0.026007292169998968,0.11465171539778972,-0.007517489090709776,-9.951128400927012e-07,-4.669858000538682e-06,-3.075195573919378e-17,-4.9435289241392e-17,3.84583170268287e-15,1.9976295798368842e-15,-2.4652141604578097e-16,1.195670478128591e-08],"joint_position_rad":[-0.18164257612661486,1.2380868828609137,-0.8746639201510603,0.147184800123233,0.6598402185187052,-0.22708289512156343],"joint_velocity_rad_s":[0.0021706725039157713,0.05028019460957466,-0.07969661575377204,-0.026007292169998968,0.11465171539778972,-0.007517489090709776],"gripper_joint_position_m":[0.0349998090291238,-0.03499999345626195],"tcp_position_m":[0.3059798774784066,-0.03548691962969596,0.1848163187053774],"tcp_quaternion_wxyz":[0.3171360648686157,0.019591270203063345,0.9481712708387532,-0.003484199693416354],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.8475166527885067e-17,2.7521734907688656e-17,4.063200967759048e-08],"object_linear_velocity_m_s":[-3.075195573919378e-17,-4.9435289241392e-17,3.84583170268287e-15],"object_angular_velocity_rad_s":[1.997629600528337e-15,-2.4652125279029887e-16,1.1956704781285908e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.18060835354104302,1.2446160809144948,-0.8828241297338355,0.139222348910248,0.7070506573367411,-0.23323153646948722,0.035],"actuator_force_native":[0.0718844443261677,0.2709348712386088,-0.2543336878531477,-0.1884615876694049,0.300126815083674,-0.05021017984317311,1.2614399248489505e-05],"issued_joint_targets_rad":[-0.18058390723042428,1.2456917639668386,-0.8845215204818007,0.13877083304582138,0.7095227148466997,-0.2334318184256637],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.560000000000525,"joint_targets_rad":[-0.18058390723042428,1.2456917639668386,-0.8845215204818007,0.13877083304582138,0.7095227148466997,-0.2334318184256637],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.580000000000532,"qpos":[-0.18160003759186752,1.2391543099343592,-0.8763557706600904,0.14666103251590334,0.6623010537826238,-0.22723606480425831,0.034999815539329744,-0.03499999814879845,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.5728001834027723e-17,5.04498363494229e-17,4.110697036202527e-08],"qvel":[0.002133360494613697,0.05043019179105658,-0.07979321544945779,-0.025770546228624777,0.1147200994440602,-0.007576313447942299,-5.930868651567463e-06,2.5608871567751862e-06,-6.233795792454355e-17,-3.3919550920263086e-17,3.848607260244434e-15,1.1616374143373024e-15,-3.3910419734436037e-16,2.182992348661752e-08],"joint_position_rad":[-0.18160003759186752,1.2391543099343592,-0.8763557706600904,0.14666103251590334,0.6623010537826238,-0.22723606480425831],"joint_velocity_rad_s":[0.002133360494613697,0.05043019179105658,-0.07979321544945779,-0.025770546228624777,0.1147200994440602,-0.007576313447942299],"gripper_joint_position_m":[0.034999815539329744,-0.03499999814879845],"tcp_position_m":[0.30599060971500114,-0.03548272775413534,0.18480517072767322],"tcp_quaternion_wxyz":[0.31625859737914414,0.019251806574587173,0.9484712866213633,-0.0034764899262002876],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.5728001834027723e-17,5.04498363494229e-17,4.110697036202527e-08],"object_linear_velocity_m_s":[-6.233795792454355e-17,-3.3919550920263086e-17,3.848607260244434e-15],"object_angular_velocity_rad_s":[1.161637444419023e-15,-3.3910410071828894e-16,2.1829923486617516e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.18058390723042428,1.2456917639668386,-0.8845215204818007,0.13877083304582138,0.7095227148466997,-0.2334318184256637,0.035],"actuator_force_native":[0.07062362644239073,0.2708453636430761,-0.2542939084895295,-0.1867552476601544,0.30013646147466844,-0.050593066042140755,3.703277006827932e-05],"issued_joint_targets_rad":[-0.18055982647273378,1.246770561876012,-0.8862209457184235,0.13832329835370208,0.7119960840076247,-0.23363264332024977],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.580000000000532,"joint_targets_rad":[-0.18055982647273378,1.246770561876012,-0.8862209457184235,0.13832329835370208,0.7119960840076247,-0.23363264332024977],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.600000000000539,"qpos":[-0.18155823995198495,1.2402248882552267,-0.878049711436497,0.14614201442692423,0.6647634416736782,-0.22739040137616937,0.034999788896321216,-0.0349999606462283,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.505236284726568e-17,7.842622550574298e-17,4.1514835421339634e-08],"qvel":[0.0020966995316003875,0.050579531340466694,-0.07988875395252397,-0.02553651232688568,0.11478675848234927,-0.007634333524446832,-1.4285883401749864e-06,-3.958361223165944e-06,-1.216688009511565e-16,-5.786601013416217e-17,3.85415837536756e-15,-1.3662812579772683e-15,2.4605687703480406e-15,3.985592754430426e-08],"joint_position_rad":[-0.18155823995198495,1.2402248882552267,-0.878049711436497,0.14614201442692423,0.6647634416736782,-0.22739040137616937],"joint_velocity_rad_s":[0.0020966995316003875,0.050579531340466694,-0.07988875395252397,-0.02553651232688568,0.11478675848234927,-0.007634333524446832],"gripper_joint_position_m":[0.034999788896321216,-0.0349999606462283],"tcp_position_m":[0.3060012977867031,-0.035478653237008266,0.18479397328842695],"tcp_quaternion_wxyz":[0.31537983270963743,0.01891396821350678,0.9487706786723076,-0.0034673070455873687],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.505236284726568e-17,7.842622550574298e-17,4.1514835421339634e-08],"object_linear_velocity_m_s":[-1.216688009511565e-16,-5.786601013416217e-17,3.85415837536756e-15],"object_angular_velocity_rad_s":[-1.3662814560259786e-15,2.460568659700238e-15,3.985592754430426e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.18055982647273378,1.246770561876012,-0.8862209457184235,0.13832329835370208,0.7119960840076247,-0.23363264332024977,0.035],"actuator_force_native":[0.06938958068209189,0.270756232960494,-0.2542549727915002,-0.18506608129445734,0.30014628561594137,-0.050970919154133654,1.558708885229798e-05],"issued_joint_targets_rad":[-0.1805361223428328,1.2478524612037718,-0.8879223854429508,0.13787974150977036,0.7144707383088764,-0.2338340580728929],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.600000000000539,"joint_targets_rad":[-0.1805361223428328,1.2478524612037718,-0.8879223854429508,0.13787974150977036,0.7144707383088764,-0.2338340580728929],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6200000000005454,"qpos":[-0.1815171683075407,1.2412986042984184,-0.8797457212432225,0.1456276964641915,0.6672273492694273,-0.22754588981848323,0.03499981309973382,-0.034999993727298624,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-4.413783685378419e-17,8.986613955484404e-17,4.188237734540373e-08],"qvel":[0.002060846222987102,0.0507282263043184,-0.07998329606371521,-0.025304764948698523,0.11485198738650068,-0.007691639366228874,-8.121655627420015e-08,-5.478036984732688e-06,-1.8011731173263866e-16,-9.613302715571871e-17,3.915220641721945e-15,-3.040785527878743e-15,4.9594365320827685e-15,7.27668588206752e-08],"joint_position_rad":[-0.1815171683075407,1.2412986042984184,-0.8797457212432225,0.1456276964641915,0.6672273492694273,-0.22754588981848323],"joint_velocity_rad_s":[0.002060846222987102,0.0507282263043184,-0.07998329606371521,-0.025304764948698523,0.11485198738650068,-0.007691639366228874],"gripper_joint_position_m":[0.03499981309973382,-0.034999993727298624],"tcp_position_m":[0.30601194195331133,-0.03547469254955202,0.18478272624580655],"tcp_quaternion_wxyz":[0.3144997813851337,0.018577735180749566,0.9490694425418533,-0.0034566598838774603],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.413783685378419e-17,8.986613955484404e-17,4.188237734540373e-08],"object_linear_velocity_m_s":[-1.8011731173263866e-16,-9.613302715571871e-17,3.915220641721945e-15],"object_angular_velocity_rad_s":[-3.040785930226164e-15,4.9594362837956404e-15,7.27668588206752e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.1805361223428328,1.2478524612037718,-0.8879223854429508,0.13787974150977036,0.7144707383088764,-0.2338340580728929,0.035],"actuator_force_native":[0.06817944606169668,0.2706674209066904,-0.25421665565968965,-0.18339437343335252,0.300155909314741,-0.05134422349475365,7.88209342861279e-06],"issued_joint_targets_rad":[-0.18051280718494872,1.248937448503434,-0.8896258196337935,0.1374401619178458,0.7169466515416812,-0.23403611165045454],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.6200000000005454,"joint_targets_rad":[-0.18051280718494872,1.248937448503434,-0.8896258196337935,0.1374401619178458,0.7169466515416812,-0.23403611165045454],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.640000000000552,"qpos":[-0.1814768079983008,1.242375444401845,-0.8814437791199774,0.14511803340205823,0.6696927453473758,-0.2277025168749917,0.03499982002479868,-0.034999997947961464,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-4.090475265088901e-17,8.035847441956501e-17,4.215839937396603e-08],"qvel":[0.002025701113543183,0.05087627120188538,-0.08007684263043442,-0.025075212781651597,0.11491576665219157,-0.007748310920162857,-4.503135684352346e-06,9.763344906829616e-07,-9.69944069546324e-17,-4.9232588398187286e-17,3.922159535625854e-15,1.7902752814281116e-15,-3.24806997099833e-15,7.883693253229403e-09],"joint_position_rad":[-0.1814768079983008,1.242375444401845,-0.8814437791199774,0.14511803340205823,0.6696927453473758,-0.2277025168749917],"joint_velocity_rad_s":[0.002025701113543183,0.05087627120188538,-0.08007684263043442,-0.025075212781651597,0.11491576665219157,-0.007748310920162857],"gripper_joint_position_m":[0.03499982002479868,-0.034999997947961464],"tcp_position_m":[0.30602254237382726,-0.03547084170285818,0.1847714294574126],"tcp_quaternion_wxyz":[0.31361845362724944,0.018243087990451615,0.9493675738722002,-0.003444555854963223],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.090475265088901e-17,8.035847441956501e-17,4.215839937396603e-08],"object_linear_velocity_m_s":[-9.69944069546324e-17,-4.9232588398187286e-17,3.922159535625854e-15],"object_angular_velocity_rad_s":[1.7902755565620104e-15,-3.2480698194030764e-15,7.883693253229403e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.18051280718494872,1.248937448503434,-0.8896258196337935,0.1374401619178458,0.7169466515416812,-0.23403611165045454,0.035],"actuator_force_native":[0.0669915595004511,0.2705789721176757,-0.2541790279531284,-0.1817387954602383,0.300165411964767,-0.05171348137438381,2.9714686474724417e-05],"issued_joint_targets_rad":[-0.18048989535901888,1.2500255107291176,-0.8913312287991763,0.13700456327867172,0.7194237987600347,-0.23423885713248252],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.640000000000552,"joint_targets_rad":[-0.18048989535901888,1.2500255107291176,-0.8913312287991763,0.13700456327867172,0.7194237987600347,-0.23423885713248252],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.660000000000559,"qpos":[-0.18143714689666618,1.2434553950489575,-0.88314386434741,0.14461298118670138,0.6721595977590256,-0.22786027075749396,0.034999806826358816,-0.034999978035624636,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-6.172892093968097e-17,9.26659775971026e-17,4.2662345893877306e-08],"qvel":[0.0019910854611817244,0.05102368422316742,-0.0801694109874787,-0.024847867821518717,0.11497798429207787,-0.007804411730946043,-9.915564250005971e-07,-4.0404736271901265e-06,-1.1253255811573706e-16,-7.4215392200101e-17,3.920771756845073e-15,1.502812472132373e-15,-2.884287694036556e-15,1.4393632999897673e-08],"joint_position_rad":[-0.18143714689666618,1.2434553950489575,-0.88314386434741,0.14461298118670138,0.6721595977590256,-0.22786027075749396],"joint_velocity_rad_s":[0.0019910854611817244,0.05102368422316742,-0.0801694109874787,-0.024847867821518717,0.11497798429207787,-0.007804411730946043],"gripper_joint_position_m":[0.034999806826358816,-0.034999978035624636],"tcp_position_m":[0.30603309937676504,-0.0354670974656569,0.1847600829436445],"tcp_quaternion_wxyz":[0.31273586019316435,0.017910008094902872,0.9496650681052453,-0.0034310027603803328],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.172892093968097e-17,9.26659775971026e-17,4.2662345893877306e-08],"object_linear_velocity_m_s":[-1.1253255811573706e-16,-7.4215392200101e-17,3.920771756845073e-15],"object_angular_velocity_rad_s":[1.5028127209009263e-15,-2.8842875640325278e-15,1.4393632999897673e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.18048989535901888,1.2500255107291176,-0.8913312287991763,0.13700456327867172,0.7194237987600347,-0.23423885713248252,0.035],"actuator_force_native":[0.06582469570587612,0.2704908332969609,-0.2541421012039251,-0.18009737721359276,0.30017503357197484,-0.052079246153466485,1.2684727772604987e-05],"issued_joint_targets_rad":[-0.18046740099696254,1.2511166338547777,-0.8930385920618737,0.13657294876954315,0.7219021530044646,-0.23444234619244994],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.660000000000559,"joint_targets_rad":[-0.18046740099696254,1.2511166338547777,-0.8930385920618737,0.13657294876954315,0.7219021530044646,-0.23444234619244994],"gripper_position_m":0.035,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6800000000005655,"qpos":[-0.1813981730677488,1.2445384428724904,-0.8848459567786252,0.1441124998903671,0.6746278758392332,-0.22801914117704372,0.03499982919675358,-0.03500000687932233,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-7.330253573690267e-17,1.0094235662265901e-16,4.3110091185528054e-08],"qvel":[0.0019571195512431304,0.05117045298358878,-0.08026102404605455,-0.02462235512144772,0.11503886594060563,-0.007860034627962698,-2.1748529058721994e-06,-2.00430654707952e-06,-1.3286504614296815e-16,-9.708633506058397e-17,3.92771065074898e-15,7.851253935793451e-16,-1.5883904408046534e-15,2.6279139012783214e-08],"joint_position_rad":[-0.1813981730677488,1.2445384428724904,-0.8848459567786252,0.1441124998903671,0.6746278758392332,-0.22801914117704372],"joint_velocity_rad_s":[0.0019571195512431304,0.05117045298358878,-0.08026102404605455,-0.02462235512144772,0.11503886594060563,-0.007860034627962698],"gripper_joint_position_m":[0.03499982919675358,-0.03500000687932233],"tcp_position_m":[0.3060436133061592,-0.03546345615277292,0.18474868677260986],"tcp_quaternion_wxyz":[0.3118520116430085,0.01757847748103306,0.9499619207421662,-0.0034160069543062695],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.330253573690267e-17,1.0094235662265901e-16,4.3110091185528054e-08],"object_linear_velocity_m_s":[-1.3286504614296815e-16,-9.708633506058397e-17,3.92771065074898e-15],"object_angular_velocity_rad_s":[7.85125535836012e-16,-1.5883903692583377e-15,2.6279139012783214e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.18046740099696254,1.2511166338547777,-0.8930385920618737,0.13657294876954315,0.7219021530044646,-0.23444234619244994,0.035],"actuator_force_native":[0.06467616790668451,0.27040301366504593,-0.2541057024296123,-0.17847026922571896,0.3001844727414058,-0.05244199821211826,1.7706394386030055e-05],"issued_joint_targets_rad":[-0.17546427725615374,1.279007142190005,-0.875214244411481,0.12961131633103845,0.6788817407541857,-0.21870639583958604],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.6800000000005655,"joint_targets_rad":[-0.17546427725615374,1.279007142190005,-0.875214244411481,0.12961131633103845,0.6788817407541857,-0.21870639583958604],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.700000000000572,"qpos":[-0.1810570476261,1.2461557851654528,-0.8857092514095068,0.1432815721327333,0.675872533473234,-0.22803270736419695,0.03500106140248454,-0.03499548547635819,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-7.451987546081308e-17,9.445526980290944e-17,4.3539736974686034e-08],"qvel":[0.026338449354439263,0.14399642042920993,-0.015151098885724962,-0.042457125413194186,0.02611641399300289,0.007787446227351097,-6.453644122524924e-05,0.00015846880588057813,-1.4222372411891264e-16,-1.1530073277132963e-16,3.952690668803046e-15,-5.250174680058798e-16,-3.318185829874774e-16,4.797907152822911e-08],"joint_position_rad":[-0.1810570476261,1.2461557851654528,-0.8857092514095068,0.1432815721327333,0.675872533473234,-0.22803270736419695],"joint_velocity_rad_s":[0.026338449354439263,0.14399642042920993,-0.015151098885724962,-0.042457125413194186,0.02611641399300289,0.007787446227351097],"gripper_joint_position_m":[0.03500106140248454,-0.03499548547635819],"tcp_position_m":[0.30610933868941803,-0.035449141904893795,0.18440422964469833],"tcp_quaternion_wxyz":[0.31086420369420376,0.01715900454331595,0.9502929781755434,-0.0035030065525485272],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.451987546081308e-17,9.445526980290944e-17,4.3539736974686034e-08],"object_linear_velocity_m_s":[-1.4222372411891264e-16,-1.1530073277132963e-16,3.952690668803046e-15],"object_angular_velocity_rad_s":[-5.250174300475382e-16,-3.318186215549318e-16,4.7979071528229124e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.17546427725615374,1.279007142190005,-0.875214244411481,0.12961131633103845,0.6919021530044657,-0.21870639583958604,0.035],"actuator_force_native":[0.3157293828235037,1.908126459818149,0.9153560542706884,-0.3345246050018229,0.1211215743228129,0.08158194590508261,0.0002802261067447187],"issued_joint_targets_rad":[-0.1751267951258532,1.2806477670394,-0.8760847197711424,0.1287924561636504,0.6801168807163595,-0.2186630928515837],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.700000000000572,"joint_targets_rad":[-0.1751267951258532,1.2806477670394,-0.8760847197711424,0.1287924561636504,0.6801168807163595,-0.2186630928515837],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.720000000000579,"qpos":[-0.18042892888551268,1.2506563238476622,-0.8858013336582752,0.14240278553984603,0.6760276610257017,-0.22782551708698534,0.03499934857046007,-0.034995324845702544,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-6.371424964743439e-17,7.651667465353438e-17,4.386042838929158e-08],"qvel":[0.03187301114402644,0.279958208740871,0.0019006706444540152,-0.04256559287635351,-0.0008116828136629923,0.011633733924796243,-8.500319977068975e-05,-0.00013381541734699235,-1.4876822858366592e-16,-1.443139526007273e-16,3.9984873685688364e-15,-3.2053996872200704e-15,2.2826251822632197e-15,8.759766838598413e-08],"joint_position_rad":[-0.18042892888551268,1.2506563238476622,-0.8858013336582752,0.14240278553984603,0.6760276610257017,-0.22782551708698534],"joint_velocity_rad_s":[0.03187301114402644,0.279958208740871,0.0019006706444540152,-0.04256559287635351,-0.0008116828136629923,0.011633733924796243],"gripper_joint_position_m":[0.03499934857046007,-0.034995324845702544],"tcp_position_m":[0.30636920513417965,-0.03541308450605104,0.18301802714163395],"tcp_quaternion_wxyz":[0.3086612664265225,0.016826354937208597,0.9510171933932087,-0.0033755381803169814],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.371424964743439e-17,7.651667465353438e-17,4.386042838929158e-08],"object_linear_velocity_m_s":[-1.4876822858366592e-16,-1.443139526007273e-16,3.9984873685688364e-15],"object_angular_velocity_rad_s":[-3.2053998740485312e-15,2.2826249122452448e-15,8.759766838598414e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":[-0.1751267951258532,1.2806477670394,-0.8760847197711424,0.1287924561636504,0.6801168807163595,-0.2186630928515837,0.035],"actuator_force_native":[0.26480564505262727,0.9995244116346669,0.7678257577483549,-0.3315852106660575,0.042109721127071786,0.07417364146682237,0.0004510731804510115],"issued_joint_targets_rad":[-0.1745408085953048,1.2852166654452404,-0.8762192244484266,0.12793318823468935,0.6802527678034437,-0.21843552002994554],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.720000000000579,"joint_targets_rad":[-0.1745408085953048,1.2852166654452404,-0.8762192244484266,0.12793318823468935,0.6802527678034437,-0.21843552002994554],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.7400000000005855,"qpos":[-0.17977263755344589,1.2571052323178176,-0.8856519471678483,0.14148370708140545,0.6759750776955455,-0.22759001993998582,0.03499885853458346,-0.03499799910992966,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.5178540196583843e-17,6.237162207717749e-17,4.419270721123183e-08],"qvel":[0.03030645590308841,0.3440522639086893,0.017615428862982677,-0.0437255445797579,-0.0033417625643464267,0.012256940993686214,-8.008092101227297e-06,-0.00016355762790059571,-7.747934103419751e-17,-6.95708960599494e-17,4.010977377595872e-15,2.345426963916116e-15,-2.950096119633716e-15,9.490490017647877e-09],"joint_position_rad":[-0.17977263755344589,1.2571052323178176,-0.8856519471678483,0.14148370708140545,0.6759750776955455,-0.22759001993998582],"joint_velocity_rad_s":[0.03030645590308841,0.3440522639086893,0.017615428862982677,-0.0437255445797579,-0.0033417625643464267,0.012256940993686214],"gripper_joint_position_m":[0.03499885853458346,-0.03499799910992966],"tcp_position_m":[0.3067166310413671,-0.03539410518853284,0.18096568131153445],"tcp_quaternion_wxyz":[0.3055210729238563,0.01654399696999208,0.9520364937869119,-0.0031120189002933588],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.5178540196583843e-17,6.237162207717749e-17,4.419270721123183e-08],"object_linear_velocity_m_s":[-7.747934103419751e-17,-6.95708960599494e-17,4.010977377595872e-15],"object_angular_velocity_rad_s":[2.3454272258454495e-15,-2.9500959112848275e-15,9.490490017647878e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981}],"native_actuator_controls":[-0.1745408085953048,1.2852166654452404,-0.8762192244484266,0.12793318823468935,0.6802527678034437,-0.21843552002994554,0.035],"actuator_force_native":[0.26701403713584426,0.5286533306503856,0.6665406732388277,-0.3233930309698545,0.047789544925501914,0.07315958760987318,8.569907716782232e-05],"issued_joint_targets_rad":[-0.17391621088080583,1.291772494917763,-0.8761357399132602,0.12700697577293255,0.6801599226109736,-0.21815726671473037],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.7400000000005855,"joint_targets_rad":[-0.17391621088080583,1.291772494917763,-0.8761357399132602,0.12700697577293255,0.6801599226109736,-0.21815726671473037],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.760000000000592,"qpos":[-0.17915293901200782,1.2644256869524841,-0.8851601425409473,0.14053142984262962,0.6759199618224561,-0.22734999626826038,0.0349993643407574,-0.03499978596726192,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.410098322688533e-17,5.316495174097293e-17,4.467182479962083e-08],"qvel":[0.028516597107644915,0.37384716175078325,0.035190307858485266,-0.04507729673878359,-0.0023854444217156923,0.012327878177419972,1.1064611826694542e-05,-8.914751811259129e-05,-6.813342860625896e-17,-6.983929299619505e-17,4.013752935157435e-15,1.967660034512847e-15,-2.1526181593587494e-15,1.7327238125007746e-08],"joint_position_rad":[-0.17915293901200782,1.2644256869524841,-0.8851601425409473,0.14053142984262962,0.6759199618224561,-0.22734999626826038],"joint_velocity_rad_s":[0.028516597107644915,0.37384716175078325,0.035190307858485266,-0.04507729673878359,-0.0023854444217156923,0.012327878177419972],"gripper_joint_position_m":[0.0349993643407574,-0.03499978596726192],"tcp_position_m":[0.30702144176914875,-0.035382884601631207,0.17851671011556242],"tcp_quaternion_wxyz":[0.3018051638278566,0.016299878475388035,0.9532262360574187,-0.0027748766340779988],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.410098322688533e-17,5.316495174097293e-17,4.467182479962083e-08],"object_linear_velocity_m_s":[-6.813342860625896e-17,-6.983929299619505e-17,4.013752935157435e-15],"object_angular_velocity_rad_s":[1.9676602286780057e-15,-2.1526179816859715e-15,1.732723812500775e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.17391621088080583,1.291772494917763,-0.8761357399132602,0.12700697577293255,0.6801599226109736,-0.21815726671473037,0.035],"actuator_force_native":[0.2763552649579335,0.31850882846838147,0.5460006709225382,-0.31559167909396546,0.045977774517749204,0.0734354782691704,-2.989668942943169e-05],"issued_joint_targets_rad":[-0.17330807013790736,1.2992681794008545,-0.8757436303734097,0.12602468859595886,0.6800247010776221,-0.21784972297898633],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.760000000000592,"joint_targets_rad":[-0.17330807013790736,1.2992681794008545,-0.8757436303734097,0.12602468859595886,0.6800247010776221,-0.21784972297898633],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.780000000000599,"qpos":[-0.1785594877159403,1.2721828242545663,-0.8843547577233575,0.13954713186186696,0.6758915227507635,-0.22711050717389872,0.03499983538137179,-0.035000143626992615,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.661258120297923e-17,4.7569249805247235e-17,4.5091283118303686e-08],"qvel":[0.027643064665261317,0.3908799704143882,0.04806412873500019,-0.04655026403358147,-0.0007850048140069752,0.012261946911562922,-8.429917234416578e-06,-2.847566474647127e-05,-6.753703980989512e-17,-8.245771282823911e-17,4.0109773775958715e-15,3.7523252184912406e-16,-8.346814907723055e-16,3.163516114367467e-08],"joint_position_rad":[-0.1785594877159403,1.2721828242545663,-0.8843547577233575,0.13954713186186696,0.6758915227507635,-0.22711050717389872],"joint_velocity_rad_s":[0.027643064665261317,0.3908799704143882,0.04806412873500019,-0.04655026403358147,-0.0007850048140069752,0.012261946911562922],"gripper_joint_position_m":[0.03499983538137179,-0.035000143626992615],"tcp_position_m":[0.30725378343939846,-0.035370063702491523,0.1758136013788212],"tcp_quaternion_wxyz":[0.29771643386013047,0.016073302577838167,0.9545160227057499,-0.0023950682337780397],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.661258120297923e-17,4.7569249805247235e-17,4.5091283118303686e-08],"object_linear_velocity_m_s":[-6.753703980989512e-17,-8.245771282823911e-17,4.0109773775958715e-15],"object_angular_velocity_rad_s":[3.7523260013256306e-16,-8.346814533509742e-16,3.1635161143674675e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.17330807013790736,1.2992681794008545,-0.8757436303734097,0.12602468859595886,0.6800247010776221,-0.21784972297898633,0.035],"actuator_force_native":[0.281898082916328,0.21242855963112106,0.44856954432081864,-0.3081464104684164,0.04250929048959673,0.07421492158177934,4.873433130048177e-05],"issued_joint_targets_rad":[-0.1727107449072854,1.3072650186583028,-0.8750696260997691,0.12499495571029046,0.6798797068735379,-0.21752422963590373],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.780000000000599,"joint_targets_rad":[-0.1727107449072854,1.3072650186583028,-0.8750696260997691,0.12499495571029046,0.6798797068735379,-0.21752422963590373],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.800000000000606,"qpos":[-0.17797719406227752,1.2802118542359109,-0.8833402773374645,0.13853621782409578,0.675891323860751,-0.22687182408621953,0.03499989184490949,-0.034999712798840996,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.9118263753147844e-17,4.79892524010426e-17,4.5483278850282226e-08],"qvel":[0.027364622892755885,0.4024470509211189,0.055953095305752876,-0.047689284596628904,0.0005251677390623227,0.012234842286881568,-2.154476934998248e-05,-1.6988312308043617e-05,-8.713815301147423e-17,-5.221222537860947e-17,4.012365156376652e-15,2.0173807015169645e-15,1.4334667289061041e-15,5.775781537519388e-08],"joint_position_rad":[-0.17797719406227752,1.2802118542359109,-0.8833402773374645,0.13853621782409578,0.675891323860751,-0.22687182408621953],"joint_velocity_rad_s":[0.027364622892755885,0.4024470509211189,0.055953095305752876,-0.047689284596628904,0.0005251677390623227,0.012234842286881568],"gripper_joint_position_m":[0.03499989184490949,-0.034999712798840996],"tcp_position_m":[0.30742315137423437,-0.03535202534574105,0.17294688778465],"tcp_quaternion_wxyz":[0.29338018251095727,0.015851007194175003,0.9558623643678082,-0.0019885839059876494],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.9118263753147844e-17,4.79892524010426e-17,4.5483278850282226e-08],"object_linear_velocity_m_s":[-8.713815301147423e-17,-5.221222537860947e-17,4.012365156376652e-15],"object_angular_velocity_rad_s":[2.0173805766629314e-15,1.4334669169390477e-15,5.7757815375193896e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1727107449072854,1.3072650186583028,-0.8750696260997691,0.12499495571029046,0.6798797068735379,-0.21752422963590373,0.035],"actuator_force_native":[0.28449281793558967,0.1520178991857506,0.38188662248686,-0.3032040615690681,0.039096078519275324,0.07512368107283596,0.00011205005037062676],"issued_joint_targets_rad":[-0.17211502331650413,1.3155802932611507,-0.8742101721181407,0.12392832756145444,0.6797376578959792,-0.21718676433393488],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.800000000000606,"joint_targets_rad":[-0.17211502331650413,1.3155802932611507,-0.8742101721181407,0.12392832756145444,0.6797376578959792,-0.21718676433393488],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.820000000000612,"qpos":[-0.17739682971295329,1.2884385431345673,-0.8822058501953799,0.13750438027305667,0.6759117489375042,-0.22663302497550208,0.03499984805040338,-0.034999322682867415,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.6981066673505294e-17,4.3703540532100964e-17,4.580739084089861e-08],"qvel":[0.02741112288376602,0.41129845820070815,0.060142462903302614,-0.04858444221704075,0.0013880456540291085,0.012261909917831727,-2.411527735154925e-05,-2.5411499737068693e-05,-1.0269251118855966e-16,-8.450989734976612e-17,4.015140713938215e-15,-3.002825850456801e-15,2.6971190252939127e-15,1.0545118521016467e-07],"joint_position_rad":[-0.17739682971295329,1.2884385431345673,-0.8822058501953799,0.13750438027305667,0.6759117489375042,-0.22663302497550208],"joint_velocity_rad_s":[0.02741112288376602,0.41129845820070815,0.060142462903302614,-0.04858444221704075,0.0013880456540291085,0.012261909917831727],"gripper_joint_position_m":[0.03499984805040338,-0.034999322682867415],"tcp_position_m":[0.30754395187290057,-0.03532800842718251,0.16997414574966202],"tcp_quaternion_wxyz":[0.2888766325070287,0.015626376320818862,0.9572375141059334,-0.001564973728835175],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.6981066673505294e-17,4.3703540532100964e-17,4.580739084089861e-08],"object_linear_velocity_m_s":[-1.0269251118855966e-16,-8.450989734976612e-17,4.015140713938215e-15],"object_angular_velocity_rad_s":[-3.0028260883355795e-15,2.6971187558810387e-15,1.054511852101647e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.17211502331650413,1.3155802932611507,-0.8742101721181407,0.12392832756145444,0.6797376578959792,-0.21718676433393488,0.035],"actuator_force_native":[0.28548889729710325,0.11484771912313363,0.33894193166263165,-0.30011989737888545,0.036177021103706686,0.07606974153892487,0.0001266543706226475],"issued_joint_targets_rad":[-0.1715158225474981,1.3241234722847675,-0.8732471148738328,0.12283351709943609,0.6796007303870877,-0.21684015280072994],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.820000000000612,"joint_targets_rad":[-0.1715158225474981,1.3241234722847675,-0.8732471148738328,0.12283351709943609,0.6796007303870877,-0.21684015280072994],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.840000000000619,"qpos":[-0.1768136361085883,1.296823443706712,-0.8810138090726912,0.13645536328520538,0.6759450110780332,-0.22639319155053667,0.034999792441495294,-0.034999107579207905,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.9224883992399255e-17,3.915015296573076e-17,4.620739230485815e-08],"qvel":[0.02761634810810643,0.41860310546514984,0.06184577405762149,-0.049329760805494,0.0018879697342034489,0.012332648631397752,-2.38971579043527e-05,-3.5496980172895784e-05,-4.8646045776694744e-17,-3.613835897011467e-17,4.151143034454798e-15,1.0494864142367413e-15,-1.7193022972490848e-15,1.142477236010929e-08],"joint_position_rad":[-0.1768136361085883,1.296823443706712,-0.8810138090726912,0.13645536328520538,0.6759450110780332,-0.22639319155053667],"joint_velocity_rad_s":[0.02761634810810643,0.41860310546514984,0.06184577405762149,-0.049329760805494,0.0018879697342034489,0.012332648631397752],"gripper_joint_position_m":[0.034999792441495294,-0.034999107579207905],"tcp_position_m":[0.3076276328895543,-0.035298344105515786,0.16693191965393636],"tcp_quaternion_wxyz":[0.2842572497619279,0.015396069615249964,0.9586237524643958,-0.0011305791736669734],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.9224883992399255e-17,3.915015296573076e-17,4.620739230485815e-08],"object_linear_velocity_m_s":[-4.8646045776694744e-17,-3.613835897011467e-17,4.151143034454798e-15],"object_angular_velocity_rad_s":[1.0494865740202518e-15,-1.719302199593242e-15,1.1424772360109294e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1715158225474981,1.3241234722847675,-0.8732471148738328,0.12283351709943609,0.6796007303870877,-0.21684015280072994,0.035],"actuator_force_native":[0.28574334434668636,0.09098675891868879,0.31210666562057554,-0.2982250434033018,0.03372523848923947,0.07703141455097029,0.00012778812971014908],"issued_joint_targets_rad":[-0.1709109542522361,1.3328431270135694,-0.8722373411374559,0.12171595920469656,0.6794681572679341,-0.2164856502726046],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.840000000000619,"joint_targets_rad":[-0.1709109542522361,1.3328431270135694,-0.8722373411374559,0.12171595920469656,0.6794681572679341,-0.2164856502726046],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.860000000000626,"qpos":[-0.17622534886045219,1.305343191176354,-0.8798052588765539,0.13539135884744716,0.6759853231710969,-0.22615162825272794,0.03499977141759742,-0.03499904442716258,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.918277506662772e-17,4.3048631745728536e-17,4.6661222837511464e-08],"qvel":[0.02789441113516158,0.4249571807873902,0.06193158962871864,-0.04999017561033164,0.0021362950254970228,0.012434677131002336,-2.248626649677401e-05,-4.244997428785368e-05,-5.4214690159486903e-17,-2.4892630940478902e-17,4.173347494947304e-15,1.0279144382319733e-15,-8.961928465044498e-16,2.0858749215215085e-08],"joint_position_rad":[-0.17622534886045219,1.305343191176354,-0.8798052588765539,0.13539135884744716,0.6759853231710969,-0.22615162825272794],"joint_velocity_rad_s":[0.02789441113516158,0.4249571807873902,0.06193158962871864,-0.04999017561033164,0.0021362950254970228,0.012434677131002336],"gripper_joint_position_m":[0.03499977141759742,-0.03499904442716258],"tcp_position_m":[0.30768210009392954,-0.035263642851959355,0.16384344671718537],"tcp_quaternion_wxyz":[0.2795550784687318,0.01515834578718373,0.9600097431623769,-0.0006897018524107285],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.918277506662772e-17,4.3048631745728536e-17,4.6661222837511464e-08],"object_linear_velocity_m_s":[-5.4214690159486903e-17,-2.4892630940478902e-17,4.173347494947304e-15],"object_angular_velocity_rad_s":[1.0279145236627584e-15,-8.961927497766995e-16,2.0858749215215095e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.1709109542522361,1.3328431270135694,-0.8722373411374559,0.12171595920469656,0.6794681572679341,-0.2164856502726046,0.035],"actuator_force_native":[0.28567951298147776,0.07520896304029634,0.2957754709842533,-0.2970651076583657,0.031623898430126474,0.07800776410472965,0.00012157462858719548],"issued_joint_targets_rad":[-0.17029972506667504,1.3417075453732648,-0.871218063053167,0.12057877498986118,0.6793388975692539,-0.21612378768608206],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.860000000000626,"joint_targets_rad":[-0.17029972506667504,1.3417075453732648,-0.871218063053167,0.12057877498986118,0.6793388975692539,-0.21612378768608206],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.880000000000632,"qpos":[-0.17563096763223207,1.313983068195847,-0.878606734611082,0.13431354643769616,0.6760287943237892,-0.22590783935129854,0.03499977656225384,-0.034999067993822915,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-4.2897125421992856e-17,4.057341638778021e-17,4.710535952347139e-08],"qvel":[0.028202391003518238,0.4306986347361524,0.060979546866931605,-0.05060673113467567,0.002219948070796525,0.012558768281007934,-2.204736451298123e-05,-4.636452049590696e-05,-5.867929926251787e-17,-7.055011682859004e-17,4.177510831289649e-15,-2.1915286662396908e-15,-6.622169155246136e-16,3.8082808576770266e-08],"joint_position_rad":[-0.17563096763223207,1.313983068195847,-0.878606734611082,0.13431354643769616,0.6760287943237892,-0.22590783935129854],"joint_velocity_rad_s":[0.028202391003518238,0.4306986347361524,0.060979546866931605,-0.05060673113467567,0.002219948070796525,0.012558768281007934],"gripper_joint_position_m":[0.03499977656225384,-0.034999067993822915],"tcp_position_m":[0.30771253817089067,-0.035224498308658043,0.1607235371664768],"tcp_quaternion_wxyz":[0.27479138585187685,0.01491225262724215,0.9613881936148392,-0.00024527776623978437],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-4.2897125421992856e-17,4.057341638778021e-17,4.710535952347139e-08],"object_linear_velocity_m_s":[-5.867929926251787e-17,-7.055011682859004e-17,4.177510831289649e-15],"object_angular_velocity_rad_s":[-2.1915286007614513e-15,-6.622171187228163e-16,3.8082808576770286e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.17029972506667504,1.3417075453732648,-0.871218063053167,0.12057877498986118,0.6793388975692539,-0.21612378768608206,0.035],"actuator_force_native":[0.285487450226972,0.06446500051264081,0.2861959902985376,-0.2963572022400207,0.029771110348453256,0.07900236423065277,0.00011917433241159792],"issued_joint_targets_rad":[-0.1696821267410271,1.3506962096829642,-0.8702130046516752,0.1194236426651477,0.6792122255469324,-0.2157547632786072],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.880000000000632,"joint_targets_rad":[-0.1696821267410271,1.3506962096829642,-0.8702130046516752,0.1194236426651477,0.6792122255469324,-0.2157547632786072],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.900000000000639,"qpos":[-0.1750301275370079,1.3227333724133765,-0.8774351708180638,0.13322247418933925,0.6760729132484923,-0.2256614701916244,0.03499979496901579,-0.0349991293811023,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.566564389133723e-17,4.0331204690612666e-17,4.745655016437449e-08],"qvel":[0.028518433506339185,0.4360277397845608,0.05936840774489456,-0.051205054130203716,0.002198745846766116,0.012698711483893859,-2.207057920685734e-05,-4.829813265462784e-05,-9.083444760183381e-17,-1.2141489903625575e-16,4.1747352737280846e-15,-4.21808754163103e-15,2.726985271706719e-15,6.952959135426278e-08],"joint_position_rad":[-0.1750301275370079,1.3227333724133765,-0.8774351708180638,0.13322247418933925,0.6760729132484923,-0.2256614701916244],"joint_velocity_rad_s":[0.028518433506339185,0.4360277397845608,0.05936840774489456,-0.051205054130203716,0.002198745846766116,0.012698711483893859],"gripper_joint_position_m":[0.03499979496901579,-0.0349991293811023],"tcp_position_m":[0.30772224089273414,-0.035181407725619514,0.1575816645201142],"tcp_quaternion_wxyz":[0.26997993304957624,0.01465724270413244,0.962754361568789,0.0002006667188827702],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.566564389133723e-17,4.0331204690612666e-17,4.745655016437449e-08],"object_linear_velocity_m_s":[-9.083444760183381e-17,-1.2141489903625575e-16,4.1747352737280846e-15],"object_angular_velocity_rad_s":[-4.218087794849217e-15,2.726984879095761e-15,6.952959135426281e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.1696821267410271,1.3506962096829642,-0.8702130046516752,0.1194236426651477,0.6792122255469324,-0.2157547632786072,0.035],"actuator_force_native":[0.2852478961467675,0.05688828264422341,0.28093125458660495,-0.2959279903166445,0.028095004214251595,0.08001900190433142,0.00011855413540273751],"issued_joint_targets_rad":[-0.16905845954510207,1.3597952955212056,-0.8692369925128016,0.11825136220090574,0.6790877498651386,-0.215378621504844],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.900000000000639,"joint_targets_rad":[-0.16905845954510207,1.3597952955212056,-0.8692369925128016,0.11825136220090574,0.6790877498651386,-0.215378621504844],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.920000000000646,"qpos":[-0.17442281751507252,1.3315867068820495,-0.8763009857646192,0.13211827692028658,0.6761160926266443,-0.22541225786954383,0.03499980131077523,-0.034999190766748366,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-5.341974668937327e-17,3.7978084437295744e-17,4.772029246632002e-08],"qvel":[0.02883041731951215,0.44103521406840235,0.05735090390251431,-0.051802165227882294,0.002113726418050031,0.012850303349918137,-2.3411689980703245e-05,-4.8635966607831426e-05,-4.630965160507594e-17,-6.402953520634947e-17,4.173347494947303e-15,2.2838517840255255e-15,-1.4329197336366654e-15,7.53296183376886e-09],"joint_position_rad":[-0.17442281751507252,1.3315867068820495,-0.8763009857646192,0.13211827692028658,0.6761160926266443,-0.22541225786954383],"joint_velocity_rad_s":[0.02883041731951215,0.44103521406840235,0.05735090390251431,-0.051802165227882294,0.002113726418050031,0.012850303349918137],"gripper_joint_position_m":[0.03499980131077523,-0.034999190766748366],"tcp_position_m":[0.3077131388644122,-0.035134764572432836,0.154424043356634],"tcp_quaternion_wxyz":[0.2651299058328066,0.014392982126506344,0.9641050549241652,0.0006466593120584283],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-5.341974668937327e-17,3.7978084437295744e-17,4.772029246632002e-08],"object_linear_velocity_m_s":[-4.630965160507594e-17,-6.402953520634947e-17,4.173347494947303e-15],"object_angular_velocity_rad_s":[2.2838519213563886e-15,-1.4329195148596915e-15,7.532961833768864e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16905845954510207,1.3597952955212056,-0.8692369925128016,0.11825136220090574,0.6790877498651386,-0.215378621504844,0.035],"actuator_force_native":[0.2849965510000736,0.05151102079048542,0.2783649406328408,-0.29566576263582256,0.026545982757868458,0.08106090862212145,0.00012500601889442464],"issued_joint_targets_rad":[-0.16842919073445803,1.3689944101222293,-0.8682988008175889,0.11706218335723284,0.6789652993822411,-0.21499533826573763],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.920000000000646,"joint_targets_rad":[-0.16842919073445803,1.3689944101222293,-0.8682988008175889,0.11706218335723284,0.6789652993822411,-0.21499533826573763],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.940000000000652,"qpos":[-0.17380919487651766,1.340537772486142,-0.8752107726411946,0.1310008569331567,0.676157376052292,-0.22516000290055177,0.03499980097605484,-0.034999240333729566,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-7.232591541573505e-17,3.870698838770406e-17,4.8201819306446285e-08],"qvel":[0.029131587381510192,0.445810052513479,0.05507961207411113,-0.052407277461446994,0.0019893723148381418,0.013011092018812738,-2.399011947839792e-05,-4.8894594961056445e-05,-4.837674163334354e-17,-8.794983538623052e-17,4.17057193738574e-15,2.0780549269172683e-15,-1.4669498571453955e-15,1.3753285998677306e-08],"joint_position_rad":[-0.17380919487651766,1.340537772486142,-0.8752107726411946,0.1310008569331567,0.676157376052292,-0.22516000290055177],"joint_velocity_rad_s":[0.029131587381510192,0.445810052513479,0.05507961207411113,-0.052407277461446994,0.0019893723148381418,0.013011092018812738],"gripper_joint_position_m":[0.03499980097605484,-0.034999240333729566],"tcp_position_m":[0.30768637894427237,-0.03508488937700939,0.1512547385335988],"tcp_quaternion_wxyz":[0.2602474123196295,0.01411925654804668,0.9654381074493924,0.0010916318074908065],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-7.232591541573505e-17,3.870698838770406e-17,4.8201819306446285e-08],"object_linear_velocity_m_s":[-4.837674163334354e-17,-8.794983538623052e-17,4.17057193738574e-15],"object_angular_velocity_rad_s":[2.07805506940126e-15,-1.4669496548238953e-15,1.3753285998677313e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.16842919073445803,1.3689944101222293,-0.8682988008175889,0.11706218335723284,0.6789652993822411,-0.21499533826573763,0.035],"actuator_force_native":[0.28474239445722027,0.04748074831958604,0.27755968551790033,-0.2955105557297184,0.02509517482723478,0.08213000831992234,0.00012791155519842334],"issued_joint_targets_rad":[-0.1677948704738112,1.3782858682237085,-0.8674036012102392,0.11585603799733851,0.6788449208563794,-0.21460487519262736],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.940000000000652,"joint_targets_rad":[-0.1677948704738112,1.3782858682237085,-0.8674036012102392,0.11585603799733851,0.6788449208563794,-0.21460487519262736],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.960000000000659,"qpos":[-0.1731895429098103,1.3495825421806524,-0.8741685215994508,0.1298699660026738,0.6761961744835358,-0.2249045417216838,0.03499980030022211,-0.03499927647550349,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-6.645845579190077e-17,4.7044095626805436e-17,4.86856070658567e-08],"qvel":[0.02941645483953876,0.450398790310702,0.05266136578823587,-0.05302698797890219,0.0018410974420039643,0.013179536872356918,-2.4476997451360982e-05,-4.911408564395686e-05,-5.98586375137007e-17,-8.490467948823072e-17,4.251063106671063e-15,1.9351568708931324e-15,-5.86754208221342e-16,2.511002709631248e-08],"joint_position_rad":[-0.1731895429098103,1.3495825421806524,-0.8741685215994508,0.1298699660026738,0.6761961744835358,-0.2249045417216838],"joint_velocity_rad_s":[0.02941645483953876,0.450398790310702,0.05266136578823587,-0.05302698797890219,0.0018410974420039643,0.013179536872356918],"gripper_joint_position_m":[0.03499980030022211,-0.03499927647550349],"tcp_position_m":[0.30764256265169887,-0.03503205584813946,0.14807641738141702],"tcp_quaternion_wxyz":[0.2553365669473092,0.01383594051585957,0.966752009973279,0.0015347775830133854],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-6.645845579190077e-17,4.7044095626805436e-17,4.86856070658567e-08],"object_linear_velocity_m_s":[-5.98586375137007e-17,-8.490467948823072e-17,4.251063106671063e-15],"object_angular_velocity_rad_s":[1.935156930388651e-15,-5.867540164552182e-16,2.5110027096312497e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1677948704738112,1.3782858682237085,-0.8674036012102392,0.11585603799733851,0.6788449208563794,-0.21460487519262736,0.035],"actuator_force_native":[0.28449152068223427,0.04427213189096335,0.2778868021957521,-0.29542218031890055,0.02372581756543024,0.08322735998202901,0.00013037297837259487],"issued_joint_targets_rad":[-0.16715613569409543,1.3876636087587426,-0.8665540628570974,0.11463265329268378,0.6787267602252803,-0.21420719465116053],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.960000000000659,"joint_targets_rad":[-0.16715613569409543,1.3876636087587426,-0.8665540628570974,0.11463265329268378,0.6787267602252803,-0.21420719465116053],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.980000000000666,"qpos":[-0.17256425025672714,1.3587175810283307,-0.8731763858402193,0.1287252499734227,0.6762321372746671,-0.22464573407885213,0.03499979976062228,-0.03499930021911661,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.2778158519265842e-17,5.987772497595961e-17,4.909613868191633e-08],"qvel":[0.029680360918631205,0.4548217511306287,0.05017138195757533,-0.05366596633422302,0.0016792440184188605,0.013354580817288637,-2.4962276606086583e-05,-4.943619157136972e-05,-9.838782090446791e-17,-1.444882535481958e-17,4.2649408944788786e-15,4.7261294197053765e-15,1.819240599819239e-15,4.584456840628283e-08],"joint_position_rad":[-0.17256425025672714,1.3587175810283307,-0.8731763858402193,0.1287252499734227,0.6762321372746671,-0.22464573407885213],"joint_velocity_rad_s":[0.029680360918631205,0.4548217511306287,0.05017138195757533,-0.05366596633422302,0.0016792440184188605,0.013354580817288637],"gripper_joint_position_m":[0.03499979976062228,-0.03499930021911661],"tcp_position_m":[0.3075818866800054,-0.03497650768169782,0.14489086854403882],"tcp_quaternion_wxyz":[0.25040023064044353,0.013542972273010509,0.9680456652419789,0.001975450186653755],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.2778158519265842e-17,5.987772497595961e-17,4.909613868191633e-08],"object_linear_velocity_m_s":[-9.838782090446791e-17,-1.444882535481958e-17,4.2649408944788786e-15],"object_angular_velocity_rad_s":[4.7261292465601155e-15,1.8192410659771523e-15,4.5844568406282866e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.16715613569409543,1.3876636087587426,-0.8665540628570974,0.11463265329268378,0.6787267602252803,-0.21420719465116053,0.035],"actuator_force_native":[0.28424736041738186,0.04157346277980878,0.27892892886188747,-0.2953740355584422,0.022427363478503715,0.08435352305098309,0.00013282095813926809],"issued_joint_targets_rad":[-0.16651372251440105,1.3971223445840488,-0.865751033417169,0.11339161934728675,0.6786110253956276,-0.2138022791046411],"issued_gripper_position_m":0.035,"command":{"t_seconds":6.980000000000666,"joint_targets_rad":[-0.16651372251440105,1.3971223445840488,-0.865751033417169,0.11339161934728675,0.6786110253956276,-0.2138022791046411],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.000000000000672,"qpos":[-0.17193379945545575,1.3679396668420176,-0.8722352140471377,0.12756628207627901,0.6762650722434147,-0.22438345577032845,0.03499979226267753,-0.034999307663985214,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.244374730217457e-17,6.166040575635433e-17,4.945750598220091e-08],"qvel":[0.029918939374346858,0.4590842347415693,0.047663925530782164,-0.0543274766055008,0.001510654569998961,0.013535481576108826,-2.60857347074987e-05,-4.9273857863287745e-05,-1.293715684130642e-16,6.282894715266327e-17,4.183061946412773e-15,6.266404890910089e-15,3.172701242154918e-15,8.370060471444596e-08],"joint_position_rad":[-0.17193379945545575,1.3679396668420176,-0.8722352140471377,0.12756628207627901,0.6762650722434147,-0.22438345577032845],"joint_velocity_rad_s":[0.029918939374346858,0.4590842347415693,0.047663925530782164,-0.0543274766055008,0.001510654569998961,0.013535481576108826],"gripper_joint_position_m":[0.03499979226267753,-0.034999307663985214],"tcp_position_m":[0.3075042480725698,-0.0349184719024345,0.14169933218025432],"tcp_quaternion_wxyz":[0.2454404779866875,0.013240340081495957,0.9693182357204905,0.0024131017194406884],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.244374730217457e-17,6.166040575635433e-17,4.945750598220091e-08],"object_linear_velocity_m_s":[-1.293715684130642e-16,6.282894715266327e-17,4.183061946412773e-15],"object_angular_velocity_rad_s":[6.266404587404308e-15,3.172701859913322e-15,8.370060471444602e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015}],"native_actuator_controls":[-0.16651372251440105,1.3971223445840488,-0.865751033417169,0.11339161934728675,0.6786110253956276,-0.2138022791046411,0.035],"actuator_force_native":[0.28401145841264075,0.03919304565464188,0.2804148227435803,-0.29534912613218633,0.02119354966712983,0.08550854429271038,0.00013873816643661385],"issued_joint_targets_rad":[-0.16586848282953212,1.4066570464040007,-0.8649939973303993,0.11213243850555296,0.6784979734373622,-0.21339015150123808],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.000000000000672,"joint_targets_rad":[-0.16586848282953212,1.4066570464040007,-0.8649939973303993,0.11213243850555296,0.6784979734373622,-0.21339015150123808],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.020000000000679,"qpos":[-0.17129876612244718,1.3772455575331692,-0.8713448871677653,0.12639258645878018,0.676294890040022,-0.22411759402319908,0.0349997880152298,-0.03499931009755451,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,2.8475265626532305e-17,5.420941876414557e-17,4.9775002313355e-08],"qvel":[0.030127650023795378,0.4631817072266405,0.04518055345198095,-0.05501384444255911,0.001339777603824839,0.013721683575371258,-2.5905065797472177e-05,-5.044362643553467e-05,-6.681322706084054e-17,3.0845004827592056e-17,4.252450885451847e-15,-3.136591396380814e-16,-2.4397573677039483e-15,9.068275082543633e-09],"joint_position_rad":[-0.17129876612244718,1.3772455575331692,-0.8713448871677653,0.12639258645878018,0.676294890040022,-0.22411759402319908],"joint_velocity_rad_s":[0.030127650023795378,0.4631817072266405,0.04518055345198095,-0.05501384444255911,0.001339777603824839,0.013721683575371258],"gripper_joint_position_m":[0.0349997880152298,-0.03499931009755451],"tcp_position_m":[0.307409313723633,-0.034858169669381614,0.13850270838843867],"tcp_quaternion_wxyz":[0.2404588923068306,0.012928077993831683,0.9705690491196578,0.002847244443494806],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,2.8475265626532305e-17,5.420941876414557e-17,4.9775002313355e-08],"object_linear_velocity_m_s":[-6.681322706084054e-17,3.0845004827592056e-17,4.252450885451847e-15],"object_angular_velocity_rad_s":[-3.1365889577705097e-16,-2.43975739944515e-15,9.068275082543639e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16586848282953212,1.4066570464040007,-0.8649939973303993,0.11213243850555296,0.6784979734373622,-0.21339015150123808,0.035],"actuator_force_native":[0.283784413314228,0.03701057353330839,0.28216841972935924,-0.2953366959162924,0.020021167567664477,0.08669189985655334,0.0001380047197956369],"issued_joint_targets_rad":[-0.1652214083198668,1.4162625981271726,-0.8642813458340625,0.1108545605231302,0.6783879034415871,-0.21297089636843394],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.020000000000679,"joint_targets_rad":[-0.1652214083198668,1.4162625981271726,-0.8642813458340625,0.1108545605231302,0.6783879034415871,-0.21297089636843394],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.040000000000686,"qpos":[-0.17065982731338236,1.3866318292516664,-0.8705045137953922,0.12520365430681216,0.6763215666266698,-0.22384804510084766,0.03499978992351498,-0.034999314810604774,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,5.908260437941628e-17,5.3009656787788146e-17,5.02328048167365e-08],"qvel":[0.03030139561530613,0.4671024308355918,0.042755849046225015,-0.05572674937686455,0.0011694842546023873,0.013912715538655057,-2.624095340447813e-05,-5.1302393328768194e-05,-6.77663027772388e-17,7.01381195046806e-17,4.2663286732596635e-15,-5.363981363630878e-16,-1.787803240107345e-15,1.6556380276057806e-08],"joint_position_rad":[-0.17065982731338236,1.3866318292516664,-0.8705045137953922,0.12520365430681216,0.6763215666266698,-0.22384804510084766],"joint_velocity_rad_s":[0.03030139561530613,0.4671024308355918,0.042755849046225015,-0.05572674937686455,0.0011694842546023873,0.013912715538655057],"gripper_joint_position_m":[0.03499978992351498,-0.034999314810604774],"tcp_position_m":[0.30729656094622365,-0.03479582523584739,0.13530168948848043],"tcp_quaternion_wxyz":[0.2354567524027242,0.012606267936112288,0.9717975397341437,0.003277426330270009],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,5.908260437941628e-17,5.3009656787788146e-17,5.02328048167365e-08],"object_linear_velocity_m_s":[-6.77663027772388e-17,7.01381195046806e-17,4.2663286732596635e-15],"object_angular_velocity_rad_s":[-5.363979549950468e-16,-1.787803295953291e-15,1.6556380276057816e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1652214083198668,1.4162625981271726,-0.8642813458340625,0.1108545605231302,0.6783879034415871,-0.21297089636843394,0.035],"actuator_force_native":[0.2835665414047117,0.03494935586253689,0.28407419167525916,-0.2953300044629561,0.018909141767269766,0.08790241401615484,0.00013960782642308267],"issued_joint_targets_rad":[-0.16457366308935698,1.425933535930656,-0.8636105072510505,0.10955740806360821,0.6782811555183889,-0.2125446840085052],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.040000000000686,"joint_targets_rad":[-0.16457366308935698,1.425933535930656,-0.8636105072510505,0.10955740806360821,0.6782811555183889,-0.2125446840085052],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.060000000000692,"qpos":[-0.17001777634342746,1.3960947494610259,-0.8697125275418955,0.12399895619403531,0.6763451185000454,-0.22357471351510266,0.03499978544279006,-0.034999312367649436,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,8.401733662464669e-17,5.464443447959659e-17,5.0687544630298475e-08],"qvel":[0.030434227642961463,0.4708287144672036,0.04042141230696701,-0.056467416123870844,0.0010016243779719534,0.01410810808115716,-2.735289379785328e-05,-5.1444093397615146e-05,-7.692948495975242e-17,1.1365669346768062e-16,4.312125373025453e-15,-3.479052280224813e-17,-7.608695307801043e-16,3.0227769377343616e-08],"joint_position_rad":[-0.17001777634342746,1.3960947494610259,-0.8697125275418955,0.12399895619403531,0.6763451185000454,-0.22357471351510266],"joint_velocity_rad_s":[0.030434227642961463,0.4708287144672036,0.04042141230696701,-0.056467416123870844,0.0010016243779719534,0.01410810808115716],"gripper_joint_position_m":[0.03499978544279006,-0.034999312367649436],"tcp_position_m":[0.30716529663777387,-0.03473167326856763,0.1320968447441564],"tcp_quaternion_wxyz":[0.23043515075108742,0.012275046217537867,0.9730032120865777,0.003703215883967479],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,8.401733662464669e-17,5.464443447959659e-17,5.0687544630298475e-08],"object_linear_velocity_m_s":[-7.692948495975242e-17,1.1365669346768062e-16,4.312125373025453e-15],"object_angular_velocity_rad_s":[-3.4790442365472395e-17,-7.608695393863065e-16,3.022776937734364e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.16457366308935698,1.425933535930656,-0.8636105072510505,0.10955740806360821,0.6782811555183889,-0.2125446840085052,0.035],"actuator_force_native":[0.2833579221108309,0.03295934523438859,0.2860545617327688,-0.29532484459773034,0.017857933616476807,0.08913813294423889,0.00014534675738708813],"issued_joint_targets_rad":[-0.16392662577665823,1.4356638227813088,-0.8629779742485243,0.10824039806482766,0.678178116759428,-0.21211180105236943],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.060000000000692,"joint_targets_rad":[-0.16392662577665823,1.4356638227813088,-0.8629779742485243,0.10824039806482766,0.678178116759428,-0.21211180105236943],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.080000000000699,"qpos":[-0.1693735448683335,1.4056301637845514,-0.8689667147455999,0.1227779520941149,0.6763655863362344,-0.22329751264459147,0.03499978442105987,-0.03499931166755399,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,9.662861798174942e-17,3.903596529135552e-17,5.1062101172916846e-08],"qvel":[0.030518987091997938,0.47433727176217644,0.03820877866962379,-0.057236706047543134,0.0008373885931573568,0.01430732613330713,-2.7093765223592316e-05,-5.2849459048090584e-05,-4.814640375820333e-17,1.730738539158237e-16,4.335717612298739e-15,3.667612476115743e-15,-1.707242766637143e-15,5.5188273420555354e-08],"joint_position_rad":[-0.1693735448683335,1.4056301637845514,-0.8689667147455999,0.1227779520941149,0.6763655863362344,-0.22329751264459147],"joint_velocity_rad_s":[0.030518987091997938,0.47433727176217644,0.03820877866962379,-0.057236706047543134,0.0008373885931573568,0.01430732613330713],"gripper_joint_position_m":[0.03499978442105987,-0.03499931166755399],"tcp_position_m":[0.30701466030248836,-0.034665965669362045,0.1288886756302403],"tcp_quaternion_wxyz":[0.22539506842273893,0.011934614208788006,0.9741856184269339,0.004124192591112046],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,9.662861798174942e-17,3.903596529135552e-17,5.1062101172916846e-08],"object_linear_velocity_m_s":[-4.814640375820333e-17,1.730738539158237e-16,4.335717612298739e-15],"object_angular_velocity_rad_s":[3.667612654775189e-15,-1.7072424027506699e-15,5.51882734205554e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.16392662577665823,1.4356638227813088,-0.8629779742485243,0.10824039806482766,0.678178116759428,-0.21211180105236943,0.035],"actuator_force_native":[0.2831585918740327,0.031006360929708876,0.2880553464179343,-0.29531863093377453,0.01686922134219948,0.0903961267222595,0.0001440919837234489],"issued_joint_targets_rad":[-0.1632819448263862,1.4454466247109303,-0.8623792488969759,0.1069029615929004,0.6780792352193541,-0.21167269037784703],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.080000000000699,"joint_targets_rad":[-0.1632819448263862,1.4454466247109303,-0.8623792488969759,0.1069029615929004,0.6780792352193541,-0.21167269037784703],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.100000000000706,"qpos":[-0.16872823327159883,1.4152333815996723,-0.868264188803575,0.12154010081707316,0.6763830240898524,-0.2230163666842203,0.03499978196878078,-0.03499931081673948,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,9.711911896559114e-17,1.9016257069979383e-17,5.137179400047312e-08],"qvel":[0.03054689761493844,0.4775988918076222,0.03615177078873992,-0.05803512668042278,0.0006775451653048011,0.014509703685317208,-2.8086893766480657e-05,-5.311068747134497e-05,7.480442296595919e-18,2.781002056201065e-16,4.348207621325774e-15,1.1024624392067984e-14,-4.431946253310357e-15,1.0075985049115323e-07],"joint_position_rad":[-0.16872823327159883,1.4152333815996723,-0.868264188803575,0.12154010081707316,0.6763830240898524,-0.2230163666842203],"joint_velocity_rad_s":[0.03054689761493844,0.4775988918076222,0.03615177078873992,-0.05803512668042278,0.0006775451653048011,0.014509703685317208],"gripper_joint_position_m":[0.03499978196878078,-0.03499931081673948],"tcp_position_m":[0.3068436139741331,-0.034598978632210606,0.12567765322147584],"tcp_quaternion_wxyz":[0.22033742291880382,0.011585253558996327,0.975344344781524,0.004539940987857198],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,9.711911896559114e-17,1.9016257069979383e-17,5.137179400047312e-08],"object_linear_velocity_m_s":[7.480442296595919e-18,2.781002056201065e-16,4.348207621325774e-15],"object_angular_velocity_rad_s":[1.1024624851254147e-14,-4.431945140172286e-15,1.0075985049115332e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1632819448263862,1.4454466247109303,-0.8623792488969759,0.1069029615929004,0.6780792352193541,-0.21167269037784703,0.035],"actuator_force_native":[0.28296858754231735,0.029064989862533253,0.2900363385842297,-0.2953099355647968,0.015945793547059495,0.091672207535757,0.00014915571760143465],"issued_joint_targets_rad":[-0.16264161192023702,1.4552740595315563,-0.8618087125358634,0.10554456532131812,0.6779850443313458,-0.2112280049550938],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.100000000000706,"joint_targets_rad":[-0.16264161192023702,1.4552740595315563,-0.8618087125358634,0.10554456532131812,0.6779850443313458,-0.2112280049550938],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.120000000000712,"qpos":[-0.16808314992343892,1.4248990474572318,-0.8676013181862888,0.12028487101717797,0.6763974913201618,-0.22273121368882343,0.034999773697563324,-0.03499930769764247,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.0699485698605786e-16,-1.091356108213591e-18,5.175400011436818e-08],"qvel":[0.030507085039003717,0.480577473703124,0.034288666864842894,-0.05886281783829158,0.0005225870847494086,0.014714373697675387,-2.8548462383006586e-05,-5.387813742043556e-05,-2.6084119816853567e-18,1.264227579715179e-16,4.3454320637642105e-15,-3.677887771260807e-15,-5.882341969588757e-16,1.0916504661429692e-08],"joint_position_rad":[-0.16808314992343892,1.4248990474572318,-0.8676013181862888,0.12028487101717797,0.6763974913201618,-0.22273121368882343],"joint_velocity_rad_s":[0.030507085039003717,0.480577473703124,0.034288666864842894,-0.05886281783829158,0.0005225870847494086,0.014714373697675387],"gripper_joint_position_m":[0.034999773697563324,-0.03499930769764247],"tcp_position_m":[0.3066509202475506,-0.03453102011304357,0.12246424524502744],"tcp_quaternion_wxyz":[0.21526309950823716,0.011227346593527478,0.9764790021849958,0.004950047511927609],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.0699485698605786e-16,-1.091356108213591e-18,5.175400011436818e-08],"object_linear_velocity_m_s":[-2.6084119816853567e-18,1.264227579715179e-16,4.3454320637642105e-15],"object_angular_velocity_rad_s":[-3.6778877103976726e-15,-5.88234579985701e-16,1.0916504661429702e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.16264161192023702,1.4552740595315563,-0.8618087125358634,0.10554456532131812,0.6779850443313458,-0.2112280049550938,0.035],"actuator_force_native":[0.28278761506113526,0.02711359743032915,0.2919651177098217,-0.29529813864293697,0.015091649484714864,0.09296052679078315,0.00015179440938228872],"issued_joint_targets_rad":[-0.16200806049765287,1.4651368861658542,-0.8612594146665202,0.1041647389244697,0.6778962021306674,-0.21077868301026623],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.120000000000712,"joint_targets_rad":[-0.16200806049765287,1.4651368861658542,-0.8612594146665202,0.1041647389244697,0.6778962021306674,-0.21077868301026623],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.140000000000719,"qpos":[-0.16743986391603155,1.4346209850800826,-0.8669736083048423,0.11901175433308914,0.6764090477455995,-0.22244201036872221,0.034999772965976776,-0.03499931640769487,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.4181657266915658e-16,-1.8383192139546786e-17,5.224311455629666e-08],"qvel":[0.030385851456101558,0.48322834811916976,0.03266451687113265,-0.05971945966136013,0.00037284296591138594,0.014920170978137188,-2.810050650188735e-05,-5.5456436872269655e-05,2.2191591022759492e-17,1.7647067367942677e-16,4.346819842544992e-15,-2.7794103824352797e-15,-2.2166173533267215e-16,1.9930780751005336e-08],"joint_position_rad":[-0.16743986391603155,1.4346209850800826,-0.8669736083048423,0.11901175433308914,0.6764090477455995,-0.22244201036872221],"joint_velocity_rad_s":[0.030385851456101558,0.48322834811916976,0.03266451687113265,-0.05971945966136013,0.00037284296591138594,0.014920170978137188],"gripper_joint_position_m":[0.034999772965976776,-0.03499931640769487],"tcp_position_m":[0.3064351078149246,-0.034462439010914364,0.11924893794434199],"tcp_quaternion_wxyz":[0.210172972914732,0.010861403742713495,0.977589220987433,0.005354098813556565],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.4181657266915658e-16,-1.8383192139546786e-17,5.224311455629666e-08],"object_linear_velocity_m_s":[2.2191591022759492e-17,1.7647067367942677e-16,4.346819842544992e-15],"object_angular_velocity_rad_s":[-2.7794103600074507e-15,-2.2166203139581124e-16,1.9930780751005352e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.16200806049765287,1.4651368861658542,-0.8612594146665202,0.1041647389244697,0.6778962021306674,-0.21077868301026623,0.035],"actuator_force_native":[0.2826150161897871,0.02513034626589672,0.29381290671010163,-0.2952833180379759,0.014312279401811345,0.09425301711735434,0.00014958389343844303],"issued_joint_targets_rad":[-0.1613843020992657,1.4750240931448926,-0.8607227615627616,0.10276311122850434,0.6778135536557544,-0.21032605487808154],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.140000000000719,"joint_targets_rad":[-0.1613843020992657,1.4750240931448926,-0.8607227615627616,0.10276311122850434,0.6778135536557544,-0.21032605487808154],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.160000000000726,"qpos":[-0.1668002760159931,1.4443919973070418,-0.8663755298031415,0.11772028297809116,0.6764177488259595,-0.22214873880552302,0.03499977085720928,-0.034999329686590114,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.4320657029183647e-16,-2.097347405719819e-17,5.2667492395064117e-08],"qvel":[0.030165696928170654,0.48549565955057616,0.03133397372658101,-0.0606041141119782,0.0002285397580169956,0.015125517860384956,-2.898910000751711e-05,-5.561376565638792e-05,3.0178874217596516e-17,2.0137912520410646e-16,4.348207621325775e-15,-9.544132997933524e-16,-4.187201871087106e-17,3.638857250234719e-08],"joint_position_rad":[-0.1668002760159931,1.4443919973070418,-0.8663755298031415,0.11772028297809116,0.6764177488259595,-0.22214873880552302],"joint_velocity_rad_s":[0.030165696928170654,0.48549565955057616,0.03133397372658101,-0.0606041141119782,0.0002285397580169956,0.015125517860384956],"gripper_joint_position_m":[0.03499977085720928,-0.034999329686590114],"tcp_position_m":[0.30619442220441484,-0.03439363686539219,0.11603225657900987],"tcp_quaternion_wxyz":[0.20506792446288852,0.010488100858462022,0.9786746467846438,0.005751681303609029],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.4320657029183647e-16,-2.097347405719819e-17,5.2667492395064117e-08],"object_linear_velocity_m_s":[3.0178874217596516e-17,2.0137912520410646e-16,4.348207621325775e-15],"object_angular_velocity_rad_s":[-9.544132969091488e-16,-4.18721296661467e-17,3.638857250234722e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1613843020992657,1.4750240931448926,-0.8607227615627616,0.10276311122850434,0.6778135536557544,-0.21032605487808154,0.035],"actuator_force_native":[0.28244942869734047,0.023089369275169247,0.2955515905974835,-0.29526629942358174,0.013615238660923623,0.09553856248383763,0.00015411121166630792],"issued_joint_targets_rad":[-0.16077411966986319,1.4849223240579081,-0.8601880657552711,0.10133946164740297,0.6777382306102901,-0.209871998978541],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.160000000000726,"joint_targets_rad":[-0.16077411966986319,1.4849223240579081,-0.8601880657552711,0.10133946164740297,0.6777382306102901,-0.209871998978541],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.1800000000007325,"qpos":[-0.16616671541683653,1.4542035986279376,-0.8658002772913589,0.11641005455176993,0.6764236414905519,-0.22185141565867614,0.034999771348595006,-0.034999352083155466,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.3660915660912655e-16,-1.3055360193010054e-17,5.305752311138422e-08],"qvel":[0.029823898186764303,0.4873083759947007,0.030365103661606812,-0.061514982491286965,8.984475535355914e-05,0.015328261593170078,-2.8485303459609928e-05,-5.696954117212031e-05,4.2965832605191474e-18,2.451769116822777e-16,4.525843305265801e-15,3.2147964232153576e-15,1.39025359646935e-15,6.643634413025365e-08],"joint_position_rad":[-0.16616671541683653,1.4542035986279376,-0.8658002772913589,0.11641005455176993,0.6764236414905519,-0.22185141565867614],"joint_velocity_rad_s":[0.029823898186764303,0.4873083759947007,0.030365103661606812,-0.061514982491286965,8.984475535355914e-05,0.015328261593170078],"gripper_joint_position_m":[0.034999771348595006,-0.034999352083155466],"tcp_position_m":[0.30592675712301065,-0.03432508328715362,0.11281478789928832],"tcp_quaternion_wxyz":[0.1999488588465987,0.010108330713420785,0.9797349369302767,0.006142381814733286],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.3660915660912655e-16,-1.3055360193010054e-17,5.305752311138422e-08],"object_linear_velocity_m_s":[4.2965832605191474e-18,2.451769116822777e-16,4.525843305265801e-15],"object_angular_velocity_rad_s":[3.214796273953818e-15,1.3902539194559888e-15,6.643634413025373e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.16077411966986319,1.4849223240579081,-0.8601880657552711,0.10133946164740297,0.6777382306102901,-0.209871998978541,0.035],"actuator_force_native":[0.28228816882404395,0.020956154424141005,0.29715140457899736,-0.2952488037182439,0.01301112406435223,0.09680177441159588,0.00015157257349796005],"issued_joint_targets_rad":[-0.1601823500027518,1.4948150380985543,-0.8596418868515902,0.09989379674432684,0.6776718142677283,-0.20941917667322327],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.1800000000007325,"joint_targets_rad":[-0.1601823500027518,1.4948150380985543,-0.8596418868515902,0.09989379674432684,0.6776718142677283,-0.20941917667322327],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.200000000000739,"qpos":[-0.16554207575917068,1.4640456444790875,-0.8652394302008908,0.11508076788213153,0.6764267600194104,-0.22155010563358418,0.03499976924899763,-0.0349993812857187,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.0877246104583849e-16,-3.701277699445868e-18,5.3309531989798026e-08],"qvel":[0.029330342150143435,0.48857412625981284,0.02984490314357865,-0.06244898933936618,-4.3070080725720256e-05,0.015525411481989678,-2.923180614758077e-05,-5.693375128917934e-05,6.088407632304127e-18,1.3434339505088753e-16,3.787544993890072e-15,-5.0465119776832635e-15,6.036926660304855e-16,7.197833828166317e-09],"joint_position_rad":[-0.16554207575917068,1.4640456444790875,-0.8652394302008908,0.11508076788213153,0.6764267600194104,-0.22155010563358418],"joint_velocity_rad_s":[0.029330342150143435,0.48857412625981284,0.02984490314357865,-0.06244898933936618,-4.3070080725720256e-05,0.015525411481989678],"gripper_joint_position_m":[0.03499976924899763,-0.0349993812857187],"tcp_position_m":[0.30562955822759597,-0.03425733738806564,0.10959720821858489],"tcp_quaternion_wxyz":[0.19481672446190793,0.009723275666101367,0.9807697568012135,0.006525789173954998],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.0877246104583849e-16,-3.701277699445868e-18,5.3309531989798026e-08],"object_linear_velocity_m_s":[6.088407632304127e-18,1.3434339505088753e-16,3.787544993890072e-15],"object_angular_velocity_rad_s":[-5.046512042101669e-15,6.036921264102471e-16,7.1978338281663255e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000133},{"geom_ids":[1,90],"normal_force_n":0.09810000000000123},{"geom_ids":[1,90],"normal_force_n":0.09810000000000162}],"native_actuator_controls":[-0.1601823500027518,1.4948150380985543,-0.8596418868515902,0.09989379674432684,0.6776718142677283,-0.20941917667322327,0.035],"actuator_force_native":[0.2821263497627928,0.018680858258292687,0.2985789522261655,-0.29523389881535644,0.012515147604267085,0.09802117238062458,0.0001553890708330119],"issued_joint_targets_rad":[-0.15961531232892506,1.5046812267485883,-0.8590670391222334,0.09842646786404126,0.6776166118974863,-0.2089713987311834],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.200000000000739,"joint_targets_rad":[-0.15961531232892506,1.5046812267485883,-0.8590670391222334,0.09842646786404126,0.6776166118974863,-0.2089713987311834],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.220000000000746,"qpos":[-0.16493001098347218,1.4739057981451804,-0.8646824657176886,0.1137322775688404,0.6764271206060682,-0.22124494053659688,0.03499976961706375,-0.03499942501364201,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.1684426967354353e-16,1.0951161093698152e-17,5.3769636561613874e-08],"qvel":[0.028644175515908657,0.4891693948140433,0.029887787367067205,-0.06340113414798351,-0.00017000279962744216,0.015712770280056514,-2.8440055053274865e-05,-5.815482016942104e-05,-1.1048576819904424e-17,1.4449314577132895e-16,4.2066541856860675e-15,-4.047073022110666e-15,6.09502392626767e-17,1.3141426890810373e-08],"joint_position_rad":[-0.16493001098347218,1.4739057981451804,-0.8646824657176886,0.1137322775688404,0.6764271206060682,-0.22124494053659688],"joint_velocity_rad_s":[0.028644175515908657,0.4891693948140433,0.029887787367067205,-0.06340113414798351,-0.00017000279962744216,0.015712770280056514],"gripper_joint_position_m":[0.03499976961706375,-0.03499942501364201],"tcp_position_m":[0.3052996854585062,-0.03419107820148967,0.10638032197038699],"tcp_quaternion_wxyz":[0.18967254305497205,0.00933451355458729,0.981778774777277,0.006901497271462281],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.1684426967354353e-16,1.0951161093698152e-17,5.3769636561613874e-08],"object_linear_velocity_m_s":[-1.1048576819904424e-17,1.4449314577132895e-16,4.2066541856860675e-15],"object_angular_velocity_rad_s":[-4.0470730283773636e-15,6.09498009723845e-17,1.3141426890810388e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000024},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000026},{"geom_ids":[1,90],"normal_force_n":0.09810000000000027}],"native_actuator_controls":[-0.15961531232892506,1.5046812267485883,-0.8590670391222334,0.09842646786404126,0.6776166118974863,-0.2089713987311834,0.035],"actuator_force_native":[0.28195501478422713,0.01618731420241204,0.29979519080107764,-0.29522671745204754,0.012149917113622344,0.09916626263404993,0.00015141559271669713],"issued_joint_targets_rad":[-0.15908148816505313,1.5144933493870152,-0.858441032061947,0.09693836105833242,0.6775761461858285,-0.20853422270332125],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.220000000000746,"joint_targets_rad":[-0.15908148816505313,1.5144933493870152,-0.858441032061947,0.09693836105833242,0.6775761461858285,-0.20853422270332125],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.2400000000007525,"qpos":[-0.16433522903265013,1.4837687326675035,-0.8641160360698462,0.11236467944450085,0.6764247141964606,-0.22093614801912811,0.034999767427318626,-0.03499948415740129,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.1796482476873935e-16,-3.390052026802861e-18,5.4231901468456624e-08],"qvel":[0.02770827394387775,0.48892323088799305,0.03064938755826824,-0.0643633568426283,-0.0002906404885749049,0.015884298906636375,-2.8825924813235333e-05,-5.792969555430211e-05,5.30887062875339e-18,1.532597957590496e-16,3.664032682400522e-15,-2.875832248652124e-15,-7.24043104149896e-16,2.3992926879013035e-08],"joint_position_rad":[-0.16433522903265013,1.4837687326675035,-0.8641160360698462,0.11236467944450085,0.6764247141964606,-0.22093614801912811],"joint_velocity_rad_s":[0.02770827394387775,0.48892323088799305,0.03064938755826824,-0.0643633568426283,-0.0002906404885749049,0.015884298906636375],"gripper_joint_position_m":[0.034999767427318626,-0.03499948415740129],"tcp_position_m":[0.3049332092389794,-0.034127149993260296,0.10316511852708424],"tcp_quaternion_wxyz":[0.18451745715380244,0.008944177645499676,0.9827616545890504,0.007269110064692236],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.1796482476873935e-16,-3.390052026802861e-18,5.4231901468456624e-08],"object_linear_velocity_m_s":[5.30887062875339e-18,1.532597957590496e-16,3.664032682400522e-15],"object_angular_velocity_rad_s":[-2.875832170282316e-15,-7.240434217342377e-16,2.399292687901306e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999955},{"geom_ids":[1,90],"normal_force_n":0.09809999999999955},{"geom_ids":[1,90],"normal_force_n":0.09809999999999967},{"geom_ids":[1,90],"normal_force_n":0.09809999999999967}],"native_actuator_controls":[-0.15908148816505313,1.5144933493870152,-0.858441032061947,0.09693836105833242,0.6775761461858285,-0.20853422270332125,0.035],"actuator_force_native":[0.2817578996883707,0.013353183120969447,0.30075338284059683,-0.2952359512335949,0.011950280626542131,0.10019280479811421,0.0001534325313210516],"issued_joint_targets_rad":[-0.15859266215140788,1.5242138048469283,-0.8577334801651534,0.09543121804541256,0.6775560751107372,-0.2081159809655853],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.2400000000007525,"joint_targets_rad":[-0.15859266215140788,1.5242138048469283,-0.8577334801651534,0.09543121804541256,0.6775560751107372,-0.2081159809655853],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.260000000000759,"qpos":[-0.16376395577723746,1.4936148773114626,-0.8635228441176263,0.11097850182117078,0.6764194947859671,-0.22062409466408825,0.034999767926718196,-0.034999571287377754,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.0088920756192761e-16,-1.2304033070518923e-17,5.468017956483357e-08],"qvel":[0.026440048119490852,0.4875886231717451,0.03235036994891613,-0.06532288012384964,-0.00040450960287287906,0.016030946089025732,-2.7472263379282933e-05,-5.894132299355472e-05,1.813747959754284e-17,1.472026283302227e-16,3.3406802264784453e-15,-1.878776039174314e-15,-5.423802818231833e-16,4.380502551243981e-08],"joint_position_rad":[-0.16376395577723746,1.4936148773114626,-0.8635228441176263,0.11097850182117078,0.6764194947859671,-0.22062409466408825],"joint_velocity_rad_s":[0.026440048119490852,0.4875886231717451,0.03235036994891613,-0.06532288012384964,-0.00040450960287287906,0.016030946089025732],"gripper_joint_position_m":[0.034999767926718196,-0.034999571287377754],"tcp_position_m":[0.3045250956925628,-0.034066627228992064,0.09995286127764046],"tcp_quaternion_wxyz":[0.17935281394422767,0.00855522893482225,0.9837180417704987,0.007628268701069142],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.0088920756192761e-16,-1.2304033070518923e-17,5.468017956483357e-08],"object_linear_velocity_m_s":[1.813747959754284e-17,1.472026283302227e-16,3.3406802264784453e-15],"object_angular_velocity_rad_s":[-1.878775980937359e-15,-5.423804961257118e-16,4.380502551243986e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.15859266215140788,1.5242138048469283,-0.8577334801651534,0.09543121804541256,0.6775560751107372,-0.2081159809655853,0.035],"actuator_force_native":[0.28150324946891203,0.009971086978524113,0.3013972664532645,-0.2952769504110804,0.011972567652010824,0.10103471785149054,0.0001466442481687924],"issued_joint_targets_rad":[-0.1581659975414429,1.5337884225954819,-0.8569014767514352,0.09390826875148195,0.6775660566287695,-0.20772970045993144],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.260000000000759,"joint_targets_rad":[-0.1581659975414429,1.5337884225954819,-0.8569014767514352,0.09390826875148195,0.6775660566287695,-0.20772970045993144],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.280000000000766,"qpos":[-0.16322469401089626,1.5034183234987653,-0.8628797917319276,0.1095749163896486,0.676411358630842,-0.22030935900485943,0.034999774870330694,-0.034999703706778976,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,7.604683027201217e-17,-1.8320423350112388e-17,5.502547027993084e-08],"qvel":[0.024713045807961485,0.48478834873207255,0.03532115474383985,-0.06625768521378068,-0.0005108284266244951,0.016138924579131762,-2.624184343433024e-05,-5.9240757416273264e-05,5.633346147845494e-17,1.425039260270338e-16,3.2726790662201536e-15,4.172635844943634e-16,-3.0850726752482125e-15,7.997691443904883e-08],"joint_position_rad":[-0.16322469401089626,1.5034183234987653,-0.8628797917319276,0.1095749163896486,0.676411358630842,-0.22030935900485943],"joint_velocity_rad_s":[0.024713045807961485,0.48478834873207255,0.03532115474383985,-0.06625768521378068,-0.0005108284266244951,0.016138924579131762],"gripper_joint_position_m":[0.034999774870330694,-0.034999703706778976],"tcp_position_m":[0.3040686867795653,-0.034010933140265924,0.0967452363016353],"tcp_quaternion_wxyz":[0.17418031171861803,0.008171867048498815,0.9846475413472284,0.007978653859198286],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,7.604683027201217e-17,-1.8320423350112388e-17,5.502547027993084e-08],"object_linear_velocity_m_s":[5.633346147845494e-17,1.425039260270338e-16,3.2726790662201536e-15],"object_angular_velocity_rad_s":[4.172639210790898e-16,-3.08507264149193e-15,7.997691443904893e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.1581659975414429,1.5337884225954819,-0.8569014767514352,0.09390826875148195,0.6775660566287695,-0.20772970045993144,0.035],"actuator_force_native":[0.28113048851646205,0.0056661840769578475,0.30165942472019935,-0.2953774794577626,0.012313222619210862,0.10158819858058221,0.00014021440394418327],"issued_joint_targets_rad":[-0.1578281099288962,1.543133200488428,-0.8558805190511714,0.09237533395442557,0.6776239319473761,-0.20739694718073962],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.280000000000766,"joint_targets_rad":[-0.1578281099288962,1.543133200488428,-0.8558805190511714,0.09237533395442557,0.6776239319473761,-0.20739694718073962],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.3000000000007725,"qpos":[-0.16272958992910302,1.5131430432059079,-0.8621546702105425,0.10815610516744749,0.6764001015778495,-0.21999285618732392,0.03499978126870002,-0.03499989770826775,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,5.525072914977005e-17,-2.2141384143591038e-17,5.532884176688785e-08],"qvel":[0.02232007611438318,0.47990251505815645,0.0400936476718885,-0.06712799455655666,-0.0006083678226677168,0.016186123882986087,-2.4402662378618546e-05,-5.9349655825627336e-05,2.7791152554674673e-17,7.231872343632053e-17,3.2768424025624977e-15,-2.8593739974045047e-15,7.783754224294053e-16,8.664843735127427e-09],"joint_position_rad":[-0.16272958992910302,1.5131430432059079,-0.8621546702105425,0.10815610516744749,0.6764001015778495,-0.21999285618732392],"joint_velocity_rad_s":[0.02232007611438318,0.47990251505815645,0.0400936476718885,-0.06712799455655666,-0.0006083678226677168,0.016186123882986087],"gripper_joint_position_m":[0.03499978126870002,-0.03499989770826775],"tcp_position_m":[0.3035547728466456,-0.03396205580967905,0.0935446201352415],"tcp_quaternion_wxyz":[0.16900228275949844,0.0078002678094953905,0.9855496751411671,0.00831998036768546],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,5.525072914977005e-17,-2.2141384143591038e-17,5.532884176688785e-08],"object_linear_velocity_m_s":[2.7791152554674673e-17,7.231872343632053e-17,3.2768424025624977e-15],"object_angular_velocity_rad_s":[-2.859374083921415e-15,7.783751050602208e-16,8.664843735127439e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.1578281099288962,1.543133200488428,-0.8558805190511714,0.09237533395442557,0.6776239319473761,-0.20739694718073962,0.035],"actuator_force_native":[0.28051801944462973,-0.0002999926891789073,0.30146385439024925,-0.29559087573809384,0.013150855429268304,0.10167990424136386,0.00013076256389243923],"issued_joint_targets_rad":[-0.15710976263647053,1.549814459850908,-0.8645299570581643,0.08897711555402824,0.6898480006346934,-0.20439462687534032],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.3000000000007725,"joint_targets_rad":[-0.15710976263647053,1.549814459850908,-0.8645299570581643,0.08897711555402824,0.6898480006346934,-0.20439462687534032],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.320000000000779,"qpos":[-0.16219160685604608,1.5228079202190297,-0.861776692443158,0.10642040937923493,0.6765843767645976,-0.21966418461181833,0.03500025052906357,-0.03499787616307627,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,3.203037799829462e-17,-4.269746934914019e-17,5.582126788930472e-08],"qvel":[0.02540737466085223,0.47309481041889917,0.006139752511946718,-0.08462030776650434,0.01584449067595007,0.018040160687780596,-7.537553111681966e-05,-1.9970988432670358e-05,5.219468959709817e-17,4.3717558512824785e-17,3.3032101993973444e-15,-1.919278742413119e-15,7.936878755921478e-16,1.5819816514779337e-08],"joint_position_rad":[-0.16219160685604608,1.5228079202190297,-0.861776692443158,0.10642040937923493,0.6765843767645976,-0.21966418461181833],"joint_velocity_rad_s":[0.02540737466085223,0.47309481041889917,0.006139752511946718,-0.08462030776650434,0.01584449067595007,0.018040160687780596],"gripper_joint_position_m":[0.03500025052906357,-0.03499787616307627],"tcp_position_m":[0.3030726704602055,-0.03394435628134003,0.09045356016857146],"tcp_quaternion_wxyz":[0.16390302880997312,0.007289997443242134,0.9864125384342894,0.008541493067130874],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,3.203037799829462e-17,-4.269746934914019e-17,5.582126788930472e-08],"object_linear_velocity_m_s":[5.219468959709817e-17,4.3717558512824785e-17,3.3032101993973444e-15],"object_angular_velocity_rad_s":[-1.9192788323733686e-15,7.936876603055687e-16,1.5819816514779357e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.15710976263647053,1.549814459850908,-0.8645299570581643,0.08897711555402824,0.6898480006346934,-0.20439462687534032,0.035],"actuator_force_native":[0.2795106642617817,-0.20495088154423513,-0.2509599317602351,-0.2746302141757466,0.10886950268703366,0.1256353363331093,0.0003668564930414675],"issued_joint_targets_rad":[-0.15620823798150504,1.5559721648812797,-0.8740395964767339,0.0851533032062366,0.70323712435859,-0.2010727023252671],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.320000000000779,"joint_targets_rad":[-0.15620823798150504,1.5559721648812797,-0.8740395964767339,0.0851533032062366,0.70323712435859,-0.2010727023252671],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.340000000000786,"qpos":[-0.16157833104040584,1.5321658836717402,-0.8622581656131574,0.1043314700878641,0.6772879767734722,-0.21928243124473273,0.03500005058956965,-0.034995803382083544,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,1.0166652613969452e-17,-7.403868546735063e-17,5.6255777141482146e-08],"qvel":[0.029568130426330236,0.45020892340393737,-0.04260329393567732,-0.10078894433362345,0.04120148899581054,0.02123777764609193,-0.0001111752129143111,-6.6949203534164e-05,1.0526242614476106e-16,1.6176959495217244e-17,3.3379046689168818e-15,-1.6564029658840574e-15,-6.411140584831731e-16,2.8882989954763357e-08],"joint_position_rad":[-0.16157833104040584,1.5321658836717402,-0.8622581656131574,0.1043314700878641,0.6772879767734722,-0.21928243124473273],"joint_velocity_rad_s":[0.029568130426330236,0.45020892340393737,-0.04260329393567732,-0.10078894433362345,0.04120148899581054,0.02123777764609193],"gripper_joint_position_m":[0.03500005058956965,-0.034995803382083544],"tcp_position_m":[0.3027329382346142,-0.033965312304408114,0.08767115595535806],"tcp_quaternion_wxyz":[0.15909502563909114,0.006612061509451101,0.9872035458563797,0.008614668193442285],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,1.0166652613969452e-17,-7.403868546735063e-17,5.6255777141482146e-08],"object_linear_velocity_m_s":[1.0526242614476106e-16,1.6176959495217244e-17,3.3379046689168818e-15],"object_angular_velocity_rad_s":[-1.6564028980282271e-15,-6.41114245434929e-16,2.8882989954763396e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.15620823798150504,1.5559721648812797,-0.8740395964767339,0.0851533032062366,0.70323712435859,-0.2010727023252671,0.035],"actuator_force_native":[0.28176679258041304,-0.34654212025652953,-0.7294979994077266,-0.2631819535969826,0.19768924235746166,0.1502406227255184,0.0005538524817858548],"issued_joint_targets_rad":[-0.15519585965028482,1.56164705054158,-0.8829058895685727,0.08126855857534476,0.7158518607146879,-0.19795071562277045],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.340000000000786,"joint_targets_rad":[-0.15519585965028482,1.56164705054158,-0.8829058895685727,0.08126855857534476,0.7158518607146879,-0.19795071562277045],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.360000000000793,"qpos":[-0.16088797115494868,1.5411138670606481,-0.8643200504753231,0.10191863988424571,0.6794844409136549,-0.21883985887266288,0.03499955452507478,-0.03499495711974321,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.3799105615325339e-17,-6.999914510311731e-17,5.6667659473308044e-08],"qvel":[0.033610265000127156,0.4234386327289142,-0.12920440526688606,-0.1147337296157232,0.12363651480852579,0.024417492976040248,-0.00011317026762609521,-0.00014249720889337718,1.0705277610264711e-16,-2.6542696167207492e-17,3.3434557840400072e-15,-2.721059258702239e-15,5.548244473364203e-16,5.2733045794026225e-08],"joint_position_rad":[-0.16088797115494868,1.5411138670606481,-0.8643200504753231,0.10191863988424571,0.6794844409136549,-0.21883985887266288],"joint_velocity_rad_s":[0.033610265000127156,0.4234386327289142,-0.12920440526688606,-0.1147337296157232,0.12363651480852579,0.024417492976040248],"gripper_joint_position_m":[0.03499955452507478,-0.03499495711974321],"tcp_position_m":[0.30258725320843755,-0.034012876892911534,0.08536882231300988],"tcp_quaternion_wxyz":[0.15451442475935093,0.005745830996256716,0.9879364403516574,0.008594637441183344],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.3799105615325339e-17,-6.999914510311731e-17,5.6667659473308044e-08],"object_linear_velocity_m_s":[1.0705277610264711e-16,-2.6542696167207492e-17,3.3434557840400072e-15],"object_angular_velocity_rad_s":[-2.7210593289659672e-15,5.548241403996359e-16,5.27330457940263e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.15519585965028482,1.56164705054158,-0.8829058895685727,0.08126855857534476,0.7158518607146879,-0.19795071562277045,0.035],"actuator_force_native":[0.2873175953724729,-0.4745384851700152,-0.840845101125538,-0.25233460427742216,0.1782194257975407,0.17226519303486398,0.0005836703351396189],"issued_joint_targets_rad":[-0.1541399697383233,1.5669687639231706,-0.8912810966749152,0.07750122051442443,0.727874228605986,-0.1952598128586531],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.360000000000793,"joint_targets_rad":[-0.1541399697383233,1.5669687639231706,-0.8912810966749152,0.07750122051442443,0.727874228605986,-0.1952598128586531],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.380000000000799,"qpos":[-0.16011082918744454,1.5493525336089373,-0.8680286461065768,0.09928347670111685,0.6831217530863604,-0.21833609505363066,0.03499922186759052,-0.034995450905239624,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.1215918397326674e-17,-5.545981222336737e-17,5.696357462059229e-08],"qvel":[0.03814331180063926,0.38153600588830205,-0.2058274500516448,-0.12409976983944879,0.1840996133889004,0.027343204159922883,-9.733606611800249e-05,-0.0001940566288327157,1.270588093107633e-16,-3.753309802726362e-17,3.219943472550459e-15,-9.626126633872883e-16,-2.2252457521032282e-15,9.627722486731456e-08],"joint_position_rad":[-0.16011082918744454,1.5493525336089373,-0.8680286461065768,0.09928347670111685,0.6831217530863604,-0.21833609505363066],"joint_velocity_rad_s":[0.03814331180063926,0.38153600588830205,-0.2058274500516448,-0.12409976983944879,0.1840996133889004,0.027343204159922883],"gripper_joint_position_m":[0.03499922186759052,-0.034995450905239624],"tcp_position_m":[0.30269190700170495,-0.03408231050105894,0.0836562873472728],"tcp_quaternion_wxyz":[0.15037156887937297,0.004720291632754582,0.9885818987757347,0.00848171755134283],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.1215918397326674e-17,-5.545981222336737e-17,5.696357462059229e-08],"object_linear_velocity_m_s":[1.270588093107633e-16,-3.753309802726362e-17,3.219943472550459e-15],"object_angular_velocity_rad_s":[-9.626124205504125e-16,-2.2252458576857148e-15,9.62772248673147e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.1541399697383233,1.5669687639231706,-0.8912810966749152,0.07750122051442443,0.727874228605986,-0.1952598128586531,0.035],"actuator_force_native":[0.286952196926503,-0.4983816043028355,-0.8310587952088468,-0.25079139827045305,0.1713753351129066,0.1897480157098912,0.0005178056269694586],"issued_joint_targets_rad":[-0.15309240467119004,1.5717508067301107,-0.8988215655475279,0.07404302753648584,0.7387386202707422,-0.19315868910107292],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.380000000000799,"joint_targets_rad":[-0.15309240467119004,1.5717508067301107,-0.8988215655475279,0.07404302753648584,0.7387386202707422,-0.19315868910107292],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.400000000000806,"qpos":[-0.159251941483663,1.5566401049826935,-0.8730617695135399,0.09652771570777353,0.6876501864384698,-0.21777945887775693,0.03499912152737276,-0.03499688945235676,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.9108184662108048e-17,-4.823140072682637e-17,5.7328777067735334e-08],"qvel":[0.041945698987815874,0.3308945741497072,-0.26317459130023046,-0.1287923435281144,0.21683798376157556,0.02969227497576952,-7.89630136254097e-05,-0.0002188581088031444,5.927738855209881e-17,-2.182289881888612e-17,3.1727589940038912e-15,6.996401332423671e-16,1.7672599788555516e-15,1.0430848884058728e-08],"joint_position_rad":[-0.159251941483663,1.5566401049826935,-0.8730617695135399,0.09652771570777353,0.6876501864384698,-0.21777945887775693],"joint_velocity_rad_s":[0.041945698987815874,0.3308945741497072,-0.26317459130023046,-0.1287923435281144,0.21683798376157556,0.02969227497576952],"gripper_joint_position_m":[0.03499912152737276,-0.03499688945235676],"tcp_position_m":[0.30307303935501634,-0.03417626201399867,0.08254722104438221],"tcp_quaternion_wxyz":[0.14689932883834966,0.0035856764205633392,0.9891105161062984,0.00825330475514129],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9108184662108048e-17,-4.823140072682637e-17,5.7328777067735334e-08],"object_linear_velocity_m_s":[5.927738855209881e-17,-2.182289881888612e-17,3.1727589940038912e-15],"object_angular_velocity_rad_s":[6.996399296064678e-16,1.7672600594731981e-15,1.0430848884058745e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.15309240467119004,1.5717508067301107,-0.8988215655475279,0.07404302753648584,0.7387386202707422,-0.19315868910107292,0.035],"actuator_force_native":[0.28303445005875894,-0.44561673095515175,-0.7449107262178956,-0.25542580921093583,0.18562736268036062,0.20166928530318606,0.0004299539732168789],"issued_joint_targets_rad":[-0.1520765695117347,1.575758282954071,-0.9051332734321941,0.0709852154959305,0.7476501864384697,-0.19166317108879324],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.400000000000806,"joint_targets_rad":[-0.1520765695117347,1.575758282954071,-0.9051332734321941,0.0709852154959305,0.7476501864384697,-0.19166317108879324],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.420000000000813,"qpos":[-0.15833501037686373,1.5628411522105172,-0.8789638426829018,0.09374447220017934,0.6925094314393135,-0.21718217268468956,0.03499924662348483,-0.03499875046047803,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.740217865072752e-17,-4.2334583215172037e-17,5.779613168251353e-08],"qvel":[0.044347172243907315,0.2757648471440451,-0.2962652024846563,-0.12934206868868056,0.22367978336456626,0.031355343197328724,-6.0281075611380575e-05,-0.0002136086175575727,5.491377991826035e-17,-2.2656826485524915e-17,3.1422278608267008e-15,5.086916423007807e-16,1.5626181028929564e-15,1.9044095944884545e-08],"joint_position_rad":[-0.15833501037686373,1.5628411522105172,-0.8789638426829018,0.09374447220017934,0.6925094314393135,-0.21718217268468956],"joint_velocity_rad_s":[0.044347172243907315,0.2757648471440451,-0.2962652024846563,-0.12934206868868056,0.22367978336456626,0.031355343197328724],"gripper_joint_position_m":[0.03499924662348483,-0.03499875046047803],"tcp_position_m":[0.303708070322248,-0.03429524634086465,0.08198777639106909],"tcp_quaternion_wxyz":[0.14421861170014352,0.002399362580343772,0.9895114012035695,0.007900758611633616],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.740217865072752e-17,-4.2334583215172037e-17,5.779613168251353e-08],"object_linear_velocity_m_s":[5.491377991826035e-17,-2.2656826485524915e-17,3.1422278608267008e-15],"object_angular_velocity_rad_s":[5.08691460061767e-16,1.5626181623565842e-15,1.9044095944884574e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1520765695117347,1.575758282954071,-0.9051332734321941,0.0709852154959305,0.7476501864384697,-0.19166317108879324,0.035],"actuator_force_native":[0.27893940799078365,-0.3454537762359138,-0.6122284475200956,-0.263659924726551,0.21588787494471262,0.20815700116296987,0.00033154043866390204],"issued_joint_targets_rad":[-0.15110541880895417,1.5788618283667664,-0.9100110410094162,0.06834151711634129,0.7525094314393135,-0.1906965571160739],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.420000000000813,"joint_targets_rad":[-0.15110541880895417,1.5788618283667664,-0.9100110410094162,0.06834151711634129,0.7525094314393135,-0.1906965571160739],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.440000000000819,"qpos":[-0.1573873893349858,1.5678887263188421,-0.8851977015247174,0.09100975098419105,0.6971170810570957,-0.2165584372648542,0.034999525516330246,-0.03500047131178777,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.1255996011808534e-17,-1.4862839940797073e-17,5.825715174862243e-08],"qvel":[0.04545539230314487,0.21927892905775245,-0.3026961084368176,-0.12675723952440365,0.20238547466722906,0.032296526291613045,-6.018385374687514e-05,-0.00016489137776752388,1.740197730817056e-17,-1.5599732657100767e-17,3.190800118154052e-15,4.886957271571314e-16,2.1638424371653566e-15,3.476970996217145e-08],"joint_position_rad":[-0.1573873893349858,1.5678887263188421,-0.8851977015247174,0.09100975098419105,0.6971170810570957,-0.2165584372648542],"joint_velocity_rad_s":[0.04545539230314487,0.21927892905775245,-0.3026961084368176,-0.12675723952440365,0.20238547466722906,0.032296526291613045],"gripper_joint_position_m":[0.034999525516330246,-0.03500047131178777],"tcp_position_m":[0.3045463903677236,-0.034437734825706244,0.08188358376675806],"tcp_quaternion_wxyz":[0.1423868628018007,0.0012145524220520628,0.9897825226255851,0.0074205167480947375],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.1255996011808534e-17,-1.4862839940797073e-17,5.825715174862243e-08],"object_linear_velocity_m_s":[1.740197730817056e-17,-1.5599732657100767e-17,3.190800118154052e-15],"object_angular_velocity_rad_s":[4.88695474004981e-16,2.163842494888123e-15,3.47697099621715e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.15110541880895417,1.5788618283667664,-0.9100110410094162,0.06834151711634129,0.7525094314393135,-0.1906965571160739,0.035],"actuator_force_native":[0.2752806805668051,-0.2185464814548368,-0.47158661659182144,-0.27294315709197203,0.25034529182133447,0.21017401205038344,0.00031989861552483845],"issued_joint_targets_rad":[-0.15018250436971953,1.5809852028903255,-0.9133511085260235,0.06607957891818286,0.7571170810570957,-0.1901410212930359],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.440000000000819,"joint_targets_rad":[-0.15018250436971953,1.5809852028903255,-0.9133511085260235,0.06607957891818286,0.7571170810570957,-0.1901410212930359],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.460000000000826,"qpos":[-0.15643938571303007,1.5717912888302787,-0.8912926496180458,0.08837632937668712,0.7011491160490709,-0.21592011942283257,0.03499937066588121,-0.03500094813066692,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.3134872542540584e-17,8.071836869474447e-18,5.86298306956164e-08],"qvel":[0.04497623903026026,0.16480117907971167,-0.2887393034664035,-0.12191008358655026,0.17594575045908536,0.03270782682611395,-6.374552439715819e-05,-0.00010061076977182088,-2.869759165992233e-17,-2.7349376126098288e-17,3.1602689849768605e-15,-9.502804999733653e-16,3.4119827292488594e-15,6.348070994560635e-08],"joint_position_rad":[-0.15643938571303007,1.5717912888302787,-0.8912926496180458,0.08837632937668712,0.7011491160490709,-0.21592011942283257],"joint_velocity_rad_s":[0.04497623903026026,0.16480117907971167,-0.2887393034664035,-0.12191008358655026,0.17594575045908536,0.03270782682611395],"gripper_joint_position_m":[0.03499937066588121,-0.03500094813066692],"tcp_position_m":[0.3055020791927848,-0.03459584006182907,0.08212209358246395],"tcp_quaternion_wxyz":[0.14133091608349546,7.239082670075098e-05,0.9899388352899755,0.006831493489345265],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.3134872542540584e-17,8.071836869474447e-18,5.86298306956164e-08],"object_linear_velocity_m_s":[-2.869759165992233e-17,-2.7349376126098288e-17,3.1602689849768605e-15],"object_angular_velocity_rad_s":[-9.502808990364882e-16,3.411982619486894e-15,6.348070994560645e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.15018250436971953,1.5809852028903255,-0.9133511085260235,0.06607957891818286,0.7571170810570957,-0.1901410212930359,0.035],"actuator_force_native":[0.27566931231354097,-0.08849277059482574,-0.3209801953062055,-0.2823196004074191,0.29576102439162,0.20872924105879598,0.0003439009867374221],"issued_joint_targets_rad":[-0.14930800607420064,1.5821995156306463,-0.9152793771109055,0.06413701702644277,0.7611491160490709,-0.1898656769658334],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.460000000000826,"joint_targets_rad":[-0.14930800607420064,1.5821995156306463,-0.9152793771109055,0.06413701702644277,0.7611491160490709,-0.1898656769658334],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.480000000000833,"qpos":[-0.15551606077410093,1.5746002702154334,-0.8968634809546749,0.08587519792662394,0.704575350591563,-0.2152765457971606,0.03499931691616785,-0.03500071350370421,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.5654820180521377e-17,2.003756702012007e-17,5.892513921474441e-08],"qvel":[0.043516875689785586,0.11380026571543533,-0.2574710030442212,-0.11582352992315605,0.15130443271606941,0.03269000088908263,-4.1954789080499663e-05,-7.166829771286137e-05,-8.580635004713068e-17,-7.419392537541092e-17,3.0325933371449673e-15,-4.349970325718405e-15,5.428845856686796e-15,1.158997454848603e-07],"joint_position_rad":[-0.15551606077410093,1.5746002702154334,-0.8968634809546749,0.08587519792662394,0.704575350591563,-0.2152765457971606],"joint_velocity_rad_s":[0.043516875689785586,0.11380026571543533,-0.2574710030442212,-0.11582352992315605,0.15130443271606941,0.03269000088908263],"gripper_joint_position_m":[0.03499931691616785,-0.03500071350370421],"tcp_position_m":[0.30645553436228934,-0.03475338635539287,0.08258505170215412],"tcp_quaternion_wxyz":[0.1408547161523382,-0.0010021341292227614,0.9900105145155013,0.006174610399329957],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.5654820180521377e-17,2.003756702012007e-17,5.892513921474441e-08],"object_linear_velocity_m_s":[-8.580635004713068e-17,-7.419392537541092e-17,3.0325933371449673e-15],"object_angular_velocity_rad_s":[-4.3499709608646805e-15,5.4288453476703335e-15,1.158997454848605e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.14930800607420064,1.5821995156306463,-0.9152793771109055,0.06413701702644277,0.7611491160490709,-0.1898656769658334,0.035],"actuator_force_native":[0.2790599975430954,0.03893830463987058,-0.18591667727733352,-0.29040958639146686,0.3387810055009748,0.20507368697964834,0.00023709729868848228],"issued_joint_targets_rad":[-0.14848044727259457,1.5827243530005557,-0.9161434772177005,0.062436443850482595,0.7632885521524609,-0.18974683820543825],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.480000000000833,"joint_targets_rad":[-0.14848044727259457,1.5827243530005557,-0.9161434772177005,0.062436443850482595,0.7632885521524609,-0.18974683820543825],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.500000000000839,"qpos":[-0.15462756701837968,1.5764160250440817,-0.9016155511387476,0.0835162148210075,0.7074198765520241,-0.214635737734435,0.034999482845487345,-0.03500007482253756,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.5597214922993733e-17,3.1803911712992756e-17,5.9364774556671446e-08],"qvel":[0.04181994503027726,0.06917297826555299,-0.21417379587886806,-0.10938952283657627,0.12746894914506274,0.032321242164699004,-3.5254595963406214e-05,-4.4077382751852766e-05,-3.6342073596271106e-17,-2.916490270790059e-17,3.071451143006847e-15,5.848560721977616e-16,-7.538658144884023e-16,1.2556788300862572e-08],"joint_position_rad":[-0.15462756701837968,1.5764160250440817,-0.9016155511387476,0.0835162148210075,0.7074198765520241,-0.214635737734435],"joint_velocity_rad_s":[0.04181994503027726,0.06917297826555299,-0.21417379587886806,-0.10938952283657627,0.12746894914506274,0.032321242164699004],"gripper_joint_position_m":[0.034999482845487345,-0.03500007482253756],"tcp_position_m":[0.30730336667995267,-0.034894765609526944,0.08316069255667885],"tcp_quaternion_wxyz":[0.14075460745325408,-0.0020002232783617314,0.9900272883968076,0.005487059064848744],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.5597214922993733e-17,3.1803911712992756e-17,5.9364774556671446e-08],"object_linear_velocity_m_s":[-3.6342073596271106e-17,-2.916490270790059e-17,3.071451143006847e-15],"object_angular_velocity_rad_s":[5.848561625026166e-16,-7.538657444058629e-16,1.2556788300862594e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.14848044727259457,1.5827243530005557,-0.9161434772177005,0.062436443850482595,0.7632885521524609,-0.18974683820543825,0.035],"actuator_force_native":[0.2826698545114219,0.15880134519015598,-0.09136510692189859,-0.29624322463811525,0.3674833322867741,0.20040713204291927,0.00019695916032325123],"issued_joint_targets_rad":[-0.1476936923914654,1.5827928022013442,-0.9163074773536363,0.06090164082336748,0.763410174388566,-0.1896859891401509],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.500000000000839,"joint_targets_rad":[-0.1476936923914654,1.5827928022013442,-0.9163074773536363,0.06090164082336748,0.763410174388566,-0.1896859891401509],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.520000000000846,"qpos":[-0.15377292789271038,1.577410113613439,-0.9053973012477723,0.08129460965361529,0.7097115338630535,-0.214003861216192,0.0349996331154517,-0.03499918511103045,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.4009829660085658e-17,6.235873211501927e-17,5.980647412418198e-08],"qvel":[0.04028066785577851,0.033978826236946306,-0.16613561918411796,-0.10318726524315877,0.10440793728256931,0.031720081122238335,-3.7825659473613086e-05,-3.282049089041486e-05,-8.21884630218549e-17,-2.991898853207256e-17,3.0062255403101185e-15,6.279186609150949e-16,-2.7316355406239484e-17,2.292552445340009e-08],"joint_position_rad":[-0.15377292789271038,1.577410113613439,-0.9053973012477723,0.08129460965361529,0.7097115338630535,-0.214003861216192],"joint_velocity_rad_s":[0.04028066785577851,0.033978826236946306,-0.16613561918411796,-0.10318726524315877,0.10440793728256931,0.031720081122238335],"gripper_joint_position_m":[0.0349996331154517,-0.03499918511103045],"tcp_position_m":[0.3079846333623979,-0.035009944487614596,0.08375358081788774],"tcp_quaternion_wxyz":[0.14085862917766798,-0.002924140953566097,0.9900137826126775,0.004796480252276208],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.4009829660085658e-17,6.235873211501927e-17,5.980647412418198e-08],"object_linear_velocity_m_s":[-8.21884630218549e-17,-2.991898853207256e-17,3.0062255403101185e-15],"object_angular_velocity_rad_s":[6.279186670416946e-16,-2.7316279198161002e-17,2.292552445340013e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1476936923914654,1.5827928022013442,-0.9163074773536363,0.06090164082336748,0.763410174388566,-0.1896859891401509,0.035],"actuator_force_native":[0.2849355008207066,0.26072095584767396,-0.042135992548523404,-0.2997824269941187,0.3803744993312703,0.19559859907705346,0.00020380367930017407],"issued_joint_targets_rad":[-0.14693972099066394,1.582605927283762,-0.916082138565226,0.05946839543581163,0.7629868071319812,-0.18961464790994487],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.520000000000846,"joint_targets_rad":[-0.14693972099066394,1.582605927283762,-0.916082138565226,0.05946839543581163,0.7629868071319812,-0.18961464790994487],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.540000000000853,"qpos":[-0.15294870536689179,1.5778171971896917,-0.9082264592122344,0.07919882926499122,0.7115841449200898,-0.21338430629621127,0.034999744021275994,-0.03499844783267794,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.9292046125419052e-17,9.3866720450849e-17,6.023480912942063e-08],"qvel":[0.038934184654567994,0.012388390577412705,-0.1220901604983155,-0.09745543862852284,0.08915194117621845,0.03101965625536836,-4.126472830099771e-05,-4.282837292915266e-05,-1.4375344634349914e-16,-2.6072275598424383e-17,3.025654443241059e-15,4.350595110467416e-16,2.4264787101161457e-15,4.185621823594912e-08],"joint_position_rad":[-0.15294870536689179,1.5778171971896917,-0.9082264592122344,0.07919882926499122,0.7115841449200898,-0.21338430629621127],"joint_velocity_rad_s":[0.038934184654567994,0.012388390577412705,-0.1220901604983155,-0.09745543862852284,0.08915194117621845,0.03101965625536836],"gripper_joint_position_m":[0.034999744021275994,-0.03499844783267794],"tcp_position_m":[0.30846952997598187,-0.03509284211809285,0.08428871846656026],"tcp_quaternion_wxyz":[0.14099537977594379,-0.0037817392259368466,0.9899944130240514,0.004130800337492973],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.9292046125419052e-17,9.3866720450849e-17,6.023480912942063e-08],"object_linear_velocity_m_s":[-1.4375344634349914e-16,-2.6072275598424383e-17,3.025654443241059e-15],"object_angular_velocity_rad_s":[4.350592265875871e-16,2.4264787641425707e-15,4.185621823594919e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.14693972099066394,1.582605927283762,-0.916082138565226,0.05946839543581163,0.7629868071319812,-0.18961464790994487,0.035],"actuator_force_native":[0.28604782682538676,0.3211564546385546,-0.018003545747745875,-0.3019401600245697,0.3802987103545865,0.19116709947961152,0.0002165627904655576],"issued_joint_targets_rad":[-0.14621308144745568,1.582370378333453,-0.9157813560551264,0.05808656856533573,0.7624713055478411,-0.18948794525930318],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.540000000000853,"joint_targets_rad":[-0.14621308144745568,1.582370378333453,-0.9157813560551264,0.05808656856533573,0.7624713055478411,-0.18948794525930318],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.560000000000859,"qpos":[-0.15214895684651442,1.5779956955463326,-0.9102657472511382,0.07721506672602013,0.7132238699809966,-0.21277834673644327,0.034999643802858665,-0.034997981699699095,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.6646141140215634e-17,1.0480259784449769e-16,6.06207972604806e-08],"qvel":[0.03791439706189553,0.00714740414209095,-0.08507593817362649,-0.09237282369015119,0.07833220152742651,0.030328645521670985,-4.8205977870496976e-05,-5.236468439083078e-05,-2.0157929548795649e-16,-3.145420658035307e-17,3.0353688947065284e-15,-5.74632201122811e-16,5.503063829583925e-15,7.641888448730222e-08],"joint_position_rad":[-0.15214895684651442,1.5779956955463326,-0.9102657472511382,0.07721506672602013,0.7132238699809966,-0.21277834673644327],"joint_velocity_rad_s":[0.03791439706189553,0.00714740414209095,-0.08507593817362649,-0.09237282369015119,0.07833220152742651,0.030328645521670985],"gripper_joint_position_m":[0.034999643802858665,-0.034997981699699095],"tcp_position_m":[0.30875961752890596,-0.03514139861970304,0.08468939385005284],"tcp_quaternion_wxyz":[0.14097823878683907,-0.0045829484452964905,0.9899958272742037,0.003520618095384821],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.6646141140215634e-17,1.0480259784449769e-16,6.06207972604806e-08],"object_linear_velocity_m_s":[-2.0157929548795649e-16,-3.145420658035307e-17,3.0353688947065284e-15],"object_angular_velocity_rad_s":[-5.746328523052462e-16,5.50306376245873e-15,7.641888448730238e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.14621308144745568,1.582370378333453,-0.9157813560551264,0.05808656856533573,0.7624713055478411,-0.18948794525930318,0.035],"actuator_force_native":[0.28529804661522107,0.3142376022591691,-0.015869013450938496,-0.30327580797662,0.37497605337730455,0.1874110464888945,0.000255277775006002],"issued_joint_targets_rad":[-0.14550988251497438,1.5823150661009622,-0.9157493328131258,0.05671052710452973,0.7623566957355118,-0.18926821258679283],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.560000000000859,"joint_targets_rad":[-0.14550988251497438,1.5823150661009622,-0.9157493328131258,0.05671052710452973,0.7623566957355118,-0.18926821258679283],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.580000000000866,"qpos":[-0.1513695115061035,1.578125107734644,-0.911641850686262,0.07532005920024791,0.7147293978304463,-0.212185214203872,0.03499961661800254,-0.03499783849464235,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-1.3756871297488978e-17,9.469819854198423e-17,6.09106722923084e-08],"qvel":[0.03694276480894809,0.0061704457629647306,-0.05481491323880775,-0.08841091206120023,0.07380372076808937,0.029713065251957226,-4.076052564943136e-05,-7.013913627657383e-05,-1.1161207641982427e-16,-1.6545821542695002e-17,2.992347752502303e-15,6.788361843507637e-16,-3.608674624486791e-15,8.27936032715872e-09],"joint_position_rad":[-0.1513695115061035,1.578125107734644,-0.911641850686262,0.07532005920024791,0.7147293978304463,-0.212185214203872],"joint_velocity_rad_s":[0.03694276480894809,0.0061704457629647306,-0.05481491323880775,-0.08841091206120023,0.07380372076808937,0.029713065251957226],"gripper_joint_position_m":[0.03499961661800254,-0.03499783849464235],"tcp_position_m":[0.30886888475944513,-0.035158649708241854,0.08492900618602443],"tcp_quaternion_wxyz":[0.14073208235108495,-0.0053391296364920906,0.990028857709204,0.002972472852739872],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-1.3756871297488978e-17,9.469819854198423e-17,6.09106722923084e-08],"object_linear_velocity_m_s":[-1.1161207641982427e-16,-1.6545821542695002e-17,2.992347752502303e-15],"object_angular_velocity_rad_s":[6.788366255324361e-16,-3.608674541562238e-15,8.279360327158737e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023}],"native_actuator_controls":[-0.14550988251497438,1.5823150661009622,-0.9157493328131258,0.05671052710452973,0.7623566957355118,-0.18926821258679283,0.035],"actuator_force_native":[0.28405649524559173,0.3043444404906239,-0.05452400395505208,-0.30232672352272605,0.36556739789852166,0.184600418292856,0.00021913790814553913],"issued_joint_targets_rad":[-0.14482277915263853,1.5825343418310756,-0.9161261822177791,0.05531399997649858,0.7628399554911497,-0.18894285487463622],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.580000000000866,"joint_targets_rad":[-0.14482277915263853,1.5825343418310756,-0.9161261822177791,0.05531399997649858,0.7628399554911497,-0.18894285487463622],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.600000000000873,"qpos":[-0.15060944001571724,1.5782563718597649,-0.9125300687953714,0.07349061096545584,0.7162682052832526,-0.21160337427420312,0.03499964379248732,-0.03499797849524372,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-2.7667213250136205e-17,1.0817173527921591e-16,6.138119125683015e-08],"qvel":[0.03602008719242026,0.006752427089055303,-0.03439639492198479,-0.0854262655775472,0.07765206166994246,0.02919273370951804,-4.108891542287965e-05,-8.444724517325633e-05,-1.349490918682276e-16,-3.2935576451270754e-17,2.9451632739557333e-15,3.743429076228832e-16,-3.521479640633873e-15,1.5116021158511957e-08],"joint_position_rad":[-0.15060944001571724,1.5782563718597649,-0.9125300687953714,0.07349061096545584,0.7162682052832526,-0.21160337427420312],"joint_velocity_rad_s":[0.03602008719242026,0.006752427089055303,-0.03439639492198479,-0.0854262655775472,0.07765206166994246,0.02919273370951804],"gripper_joint_position_m":[0.03499964379248732,-0.03499797849524372],"tcp_position_m":[0.3088175908784694,-0.035148876276634676,0.08503076636850346],"tcp_quaternion_wxyz":[0.14023501337521738,-0.006062637117831377,0.9900965645091271,0.002485639164056785],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-2.7667213250136205e-17,1.0817173527921591e-16,6.138119125683015e-08],"object_linear_velocity_m_s":[-1.349490918682276e-16,-3.2935576451270754e-17,2.9451632739557333e-15],"object_angular_velocity_rad_s":[3.743433431983642e-16,-3.5214795938421895e-15,1.5116021158511987e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.14482277915263853,1.5825343418310756,-0.9161261822177791,0.05531399997649858,0.7628399554911497,-0.18894285487463622,0.035],"actuator_force_native":[0.28283243308419515,0.30847546225957956,-0.11570709918269984,-0.29993311167055436,0.3492394095740572,0.18281609343139182,0.0002196928776216911],"issued_joint_targets_rad":[-0.14414813888304018,1.5830576415901638,-0.9169546066958385,0.05389330634423108,0.7639791987415503,-0.1885270917921169],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.600000000000873,"joint_targets_rad":[-0.14414813888304018,1.5830576415901638,-0.9169546066958385,0.05389330634423108,0.7639791987415503,-0.1885270917921169],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.620000000000879,"qpos":[-0.14986687493381506,1.5784124232362382,-0.9131379990073267,0.07171008179045116,0.7179863442103819,-0.21103091937482835,0.03499965340156508,-0.03499840110343798,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.4540527763392965e-17,1.0761850197133374e-16,6.185140800490649e-08],"qvel":[0.035212858366168935,0.00820460736134277,-0.024434901231002806,-0.0831218750763733,0.08737225516138104,0.02877654701192798,-4.240505622558998e-05,-0.00010018252729536263,-1.428025642478852e-16,-4.334527450049047e-17,2.9493266102980774e-15,1.0655377814381035e-16,-2.2933880149360257e-15,2.75980373646806e-08],"joint_position_rad":[-0.14986687493381506,1.5784124232362382,-0.9131379990073267,0.07171008179045116,0.7179863442103819,-0.21103091937482835],"joint_velocity_rad_s":[0.035212858366168935,0.00820460736134277,-0.024434901231002806,-0.0831218750763733,0.08737225516138104,0.02877654701192798],"gripper_joint_position_m":[0.03499965340156508,-0.03499840110343798],"tcp_position_m":[0.3086414547343211,-0.03511788055097326,0.08503721021275999],"tcp_quaternion_wxyz":[0.139505329183073,-0.006763837776898535,0.9901960877210313,0.0020546264901596337],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.4540527763392965e-17,1.0761850197133374e-16,6.185140800490649e-08],"object_linear_velocity_m_s":[-1.428025642478852e-16,-4.334527450049047e-17,2.9493266102980774e-15],"object_angular_velocity_rad_s":[1.0655406778248417e-16,-2.2933879998485083e-15,2.7598037364680657e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.14414813888304018,1.5830576415901638,-0.9169546066958385,0.05389330634423108,0.7639791987415503,-0.1885270917921169,0.035],"actuator_force_native":[0.28143459223114675,0.33059443150733614,-0.1831541089259332,-0.29706164246693634,0.3288701625696131,0.18187345530922272,0.00022588921852495503],"issued_joint_targets_rad":[-0.1434858065187955,1.583864784689168,-0.9182034568699807,0.05245949925280054,0.7657277254808054,-0.18805032205402378],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.620000000000879,"joint_targets_rad":[-0.1434858065187955,1.583864784689168,-0.9182034568699807,0.05245949925280054,0.7657277254808054,-0.18805032205402378],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.640000000000886,"qpos":[-0.14913896254431747,1.5786853340970366,-0.9136969533424351,0.06997102686561761,0.7199830360685209,-0.21046592845422588,0.034999633848971104,-0.03499920038508509,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999991,-3.773899858785241e-17,9.443314994742304e-17,6.224496642809558e-08],"qvel":[0.03456764908138571,0.015044526450702516,-0.024939715384360687,-0.08109079792328833,0.09910241116384506,0.028461978507591558,-4.086080435963601e-05,-0.00011675214487120612,-1.4964314935303166e-16,-5.735884587024305e-17,2.9951233100638656e-15,-8.055594591068105e-16,-3.166088217704201e-16,5.0387046855476974e-08],"joint_position_rad":[-0.14913896254431747,1.5786853340970366,-0.9136969533424351,0.06997102686561761,0.7199830360685209,-0.21046592845422588],"joint_velocity_rad_s":[0.03456764908138571,0.015044526450702516,-0.024939715384360687,-0.08109079792328833,0.09910241116384506,0.028461978507591558],"gripper_joint_position_m":[0.034999633848971104,-0.03499920038508509],"tcp_position_m":[0.3083905475218154,-0.03507261557671283,0.08497897790876725],"tcp_quaternion_wxyz":[0.13856234697843708,-0.007448872200290266,0.9903242810706705,0.0016758951729397638],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999991,-3.773899858785241e-17,9.443314994742304e-17,6.224496642809558e-08],"object_linear_velocity_m_s":[-1.4964314935303166e-16,-5.735884587024305e-17,2.9951233100638656e-15],"object_angular_velocity_rad_s":[-8.055594101757801e-16,-3.1660891825134734e-16,5.038704685547707e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.1434858065187955,1.583864784689168,-0.9182034568699807,0.05245949925280054,0.7657277254808054,-0.18805032205402378,0.035],"actuator_force_native":[0.27941423663482823,0.33913341511700423,-0.2358217052818503,-0.29500711489624143,0.3087932773770774,0.18146309624063406,0.00021895006295435948],"issued_joint_targets_rad":[-0.14283805216358703,1.5849340688028646,-0.919839755312833,0.05102608616689924,0.7680367626557018,-0.18753794727170478],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.640000000000886,"joint_targets_rad":[-0.14283805216358703,1.5849340688028646,-0.919839755312833,0.05102608616689924,0.7680367626557018,-0.18753794727170478],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.660000000000893,"qpos":[-0.14842393750688132,1.5791684552756549,-0.914379222932935,0.0682704617023831,0.722254758044304,-0.2099063885282718,0.03499962723351612,-0.035000283549805764,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.883030336592721e-17,8.360349656254752e-17,6.258175271468246e-08],"qvel":[0.033948614914361595,0.02669040707093365,-0.03319623819678833,-0.0791822871406921,0.11020280466025564,0.02824059495649146,-4.630086883204494e-05,-0.00011392343985287821,-2.0517443560376463e-16,-3.541263235388954e-17,3.593255964580668e-15,1.2350291280957216e-15,6.0706302576457935e-15,9.199402324406118e-08],"joint_position_rad":[-0.14842393750688132,1.5791684552756549,-0.914379222932935,0.0682704617023831,0.722254758044304,-0.2099063885282718],"joint_velocity_rad_s":[0.033948614914361595,0.02669040707093365,-0.03319623819678833,-0.0791822871406921,0.11020280466025564,0.02824059495649146],"gripper_joint_position_m":[0.03499962723351612,-0.035000283549805764],"tcp_position_m":[0.3081166110793979,-0.035021084257896656,0.08487573725509538],"tcp_quaternion_wxyz":[0.13744598463331734,-0.008119329641002617,0.9904750766979298,0.0013417282096763875],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.883030336592721e-17,8.360349656254752e-17,6.258175271468246e-08],"object_linear_velocity_m_s":[-2.0517443560376463e-16,-3.541263235388954e-17,3.593255964580668e-15],"object_angular_velocity_rad_s":[1.2350283836563924e-15,6.070630417530753e-15,9.199402324406116e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000024},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028},{"geom_ids":[1,90],"normal_force_n":0.09810000000000027}],"native_actuator_controls":[-0.14283805216358703,1.5849340688028646,-0.919839755312833,0.05102608616689924,0.7680367626557018,-0.18753794727170478,0.035],"actuator_force_native":[0.27712775289173486,0.32779704682211275,-0.2708613994079059,-0.293863585715894,0.2925158391235936,0.1813235201309329,0.00024641500351552104],"issued_joint_targets_rad":[-0.1422059246992995,1.5862180458705888,-0.9217923698943414,0.04960444470236357,0.7708024786975969,-0.18700610803156667],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.660000000000893,"joint_targets_rad":[-0.1422059246992995,1.5862180458705888,-0.9217923698943414,0.04960444470236357,0.7708024786975969,-0.18700610803156667],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.680000000000899,"qpos":[-0.14772279319248977,1.579909206916587,-0.9152850341184706,0.06660704640248243,0.7247477788347655,-0.20935042403086618,0.03499924403083319,-0.035000871310792034,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.7541860171797612e-17,7.995866954001372e-17,6.29307079578105e-08],"qvel":[0.03321960278729549,0.03932855931821985,-0.045195141059007855,-0.07737816675213541,0.11880240037494026,0.028100295375109965,-6.615738476250258e-05,-8.104331637718117e-05,-9.806966825902378e-17,-2.291431935374493e-17,3.877750614640864e-15,1.2727490739235054e-15,-3.1720242842601375e-15,9.966799064034496e-09],"joint_position_rad":[-0.14772279319248977,1.579909206916587,-0.9152850341184706,0.06660704640248243,0.7247477788347655,-0.20935042403086618],"joint_velocity_rad_s":[0.03321960278729549,0.03932855931821985,-0.045195141059007855,-0.07737816675213541,0.11880240037494026,0.028100295375109965],"gripper_joint_position_m":[0.03499924403083319,-0.035000871310792034],"tcp_position_m":[0.3078601841846074,-0.03497062574455552,0.0847440203944625],"tcp_quaternion_wxyz":[0.13620787686166902,-0.008773860128034836,0.990640877457874,0.001041906321859977],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.7541860171797612e-17,7.995866954001372e-17,6.29307079578105e-08],"object_linear_velocity_m_s":[-9.806966825902378e-17,-2.291431935374493e-17,3.877750614640864e-15],"object_angular_velocity_rad_s":[1.2727494747528267e-15,-3.172024123720439e-15,9.966799064034496e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.1422059246992995,1.5862180458705888,-0.9217923698943414,0.04960444470236357,0.7708024786975969,-0.18700610803156667,0.035],"actuator_force_native":[0.27525146551874613,0.30806431972905557,-0.29461115677462146,-0.2932132342440772,0.2823433980659038,0.18129271693032978,0.00036102569048512834],"issued_joint_targets_rad":[-0.14158923692844835,1.587654346058959,-0.9239682491236996,0.04820360849262228,0.7738896277429029,-0.1864639631839317],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.680000000000899,"joint_targets_rad":[-0.14158923692844835,1.587654346058959,-0.9239682491236996,0.04820360849262228,0.7738896277429029,-0.1864639631839317],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.700000000000906,"qpos":[-0.14703837957729105,1.5809000701366176,-0.9164583231039302,0.06498001930130973,0.7274050517448016,-0.20879654765796968,0.03499867489705024,-0.0350010803807503,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,8.333513122728218e-18,7.922403723208392e-17,6.33772708012491e-08],"qvel":[0.03233866488962793,0.050830295022095816,-0.0585636993890017,-0.07562840271259057,0.1250747255838593,0.028020920988545507,-6.733702524612744e-05,-6.769568768796515e-05,-1.0300842161942833e-16,7.585561558900739e-18,3.919383978064308e-15,8.550170301958853e-16,-2.524913547190726e-15,1.8196858160695946e-08],"joint_position_rad":[-0.14703837957729105,1.5809000701366176,-0.9164583231039302,0.06498001930130973,0.7274050517448016,-0.20879654765796968],"joint_velocity_rad_s":[0.03233866488962793,0.050830295022095816,-0.0585636993890017,-0.07562840271259057,0.1250747255838593,0.028020920988545507],"gripper_joint_position_m":[0.03499867489705024,-0.0350010803807503],"tcp_position_m":[0.3076466525196963,-0.03492668259842388,0.08460167883672975],"tcp_quaternion_wxyz":[0.13490070600712745,-0.009410144427451292,0.9908141408231946,0.0007661888979448503],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,8.333513122728218e-18,7.922403723208392e-17,6.33772708012491e-08],"object_linear_velocity_m_s":[-1.0300842161942833e-16,7.585561558900739e-18,3.919383978064308e-15],"object_angular_velocity_rad_s":[8.550173531233949e-16,-2.5249134391167014e-15,1.8196858160695946e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.14158923692844835,1.587654346058959,-0.9239682491236996,0.04820360849262228,0.7738896277429029,-0.1864639631839317,0.035],"actuator_force_native":[0.2742380874592758,0.28619059867682495,-0.3079755846365515,-0.2929144187845447,0.2772336716052246,0.18129446325756104,0.00038968924422100315],"issued_joint_targets_rad":[-0.14098747244696405,1.5891789290324188,-0.9262720341804849,0.04683143666441027,0.777160020312239,-0.18591801029791166],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.700000000000906,"joint_targets_rad":[-0.14098747244696405,1.5891789290324188,-0.9262720341804849,0.04683143666441027,0.777160020312239,-0.18591801029791166],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.720000000000913,"qpos":[-0.14637346724334774,1.5821007641018767,-0.9179013901032469,0.06338950566202058,0.7301728047032143,-0.20824366116677914,0.03499815129804236,-0.03500112071344369,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,2.3570691716038036e-18,8.334923795521638e-17,6.381778090876473e-08],"qvel":[0.031341359308279824,0.05997263377077576,-0.0714746715434517,-0.07388762136364642,0.12916986016288798,0.027984035172907724,-6.087704501066628e-05,-6.038401145901749e-05,-1.187424343231808e-16,-1.1295430818926729e-18,3.9263228719682156e-15,-7.71567001539574e-16,-7.116157866170832e-16,3.322286772243062e-08],"joint_position_rad":[-0.14637346724334774,1.5821007641018767,-0.9179013901032469,0.06338950566202058,0.7301728047032143,-0.20824366116677914],"joint_velocity_rad_s":[0.031341359308279824,0.05997263377077576,-0.0714746715434517,-0.07388762136364642,0.12916986016288798,0.027984035172907724],"gripper_joint_position_m":[0.03499815129804236,-0.03500112071344369],"tcp_position_m":[0.30748883729540943,-0.034892520795393386,0.08446474311166141],"tcp_quaternion_wxyz":[0.13357134350439362,-0.010025779886395532,0.9909883571991309,0.0005057942948278945],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,2.3570691716038036e-18,8.334923795521638e-17,6.381778090876473e-08],"object_linear_velocity_m_s":[-1.187424343231808e-16,-1.1295430818926729e-18,3.9263228719682156e-15],"object_angular_velocity_rad_s":[-7.7156690517388555e-16,-7.116158852530819e-16,3.322286772243062e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.14098747244696405,1.5891789290324188,-0.9262720341804849,0.04683143666441027,0.777160020312239,-0.18591801029791166,0.035],"actuator_force_native":[0.27417278716929516,0.2663900255894873,-0.3122781684617735,-0.29288465308618017,0.27611736584591373,0.18128045592931308,0.0003783333033591241],"issued_joint_targets_rad":[-0.14040031768882122,1.5907346327470968,-0.9286186691474598,0.04549463249945997,0.7804906984902381,-0.18537336518838735],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.720000000000913,"joint_targets_rad":[-0.14040031768882122,1.5907346327470968,-0.9286186691474598,0.04549463249945997,0.7804906984902381,-0.18537336518838735],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.7400000000009195,"qpos":[-0.1457298106346332,1.5834550625107655,-0.9195867518745243,0.06183634160956121,0.733002962783997,-0.20769101895402547,0.03499776382566184,-0.035001062380766015,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.5287547474153504e-17,7.584855600727388e-17,6.422945013630981e-08],"qvel":[0.030288925728081124,0.0662523876545611,-0.08264848615141886,-0.07212042545919252,0.13130337020274363,0.027973295104040004,-5.1490400990110274e-05,-5.573223832850747e-05,-1.1958549014566027e-16,-6.846989309732861e-17,3.947139553679937e-15,-4.384678459400872e-15,4.932130456657609e-16,6.065656664215757e-08],"joint_position_rad":[-0.1457298106346332,1.5834550625107655,-0.9195867518745243,0.06183634160956121,0.733002962783997,-0.20769101895402547],"joint_velocity_rad_s":[0.030288925728081124,0.0662523876545611,-0.08264848615141886,-0.07212042545919252,0.13130337020274363,0.027973295104040004],"gripper_joint_position_m":[0.03499776382566184,-0.035001062380766015],"tcp_position_m":[0.30738966164511705,-0.03486938320578943,0.08434545214962356],"tcp_quaternion_wxyz":[0.13225722389463182,-0.010618779295269318,0.9911585159475356,0.00025400520188542674],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.5287547474153504e-17,7.584855600727388e-17,6.422945013630981e-08],"object_linear_velocity_m_s":[-1.1958549014566027e-16,-6.846989309732861e-17,3.947139553679937e-15],"object_angular_velocity_rad_s":[-4.384678513557017e-15,4.9321248548249615e-16,6.065656664215758e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.14040031768882122,1.5907346327470968,-0.9286186691474598,0.04549463249945997,0.7804906984902381,-0.18537336518838735,0.035],"actuator_force_native":[0.27491480702455284,0.2511036806337046,-0.3093109510777339,-0.293066237108087,0.2779223017582959,0.18121659500032128,0.00034689897847717255],"issued_joint_targets_rad":[-0.13982774296567524,1.592275672155285,-0.930940040622572,0.044198424676878546,0.7837834669231114,-0.184834069275471],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.7400000000009195,"joint_targets_rad":[-0.13982774296567524,1.592275672155285,-0.930940040622572,0.044198424676878546,0.7837834669231114,-0.184834069275471],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.760000000000926,"qpos":[-0.14510793561425386,1.584903546580559,-0.9214679651623832,0.06032179695822203,0.7358541037837188,-0.20713819895015606,0.034997535302427205,-0.03500094040501026,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-3.648863698038845e-17,6.282162364710758e-17,6.451162090733355e-08],"qvel":[0.029239546876229365,0.06970338546429818,-0.09132652041549694,-0.07030493641119825,0.13175770603370682,0.027974371441925258,-4.169423035149867e-05,-5.254937964549589e-05,-2.1876745424973546e-16,-1.4638581121003484e-16,3.9984873685688514e-15,-7.965577627190959e-15,9.53840078169348e-15,1.1074357299777491e-07],"joint_position_rad":[-0.14510793561425386,1.584903546580559,-0.9214679651623832,0.06032179695822203,0.7358541037837188,-0.20713819895015606],"joint_velocity_rad_s":[0.029239546876229365,0.06970338546429818,-0.09132652041549694,-0.07030493641119825,0.13175770603370682,0.027974371441925258],"gripper_joint_position_m":[0.034997535302427205,-0.03500094040501026],"tcp_position_m":[0.3073449006047614,-0.03485690102016097,0.08425134994498232],"tcp_quaternion_wxyz":[0.13098490398320978,-0.011187758560893336,0.991321233983816,6.3005245075385945e-06],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-3.648863698038845e-17,6.282162364710758e-17,6.451162090733355e-08],"object_linear_velocity_m_s":[-2.1876745424973546e-16,-1.4638581121003484e-16,3.9984873685688514e-15],"object_angular_velocity_rad_s":[-7.965578843952104e-15,9.538399762030519e-15,1.1074357299777494e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.13982774296567524,1.592275672155285,-0.930940040622572,0.044198424676878546,0.7837834669231114,-0.184834069275471,0.035],"actuator_force_native":[0.2762176775051426,0.24125311865658716,-0.3011334347376078,-0.2934102091977482,0.2816570723433651,0.1810797395839625,0.00030705905466943406],"issued_joint_targets_rad":[-0.1392699201380222,1.5937694244303595,-0.9331876384834128,0.04294632294789465,0.786968664709799,-0.18430300462981103],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.760000000000926,"joint_targets_rad":[-0.1392699201380222,1.5937694244303595,-0.9331876384834128,0.04294632294789465,0.786968664709799,-0.18430300462981103],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.780000000000933,"qpos":[-0.14450736002237785,1.5863918003225752,-0.9234892589500355,0.0588472578297716,0.7386928995991041,-0.20658505869747615,0.03499745400017522,-0.03500077378204038,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.988272559407865e-17,7.616582131515746e-17,6.493169765881754e-08],"qvel":[0.028234891980890783,0.07069213229838055,-0.09720533022963863,-0.06843400710702434,0.13089008606920857,0.02797539035189422,-3.301092200372464e-05,-5.0249971007007425e-05,-9.188612944932596e-17,-6.078436438650977e-17,4.006814041253541e-15,1.6878245288666375e-15,-2.229193848771924e-15,1.1998159236647093e-08],"joint_position_rad":[-0.14450736002237785,1.5863918003225752,-0.9234892589500355,0.0588472578297716,0.7386928995991041,-0.20658505869747615],"joint_velocity_rad_s":[0.028234891980890783,0.07069213229838055,-0.09720533022963863,-0.06843400710702434,0.13089008606920857,0.02797539035189422],"gripper_joint_position_m":[0.03499745400017522,-0.03500077378204038],"tcp_position_m":[0.30734561193408255,-0.0348535830215405,0.08418541732805025],"tcp_quaternion_wxyz":[0.12977002919928907,-0.011731952024861126,0.9914746811353782,-0.00023977239669588206],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.988272559407865e-17,7.616582131515746e-17,6.493169765881754e-08],"object_linear_velocity_m_s":[-9.188612944932596e-17,-6.078436438650977e-17,4.006814041253541e-15],"object_angular_velocity_rad_s":[1.6878248201850048e-15,-2.2291936283882802e-15,1.1998159236647096e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1392699201380222,1.5937694244303595,-0.9331876384834128,0.04294632294789465,0.786968664709799,-0.18430300462981103,0.035],"actuator_force_native":[0.27782073084399883,0.23674926713083266,-0.2898437115219963,-0.2938673597399566,0.28642252200313667,0.1808574551488098,0.0002668946030099928],"issued_joint_targets_rad":[-0.13872709128947056,1.5951964986574259,-0.935332668425232,0.04174006388763234,0.7900052367685428,-0.1837817691917618],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.780000000000933,"joint_targets_rad":[-0.13872709128947056,1.5951964986574259,-0.935332668425232,0.04174006388763234,0.7900052367685428,-0.1837817691917618],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8000000000009395,"qpos":[-0.1439269547530916,1.587875079767978,-0.925593602589423,0.05741393989978468,0.7414951665930715,-0.20603167986768484,0.034997488898183875,-0.03500058076436861,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.08126872961988e-17,8.013883967443604e-17,6.540830505418575e-08],"qvel":[0.027297933816922387,0.06976120398074329,-0.10035247678385825,-0.06651342508739869,0.12910522810769862,0.027967384540859196,-2.6304334394764318e-05,-4.860671464460031e-05,-1.0104095527073022e-16,-5.175375598414042e-17,4.006814041253541e-15,1.5394887830624733e-15,-2.052685642449653e-15,2.190560885355327e-08],"joint_position_rad":[-0.1439269547530916,1.587875079767978,-0.925593602589423,0.05741393989978468,0.7414951665930715,-0.20603167986768484],"joint_velocity_rad_s":[0.027297933816922387,0.06976120398074329,-0.10035247678385825,-0.06651342508739869,0.12910522810769862,0.027967384540859196],"gripper_joint_position_m":[0.034997488898183875,-0.03500058076436861],"tcp_position_m":[0.30738028174338133,-0.03485729716911355,0.08414685143724625],"tcp_quaternion_wxyz":[0.12861845302044067,-0.012251148018294213,0.9916183579242471,-0.0004849149223979818],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.08126872961988e-17,8.013883967443604e-17,6.540830505418575e-08],"object_linear_velocity_m_s":[-1.0104095527073022e-16,-5.175375598414042e-17,4.006814041253541e-15],"object_angular_velocity_rad_s":[1.539489055098818e-15,-2.0526854392708782e-15,2.1905608853553273e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.13872709128947056,1.5951964986574259,-0.935332668425232,0.04174006388763234,0.7900052367685428,-0.1837817691917618,0.035],"actuator_force_native":[0.279499408005071,0.23690749125212562,-0.2773628829454253,-0.2943879150491002,0.2914428595931664,0.1805480299479414,0.0002319657446188117],"issued_joint_targets_rad":[-0.13819944757990246,1.5965494154423376,-0.9373640783499307,0.04057976047429923,0.7928777773785867,-0.18327069448627217],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.8000000000009395,"joint_targets_rad":[-0.13819944757990246,1.5965494154423376,-0.9373640783499307,0.04057976047429923,0.7928777773785867,-0.18327069448627217],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.820000000000946,"qpos":[-0.1433652658783493,1.589321354690934,-0.9277291588675678,0.056022698489501165,0.7442456046197758,-0.20547830752863958,0.034997599543897834,-0.035000363451504445,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.3462883353119656e-17,6.398379446024231e-17,6.581758420075944e-08],"qvel":[0.026436335268543207,0.06754033466107658,-0.10110624692044229,-0.06455817285335924,0.1267825175267293,0.02794467980228207,-2.1863683722031256e-05,-4.722314438907247e-05,-8.977065349613537e-17,-1.3645821951218532e-17,4.0109773775958865e-15,2.690920865228069e-15,-1.7195836422651588e-15,3.9994109911394334e-08],"joint_position_rad":[-0.1433652658783493,1.589321354690934,-0.9277291588675678,0.056022698489501165,0.7442456046197758,-0.20547830752863958],"joint_velocity_rad_s":[0.026436335268543207,0.06754033466107658,-0.10110624692044229,-0.06455817285335924,0.1267825175267293,0.02794467980228207],"gripper_joint_position_m":[0.034997599543897834,-0.035000363451504445],"tcp_position_m":[0.307436789758478,-0.03486570377255109,0.08413194105794523],"tcp_quaternion_wxyz":[0.12752800895896085,-0.012745584779976608,0.9917528050443141,-0.0007284821990239997],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.3462883353119656e-17,6.398379446024231e-17,6.581758420075944e-08],"object_linear_velocity_m_s":[-8.977065349613537e-17,-1.3645821951218532e-17,4.0109773775958865e-15],"object_angular_velocity_rad_s":[2.6909210967036786e-15,-1.7195832869684508e-15,3.9994109911394354e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981000000000002}],"native_actuator_controls":[-0.13819944757990246,1.5965494154423376,-0.9373640783499307,0.04057976047429923,0.7928777773785867,-0.18327069448627217,0.035],"actuator_force_native":[0.2810837875330314,0.240543186806903,-0.2652623239868319,-0.2949266563412811,0.2961479512980141,0.18015911072025093,0.00020533666269684225],"issued_joint_targets_rad":[-0.13768704772869952,1.5978304989771785,-0.939285404526917,0.03946416841180872,0.7955918712342241,-0.18276897455030064],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.820000000000946,"joint_targets_rad":[-0.13768704772869952,1.5978304989771785,-0.939285404526917,0.03946416841180872,0.7955918712342241,-0.18276897455030064],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.840000000000953,"qpos":[-0.14282080535348524,1.59071149135557,-0.929853499239826,0.05467390504987071,0.7469377771682468,-0.20492527505457,0.0349977523835168,-0.03500016727043442,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,3.2530455298386534e-18,4.3178023744920677e-17,6.61864004098848e-08],"qvel":[0.025646488482275576,0.06463046517489465,-0.09996779235945046,-0.06258910298797955,0.12427446934398416,0.027904805543873056,-1.9035625225364228e-05,-4.698575919629342e-05,-6.483126154979994e-17,1.389244842387927e-17,4.1469796981124675e-15,2.29481006654962e-15,-1.5192047880969628e-15,7.301914492758918e-08],"joint_position_rad":[-0.14282080535348524,1.59071149135557,-0.929853499239826,0.05467390504987071,0.7469377771682468,-0.20492527505457],"joint_velocity_rad_s":[0.025646488482275576,0.06463046517489465,-0.09996779235945046,-0.06258910298797955,0.12427446934398416,0.027904805543873056],"gripper_joint_position_m":[0.0349977523835168,-0.03500016727043442],"tcp_position_m":[0.30750372976723717,-0.034876566341243566,0.084135172130762],"tcp_quaternion_wxyz":[0.1264904770345149,-0.013215836296256583,0.9918793082609366,-0.000968883056600587],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,3.2530455298386534e-18,4.3178023744920677e-17,6.61864004098848e-08],"object_linear_velocity_m_s":[-6.483126154979994e-17,1.389244842387927e-17,4.1469796981124675e-15],"object_angular_velocity_rad_s":[2.294810273956639e-15,-1.519204484801583e-15,7.30191449275892e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.13768704772869952,1.5978304989771785,-0.939285404526917,0.03946416841180872,0.7955918712342241,-0.18276897455030064,0.035],"actuator_force_native":[0.2824681675714782,0.24636828385420984,-0.25471346117002724,-0.29544395058258166,0.3001292366437971,0.1797057967268838,0.00018508278545503742],"issued_joint_targets_rad":[-0.13718978194868,1.5990495343160385,-0.9411112471865397,0.038391039281462036,0.79816892128967,-0.18227490730193857],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.840000000000953,"joint_targets_rad":[-0.13718978194868,1.5990495343160385,-0.9411112471865397,0.038391039281462036,0.79816892128967,-0.18227490730193857],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8600000000009596,"qpos":[-0.1422922154038404,1.592037935223186,-0.9319357077553081,0.05336740133096814,0.7495727490532338,-0.20437294506775527,0.03499792320727724,-0.03499999854422903,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,8.927506596865587e-18,2.5459708432029476e-17,6.646337941974514e-08],"qvel":[0.024918557893295376,0.0615509231083746,-0.09751580637614926,-0.06062927875173783,0.12187718532272096,0.02784793018252567,-1.6342229906011035e-05,-4.872434781266999e-05,-3.484069870748987e-17,9.169347528156389e-18,4.053998519800111e-15,-2.0234572831509665e-16,-1.618874650786564e-15,7.911026386900027e-09],"joint_position_rad":[-0.1422922154038404,1.592037935223186,-0.9319357077553081,0.05336740133096814,0.7495727490532338,-0.20437294506775527],"joint_velocity_rad_s":[0.024918557893295376,0.0615509231083746,-0.09751580637614926,-0.06062927875173783,0.12187718532272096,0.02784793018252567],"gripper_joint_position_m":[0.03499792320727724,-0.03499999854422903],"tcp_position_m":[0.30757139306604275,-0.034887969687999155,0.08415027414117632],"tcp_quaternion_wxyz":[0.1254939125115675,-0.01366271662672903,0.9919995758219669,-0.0012040207448408616],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,8.927506596865587e-18,2.5459708432029476e-17,6.646337941974514e-08],"object_linear_velocity_m_s":[-3.484069870748987e-17,9.169347528156389e-18,4.053998519800111e-15],"object_angular_velocity_rad_s":[-2.023455127205098e-16,-1.6188746778249635e-15,7.91102638690003e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000116},{"geom_ids":[1,90],"normal_force_n":0.09810000000000103},{"geom_ids":[1,90],"normal_force_n":0.09810000000000112}],"native_actuator_controls":[-0.13718978194868,1.5990495343160385,-0.9411112471865397,0.038391039281462036,0.79816892128967,-0.18227490730193857,0.035],"actuator_force_native":[0.28360188694635546,0.25317331188634284,-0.2464641226177946,-0.2959080882215548,0.3031459443802804,0.1792084823843787,0.00016478285844079288],"issued_joint_targets_rad":[-0.13670737095925667,1.6002209587158391,-0.9428630668916956,0.037357516923792175,0.8006400391032485,-0.18178625829349734],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.8600000000009596,"joint_targets_rad":[-0.13670737095925667,1.6002209587158391,-0.9428630668916956,0.037357516923792175,0.8006400391032485,-0.18178625829349734],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.880000000000966,"qpos":[-0.14177835558859544,1.5933025462831556,-0.9339568474311203,0.05210252854625197,0.7521572002367218,-0.20382165808576944,0.0349981824470312,-0.03499998635642966,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,4.612430299525959e-18,3.778324094353783e-17,6.696907314583858e-08],"qvel":[0.024240291188375895,0.058706888550103434,-0.09432978833124152,-0.05870018748413642,0.11980925587628768,0.02777632803875182,-1.4284199667927917e-05,-5.064385666841949e-05,-4.616833610751692e-17,7.073544794529885e-18,4.170571937385754e-15,-3.511552542100814e-16,-9.519927763434205e-16,1.4443536399499992e-08],"joint_position_rad":[-0.14177835558859544,1.5933025462831556,-0.9339568474311203,0.05210252854625197,0.7521572002367218,-0.20382165808576944],"joint_velocity_rad_s":[0.024240291188375895,0.058706888550103434,-0.09432978833124152,-0.05870018748413642,0.11980925587628768,0.02777632803875182],"gripper_joint_position_m":[0.0349981824470312,-0.03499998635642966],"tcp_position_m":[0.30763237386688347,-0.03489844790076777,0.08417110096410102],"tcp_quaternion_wxyz":[0.12452485089073127,-0.01408718772696403,0.9921154483907653,-0.0014316832671534365],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,4.612430299525959e-18,3.778324094353783e-17,6.696907314583858e-08],"object_linear_velocity_m_s":[-4.616833610751692e-17,7.073544794529885e-18,4.170571937385754e-15],"object_angular_velocity_rad_s":[-3.511551256104835e-16,-9.519928235097358e-16,1.4443536399499999e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.13670737095925667,1.6002209587158391,-0.9428630668916956,0.037357516923792175,0.8006400391032485,-0.18178625829349734,0.035],"actuator_force_native":[0.2844773144052226,0.2599385518641668,-0.2408486151898046,-0.2962995274777096,0.30511450485083547,0.17868950586459298,0.00014412311709177672],"issued_joint_targets_rad":[-0.13623939447746364,1.6013611776696728,-0.9445651873751085,0.03636050907645838,0.8030402762886205,-0.18130062291053056],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.880000000000966,"joint_targets_rad":[-0.13623939447746364,1.6013611776696728,-0.9445651873751085,0.03636050907645838,0.8030402762886205,-0.18130062291053056],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.900000000000973,"qpos":[-0.14127832429488466,1.5945140024970437,-0.935909103001693,0.050878216045983575,0.754701448057404,-0.2032716957658039,0.034998431053017205,-0.03500001319405982,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.6631336154254095e-18,2.573951316163866e-17,6.741837079138117e-08],"qvel":[0.02359934684309667,0.056374939499501404,-0.09092861294258063,-0.056819833914214926,0.11820485490213213,0.027693644362023904,-1.4833247847569447e-05,-5.01718916277363e-05,-3.539902091831279e-17,-2.6172395905726633e-18,3.859709490490711e-15,-3.2681620818664706e-16,-1.3722601094905372e-15,2.6370250018259986e-08],"joint_position_rad":[-0.14127832429488466,1.5945140024970437,-0.935909103001693,0.050878216045983575,0.754701448057404,-0.2032716957658039],"joint_velocity_rad_s":[0.02359934684309667,0.056374939499501404,-0.09092861294258063,-0.056819833914214926,0.11820485490213213,0.027693644362023904],"gripper_joint_position_m":[0.034998431053017205,-0.03500001319405982],"tcp_position_m":[0.30768179253713135,-0.03490702492333418,0.084192286883332],"tcp_quaternion_wxyz":[0.12357012737579753,-0.014490280261476939,0.9922286699263616,-0.0016498407306484585],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.6631336154254095e-18,2.573951316163866e-17,6.741837079138117e-08],"object_linear_velocity_m_s":[-3.539902091831279e-17,-2.6172395905726633e-18,3.859709490490711e-15],"object_angular_velocity_rad_s":[-3.268160217980477e-16,-1.3722601534696435e-15,2.637025001826e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999977},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.13623939447746364,1.6013611776696728,-0.9445651873751085,0.03636050907645838,0.8030402762886205,-0.18130062291053056,0.035],"actuator_force_native":[0.285117651178199,0.2658993163128258,-0.2378436851603425,-0.296609109209933,0.306080999958966,0.17817026200969743,0.00013692411854981934],"issued_joint_targets_rad":[-0.13578533930507203,1.6024863290707194,-0.9462414834492683,0.035396999809238994,0.8054038787619131,-0.18081574306470968],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.900000000000973,"joint_targets_rad":[-0.13578533930507203,1.6024863290707194,-0.9462414834492683,0.035396999809238994,0.8054038787619131,-0.18081574306470968],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.92000000000098,"qpos":[-0.14079145093894485,1.5956851264407357,-0.9377939496589492,0.04969309670539683,0.7572175173285886,-0.2027232583872143,0.034998568272384435,-0.03499996028497987,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.2709811347381493e-17,1.1130330540652423e-17,6.78495061826083e-08],"qvel":[0.022984812432858215,0.05470573555312411,-0.08772988596388463,-0.05500108240275027,0.1171182358241072,0.027604161413847143,-1.7582206864227037e-05,-4.7797538794992674e-05,-1.131451383409952e-17,-2.0642626174789862e-17,3.720931612412567e-15,-1.3217820599292892e-15,-1.2728425257487624e-15,4.814541721583285e-08],"joint_position_rad":[-0.14079145093894485,1.5956851264407357,-0.9377939496589492,0.04969309670539683,0.7572175173285886,-0.2027232583872143],"joint_velocity_rad_s":[0.022984812432858215,0.05470573555312411,-0.08772988596388463,-0.05500108240275027,0.1171182358241072,0.027604161413847143],"gripper_joint_position_m":[0.034998568272384435,-0.03499996028497987],"tcp_position_m":[0.30771720433808075,-0.0349131938235252,0.08420965913634636],"tcp_quaternion_wxyz":[0.12261823736046207,-0.014873023032574232,0.9923407243263135,-0.0018568511015389197],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.2709811347381493e-17,1.1130330540652423e-17,6.78495061826083e-08],"object_linear_velocity_m_s":[-1.131451383409952e-17,-2.0642626174789862e-17,3.720931612412567e-15],"object_angular_velocity_rad_s":[-1.3217818861340556e-15,-1.2728427038894332e-15,4.8145417215832885e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13578533930507203,1.6024863290707194,-0.9462414834492683,0.035396999809238994,0.8054038787619131,-0.18081574306470968,0.035],"actuator_force_native":[0.2855648685455332,0.27056753263308053,-0.2371532734061077,-0.2968384638325623,0.30618626059708465,0.17766891110427552,0.00014518013894382342],"issued_joint_targets_rad":[-0.1353446472939258,1.6036105914458476,-0.9479128918731314,0.034464269969421216,0.8077607486917858,-0.1803297237120011],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.92000000000098,"joint_targets_rad":[-0.1353446472939258,1.6036105914458476,-0.9479128918731314,0.034464269969421216,0.8077607486917858,-0.1803297237120011],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.940000000000986,"qpos":[-0.14031726448697004,1.5968304323544478,-0.9396197663640455,0.04854563068199313,0.7597174618600939,-0.20217645693788067,0.03499875645619489,-0.035000056024391345,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.1826082516557696e-17,7.740679124611928e-18,6.81713094493646e-08],"qvel":[0.022388046423767353,0.05373904125064616,-0.08502933741564511,-0.05325133307827181,0.11653587356853432,0.02751216014993979,-1.6970719909137625e-05,-4.9390430739258e-05,-2.5484337548603525e-17,-6.597489593495962e-17,3.625174876538646e-15,-3.880760837277821e-15,1.2738634947913458e-15,8.790137360402417e-08],"joint_position_rad":[-0.14031726448697004,1.5968304323544478,-0.9396197663640455,0.04854563068199313,0.7597174618600939,-0.20217645693788067],"joint_velocity_rad_s":[0.022388046423767353,0.05373904125064616,-0.08502933741564511,-0.05325133307827181,0.11653587356853432,0.02751216014993979],"gripper_joint_position_m":[0.03499875645619489,-0.035000056024391345],"tcp_position_m":[0.30773827431168166,-0.034916850430473725,0.08422041978184495],"tcp_quaternion_wxyz":[0.12166019636940614,-0.01523638865267561,0.9924527394936964,-0.0020515729671224297],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.1826082516557696e-17,7.740679124611928e-18,6.81713094493646e-08],"object_linear_velocity_m_s":[-2.5484337548603525e-17,-6.597489593495962e-17,3.625174876538646e-15],"object_angular_velocity_rad_s":[-3.88076100959884e-15,1.2738629695153243e-15,8.790137360402423e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.1353446472939258,1.6036105914458476,-0.9479128918731314,0.034464269969421216,0.8077607486917858,-0.1803297237120011,0.035],"actuator_force_native":[0.28586914332470137,0.27371752105872815,-0.23830335364864652,-0.2969977631115177,0.30562905796411677,0.17719909203388595,0.00013459535175019965],"issued_joint_targets_rad":[-0.13491675820316415,1.6047450973004542,-0.9495958272187661,0.033560029346582254,0.810134217815796,-0.1798411565674063],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.940000000000986,"joint_targets_rad":[-0.13491675820316415,1.6047450973004542,-0.9495958272187661,0.033560029346582254,0.810134217815796,-0.1798411565674063],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.960000000000993,"qpos":[-0.13985544052710974,1.597964094901842,-0.9413992747186233,0.047434223062377726,0.7622120677717102,-0.2016313182808917,0.0349988289914894,-0.03500005881246099,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.909209534199431e-17,9.278518573546892e-18,6.850474029753941e-08],"qvel":[0.021802699218884187,0.05342665560007318,-0.08299796089682097,-0.05157336152856375,0.11639321580826947,0.02742145758048308,-1.9614366417442726e-05,-4.668131278092592e-05,-1.0442313190501878e-17,-3.1513870725833556e-17,3.66542046118131e-15,6.926702923677839e-16,-1.4152514010745212e-16,9.523393990929684e-09],"joint_position_rad":[-0.13985544052710974,1.597964094901842,-0.9413992747186233,0.047434223062377726,0.7622120677717102,-0.2016313182808917],"joint_velocity_rad_s":[0.021802699218884187,0.05342665560007318,-0.08299796089682097,-0.05157336152856375,0.11639321580826947,0.02742145758048308],"gripper_joint_position_m":[0.0349988289914894,-0.03500005881246099],"tcp_position_m":[0.3077463054599289,-0.03491819679470569,0.08422313194285933],"tcp_quaternion_wxyz":[0.12068992239081386,-0.015581261428206926,0.9925654531950305,-0.002233394132102978],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.909209534199431e-17,9.278518573546892e-18,6.850474029753941e-08],"object_linear_velocity_m_s":[-1.0442313190501878e-17,-3.1513870725833556e-17,3.66542046118131e-15],"object_angular_velocity_rad_s":[6.926703119347898e-16,-1.4152504465094291e-16,9.52339399092969e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13491675820316415,1.6047450973004542,-0.9495958272187661,0.033560029346582254,0.810134217815796,-0.1798411565674063,0.035],"actuator_force_native":[0.2860810898212254,0.275346913888626,-0.24073439552731202,-0.297100940989,0.30463167672845337,0.17676943076412965,0.0001449121725114466],"issued_joint_targets_rad":[-0.134501145458344,1.6058974324420459,-0.951301465991352,0.03268247474093813,0.8125400674224518,-0.1793491722856471],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.960000000000993,"joint_targets_rad":[-0.134501145458344,1.6058974324420459,-0.951301465991352,0.03268247474093813,0.8125400674224518,-0.1793491722856471],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.980000000001,"qpos":[-0.13940576906567095,1.5990984520942715,-0.9431471204487115,0.04635731312311936,0.7647099858482674,-0.20108779627858547,0.034998862258270626,-0.03500006939892124,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.1729539441882737e-17,2.2992141671804448e-17,6.898551900904194e-08],"qvel":[0.021224595471776655,0.05365913397508921,-0.08169327352032005,-0.049965607294827095,0.11659352730370817,0.02733508754070529,-1.9974299225092104e-05,-4.648573271019141e-05,-2.7446988248553867e-17,-2.5858006295079877e-17,3.633501549223335e-15,1.0308592470911512e-15,-3.039733778958303e-16,1.738731247093192e-08],"joint_position_rad":[-0.13940576906567095,1.5990984520942715,-0.9431471204487115,0.04635731312311936,0.7647099858482674,-0.20108779627858547],"joint_velocity_rad_s":[0.021224595471776655,0.05365913397508921,-0.08169327352032005,-0.049965607294827095,0.11659352730370817,0.02733508754070529],"gripper_joint_position_m":[0.034998862258270626,-0.03500006939892124],"tcp_position_m":[0.30774370524747374,-0.03491764364435241,0.08421755955751685],"tcp_quaternion_wxyz":[0.11970421577442004,-0.0159084119382191,0.9926792294550194,-0.0024021998301417585],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.1729539441882737e-17,2.2992141671804448e-17,6.898551900904194e-08],"object_linear_velocity_m_s":[-2.7446988248553867e-17,-2.5858006295079877e-17,3.633501549223335e-15],"object_angular_velocity_rad_s":[1.0308592898302076e-15,-3.039732349114706e-16,1.7387312470931934e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.134501145458344,1.6058974324420459,-0.951301465991352,0.03268247474093813,0.8125400674224518,-0.1793491722856471,0.035],"actuator_force_native":[0.2862469112272734,0.2756227579465076,-0.2438812758096276,-0.2971654988131136,0.3034105247862806,0.17638360861832614,0.00014538116530071754],"issued_joint_targets_rad":[-0.13409733374948843,1.6070716340888012,-0.9530357643971236,0.031830268246046074,0.8149865931255288,-0.17885339175012313],"issued_gripper_position_m":0.035,"command":{"t_seconds":7.980000000001,"joint_targets_rad":[-0.13409733374948843,1.6070716340888012,-0.9530357643971236,0.031830268246046074,0.8149865931255288,-0.17885339175012313],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.000000000001005,"qpos":[-0.13896810608260302,1.6002430712038456,-0.9448778206171052,0.045313444616919024,0.7672172996439778,-0.2005457902337618,0.034998881124300316,-0.03500010337706842,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.569855987503403e-17,3.0850234077243896e-17,6.940643160935675e-08],"qvel":[0.02065160028293331,0.05429251196942575,-0.08107997850771471,-0.0484237340728812,0.11702567280958397,0.02725515025835054,-2.051232225138899e-05,-4.5093283427597334e-05,-4.1190211530209066e-17,-1.9909373098555264e-17,3.565500388965045e-15,4.856350874363253e-16,2.724971707558938e-16,3.1744841728669215e-08],"joint_position_rad":[-0.13896810608260302,1.6002430712038456,-0.9448778206171052,0.045313444616919024,0.7672172996439778,-0.2005457902337618],"joint_velocity_rad_s":[0.02065160028293331,0.05429251196942575,-0.08107997850771471,-0.0484237340728812,0.11702567280958397,0.02725515025835054],"gripper_joint_position_m":[0.034998881124300316,-0.03500010337706842],"tcp_position_m":[0.30773346016873115,-0.03491570943297593,0.08420441247860372],"tcp_quaternion_wxyz":[0.11870242877196988,-0.01621849523548559,0.9927941120714309,-0.0025582908808317326],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.569855987503403e-17,3.0850234077243896e-17,6.940643160935675e-08],"object_linear_velocity_m_s":[-4.1190211530209066e-17,-1.9909373098555264e-17,3.565500388965045e-15],"object_angular_velocity_rad_s":[4.8563505156888e-16,2.724972391649851e-16,3.174484172866924e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.13409733374948843,1.6070716340888012,-0.9530357643971236,0.031830268246046074,0.8149865931255288,-0.17885339175012313,0.035],"actuator_force_native":[0.2864037852345014,0.2748224709493172,-0.24723560986289783,-0.297208384470512,0.3021544256011346,0.1760412594488605,0.00014731663924427707],"issued_joint_targets_rad":[-0.13370491147739288,1.6082685789811528,-0.9548000444593976,0.03100248268517211,0.8174754743302188,-0.17835385735067863],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.000000000001005,"joint_targets_rad":[-0.13370491147739288,1.6082685789811528,-0.9548000444593976,0.03100248268517211,0.8174754743302188,-0.17835385735067863],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.020000000000994,"qpos":[-0.13854234065940138,1.6014043431358072,-0.9466042128304072,0.044301304047101406,0.7697374689327912,-0.2000051639136163,0.034998884538972284,-0.03500014058869724,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-3.250441994430247e-18,5.0970419143808896e-17,6.979978640889319e-08],"qvel":[0.020083021092505874,0.05517239585475181,-0.08105586537896116,-0.04694171919552347,0.11757948096292732,0.02718281438980048,-2.0864703766718034e-05,-4.319956464007384e-05,-1.0300213440958538e-16,8.00373113155531e-18,3.5224792467608205e-15,1.8213763997264888e-15,4.008635722267532e-15,5.7958064425599886e-08],"joint_position_rad":[-0.13854234065940138,1.6014043431358072,-0.9466042128304072,0.044301304047101406,0.7697374689327912,-0.2000051639136163],"joint_velocity_rad_s":[0.020083021092505874,0.05517239585475181,-0.08105586537896116,-0.04694171919552347,0.11757948096292732,0.02718281438980048],"gripper_joint_position_m":[0.034998884538972284,-0.03500014058869724],"tcp_position_m":[0.3077186733037557,-0.03491293642582722,0.08418504802286193],"tcp_quaternion_wxyz":[0.11768593662128415,-0.016512057493244435,0.9929099002276501,-0.0027022784513815027],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-3.250441994430247e-18,5.0970419143808896e-17,6.979978640889319e-08],"object_linear_velocity_m_s":[-1.0300213440958538e-16,8.00373113155531e-18,3.5224792467608205e-15],"object_angular_velocity_rad_s":[1.821375846030932e-15,4.008635976907643e-15,5.795806442559994e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.13370491147739288,1.6082685789811528,-0.9548000444593976,0.03100248268517211,0.8174754743302188,-0.17835385735067863,0.035],"actuator_force_native":[0.2865792290981499,0.27327688835387676,-0.2503872034244381,-0.2972442584995545,0.3010108325298848,0.1757388440446761,0.00014894195994230586],"issued_joint_targets_rad":[-0.13332353028742328,1.609486623473556,-0.9565919440946845,0.030198512077843097,0.8200031538236028,-0.1778509235299945],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.020000000000994,"joint_targets_rad":[-0.13332353028742328,1.609486623473556,-0.9565919440946845,0.030198512077843097,0.8200031538236028,-0.1778509235299945],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.040000000000983,"qpos":[-0.1381283652357405,1.6025855223960703,-0.9483364556602776,0.04331972102120772,0.7722715703364731,-0.19946576553146486,0.03499887629719271,-0.035000170742282136,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,1.5603483927825133e-18,5.495041479744865e-17,7.012502211095755e-08],"qvel":[0.019522528188425717,0.05615336495674891,-0.08147939075653764,-0.04552745970466101,0.11815733338798803,0.02711698731878922,-2.075991261741098e-05,-4.090704499251696e-05,-1.2044431906278108e-16,-2.6286074288830134e-17,3.4850092196797212e-15,-2.035617614061762e-15,3.6375858725038816e-15,1.0581678940701938e-07],"joint_position_rad":[-0.1381283652357405,1.6025855223960703,-0.9483364556602776,0.04331972102120772,0.7722715703364731,-0.19946576553146486],"joint_velocity_rad_s":[0.019522528188425717,0.05615336495674891,-0.08147939075653764,-0.04552745970466101,0.11815733338798803,0.02711698731878922],"gripper_joint_position_m":[0.03499887629719271,-0.035000170742282136],"tcp_position_m":[0.3077021992403563,-0.03490982633806947,0.08416117212740318],"tcp_quaternion_wxyz":[0.11665751240735725,-0.016789558585166325,0.9930262325014741,-0.0028349753739614477],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,1.5603483927825133e-18,5.495041479744865e-17,7.012502211095755e-08],"object_linear_velocity_m_s":[-1.2044431906278108e-16,-2.6286074288830134e-17,3.4850092196797212e-15],"object_angular_velocity_rad_s":[-2.0356181126039704e-15,3.6375855866781675e-15,1.0581678940701948e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.13332353028742328,1.609486623473556,-0.9565919440946845,0.030198512077843097,0.8200031538236028,-0.1778509235299945,0.035],"actuator_force_native":[0.28677415492325053,0.2713212614151246,-0.2530421209698517,-0.29721105921128,0.3000798347893143,0.17547293903651995,0.0001487476753785355],"issued_joint_targets_rad":[-0.1329528919566481,1.6107223683204404,-0.9584065439465939,0.029417960889735084,0.8225624601841813,-0.17734513872068144],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.040000000000983,"joint_targets_rad":[-0.1329528919566481,1.6107223683204404,-0.9584065439465939,0.029417960889735084,0.8225624601841813,-0.17734513872068144],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.060000000000972,"qpos":[-0.13772597681586704,1.6037871000975725,-0.9500815709707563,0.042367271448680216,0.7748187351182316,-0.19892747479625333,0.03499886408275129,-0.035000182856395896,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-6.513047940363918e-18,5.091713848473047e-17,7.052641039872263e-08],"qvel":[0.019004478447055252,0.05711224979508337,-0.08219936120503635,-0.04433323005012937,0.11868018989836261,0.02704398584934438,-1.925117090040343e-05,-3.5780917063556285e-05,-6.10281230783132e-17,-6.5804702722721e-18,3.4517025289409676e-15,-2.109837624742178e-16,-1.862449958345012e-15,1.146438258084457e-08],"joint_position_rad":[-0.13772597681586704,1.6037871000975725,-0.9500815709707563,0.042367271448680216,0.7748187351182316,-0.19892747479625333],"joint_velocity_rad_s":[0.019004478447055252,0.05711224979508337,-0.08219936120503635,-0.04433323005012937,0.11868018989836261,0.02704398584934438],"gripper_joint_position_m":[0.03499886408275129,-0.035000182856395896],"tcp_position_m":[0.30768639128367625,-0.034906829178307765,0.08413457499555793],"tcp_quaternion_wxyz":[0.11562068211188836,-0.01705157140947432,0.9931426661604721,-0.002957436747992564],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-6.513047940363918e-18,5.091713848473047e-17,7.052641039872263e-08],"object_linear_velocity_m_s":[-6.10281230783132e-17,-6.5804702722721e-18,3.4517025289409676e-15],"object_angular_velocity_rad_s":[-2.1098349860292858e-16,-1.862449987955514e-15,1.146438258084458e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1329528919566481,1.6107223683204404,-0.9584065439465939,0.029417960889735084,0.8225624601841813,-0.17734513872068144,0.035],"actuator_force_native":[0.2868243965022401,0.2692602088539786,-0.2550010320418181,-0.29630627210715854,0.299416965811953,0.17525738198170226,0.0001416925444506223],"issued_joint_targets_rad":[-0.13259256892786922,1.6119714262832139,-0.9602374987524837,0.028660220244836783,0.8251442200773953,-0.17683705284781953],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.060000000000972,"joint_targets_rad":[-0.13259256892786922,1.6119714262832139,-0.9602374987524837,0.028660220244836783,0.8251442200773953,-0.17683705284781953],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.080000000000961,"qpos":[-0.13733484142610264,1.6050073831047713,-0.9518434226878204,0.041441793394816004,0.7773766839901922,-0.1983901923615155,0.03499885387117932,-0.03500016827632626,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-5.879238587427754e-18,5.031365666071637e-17,7.098181438308314e-08],"qvel":[0.018518622826277812,0.057956696334932355,-0.0830612191232102,-0.04332836698264617,0.11909405884090307,0.02697076068801841,-1.69460646142545e-05,-2.9718904624190222e-05,-6.458148306700806e-17,-5.58584561734069e-18,3.3975791564904904e-15,1.4455522610527984e-16,-1.3930546923506015e-15,2.0931067475450918e-08],"joint_position_rad":[-0.13733484142610264,1.6050073831047713,-0.9518434226878204,0.041441793394816004,0.7773766839901922,-0.1983901923615155],"joint_velocity_rad_s":[0.018518622826277812,0.057956696334932355,-0.0830612191232102,-0.04332836698264617,0.11909405884090307,0.02697076068801841],"gripper_joint_position_m":[0.03499885387117932,-0.03500016827632626],"tcp_position_m":[0.30767295533202227,-0.03490438111663495,0.084106918557782],"tcp_quaternion_wxyz":[0.11457913909605788,-0.017298949751972433,0.9932587456932771,-0.0030710462880163816],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-5.879238587427754e-18,5.031365666071637e-17,7.098181438308314e-08],"object_linear_velocity_m_s":[-6.458148306700806e-17,-5.58584561734069e-18,3.3975791564904904e-15],"object_angular_velocity_rad_s":[1.445554259746148e-16,-1.3930546715828869e-15,2.093106747545094e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.13259256892786922,1.6119714262832139,-0.9602374987524837,0.028660220244836783,0.8251442200773953,-0.17683705284781953,0.035],"actuator_force_native":[0.28678868572728433,0.2673399726007517,-0.2562199895570103,-0.29462109108593815,0.29903427261067606,0.17507525410493185,0.00013057547589867546],"issued_joint_targets_rad":[-0.13224178366750522,1.613229114979451,-0.9620780559030857,0.027923980143224225,0.8277387018415214,-0.17632690171735346],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.080000000000961,"joint_targets_rad":[-0.13224178366750522,1.613229114979451,-0.9620780559030857,0.027923980143224225,0.8277387018415214,-0.17632690171735346],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.10000000000095,"qpos":[-0.13695463598045265,1.6062431869779472,-0.9536230148654571,0.04054115949673848,0.7799423078407216,-0.19785378834385178,0.034998852843195885,-0.035000137054833215,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.440598756598944e-17,5.169346714518818e-17,7.142749091172994e-08],"qvel":[0.018051746799979312,0.05862865797114346,-0.08393057836619032,-0.04244304587833772,0.11937007696342211,0.026903944929762637,-1.4263602625447752e-05,-2.4369327828845423e-05,-7.594943473284462e-17,-3.809335156296831e-17,3.379538032340332e-15,-1.6079183859321873e-15,-3.685786133971434e-16,3.8214843457327476e-08],"joint_position_rad":[-0.13695463598045265,1.6062431869779472,-0.9536230148654571,0.04054115949673848,0.7799423078407216,-0.19785378834385178],"joint_velocity_rad_s":[0.018051746799979312,0.05862865797114346,-0.08393057836619032,-0.04244304587833772,0.11937007696342211,0.026903944929762637],"gripper_joint_position_m":[0.034998852843195885,-0.035000137054833215],"tcp_position_m":[0.3076629154440577,-0.03490282688513372,0.08407958284617717],"tcp_quaternion_wxyz":[0.11353631633231483,-0.017532493120482138,0.9933740596183469,-0.003177142746802407],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.440598756598944e-17,5.169346714518818e-17,7.142749091172994e-08],"object_linear_velocity_m_s":[-7.594943473284462e-17,-3.809335156296831e-17,3.379538032340332e-15],"object_angular_velocity_rad_s":[-1.6079183293279662e-15,-3.685788412309496e-16,3.8214843457327516e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.13224178366750522,1.613229114979451,-0.9620780559030857,0.027923980143224225,0.8277387018415214,-0.17632690171735346,0.035],"actuator_force_native":[0.2867694510358998,0.26573095026458304,-0.25675039117933807,-0.2924719447488815,0.29890882456286594,0.17491294887033937,0.00011720428529216065],"issued_joint_targets_rad":[-0.1318997407882434,1.6144910474100294,-0.9639219010445023,0.027207848163176625,0.8303368363194306,-0.1758147307288846],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.10000000000095,"joint_targets_rad":[-0.1318997407882434,1.6144910474100294,-0.9639219010445023,0.027207848163176625,0.8303368363194306,-0.1758147307288846],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.120000000000939,"qpos":[-0.13658499850725908,1.6074905328670217,-0.9554190592867329,0.039663513664595605,0.7825122021703304,-0.19731812932681367,0.034998870832684444,-0.035000106647606756,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-3.726455964765444e-17,3.9004115041822703e-17,7.177989914702949e-08],"qvel":[0.017602445806114055,0.05910240847573248,-0.08470531797763894,-0.04163929915221657,0.11950091139514638,0.026845095934108897,-1.1223888390652708e-05,-2.0253604932973167e-05,-5.704974482031374e-17,-8.002715176832132e-17,3.379538032340332e-15,-3.597105366043163e-15,-9.603782580930277e-16,6.977065370319715e-08],"joint_position_rad":[-0.13658499850725908,1.6074905328670217,-0.9554190592867329,0.039663513664595605,0.7825122021703304,-0.19731812932681367],"joint_velocity_rad_s":[0.017602445806114055,0.05910240847573248,-0.08470531797763894,-0.04163929915221657,0.11950091139514638,0.026845095934108897],"gripper_joint_position_m":[0.034998870832684444,-0.035000106647606756],"tcp_position_m":[0.3076566672444825,-0.03490237375273137,0.08405358351573995],"tcp_quaternion_wxyz":[0.11249507674167063,-0.017752916938557774,0.993488275610938,-0.003276869338718067],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-3.726455964765444e-17,3.9004115041822703e-17,7.177989914702949e-08],"object_linear_velocity_m_s":[-5.704974482031374e-17,-8.002715176832132e-17,3.379538032340332e-15],"object_angular_velocity_rad_s":[-3.597105222728735e-15,-9.603787692927941e-16,6.977065370319723e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1318997407882434,1.6144910474100294,-0.9639219010445023,0.027207848163176625,0.8303368363194306,-0.1758147307288846,0.035],"actuator_force_native":[0.2868083884906856,0.2645291210619405,-0.2567007507333585,-0.29003012429567643,0.2989949743982834,0.17476634207812736,0.00010128613457571767],"issued_joint_targets_rad":[-0.13156574181561395,1.6157535401963676,-0.9657637445274728,0.026510560567949495,0.8329310517003533,-0.17530055543130002],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.120000000000939,"joint_targets_rad":[-0.13156574181561395,1.6157535401963676,-0.9657637445274728,0.026510560567949495,0.8329310517003533,-0.17530055543130002],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.140000000000928,"qpos":[-0.13622547354098546,1.6087452634860988,-0.9572286632983665,0.038807234620014806,0.7850831030454863,-0.19678309469662633,0.03499891186645002,-0.03500008562566537,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-3.8513544644608276e-17,2.4004525903853425e-17,7.204455585588555e-08],"qvel":[0.01717358779604604,0.05937960184263103,-0.08531826928818698,-0.04089436760349632,0.11949649517556063,0.02679406341381495,-8.653271107208414e-06,-1.6358861169123044e-05,-3.218524523100516e-17,-4.36681309860362e-17,3.401742492832834e-15,1.351760186000842e-15,-1.4886576049681583e-15,7.559078965176137e-09],"joint_position_rad":[-0.13622547354098546,1.6087452634860988,-0.9572286632983665,0.038807234620014806,0.7850831030454863,-0.19678309469662633],"joint_velocity_rad_s":[0.01717358779604604,0.05937960184263103,-0.08531826928818698,-0.04089436760349632,0.11949649517556063,0.02679406341381495],"gripper_joint_position_m":[0.03499891186645002,-0.03500008562566537],"tcp_position_m":[0.3076540856881416,-0.03490309281561674,0.08402954993041402],"tcp_quaternion_wxyz":[0.11145753253939905,-0.017960905774405206,0.9936011572240566,-0.0033711521780133424],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-3.8513544644608276e-17,2.4004525903853425e-17,7.204455585588555e-08],"object_linear_velocity_m_s":[-3.218524523100516e-17,-4.36681309860362e-17,3.401742492832834e-15],"object_angular_velocity_rad_s":[1.3517604008630858e-15,-1.4886574096119663e-15,7.559078965176145e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.13156574181561395,1.6157535401963676,-0.9657637445274728,0.026510560567949495,0.8329310517003533,-0.17530055543130002,0.035],"actuator_force_native":[0.2869105990494898,0.2637641276083684,-0.2562151518875737,-0.2873951240651309,0.29923474378532866,0.17463429753254056,8.679169753533778e-05],"issued_joint_targets_rad":[-0.13123917852107594,1.617013843218301,-0.9675996514803824,0.025830965786294426,0.8355157340389394,-0.17478440889315663],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.140000000000928,"joint_targets_rad":[-0.13123917852107594,1.617013843218301,-0.9675996514803824,0.025830965786294426,0.8355157340389394,-0.17478440889315663],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.160000000000917,"qpos":[-0.1358755162140643,1.6100035324650863,-0.9590480261736752,0.03797093363201171,0.787652204286315,-0.1962485798043158,0.03499896934628177,-0.035000069030210766,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.3508336759974195e-17,3.7995508542472534e-17,7.252775217211392e-08],"qvel":[0.016768752509719254,0.0594826142607135,-0.08573594503445804,-0.04019357816557739,0.11937881525435713,0.026750001813636022,-6.86119608844207e-06,-1.230872385446044e-05,-4.598514968410103e-17,-5.111503918566251e-17,3.368435802094081e-15,1.481871735160673e-15,-6.526044262920846e-16,1.380096928522921e-08],"joint_position_rad":[-0.1358755162140643,1.6100035324650863,-0.9590480261736752,0.03797093363201171,0.787652204286315,-0.1962485798043158],"joint_velocity_rad_s":[0.016768752509719254,0.0594826142607135,-0.08573594503445804,-0.04019357816557739,0.11937881525435713,0.026750001813636022],"gripper_joint_position_m":[0.03499896934628177,-0.035000069030210766],"tcp_position_m":[0.3076546629422564,-0.0349049383881863,0.08400775007402439],"tcp_quaternion_wxyz":[0.11042499086481476,-0.018157119173856352,0.9937125661079611,-0.003460689951881669],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.3508336759974195e-17,3.7995508542472534e-17,7.252775217211392e-08],"object_linear_velocity_m_s":[-4.598514968410103e-17,-5.111503918566251e-17,3.368435802094081e-15],"object_angular_velocity_rad_s":[1.4818718308732732e-15,-6.526042101375122e-16,1.3800969285229228e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.13123917852107594,1.617013843218301,-0.9675996514803824,0.025830965786294426,0.8355157340389394,-0.17478440889315663,0.035],"actuator_force_native":[0.28706325289047285,0.2634117889535901,-0.2554502993642842,-0.28463082300080456,0.2995670746447079,0.17451670639113748,7.553212917144059e-05],"issued_joint_targets_rad":[-0.13091953581576488,1.6182702147239996,-0.9694271468132702,0.0251680337263614,0.8380873667764884,-0.1742663526528918],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.160000000000917,"joint_targets_rad":[-0.13091953581576488,1.6182702147239996,-0.9694271468132702,0.0251680337263614,0.8380873667764884,-0.1742663526528918],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.180000000000906,"qpos":[-0.1355345016941584,1.611262143263299,-0.9608730714033196,0.03715331944895686,0.7902173462737293,-0.195714501696802,0.03499903449228468,-0.035000049973906266,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.4544806977137096e-17,4.464129385587141e-17,7.301321724633942e-08],"qvel":[0.016390369646688555,0.05944717661693883,-0.08595403467999162,-0.03952992796558984,0.11917658364809118,0.02671206964061796,-5.259535628180375e-06,-9.014450041429896e-06,-5.617902304947399e-17,-5.542038354941431e-17,3.350394677943923e-15,8.728872727683633e-16,-9.509330743501022e-16,2.5197084736025412e-08],"joint_position_rad":[-0.1355345016941584,1.611262143263299,-0.9608730714033196,0.03715331944895686,0.7902173462737293,-0.195714501696802],"joint_velocity_rad_s":[0.016390369646688555,0.05944717661693883,-0.08595403467999162,-0.03952992796558984,0.11917658364809118,0.02671206964061796],"gripper_joint_position_m":[0.03499903449228468,-0.035000049973906266],"tcp_position_m":[0.3076576541485554,-0.034907790805938775,0.08398814908280727],"tcp_quaternion_wxyz":[0.10939799605782924,-0.01834223624790604,0.9938224522594482,-0.0035460136736628627],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.4544806977137096e-17,4.464129385587141e-17,7.301321724633942e-08],"object_linear_velocity_m_s":[-5.617902304947399e-17,-5.542038354941431e-17,3.350394677943923e-15],"object_angular_velocity_rad_s":[8.728874138793823e-16,-9.509329446406783e-16,2.5197084736025446e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.13091953581576488,1.6182702147239996,-0.9694271468132702,0.0251680337263614,0.8380873667764884,-0.1742663526528918,0.035],"actuator_force_native":[0.2872454220380387,0.2634098337713624,-0.25455585939609193,-0.28176178907586924,0.29993532955545454,0.1744133859781749,6.49179867540095e-05],"issued_joint_targets_rad":[-0.13060633492575474,1.619521865516767,-0.9712451326238779,0.024520755003379757,0.840644400927223,-0.1737464341779207],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.180000000000906,"joint_targets_rad":[-0.13060633492575474,1.619521865516767,-0.9712451326238779,0.024520755003379757,0.840644400927223,-0.1737464341779207],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.200000000000895,"qpos":[-0.13520176250891003,1.6125187371450342,-0.9626999553928576,0.036353110714322914,0.7927770880944403,-0.19518079485272796,0.03499910718282387,-0.03500003384336116,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.122921768901472e-17,1.5338250709999492e-17,7.342517219473495e-08],"qvel":[0.016038830913806718,0.05931537371962528,-0.08599077231825844,-0.038899699737986654,0.11892050205693086,0.026679683769678695,-3.982543056430793e-06,-6.2971589229144274e-06,-8.235553663459655e-18,-6.119278646298763e-17,3.3018224206165725e-15,9.851798515431525e-17,-3.2266508479264775e-15,4.60035136716058e-08],"joint_position_rad":[-0.13520176250891003,1.6125187371450342,-0.9626999553928576,0.036353110714322914,0.7927770880944403,-0.19518079485272796],"joint_velocity_rad_s":[0.016038830913806718,0.05931537371962528,-0.08599077231825844,-0.038899699737986654,0.11892050205693086,0.026679683769678695],"gripper_joint_position_m":[0.03499910718282387,-0.03500003384336116],"tcp_position_m":[0.3076622134630522,-0.0349115001368248,0.08397048591151804],"tcp_quaternion_wxyz":[0.10837644549175313,-0.01851696487452902,0.9939308371381567,-0.00362754190214718],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.122921768901472e-17,1.5338250709999492e-17,7.342517219473495e-08],"object_linear_velocity_m_s":[-8.235553663459655e-18,-6.119278646298763e-17,3.3018224206165725e-15],"object_angular_velocity_rad_s":[9.851846040032914e-17,-3.2266508296656692e-15,4.600351367160586e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.13060633492575474,1.619521865516767,-0.9712451326238779,0.024520755003379757,0.840644400927223,-0.1737464341779207,0.035],"actuator_force_native":[0.2874400520833902,0.263673401140494,-0.25366031689034685,-0.278795729747793,0.3002923752424316,0.17432408109355468,5.5625402327619256e-05],"issued_joint_targets_rad":[-0.13029909531608252,1.6207688136071858,-0.9730536759926911,0.023888080207266918,0.8431869435964066,-0.17322463981845362],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.200000000000895,"joint_targets_rad":[-0.13029909531608252,1.6207688136071858,-0.9730536759926911,0.023888080207266918,0.8431869435964066,-0.17322463981845362],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.220000000000883,"qpos":[-0.13487662351867719,1.6137718461845127,-0.9645254285498636,0.03556897887971967,0.795330682987126,-0.19464740594977573,0.03499918495911778,-0.03500002273261339,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-3.124058198358664e-17,-1.4107220577632934e-17,7.37877923723706e-08],"qvel":[0.015712864639961643,0.059129606769678225,-0.08587952506590545,-0.03830079393424354,0.11863939634967133,0.026652560372368846,-2.804377184806347e-06,-4.514510845922327e-06,6.264467218047734e-17,-4.456813124181852e-17,3.3143124296436044e-15,9.764311529320952e-16,-6.582249414833444e-15,8.399079863028118e-08],"joint_position_rad":[-0.13487662351867719,1.6137718461845127,-0.9645254285498636,0.03556897887971967,0.795330682987126,-0.19464740594977573],"joint_velocity_rad_s":[0.015712864639961643,0.059129606769678225,-0.08587952506590545,-0.03830079393424354,0.11863939634967133,0.026652560372368846],"gripper_joint_position_m":[0.03499918495911778,-0.03500002273261339],"tcp_position_m":[0.30766750878999916,-0.03491592206799506,0.0839543557074894],"tcp_quaternion_wxyz":[0.10735974859816078,-0.018682040587221182,0.9940377930618511,-0.0037056315468930873],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-3.124058198358664e-17,-1.4107220577632934e-17,7.37877923723706e-08],"object_linear_velocity_m_s":[6.264467218047734e-17,-4.456813124181852e-17,3.3143124296436044e-15],"object_angular_velocity_rad_s":[9.764321219416385e-16,-6.582249265488141e-15,8.399079863028131e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985}],"native_actuator_controls":[-0.13029909531608252,1.6207688136071858,-0.9730536759926911,0.023888080207266918,0.8431869435964066,-0.17322463981845362,0.035],"actuator_force_native":[0.28763793300776364,0.2641093599654596,-0.25286217009667666,-0.27573197722689236,0.30060351156829945,0.17424882075466774,4.66235212130961e-05],"issued_joint_targets_rad":[-0.12999731068735332,1.6220116854324595,-0.9748537200700294,0.023268888601267024,0.8457163405210135,-0.17270086868010187],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.220000000000883,"joint_targets_rad":[-0.12999731068735332,1.6220116854324595,-0.9748537200700294,0.023268888601267024,0.8457163405210135,-0.17270086868010187],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.240000000000872,"qpos":[-0.13455841768617674,1.6150208369113093,-0.9663470460368199,0.0347994646294333,0.7978779822925319,-0.1941142898508124,0.034999261688291636,-0.03500001292982449,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.854052726368242e-17,-3.106004101616923e-17,7.410638947817163e-08],"qvel":[0.015410178115724779,0.05892791758472837,-0.08566149081485118,-0.037732684829511,0.11835750116590729,0.026630791858615634,-2.0022016694571417e-06,-3.3582167662910167e-06,3.2722289596436257e-17,-2.4926059122690182e-17,3.2504746057276584e-15,1.2807855474241708e-15,7.472320635170245e-16,9.099715216877772e-09],"joint_position_rad":[-0.13455841768617674,1.6150208369113093,-0.9663470460368199,0.0347994646294333,0.7978779822925319,-0.1941142898508124],"joint_velocity_rad_s":[0.015410178115724779,0.05892791758472837,-0.08566149081485118,-0.037732684829511,0.11835750116590729,0.026630791858615634],"gripper_joint_position_m":[0.034999261688291636,-0.03500001292982449],"tcp_position_m":[0.30767280753149767,-0.03492094811969298,0.08393928790099038],"tcp_quaternion_wxyz":[0.10634699929918738,-0.018838242588055033,0.9941434218011774,-0.003780640911053345],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.854052726368242e-17,-3.106004101616923e-17,7.410638947817163e-08],"object_linear_velocity_m_s":[3.2722289596436257e-17,-2.4926059122690182e-17,3.2504746057276584e-15],"object_angular_velocity_rad_s":[1.280785436109543e-15,7.472322536832296e-16,9.099715216877787e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.12999731068735332,1.6220116854324595,-0.9748537200700294,0.023268888601267024,0.8457163405210135,-0.17270086868010187,0.035],"actuator_force_native":[0.2878376693272493,0.26462829376836794,-0.2522264685825064,-0.27255961697909603,0.30084733053595514,0.17418802391918153,3.9543476681780376e-05],"issued_joint_targets_rad":[-0.1297004149270362,1.6232514963822393,-0.9766467667749156,0.02266193777543074,0.8482347204758859,-0.17217491401182894],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.240000000000872,"joint_targets_rad":[-0.1297004149270362,1.6232514963822393,-0.9766467667749156,0.02266193777543074,0.8482347204758859,-0.17217491401182894],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.260000000000861,"qpos":[-0.1342464606173233,1.6162657741376418,-0.9681632439203274,0.03404267833658003,0.8004192924915157,-0.19358141039137794,0.03499933899902939,-0.0350000100617894,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.478131873590415e-17,-2.634293910921341e-17,7.456577920426901e-08],"qvel":[0.015127292130613638,0.058740826082226874,-0.08537914201566911,-0.037198643630911764,0.11809289805897327,0.026615272645635256,-1.0600990619614191e-07,-5.161842301159028e-06,3.030961528878227e-17,-3.045091166704132e-17,3.233821260358282e-15,4.841346743717344e-16,7.649853632719575e-16,1.6613782021728565e-08],"joint_position_rad":[-0.1342464606173233,1.6162657741376418,-0.9681632439203274,0.03404267833658003,0.8004192924915157,-0.19358141039137794],"joint_velocity_rad_s":[0.015127292130613638,0.058740826082226874,-0.08537914201566911,-0.037198643630911764,0.11809289805897327,0.026615272645635256],"gripper_joint_position_m":[0.03499933899902939,-0.0350000100617894],"tcp_position_m":[0.3076775285611333,-0.03492655155971928,0.08392481316298993],"tcp_quaternion_wxyz":[0.10533713111160523,-0.018986498289442152,0.9942478340482797,-0.0038530743810795613],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.478131873590415e-17,-2.634293910921341e-17,7.456577920426901e-08],"object_linear_velocity_m_s":[3.030961528878227e-17,-3.045091166704132e-17,3.233821260358282e-15],"object_angular_velocity_rad_s":[4.841345594129586e-16,7.649854362951314e-16,1.661378202172859e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1297004149270362,1.6232514963822393,-0.9766467667749156,0.02266193777543074,0.8482347204758859,-0.17217491401182894,0.035],"actuator_force_native":[0.2880471945698968,0.26515364915667305,-0.2517861182887202,-0.2692364042914128,0.30101493275524405,0.17414205482703715,2.6970088355282584e-05],"issued_joint_targets_rad":[-0.1294076556791473,1.624489434654926,-0.9784345681896841,0.02206563482107145,0.8507445506910004,-0.1716463829529919],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.260000000000861,"joint_targets_rad":[-0.1294076556791473,1.624489434654926,-0.9784345681896841,0.02206563482107145,0.8507445506910004,-0.1716463829529919],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.28000000000085,"qpos":[-0.13394004911600138,1.6175072409269364,-0.9699732942021885,0.03329617723295564,0.8029552173351022,-0.1930487290253206,0.03499941264469178,-0.035000007148446026,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.946037287380302e-17,-2.744977762112715e-17,7.50220956220578e-08],"qvel":[0.014860632022714175,0.05858981123895276,-0.08507107804113676,-0.03670241185202638,0.11785706376155645,0.02660749388413586,-2.8540332020763224e-06,-1.9881234115178814e-06,3.500054255207058e-17,-3.910051561020256e-17,3.219943472550468e-15,2.3357528855328136e-16,1.9175900630603187e-16,3.0332570469190396e-08],"joint_position_rad":[-0.13394004911600138,1.6175072409269364,-0.9699732942021885,0.03329617723295564,0.8029552173351022,-0.1930487290253206],"joint_velocity_rad_s":[0.014860632022714175,0.05858981123895276,-0.08507107804113676,-0.03670241185202638,0.11785706376155645,0.02660749388413586],"gripper_joint_position_m":[0.03499941264469178,-0.035000007148446026],"tcp_position_m":[0.3076812639391996,-0.034932810230326475,0.08391051280760976],"tcp_quaternion_wxyz":[0.10432905303777466,-0.019127913825646478,0.9943511334211914,-0.0039236550449641685],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.946037287380302e-17,-2.744977762112715e-17,7.50220956220578e-08],"object_linear_velocity_m_s":[3.500054255207058e-17,-3.910051561020256e-17,3.219943472550468e-15],"object_angular_velocity_rad_s":[2.3357525811570935e-16,1.9175904313986284e-16,3.033257046919044e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.1294076556791473,1.624489434654926,-0.9784345681896841,0.02206563482107145,0.8507445506910004,-0.1716463829529919,0.035],"actuator_force_native":[0.28828831483475703,0.265626442044379,-0.2515465287939662,-0.26570963721523566,0.3011077379166487,0.17411221989708325,3.776437833935553e-05],"issued_joint_targets_rad":[-0.12911804417926,1.625726680732411,-0.980218867719743,0.021477953132966687,0.8532482687659985,-0.17111466058016636],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.28000000000085,"joint_targets_rad":[-0.12911804417926,1.625726680732411,-0.980218867719743,0.021477953132966687,0.8532482687659985,-0.17111466058016636],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.30000000000084,"qpos":[-0.13363879907138662,1.6187461711745565,-0.9717771263386072,0.03255958499314027,0.8054865457455572,-0.1925161229354547,0.034999462562005146,-0.034999997309348975,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-2.2321778431864512e-17,-1.8255423954531943e-17,7.539795076974807e-08],"qvel":[0.014616334963992558,0.058487817838402456,-0.08477003499888054,-0.03621604474676001,0.11765492389376773,0.02660461766910105,-4.39458440899518e-07,-6.501638405272052e-06,2.208958701837088e-17,-2.731161708146237e-17,3.181085666688588e-15,1.0326822246956309e-15,1.3276101301363746e-15,5.537961374869813e-08],"joint_position_rad":[-0.13363879907138662,1.6187461711745565,-0.9717771263386072,0.03255958499314027,0.8054865457455572,-0.1925161229354547],"joint_velocity_rad_s":[0.014616334963992558,0.058487817838402456,-0.08477003499888054,-0.03621604474676001,0.11765492389376773,0.02660461766910105],"gripper_joint_position_m":[0.034999462562005146,-0.034999997309348975],"tcp_position_m":[0.3076838013909212,-0.0349396146076356,0.08389604123217613],"tcp_quaternion_wxyz":[0.10332186414489083,-0.019262756435508645,0.9944534176680973,-0.003992329191373751],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-2.2321778431864512e-17,-1.8255423954531943e-17,7.539795076974807e-08],"object_linear_velocity_m_s":[2.208958701837088e-17,-2.731161708146237e-17,3.181085666688588e-15],"object_angular_velocity_rad_s":[1.0326820224754975e-15,1.3276102883329516e-15,5.537961374869823e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.12911804417926,1.625726680732411,-0.980218867719743,0.021477953132966687,0.8532482687659985,-0.17111466058016636,0.035],"actuator_force_native":[0.2885787165501661,0.26600167543631414,-0.25148913549645613,-0.2621850506731431,0.3011348443637605,0.1741076970492319,2.3694811998709042e-05],"issued_joint_targets_rad":[-0.1288314869543466,1.6269643382473793,-0.9820012684300158,0.020898606266415293,0.8557481446464474,-0.1705797667271892],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.30000000000084,"joint_targets_rad":[-0.1288314869543466,1.6269643382473793,-0.9820012684300158,0.020898606266415293,0.8557481446464474,-0.1705797667271892],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.320000000000828,"qpos":[-0.1333422123388827,1.619983655969945,-0.9735752333828714,0.031832755034065026,0.808014098527525,-0.19198350989230414,0.034999519204579776,-0.035000006377042196,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-1.1641765838992234e-17,-1.0503751480438566e-17,7.570871731683888e-08],"qvel":[0.014398203257514845,0.05843906294457655,-0.08450059693107466,-0.035735499945432,0.11748692970584186,0.02660548833629396,-3.848302869581699e-06,-1.7953022958512666e-06,3.2416691243047186e-17,-1.0167788764824901e-17,3.11586006399186e-15,1.5208357342205266e-15,-9.508393021495278e-16,1.0110918961089413e-07],"joint_position_rad":[-0.1333422123388827,1.619983655969945,-0.9735752333828714,0.031832755034065026,0.808014098527525,-0.19198350989230414],"joint_velocity_rad_s":[0.014398203257514845,0.05843906294457655,-0.08450059693107466,-0.035735499945432,0.11748692970584186,0.02660548833629396],"gripper_joint_position_m":[0.034999519204579776,-0.035000006377042196],"tcp_position_m":[0.3076851043685419,-0.03494680893630143,0.0838811559570419],"tcp_quaternion_wxyz":[0.10231486179886126,-0.019391300999974846,0.9945547602685257,-0.004058981131239977],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-1.1641765838992234e-17,-1.0503751480438566e-17,7.570871731683888e-08],"object_linear_velocity_m_s":[3.2416691243047186e-17,-1.0167788764824901e-17,3.11586006399186e-15],"object_angular_velocity_rad_s":[1.520835876070108e-15,-9.508390695142943e-16,1.0110918961089432e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1288314869543466,1.6269643382473793,-0.9820012684300158,0.020898606266415293,0.8557481446464474,-0.1705797667271892,0.035],"actuator_force_native":[0.28886701447531316,0.2662592674718667,-0.25157981911618776,-0.2586884509788292,0.30111006663046247,0.17412919914670866,3.847333115691853e-05],"issued_joint_targets_rad":[-0.1285480103803492,1.628203279921733,-0.9837830364072035,0.020327566934316893,0.8582459696072514,-0.1700420276542415],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.320000000000828,"joint_targets_rad":[-0.1285480103803492,1.628203279921733,-0.9837830364072035,0.020327566934316893,0.8582459696072514,-0.1700420276542415],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.340000000000817,"qpos":[-0.13304978802603565,1.621220778964347,-0.9753684775166146,0.03111558119087689,0.8105386235508163,-0.19145082186483467,0.03499954953579219,-0.03500000047012242,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.283458697666238e-18,-8.984383215450759e-18,7.609224855722767e-08],"qvel":[0.014203536720159744,0.05844059138457465,-0.084277554824257,-0.035259848274636324,0.11734906816484744,0.026609658202989526,-1.122359404837375e-06,-6.579074936309008e-06,1.2473175328130954e-17,-5.9510198610471455e-18,3.1144722852110786e-15,3.255258481203571e-16,4.95953377447953e-16,1.0954352694257254e-08],"joint_position_rad":[-0.13304978802603565,1.621220778964347,-0.9753684775166146,0.03111558119087689,0.8105386235508163,-0.19145082186483467],"joint_velocity_rad_s":[0.014203536720159744,0.05844059138457465,-0.084277554824257,-0.035259848274636324,0.11734906816484744,0.026609658202989526],"gripper_joint_position_m":[0.03499954953579219,-0.03500000047012242],"tcp_position_m":[0.3076852695094487,-0.034954249273037655,0.08386571918714888],"tcp_quaternion_wxyz":[0.10130756632217536,-0.01951381912517378,0.9946552088399752,-0.004123517495197803],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.283458697666238e-18,-8.984383215450759e-18,7.609224855722767e-08],"object_linear_velocity_m_s":[1.2473175328130954e-17,-5.9510198610471455e-18,3.1144722852110786e-15],"object_angular_velocity_rad_s":[3.2552577244710235e-16,4.959534270817807e-16,1.0954352694257274e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006}],"native_actuator_controls":[-0.1285480103803492,1.628203279921733,-0.9837830364072035,0.020327566934316893,0.8582459696072514,-0.1700420276542415,0.035],"actuator_force_native":[0.2891245280541188,0.2663971196680279,-0.2517769371258254,-0.2552213288892182,0.30104985831707864,0.1741734548014473,2.3630365336479997e-05],"issued_joint_targets_rad":[-0.1282676628941599,1.629444101920687,-0.9855650398578546,0.019764868260361,0.8607429680612747,-0.16950184602282262],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.340000000000817,"joint_targets_rad":[-0.1282676628941599,1.629444101920687,-0.9855650398578546,0.019764868260361,0.8607429680612747,-0.16950184602282262],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.360000000000806,"qpos":[-0.13276110932251697,1.6224584938226128,-0.977157898405017,0.030407980569710898,0.8130607239432667,-0.1909180001668973,0.03499958598462868,-0.03500000479201251,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.885101650021273e-18,-8.721292389448601e-18,7.658305878182916e-08],"qvel":[0.014027243931847141,0.058484404804922355,-0.08410665228103359,-0.03478787152642959,0.11723481592712337,0.026616613811873156,-5.119904286145458e-06,-6.897458125709943e-07,1.1202743003389377e-17,-5.888610695216624e-18,3.113084506430297e-15,2.3193923411215617e-17,6.301380087109374e-17,1.99998817011299e-08],"joint_position_rad":[-0.13276110932251697,1.6224584938226128,-0.977157898405017,0.030407980569710898,0.8130607239432667,-0.1909180001668973],"joint_velocity_rad_s":[0.014027243931847141,0.058484404804922355,-0.08410665228103359,-0.03478787152642959,0.11723481592712337,0.026616613811873156],"gripper_joint_position_m":[0.03499958598462868,-0.03500000479201251],"tcp_position_m":[0.30768448167055434,-0.034961827244961725,0.08384968684593835],"tcp_quaternion_wxyz":[0.10029972111956224,-0.019630537907114817,0.9947547870435265,-0.004185878498441287],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.885101650021273e-18,-8.721292389448601e-18,7.658305878182916e-08],"object_linear_velocity_m_s":[1.1202743003389377e-17,-5.888610695216624e-18,3.113084506430297e-15],"object_angular_velocity_rad_s":[2.319391341078651e-17,6.30138046190192e-17,1.9999881701129936e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.1282676628941599,1.629444101920687,-0.9855650398578546,0.019764868260361,0.8607429680612747,-0.16950184602282262,0.035],"actuator_force_native":[0.2893394946093295,0.26642662382133153,-0.2520380548218526,-0.2517851347418478,0.3009702172893949,0.1742366207229371,4.216013628366433e-05],"issued_joint_targets_rad":[-0.12799049690436964,1.6306871215967795,-0.9873477477810453,0.019210560467752477,0.8632397973759683,-0.16895959362172444],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.360000000000806,"joint_targets_rad":[-0.12799049690436964,1.6306871215967795,-0.9873477477810453,0.019210560467752477,0.8632397973759683,-0.16895959362172444],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.380000000000795,"qpos":[-0.13247587820938456,1.6236975462657692,-0.9789445500949644,0.02970988103500318,0.8155808172424857,-0.19038499408622003,0.03499959597390007,-0.03499999412022467,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,-4.477496066436428e-18,-2.047921410281742e-17,7.700890795843516e-08],"qvel":[0.013862908889846188,0.05855958995991426,-0.08398631706576457,-0.03431941851452724,0.11713601111619161,0.026626019277372768,-1.6805249346615495e-06,-6.514716162401023e-06,3.5689003359988205e-17,-3.8731078435273646e-18,3.0214911068987222e-15,-5.399730818338426e-17,-7.949076627160237e-16,3.651473338711194e-08],"joint_position_rad":[-0.13247587820938456,1.6236975462657692,-0.9789445500949644,0.02970988103500318,0.8155808172424857,-0.19038499408622003],"joint_velocity_rad_s":[0.013862908889846188,0.05855958995991426,-0.08398631706576457,-0.03431941851452724,0.11713601111619161,0.026626019277372768],"gripper_joint_position_m":[0.03499959597390007,-0.03499999412022467],"tcp_position_m":[0.3076829719945423,-0.0349694771523744,0.08383309036274665],"tcp_quaternion_wxyz":[0.0992912701333376,-0.01974162512306702,0.994853498284976,-0.004246040856392526],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,-4.477496066436428e-18,-2.047921410281742e-17,7.700890795843516e-08],"object_linear_velocity_m_s":[3.5689003359988205e-17,-3.8731078435273646e-18,3.0214911068987222e-15],"object_angular_velocity_rad_s":[-5.399718724902777e-17,-7.949076707055743e-16,3.6514733387112014e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.12799049690436964,1.6306871215967795,-0.9873477477810453,0.019210560467752477,0.8632397973759683,-0.16895959362172444,0.035],"actuator_force_native":[0.2895159599519612,0.2663680766812604,-0.252324229557658,-0.248375730117392,0.3008857846605384,0.17431497572889687,2.456366867065185e-05],"issued_joint_targets_rad":[-0.127716558654453,1.6319324040951526,-0.9891312693888478,0.018664685894249796,0.8657366055113734,-0.16841556197834556],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.380000000000795,"joint_targets_rad":[-0.127716558654453,1.6319324040951526,-0.9891312693888478,0.018664685894249796,0.8657366055113734,-0.16841556197834556],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.400000000000784,"qpos":[-0.1321939109528497,1.6249384379034084,-0.9807293768009937,0.029021223615324717,0.8180991281010199,-0.18985176027385367,0.03499962125942996,-0.035000001632936664,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,2.7834779031357974e-18,-3.19743573973987e-17,7.740029092951202e-08],"qvel":[0.013705540558388818,0.05865418750622813,-0.08390952188289794,-0.033853632405053666,0.11704465887792442,0.026637450534915126,-5.4027981162281396e-06,-7.027127087157535e-07,6.654030089605218e-17,1.818796655726937e-17,2.9978988676254386e-15,1.693170848107042e-15,-2.7935897648013606e-15,6.666668204625142e-08],"joint_position_rad":[-0.1321939109528497,1.6249384379034084,-0.9807293768009937,0.029021223615324717,0.8180991281010199,-0.18985176027385367],"joint_velocity_rad_s":[0.013705540558388818,0.05865418750622813,-0.08390952188289794,-0.033853632405053666,0.11704465887792442,0.026637450534915126],"gripper_joint_position_m":[0.03499962125942996,-0.035000001632936664],"tcp_position_m":[0.30768098163231616,-0.03497716919479871,0.08381601478897804],"tcp_quaternion_wxyz":[0.09828231842616826,-0.019847190034062524,0.9949513306850235,-0.00430400983156904],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,2.7834779031357974e-18,-3.19743573973987e-17,7.740029092951202e-08],"object_linear_velocity_m_s":[6.654030089605218e-17,1.818796655726937e-17,2.9978988676254386e-15],"object_angular_velocity_rad_s":[1.6931712762930975e-15,-2.793589503068631e-15,6.666668204625155e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.127716558654453,1.6319324040951526,-0.9891312693888478,0.018664685894249796,0.8657366055113734,-0.16841556197834556,0.035],"actuator_force_native":[0.28966048107979425,0.26624635780839867,-0.2526037976138298,-0.24499334681772844,0.3008077857866489,0.17440580715270815,4.21636133829395e-05],"issued_joint_targets_rad":[-0.12744588889609484,1.6331798114289615,-0.990915424910476,0.018127277143277193,0.8682331329942675,-0.1678699596778754],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.400000000000784,"joint_targets_rad":[-0.12744588889609484,1.6331798114289615,-0.990915424910476,0.018127277143277193,0.8682331329942675,-0.1678699596778754],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.420000000000773,"qpos":[-0.13191511897114955,1.6261814248732724,-0.9825131310548176,0.028341951477676194,0.8206157007286674,-0.18931826059291343,0.034999623963335974,-0.034999997984391275,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,7.96815098538519e-18,-3.2023957946035363e-17,7.765317353450768e-08],"qvel":[0.013550668928496556,0.058756750351753144,-0.0838660059212738,-0.03339074890689237,0.1169532691864654,0.026650738098325643,-1.800891172874451e-06,-6.682241737717081e-06,3.730238477008699e-17,8.829288537542423e-18,3.0534100188566964e-15,-6.836479093518918e-17,1.3213626612429219e-15,7.222789055089515e-09],"joint_position_rad":[-0.13191511897114955,1.6261814248732724,-0.9825131310548176,0.028341951477676194,0.8206157007286674,-0.18931826059291343],"joint_velocity_rad_s":[0.013550668928496556,0.058756750351753144,-0.0838660059212738,-0.03339074890689237,0.1169532691864654,0.026650738098325643],"gripper_joint_position_m":[0.034999623963335974,-0.034999997984391275],"tcp_position_m":[0.30767873376559896,-0.03498490129731653,0.08379857674309572],"tcp_quaternion_wxyz":[0.09727308595995189,-0.019947295025693028,0.9950482622388902,-0.004359814715158836],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,7.96815098538519e-18,-3.2023957946035363e-17,7.765317353450768e-08],"object_linear_velocity_m_s":[3.730238477008699e-17,8.829288537542423e-18,3.0534100188566964e-15],"object_angular_velocity_rad_s":[-6.836499661380116e-17,1.321362650510318e-15,7.222789055089529e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12744588889609484,1.6331798114289615,-0.990915424910476,0.018127277143277193,0.8682331329942675,-0.1678699596778754,0.035],"actuator_force_native":[0.2897850613618935,0.2660871726963592,-0.2528534788463048,-0.2416332288414983,0.3007444188763042,0.17450690200289176,2.40459224254419e-05],"issued_joint_targets_rad":[-0.12717851924987933,1.6344290593980322,-0.992699827362465,0.01759834814468388,0.8707288296122669,-0.16732291692133483],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.420000000000773,"joint_targets_rad":[-0.12717851924987933,1.6344290593980322,-0.992699827362465,0.01759834814468388,0.8707288296122669,-0.16732291692133483],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.440000000000762,"qpos":[-0.13163947997313238,1.6274265433731185,-0.9842963325909776,0.027672014873195823,0.8231304318126428,-0.1887844611190636,0.03499964285242423,-0.03500001958582675,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.999999999999998,1.0259807139445131e-17,-2.7057286112952663e-17,7.811487331041851e-08],"qvel":[0.01339594992587008,0.05885742407199464,-0.08384403888152338,-0.0329301524393428,0.116856079605228,0.026665615861994143,-5.528228718968027e-06,-1.0546981265169523e-06,3.452785548191344e-17,1.1609407594671175e-17,3.0450833461720075e-15,-1.6070569971550398e-16,1.269271575801187e-15,1.3186988833191215e-08],"joint_position_rad":[-0.13163947997313238,1.6274265433731185,-0.9842963325909776,0.027672014873195823,0.8231304318126428,-0.1887844611190636],"joint_velocity_rad_s":[0.01339594992587008,0.05885742407199464,-0.08384403888152338,-0.0329301524393428,0.116856079605228,0.026665615861994143],"gripper_joint_position_m":[0.03499964285242423,-0.03500001958582675],"tcp_position_m":[0.3076764140605676,-0.034992686527085176,0.08378090427983001],"tcp_quaternion_wxyz":[0.09626385912762746,-0.02004196801951132,0.9951442659167167,-0.004413497121358764],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.999999999999998,1.0259807139445131e-17,-2.7057286112952663e-17,7.811487331041851e-08],"object_linear_velocity_m_s":[3.452785548191344e-17,1.1609407594671175e-17,3.0450833461720075e-15],"object_angular_velocity_rad_s":[-1.6070589872708726e-16,1.2692715504235715e-15,1.3186988833191241e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12717851924987933,1.6344290593980322,-0.992699827362465,0.01759834814468388,0.8707288296122669,-0.16732291692133483,0.035],"actuator_force_native":[0.2898971082308943,0.26591416163313397,-0.25305938731136735,-0.23829590694376368,0.3006998585884002,0.17461701818429676,4.192704662564495e-05],"issued_joint_targets_rad":[-0.12691447660513366,1.635679778761357,-0.9944839697729626,0.017077901617166946,0.8732229784654788,-0.16677450820878786],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.440000000000762,"joint_targets_rad":[-0.12691447660513366,1.635679778761357,-0.9944839697729626,0.017077901617166946,0.8732229784654788,-0.16677450820878786],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.46000000000075,"qpos":[-0.13136701308460358,1.628673652393746,-0.9860792621658914,0.027011365439953774,0.8256431086439633,-0.18825033114113326,0.03499963923380501,-0.0350000074523051,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,2.0390737442849717e-17,-5.55835975628732e-17,7.857874091133884e-08],"qvel":[0.013239514073783697,0.05894864382768316,-0.08383216785443709,-0.03247206401045712,0.1167487666149977,0.02668199019537354,-3.5729202808810066e-06,-3.536865113238697e-06,7.489115079567063e-17,2.477618639197806e-17,3.701502709481632e-15,3.871604811446356e-17,-2.300891784353009e-16,2.4076111479979265e-08],"joint_position_rad":[-0.13136701308460358,1.628673652393746,-0.9860792621658914,0.027011365439953774,0.8256431086439633,-0.18825033114113326],"joint_velocity_rad_s":[0.013239514073783697,0.05894864382768316,-0.08383216785443709,-0.03247206401045712,0.1167487666149977,0.02668199019537354],"gripper_joint_position_m":[0.03499963923380501,-0.0350000074523051],"tcp_position_m":[0.3076741600860938,-0.03500054463208713,0.08376312058209524],"tcp_quaternion_wxyz":[0.09525494773517247,-0.020131216265251904,0.9952393138855743,-0.004465104726941641],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,2.0390737442849717e-17,-5.55835975628732e-17,7.857874091133884e-08],"object_linear_velocity_m_s":[7.489115079567063e-17,2.477618639197806e-17,3.701502709481632e-15],"object_angular_velocity_rad_s":[3.871608159822525e-17,-2.300891733326409e-16,2.4076111479979265e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.12691447660513366,1.635679778761357,-0.9944839697729626,0.017077901617166946,0.8732229784654788,-0.16677450820878786,0.035],"actuator_force_native":[0.29000534798867506,0.2657468902704636,-0.25321576929353284,-0.2349782328591874,0.3006755482926575,0.17473524403039353,3.229524920422833e-05],"issued_joint_targets_rad":[-0.12665378255425386,1.6369315690049608,-0.996267301730427,0.01656592741993939,0.8757148041807054,-0.16622476708284586],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.46000000000075,"joint_targets_rad":[-0.12665378255425386,1.6369315690049608,-0.996267301730427,0.01656592741993939,0.8757148041807054,-0.16622476708284586],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.48000000000074,"qpos":[-0.13109775965280512,1.6299224855165237,-0.9878619834278508,0.026359954858354583,0.8281534513974936,-0.18771584161080004,0.03499963671723362,-0.035000005895343675,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,3.624115868925779e-17,-5.980815381018274e-17,7.902857320886662e-08],"qvel":[0.013080907125809038,0.05902538221223016,-0.08382030815496815,-0.03201630396855662,0.11662898552540638,0.026699763911807794,-5.652575206052373e-06,-8.547535819013097e-07,8.580259327603303e-17,5.780383652404924e-17,3.893016181229471e-15,1.3324307627007946e-15,2.0846802025808087e-16,4.3956899587065094e-08],"joint_position_rad":[-0.13109775965280512,1.6299224855165237,-0.9878619834278508,0.026359954858354583,0.8281534513974936,-0.18771584161080004],"joint_velocity_rad_s":[0.013080907125809038,0.05902538221223016,-0.08382030815496815,-0.03201630396855662,0.11662898552540638,0.026699763911807794],"gripper_joint_position_m":[0.03499963671723362,-0.035000005895343675],"tcp_position_m":[0.307672058321545,-0.03500849571360228,0.08374533222449124],"tcp_quaternion_wxyz":[0.09424664951272357,-0.020215035799857218,0.9953333808349195,-0.004514684813509343],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,3.624115868925779e-17,-5.980815381018274e-17,7.902857320886662e-08],"object_linear_velocity_m_s":[8.580259327603303e-17,5.780383652404924e-17,3.893016181229471e-15],"object_angular_velocity_rad_s":[1.3324307244929558e-15,2.0846822767218407e-16,4.3956899587065094e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.12665378255425386,1.6369315690049608,-0.996267301730427,0.01656592741993939,0.8757148041807054,-0.16622476708284586,0.035],"actuator_force_native":[0.29011363225505526,0.26559976801380003,-0.2533239234312532,-0.23167957769382463,0.30067004954400645,0.17486109941183003,4.279418668562407e-05],"issued_joint_targets_rad":[-0.1263964543476843,1.6381840432216843,-0.9980492930280018,0.016062404116373663,0.8782035625063976,-0.16567369818244387],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.48000000000074,"joint_targets_rad":[-0.1263964543476843,1.6381840432216843,-0.9980492930280018,0.016062404116373663,0.8782035625063976,-0.16567369818244387],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.500000000000728,"qpos":[-0.1308317663595138,1.6311727033727077,-0.9896443819828912,0.025717736483573592,0.8306611521216573,-0.1871809652907455,0.03499963477209797,-0.03500001001641106,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,4.68437975515812e-17,-4.719179768440028e-17,7.937506106304138e-08],"qvel":[0.012919918041926425,0.05908508340167083,-0.08380053652371403,-0.03156291158178722,0.1164958193054649,0.026718860704723877,-2.369111289779872e-06,-5.267349210405407e-06,7.644951691792127e-17,1.3013405965318286e-16,3.9193839780643194e-15,5.7161008817154575e-15,4.359391200049327e-16,8.025419814633225e-08],"joint_position_rad":[-0.1308317663595138,1.6311727033727077,-0.9896443819828912,0.025717736483573592,0.8306611521216573,-0.1871809652907455],"joint_velocity_rad_s":[0.012919918041926425,0.05908508340167083,-0.08380053652371403,-0.03156291158178722,0.1164958193054649,0.026718860704723877],"gripper_joint_position_m":[0.03499963477209797,-0.03500001001641106],"tcp_position_m":[0.30767014723389086,-0.03501655499859874,0.08372762197035503],"tcp_quaternion_wxyz":[0.09323922452199193,-0.02029341972580523,0.9954264461733398,-0.004562278497093216],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,4.68437975515812e-17,-4.719179768440028e-17,7.937506106304138e-08],"object_linear_velocity_m_s":[7.644951691792127e-17,1.3013405965318286e-16,3.9193839780643194e-15],"object_angular_velocity_rad_s":[5.716100804935318e-15,4.359400199178169e-16,8.025419814633225e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1263964543476843,1.6381840432216843,-0.9980492930280018,0.016062404116373663,0.8782035625063976,-0.16567369818244387,0.035],"actuator_force_native":[0.29022537073672794,0.265481770909787,-0.25339020099028176,-0.2283987367790612,0.30068037488920574,0.17499438002593037,2.6454672530151768e-05],"issued_joint_targets_rad":[-0.12614250705357044,1.639436860779831,-0.9998294797551937,0.015567303326050455,0.8806886048767059,-0.16512129123264369],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.500000000000728,"joint_targets_rad":[-0.12614250705357044,1.639436860779831,-0.9998294797551937,0.015567303326050455,0.8806886048767059,-0.16512129123264369],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.520000000000717,"qpos":[-0.13056907694079528,1.632423941641633,-0.9914262149313908,0.025084665362139852,0.8331659072044895,-0.18664567646662197,0.034999644921120454,-0.035000020830423355,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,5.294184011106331e-17,-3.340297106165823e-17,7.96794843531491e-08],"qvel":[0.012757019503419552,0.05912734542672976,-0.08376739821690067,-0.031111692857846967,0.1163497816576863,0.02673919575148828,-5.188502158930104e-06,-6.388739886161912e-07,4.3152391229188595e-17,6.219082287432114e-17,3.990160695884174e-15,-1.3934869505329294e-15,1.6748291142094744e-15,8.694885154088982e-09],"joint_position_rad":[-0.13056907694079528,1.632423941641633,-0.9914262149313908,0.025084665362139852,0.8331659072044895,-0.18664567646662197],"joint_velocity_rad_s":[0.012757019503419552,0.05912734542672976,-0.08376739821690067,-0.031111692857846967,0.1163497816576863,0.02673919575148828],"gripper_joint_position_m":[0.034999644921120454,-0.035000020830423355],"tcp_position_m":[0.30766842482183493,-0.03502473117967696,0.08371004596649138],"tcp_quaternion_wxyz":[0.09223287997037667,-0.02036636247142951,0.9955184951702497,-0.004607917752525834],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,5.294184011106331e-17,-3.340297106165823e-17,7.96794843531491e-08],"object_linear_velocity_m_s":[4.3152391229188595e-17,6.219082287432114e-17,3.990160695884174e-15],"object_angular_velocity_rad_s":[-1.3934872180128221e-15,1.6748288912241637e-15,8.694885154088984e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.12614250705357044,1.639436860779831,-0.9998294797551937,0.015567303326050455,0.8806886048767059,-0.16512129123264369,0.035],"actuator_force_native":[0.29034049346088864,0.26539680392218656,-0.2534241948197291,-0.22513601715434106,0.30070230423563515,0.17513505871255064,4.0145665976654143e-05],"issued_joint_targets_rad":[-0.12589195436384354,1.6406897468887012,-1.0016074917690179,0.015080591510528799,0.8831694164910951,-0.16456752718496978],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.520000000000717,"joint_targets_rad":[-0.12589195436384354,1.6406897468887012,-1.0016074917690179,0.015080591510528799,0.8831694164910951,-0.16456752718496978],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.540000000000706,"qpos":[-0.13030972870547014,1.6336758500301185,-0.993207162001096,0.024460694985353228,0.8356674401301237,-0.18610995035652386,0.03499964159511903,-0.0350000075364324,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,4.4598414733659125e-17,-1.50844713145796e-17,8.017361773999026e-08],"qvel":[0.012592361482760345,0.05915345186998505,-0.08371794499264454,-0.030662869314489798,0.11619211406856139,0.02676075670028622,-2.565738263965303e-06,-3.974817023514909e-06,2.1789476133667204e-17,5.447018855238959e-17,4.0068140412535546e-15,-1.783965103559628e-15,1.2447487234917423e-15,1.58746645593996e-08],"joint_position_rad":[-0.13030972870547014,1.6336758500301185,-0.993207162001096,0.024460694985353228,0.8356674401301237,-0.18610995035652386],"joint_velocity_rad_s":[0.012592361482760345,0.05915345186998505,-0.08371794499264454,-0.030662869314489798,0.11619211406856139,0.02676075670028622],"gripper_joint_position_m":[0.03499964159511903,-0.0350000075364324],"tcp_position_m":[0.3076668587375091,-0.03503302714618323,0.08369263448150915],"tcp_quaternion_wxyz":[0.09122776478799685,-0.02043386244178979,0.9956095191272094,-0.004651625606493919],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,4.4598414733659125e-17,-1.50844713145796e-17,8.017361773999026e-08],"object_linear_velocity_m_s":[2.1789476133667204e-17,5.447018855238959e-17,4.0068140412535546e-15],"object_angular_velocity_rad_s":[-1.783965303630544e-15,1.2447484360218842e-15,1.5874664559399604e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.12589195436384354,1.6406897468887012,-1.0016074917690179,0.015080591510528799,0.8831694164910951,-0.16456752718496978,0.035],"actuator_force_native":[0.2904601399163287,0.26534448933665544,-0.2534366564705266,-0.2218897924205281,0.300731592506871,0.17528309666511155,2.71648865588503e-05],"issued_joint_targets_rad":[-0.1256448077109656,1.6419424996140013,-1.003383062402692,0.014602228729736494,0.885645629271801,-0.16401237964646276],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.540000000000706,"joint_targets_rad":[-0.1256448077109656,1.6419424996140013,-1.003383062402692,0.014602228729736494,0.885645629271801,-0.16401237964646276],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.560000000000695,"qpos":[-0.13005375101848507,1.63492812047182,-0.9949868727807463,0.023845778448601588,0.8381655167614621,-0.185573762704376,0.03499964664367035,-0.035000011046917384,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,2.5995994200385685e-17,-7.045146331164176e-18,8.060963345609094e-08],"qvel":[0.012426583292085522,0.059165814231135636,-0.08365137690693147,-0.030216295705242684,0.11602477074346809,0.026783501664502732,-5.001036924314086e-06,-6.388984931954238e-07,9.310887076868095e-18,3.236383766693182e-17,3.981834023199491e-15,-1.8096183220232013e-15,5.469569234654843e-16,2.8983128633383312e-08],"joint_position_rad":[-0.13005375101848507,1.63492812047182,-0.9949868727807463,0.023845778448601588,0.8381655167614621,-0.185573762704376],"joint_velocity_rad_s":[0.012426583292085522,0.059165814231135636,-0.08365137690693147,-0.030216295705242684,0.11602477074346809,0.026783501664502732],"gripper_joint_position_m":[0.03499964664367035,-0.035000011046917384],"tcp_position_m":[0.3076653971329743,-0.03504144075457348,0.08367539520767643],"tcp_quaternion_wxyz":[0.0902239715270235,-0.020495922402639723,0.9956995149010859,-0.004693415866746518],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,2.5995994200385685e-17,-7.045146331164176e-18,8.060963345609094e-08],"object_linear_velocity_m_s":[9.310887076868095e-18,3.236383766693182e-17,3.981834023199491e-15],"object_angular_velocity_rad_s":[-1.809618410611553e-15,5.469566302132476e-16,2.898312863338332e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999955},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.1256448077109656,1.6419424996140013,-1.003383062402692,0.014602228729736494,0.885645629271801,-0.16401237964646276,0.035],"actuator_force_native":[0.29058254814113127,0.2653212602188262,-0.25343828522100864,-0.21866051022839028,0.3007639689881856,0.1754385780823784,3.9139437807866884e-05],"issued_joint_targets_rad":[-0.12540107722548968,1.643194987936745,-1.0051560254612861,0.01413217104411267,0.8881170170287861,-0.16345581775743756],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.560000000000695,"joint_targets_rad":[-0.12540107722548968,1.643194987936745,-1.0051560254612861,0.01413217104411267,0.8881170170287861,-0.16345581775743756],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.580000000000684,"qpos":[-0.1298011644512131,1.6361805037176678,-0.9967650050299107,0.02323986907947287,0.8406599514259645,-0.18503708998254928,0.03499964369591108,-0.03500001052533224,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,8.529442326194924e-18,-3.167141838549917e-17,8.102294380324766e-08],"qvel":[0.012259885915799395,0.05916744610891195,-0.08356864549497443,-0.02977208527089721,0.11584972800115331,0.026807412115058233,-3.2503700356822567e-06,-3.0337858684832535e-06,7.533089441048599e-17,1.3063359632153578e-17,3.791708330232432e-15,-1.4429046627018908e-15,-4.109208269437733e-15,5.2915873733023264e-08],"joint_position_rad":[-0.1298011644512131,1.6361805037176678,-0.9967650050299107,0.02323986907947287,0.8406599514259645,-0.18503708998254928],"joint_velocity_rad_s":[0.012259885915799395,0.05916744610891195,-0.08356864549497443,-0.02977208527089721,0.11584972800115331,0.026807412115058233],"gripper_joint_position_m":[0.03499964369591108,-0.03500001052533224],"tcp_position_m":[0.30766397895926656,-0.03504996583728915,0.08365831809314092],"tcp_quaternion_wxyz":[0.0892215440643027,-0.020552549929381495,0.9957884839127567,-0.004733294087130273],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,8.529442326194924e-18,-3.167141838549917e-17,8.102294380324766e-08],"object_linear_velocity_m_s":[7.533089441048599e-17,1.3063359632153578e-17,3.791708330232432e-15],"object_angular_velocity_rad_s":[-1.4429040001734124e-15,-4.1092085041571335e-15,5.291587373302329e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.12540107722548968,1.643194987936745,-1.0051560254612861,0.01413217104411267,0.8881170170287861,-0.16345581775743756,0.035],"actuator_force_native":[0.2907075484788777,0.26532150698162127,-0.25343840703514786,-0.2154474950599219,0.3007960640264873,0.17560160407852998,3.050401373538847e-05],"issued_joint_targets_rad":[-0.12516077244670346,1.6444471423037421,-1.006926301652258,0.013670372562360466,0.8905834758686805,-0.162897809506046],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.580000000000684,"joint_targets_rad":[-0.12516077244670346,1.6444471423037421,-1.006926301652258,0.013670372562360466,0.8905834758686805,-0.162897809506046],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.600000000000673,"qpos":[-0.1295519831709118,1.6374328158180353,-0.9985412532458354,0.022642921327302928,0.8431506064214881,-0.1844999092787296,0.03499964286200819,-0.03500000820182576,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,8.980094571678147e-19,-4.844066002213158e-17,8.131988490220374e-08],"qvel":[0.012092677450040678,0.05916148930837303,-0.08347188754451335,-0.02933011683736908,0.11566899521548743,0.026832451172552448,-4.7183431577008325e-06,-5.288824007643174e-07,2.1206008400234164e-16,-2.6547966687222715e-18,3.798647224136342e-15,-5.01789144262961e-16,-1.2527537970349651e-14,9.661102251410292e-08],"joint_position_rad":[-0.1295519831709118,1.6374328158180353,-0.9985412532458354,0.022642921327302928,0.8431506064214881,-0.1844999092787296],"joint_velocity_rad_s":[0.012092677450040678,0.05916148930837303,-0.08347188754451335,-0.02933011683736908,0.11566899521548743,0.026832451172552448],"gripper_joint_position_m":[0.03499964286200819,-0.03500000820182576],"tcp_position_m":[0.3076625427984429,-0.03505859399563061,0.08364138092797502],"tcp_quaternion_wxyz":[0.08822048873163095,-0.020603755955998216,0.9958764309365338,-0.004771259117770685],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,8.980094571678147e-19,-4.844066002213158e-17,8.131988490220374e-08],"object_linear_velocity_m_s":[2.1206008400234164e-16,-2.6547966687222715e-18,3.798647224136342e-15],"object_angular_velocity_rad_s":[-5.017871161468661e-16,-1.2527538052133876e-14,9.661102251410296e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985}],"native_actuator_controls":[-0.12516077244670346,1.6444471423037421,-1.006926301652258,0.013670372562360466,0.8905834758686805,-0.162897809506046,0.035],"actuator_force_native":[0.29083347068646326,0.26533867231466957,-0.25344443479123413,-0.21225136641085307,0.3008252016486921,0.17577232096800754,3.787723546100352e-05],"issued_joint_targets_rad":[-0.12492390287464031,1.6456989408320897,-1.0086938789662343,0.01321678701335085,0.8930449962388681,-0.16233832228736142],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.600000000000673,"joint_targets_rad":[-0.12492390287464031,1.6456989408320897,-1.0086938789662343,0.01321678701335085,0.8930449962388681,-0.16233832228736142],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.620000000000662,"qpos":[-0.1293062177484417,1.638684935800351,-1.000315365982643,0.022054887626546782,0.845637385254368,-0.1839621976871977,0.03499964386087032,-0.03500001033792359,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-7.999642901270665e-19,-7.415182136939273e-17,8.168635352333162e-08],"qvel":[0.011924980895565146,0.05915084950303378,-0.08336394197190068,-0.028890543683965278,0.11548419446601949,0.02685864412054514,-2.384486583040923e-06,-3.6572366489403936e-06,8.696380450935725e-17,-2.3285711231955135e-19,3.793096109013216e-15,5.467743613677286e-18,2.042063919353633e-15,1.0467013125563456e-08],"joint_position_rad":[-0.1293062177484417,1.638684935800351,-1.000315365982643,0.022054887626546782,0.845637385254368,-0.1839621976871977],"joint_velocity_rad_s":[0.011924980895565146,0.05915084950303378,-0.08336394197190068,-0.028890543683965278,0.11548419446601949,0.02685864412054514],"gripper_joint_position_m":[0.03499964386087032,-0.03500001033792359],"tcp_position_m":[0.3076610336432819,-0.03506731689942088,0.08362455486255532],"tcp_quaternion_wxyz":[0.08722078708153945,-0.0206495540157131,0.9959633627918002,-0.004807306551265447],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-7.999642901270665e-19,-7.415182136939273e-17,8.168635352333162e-08],"object_linear_velocity_m_s":[8.696380450935725e-17,-2.3285711231955135e-19,3.793096109013216e-15],"object_angular_velocity_rad_s":[5.4674084438705725e-18,2.042063920263633e-15,1.046701312556346e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.12492390287464031,1.6456989408320897,-1.0086938789662343,0.01321678701335085,0.8930449962388681,-0.16233832228736142,0.035],"actuator_force_native":[0.2909602854262854,0.26536615502394056,-0.2534613288277967,-0.20907130610801083,0.3008498181459718,0.17595078781754503,2.6167998102399892e-05],"issued_joint_targets_rad":[-0.12469047676372721,1.6469503930410045,-1.0104587896911106,0.012771365970860964,0.8955016303628792,-0.16177732117059468],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.620000000000662,"joint_targets_rad":[-0.12469047676372721,1.6469503930410045,-1.0104587896911106,0.012771365970860964,0.8955016303628792,-0.16177732117059468],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.64000000000065,"qpos":[-0.1290638753333456,1.6399367971369974,-1.0020871528881496,0.021475722066518734,0.8481202246768546,-0.18342393241786392,0.03499965059979176,-0.0350000135110357,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,3.864683434475973e-18,-1.1402892480059516e-16,8.215532847844306e-08],"qvel":[0.01175705886742049,0.05913792174231154,-0.08324780323804083,-0.028453211060605037,0.11529664726058365,0.02688596712544765,-4.329930174855819e-06,-4.3135871974376124e-07,1.4160573950699105e-16,5.4754707408447144e-18,4.0331818380884065e-15,-1.1942305912823225e-16,1.7392706342810316e-15,1.911012271726218e-08],"joint_position_rad":[-0.1290638753333456,1.6399367971369974,-1.0020871528881496,0.021475722066518734,0.8481202246768546,-0.18342393241786392],"joint_velocity_rad_s":[0.01175705886742049,0.05913792174231154,-0.08324780323804083,-0.028453211060605037,0.11529664726058365,0.02688596712544765],"gripper_joint_position_m":[0.03499965059979176,-0.0350000135110357],"tcp_position_m":[0.30765940715013873,-0.0350761263458889,0.0836078091806346],"tcp_quaternion_wxyz":[0.08622240767704305,-0.020689959090210912,0.9960492872197398,-0.004841429155473322],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,3.864683434475973e-18,-1.1402892480059516e-16,8.215532847844306e-08],"object_linear_velocity_m_s":[1.4160573950699105e-16,5.4754707408447144e-18,4.0331818380884065e-15],"object_angular_velocity_rad_s":[-1.1942334926714473e-16,1.7392706145108183e-15,1.911012271726219e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.12469047676372721,1.6469503930410045,-1.0104587896911106,0.012771365970860964,0.8955016303628792,-0.16177732117059468,0.035],"actuator_force_native":[0.2910865912323679,0.2653980636090125,-0.253491928046671,-0.20590818852328563,0.3008690859693708,0.1761371617845211,3.5625659204008286e-05],"issued_joint_targets_rad":[-0.12446050296963855,1.6482015252032212,-1.0122210896895083,0.012334062825696183,0.8979534630953153,-0.16121477286274194],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.64000000000065,"joint_targets_rad":[-0.12446050296963855,1.6482015252032212,-1.0122210896895083,0.012334062825696183,0.8979534630953153,-0.16121477286274194],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.66000000000064,"qpos":[-0.12882496243518776,1.6411883752793934,-1.0038564833254375,0.020905377415726834,0.8505990831330607,-0.18288509048868218,0.03499965227122756,-0.03500000444535192,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,7.981154601204893e-18,-1.3317022491926592e-16,8.261794692270823e-08],"qvel":[0.011588757826487397,0.059124471765844996,-0.08312632169753267,-0.028018277324743664,0.11510711412516321,0.0269144552968622,-1.855224244963669e-06,-3.533221739602755e-06,1.8531504138629333e-16,1.2381342348758033e-17,3.77783054242462e-15,1.6573051227690167e-16,4.34544884189728e-16,3.489025817468254e-08],"joint_position_rad":[-0.12882496243518776,1.6411883752793934,-1.0038564833254375,0.020905377415726834,0.8505990831330607,-0.18288509048868218],"joint_velocity_rad_s":[0.011588757826487397,0.059124471765844996,-0.08312632169753267,-0.028018277324743664,0.11510711412516321,0.0269144552968622],"gripper_joint_position_m":[0.03499965227122756,-0.03500000444535192],"tcp_position_m":[0.3076576318721893,-0.035085015924763444,0.08359111515952031],"tcp_quaternion_wxyz":[0.08522531703071265,-0.02072498690361419,0.9961342118827703,-0.004873619963759943],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,7.981154601204893e-18,-1.3317022491926592e-16,8.261794692270823e-08],"object_linear_velocity_m_s":[1.8531504138629333e-16,1.2381342348758033e-17,3.77783054242462e-15],"object_angular_velocity_rad_s":[1.6573043118180014e-16,4.3454491101742187e-16,3.4890258174682565e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09809999999999977}],"native_actuator_controls":[-0.12446050296963855,1.6482015252032212,-1.0122210896895083,0.012334062825696183,0.8979534630953153,-0.16121477286274194,0.035],"actuator_force_native":[0.2912129681115001,0.26542963507699824,-0.2535369006380108,-0.20276119697750766,0.300883128434803,0.1763314933141089,2.3185272122638878e-05],"issued_joint_targets_rad":[-0.12423398968764399,1.6494523662409832,-1.01398083859631,0.011904830667826343,0.9004005841141959,-0.1606506437457547],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.66000000000064,"joint_targets_rad":[-0.12423398968764399,1.6494523662409832,-1.01398083859631,0.011904830667826343,0.9004005841141959,-0.1606506437457547],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.680000000000629,"qpos":[-0.12858948563651265,1.6424396737650602,-1.005623278969768,0.020343806044223107,0.8530739310766705,-0.1823456483594471,0.0349996606908825,-0.03500000927472278,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,7.178572643365427e-18,-1.177401605751027e-16,8.299191796506198e-08],"qvel":[0.011420245321314764,0.059111581034238116,-0.08300186722674267,-0.027585639339103164,0.11491606594209955,0.02694412381156774,-4.11975471401151e-06,-4.5869824403392243e-07,1.9701692692798917e-16,9.759567017156695e-18,3.568275946526622e-15,-1.3096852513694734e-16,-6.482965910432603e-16,6.370080053944466e-08],"joint_position_rad":[-0.12858948563651265,1.6424396737650602,-1.005623278969768,0.020343806044223107,0.8530739310766705,-0.1823456483594471],"joint_velocity_rad_s":[0.011420245321314764,0.059111581034238116,-0.08300186722674267,-0.027585639339103164,0.11491606594209955,0.02694412381156774],"gripper_joint_position_m":[0.0349996606908825,-0.03500000927472278],"tcp_position_m":[0.30765568941937893,-0.035093981136112645,0.08357444872711442],"tcp_quaternion_wxyz":[0.08422948761631086,-0.02075465305191579,0.9962181436915094,-0.004903873207141383],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,7.178572643365427e-18,-1.177401605751027e-16,8.299191796506198e-08],"object_linear_velocity_m_s":[1.9701692692798917e-16,9.759567017156695e-18,3.568275946526622e-15],"object_angular_velocity_rad_s":[-1.3096843253047552e-16,-6.482966136964729e-16,6.37008005394447e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999}],"native_actuator_controls":[-0.12423398968764399,1.6494523662409832,-1.01398083859631,0.011904830667826343,0.9004005841141959,-0.1606506437457547,0.035],"actuator_force_native":[0.2913384493029181,0.265457492902641,-0.2535954339896449,-0.19963081836035473,0.3008924314621044,0.17653386041957275,3.417113827008933e-05],"issued_joint_targets_rad":[-0.1240109449400803,1.650702937574758,-1.0157380855683271,0.011483623411952483,0.9028430680479658,-0.1600849009240801],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.680000000000629,"joint_targets_rad":[-0.1240109449400803,1.650702937574758,-1.0157380855683271,0.011483623411952483,0.9028430680479658,-0.1600849009240801],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.700000000000617,"qpos":[-0.12835745137477753,1.64369071043718,-1.0073875020141612,0.019790960442467687,0.855544741735245,-0.18180558215271486,0.03499965915444911,-0.035000009747825404,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,6.535495742672765e-18,-9.106272754102281e-17,8.328825033265348e-08],"qvel":[0.011251352311349112,0.059099702004675986,-0.08287622623281056,-0.027155381396365592,0.11472348281985598,0.026974997131068223,-2.9804988863248097e-06,-2.116429463058515e-06,2.249301423555695e-16,3.930477088964278e-17,3.596031522142251e-15,2.684423491590395e-15,-4.8961283575814815e-15,1.1630157532941323e-07],"joint_position_rad":[-0.12835745137477753,1.64369071043718,-1.0073875020141612,0.019790960442467687,0.855544741735245,-0.18180558215271486],"joint_velocity_rad_s":[0.011251352311349112,0.059099702004675986,-0.08287622623281056,-0.027155381396365592,0.11472348281985598,0.026974997131068223],"gripper_joint_position_m":[0.03499965915444911,-0.035000009747825404],"tcp_position_m":[0.3076535731586649,-0.03510301908564401,0.0835577919155246],"tcp_quaternion_wxyz":[0.08323490342455771,-0.020778973005107317,0.9963010883683142,-0.004932184999547988],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,6.535495742672765e-18,-9.106272754102281e-17,8.328825033265348e-08],"object_linear_velocity_m_s":[2.249301423555695e-16,3.930477088964278e-17,3.596031522142251e-15],"object_angular_velocity_rad_s":[2.684424285988811e-15,-4.896127911939724e-15,1.1630157532941331e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003}],"native_actuator_controls":[-0.1240109449400803,1.650702937574758,-1.0157380855683271,0.011483623411952483,0.9028430680479658,-0.1600849009240801,0.035],"actuator_force_native":[0.2914637532190305,0.2654796609828338,-0.25366555316922756,-0.19651657423878016,0.30089803889742406,0.17674431658974532,2.8536316467375755e-05],"issued_joint_targets_rad":[-0.12379137687407571,1.6519532459816375,-1.0174928592911707,0.011070396494018713,0.905280960628623,-0.15951751381969986],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.700000000000617,"joint_targets_rad":[-0.12379137687407571,1.6519532459816375,-1.0174928592911707,0.011070396494018713,0.905280960628623,-0.15951751381969986],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.720000000000606,"qpos":[-0.12812886660187153,1.6449415056439036,-1.0091491422358603,0.019246794999858815,0.8580114843800621,-0.1812648679213244,0.03499965661132869,-0.03500000488222022,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,1.2811797778904346e-17,-8.225711062125095e-17,8.372940991089671e-08],"qvel":[0.011082145558937224,0.05908875753732439,-0.08275051983578385,-0.026727373143585878,0.11452916604003636,0.027007067090765762,-3.976087947408239e-06,-3.0900577577391723e-07,1.0336878559545522e-16,1.5410731956807912e-17,3.569663725307405e-15,-3.2593674528520045e-16,3.318272332892658e-15,1.2600323273868571e-08],"joint_position_rad":[-0.12812886660187153,1.6449415056439036,-1.0091491422358603,0.019246794999858815,0.8580114843800621,-0.1812648679213244],"joint_velocity_rad_s":[0.011082145558937224,0.05908875753732439,-0.08275051983578385,-0.026727373143585878,0.11452916604003636,0.027007067090765762],"gripper_joint_position_m":[0.03499965661132869,-0.03500000488222022],"tcp_position_m":[0.30765128596477914,-0.03511212811872205,0.08354113332617369],"tcp_quaternion_wxyz":[0.08224156283029994,-0.0207979613363419,0.9963830502866537,-0.00495855311006588],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,1.2811797778904346e-17,-8.225711062125095e-17,8.372940991089671e-08],"object_linear_velocity_m_s":[1.0336878559545522e-16,1.5410731956807912e-17,3.569663725307405e-15],"object_angular_velocity_rad_s":[-3.2593730303209725e-16,3.3182722779887658e-15,1.2600323273868583e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.12379137687407571,1.6519532459816375,-1.0174928592911707,0.011070396494018713,0.905280960628623,-0.15951751381969986,0.035],"actuator_force_native":[0.2915884504289785,0.26549543933208497,-0.25374476524591216,-0.1934190745156747,0.30090101342555364,0.17696294038009697,3.361598658946363e-05],"issued_joint_targets_rad":[-0.12357529443921886,1.6532032799991625,-1.0192451629740413,0.010665108096153135,0.9077142718658235,-0.1589484549372696],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.720000000000606,"joint_targets_rad":[-0.12357529443921886,1.6532032799991625,-1.0192451629740413,0.010665108096153135,0.9077142718658235,-0.1589484549372696],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.740000000000595,"qpos":[-0.1279037399951571,1.6461920728994763,-1.0109082042015287,0.018711262392803147,0.8604741185736091,-0.1807234811766043,0.03499965792807595,-0.03500000899817247,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,1.3521219357502547e-17,-7.557540270394058e-17,8.417264087149024e-08],"qvel":[0.01091247517086016,0.059078285161134794,-0.08262528653990424,-0.026301718711173244,0.11433267017688871,0.027040376602573555,-2.261151269726751e-06,-2.626255902768069e-06,9.859277597304005e-17,1.8023027964833304e-17,3.500274786268333e-15,-3.630854156712175e-16,2.188826238896206e-15,2.3005008320161013e-08],"joint_position_rad":[-0.1279037399951571,1.6461920728994763,-1.0109082042015287,0.018711262392803147,0.8604741185736091,-0.1807234811766043],"joint_velocity_rad_s":[0.01091247517086016,0.059078285161134794,-0.08262528653990424,-0.026301718711173244,0.11433267017688871,0.027040376602573555],"gripper_joint_position_m":[0.03499965792807595,-0.03500000899817247],"tcp_position_m":[0.3076488375821203,-0.0351213084399061,0.08352446782525398],"tcp_quaternion_wxyz":[0.081249479503391,-0.020811631905057075,0.9964640324577765,-0.004982978613636848],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,1.3521219357502547e-17,-7.557540270394058e-17,8.417264087149024e-08],"object_linear_velocity_m_s":[9.859277597304005e-17,1.8023027964833304e-17,3.500274786268333e-15],"object_angular_velocity_rad_s":[-3.6308578762700805e-16,2.1888261771503485e-15,2.3005008320161033e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.12357529443921886,1.6532032799991625,-1.0192451629740413,0.010665108096153135,0.9077142718658235,-0.1589484549372696,0.035],"actuator_force_native":[0.2917132686207591,0.26550514216924626,-0.25383026910147066,-0.19033757831013426,0.3009025276568096,0.17718969748948665,2.4988633310574215e-05],"issued_joint_targets_rad":[-0.1233627057396601,1.6544530084255937,-1.020994972341467,0.010267715980347111,0.9101429733664118,-0.15837769697800258],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.740000000000595,"joint_targets_rad":[-0.1233627057396601,1.6544530084255937,-1.020994972341467,0.010267715980347111,0.9101429733664118,-0.15837769697800258],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.760000000000584,"qpos":[-0.12768207995093878,1.6474424125508738,-1.0126646957562,0.01818431779551593,0.8629325926970453,-0.18018139736706762,0.03499966152709155,-0.03500000893632416,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,1.4795518578313546e-17,-8.261532450422513e-17,8.460246093424867e-08],"qvel":[0.010742433614721948,0.059067563031694456,-0.08250050855129568,-0.02587826594665909,0.11413352161899326,0.02707490752288372,-3.622083436327818e-06,-2.1190388258390326e-07,1.273810649132481e-16,2.083571427588436e-17,3.471131431871922e-15,1.1252883752630202e-16,-7.690479933990749e-16,4.2001335704475685e-08],"joint_position_rad":[-0.12768207995093878,1.6474424125508738,-1.0126646957562,0.01818431779551593,0.8629325926970453,-0.18018139736706762],"joint_velocity_rad_s":[0.010742433614721948,0.059067563031694456,-0.08250050855129568,-0.02587826594665909,0.11413352161899326,0.02707490752288372],"gripper_joint_position_m":[0.03499966152709155,-0.03500000893632416],"tcp_position_m":[0.3076462416907111,-0.03513056042393043,0.08350779554065249],"tcp_quaternion_wxyz":[0.08025868085611168,-0.020819997828431937,0.9965440367436034,-0.005005463857127312],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,1.4795518578313546e-17,-8.261532450422513e-17,8.460246093424867e-08],"object_linear_velocity_m_s":[1.273810649132481e-16,2.083571427588436e-17,3.471131431871922e-15],"object_angular_velocity_rad_s":[1.125289607130983e-16,-7.690479756014952e-16,4.2001335704475725e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.1233627057396601,1.6544530084255937,-1.020994972341467,0.010267715980347111,0.9101429733664118,-0.15837769697800258,0.035],"actuator_force_native":[0.2918377688286853,0.26550985481915745,-0.25391958406487447,-0.1872727428734573,0.3009035242651752,0.17742464260632462,3.164933351973431e-05],"issued_joint_targets_rad":[-0.1231536198370129,1.6557023824964014,-1.022742238669244,0.009878180825754623,0.9125670027723298,-0.15780521634209863],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.760000000000584,"joint_targets_rad":[-0.1231536198370129,1.6557023824964014,-1.022742238669244,0.009878180825754623,0.9125670027723298,-0.15780521634209863],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.780000000000573,"qpos":[-0.12746389637742525,1.6486925083493569,-1.0144186192402147,0.017665914441815044,0.865386841960106,-0.17963859150298056,0.03499966218554204,-0.03500000931679007,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,2.17736240544742e-17,-6.922551078221454e-17,8.493353416319404e-08],"qvel":[0.010571872510519269,0.05905576879987596,-0.08237581537600762,-0.02545713903069048,0.11393116662363767,0.02711070017433402,-2.4641184371886238e-06,-1.8436665321837788e-06,1.2147310968980938e-16,6.630824303510889e-17,3.4641925379680153e-15,3.846965994098301e-15,-3.9320888495854717e-16,7.668383233811189e-08],"joint_position_rad":[-0.12746389637742525,1.6486925083493569,-1.0144186192402147,0.017665914441815044,0.865386841960106,-0.17963859150298056],"joint_velocity_rad_s":[0.010571872510519269,0.05905576879987596,-0.08237581537600762,-0.02545713903069048,0.11393116662363767,0.02711070017433402],"gripper_joint_position_m":[0.03499966218554204,-0.03500000931679007],"tcp_position_m":[0.3076435135047724,-0.03513988557811411,0.08349112067055227],"tcp_quaternion_wxyz":[0.07926920611477752,-0.020823071685264264,0.9966230640671156,-0.005026014026800735],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,2.17736240544742e-17,-6.922551078221454e-17,8.493353416319404e-08],"object_linear_velocity_m_s":[1.2147310968980938e-16,6.630824303510889e-17,3.4641925379680153e-15],"object_angular_velocity_rad_s":[3.846966050274534e-15,-3.932082348250773e-16,7.668383233811195e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.1231536198370129,1.6557023824964014,-1.022742238669244,0.009878180825754623,0.9125670027723298,-0.15780521634209863,0.035],"actuator_force_native":[0.2919627606803932,0.26551108776419596,-0.2540104774422929,-0.1842236494889644,0.30090485818678303,0.17766770134731824,2.5833170504530045e-05],"issued_joint_targets_rad":[-0.12294804467950939,1.6569513379828695,-1.0244868918049648,0.009496462193466703,0.9149862680557341,-0.15723098890989695],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.780000000000573,"joint_targets_rad":[-0.12294804467950939,1.6569513379828695,-1.0244868918049648,0.009496462193466703,0.9149862680557341,-0.15723098890989695],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.800000000000562,"qpos":[-0.12724919859365902,1.649942326651446,-1.016169965201913,0.01715600810522743,0.8678367904732428,-0.17909503866939946,0.03499966215029045,-0.03500000490797583,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,2.6478090693107227e-17,-5.0726315799469844e-17,8.522441420533053e-08],"qvel":[0.010400897648619399,0.05904207104738899,-0.08225054339026537,-0.025038186947241227,0.1137251609298989,0.02714772861992635,-3.417233437834185e-06,-1.3433811404494387e-07,6.535355750592158e-17,3.154077985680703e-17,3.3725991384364384e-15,-9.11558213564161e-16,2.791918122621646e-15,8.30806525709175e-09],"joint_position_rad":[-0.12724919859365902,1.649942326651446,-1.016169965201913,0.01715600810522743,0.8678367904732428,-0.17909503866939946],"joint_velocity_rad_s":[0.010400897648619399,0.05904207104738899,-0.08225054339026537,-0.025038186947241227,0.1137251609298989,0.02714772861992635],"gripper_joint_position_m":[0.03499966215029045,-0.03500000490797583],"tcp_position_m":[0.3076406675636996,-0.03514928486876505,0.08347445003697088],"tcp_quaternion_wxyz":[0.0782811028831016,-0.02082086550056174,0.9967011147540321,-0.005044634702537449],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,2.6478090693107227e-17,-5.0726315799469844e-17,8.522441420533053e-08],"object_linear_velocity_m_s":[6.535355750592158e-17,3.154077985680703e-17,3.3725991384364384e-15],"object_angular_velocity_rad_s":[-9.115586902861968e-16,2.7919179668076154e-15,8.30806525709176e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.12294804467950939,1.6569513379828695,-1.0244868918049648,0.009496462193466703,0.9149862680557341,-0.15723098890989695,0.035],"actuator_force_native":[0.2920878248888723,0.26551055127694667,-0.2541014112928224,-0.18119090173422303,0.3009070344300646,0.1779189046651357,3.060015557143636e-05],"issued_joint_targets_rad":[-0.12274598898555397,1.6581997998331774,-1.0262288466173826,0.009122521981956792,0.9174006566535412,-0.15665499335563832],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.800000000000562,"joint_targets_rad":[-0.12274598898555397,1.6581997998331774,-1.0262288466173826,0.009122521981956792,0.9174006566535412,-0.15665499335563832],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.820000000000551,"qpos":[-0.12703799672475063,1.6511918176006997,-1.0179187091325685,0.01665455300287777,0.8702823519499239,-0.1785507137293841,0.03499966390493522,-0.03500000896444464,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,4.198331856159497e-17,-3.521559526127499e-17,8.569656448113419e-08],"qvel":[0.0102294162725722,0.05902573820313732,-0.08212394188444037,-0.024621503151520438,0.11351509264739083,0.027186020081476945,-2.175707779177829e-06,-1.885181356504091e-06,4.814811959965969e-17,5.119027604342519e-17,3.3184757659859635e-15,-7.978093046841863e-16,1.786844632519149e-15,1.5168429111672634e-08],"joint_position_rad":[-0.12703799672475063,1.6511918176006997,-1.0179187091325685,0.01665455300287777,0.8702823519499239,-0.1785507137293841],"joint_velocity_rad_s":[0.0102294162725722,0.05902573820313732,-0.08212394188444037,-0.024621503151520438,0.11351509264739083,0.027186020081476945],"gripper_joint_position_m":[0.03499966390493522,-0.03500000896444464],"tcp_position_m":[0.30763771637055515,-0.0351587596400225,0.08345779183732918],"tcp_quaternion_wxyz":[0.07729442435450852,-0.020813391101280113,0.9967781887769265,-0.005061333140640925],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,4.198331856159497e-17,-3.521559526127499e-17,8.569656448113419e-08],"object_linear_velocity_m_s":[4.814811959965969e-17,5.119027604342519e-17,3.3184757659859635e-15],"object_angular_velocity_rad_s":[-7.978096120053983e-16,1.7868444945064496e-15,1.516842911167265e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12274598898555397,1.6581997998331774,-1.0262288466173826,0.009122521981956792,0.9174006566535412,-0.15665499335563832,0.035],"actuator_force_native":[0.29221353777287007,0.2655098875825388,-0.25419128936290747,-0.178173725079237,0.3009104080650875,0.17817817361524257,2.4322341487303945e-05],"issued_joint_targets_rad":[-0.1225474603679661,1.6594476854228901,-1.0279680075877802,0.00875632080069981,0.9198100418860317,-0.1560772073808191],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.820000000000551,"joint_targets_rad":[-0.1225474603679661,1.6594476854228901,-1.0279680075877802,0.00875632080069981,0.9198100418860317,-0.1560772073808191],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.84000000000054,"qpos":[-0.1268302996679257,1.6524409177662818,-1.0196648103674772,0.016161506185613895,0.8727234333384095,-0.17800559185903542,0.0349996657423769,-0.035000006068865865,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,4.340424107916838e-17,-2.671940031983418e-17,8.616841149269403e-08],"qvel":[0.010057541661540461,0.05900617251054116,-0.08199521447343394,-0.024206940901865096,0.11330070099515849,0.02722553969695275,-3.130792490473667e-06,-4.177916340271064e-08,3.9631523011438714e-17,5.634539917175048e-17,3.349006899163155e-15,-7.739929263995998e-16,1.0787617718916236e-15,2.769372105250266e-08],"joint_position_rad":[-0.1268302996679257,1.6524409177662818,-1.0196648103674772,0.016161506185613895,0.8727234333384095,-0.17800559185903542],"joint_velocity_rad_s":[0.010057541661540461,0.05900617251054116,-0.08199521447343394,-0.024206940901865096,0.11330070099515849,0.02722553969695275],"gripper_joint_position_m":[0.0349996657423769,-0.035000006068865865],"tcp_position_m":[0.3076346693680033,-0.035168310126652905,0.08344115444904246],"tcp_quaternion_wxyz":[0.07630922595920138,-0.020800660124686995,0.9968542860515875,-0.005076115883654265],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,4.340424107916838e-17,-2.671940031983418e-17,8.616841149269403e-08],"object_linear_velocity_m_s":[3.9631523011438714e-17,5.634539917175048e-17,3.349006899163155e-15],"object_angular_velocity_rad_s":[-7.739931137898848e-16,1.0787616361000769e-15,2.769372105250269e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.1225474603679661,1.6594476854228901,-1.0279680075877802,0.00875632080069981,0.9198100418860317,-0.1560772073808191,0.035],"actuator_force_native":[0.2923394356890636,0.26551054997597134,-0.2542797052570762,-0.17517271088723785,0.3009150339834843,0.178445535236734,2.9024267376387414e-05],"issued_joint_targets_rad":[-0.12235246717600984,1.6606949091181384,-1.0297042751202572,0.008397821363153372,0.9222142918146554,-0.15549761091242792],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.84000000000054,"joint_targets_rad":[-0.12235246717600984,1.6606949091181384,-1.0297042751202572,0.008397821363153372,0.9222142918146554,-0.15549761091242792],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.860000000000529,"qpos":[-0.12662611708652038,1.6536895535243414,-1.0214082133034532,0.015676822458636733,0.8751599360884572,-0.17745964801342387,0.03499966477702682,-0.0350000056647153,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,4.9637155655867035e-17,-1.1572231193008268e-17,8.656333440136467e-08],"qvel":[0.009885195632772069,0.05898295792951383,-0.08186367666237034,-0.023794614291165923,0.11308178743004728,0.02726631706538216,-2.496470112415983e-06,-1.0107854721513186e-06,1.3390527272943709e-17,8.827024693030113e-17,3.376762474778784e-15,1.6355704337607025e-15,1.5399351551946441e-15,5.056174110629972e-08],"joint_position_rad":[-0.12662611708652038,1.6536895535243414,-1.0214082133034532,0.015676822458636733,0.8751599360884572,-0.17745964801342387],"joint_velocity_rad_s":[0.009885195632772069,0.05898295792951383,-0.08186367666237034,-0.023794614291165923,0.11308178743004728,0.02726631706538216],"gripper_joint_position_m":[0.03499966477702682,-0.0350000056647153],"tcp_position_m":[0.3076315327516818,-0.03517793687602769,0.08342454565293701],"tcp_quaternion_wxyz":[0.07532556335878265,-0.02078268424742426,0.9969294065855052,-0.005088990590127159],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,4.9637155655867035e-17,-1.1572231193008268e-17,8.656333440136467e-08],"object_linear_velocity_m_s":[1.3390527272943709e-17,8.827024693030113e-17,3.376762474778784e-15],"object_angular_velocity_rad_s":[1.6355701659866128e-15,1.5399354333360018e-15,5.056174110629979e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.12235246717600984,1.6606949091181384,-1.0297042751202572,0.008397821363153372,0.9222142918146554,-0.15549761091242792,0.035],"actuator_force_native":[0.2924660146769824,0.2655136578561894,-0.2543665620324589,-0.1721869723635049,0.3009208761169102,0.17872089541188618,2.589126948948639e-05],"issued_joint_targets_rad":[-0.12216101624219697,1.6619413845042887,-1.0314375486954457,0.00804698420035331,0.9246132735864001,-0.15491618148683975],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.860000000000529,"joint_targets_rad":[-0.12216101624219697,1.6619413845042887,-1.0314375486954457,0.00804698420035331,0.9246132735864001,-0.15491618148683975],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.880000000000518,"qpos":[-0.1264254572644384,1.6549376446540007,-1.02314884949443,0.015200459362245051,0.8775917598162327,-0.17691285750412886,0.03499966521533294,-0.03500000249354192,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,3.9017451024346295e-17,3.4414775847033688e-18,8.690128834177716e-08],"qvel":[0.00971247033811676,0.05895583792491497,-0.08172873757953833,-0.023384398341231554,0.11285828090983778,0.027308316327182277,-2.211198755522392e-06,-9.75832312680066e-07,-4.5543339443666656e-17,4.5848438701434505e-17,3.3490068991631568e-15,-2.2574978087801624e-15,3.92103990238735e-15,9.231297083024158e-08],"joint_position_rad":[-0.1264254572644384,1.6549376446540007,-1.02314884949443,0.015200459362245051,0.8775917598162327,-0.17691285750412886],"joint_velocity_rad_s":[0.00971247033811676,0.05895583792491497,-0.08172873757953833,-0.023384398341231554,0.11285828090983778,0.027308316327182277],"gripper_joint_position_m":[0.03499966521533294,-0.03500000249354192],"tcp_position_m":[0.307628309429007,-0.035187639256650534,0.08340797197693818],"tcp_quaternion_wxyz":[0.07434349021166699,-0.02075947510651426,0.9970035506596582,-0.005099963576777004],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,3.9017451024346295e-17,3.4414775847033688e-18,8.690128834177716e-08],"object_linear_velocity_m_s":[-4.5543339443666656e-17,4.5848438701434505e-17,3.3490068991631568e-15],"object_angular_velocity_rad_s":[-2.2574984896315826e-15,3.921039502824727e-15,9.23129708302417e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983}],"native_actuator_controls":[-0.12216101624219697,1.6619413845042887,-1.0314375486954457,0.00804698420035331,0.9246132735864001,-0.15491618148683975,0.035],"actuator_force_native":[0.29259293008873044,0.2655199983984744,-0.2544522481835543,-0.16921701476951184,0.3009277163369184,0.17900428568211768,2.4447380460257406e-05],"issued_joint_targets_rad":[-0.12197311499624736,1.6631870275846607,-1.0331677312552885,0.00770377159368779,0.9270068595579941,-0.15433289801034034],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.880000000000518,"joint_targets_rad":[-0.12197311499624736,1.6631870275846607,-1.0331677312552885,0.00770377159368779,0.9270068595579941,-0.15433289801034034],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.900000000000507,"qpos":[-0.12622832857241623,1.6561851076973593,-1.0248866408881085,0.014732373312738493,0.8800188033063656,-0.1763651956621747,0.03499966997059388,-0.03500000406609554,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,2.1174353527906146e-17,1.4530495182132948e-17,8.725145342907284e-08],"qvel":[0.009539367144669362,0.0589247190096228,-0.08158998975160309,-0.022976325809963557,0.11263018198008438,0.02735154815133577,-2.180047054135389e-06,-7.992698753327564e-07,-1.6538620960914173e-17,2.88722305563845e-17,3.2518623845084536e-15,-1.4340666161849729e-15,-2.745249478062726e-16,1.0001354423082153e-08],"joint_position_rad":[-0.12622832857241623,1.6561851076973593,-1.0248866408881085,0.014732373312738493,0.8800188033063656,-0.1763651956621747],"joint_velocity_rad_s":[0.009539367144669362,0.0589247190096228,-0.08158998975160309,-0.022976325809963557,0.11263018198008438,0.02735154815133577],"gripper_joint_position_m":[0.03499966997059388,-0.03500000406609554],"tcp_position_m":[0.30762499957126876,-0.035197416615306364,0.08339143846179471],"tcp_quaternion_wxyz":[0.07336305737744353,-0.02073104453142725,0.9970767188644959,-0.005109041326993337],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,2.1174353527906146e-17,1.4530495182132948e-17,8.725145342907284e-08],"object_linear_velocity_m_s":[-1.6538620960914173e-17,2.88722305563845e-17,3.2518623845084536e-15],"object_angular_velocity_rad_s":[-1.4340665679889023e-15,-2.7452519847860633e-16,1.0001354423082166e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015}],"native_actuator_controls":[-0.12197311499624736,1.6631870275846607,-1.0331677312552885,0.00770377159368779,0.9270068595579941,-0.15433289801034034,0.035],"actuator_force_native":[0.2927202503701629,0.26552999593602067,-0.2545372806163755,-0.16626243971221027,0.30093528954615856,0.17929565429133998,2.4101411515431437e-05],"issued_joint_targets_rad":[-0.12178876979645481,1.664431757550419,-1.0348947303017677,0.0073681444392346765,0.929394928756786,-0.1537477375314376],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.900000000000507,"joint_targets_rad":[-0.12178876979645481,1.664431757550419,-1.0348947303017677,0.0073681444392346765,0.929394928756786,-0.1537477375314376],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.920000000000496,"qpos":[-0.12603473852765334,1.657431858783934,-1.0266215030309551,0.01427252138805493,0.8824409665759672,-0.17581663789127314,0.034999673341883676,-0.035000003817313774,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,8.953030583202146e-18,-4.107351396978636e-18,8.769956452679982e-08],"qvel":[0.009365910586529117,0.05888962396978234,-0.08144717093175287,-0.022570389819968822,0.1123975334561845,0.0273960056340101,-1.8697098769323964e-06,-1.0582929890858125e-06,5.568000738467836e-18,1.386034724600399e-17,3.208841242304229e-15,-9.558089362570771e-16,-7.432204090266766e-16,1.8259947520000874e-08],"joint_position_rad":[-0.12603473852765334,1.657431858783934,-1.0266215030309551,0.01427252138805493,0.8824409665759672,-0.17581663789127314],"joint_velocity_rad_s":[0.009365910586529117,0.05888962396978234,-0.08144717093175287,-0.022570389819968822,0.1123975334561845,0.0273960056340101],"gripper_joint_position_m":[0.034999673341883676,-0.035000003817313774],"tcp_position_m":[0.30762160116726295,-0.03520726776129472,0.0833749485672791],"tcp_quaternion_wxyz":[0.07238431219789378,-0.02069740453015499,0.9971489121429696,-0.005116229612254015],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,8.953030583202146e-18,-4.107351396978636e-18,8.769956452679982e-08],"object_linear_velocity_m_s":[5.568000738467836e-18,1.386034724600399e-17,3.208841242304229e-15],"object_angular_velocity_rad_s":[-9.558088060468514e-16,-7.432205770016849e-16,1.8259947520000904e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12178876979645481,1.664431757550419,-1.0348947303017677,0.0073681444392346765,0.929394928756786,-0.1537477375314376,0.035],"actuator_force_native":[0.2928479455632367,0.2655437814698871,-0.25462232700624554,-0.16332312885296602,0.3009433216239117,0.17959499514734012,2.2414874037757215e-05],"issued_joint_targets_rad":[-0.1216079867071487,1.66567549783608,-1.036618459330036,0.007040063713722086,0.9317773688488797,-0.15316067663109656],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.920000000000496,"joint_targets_rad":[-0.1216079867071487,1.66567549783608,-1.036618459330036,0.007040063713722086,0.9317773688488797,-0.15316067663109656],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.940000000000484,"qpos":[-0.12584468056414566,1.6586778158709108,-1.0283533483997447,0.01382085801373067,0.8848581506888592,-0.1752671600740511,0.03499967558836756,-0.03500000067588667,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,5.119944258484889e-18,-2.3524178441289143e-17,8.814160190348494e-08],"qvel":[0.009203517168134537,0.05885078307371039,-0.08130037204276276,-0.022169029239268022,0.11215967196932806,0.02744138210433922,-1.5007975188422974e-06,-7.812043979971557e-07,3.435490915236137e-17,1.262820187159594e-17,3.210229021085011e-15,-1.988968485441256e-16,-1.1843749798990118e-15,3.3338052960472894e-08],"joint_position_rad":[-0.12584468056414566,1.6586778158709108,-1.0283533483997447,0.01382085801373067,0.8848581506888592,-0.1752671600740511],"joint_velocity_rad_s":[0.009203517168134537,0.05885078307371039,-0.08130037204276276,-0.022169029239268022,0.11215967196932806,0.02744138210433922],"gripper_joint_position_m":[0.03499967558836756,-0.03500000067588667],"tcp_position_m":[0.30761811142220646,-0.03521718756244547,0.08335850434081166],"tcp_quaternion_wxyz":[0.07140729895506547,-0.020658575046941935,0.9972201315745776,-0.005121534472567522],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,5.119944258484889e-18,-2.3524178441289143e-17,8.814160190348494e-08],"object_linear_velocity_m_s":[3.435490915236137e-17,1.262820187159594e-17,3.210229021085011e-15],"object_angular_velocity_rad_s":[-1.9889664132720744e-16,-1.1843750153025471e-15,3.333805296047295e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988}],"native_actuator_controls":[-0.1216079867071487,1.66567549783608,-1.036618459330036,0.007040063713722086,0.9317773688488797,-0.15316067663109656,0.035],"actuator_force_native":[0.29291792271908434,0.26556064184495654,-0.2547070142095009,-0.1603866258040032,0.30095267364621314,0.17990276127303662,2.0480452892046586e-05],"issued_joint_targets_rad":[-0.12143077101347409,1.666918174610949,-1.0383388356897063,0.0067194903925978456,0.9341540731008672,-0.15257170172590798],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.940000000000484,"joint_targets_rad":[-0.12143077101347409,1.666918174610949,-1.0383388356897063,0.0067194903925978456,0.9341540731008672,-0.15257170172590798],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.960000000000473,"qpos":[-0.12565797530838627,1.659922901039287,-1.0300820908294352,0.013377323047054943,0.8872702516652782,-0.17471673908169508,0.03499968554484595,-0.03500000479920959,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-1.1530563255343609e-17,-4.4651975427107873e-17,8.855469840751816e-08],"qvel":[0.00906122445577636,0.058808391606449316,-0.08114967960928808,-0.02177251587079582,0.11191646987111956,0.027487687215289238,-4.529681488277017e-07,-8.353470352654316e-07,8.987006467513792e-17,-3.640669918341906e-17,3.4669680955295785e-15,-2.888835221178769e-15,-3.6604787061274614e-15,6.08668657989252e-08],"joint_position_rad":[-0.12565797530838627,1.659922901039287,-1.0300820908294352,0.013377323047054943,0.8872702516652782,-0.17471673908169508],"joint_velocity_rad_s":[0.00906122445577636,0.058808391606449316,-0.08114967960928808,-0.02177251587079582,0.11191646987111956,0.027487687215289238],"gripper_joint_position_m":[0.03499968554484595,-0.03500000479920959],"tcp_position_m":[0.30761453465811006,-0.03522712039296772,0.08334210699126728],"tcp_quaternion_wxyz":[0.07043206260304143,-0.020614666767668027,0.9972903763873026,-0.005124962127813669],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-1.1530563255343609e-17,-4.4651975427107873e-17,8.855469840751816e-08],"object_linear_velocity_m_s":[8.987006467513792e-17,-3.640669918341906e-17,3.4669680955295785e-15],"object_angular_velocity_rad_s":[-2.8888345783092045e-15,-3.6604792163636155e-15,6.08668657989253e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999974},{"geom_ids":[1,90],"normal_force_n":0.09809999999999959},{"geom_ids":[1,90],"normal_force_n":0.09809999999999963}],"native_actuator_controls":[-0.12143077101347409,1.666918174610949,-1.0383388356897063,0.0067194903925978456,0.9341540731008672,-0.15257170172590798,0.035],"actuator_force_native":[0.292870221314093,0.26557992770071337,-0.2547911907752507,-0.15745072682430478,0.30096350954921114,0.18021884273493716,1.4843046906243273e-05],"issued_joint_targets_rad":[-0.12125713208459307,1.6681597032285567,-1.0400557611697172,0.006406403530229437,0.9365249132426925,-0.15198093874139246],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.960000000000473,"joint_targets_rad":[-0.12125713208459307,1.6681597032285567,-1.0400557611697172,0.006406403530229437,0.9365249132426925,-0.15198093874139246],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.980000000000462,"qpos":[-0.1254743055216719,1.6611670371779197,-1.0318076420308626,0.01294185938971796,0.8896771614708162,-0.1741653533008499,0.03499969428236475,-0.03500000886596016,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-2.109036181758559e-17,-4.846632087928968e-17,8.883784747781756e-08],"qvel":[0.008940935512626383,0.05876237881860208,-0.0809948503196926,-0.0213795150370262,0.11166806908874283,0.027534946621826494,-2.142141467065284e-07,2.030484053510878e-07,1.5725759430521313e-16,-7.723765878205893e-17,3.1991267908387597e-15,-4.243146942488464e-15,-7.610060200879295e-15,1.1112752615088438e-07],"joint_position_rad":[-0.1254743055216719,1.6611670371779197,-1.0318076420308626,0.01294185938971796,0.8896771614708162,-0.1741653533008499],"joint_velocity_rad_s":[0.008940935512626383,0.05876237881860208,-0.0809948503196926,-0.0213795150370262,0.11166806908874283,0.027534946621826494],"gripper_joint_position_m":[0.03499969428236475,-0.03500000886596016],"tcp_position_m":[0.30761088030872696,-0.035236967896062316,0.0833257570426426],"tcp_quaternion_wxyz":[0.06945864918681062,-0.020565858893208635,0.9973596444418127,-0.005126513437944648],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-2.109036181758559e-17,-4.846632087928968e-17,8.883784747781756e-08],"object_linear_velocity_m_s":[1.5725759430521313e-16,-7.723765878205893e-17,3.1991267908387597e-15],"object_angular_velocity_rad_s":[-4.243145601137555e-15,-7.610060950095831e-15,1.1112752615088457e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.12125713208459307,1.6681597032285567,-1.0400557611697172,0.006406403530229437,0.9365249132426925,-0.15198093874139246,0.035],"actuator_force_native":[0.29266919740317476,0.26560138995793636,-0.2548752795099034,-0.15452065919440983,0.30097541408564865,0.1805417256618349,1.3299776143727016e-05],"issued_joint_targets_rad":[-0.12108708716846645,1.6693999896129073,-1.0417691240147224,0.006100804691234028,0.9388897423412689,-0.15138862537028988],"issued_gripper_position_m":0.035,"command":{"t_seconds":8.980000000000462,"joint_targets_rad":[-0.12108708716846645,1.6693999896129073,-1.0417691240147224,0.006100804691234028,0.9388897423412689,-0.15138862537028988],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.000000000000451,"qpos":[-0.12529333615373225,1.66241014373363,-1.0335299065745847,0.012514426893990195,0.8920787705302744,-0.17361298530499947,0.03499970142342519,-0.035000004693782005,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-3.017110265228586e-17,-5.966159086049998e-17,8.925938065506889e-08],"qvel":[0.00883850413845587,0.05871249763263768,-0.08083543558389272,-0.020988496108613995,0.11141464216006995,0.027582980158721196,7.015716469438524e-07,6.913025561207022e-07,7.034568748773192e-17,-3.27918535960809e-17,3.110308948868748e-15,6.321650713957282e-16,1.8285970284909694e-15,1.2039757416529715e-08],"joint_position_rad":[-0.12529333615373225,1.66241014373363,-1.0335299065745847,0.012514426893990195,0.8920787705302744,-0.17361298530499947],"joint_velocity_rad_s":[0.00883850413845587,0.05871249763263768,-0.08083543558389272,-0.020988496108613995,0.11141464216006995,0.027582980158721196],"gripper_joint_position_m":[0.03499970142342519,-0.035000004693782005],"tcp_position_m":[0.3076071570623309,-0.03524662339802166,0.08330945433429193],"tcp_quaternion_wxyz":[0.06848710475342346,-0.02051233665573676,0.9974279336272591,-0.005126182543690644],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-3.017110265228586e-17,-5.966159086049998e-17,8.925938065506889e-08],"object_linear_velocity_m_s":[7.034568748773192e-17,-3.27918535960809e-17,3.110308948868748e-15],"object_angular_velocity_rad_s":[6.321647435202206e-16,1.8285971420707744e-15,1.2039757416529736e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.12108708716846645,1.6693999896129073,-1.0417691240147224,0.006100804691234028,0.9388897423412689,-0.15138862537028988,0.035],"actuator_force_native":[0.29230739812898676,0.26562518217897946,-0.25496021729155416,-0.15160240756717663,0.30098775486984053,0.1808691291090141,8.435204757795134e-06],"issued_joint_targets_rad":[-0.12092065888811113,1.6706389376991442,-1.0434788097113334,0.005802706147547201,0.9412484098851474,-0.150795013580223],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.000000000000451,"joint_targets_rad":[-0.12092065888811113,1.6706389376991442,-1.0434788097113334,0.005802706147547201,0.9412484098851474,-0.150795013580223],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.02000000000044,"qpos":[-0.1251147864504009,1.6636521357568688,-1.0352487814691222,0.01209499568724881,0.8944749683409943,-0.1730596239287567,0.03499971233098546,-0.03499999639072369,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-3.193529520674173e-17,-6.385379393143155e-17,8.973764047059382e-08],"qvel":[0.008750090558249565,0.05865853833734474,-0.08067108161722672,-0.020598860059364184,0.11115619839780043,0.027631503640573356,1.476795020609377e-06,1.2423069746032463e-06,8.150003390031833e-17,-3.782609878294599e-17,3.107533391307185e-15,7.004765286765023e-16,1.5787125274450863e-15,2.1981556625170112e-08],"joint_position_rad":[-0.1251147864504009,1.6636521357568688,-1.0352487814691222,0.01209499568724881,0.8944749683409943,-0.1730596239287567],"joint_velocity_rad_s":[0.008750090558249565,0.05865853833734474,-0.08067108161722672,-0.020598860059364184,0.11115619839780043,0.027631503640573356],"gripper_joint_position_m":[0.03499971233098546,-0.03499999639072369],"tcp_position_m":[0.3076033699477687,-0.035255995122709764,0.08329319817697792],"tcp_quaternion_wxyz":[0.06751747470687977,-0.020454258353532224,0.9974952425636757,-0.005123962065282364],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-3.193529520674173e-17,-6.385379393143155e-17,8.973764047059382e-08],"object_linear_velocity_m_s":[8.150003390031833e-17,-3.782609878294599e-17,3.107533391307185e-15],"object_angular_velocity_rad_s":[7.004762425294061e-16,1.5787126545672604e-15,2.1981556625170152e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.12092065888811113,1.6706389376991442,-1.0434788097113334,0.005802706147547201,0.9412484098851474,-0.150795013580223,0.035],"actuator_force_native":[0.29177975219193364,0.265651463695292,-0.2550468512907571,-0.14869728129124343,0.30100011784483094,0.18119884802447728,4.1227854787884155e-06],"issued_joint_targets_rad":[-0.12075786831878889,1.6718764530282506,-1.0451847063336288,0.005512114234659646,0.9436007692011055,-0.15020030815326982],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.02000000000044,"joint_targets_rad":[-0.12075786831878889,1.6718764530282506,-1.0451847063336288,0.005512114234659646,0.9436007692011055,-0.15020030815326982],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.040000000000429,"qpos":[-0.12493841434433386,1.6648929254513822,-1.036964159041609,0.011683536316620944,0.8968656424293519,-0.17250526360095053,0.03499973072234616,-0.0350000055749311,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-3.350762976881517e-17,-5.359229997441149e-17,9.014833860713301e-08],"qvel":[0.008672725629023027,0.05860037465770098,-0.08050157900822807,-0.020210240422768203,0.110892730821131,0.02768029702363666,2.4803169598052115e-06,9.15625731189199e-07,7.325714700937447e-17,-4.967789663324376e-17,3.0714511430068692e-15,-1.3164259432205876e-16,9.353771722343151e-16,4.013277136316257e-08],"joint_position_rad":[-0.12493841434433386,1.6648929254513822,-1.036964159041609,0.011683536316620944,0.8968656424293519,-0.17250526360095053],"joint_velocity_rad_s":[0.008672725629023027,0.05860037465770098,-0.08050157900822807,-0.020210240422768203,0.110892730821131,0.02768029702363666],"gripper_joint_position_m":[0.03499973072234616,-0.0350000055749311],"tcp_position_m":[0.307599521731077,-0.03526500312068929,0.08327698761569265],"tcp_quaternion_wxyz":[0.06654980441645528,-0.02039176563469677,0.9975615703291469,-0.005119846567826793],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-3.350762976881517e-17,-5.359229997441149e-17,9.014833860713301e-08],"object_linear_velocity_m_s":[7.325714700937447e-17,-4.967789663324376e-17,3.0714511430068692e-15],"object_angular_velocity_rad_s":[-1.3164276726906827e-16,9.35377151189087e-16,4.013277136316265e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.12075786831878889,1.6718764530282506,-1.0451847063336288,0.005512114234659646,0.9436007692011055,-0.15020030815326982,0.035],"actuator_force_native":[0.29108005389848124,0.2656803328609385,-0.25513588832043865,-0.14580568116461096,0.3010121714858389,0.1815291089413522,-1.6304786454313103e-06],"issued_joint_targets_rad":[-0.12059873236384183,1.6731124405480517,-1.0468867014990983,0.005229025689351042,0.9459466731832625,-0.1496046769412944],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.040000000000429,"joint_targets_rad":[-0.12059873236384183,1.6731124405480517,-1.0468867014990983,0.005229025689351042,0.9459466731832625,-0.1496046769412944],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.060000000000418,"qpos":[-0.1247639932074452,1.6661324232651915,-1.0386759286617098,0.011280023347808978,0.8992506783405672,-0.17194990415243486,0.03499974957788887,-0.035000000621155054,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-2.2534452583153316e-17,-6.360013875220709e-17,9.051843351932504e-08],"qvel":[0.00860417835392895,0.05853791105385236,-0.08032677666609073,-0.019822178786524546,0.11062418371028758,0.027729132992755992,2.613076060448443e-06,2.2294733807204307e-06,1.5637558533082824e-16,-2.4888778467137113e-17,3.0187155493371753e-15,1.8207518925124505e-15,-6.135506106151488e-15,7.327230572213782e-08],"joint_position_rad":[-0.1247639932074452,1.6661324232651915,-1.0386759286617098,0.011280023347808978,0.8992506783405672,-0.17194990415243486],"joint_velocity_rad_s":[0.00860417835392895,0.05853791105385236,-0.08032677666609073,-0.019822178786524546,0.11062418371028758,0.027729132992755992],"gripper_joint_position_m":[0.03499974957788887,-0.035000000621155054],"tcp_position_m":[0.3075956143196932,-0.035273571592375534,0.0832608215446951],"tcp_quaternion_wxyz":[0.06558413980999879,-0.020324993967503733,0.9976269162194958,-0.005113830265273725],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-2.2534452583153316e-17,-6.360013875220709e-17,9.051843351932504e-08],"object_linear_velocity_m_s":[1.5637558533082824e-16,-2.4888778467137113e-17,3.0187155493371753e-15],"object_angular_velocity_rad_s":[1.8207529939449692e-15,-6.135505773225879e-15,7.327230572213797e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.12059873236384183,1.6731124405480517,-1.0468867014990983,0.005229025689351042,0.9459466731832625,-0.1496046769412944,0.035],"actuator_force_native":[0.2901999757186253,0.2657118273595813,-0.2552279436606426,-0.14292901240569467,0.3010236728615219,0.18185857262227056,-3.048495857083111e-06],"issued_joint_targets_rad":[-0.12044326663413601,1.6743468030829267,-1.048584680141212,0.0049534342259914006,0.948285971228946,-0.14900827191467175],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.060000000000418,"joint_targets_rad":[-0.12044326663413601,1.6743468030829267,-1.048584680141212,0.0049534342259914006,0.948285971228946,-0.14900827191467175],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.080000000000407,"qpos":[-0.12459130021393895,1.6673705380635035,-1.0403839779975648,0.010884427354564344,0.9016299569167046,-0.17139354858173916,0.03499976586775342,-0.03500000696242708,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-1.0617534830174073e-17,-6.653703422254775e-17,9.079637282838197e-08],"qvel":[0.00854251941803157,0.05847104936658721,-0.08014656432058066,-0.019434479405824597,0.11035044740224302,0.02777789112272699,3.0404942677875433e-06,1.9813459951470094e-06,7.822543667237817e-17,-1.468530150544872e-17,2.9937355312831095e-15,8.131046354696395e-16,2.4327824173725726e-15,7.938454285813547e-09],"joint_position_rad":[-0.12459130021393895,1.6673705380635035,-1.0403839779975648,0.010884427354564344,0.9016299569167046,-0.17139354858173916],"joint_velocity_rad_s":[0.00854251941803157,0.05847104936658721,-0.08014656432058066,-0.019434479405824597,0.11035044740224302,0.02777789112272699],"gripper_joint_position_m":[0.03499976586775342,-0.03500000696242708],"tcp_position_m":[0.3075916499498596,-0.03528162673986089,0.08324469902510834],"tcp_quaternion_wxyz":[0.06462052879890938,-0.020254079608395117,0.9976912795045871,-0.0051059100526137675],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-1.0617534830174073e-17,-6.653703422254775e-17,9.079637282838197e-08],"object_linear_velocity_m_s":[7.822543667237817e-17,-1.468530150544872e-17,2.9937355312831095e-15],"object_angular_velocity_rad_s":[8.131041926375866e-16,2.4327825651950143e-15,7.938454285813564e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002}],"native_actuator_controls":[-0.12044326663413601,1.6743468030829267,-1.048584680141212,0.0049534342259914006,0.948285971228946,-0.14900827191467175,0.035],"actuator_force_native":[0.289130089294078,0.2657459547209271,-0.25532334988886873,-0.14006732811379474,0.301034472019051,0.18218592998658378,-5.837181475509823e-06],"issued_joint_targets_rad":[-0.12029148315068952,1.6755794382136189,-1.0502785202378,0.004685327175864407,0.9506185032935945,-0.14841123476183976],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.080000000000407,"joint_targets_rad":[-0.12029148315068952,1.6755794382136189,-1.0502785202378,0.004685327175864407,0.9506185032935945,-0.14841123476183976],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.100000000000396,"qpos":[-0.12442010801119736,1.6686071763326076,-1.0420881918852078,0.010496724617334847,0.9040033547945714,-0.17083620395751453,0.034999785180616444,-0.035000013635543316,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999969,-8.362785109059305e-18,-4.6855170844559766e-17,9.124751798246006e-08],"qvel":[0.008486034341765114,0.05839963778595412,-0.07996075936672849,-0.019046720307544444,0.1100713470803043,0.02782636073719226,3.2106201192113297e-06,2.6319857808750207e-06,6.00949774193142e-17,-1.080055780463417e-17,2.9451632739557597e-15,2.435228114142293e-16,2.0682747185844107e-15,1.4493612816513817e-08],"joint_position_rad":[-0.12442010801119736,1.6686071763326076,-1.0420881918852078,0.010496724617334847,0.9040033547945714,-0.17083620395751453],"joint_velocity_rad_s":[0.008486034341765114,0.05839963778595412,-0.07996075936672849,-0.019046720307544444,0.1100713470803043,0.02782636073719226],"gripper_joint_position_m":[0.034999785180616444,-0.035000013635543316],"tcp_position_m":[0.30758763126654964,-0.03528909256221024,0.08322861925296322],"tcp_quaternion_wxyz":[0.06365902147323255,-0.020179161445211535,0.9977546594150337,-0.0050960812423793255],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999969,-8.362785109059305e-18,-4.6855170844559766e-17,9.124751798246006e-08],"object_linear_velocity_m_s":[6.00949774193142e-17,-1.080055780463417e-17,2.9451632739557597e-15],"object_angular_velocity_rad_s":[2.4352243260615516e-16,2.0682747632684987e-15,1.4493612816513847e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000023},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.12029148315068952,1.6755794382136189,-1.0502785202378,0.004685327175864407,0.9506185032935945,-0.14841123476183976,0.035],"actuator_force_native":[0.2878598171318014,0.26578276155112235,-0.2554224713737341,-0.13722229612109543,0.30104446436977383,0.18251015085095923,-7.46032525378304e-06],"issued_joint_targets_rad":[-0.1201433944492208,1.6768102382740546,-1.0519680927285253,0.0044246932847658085,0.9529440998512765,-0.14781370737601765],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.100000000000396,"joint_targets_rad":[-0.1201433944492208,1.6768102382740546,-1.0519680927285253,0.0044246932847658085,0.9529440998512765,-0.14781370737601765],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.120000000000385,"qpos":[-0.12425018832714055,1.6698422411706166,-1.043788451630069,0.010116891414918824,0.906370742068218,-0.1702778805568546,0.034999802737985926,-0.03500001502083036,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-9.40983159986011e-18,-3.988926839264859e-17,9.169837336397803e-08],"qvel":[0.008433001566473235,0.058323486790483214,-0.07976915956787367,-0.018658789457669203,0.10978663416128652,0.02787439062885681,3.116576762808092e-06,3.1594462987392995e-06,5.4232604627503216e-17,-1.2049493504050201e-17,3.7195438336318065e-15,1.6996341652022278e-16,1.1821240059515751e-15,2.6461676909863633e-08],"joint_position_rad":[-0.12425018832714055,1.6698422411706166,-1.043788451630069,0.010116891414918824,0.906370742068218,-0.1702778805568546],"joint_velocity_rad_s":[0.008433001566473235,0.058323486790483214,-0.07976915956787367,-0.018658789457669203,0.10978663416128652,0.02787439062885681],"gripper_joint_position_m":[0.034999802737985926,-0.03500001502083036],"tcp_position_m":[0.30758356137347836,-0.035295892936664325,0.0832125817370847],"tcp_quaternion_wxyz":[0.06269967105380346,-0.02010038039323431,0.9978170550972487,-0.005084340158402975],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-9.40983159986011e-18,-3.988926839264859e-17,9.169837336397803e-08],"object_linear_velocity_m_s":[5.4232604627503216e-17,-1.2049493504050201e-17,3.7195438336318065e-15],"object_angular_velocity_rad_s":[1.6996319761144908e-16,1.1821240376202924e-15,2.6461676909863633e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000027},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000024}],"native_actuator_controls":[-0.1201433944492208,1.6768102382740546,-1.0519680927285253,0.0044246932847658085,0.9529440998512765,-0.14781370737601765,0.035],"actuator_force_native":[0.2863785024012131,0.26582233432264957,-0.25552549003712954,-0.13439397791777463,0.3010536265886561,0.18283014586508428,-7.692403250825208e-06],"issued_joint_targets_rad":[-0.11999901120349046,1.6780390886629895,-1.053653259274691,0.004171518295191238,0.955262578804981,-0.1472158262158699],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.120000000000385,"joint_targets_rad":[-0.11999901120349046,1.6780390886629895,-1.053653259274691,0.004171518295191238,0.955262578804981,-0.1472158262158699],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.140000000000374,"qpos":[-0.12408134721459026,1.6710756310068158,-1.045484633287631,0.009744907431931772,0.9087319828953098,-0.16971859159096772,0.034999816103836706,-0.03500001387052991,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-1.5442659487498e-17,-2.6916598490903887e-17,9.213100352179453e-08],"qvel":[0.008381248894023753,0.05824236230142928,-0.07957150314466938,-0.01827072268688018,0.1094959918983242,0.02792180486917727,2.9448517812339906e-06,3.1571190273780608e-06,3.480542174109859e-17,-2.5167583699577325e-17,3.884689508544798e-15,-8.237968827151562e-16,1.1010718233914988e-15,4.8312339631739084e-08],"joint_position_rad":[-0.12408134721459026,1.6710756310068158,-1.045484633287631,0.009744907431931772,0.9087319828953098,-0.16971859159096772],"joint_velocity_rad_s":[0.008381248894023753,0.05824236230142928,-0.07957150314466938,-0.01827072268688018,0.1094959918983242,0.02792180486917727],"gripper_joint_position_m":[0.034999816103836706,-0.03500001387052991],"tcp_position_m":[0.30757944204582666,-0.0353019618180516,0.08319658624791051],"tcp_quaternion_wxyz":[0.061742533492892174,-0.020017860712286905,0.9978784660352458,-0.005070683733723223],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-1.5442659487498e-17,-2.6916598490903887e-17,9.213100352179453e-08],"object_linear_velocity_m_s":[3.480542174109859e-17,-2.5167583699577325e-17,3.884689508544798e-15],"object_angular_velocity_rad_s":[-8.237970882016541e-16,1.1010716730891551e-15,4.8312339631739084e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11999901120349046,1.6780390886629895,-1.053653259274691,0.004171518295191238,0.955262578804981,-0.1472158262158699,0.035],"actuator_force_native":[0.2846806364178658,0.2658648009867761,-0.25563256324144845,-0.13158195203522047,0.30106197124922573,0.18314494644721213,-7.368412374253452e-06],"issued_joint_targets_rad":[-0.11985834176791053,1.6792658707314243,-1.0553338763976008,0.003925782187294491,0.9575737513284236,-0.1466176954472078],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.140000000000374,"joint_targets_rad":[-0.11985834176791053,1.6792658707314243,-1.0553338763976008,0.003925782187294491,0.9575737513284236,-0.1466176954472078],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.160000000000363,"qpos":[-0.12391358715690622,1.6723072383663367,-1.0471766054370162,0.009380763554389547,0.9110869403758781,-0.1691583526023574,0.034999825806054784,-0.0350000173960481,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-1.7386812643590115e-17,-2.1332442659489464e-17,9.245392249554519e-08],"qvel":[0.008326302641903352,0.058156064288298406,-0.07936756625916007,-0.017883230979270973,0.10919902508235968,0.027968393307024754,2.8747495922177142e-06,2.7150476974013407e-06,6.713419412712044e-17,-5.170848137097556e-17,3.923547314406681e-15,-2.3278321260987174e-15,-2.6577547088175123e-15,8.820613178230794e-08],"joint_position_rad":[-0.12391358715690622,1.6723072383663367,-1.0471766054370162,0.009380763554389547,0.9110869403758781,-0.1691583526023574],"joint_velocity_rad_s":[0.008326302641903352,0.058156064288298406,-0.07936756625916007,-0.017883230979270973,0.10919902508235968,0.027968393307024754],"gripper_joint_position_m":[0.034999825806054784,-0.0350000173960481],"tcp_position_m":[0.3075752665097842,-0.03530729159015127,0.08318063253008245],"tcp_quaternion_wxyz":[0.06078766463722827,-0.019931626639055667,0.9979388938924618,-0.005055110697417915],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-1.7386812643590115e-17,-2.1332442659489464e-17,9.245392249554519e-08],"object_linear_velocity_m_s":[6.713419412712044e-17,-5.170848137097556e-17,3.923547314406681e-15],"object_angular_velocity_rad_s":[-2.3278316384222868e-15,-2.6577551361846424e-15,8.820613178230794e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11985834176791053,1.6792658707314243,-1.0553338763976008,0.003925782187294491,0.9575737513284236,-0.1466176954472078,0.035],"actuator_force_native":[0.2827881179101386,0.2659102677654914,-0.25574384555096685,-0.1287830997874474,0.3010695719019161,0.18345398159095905,-7.40599015225385e-06],"issued_joint_targets_rad":[-0.11972138760196636,1.6804904768639588,-1.0570098169192421,0.003687442166470309,0.9598774518703076,-0.14601926447564467],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.160000000000363,"joint_targets_rad":[-0.11972138760196636,1.6804904768639588,-1.0570098169192421,0.003687442166470309,0.9598774518703076,-0.14601926447564467],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.180000000000351,"qpos":[-0.12374699358293403,1.6735369544088317,-1.0488642357263884,0.009024441847123938,0.913435474612787,-0.1685971800720764,0.034999833752013015,-0.03500002172579031,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.1655149671350127e-17,-2.267920487999593e-17,9.278850936408359e-08],"qvel":[0.008266553336882723,0.05806460530955501,-0.07915741398261987,-0.01749684951548542,0.10889553979679929,0.028014164902672476,2.7595195339164677e-06,2.8519567342009793e-06,2.868780816300336e-17,-2.4999741436942424e-17,4.0040384836920045e-15,6.65640314606578e-16,9.586021817953701e-16,9.556412043830948e-09],"joint_position_rad":[-0.12374699358293403,1.6735369544088317,-1.0488642357263884,0.009024441847123938,0.913435474612787,-0.1685971800720764],"joint_velocity_rad_s":[0.008266553336882723,0.05806460530955501,-0.07915741398261987,-0.01749684951548542,0.10889553979679929,0.028014164902672476],"gripper_joint_position_m":[0.034999833752013015,-0.03500002172579031],"tcp_position_m":[0.30757102529762576,-0.03531190174501947,0.08316472055357789],"tcp_quaternion_wxyz":[0.059835121264857814,-0.019841663950031247,0.9979983411599564,-0.005037626116402778],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.1655149671350127e-17,-2.267920487999593e-17,9.278850936408359e-08],"object_linear_velocity_m_s":[2.868780816300336e-17,-2.4999741436942424e-17,4.0040384836920045e-15],"object_angular_velocity_rad_s":[6.656401362785679e-16,9.5860230573679e-16,9.55641204383095e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005}],"native_actuator_controls":[-0.11972138760196636,1.6804904768639588,-1.0570098169192421,0.003687442166470309,0.9598774518703076,-0.14601926447564467,0.035],"actuator_force_native":[0.28071571179300037,0.26595876986237954,-0.25585942551519736,-0.12599573964871802,0.3010764628800082,0.18375790861030894,-7.147678189989293e-06],"issued_joint_targets_rad":[-0.11958814231188686,1.6817128015134482,-1.0586809571924614,0.0034564376648663605,0.9621735202418397,-0.14542041403489084],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.180000000000351,"joint_targets_rad":[-0.11958814231188686,1.6817128015134482,-1.0586809571924614,0.0034564376648663605,0.9621735202418397,-0.14542041403489084],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.20000000000034,"qpos":[-0.12358166529793502,1.674764671229575,-1.050547394139198,0.0086759151794195,0.9157774420605275,-0.1680350882564394,0.03499983887552766,-0.035000023507851516,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.6382302596763316e-17,-3.093513942837582e-17,9.327095495789145e-08],"qvel":[0.008201839958693759,0.05796804183611363,-0.0789411777745285,-0.017111918199395545,0.10858536054314587,0.028059281996567514,2.6396721615189204e-06,2.9702653978765943e-06,3.868643768818232e-17,-3.307750796137968e-17,4.016528492719041e-15,7.354907844208925e-16,7.414721809198471e-16,1.7447595097433576e-08],"joint_position_rad":[-0.12358166529793502,1.674764671229575,-1.050547394139198,0.0086759151794195,0.9157774420605275,-0.1680350882564394],"joint_velocity_rad_s":[0.008201839958693759,0.05796804183611363,-0.0789411777745285,-0.017111918199395545,0.10858536054314587,0.028059281996567514],"gripper_joint_position_m":[0.03499983887552766,-0.035000023507851516],"tcp_position_m":[0.3075667097742845,-0.03531581769444152,0.08314885063665492],"tcp_quaternion_wxyz":[0.05888496205204956,-0.019747953164991967,0.9980568104390849,-0.005018239340868832],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.6382302596763316e-17,-3.093513942837582e-17,9.327095495789145e-08],"object_linear_velocity_m_s":[3.868643768818232e-17,-3.307750796137968e-17,4.016528492719041e-15],"object_angular_velocity_rad_s":[7.354906450257554e-16,7.414723190403054e-16,1.744759509743358e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11958814231188686,1.6817128015134482,-1.0586809571924614,0.0034564376648663605,0.9621735202418397,-0.14542041403489084,0.035],"actuator_force_native":[0.2784726390903831,0.26601021352928456,-0.25597915538843097,-0.12321950958514782,0.3010827409984014,0.18405781922063436,-6.7533819139153906e-06],"issued_joint_targets_rad":[-0.11945859526062685,1.6829327361481894,-1.0603471698617581,0.0032327007451910658,0.9644617915052982,-0.14482100999948055],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.20000000000034,"joint_targets_rad":[-0.11945859526062685,1.6829327361481894,-1.0603471698617581,0.0032327007451910658,0.9644617915052982,-0.14482100999948055],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.22000000000033,"qpos":[-0.12341770019254963,1.6759902813863619,-1.0522259523555837,0.00833515196198841,0.9181126950302405,-0.16747208789499501,0.034999841633213596,-0.035000023668597745,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.7061756413708086e-17,-3.3994282555595734e-17,9.369332688190087e-08],"qvel":[0.008132312777482536,0.05786637879641222,-0.07871891955457365,-0.01672859885072331,0.10826828357386152,0.028103924715585496,2.556086012254777e-06,3.0393868605199785e-06,4.8046162645368964e-17,-3.9301978580367104e-17,4.047059625896232e-15,2.0053210965829737e-16,8.733375809517208e-17,3.185490258140082e-08],"joint_position_rad":[-0.12341770019254963,1.6759902813863619,-1.0522259523555837,0.00833515196198841,0.9181126950302405,-0.16747208789499501],"joint_velocity_rad_s":[0.008132312777482536,0.05786637879641222,-0.07871891955457365,-0.01672859885072331,0.10826828357386152,0.028103924715585496],"gripper_joint_position_m":[0.034999841633213596,-0.035000023668597745],"tcp_position_m":[0.30756231266717565,-0.03531906559034674,0.08313302344689191],"tcp_quaternion_wxyz":[0.05793724806526122,-0.019650474675985446,0.9981143043289892,-0.0049969616259168195],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.7061756413708086e-17,-3.3994282555595734e-17,9.369332688190087e-08],"object_linear_velocity_m_s":[4.8046162645368964e-17,-3.9301978580367104e-17,4.047059625896232e-15],"object_angular_velocity_rad_s":[2.0053209112734396e-16,8.733379739631061e-17,3.185490258140083e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000019}],"native_actuator_controls":[-0.11945859526062685,1.6829327361481894,-1.0603471698617581,0.0032327007451910658,0.9644617915052982,-0.14482100999948055,0.035],"actuator_force_native":[0.2760668306664087,0.2660644869641544,-0.2561028027210881,-0.12045505441827722,0.3010885393897862,0.18435489188176635,-6.445758605089225e-06],"issued_joint_targets_rad":[-0.11933273406418693,1.6841501683009388,-1.0620083224885217,0.0030161613311202352,0.9667420940868454,-0.1442209155707058],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.22000000000033,"joint_targets_rad":[-0.11933273406418693,1.6841501683009388,-1.0620083224885217,0.0030161613311202352,0.9667420940868454,-0.1442209155707058],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.240000000000318,"qpos":[-0.12325519241719558,1.677213676675141,-1.05389978215351,0.008002117805458168,0.9204410810092498,-0.1669081861055184,0.03499984276076466,-0.03500002303093364,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.4393725014467202e-17,-6.133629517512548e-17,9.408804546094614e-08],"qvel":[0.008058176317516468,0.05775955983237274,-0.07849062169500973,-0.01634701751044789,0.10794408174181927,0.028148273268850603,2.506048489298416e-06,3.077917232568843e-06,1.3178669720667343e-16,-4.250730205846593e-17,4.117836343716087e-15,-1.3711677363415702e-16,-5.8139609111904165e-15,5.815900774885023e-08],"joint_position_rad":[-0.12325519241719558,1.677213676675141,-1.05389978215351,0.008002117805458168,0.9204410810092498,-0.1669081861055184],"joint_velocity_rad_s":[0.008058176317516468,0.05775955983237274,-0.07849062169500973,-0.01634701751044789,0.10794408174181927,0.028148273268850603],"gripper_joint_position_m":[0.03499984276076466,-0.03500002303093364],"tcp_position_m":[0.307557827887725,-0.03532167114656219,0.08311723998982812],"tcp_quaternion_wxyz":[0.05699204302260731,-0.019549209625398124,0.9981708254076054,-0.004973805407482893],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.4393725014467202e-17,-6.133629517512548e-17,9.408804546094614e-08],"object_linear_velocity_m_s":[1.3178669720667343e-16,-4.250730205846593e-17,4.117836343716087e-15],"object_angular_velocity_rad_s":[-1.37115686720234e-16,-5.813960934154985e-15,5.815900774885026e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11933273406418693,1.6841501683009388,-1.0620083224885217,0.0030161613311202352,0.9667420940868454,-0.1442209155707058,0.035],"actuator_force_native":[0.273505786653109,0.2661215309019269,-0.25623011832587395,-0.11770317142127787,0.3010940081632274,0.18465029544485012,-6.240673033008903e-06],"issued_joint_targets_rad":[-0.11921054531692869,1.6853649811962965,-1.063664277029288,0.0028067486463644953,0.9690142490741837,-0.14361999397175237],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.240000000000318,"joint_targets_rad":[-0.11921054531692869,1.6853649811962965,-1.063664277029288,0.0028067486463644953,0.9690142490741837,-0.14361999397175237],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.260000000000307,"qpos":[-0.12309423193769663,1.6784347469710958,-1.0555687538625567,0.007676775945600867,0.9227624423323935,-0.1663433864422085,0.03499984283778896,-0.03500002205511453,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.30050171276346e-17,-7.678661249438678e-17,9.441440877041871e-08],"qvel":[0.007979640525749659,0.057647476334552535,-0.07825619461838015,-0.015967287373229642,0.10761251987887147,0.0281925036269442,2.479734188037007e-06,3.100800983731255e-06,2.3534471929634153e-16,-7.531082611496387e-17,2.5954430211988426e-15,-3.576240607994597e-15,-1.0868558325219637e-14,1.0618366117076288e-07],"joint_position_rad":[-0.12309423193769663,1.6784347469710958,-1.0555687538625567,0.007676775945600867,0.9227624423323935,-0.1663433864422085],"joint_velocity_rad_s":[0.007979640525749659,0.057647476334552535,-0.07825619461838015,-0.015967287373229642,0.10761251987887147,0.0281925036269442],"gripper_joint_position_m":[0.03499984283778896,-0.03500002205511453],"tcp_position_m":[0.3075532501830361,-0.03532365938818381,0.08310150158057031],"tcp_quaternion_wxyz":[0.0560494132942932,-0.019444140028378236,0.9982263762411452,-0.004948784132903498],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.30050171276346e-17,-7.678661249438678e-17,9.441440877041871e-08],"object_linear_velocity_m_s":[2.3534471929634153e-16,-7.531082611496387e-17,2.5954430211988426e-15],"object_angular_velocity_rad_s":[-3.5762385720044855e-15,-1.0868558995631221e-14,1.0618366117076293e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000164},{"geom_ids":[1,90],"normal_force_n":0.09810000000000164},{"geom_ids":[1,90],"normal_force_n":0.0981000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000156}],"native_actuator_controls":[-0.11921054531692869,1.6853649811962965,-1.063664277029288,0.0028067486463644953,0.9690142490741837,-0.14361999397175237,0.035],"actuator_force_native":[0.2707967270326854,0.26618135634330997,-0.25636088024660353,-0.11496465510330664,0.3010992875995946,0.18494516926414484,-6.112182498352325e-06],"issued_joint_targets_rad":[-0.11909201473343949,1.6865770537237426,-1.0653148898001568,0.0026043914879523324,0.9712780701831412,-0.1430181088872366],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.260000000000307,"joint_targets_rad":[-0.11909201473343949,1.6865770537237426,-1.0653148898001568,0.0026043914879523324,0.9712780701831412,-0.1430181088872366],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.280000000000296,"qpos":[-0.12293490455383457,1.6796533793384625,-1.0572327350781798,0.007359087433069767,0.925076616147412,-0.1657776889920358,0.034999842262951775,-0.035000020966021714,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.7710561870842578e-17,-9.084405949343712e-17,9.481718869017247e-08],"qvel":[0.007896911106700906,0.057529982304859444,-0.07801549162868601,-0.01558951419103909,0.10727336528142215,0.02823678670618458,2.4690722457321797e-06,3.116397519127192e-06,1.0771968455491467e-16,-3.33830836146386e-17,3.997099589788103e-15,1.1186793092484274e-15,2.892702680195704e-15,1.1504130132071846e-08],"joint_position_rad":[-0.12293490455383457,1.6796533793384625,-1.0572327350781798,0.007359087433069767,0.925076616147412,-0.1657776889920358],"joint_velocity_rad_s":[0.007896911106700906,0.057529982304859444,-0.07801549162868601,-0.01558951419103909,0.10727336528142215,0.02823678670618458],"gripper_joint_position_m":[0.034999842262951775,-0.035000020966021714],"tcp_position_m":[0.307548574777062,-0.035325054583290695,0.08308580979229929],"tcp_quaternion_wxyz":[0.055109427738068435,-0.019335248751184465,0.9982809594050194,-0.00492191217989207],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.7710561870842578e-17,-9.084405949343712e-17,9.481718869017247e-08],"object_linear_velocity_m_s":[1.0771968455491467e-16,-3.33830836146386e-17,3.997099589788103e-15],"object_angular_velocity_rad_s":[1.1186787586023723e-15,2.892702892973279e-15,1.150413013207185e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000021},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11909201473343949,1.6865770537237426,-1.0653148898001568,0.0026043914879523324,0.9712780701831412,-0.1430181088872366,0.035],"actuator_force_native":[0.26794663009810193,0.26624403929810114,-0.25649491961473814,-0.11224026684950192,0.301104492435158,0.18524062098871497,-6.0358792994819055e-06],"issued_joint_targets_rad":[-0.11897712717777505,1.6877862606253204,-1.0669600117360711,0.0024090182738840584,0.973533364128328,-0.14241512444112459],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.280000000000296,"joint_targets_rad":[-0.11897712717777505,1.6877862606253204,-1.0669600117360711,0.0024090182738840584,0.973533364128328,-0.14241512444112459],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.300000000000285,"qpos":[-0.12277729200825595,1.6808694574588672,-1.0588915897149123,0.007049011262560633,0.927383434562937,-0.1652110904757874,0.034999841301833014,-0.03500001986300554,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.007017535206717e-17,-1.1971734994013461e-16,9.527417158147038e-08],"qvel":[0.007810187734019648,0.057406909807394976,-0.07776832592896285,-0.015213797879547181,0.10692639366785511,0.02828128840781106,2.468504746280211e-06,3.1288472083884177e-06,1.5313932890688e-16,-2.509972486253018e-17,4.216368637151572e-15,9.60521542024891e-16,1.9833117184035538e-15,2.1003636466454007e-08],"joint_position_rad":[-0.12277729200825595,1.6808694574588672,-1.0588915897149123,0.007049011262560633,0.927383434562937,-0.1652110904757874],"joint_velocity_rad_s":[0.007810187734019648,0.057406909807394976,-0.07776832592896285,-0.015213797879547181,0.10692639366785511,0.02828128840781106],"gripper_joint_position_m":[0.034999841301833014,-0.03500001986300554],"tcp_position_m":[0.3075437970641284,-0.03532588021945564,0.0830701663890618],"tcp_quaternion_wxyz":[0.054172157450402866,-0.019222519464734498,0.9983345775086998,-0.004893204790574959],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.007017535206717e-17,-1.1971734994013461e-16,9.527417158147038e-08],"object_linear_velocity_m_s":[1.5313932890688e-16,-2.509972486253018e-17,4.216368637151572e-15],"object_angular_velocity_rad_s":[9.605211590791128e-16,1.9833119022724e-15,2.100363646645402e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003}],"native_actuator_controls":[-0.11897712717777505,1.6877862606253204,-1.0669600117360711,0.0024090182738840584,0.973533364128328,-0.14241512444112459,0.035],"actuator_force_native":[0.2649622477683753,0.2663097042792799,-0.2566321320478977,-0.10953073014932706,0.30110970515212543,0.1855377277349115,-5.994597051861561e-06],"issued_joint_targets_rad":[-0.11886586666554108,1.6889924727910892,-1.0685994887972807,0.002220557036974561,0.9757799311932004,-0.14181090506176378],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.300000000000285,"joint_targets_rad":[-0.11886586666554108,1.6889924727910892,-1.0685994887972807,0.002220557036974561,0.9757799311932004,-0.14181090506176378],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.320000000000274,"qpos":[-0.12262147210994868,1.6820828613525742,-1.0605451773995076,0.006746504481129455,0.9296827248851902,-0.16464358434532972,0.03499984013063606,-0.035000018783925925,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-5.822719806427227e-18,-1.3851975152085468e-16,9.572139329150938e-08],"qvel":[0.007719663882996813,0.05727808221314456,-0.07751448669929546,-0.014840233219584626,0.10657139148903753,0.0283261698844525,2.4743448704119554e-06,3.1400271734007133e-06,2.0130297707470141e-16,-6.324371831201425e-18,3.894403960010276e-15,1.106861955144581e-15,-2.061417463348221e-16,3.834733610887649e-08],"joint_position_rad":[-0.12262147210994868,1.6820828613525742,-1.0605451773995076,0.006746504481129455,0.9296827248851902,-0.16464358434532972],"joint_velocity_rad_s":[0.007719663882996813,0.05727808221314456,-0.07751448669929546,-0.014840233219584626,0.10657139148903753,0.0283261698844525],"gripper_joint_position_m":[0.03499984013063606,-0.035000018783925925],"tcp_position_m":[0.30753891237903097,-0.03532615899782125,0.08305457325293036],"tcp_quaternion_wxyz":[0.05323767549547012,-0.01910593659539392,0.9983872332202646,-0.004862678010786732],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-5.822719806427227e-18,-1.3851975152085468e-16,9.572139329150938e-08],"object_linear_velocity_m_s":[2.0130297707470141e-16,-6.324371831201425e-18,3.894403960010276e-15],"object_angular_velocity_rad_s":[1.106861983985185e-15,-2.0614153398751086e-16,3.834733610887652e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999955},{"geom_ids":[1,90],"normal_force_n":0.09809999999999953}],"native_actuator_controls":[-0.11886586666554108,1.6889924727910892,-1.0685994887972807,0.002220557036974561,0.9757799311932004,-0.14181090506176378,0.035],"actuator_force_native":[0.26185011613762477,0.2663785040154778,-0.25677247832537375,-0.10683673166827262,0.3011149758465468,0.18583753800898095,-5.976949794428421e-06],"issued_joint_targets_rad":[-0.11875821635849389,1.690195557582259,-1.0702331624137098,0.0020389354040507377,0.9780175658486614,-0.1412053153166825],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.320000000000274,"joint_targets_rad":[-0.11875821635849389,1.690195557582259,-1.0702331624137098,0.0020389354040507377,0.9780175658486614,-0.1412053153166825],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.340000000000263,"qpos":[-0.1224675190100371,1.6832934673280253,-1.0621933531966679,0.006451521549346296,0.9319743097957718,-0.1640751607020046,0.034999838772821715,-0.03500002498323335,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,4.575581182118307e-18,-1.2155507356482725e-16,9.607502334266095e-08],"qvel":[0.007625529064554666,0.05714332386688656,-0.07725375223043424,-0.01446891193532518,0.10620815983395346,0.02837159259908855,2.545596332856032e-06,3.0957597261153077e-06,2.075690497496574e-16,1.6601973539115232e-17,3.577990397992106e-15,1.9710418209673993e-15,-1.4724780953276149e-15,7.001255182633463e-08],"joint_position_rad":[-0.1224675190100371,1.6832934673280253,-1.0621933531966679,0.006451521549346296,0.9319743097957718,-0.1640751607020046],"joint_velocity_rad_s":[0.007625529064554666,0.05714332386688656,-0.07725375223043424,-0.01446891193532518,0.10620815983395346,0.02837159259908855],"gripper_joint_position_m":[0.034999838772821715,-0.03500002498323335],"tcp_position_m":[0.3075339158536897,-0.03532591301298782,0.08303903232481873],"tcp_quaternion_wxyz":[0.052306056670136644,-0.018985485317371407,0.9984389292850745,-0.0048303489478710784],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,4.575581182118307e-18,-1.2155507356482725e-16,9.607502334266095e-08],"object_linear_velocity_m_s":[2.075690497496574e-16,1.6601973539115232e-17,3.577990397992106e-15],"object_angular_velocity_rad_s":[1.9710420868833374e-15,-1.4724777172325087e-15,7.00125518263347e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.11875821635849389,1.690195557582259,-1.0702331624137098,0.0020389354040507377,0.9780175658486614,-0.1412053153166825,0.035],"actuator_force_native":[0.2586165668006828,0.26645060100426576,-0.25691597621118945,-0.1041588861351964,0.3011203207779669,0.18614106495458782,-6.278894532529833e-06],"issued_joint_targets_rad":[-0.11865415831001676,1.6913953790571807,-1.0718608698013057,0.001864080137293742,0.9802460571908257,-0.14059821933470196],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.340000000000263,"joint_targets_rad":[-0.11865415831001676,1.6913953790571807,-1.0718608698013057,0.001864080137293742,0.9802460571908257,-0.14059821933470196],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.360000000000252,"qpos":[-0.12231550281465187,1.6845011480737742,-1.0638359673779683,0.006164016661773354,0.9342580078542453,-0.1635058068527887,0.03499983819315213,-0.03500003010560259,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,8.753325982558938e-18,-9.259663904902508e-17,9.634059762871817e-08],"qvel":[0.0075279629133990595,0.0570024655220876,-0.07698589845610712,-0.014099913117814972,0.105836497343031,0.028417700384023165,2.5706219352443144e-06,3.2410530976660773e-06,1.1467042518639733e-16,9.773451185900294e-18,3.4919481135836557e-15,-3.451286006691972e-16,4.616603277675532e-15,7.585286645873596e-09],"joint_position_rad":[-0.12231550281465187,1.6845011480737742,-1.0638359673779683,0.006164016661773354,0.9342580078542453,-0.1635058068527887],"joint_velocity_rad_s":[0.0075279629133990595,0.0570024655220876,-0.07698589845610712,-0.014099913117814972,0.105836497343031,0.028417700384023165],"gripper_joint_position_m":[0.03499983819315213,-0.03500003010560259],"tcp_position_m":[0.3075288023025159,-0.03532516322472565,0.0830235455123168],"tcp_quaternion_wxyz":[0.05137737723507807,-0.018861151375721762,0.9984896685540536,-0.004796234777681737],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,8.753325982558938e-18,-9.259663904902508e-17,9.634059762871817e-08],"object_linear_velocity_m_s":[1.1467042518639733e-16,9.773451185900294e-18,3.4919481135836557e-15],"object_angular_velocity_rad_s":[-3.4512949160657276e-16,4.616603211042866e-15,7.585286645873602e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999928},{"geom_ids":[1,90],"normal_force_n":0.09809999999999937},{"geom_ids":[1,90],"normal_force_n":0.09809999999999959}],"native_actuator_controls":[-0.11865415831001676,1.6913953790571807,-1.0718608698013057,0.001864080137293742,0.9802460571908257,-0.14059821933470196,0.035],"actuator_force_native":[0.2552677458038133,0.2665261510620667,-0.25706270158646305,-0.10149789539010959,0.30112574735125897,0.18644932460483266,-6.380835761321535e-06],"issued_joint_targets_rad":[-0.11855367421174813,1.6925917984429912,-1.0734824445968705,0.0016959184379208465,0.9824651898200143,-0.13998948188444532],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.360000000000252,"joint_targets_rad":[-0.11855367421174813,1.6925917984429912,-1.0734824445968705,0.0016959184379208465,0.9824651898200143,-0.13998948188444532],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.38000000000024,"qpos":[-0.1221654902760221,1.6857057728832194,-1.0654728656909576,0.005883941561869872,0.9365336333184517,-0.16293550699587828,0.03499983758156699,-0.0350000329409118,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,2.5170259238660733e-17,-8.963631017863995e-17,9.682546920919874e-08],"qvel":[0.007427139844516674,0.05685535039372834,-0.076710712615644,-0.01373332679085734,0.10545621703128392,0.02846464612262179,2.5734079947382305e-06,3.3582770049649024e-06,1.1578461751480451e-16,2.968152147549745e-17,3.4572536440641203e-15,-2.5472091801040337e-16,3.4421782830834192e-15,1.3848817891920519e-08],"joint_position_rad":[-0.1221654902760221,1.6857057728832194,-1.0654728656909576,0.005883941561869872,0.9365336333184517,-0.16293550699587828],"joint_velocity_rad_s":[0.007427139844516674,0.05685535039372834,-0.076710712615644,-0.01373332679085734,0.10545621703128392,0.02846464612262179],"gripper_joint_position_m":[0.03499983758156699,-0.0350000329409118],"tcp_position_m":[0.3075235662653671,-0.03532393005362813,0.08300811468696327],"tcp_quaternion_wxyz":[0.050451714895819115,-0.01873292118454967,0.9985394539830342,-0.004760353687274741],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,2.5170259238660733e-17,-8.963631017863995e-17,9.682546920919874e-08],"object_linear_velocity_m_s":[1.1578461751480451e-16,2.968152147549745e-17,3.4572536440641203e-15],"object_angular_velocity_rad_s":[-2.5472158707416735e-16,3.4421782330592564e-15,1.384881789192053e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.11855367421174813,1.6925917984429912,-1.0734824445968705,0.0016959184379208465,0.9824651898200143,-0.13998948188444532,0.035],"actuator_force_native":[0.2518095859193341,0.26660529281309664,-0.2572127493948102,-0.09885429100367432,0.3011312394686989,0.1867632819303966,-6.3703026531580775e-06],"issued_joint_targets_rad":[-0.11845674460831748,1.6937846739754447,-1.0750977166605342,0.0015343765462630466,0.984674743563345,-0.13937896697449823],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.38000000000024,"joint_targets_rad":[-0.11845674460831748,1.6937846739754447,-1.0750977166605342,0.0015343765462630466,0.984674743563345,-0.13937896697449823],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.40000000000023,"qpos":[-0.12201754466440214,1.6869072078408391,-1.0671038894506832,0.005611246374421454,0.9388009963951881,-0.16236424234733254,0.03499983679790284,-0.03500003424479859,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,1.3357913368724813e-17,-6.545321033949824e-17,9.725626684076818e-08],"qvel":[0.007323231862387157,0.05670182922243569,-0.07642798653248148,-0.013369228639803834,0.10506713270744263,0.02851257574944674,2.5769470361993253e-06,3.4336339723325663e-06,8.542530988380213e-17,1.485122594131469e-17,3.429498068448492e-15,-1.308930931377902e-15,2.7135598532505577e-15,2.528444420856489e-08],"joint_position_rad":[-0.12201754466440214,1.6869072078408391,-1.0671038894506832,0.005611246374421454,0.9388009963951881,-0.16236424234733254],"joint_velocity_rad_s":[0.007323231862387157,0.05670182922243569,-0.07642798653248148,-0.013369228639803834,0.10506713270744263,0.02851257574944674],"gripper_joint_position_m":[0.03499983679790284,-0.03500003424479859],"tcp_position_m":[0.3075182020013803,-0.03532223320096412,0.08299274164606885],"tcp_quaternion_wxyz":[0.0495291486827661,-0.018600781717876408,0.9985882886471854,-0.004722724523988758],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,1.3357913368724813e-17,-6.545321033949824e-17,9.725626684076818e-08],"object_linear_velocity_m_s":[8.542530988380213e-17,1.485122594131469e-17,3.429498068448492e-15],"object_angular_velocity_rad_s":[-1.308931462509177e-15,2.713559597971542e-15,2.5284444208564915e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987}],"native_actuator_controls":[-0.11845674460831748,1.6937846739754447,-1.0750977166605342,0.0015343765462630466,0.984674743563345,-0.13937896697449823,0.035],"actuator_force_native":[0.248247845174836,0.26668814465628543,-0.257366244125663,-0.09622864992731714,0.3011367726204064,0.18708389010417315,-6.356651294447957e-06],"issued_joint_targets_rad":[-0.11836334915020054,1.6949738610813911,-1.076706512326493,0.0013793801815435705,0.986874493819987,-0.1387665381281331],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.40000000000023,"joint_targets_rad":[-0.11836334915020054,1.6949738610813911,-1.076706512326493,0.0013793801815435705,0.986874493819987,-0.1387665381281331],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.420000000000218,"qpos":[-0.12187172587012216,1.6881053159857415,-1.0687288756980429,0.005345879715050938,0.9410599032528801,-0.16179199123882151,0.034999835929244424,-0.035000034685894806,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-1.6949718975560236e-18,-6.117850440410066e-17,9.766965005625801e-08],"qvel":[0.007216404910911706,0.056541760519884875,-0.07613752122643702,-0.01300769295306145,0.10466905745246233,0.02856163174857277,2.584735247470983e-06,3.4814341003369864e-06,1.0190927138970814e-16,-5.8724550807561005e-18,3.3198635447667575e-15,-1.2471313205217964e-15,-4.1085566236074857e-16,4.6163010007446774e-08],"joint_position_rad":[-0.12187172587012216,1.6881053159857415,-1.0687288756980429,0.005345879715050938,0.9410599032528801,-0.16179199123882151],"joint_velocity_rad_s":[0.007216404910911706,0.056541760519884875,-0.07613752122643702,-0.01300769295306145,0.10466905745246233,0.02856163174857277],"gripper_joint_position_m":[0.034999835929244424,-0.035000034685894806],"tcp_position_m":[0.30751270353015514,-0.03532009166907559,0.08297742810175905],"tcp_quaternion_wxyz":[0.04860975894933147,-0.018464720471922946,0.9986361757459411,-0.004683366770121397],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-1.6949718975560236e-18,-6.117850440410066e-17,9.766965005625801e-08],"object_linear_velocity_m_s":[1.0190927138970814e-16,-5.8724550807561005e-18,3.3198635447667575e-15],"object_angular_velocity_rad_s":[-1.2471312459138843e-15,-4.10855905818011e-16,4.616301000744683e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.11836334915020054,1.6949738610813911,-1.076706512326493,0.0013793801815435705,0.986874493819987,-0.1387665381281331,0.035],"actuator_force_native":[0.24458811303917116,0.2667748050525347,-0.2575233241438184,-0.09362151657498746,0.3011423194923779,0.18741208348402494,-6.360846014352717e-06],"issued_joint_targets_rad":[-0.11827346659431795,1.6961592123543965,-1.0783086543778309,0.0012308545324122263,0.9890642115249523,-0.13815205830138066],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.420000000000218,"joint_targets_rad":[-0.11827346659431795,1.6961592123543965,-1.0783086543778309,0.0012308545324122263,0.9890642115249523,-0.13815205830138066],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.440000000000207,"qpos":[-0.12172809051540326,1.689299957437842,-1.0703476573725397,0.005087788730332571,0.9433101559754377,-0.16121872917794278,0.03499983506657573,-0.03500003466136943,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-1.4165298258915305e-17,-5.546690304808459e-17,9.803352745502785e-08],"qvel":[0.0071068196840515544,0.056375007837839934,-0.07583912583859977,-0.012648791681212985,0.1042618010773632,0.02861195381634082,2.5953060834841324e-06,3.5134823914618863e-06,1.0840810923410338e-16,-5.1487445049573465e-17,3.7528505243705696e-15,-3.704975125827846e-15,-1.7207439159241106e-15,8.428199866168593e-08],"joint_position_rad":[-0.12172809051540326,1.689299957437842,-1.0703476573725397,0.005087788730332571,0.9433101559754377,-0.16121872917794278],"joint_velocity_rad_s":[0.0071068196840515544,0.056375007837839934,-0.07583912583859977,-0.012648791681212985,0.1042618010773632,0.02861195381634082],"gripper_joint_position_m":[0.03499983506657573,-0.03500003466136943],"tcp_position_m":[0.3075070646891912,-0.03531752379852869,0.08296217568588031],"tcp_quaternion_wxyz":[0.047693627420567965,-0.018324725423083034,0.9986831186053045,-0.004642300552576637],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-1.4165298258915305e-17,-5.546690304808459e-17,9.803352745502785e-08],"object_linear_velocity_m_s":[1.0840810923410338e-16,-5.1487445049573465e-17,3.7528505243705696e-15],"object_angular_velocity_rad_s":[-3.704974797796311e-15,-1.7207446399598827e-15,8.428199866168602e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999955},{"geom_ids":[1,90],"normal_force_n":0.09809999999999948},{"geom_ids":[1,90],"normal_force_n":0.0980999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999953}],"native_actuator_controls":[-0.11827346659431795,1.6961592123543965,-1.0783086543778309,0.0012308545324122263,0.9890642115249523,-0.13815205830138066,0.035],"actuator_force_native":[0.24083581526656772,0.2668653541351489,-0.257684131230306,-0.09103340951074887,0.30114785387910104,0.1877487780411098,-6.379193446370834e-06],"issued_joint_targets_rad":[-0.11818707478190087,1.6973405774628891,-1.0799039619311486,0.0010887242082065268,0.9912436629890284,-0.13753538977115992],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.440000000000207,"joint_targets_rad":[-0.11818707478190087,1.6973405774628891,-1.0799039619311486,0.0010887242082065268,0.9912436629890284,-0.13753538977115992],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.460000000000196,"qpos":[-0.12158669205313762,1.690490989458025,-1.071960063440479,0.004836919148922423,0.9455515524606085,-0.16064442890125855,0.03499983426672604,-0.035000034384070754,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-2.237568681107165e-17,-4.5668769799021326e-17,9.835322915191178e-08],"qvel":[0.006994632140713069,0.056201436417063835,-0.07553261500687576,-0.012292594129052753,0.10384516794420712,0.02866367906659085,2.607014888528674e-06,3.5366973160639624e-06,5.626936731857463e-17,-2.4032939930876815e-17,3.336516890136135e-15,5.153708838470601e-16,2.2088656101311232e-15,9.131264355594815e-09],"joint_position_rad":[-0.12158669205313762,1.690490989458025,-1.071960063440479,0.004836919148922423,0.9455515524606085,-0.16064442890125855],"joint_velocity_rad_s":[0.006994632140713069,0.056201436417063835,-0.07553261500687576,-0.012292594129052753,0.10384516794420712,0.02866367906659085],"gripper_joint_position_m":[0.03499983426672604,-0.035000034384070754],"tcp_position_m":[0.3075012791919939,-0.03531454729925314,0.08294698596498089],"tcp_quaternion_wxyz":[0.04678083728046986,-0.018180784985775696,0.9987291206784923,-0.004599546652118637],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-2.237568681107165e-17,-4.5668769799021326e-17,9.835322915191178e-08],"object_linear_velocity_m_s":[5.626936731857463e-17,-2.4032939930876815e-17,3.336516890136135e-15],"object_angular_velocity_rad_s":[5.153704485148925e-16,2.2088657119165012e-15,9.131264355594826e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11818707478190087,1.6973405774628891,-1.0799039619311486,0.0010887242082065268,0.9912436629890284,-0.13753538977115992,0.035],"actuator_force_native":[0.23699622099537443,0.26695985830380664,-0.25784880421920775,-0.0884648269833721,0.3011533533678872,0.1880948727010998,-6.405743484094728e-06],"issued_joint_targets_rad":[-0.11810415061986748,1.69851780301015,-1.0814922502565967,0.0009529131974030059,0.9934126096507114,-0.13691639404674621],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.460000000000196,"joint_targets_rad":[-0.11810415061986748,1.69851780301015,-1.0814922502565967,0.0009529131974030059,0.9934126096507114,-0.13691639404674621],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.480000000000185,"qpos":[-0.12144758085827971,1.6916782664397156,-1.0735659189607725,0.00459321533271312,0.947783886275176,-0.16006906042380198,0.03499983355981754,-0.0350000339641961,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-1.9547579082959736e-17,-6.110264326781671e-17,9.881421160369874e-08],"qvel":[0.00687999379045609,0.05602090996731876,-0.07521780568997562,-0.011939167114720992,0.10341895532597452,0.028716942195637495,2.6188078199490516e-06,3.554762840952107e-06,7.629440118799394e-17,-2.370031505411969e-17,3.2865568540280027e-15,7.509358934145861e-16,1.3377726417454825e-15,1.667138278187693e-08],"joint_position_rad":[-0.12144758085827971,1.6916782664397156,-1.0735659189607725,0.00459321533271312,0.947783886275176,-0.16006906042380198],"joint_velocity_rad_s":[0.00687999379045609,0.05602090996731876,-0.07521780568997562,-0.011939167114720992,0.10341895532597452,0.028716942195637495],"gripper_joint_position_m":[0.03499983355981754,-0.0350000339641961],"tcp_position_m":[0.3074953406783503,-0.03531117927824989,0.08293186046145987],"tcp_quaternion_wxyz":[0.04587147328364511,-0.018032887972305497,0.998774185545761,-0.004555126515004197],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-1.9547579082959736e-17,-6.110264326781671e-17,9.881421160369874e-08],"object_linear_velocity_m_s":[7.629440118799394e-17,-2.370031505411969e-17,3.2865568540280027e-15],"object_angular_velocity_rad_s":[7.509356269953434e-16,1.3377727908035049e-15,1.6671382781876953e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11810415061986748,1.69851780301015,-1.0814922502565967,0.0009529131974030059,0.9934126096507114,-0.13691639404674621,0.035],"actuator_force_native":[0.23307445012069827,0.2670583757981433,-0.25801747521605023,-0.08591624983879961,0.3011588007663928,0.18845125047710143,-6.436431801093434e-06],"issued_joint_targets_rad":[-0.11802467006110273,1.6996907323636172,-1.0830733305569609,0.0008233448249383439,0.995570807772852,-0.1362949317958456],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.480000000000185,"joint_targets_rad":[-0.11802467006110273,1.6996907323636172,-1.0830733305569609,0.0008233448249383439,0.995570807772852,-0.1362949317958456],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.500000000000174,"qpos":[-0.12131080431432982,1.6928616398396075,-1.07516504508447,0.004356620323258008,0.9500069464799895,-0.1594925910854523,0.03499983296026234,-0.03500003345826065,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,-6.944890101970342e-18,-8.97731361329564e-17,9.927211009187334e-08],"qvel":[0.006763051916290425,0.05583328794796564,-0.07489451396938451,-0.011588575243189878,0.10298295229849178,0.02877187563395586,2.630101769655215e-06,3.5695718391239443e-06,1.2149164058748772e-16,-6.930994601100263e-18,3.2823935176856582e-15,8.252446075590897e-16,-3.6990010198444704e-16,3.0437734911218674e-08],"joint_position_rad":[-0.12131080431432982,1.6928616398396075,-1.07516504508447,0.004356620323258008,0.9500069464799895,-0.1594925910854523],"joint_velocity_rad_s":[0.006763051916290425,0.05583328794796564,-0.07489451396938451,-0.011588575243189878,0.10298295229849178,0.02877187563395586],"gripper_joint_position_m":[0.03499983296026234,-0.03500003345826065],"tcp_position_m":[0.30748924275237605,-0.0353074362649246,0.08291680067730976],"tcp_quaternion_wxyz":[0.044965621878914334,-0.017881023555012393,0.9988183169141107,-0.00450906226727649],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,-6.944890101970342e-18,-8.97731361329564e-17,9.927211009187334e-08],"object_linear_velocity_m_s":[1.2149164058748772e-16,-6.930994601100263e-18,3.2823935176856582e-15],"object_angular_velocity_rad_s":[8.2524467553562e-16,-3.698999377141203e-16,3.0437734911218714e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.11802467006110273,1.6996907323636172,-1.0830733305569609,0.0008233448249383439,0.995570807772852,-0.1362949317958456,0.035],"actuator_force_native":[0.22907548067671435,0.2671609621809523,-0.2581902679523438,-0.0833881437168372,0.30116418448088744,0.18881877944513326,-6.468919341973134e-06],"issued_joint_targets_rad":[-0.11794860808151131,1.7008592054693674,-1.0846470097272372,0.0006999417045931615,0.9977180081134915,-0.13567086277912987],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.500000000000174,"joint_targets_rad":[-0.11794860808151131,1.7008592054693674,-1.0846470097272372,0.0006999417045931615,0.9977180081134915,-0.13567086277912987],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.520000000000163,"qpos":[-0.12117640689548496,1.6940409580604783,-1.0767572589926664,0.004127075882421053,0.9522205174366949,-0.15891498559447373,0.034999832474101794,-0.035000032895351876,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,4.425296159828771e-18,-9.765537306227789e-17,9.964926834695871e-08],"qvel":[0.0066439497870395825,0.05563842352897494,-0.07456255218519403,-0.011240881198724554,0.1025369391000465,0.028828609681857912,2.640592768841491e-06,3.5820818305551678e-06,1.598923826843682e-16,1.4765857890160134e-17,3.1991267908387727e-15,1.4088035793169175e-15,-2.665590837222474e-15,5.557161746251828e-08],"joint_position_rad":[-0.12117640689548496,1.6940409580604783,-1.0767572589926664,0.004127075882421053,0.9522205174366949,-0.15891498559447373],"joint_velocity_rad_s":[0.0066439497870395825,0.05563842352897494,-0.07456255218519403,-0.011240881198724554,0.1025369391000465,0.028828609681857912],"gripper_joint_position_m":[0.034999832474101794,-0.035000032895351876],"tcp_position_m":[0.3074829790068143,-0.035303334234236865,0.08290180811745057],"tcp_quaternion_wxyz":[0.04406337133481972,-0.017725181230864633,0.9988615186173753,-0.00446137673076751],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,4.425296159828771e-18,-9.765537306227789e-17,9.964926834695871e-08],"object_linear_velocity_m_s":[1.598923826843682e-16,1.4765857890160134e-17,3.1991267908387727e-15],"object_angular_velocity_rad_s":[1.408804099711511e-15,-2.6655905569417763e-15,5.557161746251837e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11794860808151131,1.7008592054693674,-1.0846470097272372,0.0006999417045931615,0.9977180081134915,-0.13567086277912987,0.035],"actuator_force_native":[0.22500415618269543,0.2672676750662788,-0.2583672978396976,-0.08088096111949289,0.3011694981178952,0.18919831363065165,-6.501927915847361e-06],"issued_joint_targets_rad":[-0.1178759386531332,1.7020230586647127,-1.0862130901121394,0.0005826256851806642,0.9998539555948199,-0.13504404578988272],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.520000000000163,"joint_targets_rad":[-0.1178759386531332,1.7020230586647127,-1.0862130901121394,0.0005826256851806642,0.9998539555948199,-0.13504404578988272],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.540000000000152,"qpos":[-0.12104443024451655,1.6952160663009361,-1.0783423737827926,0.0039045225270856448,0.9544243786060107,-0.15833620606851848,0.034999832103143065,-0.035000032290659976,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,1.3437748200656034e-17,-9.612132835437718e-17,9.996111233621881e-08],"qvel":[0.006522826870377744,0.05543616227516759,-0.07422172662123151,-0.010896146039755663,0.102080686866513,0.028887272631298578,2.6501276216477756e-06,3.5927725090411872e-06,2.769370439112903e-16,6.499366271186521e-17,3.182473445469395e-15,4.3443529479791545e-15,-1.1154166015833241e-14,1.0145973990535888e-07],"joint_position_rad":[-0.12104443024451655,1.6952160663009361,-1.0783423737827926,0.0039045225270856448,0.9544243786060107,-0.15833620606851848],"joint_velocity_rad_s":[0.006522826870377744,0.05543616227516759,-0.07422172662123151,-0.010896146039755663,0.102080686866513,0.028887272631298578],"gripper_joint_position_m":[0.034999832103143065,-0.035000032290659976],"tcp_position_m":[0.30747654303412164,-0.03529888862779575,0.08288688431044473],"tcp_quaternion_wxyz":[0.043164811859781126,-0.017565350788655187,0.9989037946170085,-0.004412093439881291],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,1.3437748200656034e-17,-9.612132835437718e-17,9.996111233621881e-08],"object_linear_velocity_m_s":[2.769370439112903e-16,6.499366271186521e-17,3.182473445469395e-15],"object_angular_velocity_rad_s":[4.344355158439869e-15,-1.1154165150027113e-14,1.0145973990535904e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1178759386531332,1.7020230586647127,-1.0862130901121394,0.0005826256851806642,0.9998539555948199,-0.13504404578988272,0.035],"actuator_force_native":[0.22086519295878126,0.2673785777262765,-0.2585486732415774,-0.07839514347742092,0.30117473958832086,0.18959069383940985,-6.534763830723378e-06],"issued_joint_targets_rad":[-0.11780663471300803,1.703182124498424,-1.0877713692743054,0.00047131778997779473,1.001978388987605,-0.1344143385966439],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.540000000000152,"joint_targets_rad":[-0.11780663471300803,1.703182124498424,-1.0877713692743054,0.00047131778997779473,1.001978388987605,-0.1344143385966439],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.56000000000014,"qpos":[-0.1209149132463434,1.6963868063865453,-1.07992019831607,0.0036888995578765577,0.9566183043450142,-0.15775621207332366,0.03499983184715164,-0.03500003165234352,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,2.3160860536653873e-17,-1.0507937952443577e-16,1.003459732973755e-07],"qvel":[0.006399819047666495,0.05522634149941413,-0.0738718358346539,-0.010554429495678596,0.10161395764158244,0.02894799087791437,2.6586313649989925e-06,3.6018814789296285e-06,1.261648093166771e-16,2.7108167932753197e-17,3.143615639607515e-15,-6.747116363188702e-16,3.812098827478757e-15,1.0992331947947387e-08],"joint_position_rad":[-0.1209149132463434,1.6963868063865453,-1.07992019831607,0.0036888995578765577,0.9566183043450142,-0.15775621207332366],"joint_velocity_rad_s":[0.006399819047666495,0.05522634149941413,-0.0738718358346539,-0.010554429495678596,0.10161395764158244,0.02894799087791437],"gripper_joint_position_m":[0.03499983184715164,-0.03500003165234352],"tcp_position_m":[0.3074699284262656,-0.035294114373161836,0.08287203082522179],"tcp_quaternion_wxyz":[0.04227003571237395,-0.01740152227893861,0.9989451490037169,-0.004361236658597951],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,2.3160860536653873e-17,-1.0507937952443577e-16,1.003459732973755e-07],"object_linear_velocity_m_s":[1.261648093166771e-16,2.7108167932753197e-17,3.143615639607515e-15],"object_angular_velocity_rad_s":[-6.747124036865267e-16,3.812098691560311e-15,1.0992331947947403e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999983},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.11780663471300803,1.703182124498424,-1.0877713692743054,0.00047131778997779473,1.001978388987605,-0.1344143385966439,0.035],"actuator_force_native":[0.2166631874284981,0.2674937414532508,-0.25873449748556254,-0.07593112323755755,0.30117990996353505,0.1899967484499261,-6.567042890592845e-06],"issued_joint_targets_rad":[-0.11774066812757067,1.7043362315645376,-1.0893216397812027,0.000365938149057817,1.0040910406219066,-0.1337815978875163],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.56000000000014,"joint_targets_rad":[-0.11774066812757067,1.7043362315645376,-1.0893216397812027,0.000365938149057817,1.0040910406219066,-0.1337815978875163],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.58000000000013,"qpos":[-0.12078789209726867,1.6975530165948092,-1.0814905370394783,0.0034801450818360644,0.9588020637084965,-0.15717496065925599,0.034999831704979334,-0.0350000309849902,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,4.995255472791202e-17,-1.2155384697362452e-16,1.0083848518400664e-07],"qvel":[0.006275058830086744,0.05500879016846296,-0.07351266962861408,-0.010215790266865027,0.10113650456541814,0.029010889026961792,2.6660685375359676e-06,3.6095240050360015e-06,1.5336385911349689e-16,6.277227557231728e-17,3.0131644342140585e-15,-4.01009355402552e-16,2.928352459784196e-15,2.0069222227432347e-08],"joint_position_rad":[-0.12078789209726867,1.6975530165948092,-1.0814905370394783,0.0034801450818360644,0.9588020637084965,-0.15717496065925599],"joint_velocity_rad_s":[0.006275058830086744,0.05500879016846296,-0.07351266962861408,-0.010215790266865027,0.10113650456541814,0.029010889026961792],"gripper_joint_position_m":[0.034999831704979334,-0.0350000309849902],"tcp_position_m":[0.3074631287659074,-0.035289025901699064,0.08285724928323522],"tcp_quaternion_wxyz":[0.04137913729965819,-0.017233685986799325,0.9989855859999345,-0.004308831397476991],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,4.995255472791202e-17,-1.2155384697362452e-16,1.0083848518400664e-07],"object_linear_velocity_m_s":[1.5336385911349689e-16,6.277227557231728e-17,3.0131644342140585e-15],"object_angular_velocity_rad_s":[-4.0100995086277894e-16,2.9283523769047712e-15,2.0069222227432384e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11774066812757067,1.7043362315645376,-1.0893216397812027,0.000365938149057817,1.0040910406219066,-0.1337815978875163,0.035],"actuator_force_native":[0.2124026234254064,0.267613246735948,-0.2589248711948784,-0.07348932597680474,0.3011850122859734,0.19041729417695397,-6.598541860913798e-06],"issued_joint_targets_rad":[-0.11767800965242105,1.7054852043526432,-1.0908636890145447,0.00026640592424309086,1.006191636129085,-0.13314567921551124],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.58000000000013,"joint_targets_rad":[-0.11767800965242105,1.7054852043526432,-1.0908636890145447,0.00026640592424309086,1.006191636129085,-0.13314567921551124],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.600000000000119,"qpos":[-0.12066340036985966,1.6987145314836536,-1.0830531897946116,0.0032781960289758588,0.9609754202572804,-0.15659240639579797,0.03499983167513028,-0.03500003029135522,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,7.217871831206981e-17,-1.6008309410118464e-16,1.0126581079964726e-07],"qvel":[0.006148675575595163,0.054783329216162614,-0.07314400859887868,-0.009880286328724553,0.10064807215820168,0.029076089995587737,2.6724229423295242e-06,3.6157535261568615e-06,2.39609968002287e-16,1.0596715028552868e-16,3.0339811159257806e-15,1.2195004332304758e-15,-2.177675601489206e-15,3.6641331677476426e-08],"joint_position_rad":[-0.12066340036985966,1.6987145314836536,-1.0830531897946116,0.0032781960289758588,0.9609754202572804,-0.15659240639579797],"joint_velocity_rad_s":[0.006148675575595163,0.054783329216162614,-0.07314400859887868,-0.009880286328724553,0.10064807215820168,0.029076089995587737],"gripper_joint_position_m":[0.03499983167513028,-0.03500003029135522],"tcp_position_m":[0.30745613761189317,-0.03528363716536268,0.0828425413661143],"tcp_quaternion_wxyz":[0.040492213263471556,-0.017061832407512773,0.9990251099630676,-0.004254903430746116],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,7.217871831206981e-17,-1.6008309410118464e-16,1.0126581079964726e-07],"object_linear_velocity_m_s":[2.39609968002287e-16,1.0596715028552868e-16,3.0339811159257806e-15],"object_angular_velocity_rad_s":[1.219500862547309e-15,-2.1776753597912153e-15,3.664133167747649e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999984},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998}],"native_actuator_controls":[-0.11767800965242105,1.7054852043526432,-1.0908636890145447,0.00026640592424309086,1.006191636129085,-0.13314567921551124,0.035],"actuator_force_native":[0.20808787951711238,0.2677371834383564,-0.2591198946002464,-0.07107017254568797,0.30119005048074143,0.19085313680948568,-6.629119922552107e-06],"issued_joint_targets_rad":[-0.11761862888731853,1.7066288631150106,-1.0923972990026785,0.00017263922646038867,1.008279894215568,-0.13250643694496497],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.600000000000119,"joint_targets_rad":[-0.11761862888731853,1.7066288631150106,-1.0923972990026785,0.00017263922646038867,1.008279894215568,-0.13250643694496497],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.620000000000108,"qpos":[-0.12054146907345592,1.6998711817299763,-1.0846079516237628,0.0030829881626170627,0.9631381318746404,-0.15600850140403516,0.03499983175603499,-0.03500002957323131,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,8.270163434245268e-17,-1.707729047649863e-16,1.0165855071381033e-07],"qvel":[0.006020795706516714,0.054549772115036005,-0.07276562414451317,-0.009547975240123952,0.10014839663273148,0.02914371511254581,2.677687206708185e-06,3.6205921666960225e-06,3.0646248020681527e-16,1.545065036516959e-16,3.011776655433277e-15,3.510473025451712e-15,-5.411372770839012e-15,6.689781855440216e-08],"joint_position_rad":[-0.12054146907345592,1.6998711817299763,-1.0846079516237628,0.0030829881626170627,0.9631381318746404,-0.15600850140403516],"joint_velocity_rad_s":[0.006020795706516714,0.054549772115036005,-0.07276562414451317,-0.009547975240123952,0.10014839663273148,0.02914371511254581],"gripper_joint_position_m":[0.03499983175603499,-0.03500002957323131],"tcp_position_m":[0.3074489484818089,-0.03527796165278805,0.08282790881934497],"tcp_quaternion_wxyz":[0.03960936255597858,-0.016885952225135708,0.999063725389353,-0.004199479313755832],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,8.270163434245268e-17,-1.707729047649863e-16,1.0165855071381033e-07],"object_linear_velocity_m_s":[3.0646248020681527e-16,1.545065036516959e-16,3.011776655433277e-15],"object_angular_velocity_rad_s":[3.5104741028276038e-15,-5.41137206816483e-15,6.689781855440229e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000013},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.11761862888731853,1.7066288631150106,-1.0923972990026785,0.00017263922646038867,1.008279894215568,-0.13250643694496497,0.035],"actuator_force_native":[0.20372323635840672,0.2678656502275487,-0.2593196695906954,-0.0686740812456472,0.30119502846017987,0.19130507192188295,-6.658677432991311e-06],"issued_joint_targets_rad":[-0.11756249422625975,1.7077670237492597,-1.0939222462741365,8.455502529313395e-05,1.010355526465697,-0.1318637241996221],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.620000000000108,"joint_targets_rad":[-0.11756249422625975,1.7077670237492597,-1.0939222462741365,8.455502529313395e-05,1.010355526465697,-0.1318637241996221],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.640000000000096,"qpos":[-0.1204221267102915,1.7010227939818974,-1.0861546125810841,0.002894456083427477,0.9652899505906805,-0.15542319538719626,0.034999831946174904,-0.03500002883188225,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,7.044782380082016e-17,-1.404046686312879e-16,1.0191231007463809e-07],"qvel":[0.005891542927805122,0.054307925573269064,-0.07237727881748544,-0.009218914456278586,0.09963720619128773,0.029213884215295412,2.681857492927057e-06,3.624046098148114e-06,1.700913837546369e-16,8.540608254876385e-17,3.003449982748588e-15,-3.1615421144734007e-15,6.3826679153414975e-15,7.247830802934141e-09],"joint_position_rad":[-0.1204221267102915,1.7010227939818974,-1.0861546125810841,0.002894456083427477,0.9652899505906805,-0.15542319538719626],"joint_velocity_rad_s":[0.005891542927805122,0.054307925573269064,-0.07237727881748544,-0.009218914456278586,0.09963720619128773,0.029213884215295412],"gripper_joint_position_m":[0.034999831946174904,-0.03500002883188225],"tcp_position_m":[0.3074415548339604,-0.0352720124049903,0.08281335345279965],"tcp_quaternion_wxyz":[0.038730686506633055,-0.016706036294062348,0.9991014369181815,-0.004142586401185846],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,7.044782380082016e-17,-1.404046686312879e-16,1.0191231007463809e-07],"object_linear_velocity_m_s":[1.700913837546369e-16,8.540608254876385e-17,3.003449982748588e-15],"object_angular_velocity_rad_s":[-3.161543417453463e-15,6.3826672699200684e-15,7.247830802934156e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999909},{"geom_ids":[1,90],"normal_force_n":0.09809999999999919},{"geom_ids":[1,90],"normal_force_n":0.0980999999999994}],"native_actuator_controls":[-0.11756249422625975,1.7077670237492597,-1.0939222462741365,8.455502529313395e-05,1.010355526465697,-0.1318637241996221,0.035],"actuator_force_native":[0.199312884083513,0.26799875352264735,-0.2595243013567625,-0.06630147004398078,0.30119994946323203,0.1917738855527984,-6.68713446061453e-06],"issued_joint_targets_rad":[-0.11750957280249662,1.7088994976942042,-1.0954383017291671,2.069050499848169e-06,1.0124182371691859,-0.1312173928134537],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.640000000000096,"joint_targets_rad":[-0.11750957280249662,1.7088994976942042,-1.0954383017291671,2.069050499848169e-06,1.0124182371691859,-0.1312173928134537],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.660000000000085,"qpos":[-0.1203053993270397,1.7021691907259258,-1.087692957554064,0.002712533228024196,0.9674306224138355,-0.1548364356595369,0.03499983224341446,-0.0350000280579658,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999958,7.189385788459347e-17,-1.0857375931912298e-16,1.0237561058528892e-07],"qvel":[0.0057610384424475695,0.054057590250611916,-0.07197872688906787,-0.008893161648512641,0.09911422127503941,0.029286715738491287,2.684837051199965e-06,3.6261542645083826e-06,1.38436051645158e-16,8.990744730728379e-17,3.003449982748588e-15,-2.703124300503421e-15,4.784632519519919e-15,1.3232708740895268e-08],"joint_position_rad":[-0.1203053993270397,1.7021691907259258,-1.087692957554064,0.002712533228024196,0.9674306224138355,-0.1548364356595369],"joint_velocity_rad_s":[0.0057610384424475695,0.054057590250611916,-0.07197872688906787,-0.008893161648512641,0.09911422127503941,0.029286715738491287],"gripper_joint_position_m":[0.03499983224341446,-0.0350000280579658],"tcp_position_m":[0.30743395005056867,-0.035265802030698,0.08279887713905364],"tcp_quaternion_wxyz":[0.03785628888300568,-0.01652207562352264,0.9991382493367089,-0.004084252866033884],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999958,7.189385788459347e-17,-1.0857375931912298e-16,1.0237561058528892e-07],"object_linear_velocity_m_s":[1.38436051645158e-16,8.990744730728379e-17,3.003449982748588e-15],"object_angular_velocity_rad_s":[-2.703125283036171e-15,4.784631964149126e-15,1.3232708740895295e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11750957280249662,1.7088994976942042,-1.0954383017291671,2.069050499848169e-06,1.0124182371691859,-0.1312173928134537,0.035],"actuator_force_native":[0.1948609297512096,0.2681366062092252,-0.25973389956291726,-0.06395275885841072,0.3012048156409435,0.19226035485309478,-6.713921834267111e-06],"issued_joint_targets_rad":[-0.11745983042854705,1.7100260918363397,-1.0969452305257739,-7.490431435325717e-05,1.0144677231683132,-0.13056729328595515],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.660000000000085,"joint_targets_rad":[-0.11745983042854705,1.7100260918363397,-1.0969452305257739,-7.490431435325717e-05,1.0144677231683132,-0.13056729328595515],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.680000000000074,"qpos":[-0.1201913105602237,1.703310190168496,-1.0892227660979334,0.0025371518707838076,0.9695598871689939,-0.15424816717575782,0.034999832636053975,-0.03500002711887541,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,6.8959795158459e-17,-9.445637076522885e-17,1.0284108643690012e-07],"qvel":[0.005629401131444436,0.05379856142197513,-0.07156971503656598,-0.008570775054801645,0.09857915471117715,0.02936232675135098,2.685477589046663e-06,3.627216670450971e-06,1.2447276641368716e-16,9.077002716778846e-17,3.417008059421459e-15,-1.5480251868703447e-15,2.8289091064833928e-15,2.4159584485731675e-08],"joint_position_rad":[-0.1201913105602237,1.703310190168496,-1.0892227660979334,0.0025371518707838076,0.9695598871689939,-0.15424816717575782],"joint_velocity_rad_s":[0.005629401131444436,0.05379856142197513,-0.07156971503656598,-0.008570775054801645,0.09857915471117715,0.02936232675135098],"gripper_joint_position_m":[0.034999832636053975,-0.03500002711887541],"tcp_position_m":[0.30742612742336706,-0.03525934271947201,0.08278448181030446],"tcp_quaternion_wxyz":[0.03698627594779313,-0.016334061364568705,0.9991741675846587,-0.004024507716068597],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,6.8959795158459e-17,-9.445637076522885e-17,1.0284108643690012e-07],"object_linear_velocity_m_s":[1.2447276641368716e-16,9.077002716778846e-17,3.417008059421459e-15],"object_angular_velocity_rad_s":[-1.5480257732905368e-15,2.8289087847500682e-15,2.415958448573167e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000044},{"geom_ids":[1,90],"normal_force_n":0.09810000000000045},{"geom_ids":[1,90],"normal_force_n":0.09810000000000041},{"geom_ids":[1,90],"normal_force_n":0.09810000000000046}],"native_actuator_controls":[-0.11745983042854705,1.7100260918363397,-1.0969452305257739,-7.490431435325717e-05,1.0144677231683132,-0.13056729328595515,0.035],"actuator_force_native":[0.19037140487690962,0.2682793263176393,-0.25994857904441915,-0.06162837213147436,0.30120962792642914,0.1927652487710001,-6.732830104105858e-06],"issued_joint_targets_rad":[-0.11741323153298887,1.7111466084252518,-1.0984427919779554,-0.00014645214312102592,1.0165036737216129,-0.12991327474642114],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.680000000000074,"joint_targets_rad":[-0.11741323153298887,1.7111466084252518,-1.0984427919779554,-0.00014645214312102592,1.0165036737216129,-0.12991327474642114],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.700000000000063,"qpos":[-0.12007988171740616,1.704445599381806,-1.090743791752158,0.0023682432351985047,0.9716774638666369,-0.1536583323595699,0.03499983312125042,-0.03500002606706417,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,7.821132297699052e-17,-8.307514983906109e-17,1.0323607897212178e-07],"qvel":[0.005496747493878778,0.05353076988260404,-0.071149796648219,-0.008251814560854503,0.09803228108986099,0.02944083036817201,2.684871022868778e-06,3.6235858750857325e-06,1.267206761861237e-16,1.2469988099483405e-16,3.816688348286515e-15,1.810730475469859e-15,4.625036326284202e-16,4.410930021601505e-08],"joint_position_rad":[-0.12007988171740616,1.704445599381806,-1.090743791752158,0.0023682432351985047,0.9716774638666369,-0.1536583323595699],"joint_velocity_rad_s":[0.005496747493878778,0.05353076988260404,-0.071149796648219,-0.008251814560854503,0.09803228108986099,0.02944083036817201],"gripper_joint_position_m":[0.03499983312125042,-0.03500002606706417],"tcp_position_m":[0.3074180769656752,-0.03525264586788464,0.082770166772001],"tcp_quaternion_wxyz":[0.03612075686116904,-0.016141984635268603,0.9992091967492663,-0.003963380816544378],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,7.821132297699052e-17,-8.307514983906109e-17,1.0323607897212178e-07],"object_linear_velocity_m_s":[1.267206761861237e-16,1.2469988099483405e-16,3.816688348286515e-15],"object_angular_velocity_rad_s":[1.8107303726469246e-15,4.625039995941449e-16,4.410930021601505e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.11741323153298887,1.7111466084252518,-1.0984427919779554,-0.00014645214312102592,1.0165036737216129,-0.12991327474642114,0.035],"actuator_force_native":[0.18584827728398956,0.2684268740626692,-0.2601710348226902,-0.05932874232850871,0.30121367691496914,0.1932893305792298,-6.749205131217906e-06],"issued_joint_targets_rad":[-0.1173697390912536,1.7122608445272416,-1.0999307387309807,-0.0002126630702220778,1.018525769482527,-0.12925518490700333],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.700000000000063,"joint_targets_rad":[-0.1173697390912536,1.7122608445272416,-1.0999307387309807,-0.0002126630702220778,1.018525769482527,-0.12925518490700333],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.720000000000052,"qpos":[-0.11997113183197773,1.7055752114952418,-1.0922557415327947,0.002205737577266103,0.9737830473261958,-0.15306687104276234,0.03499983372293641,-0.035000024958759084,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,7.775416900446514e-17,-7.183141482246522e-17,1.035837681159097e-07],"qvel":[0.005363192715991486,0.05325446333825132,-0.0707183682852662,-0.007936345280790513,0.0974748183264854,0.02952233105826367,2.6822531312006295e-06,3.6155916692071422e-06,1.437853318200062e-16,1.6066256999057872e-16,3.906893969037309e-15,3.8434212822057815e-15,-2.479881986034819e-15,8.053244320884614e-08],"joint_position_rad":[-0.11997113183197773,1.7055752114952418,-1.0922557415327947,0.002205737577266103,0.9737830473261958,-0.15306687104276234],"joint_velocity_rad_s":[0.005363192715991486,0.05325446333825132,-0.0707183682852662,-0.007936345280790513,0.0974748183264854,0.02952233105826367],"gripper_joint_position_m":[0.03499983372293641,-0.035000024958759084],"tcp_position_m":[0.3074097797771478,-0.03524572140451764,0.08275592464679754],"tcp_quaternion_wxyz":[0.035259836595342806,-0.01594583643574657,0.9992433423286208,-0.0039009018906739933],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,7.775416900446514e-17,-7.183141482246522e-17,1.035837681159097e-07],"object_linear_velocity_m_s":[1.437853318200062e-16,1.6066256999057872e-16,3.906893969037309e-15],"object_angular_velocity_rad_s":[3.843421784387223e-15,-2.4798812023261155e-15,8.053244320884614e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.1173697390912536,1.7122608445272416,-1.0999307387309807,-0.0002126630702220778,1.018525769482527,-0.12925518490700333,0.035],"actuator_force_native":[0.18129545567797223,0.26857832586873087,-0.2604079344285424,-0.05705429949557467,0.30121499407358243,0.19383336477019442,-6.760183112408669e-06],"issued_joint_targets_rad":[-0.11732931444008687,1.713368600559969,-1.1014088279371743,-0.00027362757599403917,1.0205336978317494,-0.1285928663229856],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.720000000000052,"joint_targets_rad":[-0.11732931444008687,1.713368600559969,-1.1014088279371743,-0.00027362757599403917,1.0205336978317494,-0.1285928663229856],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.740000000000041,"qpos":[-0.11986507751078904,1.7066988462422679,-1.0937583766683736,0.0020495632951667724,0.9758763959217267,-0.1524737215268776,0.03499983441264931,-0.035000023804255154,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,6.90166461091294e-17,-6.004875125397948e-17,1.0388924685581742e-07],"qvel":[0.0052288540958100125,0.05296963700863752,-0.07027597481751895,-0.007624436914573637,0.09690601640632152,0.029606941440150147,2.6769510087532826e-06,3.6064289993146284e-06,7.418916237278905e-17,8.359320467666959e-17,3.985997359541851e-15,-2.8745181617591763e-15,2.638452246372082e-15,8.725030728017034e-09],"joint_position_rad":[-0.11986507751078904,1.7066988462422679,-1.0937583766683736,0.0020495632951667724,0.9758763959217267,-0.1524737215268776],"joint_velocity_rad_s":[0.0052288540958100125,0.05296963700863752,-0.07027597481751895,-0.007624436914573637,0.09690601640632152,0.029606941440150147],"gripper_joint_position_m":[0.03499983441264931,-0.035000023804255154],"tcp_position_m":[0.3074012198243602,-0.03523857930042509,0.08274175200913798],"tcp_quaternion_wxyz":[0.03440360224256069,-0.01574560856626396,0.9992766106713281,-0.003837099013179886],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,6.90166461091294e-17,-6.004875125397948e-17,1.0388924685581742e-07],"object_linear_velocity_m_s":[7.418916237278905e-17,8.359320467666959e-17,3.985997359541851e-15],"object_angular_velocity_rad_s":[-2.8745187110206025e-15,2.6384516479046267e-15,8.725030728017036e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11732931444008687,1.713368600559969,-1.1014088279371743,-0.00027362757599403917,1.0205336978317494,-0.1285928663229856,0.035],"actuator_force_native":[0.17671677517712325,0.26873216037293446,-0.26065622741644745,-0.054805450273564274,0.3012139944907446,0.19439813987869492,-6.761261016174913e-06],"issued_joint_targets_rad":[-0.11729191699223743,1.7144696968126052,-1.1028768435770056,-0.000329438534507032,1.022527182756152,-0.12792614963445526],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.740000000000041,"joint_targets_rad":[-0.11729191699223743,1.7144696968126052,-1.1028768435770056,-0.000329438534507032,1.022527182756152,-0.12792614963445526],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.76000000000003,"qpos":[-0.11976173306619728,1.707816323069505,-1.09525146868866,0.0018996474629202485,0.9779572563938173,-0.15187881959499586,0.03499983516230272,-0.035000022601205445,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,3.90429726011771e-17,-4.494220867377032e-17,1.0438509342624635e-07],"qvel":[0.005093844106921737,0.05267625705110954,-0.06982307693209124,-0.007316152995744171,0.09632538504514995,0.029694792818191842,2.6695253671421514e-06,3.5959472489329984e-06,5.80390030087368e-17,5.0553238408827574e-17,4.005426262472792e-15,-2.3286817066326848e-15,2.176991972859685e-15,1.5929702764687384e-08],"joint_position_rad":[-0.11976173306619728,1.707816323069505,-1.09525146868866,0.0018996474629202485,0.9779572563938173,-0.15187881959499586],"joint_velocity_rad_s":[0.005093844106921737,0.05267625705110954,-0.06982307693209124,-0.007316152995744171,0.09632538504514995,0.029694792818191842],"gripper_joint_position_m":[0.03499983516230272,-0.035000022601205445],"tcp_position_m":[0.3073923868773485,-0.03523122989317957,0.08272764817048009],"tcp_quaternion_wxyz":[0.03355215183503381,-0.015541292848234326,0.999309007925911,-0.003772002382760713],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,3.90429726011771e-17,-4.494220867377032e-17,1.0438509342624635e-07],"object_linear_velocity_m_s":[5.80390030087368e-17,5.0553238408827574e-17,4.005426262472792e-15],"object_angular_velocity_rad_s":[-2.3286821625554875e-15,2.176991485456437e-15,1.5929702764687387e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998}],"native_actuator_controls":[-0.11729191699223743,1.7144696968126052,-1.1028768435770056,-0.000329438534507032,1.022527182756152,-0.12792614963445526,0.035],"actuator_force_native":[0.1721160653821805,0.2688886141924627,-0.26091460640718367,-0.05258267491837036,0.301211186055621,0.19498451037811826,-6.754118944352072e-06],"issued_joint_targets_rad":[-0.11725750465396388,1.7155639382357817,-1.1043345496693324,-0.00038019053411013706,1.024505921264723,-0.12725486687036497],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.76000000000003,"joint_targets_rad":[-0.11725750465396388,1.7155639382357817,-1.1043345496693324,-0.00038019053411013706,1.024505921264723,-0.12725486687036497],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.780000000000019,"qpos":[-0.11966111057628262,1.7089274577555809,-1.0967347931786537,0.0017559158673069034,0.9800253619356838,-0.1512820983986161,0.03499983595927488,-0.03500002135343136,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,2.643586465752653e-17,-4.589707890555609e-17,1.0482262082924918e-07],"qvel":[0.004958273058098276,0.052374088739334516,-0.06935976872196821,-0.007011557246783403,0.0957322807659246,0.02978601552296735,2.6607406736238197e-06,3.5839174386654524e-06,6.488165259060985e-17,3.860841832340889e-17,4.0109773775959196e-15,-1.1922017785340744e-15,6.306884521248043e-16,2.9083614497360978e-08],"joint_position_rad":[-0.11966111057628262,1.7089274577555809,-1.0967347931786537,0.0017559158673069034,0.9800253619356838,-0.1512820983986161],"joint_velocity_rad_s":[0.004958273058098276,0.052374088739334516,-0.06935976872196821,-0.007011557246783403,0.0957322807659246,0.02978601552296735],"gripper_joint_position_m":[0.03499983595927488,-0.03500002135343136],"tcp_position_m":[0.3073832750732274,-0.03522368372377349,0.08271361470430158],"tcp_quaternion_wxyz":[0.03270559387964517,-0.01533288102174121,0.9993405401009977,-0.003705644235344553],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,2.643586465752653e-17,-4.589707890555609e-17,1.0482262082924918e-07],"object_linear_velocity_m_s":[6.488165259060985e-17,3.860841832340889e-17,4.0109773775959196e-15],"object_angular_velocity_rad_s":[-1.1922019134245872e-15,6.306882006476594e-16,2.9083614497360985e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11725750465396388,1.7155639382357817,-1.1043345496693324,-0.00038019053411013706,1.024505921264723,-0.12725486687036497,0.035],"actuator_force_native":[0.16749710849500765,0.26904799471938645,-0.26118167564443695,-0.0503864698227646,0.3012071721415044,0.19559329199806008,-6.742074363241812e-06],"issued_joint_targets_rad":[-0.11722603370324314,1.7166511151781036,-1.105781691273396,-0.00042598007477206794,1.0264695848252023,-0.12657885151833373],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.780000000000019,"joint_targets_rad":[-0.11722603370324314,1.7166511151781036,-1.105781691273396,-0.00042598007477206794,1.0264695848252023,-0.12657885151833373],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.800000000000008,"qpos":[-0.11956321991796005,1.7100320589111522,-1.0982081231384255,0.0016182929826522566,0.9820804304913339,-0.150683488527078,0.03499983680504122,-0.03500002006923424,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,1.203586019010055e-17,-4.3426740806933584e-17,1.0523736414273097e-07],"qvel":[0.004822249926765408,0.052062746327544394,-0.06888584368277896,-0.006710715188036792,0.09512602092634792,0.029880735101274966,2.651155510497361e-06,3.5702144561708475e-06,7.357829522429897e-17,1.4595321822095115e-17,3.757013860712916e-15,-1.4075102266328561e-15,-2.898452595383823e-16,5.309933554480856e-08],"joint_position_rad":[-0.11956321991796005,1.7100320589111522,-1.0982081231384255,0.0016182929826522566,0.9820804304913339,-0.150683488527078],"joint_velocity_rad_s":[0.004822249926765408,0.052062746327544394,-0.06888584368277896,-0.006710715188036792,0.09512602092634792,0.029880735101274966],"gripper_joint_position_m":[0.03499983680504122,-0.03500002006923424],"tcp_position_m":[0.30737388131822807,-0.03521595135749702,0.08269965491779992],"tcp_quaternion_wxyz":[0.03186404664711673,-0.01512036476524836,0.9993712131281065,-0.00363805875337825],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,1.203586019010055e-17,-4.3426740806933584e-17,1.0523736414273097e-07],"object_linear_velocity_m_s":[7.357829522429897e-17,1.4595321822095115e-17,3.757013860712916e-15],"object_angular_velocity_rad_s":[-1.4075101702395854e-15,-2.8984555706190134e-16,5.309933554480859e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11722603370324314,1.7166511151781036,-1.105781691273396,-0.00042598007477206794,1.0264695848252023,-0.12657885151833373,0.035],"actuator_force_native":[0.1628636475435261,0.2692107697183985,-0.2614562323837504,-0.048217346356789016,0.3012025119491639,0.19622526743553026,-6.727979201093248e-06],"issued_joint_targets_rad":[-0.11719745864425195,1.7177310043995049,-1.1072179958450243,-0.00046690580168729716,1.0284178212796802,-0.12589793858216622],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.800000000000008,"joint_targets_rad":[-0.11719745864425195,1.7177310043995049,-1.1072179958450243,-0.00046690580168729716,1.0284178212796802,-0.12589793858216622],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.819999999999997,"qpos":[-0.11946806878645878,1.7111299256482395,-1.0996712239098374,0.0014867019214863187,0.9841221648534159,-0.15008291811656213,0.034999837710107354,-0.0350000187583899,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,1.909284277769288e-18,-3.7262973346921076e-17,1.0553533475038014e-07],"qvel":[0.00468588292990602,0.051741752609476735,-0.06840087554487119,-0.0064136951115019115,0.09450594598739583,0.029979071343715163,2.6410667780960484e-06,3.5548166756551265e-06,8.748382639116969e-17,-2.2101086169219213e-17,3.744523851685883e-15,-2.60299302527034e-15,-2.7978589722998777e-15,9.694597745255662e-08],"joint_position_rad":[-0.11946806878645878,1.7111299256482395,-1.0996712239098374,0.0014867019214863187,0.9841221648534159,-0.15008291811656213],"joint_velocity_rad_s":[0.00468588292990602,0.051741752609476735,-0.06840087554487119,-0.0064136951115019115,0.09450594598739583,0.029979071343715163],"gripper_joint_position_m":[0.034999837710107354,-0.0350000187583899],"tcp_position_m":[0.3073642037624832,-0.03520804321430377,0.08268577332530838],"tcp_quaternion_wxyz":[0.031027636765065907,-0.014903735749893956,0.9994010329413566,-0.003569281891605083],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,1.909284277769288e-18,-3.7262973346921076e-17,1.0553533475038014e-07],"object_linear_velocity_m_s":[8.748382639116969e-17,-2.2101086169219213e-17,3.744523851685883e-15],"object_angular_velocity_rad_s":[-2.6029924419493073e-15,-2.7978595220854928e-15,9.694597745255666e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11719745864425195,1.7177310043995049,-1.1072179958450243,-0.00046690580168729716,1.0284178212796802,-0.12589793858216622,0.035],"actuator_force_native":[0.15821939672701646,0.2693775370538276,-0.2617373770906113,-0.046075833369435076,0.30119764528154924,0.1968811883283863,-6.713738184283002e-06],"issued_joint_targets_rad":[-0.11717173204757306,1.7188033709207642,-1.1086431756954758,-0.000503068762894169,1.0303502582460118,-0.1252119642730423],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.819999999999997,"joint_targets_rad":[-0.11717173204757306,1.7188033709207642,-1.1086431756954758,-0.000503068762894169,1.0303502582460118,-0.1252119642730423],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.839999999999986,"qpos":[-0.11937566270475802,1.7122208464916333,-1.101123849850384,0.0013610643673492469,0.9861502537904857,-0.1494803129652175,0.03499983868901578,-0.035000017429810154,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-8.044369004930465e-18,-3.656110396881351e-17,1.059030739353758e-07],"qvel":[0.004549279969531172,0.05141059787809566,-0.0679043038201545,-0.006120568893703103,0.09387145403236881,0.0300811383975405,2.6305498532887014e-06,3.5377676677296477e-06,4.388443955272718e-17,-7.318265347813279e-18,3.779218321205421e-15,-2.8671148049034256e-17,1.485841858823301e-15,1.050330275014151e-08],"joint_position_rad":[-0.11937566270475802,1.7122208464916333,-1.101123849850384,0.0013610643673492469,0.9861502537904857,-0.1494803129652175],"joint_velocity_rad_s":[0.004549279969531172,0.05141059787809566,-0.0679043038201545,-0.006120568893703103,0.09387145403236881,0.0300811383975405],"gripper_joint_position_m":[0.03499983868901578,-0.035000017429810154],"tcp_position_m":[0.30735424056138255,-0.03519996943455373,0.08267197515516932],"tcp_quaternion_wxyz":[0.030196497549711453,-0.014682985707127396,0.9994300055570643,-0.0034993511771217773],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-8.044369004930465e-18,-3.656110396881351e-17,1.059030739353758e-07],"object_linear_velocity_m_s":[4.388443955272718e-17,-7.318265347813279e-18,3.779218321205421e-15],"object_angular_velocity_rad_s":[-2.8671463527498793e-17,1.4858418529195278e-15,1.0503302750141517e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999973},{"geom_ids":[1,90],"normal_force_n":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999976}],"native_actuator_controls":[-0.11717173204757306,1.7188033709207642,-1.1086431756954758,-0.000503068762894169,1.0303502582460118,-0.1252119642730423,0.035],"actuator_force_native":[0.1535680527271417,0.26954896493998604,-0.26202454850657375,-0.043962480741221124,0.30119286350670826,0.19756177932544117,-6.700309897578194e-06],"issued_joint_targets_rad":[-0.11714880438580358,1.7198679701700479,-1.1100569308403312,-0.0005345726765869638,1.0322665070310895,-0.12452076549413205],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.839999999999986,"joint_targets_rad":[-0.11714880438580358,1.7198679701700479,-1.1100569308403312,-0.0005345726765869638,1.0322665070310895,-0.12452076549413205],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.859999999999975,"qpos":[-0.11928600502506043,1.7133045993751916,-1.102565742652132,0.001241300492588355,0.9881643736466206,-0.14887559663876326,0.03499983975650223,-0.03500001609017361,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-1.8311954251987103e-17,-3.9463562017973413e-17,1.0637367484861427e-07],"qvel":[0.004412548991608509,0.05106878793624989,-0.06739551018586584,-0.005831412683532937,0.09322201354478434,0.030187045469677643,2.619524839359256e-06,3.5191389532292415e-06,4.8499881428327464e-17,-2.212378368178713e-17,3.587704849457583e-15,2.8509619197579236e-17,9.941684371666771e-16,1.9176378407468624e-08],"joint_position_rad":[-0.11928600502506043,1.7133045993751916,-1.102565742652132,0.001241300492588355,0.9881643736466206,-0.14887559663876326],"joint_velocity_rad_s":[0.004412548991608509,0.05106878793624989,-0.06739551018586584,-0.005831412683532937,0.09322201354478434,0.030187045469677643],"gripper_joint_position_m":[0.03499983975650223,-0.03500001609017361],"tcp_position_m":[0.30734398901319365,-0.03519173979096247,0.082658265919718],"tcp_quaternion_wxyz":[0.029370767379524463,-0.014458106499395182,0.9994581371429336,-0.0034283055241702727],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-1.8311954251987103e-17,-3.9463562017973413e-17,1.0637367484861427e-07],"object_linear_velocity_m_s":[4.8499881428327464e-17,-2.212378368178713e-17,3.587704849457583e-15],"object_angular_velocity_rad_s":[2.850940617734198e-17,9.94168443934315e-16,1.9176378407468638e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999995}],"native_actuator_controls":[-0.11714880438580358,1.7198679701700479,-1.1100569308403312,-0.0005345726765869638,1.0322665070310895,-0.12452076549413205,0.035],"actuator_force_native":[0.14891330618250542,0.2697257239072428,-0.2623175041265995,-0.041877863349348066,0.3011883135275113,0.19826774324179564,-6.687884285705437e-06],"issued_joint_targets_rad":[-0.11712862386917884,1.720924550054858,-1.1114589517478553,-0.0005615242008618594,1.0341661663884825,-0.12382417925225125],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.859999999999975,"joint_targets_rad":[-0.11712862386917884,1.720924550054858,-1.1114589517478553,-0.0005615242008618594,1.0341661663884825,-0.12382417925225125],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.879999999999963,"qpos":[-0.11919909692379234,1.714380952429873,-1.1039966310085132,0.001127328863625263,0.9901641900082465,-0.14826869055840114,0.03499984092502737,-0.03500001474339315,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-3.307175063560846e-17,-2.8476618100346015e-17,1.0683789721268586e-07],"qvel":[0.004275798282694989,0.05071587658693931,-0.0668738783070305,-0.005546307476040716,0.09255716132460035,0.03029689781218297,2.607823156807987e-06,3.4990023328935608e-06,3.811623936936284e-17,-4.7659172114855403e-17,3.630725991661807e-15,-5.842068221870537e-16,1.1284728728697242e-15,3.5011224333366407e-08],"joint_position_rad":[-0.11919909692379234,1.714380952429873,-1.1039966310085132,0.001127328863625263,0.9901641900082465,-0.14826869055840114],"joint_velocity_rad_s":[0.004275798282694989,0.05071587658693931,-0.0668738783070305,-0.005546307476040716,0.09255716132460035,0.03029689781218297],"gripper_joint_position_m":[0.03499984092502737,-0.03500001474339315],"tcp_position_m":[0.3073334450750836,-0.03518336364682555,0.08264465107004394],"tcp_quaternion_wxyz":[0.02855058830967648,-0.014229090188003805,0.9994854340715721,-0.0033561850893887033],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-3.307175063560846e-17,-2.8476618100346015e-17,1.0683789721268586e-07],"object_linear_velocity_m_s":[3.811623936936284e-17,-4.7659172114855403e-17,3.630725991661807e-15],"object_angular_velocity_rad_s":[-5.842070653083812e-16,1.128472750354607e-15,3.501122433336643e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008}],"native_actuator_controls":[-0.11712862386917884,1.720924550054858,-1.1114589517478553,-0.0005615242008618594,1.0341661663884825,-0.12382417925225125,0.035],"actuator_force_native":[0.14425885295560548,0.269908427064081,-0.26261626761221635,-0.039822585199281314,0.3011840218154589,0.19899976634322458,-6.676116878656657e-06],"issued_joint_targets_rad":[-0.11711113628268792,1.7219728527223923,-1.1128489216744757,-0.000584033203069123,1.036048825698307,-0.12312204210471558],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.879999999999963,"joint_targets_rad":[-0.11711113628268792,1.7219728527223923,-1.1128489216744757,-0.000584033203069123,1.036048825698307,-0.12312204210471558],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.899999999999952,"qpos":[-0.11911493739113758,1.7154496652327103,-1.1054162312485873,0.0010190663357912836,0.9921493591814762,-0.14765951406822322,0.03499984220356159,-0.03500001339068348,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-4.134179255295153e-17,-3.5725619380254994e-17,1.07213164830153e-07],"qvel":[0.0041391367268591005,0.0503514822281312,-0.06633883461359637,-0.005265339593842566,0.0918764916890668,0.03041079775366163,2.5952431721010977e-06,3.4774127334728124e-06,8.713706845817012e-17,-7.836051760469012e-17,3.591868185799926e-15,-2.3180308370156837e-15,-3.580352473776816e-15,6.392165419743002e-08],"joint_position_rad":[-0.11911493739113758,1.7154496652327103,-1.1054162312485873,0.0010190663357912836,0.9921493591814762,-0.14765951406822322],"joint_velocity_rad_s":[0.0041391367268591005,0.0503514822281312,-0.06633883461359637,-0.005265339593842566,0.0918764916890668,0.03041079775366163],"gripper_joint_position_m":[0.03499984220356159,-0.03500001339068348],"tcp_position_m":[0.3073226032042508,-0.035174849953820704,0.08263113574677783],"tcp_quaternion_wxyz":[0.027736105030158123,-0.013995929095512134,0.9995119029570287,-0.0032830311799617673],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-4.134179255295153e-17,-3.5725619380254994e-17,1.07213164830153e-07],"object_linear_velocity_m_s":[8.713706845817012e-17,-7.836051760469012e-17,3.591868185799926e-15],"object_angular_velocity_rad_s":[-2.3180300738610745e-15,-3.58035296553831e-15,6.392165419743008e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999972},{"geom_ids":[1,90],"normal_force_n":0.09809999999999985}],"native_actuator_controls":[-0.11711113628268792,1.7219728527223923,-1.1128489216744757,-0.000584033203069123,1.036048825698307,-0.12312204210471558,0.035],"actuator_force_native":[0.13960840504167749,0.2700975880338774,-0.2629210610030839,-0.03779728358520343,0.30117992763470625,0.19975852300458397,-6.664358323860142e-06],"issued_joint_targets_rad":[-0.1170962848238899,1.72301261589338,-1.1142265184364268,-0.0006022130293327722,1.037914067368172,-0.12241418971870376],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.899999999999952,"joint_targets_rad":[-0.1170962848238899,1.72301261589338,-1.1142265184364268,-0.0006022130293327722,1.037914067368172,-0.12241418971870376],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.919999999999941,"qpos":[-0.11903352321567097,1.716510490215681,-1.106824248557231,0.0009164279392632869,0.9941195293490287,-0.14704798448330197,0.03499984359734939,-0.035000012030989736,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-3.827999811634646e-17,-4.505006356981642e-17,1.0751052459593745e-07],"qvel":[0.004002674043364597,0.04997529089323596,-0.06578987103775569,-0.004988601105695646,0.09117964189290508,0.030528845605811143,2.5815904927310146e-06,3.4544000255213347e-06,2.0416718816738642e-16,-7.107689869112384e-17,3.4503147501602182e-15,-6.460553036614318e-16,-1.202076298677855e-14,1.1670479833640322e-07],"joint_position_rad":[-0.11903352321567097,1.716510490215681,-1.106824248557231,0.0009164279392632869,0.9941195293490287,-0.14704798448330197],"joint_velocity_rad_s":[0.004002674043364597,0.04997529089323596,-0.06578987103775569,-0.004988601105695646,0.09117964189290508,0.030528845605811143],"gripper_joint_position_m":[0.03499984359734939,-0.035000012030989736],"tcp_position_m":[0.3073114564432506,-0.03516620727938026,0.08261772462748013],"tcp_quaternion_wxyz":[0.026927464192826,-0.013758615862515986,0.9995375506757813,-0.003208886216686762],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-3.827999811634646e-17,-4.505006356981642e-17,1.0751052459593745e-07],"object_linear_velocity_m_s":[2.0416718816738642e-16,-7.107689869112384e-17,3.4503147501602182e-15],"object_angular_velocity_rad_s":[-6.46052729459466e-16,-1.2020763116758853e-14,1.1670479833640332e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997}],"native_actuator_controls":[-0.1170962848238899,1.72301261589338,-1.1142265184364268,-0.0006022130293327722,1.037914067368172,-0.12241418971870376,0.035],"actuator_force_native":[0.13496570112566353,0.2702935997497491,-0.263232235146873,-0.03580263321536413,0.30117591735207583,0.20054467923726538,-6.651846438998632e-06],"issued_joint_targets_rad":[-0.1170840099391911,1.7240435737517215,-1.115591415595073,-0.000616180777056737,1.039761468429034,-0.12170045659021692],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.919999999999941,"joint_targets_rad":[-0.1170840099391911,1.7240435737517215,-1.115591415595073,-0.000616180777056737,1.039761468429034,-0.12170045659021692],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.93999999999993,"qpos":[-0.11895484896427491,1.717563174001595,-1.108220378451454,0.0008193267569841638,0.996074341371798,-0.14643401712233373,0.0349998451083361,-0.0350000106615771,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-3.038469224289664e-17,-7.122870066101623e-17,1.0795321369509386e-07],"qvel":[0.0038665210220471774,0.049587049461060864,-0.06522655283795076,-0.00471619021393077,0.0904662773432747,0.030651140337865167,2.5667026519651084e-06,3.4299675008306433e-06,8.30474628451854e-17,-3.706917731141744e-17,3.5391325921302316e-15,1.508776629206221e-15,1.4824833185970343e-15,1.264400918461483e-08],"joint_position_rad":[-0.11895484896427491,1.717563174001595,-1.108220378451454,0.0008193267569841638,0.996074341371798,-0.14643401712233373],"joint_velocity_rad_s":[0.0038665210220471774,0.049587049461060864,-0.06522655283795076,-0.00471619021393077,0.0904662773432747,0.030651140337865167],"gripper_joint_position_m":[0.0349998451083361,-0.0350000106615771],"tcp_position_m":[0.3072999966622883,-0.03515744385291489,0.0826044218620636],"tcp_quaternion_wxyz":[0.026124814076930396,-0.013517143500480716,0.9995623843751757,-0.003133793746702741],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-3.038469224289664e-17,-7.122870066101623e-17,1.0795321369509386e-07],"object_linear_velocity_m_s":[8.30474628451854e-17,-3.706917731141744e-17,3.5391325921302316e-15],"object_angular_velocity_rad_s":[1.5087763073272776e-15,1.4824836451199415e-15,1.2644009184614841e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.1170840099391911,1.7240435737517215,-1.115591415595073,-0.000616180777056737,1.039761468429034,-0.12170045659021692,0.035],"actuator_force_native":[0.13033451689646824,0.27049673270479957,-0.2635502072997724,-0.03383935029198218,0.3011718545574471,0.2013588948143703,-6.637846703627659e-06],"issued_joint_targets_rad":[-0.11707424915563733,1.7250654574407436,-1.1169432831236372,-0.0006260575745534548,1.0415906014219896,-0.12098067594344528],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.93999999999993,"joint_targets_rad":[-0.11707424915563733,1.7250654574407436,-1.1169432831236372,-0.0006260575745534548,1.0415906014219896,-0.12098067594344528],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.95999999999992,"qpos":[-0.11887890695722647,1.7186074585168527,-1.109604308262303,0.00072767379481996,0.998013429265688,-0.14581752533019565,0.034999846735959066,-0.03500000927863442,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-1.8526299764897303e-17,-8.283292642375476e-17,1.0839798135817989e-07],"qvel":[0.0037307897690301178,0.04918655309508352,-0.06464851560373606,-0.004448211640358317,0.08973607890190828,0.030777779967438253,2.5504602981698222e-06,3.4040946488980864e-06,1.0615981660758291e-16,-2.333299779692647e-17,3.411456944298339e-15,8.718713660316989e-16,1.4136402433365156e-15,2.308476776110092e-08],"joint_position_rad":[-0.11887890695722647,1.7186074585168527,-1.109604308262303,0.00072767379481996,0.998013429265688,-0.14581752533019565],"joint_velocity_rad_s":[0.0037307897690301178,0.04918655309508352,-0.06464851560373606,-0.004448211640358317,0.08973607890190828,0.030777779967438253],"gripper_joint_position_m":[0.034999846735959066,-0.03500000927863442],"tcp_position_m":[0.30728821487929975,-0.035148567621233154,0.08259123108105713],"tcp_quaternion_wxyz":[0.02532830452838569,-0.013271505443366785,0.9995864114729348,-0.0030577984964326064],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-1.8526299764897303e-17,-8.283292642375476e-17,1.0839798135817989e-07],"object_linear_velocity_m_s":[1.0615981660758291e-16,-2.333299779692647e-17,3.411456944298339e-15],"object_angular_velocity_rad_s":[8.71871055735824e-16,1.4136404332100262e-15,2.3084767761100945e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.11707424915563733,1.7250654574407436,-1.1169432831236372,-0.0006260575745534548,1.0415906014219896,-0.12098067594344528,0.035],"actuator_force_native":[0.12571867528198055,0.2707071484358323,-0.2638754108880619,-0.03190819657314501,0.30116760321015335,0.20220182391634633,-6.6217398533297e-06],"issued_joint_targets_rad":[-0.11706693690512039,1.7260779952576941,-1.1182817876767317,-0.0006319688723016168,1.0434010347440394,-0.12025467981090632],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.95999999999992,"joint_targets_rad":[-0.11706693690512039,1.7260779952576941,-1.1182817876767317,-0.0006319688723016168,1.0434010347440394,-0.12025467981090632],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.979999999999908,"qpos":[-0.11880568723813568,1.7196430818108417,-1.1109757184586602,0.000641377843661072,0.9999364204227704,-0.1451984204962771,0.03499984847806152,-0.035000007877797744,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-1.4289831074992413e-17,-8.735957253217036e-17,1.088292916272201e-07],"qvel":[0.003595593971195869,0.04877363059227182,-0.0640554556389417,-0.004184777035107469,0.08898873349210205,0.0309088616600113,2.532788137020075e-06,3.3767421946143803e-06,1.2917996702023996e-16,-2.1238695883001275e-17,3.373986917217239e-15,2.3288733868912815e-16,-2.2921388665802284e-16,4.2146956301865184e-08],"joint_position_rad":[-0.11880568723813568,1.7196430818108417,-1.1109757184586602,0.000641377843661072,0.9999364204227704,-0.1451984204962771],"joint_velocity_rad_s":[0.003595593971195869,0.04877363059227182,-0.0640554556389417,-0.004184777035107469,0.08898873349210205,0.0309088616600113],"gripper_joint_position_m":[0.03499984847806152,-0.035000007877797744],"tcp_position_m":[0.30727610159481117,-0.035139586305519936,0.08257815545785357],"tcp_quaternion_wxyz":[0.02453808709239294,-0.013021695601311022,0.9996096396512759,-0.0029809464535805095],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-1.4289831074992413e-17,-8.735957253217036e-17,1.088292916272201e-07],"object_linear_velocity_m_s":[1.2917996702023996e-16,-2.1238695883001275e-17,3.373986917217239e-15],"object_angular_velocity_rad_s":[2.328873812156124e-16,-2.2921383476354455e-16,4.214695630186523e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11706693690512039,1.7260779952576941,-1.1182817876767317,-0.0006319688723016168,1.0434010347440394,-0.12025467981090632,0.035],"actuator_force_native":[0.12112205678524468,0.27092492278680425,-0.26420825925100644,-0.030009983462970208,0.30116304297453667,0.20307411436369072,-6.603063145815824e-06],"issued_joint_targets_rad":[-0.1170620043381534,1.7270809126553528,-1.119606592606546,-0.0006340447501842618,1.0451923326503247,-0.11952229928068332],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.979999999999908,"joint_targets_rad":[-0.1170620043381534,1.7270809126553528,-1.119606592606546,-0.0006340447501842618,1.0451923326503247,-0.11952229928068332],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.999999999999897,"qpos":[-0.11873517753828851,1.7206697785781242,-1.112334283729836,0.0005603453327543256,1.0018429356625735,-0.14457661207422123,0.03499985033175548,-0.03500000645454563,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-1.2088551811497581e-17,-7.87925005162609e-17,1.0916151270255107e-07],"qvel":[0.003461049184112496,0.04834813053533578,-0.06344711744918058,-0.003926005426541882,0.08822392841117815,0.031044481559696777,2.5136491253739754e-06,3.3478578348765583e-06,1.6815096873842453e-16,-2.372740432269152e-17,3.3503946779439547e-15,-4.29664315599409e-16,-3.3961348923908312e-15,7.69496987751629e-08],"joint_position_rad":[-0.11873517753828851,1.7206697785781242,-1.112334283729836,0.0005603453327543256,1.0018429356625735,-0.14457661207422123],"joint_velocity_rad_s":[0.003461049184112496,0.04834813053533578,-0.06344711744918058,-0.003926005426541882,0.08822392841117815,0.031044481559696777],"gripper_joint_position_m":[0.03499985033175548,-0.03500000645454563],"tcp_position_m":[0.30726364709778226,-0.03513050745462535,0.0825651978051968],"tcp_quaternion_wxyz":[0.02375431525766979,-0.012767708419666887,0.9996320768486515,-0.002903284967246467],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-1.2088551811497581e-17,-7.87925005162609e-17,1.0916151270255107e-07],"object_linear_velocity_m_s":[1.6815096873842453e-16,-2.372740432269152e-17,3.3503946779439547e-15],"object_angular_velocity_rad_s":[-4.296635862710735e-16,-3.3961349843359484e-15,7.694969877516301e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1170620043381534,1.7270809126553528,-1.119606592606546,-0.0006340447501842618,1.0451923326503247,-0.11952229928068332,0.035],"actuator_force_native":[0.11654861009024486,0.2711500735016159,-0.26454912289089805,-0.028145576184834084,0.3011580772607463,0.20397640559583397,-6.581515846093566e-06],"issued_joint_targets_rad":[-0.11705937912482928,1.72807393215912,-1.1209173578685965,-0.0006324202444442929,1.0469640551079427,-0.11878336488924784],"issued_gripper_position_m":0.035,"command":{"t_seconds":9.999999999999897,"joint_targets_rad":[-0.11705937912482928,1.72807393215912,-1.1209173578685965,-0.0006324202444442929,1.0469640551079427,-0.11878336488924784],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.019999999999886,"qpos":[-0.11866736323489012,1.7216872804274028,-1.1136796738100823,0.0004844801732685233,1.00373258920043,-0.14395200760802956,0.034999852294128615,-0.03500000500445341,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-9.789842710716666e-18,-6.724863984263425e-17,1.0945340123941262e-07],"qvel":[0.003327273145221929,0.04790991020455784,-0.0628232812762871,-0.0036720237237410315,0.0874413491937323,0.031184734391546887,2.49303508166198e-06,3.3173816039110564e-06,8.423953712436607e-17,-1.1814140128964129e-17,3.35594579306708e-15,5.455755745025559e-16,3.080243361890186e-15,8.336869708321446e-09],"joint_position_rad":[-0.11866736323489012,1.7216872804274028,-1.1136796738100823,0.0004844801732685233,1.00373258920043,-0.14395200760802956],"joint_velocity_rad_s":[0.003327273145221929,0.04790991020455784,-0.0628232812762871,-0.0036720237237410315,0.0874413491937323,0.031184734391546887],"gripper_joint_position_m":[0.034999852294128615,-0.03500000500445341],"tcp_position_m":[0.30725084171731315,-0.03512133849170983,0.08255236068756168],"tcp_quaternion_wxyz":[0.022977144739057022,-0.012509538946450028,0.9996537312513911,-0.0028248628566659734],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-9.789842710716666e-18,-6.724863984263425e-17,1.0945340123941262e-07],"object_linear_velocity_m_s":[8.423953712436607e-17,-1.1814140128964129e-17,3.35594579306708e-15],"object_angular_velocity_rad_s":[5.455748990950321e-16,3.080243481483554e-15,8.336869708321457e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11705937912482928,1.72807393215912,-1.1209173578685965,-0.0006324202444442929,1.0469640551079427,-0.11878336488924784,0.035],"actuator_force_native":[0.11200236307875677,0.27138258751460853,-0.2648983182997,-0.02631589808980749,0.3011526352845273,0.20490932560049702,-6.5569405527377e-06],"issued_joint_targets_rad":[-0.11705898524113405,1.7290567732955604,-1.1222137399434131,-0.0006272356973401239,1.0487157576731316,-0.11803770713582616],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.019999999999886,"joint_targets_rad":[-0.11705898524113405,1.7290567732955604,-1.1222137399434131,-0.0006272356973401239,1.0487157576731316,-0.11803770713582616],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.039999999999875,"qpos":[-0.1186022273026938,1.7226953159698677,-1.1150115540764445,0.00041368359093956505,1.0056049886110077,-0.1433245127685771,0.03499985436274755,-0.03500000352331781,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,-7.280931705042206e-20,-8.482164987567027e-17,1.0992718848232855e-07],"qvel":[0.0031943861120616274,0.047458828300083286,-0.06218375273314076,-0.0034229672771418198,0.08664068054602586,0.031329712882417905,2.470956244188321e-06,3.285250262986499e-06,1.0694135383660618e-16,-5.484077840835839e-19,3.275454623781756e-15,2.7015242653506797e-16,2.3092562888020495e-15,1.5221018765588367e-08],"joint_position_rad":[-0.1186022273026938,1.7226953159698677,-1.1150115540764445,0.00041368359093956505,1.0056049886110077,-0.1433245127685771],"joint_velocity_rad_s":[0.0031943861120616274,0.047458828300083286,-0.06218375273314076,-0.0034229672771418198,0.08664068054602586,0.031329712882417905],"gripper_joint_position_m":[0.03499985436274755,-0.03500000352331781],"tcp_position_m":[0.3072376760109464,-0.03511208675322398,0.08253964653408241],"tcp_quaternion_wxyz":[0.022206733739333438,-0.012247182910814758,0.9996746112867346,-0.0027457305211953157],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,-7.280931705042206e-20,-8.482164987567027e-17,1.0992718848232855e-07],"object_linear_velocity_m_s":[1.0694135383660618e-16,-5.484077840835839e-19,3.275454623781756e-15],"object_angular_velocity_rad_s":[2.7015191625281536e-16,2.309256348198407e-15,1.5221018765588387e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999985},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11705898524113405,1.7290567732955604,-1.1222137399434131,-0.0006272356973401239,1.0487157576731316,-0.11803770713582616,0.035],"actuator_force_native":[0.10748743436447228,0.2716224445549926,-0.2652561056918046,-0.02452193514547846,0.3011466698022005,0.20587348700388275,-6.52929112288092e-06],"issued_joint_targets_rad":[-0.11706074273934532,1.7300291526097247,-1.1234953918757546,-0.0006186371316739816,1.0504469915292616,-0.11728515709591629],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.039999999999875,"joint_targets_rad":[-0.11706074273934532,1.7300291526097247,-1.1234953918757546,-0.0006186371316739816,1.0504469915292616,-0.11728515709591629],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.059999999999864,"qpos":[-0.11853975025793898,1.7236936108112295,-1.1163295859816542,0.00034785394954119634,1.0074597348516556,-0.14269403140411996,0.03499985653335003,-0.03500000197567335,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,4.012320050193612e-18,-9.072909656369786e-17,1.1040067140956918e-07],"qvel":[0.0030625112875403595,0.046994741768831436,-0.061528355728479235,-0.003178980144405557,0.0858216097718072,0.031479506974414574,2.446564447197963e-06,3.25595296099084e-06,1.1908280694307208e-16,4.767044507611035e-18,3.1991267908387766e-15,1.6323486081366482e-16,1.6832355290091246e-15,2.778973648000311e-08],"joint_position_rad":[-0.11853975025793898,1.7236936108112295,-1.1163295859816542,0.00034785394954119634,1.0074597348516556,-0.14269403140411996],"joint_velocity_rad_s":[0.0030625112875403595,0.046994741768831436,-0.061528355728479235,-0.003178980144405557,0.0858216097718072,0.031479506974414574],"gripper_joint_position_m":[0.03499985653335003,-0.03500000197567335],"tcp_position_m":[0.30722414089220806,-0.03510275951993592,0.08252705774050909],"tcp_quaternion_wxyz":[0.02144324314710601,-0.011980636814454998,0.9996947256180407,-0.0026659400451563534],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,4.012320050193612e-18,-9.072909656369786e-17,1.1040067140956918e-07],"object_linear_velocity_m_s":[1.1908280694307208e-16,4.767044507611035e-18,3.1991267908387766e-15],"object_angular_velocity_rad_s":[1.6323448411032065e-16,1.6832355648285592e-15,2.7789736480003153e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11706074273934532,1.7300291526097247,-1.1234953918757546,-0.0006186371316739816,1.0504469915292616,-0.11728515709591629,0.035],"actuator_force_native":[0.10300804504979055,0.2718696350354435,-0.26562269288564266,-0.022764742526579333,0.3011401521183483,0.2068694826204147,-6.494156236991344e-06],"issued_joint_targets_rad":[-0.11707009882108019,1.7306547357315683,-1.1243024125466934,-0.0005962166713887529,1.0515297893466409,-0.11681740053878772],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.059999999999864,"joint_targets_rad":[-0.11707009882108019,1.7306547357315683,-1.1243024125466934,-0.0005962166713887529,1.0515297893466409,-0.11681740053878772],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.079999999999853,"qpos":[-0.11848007685368725,1.7246230120753863,-1.1175485742484645,0.00028738730048246005,1.0091816449613062,-0.14206410665391897,0.03499988953009689,-0.03499996437047811,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,1.951135031125818e-17,-1.0836159784326041e-16,1.1079696353445437e-07],"qvel":[0.00291767283822019,0.04270233763778492,-0.055564029403374085,-0.0029044891503452455,0.07892396864865692,0.03135683496725832,3.3794942179922687e-06,4.8113687505466485e-06,1.9439257544011318e-16,4.198032907573385e-17,3.1727589940039287e-15,2.2285135580966413e-15,-4.1872635239309786e-15,5.0737041030001566e-08],"joint_position_rad":[-0.11848007685368725,1.7246230120753863,-1.1175485742484645,0.00028738730048246005,1.0091816449613062,-0.14206410665391897],"joint_velocity_rad_s":[0.00291767283822019,0.04270233763778492,-0.055564029403374085,-0.0029044891503452455,0.07892396864865692,0.03135683496725832],"gripper_joint_position_m":[0.03499988953009689,-0.03499996437047811],"tcp_position_m":[0.3072099779346236,-0.03509329987881951,0.08251367203216114],"tcp_quaternion_wxyz":[0.020730872972097435,-0.011711486378192302,0.9997131378387284,-0.002591143622418346],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,1.951135031125818e-17,-1.0836159784326041e-16,1.1079696353445437e-07],"object_linear_velocity_m_s":[1.9439257544011318e-16,4.198032907573385e-17,3.1727589940039287e-15],"object_angular_velocity_rad_s":[2.2285144749728643e-15,-4.187263032085709e-15,5.0737041030001645e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11707009882108019,1.7306547357315683,-1.1243024125466934,-0.0005962166713887529,1.0515297893466409,-0.11681740053878772,0.035],"actuator_force_native":[0.09820987841746387,0.26902620430561797,-0.2624869168414392,-0.02082171312312229,0.30509549088036003,0.205431808700425,-1.2478674965343828e-05],"issued_joint_targets_rad":[-0.1170885023874929,1.7306840232659855,-1.1242976231927218,-0.0005569799870488946,1.0515057124856235,-0.11685694918736467],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.079999999999853,"joint_targets_rad":[-0.1170885023874929,1.7306840232659855,-1.1242976231927218,-0.0005569799870488946,1.0515057124856235,-0.11685694918736467],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.099999999999842,"qpos":[-0.118423539486516,1.725365429290611,-1.1185058921590627,0.00023306696913416214,1.0105922362164566,-0.1414437224072351,0.03499995255788448,-0.03499979918645965,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,3.055534692803145e-17,-1.1313501703410381e-16,1.1113608917700118e-07],"qvel":[0.002754185855804074,0.03209056484161568,-0.04112089246821637,-0.0025884711648923244,0.06410268627155771,0.030692756010840545,2.6828273920733097e-06,1.1131834486615524e-05,2.7632665307133e-16,9.631684826096834e-17,3.072838921787665e-15,4.682167774329495e-15,-9.001488832173446e-15,9.263302422217179e-08],"joint_position_rad":[-0.118423539486516,1.725365429290611,-1.1185058921590627,0.00023306696913416214,1.0105922362164566,-0.1414437224072351],"joint_velocity_rad_s":[0.002754185855804074,0.03209056484161568,-0.04112089246821637,-0.0025884711648923244,0.06410268627155771,0.030692756010840545],"gripper_joint_position_m":[0.03499995255788448,-0.03499979918645965],"tcp_position_m":[0.30718626223335055,-0.03508260697944992,0.08249892214713905],"tcp_quaternion_wxyz":[0.02013605813347925,-0.011443844179016676,0.999728552212732,-0.0025297201201477655],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,3.055534692803145e-17,-1.1313501703410381e-16,1.1113608917700118e-07],"object_linear_velocity_m_s":[2.7632665307133e-16,9.631684826096834e-17,3.072838921787665e-15],"object_angular_velocity_rad_s":[4.6821697541498416e-15,-9.001487797118479e-15,9.263302422217195e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999978}],"native_actuator_controls":[-0.1170885023874929,1.7306840232659855,-1.1242976231927218,-0.0005569799870488946,1.0515057124856235,-0.11685694918736467,0.035],"actuator_force_native":[0.0930320386428285,0.2650346938218604,-0.2577340203516343,-0.01865952242286065,0.3129807332843306,0.19982859818244347,-1.1516452339543903e-05],"issued_joint_targets_rad":[-0.11710417040799234,1.730707690940886,-1.1242929601958096,-0.0005231767350134734,1.051485508975763,-0.11689049749472286],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.099999999999842,"joint_targets_rad":[-0.11710417040799234,1.730707690940886,-1.1242929601958096,-0.0005231767350134734,1.051485508975763,-0.11689049749472286],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.11999999999983,"qpos":[-0.11837013702006098,1.7259069561316833,-1.1191968799982779,0.00018462818386380962,1.011776068978907,-0.14083800389871765,0.03499997419937226,-0.03499957941616034,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,3.6524666704635477e-17,-1.1090106550334935e-16,1.1148746830304913e-07],"qvel":[0.002604656216550975,0.022807775683339703,-0.029031308747745177,-0.002311350609677569,0.055482921676742146,0.029921064551132335,1.1623869462181748e-07,1.0299698312599915e-05,1.3388546990821716e-16,4.430744257184711e-17,3.072838921787666e-15,-1.2894227501669666e-15,4.2718880665419845e-15,1.0036029587126333e-08],"joint_position_rad":[-0.11837013702006098,1.7259069561316833,-1.1191968799982779,0.00018462818386380962,1.011776068978907,-0.14083800389871765],"joint_velocity_rad_s":[0.002604656216550975,0.022807775683339703,-0.029031308747745177,-0.002311350609677569,0.055482921676742146,0.029921064551132335],"gripper_joint_position_m":[0.03499997419937226,-0.03499957941616034],"tcp_position_m":[0.30713442731365265,-0.03506851082667495,0.08248522696066252],"tcp_quaternion_wxyz":[0.019621464627807287,-0.011180377522330124,0.9997418980095898,-0.0024768222586736355],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,3.6524666704635477e-17,-1.1090106550334935e-16,1.1148746830304913e-07],"object_linear_velocity_m_s":[1.3388546990821716e-16,4.430744257184711e-17,3.072838921787666e-15],"object_angular_velocity_rad_s":[-1.2894237049169202e-15,4.271887778299804e-15,1.003602958712635e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11710417040799234,1.730707690940886,-1.1242929601958096,-0.0005231767350134734,1.051485508975763,-0.11689049749472286,0.035],"actuator_force_native":[0.08825404788273516,0.27001990631950434,-0.2625298720638227,-0.016755443706703475,0.3138700174534481,0.19459346721324922,4.5083163668913073e-07],"issued_joint_targets_rad":[-0.11711779530669103,1.7307271465014888,-1.1242873506844282,-0.0004933588969469488,1.0514669373943755,-0.1169196209810029],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.11999999999983,"joint_targets_rad":[-0.11711779530669103,1.7307271465014888,-1.1242873506844282,-0.0004933588969469488,1.0514669373943755,-0.1169196209810029],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.13999999999982,"qpos":[-0.11831952609300339,1.7262838168888084,-1.119674837339311,0.00014128607312651566,1.0128259468634426,-0.14024795439694338,0.034999956552267605,-0.03499943405734557,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,5.0772391806747506e-17,-1.2641707090387685e-16,1.1193713302293232e-07],"qvel":[0.002472576051876361,0.015562592278897473,-0.01967111980361046,-0.0020715005380475904,0.050139398830664726,0.029132464204121668,-1.1646754234395247e-06,4.604585556612878e-06,1.5835728203676583e-16,6.30924999462125e-17,3.009001097871719e-15,-9.320491169032693e-16,3.1384120274096625e-15,1.8323255612975728e-08],"joint_position_rad":[-0.11831952609300339,1.7262838168888084,-1.119674837339311,0.00014128607312651566,1.0128259468634426,-0.14024795439694338],"joint_velocity_rad_s":[0.002472576051876361,0.015562592278897473,-0.01967111980361046,-0.0020715005380475904,0.050139398830664726,0.029132464204121668],"gripper_joint_position_m":[0.034999956552267605,-0.03499943405734557],"tcp_position_m":[0.3070503495710122,-0.035050552280693335,0.08247323404335966],"tcp_quaternion_wxyz":[0.01914952052265349,-0.010921989449243613,0.9997540256314584,-0.002427806400113312],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,5.0772391806747506e-17,-1.2641707090387685e-16,1.1193713302293232e-07],"object_linear_velocity_m_s":[1.5835728203676583e-16,6.30924999462125e-17,3.009001097871719e-15],"object_angular_velocity_rad_s":[-9.320498241456813e-16,3.1384118168871463e-15,1.832325561297576e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988}],"native_actuator_controls":[-0.11711779530669103,1.7307271465014888,-1.1242873506844282,-0.0004933588969469488,1.0514669373943755,-0.1169196209810029,0.035],"actuator_force_native":[0.08377558264560747,0.27765340761993684,-0.27064546859132577,-0.015028296112700627,0.3112008070633312,0.18958463785322222,7.561286412993695e-06],"issued_joint_targets_rad":[-0.11713010152313968,1.7307439202451498,-1.1242805053719347,-0.0004661339375959559,1.0514486373759393,-0.11694587176732872],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.13999999999982,"joint_targets_rad":[-0.11713010152313968,1.7307439202451498,-1.1242805053719347,-0.0004661339375959559,1.0514486373759393,-0.11694587176732872],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.159999999999808,"qpos":[-0.1182714124611162,1.7265373164307545,-1.1199921517842715,0.00010241940830146078,1.0137859316213247,-0.13967359161063572,0.03499992935592067,-0.03499941496099098,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,4.702369012951436e-17,-1.4734649263279353e-16,1.1238070296389833e-07],"qvel":[0.002352978694165275,0.010462449565447824,-0.012885242387759448,-0.0018574268342275092,0.0463500396097043,0.028352769415167216,-1.1264874803472317e-06,-1.8545815009091031e-06,2.039160563969176e-16,6.246383571054463e-17,3.01871554933719e-15,-1.0349340848236855e-15,4.380372873571477e-16,3.345363755095433e-08],"joint_position_rad":[-0.1182714124611162,1.7265373164307545,-1.1199921517842715,0.00010241940830146078,1.0137859316213247,-0.13967359161063572],"joint_velocity_rad_s":[0.002352978694165275,0.010462449565447824,-0.012885242387759448,-0.0018574268342275092,0.0463500396097043,0.028352769415167216],"gripper_joint_position_m":[0.03499992935592067,-0.03499941496099098],"tcp_position_m":[0.3069396057780518,-0.03502941451234742,0.08246222323507163],"tcp_quaternion_wxyz":[0.018703849017936848,-0.01066901021330368,0.999765307591341,-0.002380754034812091],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,4.702369012951436e-17,-1.4734649263279353e-16,1.1238070296389833e-07],"object_linear_velocity_m_s":[2.039160563969176e-16,6.246383571054463e-17,3.01871554933719e-15],"object_angular_velocity_rad_s":[-1.03493419313609e-15,4.3803705159766944e-16,3.34536375509544e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11713010152313968,1.7307439202451498,-1.1242805053719347,-0.0004661339375959559,1.0514486373759393,-0.11694587176732872,0.035],"actuator_force_native":[0.07953998156729547,0.28421605732438593,-0.2786420750742735,-0.013454999664759121,0.3071019981315892,0.18474804431031933,8.458200575267583e-06],"issued_joint_targets_rad":[-0.11714144934158384,1.7307588133626832,-1.1242726877235407,-0.000440857368898338,1.0514303842491137,-0.11697000161272303],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.159999999999808,"joint_targets_rad":[-0.11714144934158384,1.7307588133626832,-1.1242726877235407,-0.000440857368898338,1.0514303842491137,-0.11697000161272303],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.179999999999797,"qpos":[-0.11822557196869994,1.7267242141943824,-1.1202045947576609,6.772827812798951e-05,1.0146843663197207,-0.13911468573456687,0.03499990868049824,-0.03499951801833277,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999947,3.942278659420551e-17,-1.403732550620141e-16,1.1279523169285195e-07],"qvel":[0.0022436446989392666,0.008685364078244513,-0.008792951463650948,-0.0016521396019787435,0.043470012952291325,0.02758860525887985,-4.394777015842921e-07,-7.222552218004038e-06,2.2771961072884664e-16,6.556979827737426e-17,2.9798577434753092e-15,5.281333508446242e-17,-1.3857886302470618e-15,6.107789407239936e-08],"joint_position_rad":[-0.11822557196869994,1.7267242141943824,-1.1202045947576609,6.772827812798951e-05,1.0146843663197207,-0.13911468573456687],"joint_velocity_rad_s":[0.0022436446989392666,0.008685364078244513,-0.008792951463650948,-0.0016521396019787435,0.043470012952291325,0.02758860525887985],"gripper_joint_position_m":[0.03499990868049824,-0.03499951801833277],"tcp_position_m":[0.3068114992598527,-0.03500618727880199,0.08244762557017762],"tcp_quaternion_wxyz":[0.018269896360934693,-0.0104215242461014,0.999776052816659,-0.002333866682011163],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999947,3.942278659420551e-17,-1.403732550620141e-16,1.1279523169285195e-07],"object_linear_velocity_m_s":[2.2771961072884664e-16,6.556979827737426e-17,2.9798577434753092e-15],"object_angular_velocity_rad_s":[5.2813630557755365e-17,-1.3857886231485681e-15,6.107789407239948e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11714144934158384,1.7307588133626832,-1.1242726877235407,-0.000440857368898338,1.0514303842491137,-0.11697000161272303,0.035],"actuator_force_native":[0.07551158667459212,0.2793411130728316,-0.28148267995213416,-0.012082727871159382,0.30225515986549567,0.1800639333301186,5.850168578458437e-06],"issued_joint_targets_rad":[-0.11715215356351119,1.7307725573520292,-1.1242642298458931,-0.0004170045094013822,1.051412071454585,-0.11699263075794117],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.179999999999797,"joint_targets_rad":[-0.11715215356351119,1.7307725573520292,-1.1242642298458931,-0.0004170045094013822,1.051412071454585,-0.11699263075794117],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.199999999999786,"qpos":[-0.11818187191204457,1.7268910378392606,-1.120345220170639,3.686330925170572e-05,1.015512931403816,-0.13857070763455237,0.034999909951022125,-0.03499968899303286,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,2.8984800387088626e-17,-1.1220796685984716e-16,1.130793624542348e-07],"qvel":[0.0021376989048560854,0.0081254152885973,-0.005741343902855321,-0.0014758801055930791,0.03974914329498529,0.02685604878053467,6.128553079317163e-07,-8.980752315517258e-06,2.949392051282947e-16,3.2967113587654945e-17,3.249086826946909e-15,-1.6270887975258545e-15,-8.259774267125764e-15,1.1151281048695305e-07],"joint_position_rad":[-0.11818187191204457,1.7268910378392606,-1.120345220170639,3.686330925170572e-05,1.015512931403816,-0.13857070763455237],"joint_velocity_rad_s":[0.0021376989048560854,0.0081254152885973,-0.005741343902855321,-0.0014758801055930791,0.03974914329498529,0.02685604878053467],"gripper_joint_position_m":[0.034999909951022125,-0.03499968899303286],"tcp_position_m":[0.30667627872057257,-0.034982108979792585,0.08242294713613146],"tcp_quaternion_wxyz":[0.01784509045357068,-0.010179428460485711,0.9997863281334347,-0.0022869325275503296],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,2.8984800387088626e-17,-1.1220796685984716e-16,1.130793624542348e-07],"object_linear_velocity_m_s":[2.949392051282947e-16,3.2967113587654945e-17,3.249086826946909e-15],"object_angular_velocity_rad_s":[-1.6270869545310472e-15,-8.259774641570234e-15,1.1151281048695303e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000058},{"geom_ids":[1,90],"normal_force_n":0.09810000000000062},{"geom_ids":[1,90],"normal_force_n":0.09810000000000063},{"geom_ids":[1,90],"normal_force_n":0.09810000000000065}],"native_actuator_controls":[-0.11715215356351119,1.7307725573520292,-1.1242642298458931,-0.0004170045094013822,1.051412071454585,-0.11699263075794117,0.035],"actuator_force_native":[0.07168897335838942,0.26989448457851495,-0.28481405450605735,-0.01077531221815812,0.29936768556521187,0.1754966955953099,5.376825755742942e-07],"issued_joint_targets_rad":[-0.11716231984552897,1.7307854156873395,-1.1242555019904192,-0.00039442801058467344,1.0513939273255608,-0.11701395695311287],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.199999999999786,"joint_targets_rad":[-0.11716231984552897,1.7307854156873395,-1.1242555019904192,-0.00039442801058467344,1.0513939273255608,-0.11701395695311287],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.219999999999775,"qpos":[-0.11814026883648805,1.7270513596489816,-1.1204486284975375,9.12692550403679e-06,1.0162858729859519,-0.13804113900661774,0.03499992467238991,-0.03499987586201522,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,1.47907539283142e-17,-1.065907989441425e-16,1.1350235710674749e-07],"qvel":[0.0020332281054024977,0.007915128141822362,-0.004855924825174768,-0.0013289959945504235,0.03794948753566081,0.02615031584246209,1.2094446394804285e-06,-8.81300695449384e-06,1.3364886668826713e-16,2.0107157483165442e-17,3.841668366340586e-15,-1.0230562621692454e-15,4.1197207089802976e-15,1.208149981918482e-08],"joint_position_rad":[-0.11814026883648805,1.7270513596489816,-1.1204486284975375,9.12692550403679e-06,1.0162858729859519,-0.13804113900661774],"joint_velocity_rad_s":[0.0020332281054024977,0.007915128141822362,-0.004855924825174768,-0.0013289959945504235,0.03794948753566081,0.02615031584246209],"gripper_joint_position_m":[0.03499992467238991,-0.03499987586201522],"tcp_position_m":[0.306541266613482,-0.03495815955462489,0.08239205370899827],"tcp_quaternion_wxyz":[0.01743275791029106,-0.009942668360389003,0.9997960900906621,-0.0022406554713841915],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,1.47907539283142e-17,-1.065907989441425e-16,1.1350235710674749e-07],"object_linear_velocity_m_s":[1.3364886668826713e-16,2.0107157483165442e-17,3.841668366340586e-15],"object_angular_velocity_rad_s":[-1.0230571999407944e-15,4.119720476384208e-15,1.208149981918482e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000001},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012}],"native_actuator_controls":[-0.11716231984552897,1.7307854156873395,-1.1242555019904192,-0.00039442801058467344,1.0513939273255608,-0.11701395695311287,0.035],"actuator_force_native":[0.06806977874971487,0.2591488423595081,-0.2802702553046714,-0.009497217470796293,0.29415631209259985,0.17104634677135544,-3.0341187935434277e-06],"issued_joint_targets_rad":[-0.11717193988717532,1.7307974782277928,-1.1242469498061753,-0.0003731427054492817,1.0513764496039304,-0.11703399319898117],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.219999999999775,"joint_targets_rad":[-0.11717193988717532,1.7307974782277928,-1.1242469498061753,-0.0003731427054492817,1.0513764496039304,-0.11703399319898117],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.239999999999764,"qpos":[-0.11810073106948922,1.7272072234726794,-1.1205426222986323,-1.5698004413631245e-05,1.017034582798109,-0.13752528967953556,0.034999948776329205,-0.03500002908276967,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.570539307413425e-18,-1.2007206887115012e-16,1.1398227507144457e-07],"qvel":[0.001931547966257217,0.007669490215945792,-0.004595758530168571,-0.0011841580249875013,0.03701583562748822,0.025478455157416906,6.177027023005407e-07,-5.102639318624786e-06,1.5443631448618726e-16,-1.7559929600691437e-18,3.912445084160438e-15,-8.94349063028044e-16,2.5614619674660175e-15,2.2057767711147184e-08],"joint_position_rad":[-0.11810073106948922,1.7272072234726794,-1.1205426222986323,-1.5698004413631245e-05,1.017034582798109,-0.13752528967953556],"joint_velocity_rad_s":[0.001931547966257217,0.007669490215945792,-0.004595758530168571,-0.0011841580249875013,0.03701583562748822,0.025478455157416906],"gripper_joint_position_m":[0.034999948776329205,-0.03500002908276967],"tcp_position_m":[0.3064085343684533,-0.034934612012783486,0.08236063249028562],"tcp_quaternion_wxyz":[0.01703009653779938,-0.009710974158836438,0.999805409020821,-0.00219474041924154],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.570539307413425e-18,-1.2007206887115012e-16,1.1398227507144457e-07],"object_linear_velocity_m_s":[1.5443631448618726e-16,-1.7559929600691437e-18,3.912445084160438e-15],"object_angular_velocity_rad_s":[-8.943496522475896e-16,2.5614617636994694e-15,2.2057767711147187e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000024},{"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":0.09810000000000023}],"native_actuator_controls":[-0.11717193988717532,1.7307974782277928,-1.1242469498061753,-0.0003731427054492817,1.0513764496039304,-0.11703399319898117,0.035],"actuator_force_native":[0.06464555475382561,0.2488729293293659,-0.2733674079525912,-0.008376997916488512,0.2878949146169809,0.16669528206941853,-1.0395666796281233e-06],"issued_joint_targets_rad":[-0.11718108522152547,1.7308089676943748,-1.124238765889526,-0.000353001292803242,1.0513597652045943,-0.11705290808182023],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.239999999999764,"joint_targets_rad":[-0.11718108522152547,1.7308089676943748,-1.124238765889526,-0.000353001292803242,1.0513597652045943,-0.11705290808182023],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.259999999999753,"qpos":[-0.11806317494704179,1.727357785208203,-1.1206329004382958,-3.771196762734084e-05,1.0177662316351124,-0.13702263782566224,0.03499993690745659,-0.03500008023753369,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-1.260759087139394e-17,-1.2047784455039573e-16,1.1439439711765168e-07],"qvel":[0.0018346193170708201,0.0073926879577102846,-0.004448948004531672,-0.0010470918006183494,0.03620186664295403,0.024828211819969376,-1.0047243208545572e-06,-7.517762222498555e-07,1.776484988628941e-16,-1.7230115048937124e-17,3.995711811007324e-15,-6.986006123361715e-16,2.1398916308842654e-16,4.027191356046177e-08],"joint_position_rad":[-0.11806317494704179,1.727357785208203,-1.1206329004382958,-3.771196762734084e-05,1.0177662316351124,-0.13702263782566224],"joint_velocity_rad_s":[0.0018346193170708201,0.0073926879577102846,-0.004448948004531672,-0.0010470918006183494,0.03620186664295403,0.024828211819969376],"gripper_joint_position_m":[0.03499993690745659,-0.03500008023753369],"tcp_position_m":[0.3062784055480951,-0.034911494905093675,0.08233022658617192],"tcp_quaternion_wxyz":[0.016636791740888127,-0.009484154702291258,0.9998143072854422,-0.0021491666954628627],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-1.260759087139394e-17,-1.2047784455039573e-16,1.1439439711765168e-07],"object_linear_velocity_m_s":[1.776484988628941e-16,-1.7230115048937124e-17,3.995711811007324e-15],"object_angular_velocity_rad_s":[-6.986006709982227e-16,2.1398900427189175e-16,4.0271913560461776e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11718108522152547,1.7308089676943748,-1.124238765889526,-0.000353001292803242,1.0513597652045943,-0.11705290808182023,0.035],"actuator_force_native":[0.06139408145595304,0.23913115910519878,-0.2662244960757647,-0.007376114003944301,0.28163253573038816,0.162454979708466,7.547323340739709e-06],"issued_joint_targets_rad":[-0.11718978182498811,1.7308199365275085,-1.1242309831968176,-0.00033393640203260427,1.0513438900001568,-0.1170707706154142],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.259999999999753,"joint_targets_rad":[-0.11718978182498811,1.7308199365275085,-1.1242309831968176,-0.00033393640203260427,1.0513438900001568,-0.1170707706154142],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.279999999999742,"qpos":[-0.11802750458853846,1.7275027349709449,-1.1207205504270585,-5.7104035771901135e-05,1.0184819202084863,-0.1365327930242337,0.03499991563792348,-0.03500008606753167,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.057172769012013e-17,-1.0913151432483081e-16,1.1476577516623184e-07],"qvel":[0.0017424706191905071,0.007111612932401791,-0.0043262359921389295,-0.0009204876575302824,0.03541439558955022,0.02419621400866259,-8.849709312331017e-07,3.0817374533738256e-07,2.051998391320793e-16,-5.633585630062628e-17,4.006814041253577e-15,-2.409934098396176e-15,-2.8800608618463226e-15,7.352634423662519e-08],"joint_position_rad":[-0.11802750458853846,1.7275027349709449,-1.1207205504270585,-5.7104035771901135e-05,1.0184819202084863,-0.1365327930242337],"joint_velocity_rad_s":[0.0017424706191905071,0.007111612932401791,-0.0043262359921389295,-0.0009204876575302824,0.03541439558955022,0.02419621400866259],"gripper_joint_position_m":[0.03499991563792348,-0.03500008606753167],"tcp_position_m":[0.30615100380904103,-0.03488882544583259,0.0823011710051824],"tcp_quaternion_wxyz":[0.016252982307927752,-0.009262112883824626,0.9998227977810252,-0.0021040124401374405],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.057172769012013e-17,-1.0913151432483081e-16,1.1476577516623184e-07],"object_linear_velocity_m_s":[2.051998391320793e-16,-5.633585630062628e-17,4.006814041253577e-15],"object_angular_velocity_rad_s":[-2.4099334533793617e-15,-2.8800614119770312e-15,7.35263442366252e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11718978182498811,1.7308199365275085,-1.1242309831968176,-0.00033393640203260427,1.0513438900001568,-0.1170707706154142,0.035],"actuator_force_native":[0.0583054679880739,0.22981805986310633,-0.2592034416200164,-0.006470856362776713,0.2754981045323781,0.15832590307520134,7.79933771721808e-06],"issued_joint_targets_rad":[-0.1171980459337445,1.7308304047604017,-1.1242236021475642,-0.00031589745502324346,1.051328813935961,-0.11708763021509196],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.279999999999742,"joint_targets_rad":[-0.1171980459337445,1.7308304047604017,-1.1242236021475642,-0.00031589745502324346,1.051328813935961,-0.11708763021509196],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.29999999999973,"qpos":[-0.11799362617210193,1.7276421178212833,-1.1208058366618292,-7.408878977915756e-05,1.0191820456798004,-0.1360554050200158,0.034999900300894025,-0.03500008098618398,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.223169937564316e-17,-8.738982531105155e-17,1.1504467810388617e-07],"qvel":[0.0016549268088774142,0.006836813481648652,-0.004211025606710817,-0.000804697365642307,0.03464418178406698,0.0235812371311512,-5.312500032235345e-07,5.395663929751661e-07,1.0881594971843876e-16,-2.667547185454608e-17,4.1344896890854695e-15,5.9884958574244525e-16,3.984736964210235e-15,7.965977278494311e-09],"joint_position_rad":[-0.11799362617210193,1.7276421178212833,-1.1208058366618292,-7.408878977915756e-05,1.0191820456798004,-0.1360554050200158],"joint_velocity_rad_s":[0.0016549268088774142,0.006836813481648652,-0.004211025606710817,-0.000804697365642307,0.03464418178406698,0.0235812371311512],"gripper_joint_position_m":[0.034999900300894025,-0.03500008098618398],"tcp_position_m":[0.3060263266614322,-0.034866611309808455,0.08227350247733836],"tcp_quaternion_wxyz":[0.015878570300779892,-0.00904477699716347,0.9998308967732977,-0.0020593377036872518],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.223169937564316e-17,-8.738982531105155e-17,1.1504467810388617e-07],"object_linear_velocity_m_s":[1.0881594971843876e-16,-2.667547185454608e-17,4.1344896890854695e-15],"object_angular_velocity_rad_s":[5.988486675045761e-16,3.984737102353241e-15,7.965977278494314e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.1171980459337445,1.7308304047604017,-1.1242236021475642,-0.00031589745502324346,1.051328813935961,-0.11708763021509196,0.035],"actuator_force_native":[0.055371785024208364,0.22087888772125552,-0.25236611082524973,-0.0056488597815519005,0.2695014098855051,0.15430589235251158,6.644214255224767e-06],"issued_joint_targets_rad":[-0.11720589576322836,1.730840394656327,-1.1242166104224085,-0.00029883093967909526,1.0513145087605482,-0.11710353946271926],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.29999999999973,"joint_targets_rad":[-0.11720589576322836,1.730840394656327,-1.1242166104224085,-0.00029883093967909526,1.0513145087605482,-0.11710353946271926],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.31999999999972,"qpos":[-0.11796144994776551,1.7277760977560856,-1.1208888655487235,-8.887758345329139e-05,1.0198669455557308,-0.1355901409823865,0.0349998915628385,-0.035000073770522576,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-3.7713275083411067e-17,-8.55189294788279e-17,1.154973873993357e-07],"qvel":[0.0015717729569616344,0.006571296018828634,-0.0040999508794013475,-0.0006992378058570731,0.033890749440285806,0.022982615562601755,-2.4401080331294466e-07,5.569155272997914e-07,1.0892635103664705e-16,-4.5370535688138437e-17,4.1747352737281335e-15,8.318604691079535e-16,3.118859986441596e-15,1.454386285072694e-08],"joint_position_rad":[-0.11796144994776551,1.7277760977560856,-1.1208888655487235,-8.887758345329139e-05,1.0198669455557308,-0.1355901409823865],"joint_velocity_rad_s":[0.0015717729569616344,0.006571296018828634,-0.0040999508794013475,-0.0006992378058570731,0.033890749440285806,0.022982615562601755],"gripper_joint_position_m":[0.0349998915628385,-0.035000073770522576],"tcp_position_m":[0.30590432954952124,-0.03484485604017934,0.08224718466458779],"tcp_quaternion_wxyz":[0.015513350177686243,-0.008832081011144223,0.9998386216417487,-0.0020151885284375973],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-3.7713275083411067e-17,-8.55189294788279e-17,1.154973873993357e-07],"object_linear_velocity_m_s":[1.0892635103664705e-16,-4.5370535688138437e-17,4.1747352737281335e-15],"object_angular_velocity_rad_s":[8.318597461800203e-16,3.118860179693929e-15,1.4543862850726947e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11720589576322836,1.730840394656327,-1.1242166104224085,-0.00029883093967909526,1.0513145087605482,-0.11710353946271926,0.035],"actuator_force_native":[0.05258546997816538,0.21228727192516317,-0.24571983549779475,-0.00490194521974679,0.2636395078877456,0.15039209185276992,5.557540476486267e-06],"issued_joint_targets_rad":[-0.11721335010739728,1.7308499296086677,-1.1242099922788849,-0.00028268372760382034,1.05130094102048,-0.11711855078615052],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.31999999999972,"joint_targets_rad":[-0.11721335010739728,1.7308499296086677,-1.1242099922788849,-0.00028268372760382034,1.05130094102048,-0.11711855078615052],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.339999999999709,"qpos":[-0.11793089047764811,1.7279048685431622,-1.1209697097811206,-0.00010166906173332932,1.0205369546105674,-0.1351366794866998,0.034999887620197595,-0.035000066689259215,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-1.8924753567504128e-17,-1.0303411909509081e-16,1.1594980591757034e-07],"qvel":[0.0014927949982076643,0.006315633452331809,-0.0039922222279915424,-0.0006033894061879053,0.03315399816528871,0.022399835754081148,-5.129185859969691e-08,5.205621936771554e-07,1.395025851904841e-16,-2.3015683919408807e-17,4.131714131523911e-15,1.3819918712339077e-15,1.1262164037425013e-15,2.6553420782634e-08],"joint_position_rad":[-0.11793089047764811,1.7279048685431622,-1.1209697097811206,-0.00010166906173332932,1.0205369546105674,-0.1351366794866998],"joint_velocity_rad_s":[0.0014927949982076643,0.006315633452331809,-0.0039922222279915424,-0.0006033894061879053,0.03315399816528871,0.022399835754081148],"gripper_joint_position_m":[0.034999887620197595,-0.035000066689259215],"tcp_position_m":[0.3057849567566266,-0.03482356106242233,0.08222216459798391],"tcp_quaternion_wxyz":[0.015157086918575426,-0.008623959021849776,0.999845989555034,-0.0019716028116683972],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-1.8924753567504128e-17,-1.0303411909509081e-16,1.1594980591757034e-07],"object_linear_velocity_m_s":[1.395025851904841e-16,-2.3015683919408807e-17,4.131714131523911e-15],"object_angular_velocity_rad_s":[1.3819916045929078e-15,1.1262167252308834e-15,2.6553420782634016e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999958},{"geom_ids":[1,90],"normal_force_n":0.09809999999999942},{"geom_ids":[1,90],"normal_force_n":0.09809999999999947},{"geom_ids":[1,90],"normal_force_n":0.0980999999999995}],"native_actuator_controls":[-0.11721335010739728,1.7308499296086677,-1.1242099922788849,-0.00028268372760382034,1.05130094102048,-0.11711855078615052,0.035],"actuator_force_native":[0.049939254629027374,0.20402671797876337,-0.2392614886811799,-0.004223639603880113,0.25790886685119574,0.1465815333743712,4.7516513892453816e-06],"issued_joint_targets_rad":[-0.11722042739303888,1.730859032500487,-1.1242037314766942,-0.00026740495262919894,1.051288076835166,-0.11713271446220919],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.339999999999709,"joint_targets_rad":[-0.11722042739303888,1.730859032500487,-1.1242037314766942,-0.00026740495262919894,1.051288076835166,-0.11713271446220919],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.359999999999697,"qpos":[-0.11790186652405073,1.7280286266845282,-1.121048433230574,-0.00011264705651662665,1.02119240371176,-0.13469470877744835,0.03499988679186688,-0.03500006027528052,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-1.868025028822344e-18,-1.0560435613257306e-16,1.1638393602439952e-07],"qvel":[0.0014177867359053144,0.006069707421709669,-0.00388758871441639,-0.0005164066581306594,0.03243365616295939,0.02183243340639406,6.915559743139076e-08,4.7447894600835274e-07,1.5941834537466252e-16,1.7154575223635861e-18,3.7015027094816626e-15,1.5299678154966117e-15,-4.2569899155987973e-16,4.84798407752021e-08],"joint_position_rad":[-0.11790186652405073,1.7280286266845282,-1.121048433230574,-0.00011264705651662665,1.02119240371176,-0.13469470877744835],"joint_velocity_rad_s":[0.0014177867359053144,0.006069707421709669,-0.00388758871441639,-0.0005164066581306594,0.03243365616295939,0.02183243340639406],"gripper_joint_position_m":[0.03499988679186688,-0.03500006027528052],"tcp_position_m":[0.30566815061423536,-0.03480272634583114,0.08219838687883384],"tcp_quaternion_wxyz":[0.01480954246735862,-0.008420343916541067,0.999853017054618,-0.0019286127171262387],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-1.868025028822344e-18,-1.0560435613257306e-16,1.1638393602439952e-07],"object_linear_velocity_m_s":[1.5941834537466252e-16,1.7154575223635861e-18,3.7015027094816626e-15],"object_angular_velocity_rad_s":[1.5299679043462549e-15,-4.2569863525139384e-16,4.8479840775202135e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999995},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11722042739303888,1.730859032500487,-1.1242037314766942,-0.00026740495262919894,1.051288076835166,-0.11713271446220919,0.035],"actuator_force_native":[0.04742619680142113,0.19608392816815012,-0.23298591611752784,-0.0036082825538495955,0.25230624698962245,0.14287129304280066,4.182547337805431e-06],"issued_joint_targets_rad":[-0.1172271453768598,1.7308677251516378,-1.1241978120836746,-0.000252946502478408,1.0512758832710933,-0.11714607807434452],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.359999999999697,"joint_targets_rad":[-0.1172271453768598,1.7308677251516378,-1.1241978120836746,-0.000252946502478408,1.0512758832710933,-0.11714607807434452],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.379999999999686,"qpos":[-0.11787430087231773,1.7281475640185835,-1.121125096306868,-0.00012198083585257789,1.0218336173456044,-0.13426392611238036,0.034999887888866175,-0.035000054580511156,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,9.381865424704535e-18,-1.02071707658504e-16,1.167079745733511e-07],"qvel":[0.0013465512732188732,0.005833220355418749,-0.0037859208108435177,-0.0004375785202844475,0.03172937523387121,0.021279967498201192,1.4119321156041742e-07,4.307899625597039e-07,2.625298155246106e-16,4.099227270839472e-17,3.630725991661807e-15,3.168789362048766e-15,-9.840261854886074e-15,8.8511946570971e-08],"joint_position_rad":[-0.11787430087231773,1.7281475640185835,-1.121125096306868,-0.00012198083585257789,1.0218336173456044,-0.13426392611238036],"joint_velocity_rad_s":[0.0013465512732188732,0.005833220355418749,-0.0037859208108435177,-0.0004375785202844475,0.03172937523387121,0.021279967498201192],"gripper_joint_position_m":[0.034999887888866175,-0.035000054580511156],"tcp_position_m":[0.3055538540082206,-0.034782350675774905,0.08217579721675836],"tcp_quaternion_wxyz":[0.014470483268269742,-0.008221167213961092,0.9998597199611803,-0.0018862456820038448],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,9.381865424704535e-18,-1.02071707658504e-16,1.167079745733511e-07],"object_linear_velocity_m_s":[2.625298155246106e-16,4.099227270839472e-17,3.630725991661807e-15],"object_angular_velocity_rad_s":[3.168791640853612e-15,-9.840261116900652e-15,8.851194657097105e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.1172271453768598,1.7308677251516378,-1.1241978120836746,-0.000252946502478408,1.0512758832710933,-0.11714607807434452,0.035],"actuator_force_native":[0.045039683270539754,0.1884467888672532,-0.22688765809031963,-0.0030507340636109666,0.2468285964040806,0.13925852913305659,3.7784792952244572e-06],"issued_joint_targets_rad":[-0.11723352107789847,1.730876028211731,-1.1241922186804745,-0.00023926302568927038,1.0512643286785301,-0.11715868648722585],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.379999999999686,"joint_targets_rad":[-0.11723352107789847,1.730876028211731,-1.1241922186804745,-0.00023926302568927038,1.0512643286785301,-0.11715868648722585],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.399999999999675,"qpos":[-0.11784812014270939,1.728261865914903,-1.1211997572134902,-0.0001298259756337668,1.0224609127944388,-0.1338440373832445,0.03499989013437964,-0.035000049530146723,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,1.7479902609833823e-17,-1.0557940326439212e-16,1.170437214702279e-07],"qvel":[0.0012789011003128267,0.00560583640316331,-0.0036871193968314076,-0.0003662422553203628,0.031040789136147592,0.02074201343214596,1.8226211803116316e-07,3.9226972025860535e-07,1.2521811765035347e-16,1.968593209724046e-17,3.4974992287067886e-15,-3.029682412617866e-16,3.656552960531944e-15,9.589544571814088e-09],"joint_position_rad":[-0.11784812014270939,1.728261865914903,-1.1211997572134902,-0.0001298259756337668,1.0224609127944388,-0.1338440373832445],"joint_velocity_rad_s":[0.0012789011003128267,0.00560583640316331,-0.0036871193968314076,-0.0003662422553203628,0.031040789136147592,0.02074201343214596],"gripper_joint_position_m":[0.03499989013437964,-0.035000049530146723],"tcp_position_m":[0.3054420110107655,-0.034762431814119275,0.08215434326329987],"tcp_quaternion_wxyz":[0.014139682141515663,-0.008026359206781282,0.9998661133744096,-0.0018445249722412191],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,1.7479902609833823e-17,-1.0557940326439212e-16,1.170437214702279e-07],"object_linear_velocity_m_s":[1.2521811765035347e-16,1.968593209724046e-17,3.4974992287067886e-15],"object_angular_velocity_rad_s":[-3.0296909923982783e-16,3.656552889275538e-15,9.589544571814096e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.11723352107789847,1.730876028211731,-1.1241922186804745,-0.00023926302568927038,1.0512643286785301,-0.11715868648722585,0.035],"actuator_force_native":[0.04277341968330717,0.18110380173044405,-0.2209613203745846,-0.00254627072561833,0.2414729751366913,0.13574048881196732,3.483314224395073e-06],"issued_joint_targets_rad":[-0.1172395707792143,1.7308839611860858,-1.1241869364046086,-0.00022631180599299135,1.051253382743099,-0.11717058196446836],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.399999999999675,"joint_targets_rad":[-0.1172395707792143,1.7308839611860858,-1.1241869364046086,-0.00022631180599299135,1.051253382743099,-0.11717058196446836],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.419999999999664,"qpos":[-0.11782325460555378,1.7283717109822194,-1.1212724722874743,-0.00013632534297610858,1.0230746000208228,-0.13343475681352265,0.03499989303601868,-0.0350000450284131,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,1.546169875534489e-17,-1.5479314630765577e-16,1.1752783972549733e-07],"qvel":[0.0012146577978034553,0.005387218780800857,-0.003591094821866949,-0.00030178426726583347,0.030367533247254698,0.020218160914324938,2.0391957914544098e-07,3.5888464891823186e-07,1.9232656304626866e-16,1.841747300118726e-17,3.4655803167488156e-15,-5.708233259848147e-16,2.8553702381908856e-15,1.750808672652323e-08],"joint_position_rad":[-0.11782325460555378,1.7283717109822194,-1.1212724722874743,-0.00013632534297610858,1.0230746000208228,-0.13343475681352265],"joint_velocity_rad_s":[0.0012146577978034553,0.005387218780800857,-0.003591094821866949,-0.00030178426726583347,0.030367533247254698,0.020218160914324938],"gripper_joint_position_m":[0.03499989303601868,-0.0350000450284131],"tcp_position_m":[0.3053325670126146,-0.034742966622941455,0.08213397475940838],"tcp_quaternion_wxyz":[0.013816918598567278,-0.007835849168095177,0.9998722116970187,-0.0018034700906589573],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,1.546169875534489e-17,-1.5479314630765577e-16,1.1752783972549733e-07],"object_linear_velocity_m_s":[1.9232656304626866e-16,1.841747300118726e-17,3.4655803167488156e-15],"object_angular_velocity_rad_s":[-5.708240025760545e-16,2.8553701034741344e-15,1.7508086726523245e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998}],"native_actuator_controls":[-0.1172395707792143,1.7308839611860858,-1.1241869364046086,-0.00022631180599299135,1.051253382743099,-0.11717058196446836,0.035],"actuator_force_native":[0.04062141711814249,0.17404392240530342,-0.2152016552614242,-0.002090537184346144,0.2362365273518794,0.13231450711905546,3.2589613572220344e-06],"issued_joint_targets_rad":[-0.11724531004817168,1.7308915424947027,-1.1241819509524955,-0.0002140526095125685,1.0512430164628987,-0.11718180431683688],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.419999999999664,"joint_targets_rad":[-0.11724531004817168,1.7308915424947027,-1.1241819509524955,-0.0002140526095125685,1.0512430164628987,-0.11718180431683688],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.439999999999653,"qpos":[-0.11779963800365917,1.7284772711715164,-1.1213432961244503,-0.00014161005376926627,1.0236749817699133,-0.1330358066835321,0.03499989628622069,-0.0350000409892626,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,9.810459184842644e-18,-1.8451569917376432e-16,1.1795167603274245e-07],"qvel":[0.001153651641868587,0.005177039291006853,-0.0034977618556299053,-0.00024363762589547247,0.029709250096151378,0.01970801302093277,2.1356214894754667e-07,3.2986208691624963e-07,2.5282400822126495e-16,1.602815764476058e-17,3.360109129409426e-15,-4.056835392350138e-16,1.7379639976585848e-16,3.19653450200767e-08],"joint_position_rad":[-0.11779963800365917,1.7284772711715164,-1.1213432961244503,-0.00014161005376926627,1.0236749817699133,-0.1330358066835321],"joint_velocity_rad_s":[0.001153651641868587,0.005177039291006853,-0.0034977618556299053,-0.00024363762589547247,0.029709250096151378,0.01970801302093277],"gripper_joint_position_m":[0.03499989628622069,-0.0350000409892626],"tcp_position_m":[0.30522546872618644,-0.03472395117173053,0.0821146435103505],"tcp_quaternion_wxyz":[0.013501978748858697,-0.007649565559999056,0.9998780286640638,-0.0017630971255233356],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,9.810459184842644e-18,-1.8451569917376432e-16,1.1795167603274245e-07],"object_linear_velocity_m_s":[2.5282400822126495e-16,1.602815764476058e-17,3.360109129409426e-15],"object_angular_velocity_rad_s":[-4.0568359203037213e-16,1.7379630343655624e-16,3.1965345020076735e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11724531004817168,1.7308915424947027,-1.1241819509524955,-0.0002140526095125685,1.0512430164628987,-0.11718180431683688,0.035],"actuator_force_native":[0.03857797822965736,0.16725650939989123,-0.2096035769654634,-0.0016795141002547281,0.23111647178562755,0.12897800413555305,3.080740427874318e-06],"issued_joint_targets_rad":[-0.11725075376131869,1.7308987895363785,-1.1241772485702888,-0.00020244753302278815,1.0512332021070212,-0.11719239105055375],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.439999999999653,"joint_targets_rad":[-0.11725075376131869,1.7308987895363785,-1.1241772485702888,-0.00020244753302278815,1.0512332021070212,-0.11719239105055375],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.459999999999642,"qpos":[-0.1177772073828246,1.7285787119768177,-1.1214122816506973,-0.0001458003715849314,1.0242623537296065,-0.13264691707023674,0.03499989969480771,-0.03500003734286485,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-5.649991068115014e-18,-1.9498143722062203e-16,1.1834776311958179e-07],"qvel":[0.001095721198150958,0.004974980526101836,-0.0034070383918304915,-0.00019127890979525077,0.029065590685707226,0.019211185578980727,2.1585572517400453e-07,3.043634689706063e-07,3.3341149294919195e-16,-1.956906950659522e-17,3.314312429643637e-15,-2.5644761494782684e-15,-5.063463728466829e-15,5.83606477516843e-08],"joint_position_rad":[-0.1177772073828246,1.7285787119768177,-1.1214122816506973,-0.0001458003715849314,1.0242623537296065,-0.13264691707023674],"joint_velocity_rad_s":[0.001095721198150958,0.004974980526101836,-0.0034070383918304915,-0.00019127890979525077,0.029065590685707226,0.019211185578980727],"gripper_joint_position_m":[0.03499989969480771,-0.03500003734286485],"tcp_position_m":[0.30512066415668543,-0.03470538083380811,0.08209630331889696],"tcp_quaternion_wxyz":[0.013194655106866585,-0.00746743622921248,0.9998835773726367,-0.001723419064559765],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-5.649991068115014e-18,-1.9498143722062203e-16,1.1834776311958179e-07],"object_linear_velocity_m_s":[3.3341149294919195e-16,-1.956906950659522e-17,3.314312429643637e-15],"object_angular_velocity_rad_s":[-2.564474973737474e-15,-5.0634643348072525e-15,5.8360647751684366e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11725075376131869,1.7308987895363785,-1.1241772485702888,-0.00020244753302278815,1.0512332021070212,-0.11719239105055375,0.035],"actuator_force_native":[0.03663768372971887,0.1607313021343657,-0.20416216160818124,-0.001309491908538016,0.22611009774558433,0.1257284818283586,2.93292906583531e-06],"issued_joint_targets_rad":[-0.1172559161301171,1.730905718750837,-1.1241728160414985,-0.00019146086002806787,1.0512239131699472,-0.11720237750834198],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.459999999999642,"joint_targets_rad":[-0.1172559161301171,1.730905718750837,-1.1241728160414985,-0.00019146086002806787,1.0512239131699472,-0.11720237750834198],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.479999999999631,"qpos":[-0.11775590293035564,1.7286761926559213,-1.1214794801809111,-0.00014900654305955477,1.024837004702532,-0.13226782559823422,0.034999903145405825,-0.03500003403444235,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.0027284724312346e-17,-1.7815632193146456e-16,1.1867525794592837e-07],"qvel":[0.0010407129284461477,0.0047807361721168675,-0.0033188450650838064,-0.0001442250528014771,0.02843621466096202,0.01872730664445122,2.1372265184047995e-07,2.8168166695451944e-07,4.558172871683317e-16,-1.0266086674273523e-16,3.2921079691511337e-15,-7.538634380787624e-15,-1.4116720628439566e-14,1.065518048955061e-07],"joint_position_rad":[-0.11775590293035564,1.7286761926559213,-1.1214794801809111,-0.00014900654305955477,1.024837004702532,-0.13226782559823422],"joint_velocity_rad_s":[0.0010407129284461477,0.0047807361721168675,-0.0033188450650838064,-0.0001442250528014771,0.02843621466096202,0.01872730664445122],"gripper_joint_position_m":[0.034999903145405825,-0.03500003403444235],"tcp_position_m":[0.30501810256626677,-0.03468725037391632,0.082078909910107],"tcp_quaternion_wxyz":[0.012894746380280132,-0.007289388586887972,0.9998888703107027,-0.001684446082332209],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.0027284724312346e-17,-1.7815632193146456e-16,1.1867525794592837e-07],"object_linear_velocity_m_s":[4.558172871683317e-16,-1.0266086674273523e-16,3.2921079691511337e-15],"object_angular_velocity_rad_s":[-7.538631068142254e-15,-1.4116722413470063e-14,1.0655180489550622e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000013}],"native_actuator_controls":[-0.1172559161301171,1.730905718750837,-1.1241728160414985,-0.00019146086002806787,1.0512239131699472,-0.11720237750834198,0.035],"actuator_force_native":[0.03479537937685073,0.15445840673268663,-0.1988726435215824,-0.0009770474147331393,0.22121476268271145,0.12256352093224576,2.805570507913302e-06],"issued_joint_targets_rad":[-0.11726081072650965,1.7309123456772555,-1.1241686406734512,-0.0001810589258793267,1.0512151243255474,-0.11721179700180145],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.479999999999631,"joint_targets_rad":[-0.11726081072650965,1.7309123456772555,-1.1241686406734512,-0.0001810589258793267,1.0512151243255474,-0.11721179700180145],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.49999999999962,"qpos":[-0.1177356678212594,1.728769866451027,-1.12154494147119,-0.00015132957197276092,1.0253992167775894,-0.13189827720066355,0.034999906567794954,-0.03500003102119369,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-3.869647117211865e-17,-1.7419444748340445e-16,1.1907943432252185e-07],"qvel":[0.000988480815178369,0.0045940108270827885,-0.0032331050947735297,-0.00010203036064581689,0.027820790176520324,0.01825601602297221,2.089848366784288e-07,2.612720953290259e-07,2.1282705760887282e-16,-4.3079027492929284e-17,3.3073735357397303e-15,7.720787843746742e-16,6.550652925596011e-15,1.1544015489857428e-08],"joint_position_rad":[-0.1177356678212594,1.728769866451027,-1.12154494147119,-0.00015132957197276092,1.0253992167775894,-0.13189827720066355],"joint_velocity_rad_s":[0.000988480815178369,0.0045940108270827885,-0.0032331050947735297,-0.00010203036064581689,0.027820790176520324,0.01825601602297221],"gripper_joint_position_m":[0.034999906567794954,-0.03500003102119369],"tcp_position_m":[0.3049177344376045,-0.03466955402793188,0.08206242085612947],"tcp_quaternion_wxyz":[0.012602057259823737,-0.007115349772827916,0.9998939193848155,-0.0016461858043493596],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-3.869647117211865e-17,-1.7419444748340445e-16,1.1907943432252185e-07],"object_linear_velocity_m_s":[2.1282705760887282e-16,-4.3079027492929284e-17,3.3073735357397303e-15],"object_angular_velocity_rad_s":[7.720772202567567e-16,6.550653110366668e-15,1.1544015489857443e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11726081072650965,1.7309123456772555,-1.1241686406734512,-0.0001810589258793267,1.0512151243255474,-0.11721179700180145,0.035],"actuator_force_native":[0.03304616350408729,0.14842828396285768,-0.19373041070703323,-0.0006790223530335482,0.21642789021479913,0.1194807779541629,2.6923640186193865e-06],"issued_joint_targets_rad":[-0.1172654505080351,1.7309186850090192,-1.1241647102832226,-0.00017120999170130578,1.0512068113817177,-0.11722068093526142],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.49999999999962,"joint_targets_rad":[-0.1172654505080351,1.7309186850090192,-1.1241647102832226,-0.00017120999170130578,1.0512068113817177,-0.11722068093526142],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.519999999999609,"qpos":[-0.11771644807175864,1.7288598808041569,-1.121608713769633,-0.00015286193585657934,1.025949265497889,-0.13153802388937091,0.03499990992050918,-0.03500002826925952,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-5.4254449954151854e-17,-1.4595338545806371e-16,1.1953800159490033e-07],"qvel":[0.0009388860036275559,0.004414519699317717,-0.0031497441868650316,-6.428372948245981e-05,0.027218993690698124,0.017796964818171942,2.027735625970091e-07,2.427307045730207e-07,1.8944691786114495e-16,-6.688606323353993e-17,3.2685157298778493e-15,6.139429459629087e-16,5.31854187620278e-15,2.1076457057496302e-08],"joint_position_rad":[-0.11771644807175864,1.7288598808041569,-1.121608713769633,-0.00015286193585657934,1.025949265497889,-0.13153802388937091],"joint_velocity_rad_s":[0.0009388860036275559,0.004414519699317717,-0.0031497441868650316,-6.428372948245981e-05,0.027218993690698124,0.017796964818171942],"gripper_joint_position_m":[0.03499990992050918,-0.03500002826925952],"tcp_position_m":[0.3048195114384294,-0.03465228557538657,0.08204679550311197],"tcp_quaternion_wxyz":[0.012316398215737663,-0.006945246805035823,0.9998987359466646,-0.0016086435499749329],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-5.4254449954151854e-17,-1.4595338545806371e-16,1.1953800159490033e-07],"object_linear_velocity_m_s":[1.8944691786114495e-16,-6.688606323353993e-17,3.2685157298778493e-15],"object_angular_velocity_rad_s":[6.139416682747967e-16,5.318542025268644e-15,2.1076457057496328e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.09810000000000027}],"native_actuator_controls":[-0.1172654505080351,1.7309186850090192,-1.1241647102832226,-0.00017120999170130578,1.0512068113817177,-0.11722068093526142,0.035],"actuator_force_native":[0.031385375079747035,0.14263173789240113,-0.18873100015285615,-0.0004125035863767595,0.21174696830223994,0.1164779823138371,2.589311820067053e-06],"issued_joint_targets_rad":[-0.11726984784237247,1.7309247506448466,-1.1241610131832402,-0.0001618841266310067,1.0511989512359505,-0.11722905892157535],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.519999999999609,"joint_targets_rad":[-0.11726984784237247,1.7309247506448466,-1.1241610131832402,-0.0001618841266310067,1.0511989512359505,-0.11722905892157535],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.539999999999598,"qpos":[-0.11769819239977986,1.728946377566196,-1.1216708438651648,-0.00015368824916471812,1.0264874200243843,-0.1311868245338381,0.03499991317993389,-0.035000025751283505,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-4.98944301775073e-17,-1.183694377510457e-16,1.199867738435482e-07],"qvel":[0.0008917964609057917,0.004241988280052795,-0.003068690451487321,-3.0606063569176674e-05,0.026630509745595804,0.017349815002965528,1.9578808981770328e-07,2.257607925238549e-07,1.6755544925007708e-16,-6.65391220041021e-17,3.239372375481438e-15,9.82685213248303e-16,2.854324226180449e-15,3.84802881187053e-08],"joint_position_rad":[-0.11769819239977986,1.728946377566196,-1.1216708438651648,-0.00015368824916471812,1.0264874200243843,-0.1311868245338381],"joint_velocity_rad_s":[0.0008917964609057917,0.004241988280052795,-0.003068690451487321,-3.0606063569176674e-05,0.026630509745595804,0.017349815002965528],"gripper_joint_position_m":[0.03499991317993389,-0.035000025751283505],"tcp_position_m":[0.3047233863873591,-0.03463543840537338,0.08203199490066246],"tcp_quaternion_wxyz":[0.01203758530187287,-0.00677900671565499,0.9999033308184857,-0.0015718225558150457],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-4.98944301775073e-17,-1.183694377510457e-16,1.199867738435482e-07],"object_linear_velocity_m_s":[1.6755544925007708e-16,-6.65391220041021e-17,3.239372375481438e-15],"object_angular_velocity_rad_s":[9.826845191761849e-16,2.854324465838731e-15,3.848028811870536e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999998},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006}],"native_actuator_controls":[-0.11726984784237247,1.7309247506448466,-1.1241610131832402,-0.0001618841266310067,1.0511989512359505,-0.11722905892157535,0.035],"actuator_force_native":[0.02980858228806227,0.1370599048917711,-0.18387009318860237,-0.00017480478080566034,0.20716954749726924,0.11355293361817909,2.4938621954184725e-06],"issued_joint_targets_rad":[-0.11727401453127186,1.7309305557365302,-1.1241575381667008,-0.00015305309779828875,1.0511915218319738,-0.11723695889039312],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.539999999999598,"joint_targets_rad":[-0.11727401453127186,1.7309305557365302,-1.1241575381667008,-0.00015305309779828875,1.0511915218319738,-0.11723695889039312],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.559999999999587,"qpos":[-0.11768085209209148,1.7290294931993275,-1.1217313771347739,-0.00015388587686780879,1.0270139432951106,-0.13084444464844203,0.034999916333491886,-0.035000023444614094,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-3.795956249227969e-17,-8.571798874615583e-17,1.2034162994664528e-07],"qvel":[0.000847086650647435,0.004076152014818389,-0.00298987432575759,-6.478809513316712e-07,0.02605503074822356,0.01691423901161614,1.8845803109348656e-07,2.1014297060752694e-07,1.2881721612492255e-16,-6.362539775984694e-17,3.1311256305804834e-15,2.0405377462080395e-16,1.7508022406409368e-15,7.025528862175153e-08],"joint_position_rad":[-0.11768085209209148,1.7290294931993275,-1.1217313771347739,-0.00015388587686780879,1.0270139432951106,-0.13084444464844203],"joint_velocity_rad_s":[0.000847086650647435,0.004076152014818389,-0.00298987432575759,-6.478809513316712e-07,0.02605503074822356,0.01691423901161614],"gripper_joint_position_m":[0.034999916333491886,-0.035000023444614094],"tcp_position_m":[0.3046293132210545,-0.034619005576375185,0.08201798173392559],"tcp_quaternion_wxyz":[0.011765439967393824,-0.006616556674307175,0.9999077143173707,-0.001535724181078114],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-3.795956249227969e-17,-8.571798874615583e-17,1.2034162994664528e-07],"object_linear_velocity_m_s":[1.2881721612492255e-16,-6.362539775984694e-17,3.1311256305804834e-15],"object_angular_velocity_rad_s":[2.0405334118772295e-16,1.7508022950869352e-15,7.025528862175163e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994}],"native_actuator_controls":[-0.11727401453127186,1.7309305557365302,-1.1241575381667008,-0.00015305309779828875,1.0511915218319738,-0.11723695889039312,0.035],"actuator_force_native":[0.02831157161233122,0.13170424290211713,-0.17914351092537117,3.6550567537459513e-05,0.20269323924629745,0.11070349906306487,2.4043701691844888e-06],"issued_joint_targets_rad":[-0.11727796183382574,1.7309361127335274,-1.1241542744928614,-0.0001446902675013201,1.0511845021175157,-0.11724440718942862],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.559999999999587,"joint_targets_rad":[-0.11727796183382574,1.7309361127335274,-1.1241542744928614,-0.0001446902675013201,1.0511845021175157,-0.11724440718942862],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.579999999999576,"qpos":[-0.11766438087778665,1.7291093589729318,-1.1217903575892378,-0.00015352550209638848,1.0275290921800995,-0.13051065618764654,0.03499991937539291,-0.03500002133003607,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.7391467124009994e-17,-5.629899199495312e-17,1.2060812499118744e-07],"qvel":[0.000804637222568232,0.003916755979980842,-0.0029132284991984503,2.591290554705231e-05,0.025492256756414772,0.016489919351135904,1.8104500619138168e-07,1.9571190388105958e-07,7.223599409575699e-17,-3.3711283801486554e-17,3.1713712152231446e-15,1.3241755026107904e-15,2.940560088575265e-15,7.61158518984481e-09],"joint_position_rad":[-0.11766438087778665,1.7291093589729318,-1.1217903575892378,-0.00015352550209638848,1.0275290921800995,-0.13051065618764654],"joint_velocity_rad_s":[0.000804637222568232,0.003916755979980842,-0.0029132284991984503,2.591290554705231e-05,0.025492256756414772,0.016489919351135904],"gripper_joint_position_m":[0.03499991937539291,-0.03500002133003607],"tcp_position_m":[0.3045372469626499,-0.034602979870499415,0.08200472025820793],"tcp_quaternion_wxyz":[0.011499788875808983,-0.00645782409979087,0.9999118962785162,-0.001500348096264466],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.7391467124009994e-17,-5.629899199495312e-17,1.2060812499118744e-07],"object_linear_velocity_m_s":[7.223599409575699e-17,-3.3711283801486554e-17,3.1713712152231446e-15],"object_angular_velocity_rad_s":[1.3241747924428274e-15,2.940560408404818e-15,7.611585189844823e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000019},{"geom_ids":[1,90],"normal_force_n":0.09810000000000012},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11727796183382574,1.7309361127335274,-1.1241542744928614,-0.0001446902675013201,1.0511845021175157,-0.11724440718942862,0.035],"actuator_force_native":[0.026890337404031683,0.1265565209477586,-0.17454720979388583,0.0002238448560674738,0.19831571423953953,0.10792761095547543,2.319759252911169e-06],"issued_joint_targets_rad":[-0.11728170048906907,1.7309414334246154,-1.124151211872306,-0.00013677049708895085,1.0511778720032499,-0.11725142867919995],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.579999999999576,"joint_targets_rad":[-0.11728170048906907,1.7309414334246154,-1.124151211872306,-0.00013677049708895085,1.0511778720032499,-0.11725142867919995],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.599999999999564,"qpos":[-0.11764873480782125,1.729186101153072,-1.1218478279173716,-0.00015267165120175908,1.0280331176320665,-0.1301852373487542,0.03499992230398644,-0.03500001939089548,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.2848460906275478e-17,-3.887837188664322e-17,1.2109467764414098e-07],"qvel":[0.000764334716150071,0.003763554566180678,-0.002838687841146019,4.937304442547429e-05,0.02494189527040871,0.016076548230846092,1.7370616106231995e-07,1.8233957916957934e-07,5.221344328408079e-17,-2.837670515726384e-17,3.067287806664536e-15,1.064744305349685e-15,1.961485609521329e-15,1.3896832392002672e-08],"joint_position_rad":[-0.11764873480782125,1.729186101153072,-1.1218478279173716,-0.00015267165120175908,1.0280331176320665,-0.1301852373487542],"joint_velocity_rad_s":[0.000764334716150071,0.003763554566180678,-0.002838687841146019,4.937304442547429e-05,0.02494189527040871,0.016076548230846092],"gripper_joint_position_m":[0.03499992230398644,-0.03500001939089548],"tcp_position_m":[0.30444714369139364,-0.03458735384257907,0.08199217623608021],"tcp_quaternion_wxyz":[0.011240463731021543,-0.006302736761027772,0.9999158860774521,-0.0014656924564576655],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.2848460906275478e-17,-3.887837188664322e-17,1.2109467764414098e-07],"object_linear_velocity_m_s":[5.221344328408079e-17,-2.837670515726384e-17,3.067287806664536e-15],"object_angular_velocity_rad_s":[1.0647438292181479e-15,1.961485868026054e-15,1.3896832392002697e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.11728170048906907,1.7309414334246154,-1.124151211872306,-0.00013677049708895085,1.0511778720032499,-0.11725142867919995,0.035],"actuator_force_native":[0.025541071919423786,0.121608808892546,-0.17007727718902288,0.0003891809423849568,0.19403470080622043,0.10522326434927343,2.2393097371953274e-06],"issued_joint_targets_rad":[-0.11728524073788221,1.730946528976833,-1.1241483404522252,-0.0001292700570652255,1.0511716123229369,-0.11725804682168998],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.599999999999564,"joint_targets_rad":[-0.11728524073788221,1.730946528976833,-1.1241483404522252,-0.0001292700570652255,1.0511716123229369,-0.11725804682168998],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.619999999999553,"qpos":[-0.11763387214033125,1.7292598411857147,-1.1219038295288468,-0.00015138317936301679,1.0285262648330002,-0.12986797238186706,0.034999925120115655,-0.03500001761250108,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-3.627768571298743e-17,-1.8101896223002078e-17,1.2152696887127057e-07],"qvel":[0.0007260712778273106,0.0036163111692081025,-0.0027661893299914192,7.000585049646479e-05,0.024403661030202282,0.015673827209035526,1.6653379930780517e-07,1.6992375141729367e-07,2.651348498047369e-17,-4.699370503385244e-17,3.0659000278837544e-15,-2.15598173833832e-16,1.717970029149804e-15,2.537210656054436e-08],"joint_position_rad":[-0.11763387214033125,1.7292598411857147,-1.1219038295288468,-0.00015138317936301679,1.0285262648330002,-0.12986797238186706],"joint_velocity_rad_s":[0.0007260712778273106,0.0036163111692081025,-0.0027661893299914192,7.000585049646479e-05,0.024403661030202282,0.015673827209035526],"gripper_joint_position_m":[0.034999925120115655,-0.03500001761250108],"tcp_position_m":[0.30435896051344,-0.03457211986455609,0.08198031687686633],"tcp_quaternion_wxyz":[0.010987301110082085,-0.006151222868077851,0.9999196926512919,-0.0014317540603818533],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-3.627768571298743e-17,-1.8101896223002078e-17,1.2152696887127057e-07],"object_linear_velocity_m_s":[2.651348498047369e-17,-4.699370503385244e-17,3.0659000278837544e-15],"object_angular_velocity_rad_s":[-2.1559859231177325e-16,1.7179699785886539e-15,2.537210656054441e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999991}],"native_actuator_controls":[-0.11728524073788221,1.730946528976833,-1.1241483404522252,-0.0001292700570652255,1.0511716123229369,-0.11725804682168998,0.035],"actuator_force_native":[0.024260155806787864,0.11685346744340563,-0.16572992722031188,0.0005344956394293275,0.1898479833540634,0.10258851478821751,2.1625263773028536e-06],"issued_joint_targets_rad":[-0.1172885923441955,1.7309514099718806,-1.1241456508017784,-0.00012216654299434173,1.051165704794804,-0.11726428376335395],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.619999999999553,"joint_targets_rad":[-0.1172885923441955,1.7309514099718806,-1.1241456508017784,-0.00012216654299434173,1.051165704794804,-0.11726428376335395],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.639999999999542,"qpos":[-0.11761975323146591,1.7293306958738301,-1.1219584025956115,-0.00014971371964202584,1.029008773336762,-0.1295586514067268,0.03499992782609568,-0.035000015981714,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-3.9510964715005896e-17,3.014981131276735e-18,1.219417853057246e-07],"qvel":[0.0006897443910821394,0.0034747978884806237,-0.002695671984250204,8.806296971284755e-05,0.023877275818635395,0.015281466855723506,1.5958008193678914e-07,1.5838015368912728e-07,-9.278303071213795e-18,-5.702240128651323e-17,3.0256544432410924e-15,-4.1798615822989327e-16,2.0324531171728187e-15,4.632305932465907e-08],"joint_position_rad":[-0.11761975323146591,1.7293306958738301,-1.1219584025956115,-0.00014971371964202584,1.029008773336762,-0.1295586514067268],"joint_velocity_rad_s":[0.0006897443910821394,0.0034747978884806237,-0.002695671984250204,8.806296971284755e-05,0.023877275818635395,0.015281466855723506],"gripper_joint_position_m":[0.03499992782609568,-0.035000015981714],"tcp_position_m":[0.30427265553372207,-0.034557270165536516,0.08196911077844238],"tcp_quaternion_wxyz":[0.010740142302341743,-0.006003211153995073,0.9999233245190409,-0.0013985284963119603],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-3.9510964715005896e-17,3.014981131276735e-18,1.219417853057246e-07],"object_linear_velocity_m_s":[-9.278303071213795e-18,-5.702240128651323e-17,3.0256544432410924e-15],"object_angular_velocity_rad_s":[-4.179866536324792e-16,2.032453018893343e-15,4.6323059324659165e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009}],"native_actuator_controls":[-0.1172885923441955,1.7309514099718806,-1.1241456508017784,-0.00012216654299434173,1.051165704794804,-0.11726428376335395,0.035],"actuator_force_native":[0.023044149026221206,0.11228313840160808,-0.16150149657210022,0.000661572217343127,0.18575340085246594,0.10002147615014345,2.0890557632657902e-06],"issued_joint_targets_rad":[-0.11729176461548695,1.7309560864401803,-1.1241431338975933,-0.00011543879679854564,1.0511601319841495,-0.11727016041284624],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.639999999999542,"joint_targets_rad":[-0.11729176461548695,1.7309560864401803,-1.1241431338975933,-0.00011543879679854564,1.0511601319841495,-0.11727016041284624],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.659999999999531,"qpos":[-0.1176063404314839,1.7293987775485333,-1.1220115860919504,-0.00014771209817700985,1.0294808772078072,-0.12925707023612212,0.03499993042508093,-0.035000014486663095,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999936,-2.733769236669729e-17,8.711363446135243e-18,1.2230692428447403e-07],"qvel":[0.0006552566189111569,0.0033387952332484994,-0.002627076795473314,0.0001037760140527092,0.023362468270081628,0.014899186430630328,1.5287240703671212e-07,1.4763731188631784e-07,-1.0668623061989397e-17,-2.2051579392917458e-17,3.002062203967809e-15,2.2396731507312664e-15,1.7666876481179473e-17,8.457420829743002e-08],"joint_position_rad":[-0.1176063404314839,1.7293987775485333,-1.1220115860919504,-0.00014771209817700985,1.0294808772078072,-0.12925707023612212],"joint_velocity_rad_s":[0.0006552566189111569,0.0033387952332484994,-0.002627076795473314,0.0001037760140527092,0.023362468270081628,0.014899186430630328],"gripper_joint_position_m":[0.03499993042508093,-0.035000014486663095],"tcp_position_m":[0.30418818782886087,-0.03454279686787684,0.08195852787126172],"tcp_quaternion_wxyz":[0.010498833154727273,-0.005858630948225608,0.9999267898009974,-0.0013660102758407692],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999936,-2.733769236669729e-17,8.711363446135243e-18,1.2230692428447403e-07],"object_linear_velocity_m_s":[-1.0668623061989397e-17,-2.2051579392917458e-17,3.002062203967809e-15],"object_angular_velocity_rad_s":[2.2396731478831543e-15,1.7667428960375475e-17,8.45742082974302e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11729176461548695,1.7309560864401803,-1.1241431338975933,-0.00011543879679854564,1.0511601319841495,-0.11727016041284624,0.035],"actuator_force_native":[0.021889782185201767,0.10789073516551184,-0.1573884404740653,0.0007720519848750228,0.1817488453582996,0.09752031858681343,2.0186347278183803e-06],"issued_joint_targets_rad":[-0.11729476642257364,1.7309605678927418,-1.124140781109421,-0.00010906683307969116,1.0511548772671957,-0.11727569651383844],"issued_gripper_position_m":0.035,"command":{"t_seconds":10.659999999999531,"joint_targets_rad":[-0.11729476642257364,1.7309605678927418,-1.124140781109421,-0.00010906683307969116,1.0511548772671957,-0.11727569651383844],"gripper_position_m":0.035,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.67999999999952,"qpos":[-0.11759359798587057,1.7294641942344224,-1.1220634178332227,-0.00014542271800931946,1.029942805156144,-0.1289630302055704,0.03499993292067442,-0.035000013116543355,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.1496489351972852e-17,6.045014102233883e-18,1.226277344021105e-07],"qvel":[0.000622515358145122,0.0032080918365089864,-0.002560346662977624,0.00011735807593306047,0.022858973684631582,0.014526713575492045,1.4642297833930177e-07,1.3763310989389864e-07,-6.707516528888907e-18,-1.7205866334421628e-17,3.69456381557775e-15,1.0680081405556806e-15,-1.972190294585962e-16,9.16292287667411e-09],"joint_position_rad":[-0.11759359798587057,1.7294641942344224,-1.1220634178332227,-0.00014542271800931946,1.029942805156144,-0.1289630302055704],"joint_velocity_rad_s":[0.000622515358145122,0.0032080918365089864,-0.002560346662977624,0.00011735807593306047,0.022858973684631582,0.014526713575492045],"gripper_joint_position_m":[0.03499993292067442,-0.035000013116543355],"tcp_position_m":[0.30410551742104797,-0.03452869201963208,0.08194853936452702],"tcp_quaternion_wxyz":[0.010263223922857391,-0.0057174122422121625,0.9999300962372905,-0.0013341929564326031],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.1496489351972852e-17,6.045014102233883e-18,1.226277344021105e-07],"object_linear_velocity_m_s":[-6.707516528888907e-18,-1.7205866334421628e-17,3.69456381557775e-15],"object_angular_velocity_rad_s":[1.0680081890354739e-15,-1.9721876731307017e-16,9.162922876674108e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.11729476642257364,1.7309605678927418,-1.124140781109421,-0.00010906683307969116,1.0511548772671957,-0.11727569651383844,0.035],"actuator_force_native":[0.020793948273029272,0.10366943348302016,-0.15338732878097971,0.0008674450175198299,0.17783226058357116,0.0950832665540815,1.95105813149965e-06],"issued_joint_targets_rad":[-0.11729760621869853,1.730964863350999,-1.1241385841860116,-0.00010303177011813006,1.0511499247961769,-0.11728091071324936],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.67999999999952,"joint_targets_rad":[-0.11729760621869853,1.730964863350999,-1.1241385841860116,-0.00010303177011813006,1.0511499247961769,-0.11728091071324936],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.699999999999509,"qpos":[-0.11758147687633733,1.7295270531884348,-1.1221139245130316,-0.0001426195772853104,1.030394818526863,-0.1286764011089232,0.03496707664414919,-0.03496816768956234,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.9506261930573174e-17,1.7672405239542375e-17,1.2309031510164263e-07],"qvel":[0.0005933459820386129,0.003082841384873423,-0.0024943337957140307,0.00015671965833532832,0.022370591648628643,0.014157054748344187,-0.004003822834067626,0.003902049199629372,-2.027493000918602e-17,-2.50121077547884e-17,3.887465066106373e-15,1.9020130865581612e-16,-1.1960762382856738e-16,1.6729183246595063e-08],"joint_position_rad":[-0.11758147687633733,1.7295270531884348,-1.1221139245130316,-0.0001426195772853104,1.030394818526863,-0.1286764011089232],"joint_velocity_rad_s":[0.0005933459820386129,0.003082841384873423,-0.0024943337957140307,0.00015671965833532832,0.022370591648628643,0.014157054748344187],"gripper_joint_position_m":[0.03496707664414919,-0.03496816768956234],"tcp_position_m":[0.3040246003963387,-0.03451489387791702,0.08193911449230862],"tcp_quaternion_wxyz":[0.010033157783416395,-0.005579457475641242,0.9999332516295137,-0.0013029523391248864],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.9506261930573174e-17,1.7672405239542375e-17,1.2309031510164263e-07],"object_linear_velocity_m_s":[-2.027493000918602e-17,-2.50121077547884e-17,3.887465066106373e-15],"object_angular_velocity_rad_s":[1.902013386921803e-16,-1.1960757635203803e-16,1.6729183246595063e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000005}],"native_actuator_controls":[-0.11729760621869853,1.730964863350999,-1.1241385841860116,-0.00010303177011813006,1.0511499247961769,-0.11728091071324936,0.033999999999999975],"actuator_force_native":[0.01974292270091027,0.09961060608077332,-0.14950110485982293,0.0007999139950105715,0.17399517522019536,0.09271932183422216,-0.018663951595630612],"issued_joint_targets_rad":[-0.11730029340563888,1.7309689808961812,-1.1241365337111284,-9.731660235819807e-05,1.0511452571784101,-0.11728581924140738],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.699999999999509,"joint_targets_rad":[-0.11730029340563888,1.7309689808961812,-1.1241365337111284,-9.731660235819807e-05,1.0511452571784101,-0.11728581924140738],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.719999999999498,"qpos":[-0.11756990886197417,1.7295874574342796,-1.1221631302473085,-0.00013913242032274843,1.0308371739822173,-0.1283970549128058,0.03481950510686633,-0.03482301123833976,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-4.6144410713823843e-17,2.5268454926308537e-17,1.2354980114531616e-07],"qvel":[0.0005662571613332853,0.002962353481457006,-0.002430387299060259,0.0001806541636574369,0.02189158205868159,0.013799344586930521,-0.010499425973673137,0.010379574131108283,-3.036823309825395e-17,-6.32383415319245e-17,3.9679562353916984e-15,-1.2438912679972724e-15,9.024850548784975e-17,3.0543263963357615e-08],"joint_position_rad":[-0.11756990886197417,1.7295874574342796,-1.1221631302473085,-0.00013913242032274843,1.0308371739822173,-0.1283970549128058],"joint_velocity_rad_s":[0.0005662571613332853,0.002962353481457006,-0.002430387299060259,0.0001806541636574369,0.02189158205868159,0.013799344586930521],"gripper_joint_position_m":[0.03481950510686633,-0.03482301123833976],"tcp_position_m":[0.3039453926119806,-0.03450134489586698,0.08193022333866297],"tcp_quaternion_wxyz":[0.009808478023260734,-0.005444693950385216,0.9999362632701467,-0.0012721886612285479],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-4.6144410713823843e-17,2.5268454926308537e-17,1.2354980114531616e-07],"object_linear_velocity_m_s":[-3.036823309825395e-17,-6.32383415319245e-17,3.9679562353916984e-15],"object_angular_velocity_rad_s":[-1.2438912887540429e-15,9.024820094161142e-17,3.054326396335762e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11730029340563888,1.7309689808961812,-1.1241365337111284,-9.731660235819807e-05,1.0511452571784101,-0.11728581924140738,0.032999999999999946],"actuator_force_native":[0.01873795070015838,0.0957101095448536,-0.14572034061029626,0.0007693619002948297,0.17024345887390702,0.09041333983358868,-0.020283074406289625],"issued_joint_targets_rad":[-0.11730283645722071,1.7309729284217859,-1.1241346210082934,-9.190474442292664e-05,1.0511408582922022,-0.11729043782235965],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.719999999999498,"joint_targets_rad":[-0.11730283645722071,1.7309729284217859,-1.1241346210082934,-9.190474442292664e-05,1.0511408582922022,-0.11729043782235965],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.739999999999487,"qpos":[-0.11755888436171917,1.729645498502762,-1.1222110832993881,-0.00013537741870310864,1.0312700330763862,-0.12812471985422239,0.0345427566856103,-0.03454817805180616,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-5.597931666515485e-17,2.492277382349588e-17,1.2392826702573176e-07],"qvel":[0.0005388842841859175,0.0028463697985773454,-0.0023688375215561775,0.0001869232674855769,0.021420675052792257,0.013454682219989795,-0.016747581575686534,0.016677854408101704,-4.021827876576385e-17,-9.526203305989601e-17,4.002650704911238e-15,-1.971017089477223e-15,3.975080384175357e-16,5.576428686231578e-08],"joint_position_rad":[-0.11755888436171917,1.729645498502762,-1.1222110832993881,-0.00013537741870310864,1.0312700330763862,-0.12812471985422239],"joint_velocity_rad_s":[0.0005388842841859175,0.0028463697985773454,-0.0023688375215561775,0.0001869232674855769,0.021420675052792257,0.013454682219989795],"gripper_joint_position_m":[0.0345427566856103,-0.03454817805180616],"tcp_position_m":[0.3038678630188561,-0.0344881140496593,0.08192184499198811],"tcp_quaternion_wxyz":[0.009589061777072392,-0.005313096018813976,0.9999391372423924,-0.0012420611377892885],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-5.597931666515485e-17,2.492277382349588e-17,1.2392826702573176e-07],"object_linear_velocity_m_s":[-4.021827876576385e-17,-9.526203305989601e-17,4.002650704911238e-15],"object_angular_velocity_rad_s":[-1.971017185222527e-15,3.975075561313529e-16,5.576428686231579e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999997},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11730283645722071,1.7309729284217859,-1.1241346210082934,-9.190474442292664e-05,1.0511408582922022,-0.11729043782235965,0.03199999999999992],"actuator_force_native":[0.01778941093894737,0.09196254452902508,-0.14203882910464927,0.0008042906337793958,0.1665772395789702,0.08816079698864265,-0.01797235954598264],"issued_joint_targets_rad":[-0.11730524071690118,1.7309767143763484,-1.1241328411512344,-8.677896547079291e-05,1.0511367178161453,-0.11729478430900436],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.739999999999487,"joint_targets_rad":[-0.11730524071690118,1.7309767143763484,-1.1241328411512344,-8.677896547079291e-05,1.0511367178161453,-0.11729478430900436],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.759999999999476,"qpos":[-0.11754840580562126,1.729701265898831,-1.122257827017119,-0.00013158460007323076,1.0316935708774366,-0.1278591655574946,0.034149233763305364,-0.03415547862176564,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-5.843444494919995e-17,1.9020546632414812e-17,1.242411921927042e-07],"qvel":[0.0005117258651688664,0.0027348265309535425,-0.0023092544501127324,0.00018634660111708836,0.020959058042772146,0.01312032280801685,-0.022188973774094654,0.022171411172283603,-3.210890397149262e-17,-1.935299224303894e-16,4.008201820034366e-15,-8.818625397669901e-15,-3.1732115183317517e-16,1.0181150557429594e-07],"joint_position_rad":[-0.11754840580562126,1.729701265898831,-1.122257827017119,-0.00013158460007323076,1.0316935708774366,-0.1278591655574946],"joint_velocity_rad_s":[0.0005117258651688664,0.0027348265309535425,-0.0023092544501127324,0.00018634660111708836,0.020959058042772146,0.01312032280801685],"gripper_joint_position_m":[0.034149233763305364,-0.03415547862176564],"tcp_position_m":[0.30379197992382095,-0.034475240083200305,0.08191395832599967],"tcp_quaternion_wxyz":[0.009374787887992418,-0.005184605535449122,0.9999418796610595,-0.001212648920361266],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-5.843444494919995e-17,1.9020546632414812e-17,1.242411921927042e-07],"object_linear_velocity_m_s":[-3.210890397149262e-17,-1.935299224303894e-16,4.008201820034366e-15],"object_angular_velocity_rad_s":[-8.818625314947895e-15,-3.173233312076332e-16,1.0181150557429598e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0981000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016},{"geom_ids":[1,90],"normal_force_n":0.09810000000000016}],"native_actuator_controls":[-0.11730524071690118,1.7309767143763484,-1.1241328411512344,-8.677896547079291e-05,1.0511367178161453,-0.11729478430900436,0.03099999999999989],"actuator_force_native":[0.016894577771763508,0.0883617455466208,-0.1384548584786529,0.0008604923785120728,0.16299288232292852,0.0859633282728769,-0.015024481661745748],"issued_joint_targets_rad":[-0.11730751231119488,1.7309803463659177,-1.1241311884263694,-8.19238251594346e-05,1.0511328244295521,-0.11729887456688987],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.759999999999476,"joint_targets_rad":[-0.11730751231119488,1.7309803463659177,-1.1241311884263694,-8.19238251594346e-05,1.0511328244295521,-0.11729887456688987],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.779999999999465,"qpos":[-0.1175384604896013,1.7297548473951423,-1.1223033974601149,-0.0001278306303788157,1.0321079801489206,-0.12760020319009635,0.03365580012909882,-0.033662015130024675,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-7.062729284731096e-17,1.2668416979296757e-17,1.246273874848337e-07],"qvel":[0.0004855327181468235,0.002627614646960992,-0.0022513569546861257,0.00018388722276675,0.02050729373849693,0.01279481530386973,-0.026790873457138115,0.026806542249911018,-1.6856612849784017e-17,-8.480829956011325e-17,4.165020822262669e-15,2.1952009347085156e-15,-7.029488630124124e-16,1.1030442877508804e-08],"joint_position_rad":[-0.1175384604896013,1.7297548473951423,-1.1223033974601149,-0.0001278306303788157,1.0321079801489206,-0.12760020319009635],"joint_velocity_rad_s":[0.0004855327181468235,0.002627614646960992,-0.0022513569546861257,0.00018388722276675,0.02050729373849693,0.01279481530386973],"gripper_joint_position_m":[0.03365580012909882,-0.033662015130024675],"tcp_position_m":[0.303717709576954,-0.034462728914841874,0.0819065413065197],"tcp_quaternion_wxyz":[0.009165531746765394,-0.005059153874640423,0.9999444965686487,-0.0011839645027009378],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-7.062729284731096e-17,1.2668416979296757e-17,1.246273874848337e-07],"object_linear_velocity_m_s":[-1.6856612849784017e-17,-8.480829956011325e-17,4.165020822262669e-15],"object_angular_velocity_rad_s":[2.1952011102012854e-15,-7.029483142899752e-16,1.103044287750881e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999}],"native_actuator_controls":[-0.11730751231119488,1.7309803463659177,-1.1241311884263694,-8.19238251594346e-05,1.0511328244295521,-0.11729887456688987,0.02999999999999986],"actuator_force_native":[0.016048190681781094,0.0849018444272076,-0.13496649252692805,0.0009168360949414933,0.1594875021985711,0.08382106327626015,-0.012277637878267855],"issued_joint_targets_rad":[-0.11730965773709827,1.7309838313685322,-1.1241296565262069,-7.732510716448602e-05,1.0511291660677347,-0.11730272280925248],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.779999999999465,"joint_targets_rad":[-0.11730965773709827,1.7309838313685322,-1.1241296565262069,-7.732510716448602e-05,1.0511291660677347,-0.11730272280925248],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.799999999999454,"qpos":[-0.11752902485564752,1.7298063282049443,-1.1223478266947124,-0.00012413208582910123,1.032513459217046,-0.12734766331330288,0.033078366420073405,-0.03308408075743738,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.0610628798253922e-16,-3.3870929300690082e-18,1.251216069332363e-07],"qvel":[0.00046065247604612264,0.0025245931423233804,-0.0021950058633198525,0.00018122306126702026,0.020065455155853243,0.012477518464292797,-0.03064463386905517,0.030675987331162717,3.486193953150775e-18,-1.3265809388213424e-16,4.178898610070487e-15,1.63119187004205e-15,-5.212593191587125e-16,2.0138803160581538e-08],"joint_position_rad":[-0.11752902485564752,1.7298063282049443,-1.1223478266947124,-0.00012413208582910123,1.032513459217046,-0.12734766331330288],"joint_velocity_rad_s":[0.00046065247604612264,0.0025245931423233804,-0.0021950058633198525,0.00018122306126702026,0.020065455155853243,0.012477518464292797],"gripper_joint_position_m":[0.033078366420073405,-0.03308408075743738],"tcp_position_m":[0.30364501759236745,-0.03445057210876435,0.08189957194958941],"tcp_quaternion_wxyz":[0.00896116841231138,-0.004936672332355765,0.9999469937969847,-0.0011559945252616593],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.0610628798253922e-16,-3.3870929300690082e-18,1.251216069332363e-07],"object_linear_velocity_m_s":[3.486193953150775e-18,-1.3265809388213424e-16,4.178898610070487e-15],"object_angular_velocity_rad_s":[1.6311920003471826e-15,-5.212589066902932e-16,2.013880316058155e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000015},{"geom_ids":[1,90],"normal_force_n":0.09810000000000003},{"geom_ids":[1,90],"normal_force_n":0.09810000000000002}],"native_actuator_controls":[-0.11730965773709827,1.7309838313685322,-1.1241296565262069,-7.732510716448602e-05,1.0511291660677347,-0.11730272280925248,0.02899999999999983],"actuator_force_native":[0.01524610710370844,0.08157728737540992,-0.13157135720295798,0.000966163840249507,0.15605888577310623,0.08173312734406468,-0.009911487457666901],"issued_joint_targets_rad":[-0.11731168339111123,1.7309871759426,-1.1241282391048473,-7.296943389020562e-05,1.0511257307442876,-0.11730634218914913],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.799999999999454,"joint_targets_rad":[-0.11731168339111123,1.7309871759426,-1.1241282391048473,-7.296943389020562e-05,1.0511257307442876,-0.11730634218914913],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.819999999999443,"qpos":[-0.11752007170992691,1.7298557905679584,-1.1223911448065522,-0.00012048740096957203,1.0329102052640582,-0.12710138546625654,0.032430730472474294,-0.03243575758856407,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.2488542574982778e-16,-1.3478854864650679e-17,1.255504141067947e-07],"qvel":[0.0004371476574790891,0.002425608952727489,-0.0021401291548950314,0.00017877075967496895,0.01963339950350458,0.012168106512096662,-0.03386106980571473,0.033897001424821355,1.943780195203199e-17,-1.8036634872628103e-16,4.245511991547997e-15,-5.593294626657833e-16,-5.762840926568282e-16,3.67683688900331e-08],"joint_position_rad":[-0.11752007170992691,1.7298557905679584,-1.1223911448065522,-0.00012048740096957203,1.0329102052640582,-0.12710138546625654],"joint_velocity_rad_s":[0.0004371476574790891,0.002425608952727489,-0.0021401291548950314,0.00017877075967496895,0.01963339950350458,0.012168106512096662],"gripper_joint_position_m":[0.032430730472474294,-0.03243575758856407],"tcp_position_m":[0.3035738698353227,-0.03443875684523435,0.08189302888826006],"tcp_quaternion_wxyz":[0.008761574922776088,-0.004817093922461526,0.9999493769217034,-0.0011287182606650914],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.2488542574982778e-16,-1.3478854864650679e-17,1.255504141067947e-07],"object_linear_velocity_m_s":[1.943780195203199e-17,-1.8036634872628103e-16,4.245511991547997e-15],"object_angular_velocity_rad_s":[-5.593293189515453e-16,-5.762842239212351e-16,3.6768368890033124e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999994}],"native_actuator_controls":[-0.11731168339111123,1.7309871759426,-1.1241282391048473,-7.296943389020562e-05,1.0511257307442876,-0.11730634218914913,0.027999999999999803],"actuator_force_native":[0.014485327217860444,0.07838278520770814,-0.12826689808912306,0.0010068648847998112,0.1527051555470358,0.0796982730029292,-0.007923869870406053],"issued_joint_targets_rad":[-0.11731359540902453,1.7309903863107188,-1.1241269300207175,-6.88441447116057e-05,1.051122506910181,-0.11730974507453575],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.819999999999443,"joint_targets_rad":[-0.11731359540902453,1.7309903863107188,-1.1241269300207175,-6.88441447116057e-05,1.051122506910181,-0.11730974507453575],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.839999999999431,"qpos":[-0.11751157407078927,1.7299033136351933,-1.1224333807562252,-0.00011689179238682672,1.0332984116935378,-0.12686121436602704,0.03172453904140989,-0.03172885456582006,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.3518875742396102e-16,-1.4744022666557543e-17,1.259445156686292e-07],"qvel":[0.00041496139319890485,0.0023305076543964553,-0.0020866806157769694,0.00017653860755604728,0.019210909965033135,0.01186636225534262,-0.036542849274434755,0.03657763709382799,2.181421357427682e-17,-2.572016037114159e-16,4.263553115698158e-15,-5.6800076440054004e-15,-1.218344306667513e-16,6.712975642364552e-08],"joint_position_rad":[-0.11751157407078927,1.7299033136351933,-1.1224333807562252,-0.00011689179238682672,1.0332984116935378,-0.12686121436602704],"joint_velocity_rad_s":[0.00041496139319890485,0.0023305076543964553,-0.0020866806157769694,0.00017653860755604728,0.019210909965033135,0.01186636225534262],"gripper_joint_position_m":[0.03172453904140989,-0.03172885456582006],"tcp_position_m":[0.3035042327889079,-0.034427269868217134,0.08188689159256668],"tcp_quaternion_wxyz":[0.00856663129691197,-0.004700353325932469,0.9999516512567498,-0.0011021142107254128],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.3518875742396102e-16,-1.4744022666557543e-17,1.259445156686292e-07],"object_linear_velocity_m_s":[2.181421357427682e-17,-2.572016037114159e-16,4.263553115698158e-15],"object_angular_velocity_rad_s":[-5.680007615295995e-15,-1.218358432479945e-16,6.712975642364556e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000008},{"geom_ids":[1,90],"normal_force_n":0.09809999999999994},{"geom_ids":[1,90],"normal_force_n":0.09809999999999992}],"native_actuator_controls":[-0.11731359540902453,1.7309903863107188,-1.1241269300207175,-6.88441447116057e-05,1.051122506910181,-0.11730974507453575,0.026999999999999774],"actuator_force_native":[0.013763485975184508,0.07531327577004276,-0.12505053808050093,0.0010392128692286048,0.1494245872188813,0.07771514953189884,-0.006267315284230968],"issued_joint_targets_rad":[-0.1173153996294543,1.730993468394772,-1.1241257234125255,-6.493724681844657e-05,1.0511194835617517,-0.1173129431646354],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.839999999999431,"joint_targets_rad":[-0.1173153996294543,1.730993468394772,-1.1241257234125255,-6.493724681844657e-05,1.0511194835617517,-0.1173129431646354],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.85999999999942,"qpos":[-0.11750350651376416,1.7299489734979732,-1.1224745626878034,-0.0001133416386210194,1.0336782673457827,-0.12662699863620605,0.03096953211001168,-0.0309731880758836,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.150888945117296e-16,-1.1047418254174302e-17,1.2619915482504255e-07],"qvel":[0.0003940051668009142,0.002239138137860267,-0.0020346226433980217,0.00017443540741011955,0.018797753069267106,0.011572103637917658,-0.038778424489987764,0.03880966589773745,1.4150626317274817e-17,-1.3912564281836698e-16,4.337105391079576e-15,5.211766737358113e-15,5.771467483299308e-16,7.272959371686771e-09],"joint_position_rad":[-0.11750350651376416,1.7299489734979732,-1.1224745626878034,-0.0001133416386210194,1.0336782673457827,-0.12662699863620605],"joint_velocity_rad_s":[0.0003940051668009142,0.002239138137860267,-0.0020346226433980217,0.00017443540741011955,0.018797753069267106,0.011572103637917658],"gripper_joint_position_m":[0.03096953211001168,-0.0309731880758836],"tcp_position_m":[0.3034360736726333,-0.03441609871129245,0.08188114042302576],"tcp_quaternion_wxyz":[0.008376220833139821,-0.004586386688917952,0.9999538218622743,-0.0010761620348324315],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.150888945117296e-16,-1.1047418254174302e-17,1.2619915482504255e-07],"object_linear_velocity_m_s":[1.4150626317274817e-17,-1.3912564281836698e-16,4.337105391079576e-15],"object_angular_velocity_rad_s":[5.211766591526393e-15,5.771480654451014e-16,7.2729593716867776e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999976},{"geom_ids":[1,90],"normal_force_n":0.09810000000000006},{"geom_ids":[1,90],"normal_force_n":0.0981000000000002}],"native_actuator_controls":[-0.1173153996294543,1.730993468394772,-1.1241257234125255,-6.493724681844657e-05,1.0511194835617517,-0.1173129431646354,0.025999999999999746],"actuator_force_native":[0.013078524910783429,0.0723639010546151,-0.12191974476077405,0.001063998635052315,0.14621553255578768,0.07578239925883001,-0.0048891619505386785],"issued_joint_targets_rad":[-0.11731710159608837,1.730996427835341,-1.124124613710814,-6.123737930878268e-05,1.0511166502511313,-0.11731594754597813],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.85999999999942,"joint_targets_rad":[-0.11731710159608837,1.730996427835341,-1.124124613710814,-6.123737930878268e-05,1.0511166502511313,-0.11731594754597813],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.87999999999941,"qpos":[-0.1174958453970267,1.729992843275623,-1.1225147180255466,-0.00010983524144773569,1.0340499564087322,-0.12639859040640652,0.03017383074549477,-0.03017690692387507,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.276892259147848e-16,-2.359302984039244e-17,1.2666406162025765e-07],"qvel":[0.0003741917370042885,0.00215135434054536,-0.0019839201142535057,0.00017236849568571359,0.018393698352392743,0.011285159267596065,-0.04064216446150116,0.0406691957739467,2.903368751613203e-17,-1.5641149665693647e-16,4.3454320637642665e-15,4.197244010720678e-15,3.5509465732111235e-16,1.3278587161714788e-08],"joint_position_rad":[-0.1174958453970267,1.729992843275623,-1.1225147180255466,-0.00010983524144773569,1.0340499564087322,-0.12639859040640652],"joint_velocity_rad_s":[0.0003741917370042885,0.00215135434054536,-0.0019839201142535057,0.00017236849568571359,0.018393698352392743,0.011285159267596065],"gripper_joint_position_m":[0.03017383074549477,-0.03017690692387507],"tcp_position_m":[0.30336936046419427,-0.03440523190772956,0.08187575661877672],"tcp_quaternion_wxyz":[0.008190230120616314,-0.004475131501490479,0.9999558935562508,-0.0010508428692525477],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.276892259147848e-16,-2.359302984039244e-17,1.2666406162025765e-07],"object_linear_velocity_m_s":[2.903368751613203e-17,-1.5641149665693647e-16,4.3454320637642665e-15],"object_angular_velocity_rad_s":[4.197243920138519e-15,3.550957239921142e-16,1.3278587161714799e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999998}],"native_actuator_controls":[-0.11731710159608837,1.730996427835341,-1.124124613710814,-6.123737930878268e-05,1.0511166502511313,-0.11731594754597813,0.024999999999999717],"actuator_force_native":[0.012428545390045898,0.06952999307469554,-0.11887205425013292,0.0010820720071295525,0.14307639089540203,0.07389868970288971,-0.003742407512296264],"issued_joint_targets_rad":[-0.11731870657059006,1.7309992700062191,-1.124123595628362,-5.7733779583289814e-05,1.0511139970648165,-0.11731876872772097],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.87999999999941,"joint_targets_rad":[-0.11731870657059006,1.7309992700062191,-1.124123595628362,-5.7733779583289814e-05,1.0511139970648165,-0.11731876872772097],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.899999999999398,"qpos":[-0.11748856872508452,1.7300349932227221,-1.1225538735002274,-0.00010637254092057431,1.0344136585463743,-0.1261758451933526,0.02934420149448711,-0.02934678145750654,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.5207240339071994e-16,-3.4561151068844765e-17,1.2713115129844213e-07],"qvel":[0.00035544346320228327,0.002067015722588692,-0.0019345385549775845,0.00017026738754690552,0.017998523607818655,0.011005360900383416,-0.042196096243309195,0.04221904885710272,4.61862768475649e-17,-1.99060603662699e-16,4.409269887680213e-15,2.4347382018072126e-15,2.9580710948939277e-16,2.424334689640348e-08],"joint_position_rad":[-0.11748856872508452,1.7300349932227221,-1.1225538735002274,-0.00010637254092057431,1.0344136585463743,-0.1261758451933526],"joint_velocity_rad_s":[0.00035544346320228327,0.002067015722588692,-0.0019345385549775845,0.00017026738754690552,0.017998523607818655,0.011005360900383416],"gripper_joint_position_m":[0.02934420149448711,-0.02934678145750654],"tcp_position_m":[0.3033040618880885,-0.03439465889448501,0.08187072226417778],"tcp_quaternion_wxyz":[0.008008548952754617,-0.004366526534026879,0.9999578709266118,-0.001026139179800273],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.5207240339071994e-16,-3.4561151068844765e-17,1.2713115129844213e-07],"object_linear_velocity_m_s":[4.61862768475649e-17,-1.99060603662699e-16,4.409269887680213e-15],"object_angular_velocity_rad_s":[2.434738124918783e-15,2.9580773592501276e-16,2.4243346896403505e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.0981000000000001}],"native_actuator_controls":[-0.11731870657059006,1.7309992700062191,-1.124123595628362,-5.7733779583289814e-05,1.0511139970648165,-0.11731876872772097,0.023999999999999688],"actuator_force_native":[0.011811755043547478,0.06680706406683612,-0.11590507747587253,0.0010942135157568532,0.14000559977269234,0.07206272330574093,-0.0027875785629508654],"issued_joint_targets_rad":[-0.11732021954759941,1.7310020000273352,-1.1241226641452715,-5.4416251191766425e-05,1.0511115145945458,-0.11732141667035725],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.899999999999398,"joint_targets_rad":[-0.11732021954759941,1.7310020000273352,-1.1241226641452715,-5.4416251191766425e-05,1.0511115145945458,-0.11732141667035725],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.919999999999387,"qpos":[-0.11748165595095227,1.7300754908399838,-1.1225920551571023,-0.00010295464787912764,1.0347695490727267,-0.12595862186216467,0.028486282682334264,-0.028488443642056174,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.5362455910881278e-16,-1.9043273991521213e-17,1.275275132912787e-07],"qvel":[0.00033769224473471666,0.001985987258898572,-0.0018864437865387038,0.00016808432395149013,0.017612015367533627,0.010732541614683951,-0.043491846209415645,0.04351115472115147,1.8998115542733685e-17,-2.373782419468461e-16,4.428698790611154e-15,-1.0498248508333401e-15,1.8524469557324807e-15,4.4262229225258976e-08],"joint_position_rad":[-0.11748165595095227,1.7300754908399838,-1.1225920551571023,-0.00010295464787912764,1.0347695490727267,-0.12595862186216467],"joint_velocity_rad_s":[0.00033769224473471666,0.001985987258898572,-0.0018864437865387038,0.00016808432395149013,0.017612015367533627,0.010732541614683951],"gripper_joint_position_m":[0.028486282682334264,-0.028488443642056174],"tcp_position_m":[0.3032401473948334,-0.03438436986286083,0.08186602025047078],"tcp_quaternion_wxyz":[0.00783107021655398,-0.004260511798604221,0.9999597583429406,-0.00100203453284307],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.5362455910881278e-16,-1.9043273991521213e-17,1.275275132912787e-07],"object_linear_velocity_m_s":[1.8998115542733685e-17,-2.373782419468461e-16,4.428698790611154e-15],"object_angular_velocity_rad_s":[-1.049825324995012e-15,1.852446701568848e-15,4.426222922525902e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.0980999999999999},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11732021954759941,1.7310020000273352,-1.1241226641452715,-5.4416251191766425e-05,1.0511115145945458,-0.11732141667035725,0.02299999999999966],"actuator_force_native":[0.011226451044553443,0.06419079869360189,-0.11301650012086384,0.0011011142477369983,0.1370016321668892,0.07027323949604836,-0.0019920762463059294],"issued_joint_targets_rad":[-0.11732164526939814,1.731004622776992,-1.1241218144938265,-5.1275133360980726e-05,1.05110919390827,-0.11732390081233143],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.919999999999387,"joint_targets_rad":[-0.11732164526939814,1.731004622776992,-1.1241218144938265,-5.1275133360980726e-05,1.05110919390827,-0.11732390081233143],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.939999999999376,"qpos":[-0.11747508780517353,1.730114400982932,-1.12262928836213,-9.958343722853285e-05,1.0351177991192935,-0.1257467826018973,0.027604773681473467,-0.027606583154784165,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.405425575816016e-16,-5.933196732681569e-18,1.278764078896085e-07],"qvel":[0.00032087757901253677,0.001908139266856858,-0.001839601987525341,0.00016578945792316784,0.017233968146275376,0.010466535765836267,-0.04457238339895277,0.04458855511886508,7.710657540110035e-18,-2.722387811232928e-16,4.464781038911471e-15,-4.608024959915829e-15,1.1619900633129702e-15,8.081165296034376e-08],"joint_position_rad":[-0.11747508780517353,1.730114400982932,-1.12262928836213,-9.958343722853285e-05,1.0351177991192935,-0.1257467826018973],"joint_velocity_rad_s":[0.00032087757901253677,0.001908139266856858,-0.001839601987525341,0.00016578945792316784,0.017233968146275376,0.010466535765836267],"gripper_joint_position_m":[0.027604773681473467,-0.027606583154784165],"tcp_position_m":[0.30317758713877707,-0.03437435562835269,0.08186163423803508],"tcp_quaternion_wxyz":[0.007657689781927668,-0.004157028519635264,0.9999615599674967,-0.0009785133934785359],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.405425575816016e-16,-5.933196732681569e-18,1.278764078896085e-07],"object_linear_velocity_m_s":[7.710657540110035e-18,-2.722387811232928e-16,4.464781038911471e-15],"object_angular_velocity_rad_s":[-4.60802525805686e-15,1.1619889075125277e-15,8.081165296034387e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000023},{"geom_ids":[1,90],"normal_force_n":0.09810000000000017},{"geom_ids":[1,90],"normal_force_n":0.09810000000000009},{"geom_ids":[1,90],"normal_force_n":0.09810000000000005}],"native_actuator_controls":[-0.11732164526939814,1.731004622776992,-1.1241218144938265,-5.1275133360980726e-05,1.05110919390827,-0.11732390081233143,0.02199999999999963],"actuator_force_native":[0.010671014966968428,0.061677047190528356,-0.11020408059809483,0.001103384865086246,0.1340629956703534,0.06852901424690439,-0.0013290302641895124],"issued_joint_targets_rad":[-0.11732298823964969,1.7310071429036369,-1.1241210421444578,-4.8301272242260816e-05,1.051107026523209,-0.11732623009572392],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.939999999999376,"joint_targets_rad":[-0.11732298823964969,1.7310071429036369,-1.1241210421444578,-4.8301272242260816e-05,1.051107026523209,-0.11732623009572392],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.959999999999365,"qpos":[-0.11746884616357557,1.7301517859665676,-1.1226655978104945,-9.626124172792872e-05,1.0354585757853145,-0.12554019289605386,0.02670359216789957,-0.026705107681650943,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.152959194399723e-16,-7.506125434878725e-19,1.281829457386114e-07],"qvel":[0.0003049447682302484,0.0018333471905281618,-0.0017939798283554177,0.00016336601779119925,0.01686418356962512,0.010207179393632622,-0.04547349008375334,0.04548700892351295,2.4450555138900043e-18,-1.4248952329403533e-16,4.585517792839455e-15,5.342019377929448e-15,3.2340425419874227e-17,8.755280818096207e-09],"joint_position_rad":[-0.11746884616357557,1.7301517859665676,-1.1226655978104945,-9.626124172792872e-05,1.0354585757853145,-0.12554019289605386],"joint_velocity_rad_s":[0.0003049447682302484,0.0018333471905281618,-0.0017939798283554177,0.00016336601779119925,0.01686418356962512,0.010207179393632622],"gripper_joint_position_m":[0.02670359216789957,-0.026705107681650943],"tcp_position_m":[0.3031163519568193,-0.034364607530881955,0.08185754862068248],"tcp_quaternion_wxyz":[0.00748830639720579,-0.004056019108117934,0.9999632797655776,-0.0009555609688664527],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.152959194399723e-16,-7.506125434878725e-19,1.281829457386114e-07],"object_linear_velocity_m_s":[2.4450555138900043e-18,-1.4248952329403533e-16,4.585517792839455e-15],"object_angular_velocity_rad_s":[5.342019369625153e-15,3.234179695032962e-17,8.755280818096219e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999862},{"geom_ids":[1,90],"normal_force_n":0.09809999999999865},{"geom_ids":[1,90],"normal_force_n":0.09809999999999859}],"native_actuator_controls":[-0.11732298823964969,1.7310071429036369,-1.1241210421444578,-4.8301272242260816e-05,1.051107026523209,-0.11732623009572392,0.020999999999999602],"actuator_force_native":[0.010143910072921258,0.05926181901290306,-0.10746564757529598,0.00110156869047072,0.13118823202450614,0.06682885891285051,-0.0007762362972320025],"issued_joint_targets_rad":[-0.11732425273616154,1.7310095648371655,-1.1241203427929451,-4.548599377471615e-05,1.0511050043811792,-0.11732841299116295],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.959999999999365,"joint_targets_rad":[-0.11732425273616154,1.7310095648371655,-1.1241203427929451,-4.548599377471615e-05,1.0511050043811792,-0.11732841299116295],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.979999999999354,"qpos":[-0.11746291394537244,1.730187705665652,-1.1227010075376305,-9.299063118724788e-05,1.035792042272071,-0.12533872148426514,0.025786004681437474,-0.025787274653765773,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.168395595779483e-16,1.3287205461550415e-17,1.2868051143232206e-07],"qvel":[0.00028984365513900855,0.001761491382754875,-0.0017495445825009938,0.0001608065897526733,0.016502469656664364,0.00995431066256028,-0.04622497961159437,0.04623627310046978,-1.5051126062806647e-17,-1.46589829653728e-16,4.6729478560286856e-15,3.952745787320695e-15,2.7385075980670183e-16,1.598493179021183e-08],"joint_position_rad":[-0.11746291394537244,1.730187705665652,-1.1227010075376305,-9.299063118724788e-05,1.035792042272071,-0.12533872148426514],"joint_velocity_rad_s":[0.00028984365513900855,0.001761491382754875,-0.0017495445825009938,0.0001608065897526733,0.016502469656664364,0.00995431066256028],"gripper_joint_position_m":[0.025786004681437474,-0.025787274653765773],"tcp_position_m":[0.30305641334847644,-0.034355117360132234,0.08185374849214247],"tcp_quaternion_wxyz":[0.007322821591309549,-0.003957427137928122,0.9999649215152685,-0.0009331630901335502],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.168395595779483e-16,1.3287205461550415e-17,1.2868051143232206e-07],"object_linear_velocity_m_s":[-1.5051126062806647e-17,-1.46589829653728e-16,4.6729478560286856e-15],"object_angular_velocity_rad_s":[3.952745717266847e-15,2.7385178082473695e-16,1.5984931790211858e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999998},{"geom_ids":[1,90],"normal_force_n":0.09809999999999999}],"native_actuator_controls":[-0.11732425273616154,1.7310095648371655,-1.1241203427929451,-4.548599377471615e-05,1.0511050043811792,-0.11732841299116295,0.019999999999999574],"actuator_force_native":[0.009643678461175753,0.05694127680726524,-0.10479909751268224,0.0010961525477379028,0.12837591660608538,0.0651716189371816,-0.00031528919954415535],"issued_joint_targets_rad":[-0.11732544282276869,1.7310118927997482,-1.1241197123486883,-4.282107804121501e-05,1.0511031198258922,-0.11733045752187204],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.979999999999354,"joint_targets_rad":[-0.11732544282276869,1.7310118927997482,-1.1241197123486883,-4.282107804121501e-05,1.0511031198258922,-0.11733045752187204],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.999999999999343,"qpos":[-0.11745727503167108,1.73022221761073,-1.1227355409320978,-8.977425452286136e-05,1.036118358004666,-0.12514224031590385,0.024854735127694313,-0.024855800084206257,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.0956955184950397e-16,1.9653924915140724e-17,1.2911955576332162e-07],"qvel":[0.00027552779832162264,0.0016924568970887125,-0.0017062642017068995,0.00015811045431895807,0.016148640270347014,0.00970777022493002,-0.04685170186006284,0.04686113528085195,-2.7705658013031946e-17,-1.4800379855727075e-16,4.449515472322873e-15,2.421186324387882e-15,-6.78325186986869e-17,2.9184448750878335e-08],"joint_position_rad":[-0.11745727503167108,1.73022221761073,-1.1227355409320978,-8.977425452286136e-05,1.036118358004666,-0.12514224031590385],"joint_velocity_rad_s":[0.00027552779832162264,0.0016924568970887125,-0.0017062642017068995,0.00015811045431895807,0.016148640270347014,0.00970777022493002],"gripper_joint_position_m":[0.024854735127694313,-0.024855800084206257],"tcp_position_m":[0.3029977434572056,-0.03434587729881592,0.08185021961453566],"tcp_quaternion_wxyz":[0.007161139581738037,-0.0038611973237825353,0.9999664888166342,-0.0009113061228820882],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.0956955184950397e-16,1.9653924915140724e-17,1.2911955576332162e-07],"object_linear_velocity_m_s":[-2.7705658013031946e-17,-1.4800379855727075e-16,4.449515472322873e-15],"object_angular_velocity_rad_s":[2.4211863430519913e-15,-6.783188705822541e-17,2.918444875087838e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09810000000000033},{"geom_ids":[1,90],"normal_force_n":0.0981000000000002},{"geom_ids":[1,90],"normal_force_n":0.09810000000000028}],"native_actuator_controls":[-0.11732544282276869,1.7310118927997482,-1.1241197123486883,-4.282107804121501e-05,1.0511031198258922,-0.11733045752187204,0.018999999999999545],"actuator_force_native":[0.00916893772058458,0.05471173063602919,-0.1022023923187163,0.0010875747876710638,0.1256246578067426,0.06355617260292279,6.910419252348365e-05],"issued_joint_targets_rad":[-0.11732656236043165,1.731014130816159,-1.1241191469238705,-4.0298735001990185e-05,1.0511013655819377,-0.11733237128676655],"issued_gripper_position_m":0.0,"command":{"t_seconds":10.999999999999343,"joint_targets_rad":[-0.11732656236043165,1.731014130816159,-1.1241191469238705,-4.0298735001990185e-05,1.0511013655819377,-0.11733237128676655],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.019999999999332,"qpos":[-0.1174519141972488,1.7302553770801121,-1.1227692207496407,-8.661472659909783e-05,1.0364376787442062,-0.12495062449738033,0.023912055055418484,-0.02391294883642136,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.0306072448019931e-16,3.466081911025109e-17,1.295357370112946e-07],"qvel":[0.00026195393162993584,0.0016261332916310744,-0.0016641073624687234,0.00015528168684516373,0.01580251469319594,0.009467401495101621,-0.04737437481766217,0.04738225566275496,-6.595777940086242e-17,-1.6465807249133096e-16,3.8944039600102974e-15,-8.838015094016312e-16,2.4055212890750912e-15,5.328343342790782e-08],"joint_position_rad":[-0.1174519141972488,1.7302553770801121,-1.1227692207496407,-8.661472659909783e-05,1.0364376787442062,-0.12495062449738033],"joint_velocity_rad_s":[0.00026195393162993584,0.0016261332916310744,-0.0016641073624687234,0.00015528168684516373,0.01580251469319594,0.009467401495101621],"gripper_joint_position_m":[0.023912055055418484,-0.02391294883642136],"tcp_position_m":[0.30294031505280106,-0.03433687987836012,0.08184694838860701],"tcp_quaternion_wxyz":[0.007003167187450724,-0.0037672755007286253,0.9999679851004065,-0.000889976898282372],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.0306072448019931e-16,3.466081911025109e-17,1.295357370112946e-07],"object_linear_velocity_m_s":[-6.595777940086242e-17,-1.6465807249133096e-16,3.8944039600102974e-15],"object_angular_velocity_rad_s":[-8.838021289098557e-16,2.4055210710901138e-15,5.328343342790791e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999919},{"geom_ids":[1,90],"normal_force_n":0.09809999999999913},{"geom_ids":[1,90],"normal_force_n":0.09809999999999915},{"geom_ids":[1,90],"normal_force_n":0.09809999999999934}],"native_actuator_controls":[-0.11732656236043165,1.731014130816159,-1.1241191469238705,-4.0298735001990185e-05,1.0511013655819377,-0.11733237128676655,0.017999999999999516],"actuator_force_native":[0.008718377287223689,0.05256963242558754,-0.09967355712603876,0.0010762312296584873,0.12293309633752081,0.061981429863485316,0.0003896718715521441],"issued_joint_targets_rad":[-0.11732761501763125,1.7310162827236133,-1.124118642823369,-3.791158152939675e-05,1.05109973473519,-0.1173341614825321],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.019999999999332,"joint_targets_rad":[-0.11732761501763125,1.7310162827236133,-1.124118642823369,-3.791158152939675e-05,1.05109973473519,-0.1173341614825321],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.03999999999932,"qpos":[-0.11744681705123176,1.7302872371880516,-1.1228020691279612,-8.351454730840254e-05,1.0367501566924575,-0.1247637522347694,0.022959858840413842,-0.022960609679592372,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-9.211832687738747e-17,3.8023748506129866e-17,1.2983474069699512e-07],"qvel":[0.0002490815905692778,0.001562414444070006,-0.0016230434928152639,0.0001523277744293427,0.01546391728804442,0.009233050848366073,-0.04781027418164821,0.04781685966435252,-1.1360577341440948e-16,-2.641738967922527e-16,3.2213312513312966e-15,-9.53441635353627e-15,5.377879539430467e-15,9.728209369659888e-08],"joint_position_rad":[-0.11744681705123176,1.7302872371880516,-1.1228020691279612,-8.351454730840254e-05,1.0367501566924575,-0.1247637522347694],"joint_velocity_rad_s":[0.0002490815905692778,0.001562414444070006,-0.0016230434928152639,0.0001523277744293427,0.01546391728804442,0.009233050848366073],"gripper_joint_position_m":[0.022959858840413842,-0.022960609679592372],"tcp_position_m":[0.30288410151470235,-0.03432811794335813,0.08184392182552824],"tcp_quaternion_wxyz":[0.006848813745944953,-0.0036756086049904786,0.9999694136362013,-0.0008691626591760918],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-9.211832687738747e-17,3.8023748506129866e-17,1.2983474069699512e-07],"object_linear_velocity_m_s":[-1.1360577341440948e-16,-2.641738967922527e-16,3.2213312513312966e-15],"object_angular_velocity_rad_s":[-9.534417742609099e-15,5.377877081556273e-15,9.728209369659905e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999987},{"geom_ids":[1,90],"normal_force_n":0.09809999999999988},{"geom_ids":[1,90],"normal_force_n":0.0981}],"native_actuator_controls":[-0.11732761501763125,1.7310162827236133,-1.124118642823369,-3.791158152939675e-05,1.05109973473519,-0.1173341614825321,0.016999999999999488],"actuator_force_native":[0.008290754735195804,0.050511570624593105,-0.0972106781685369,0.0010624797590135177,0.1202999044952584,0.060446331249824015,0.0006570172916667838],"issued_joint_targets_rad":[-0.11732860428014379,1.731018352181117,-1.124118196535295,-3.565261966854413e-05,1.05109822071446,-0.11733583492468187],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.03999999999932,"joint_targets_rad":[-0.11732860428014379,1.731018352181117,-1.124118196535295,-3.565261966854413e-05,1.05109822071446,-0.11733583492468187],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.05999999999931,"qpos":[-0.11744196998415142,1.7303178489693292,-1.1228341076018868,-8.047604443947454e-05,1.0370559405903517,-0.12458150477310248,0.02199972633830725,-0.022000357786506167,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-9.673008599464833e-17,4.479569606294613e-17,1.3020375485096726e-07],"qvel":[0.00023687283431671972,0.001501198376658325,-0.0015830427860691867,0.00014925858221781838,0.015132677216162809,0.009004567760739737,-0.04817380647344273,0.048179311227716,-5.295749507894144e-17,-1.1773615170223423e-16,4.191388619097526e-15,3.548881222152784e-15,-1.5494395078251098e-15,1.053971819267247e-08],"joint_position_rad":[-0.11744196998415142,1.7303178489693292,-1.1228341076018868,-8.047604443947454e-05,1.0370559405903517,-0.12458150477310248],"joint_velocity_rad_s":[0.00023687283431671972,0.001501198376658325,-0.0015830427860691867,0.00014925858221781838,0.015132677216162809,0.009004567760739737],"gripper_joint_position_m":[0.02199972633830725,-0.022000357786506167],"tcp_position_m":[0.30282907681608817,-0.03431958462245692,0.08184112752011806],"tcp_quaternion_wxyz":[0.006697991034033709,-0.0035861446559588253,0.9999707775403063,-0.0008488510174283631],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-9.673008599464833e-17,4.479569606294613e-17,1.3020375485096726e-07],"object_linear_velocity_m_s":[-5.295749507894144e-17,-1.1773615170223423e-16,4.191388619097526e-15],"object_angular_velocity_rad_s":[3.5488816265826213e-15,-1.549438581630723e-15,1.0539718192672488e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999891},{"geom_ids":[1,90],"normal_force_n":0.09809999999999885},{"geom_ids":[1,90],"normal_force_n":0.09809999999999883},{"geom_ids":[1,90],"normal_force_n":0.09809999999999887}],"native_actuator_controls":[-0.11732860428014379,1.731018352181117,-1.124118196535295,-3.565261966854413e-05,1.05109822071446,-0.11733583492468187,0.01599999999999946],"actuator_force_native":[0.007884892149027323,0.04853426505977154,-0.09481190074231449,0.001046644079748125,0.11772378541683715,0.058949846843096454,0.0008799788349019844],"issued_joint_targets_rad":[-0.11732953346024388,1.7310203426783453,-1.1241178047220972,-3.351521606307926e-05,1.0510968172742525,-0.11733739806758577],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.05999999999931,"joint_targets_rad":[-0.11732953346024388,1.7310203426783453,-1.1241178047220972,-3.351521606307926e-05,1.0510968172742525,-0.11733739806758577],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.079999999999298,"qpos":[-0.11743736011991956,1.7303472614604227,-1.1228653571187108,-7.750133452586846e-05,1.0373551758113089,-0.12440376633335924,0.021032975114277576,-0.021033506816758023,0.300270071799029,-0.033971091375637606,0.07989224457978367,0.9999999999999925,-1.0885784872325402e-16,3.558980256768805e-17,1.3067598735961115e-07],"qvel":[0.00022529202410985445,0.0014423870900511738,-0.001544076205881223,0.00014608556451859412,0.014808628195630601,0.008781804903087498,-0.048476986064492036,0.04848158906030566,-4.259886484625062e-17,-1.374634314471382e-16,3.2143923574273874e-15,2.6421667202110324e-15,-1.3622022292649159e-15,1.9242863809480107e-08],"joint_position_rad":[-0.11743736011991956,1.7303472614604227,-1.1228653571187108,-7.750133452586846e-05,1.0373551758113089,-0.12440376633335924],"joint_velocity_rad_s":[0.00022529202410985445,0.0014423870900511738,-0.001544076205881223,0.00014608556451859412,0.014808628195630601,0.008781804903087498],"gripper_joint_position_m":[0.021032975114277576,-0.021033506816758023],"tcp_position_m":[0.3027752155086581,-0.03431127330415881,0.08183855362536446],"tcp_quaternion_wxyz":[0.006550613191964718,-0.0034988327390946036,0.9999720797830634,-0.0008290299199360942],"object_position_m":[0.300270071799029,-0.033971091375637606,0.07989224457978367],"object_quaternion_wxyz":[0.9999999999999925,-1.0885784872325402e-16,3.558980256768805e-17,1.3067598735961115e-07],"object_linear_velocity_m_s":[-4.259886484625062e-17,-1.374634314471382e-16,3.2143923574273874e-15],"object_angular_velocity_rad_s":[2.6421670775948888e-15,-1.3622015345399086e-15,1.9242863809480147e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"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":0.09809999999999962},{"geom_ids":[1,90],"normal_force_n":0.0980999999999997},{"geom_ids":[1,90],"normal_force_n":0.09809999999999972}],"native_actuator_controls":[-0.11732953346024388,1.7310203426783453,-1.1241178047220972,-3.351521606307926e-05,1.0510968172742525,-0.11733739806758577,0.014999999999999453],"actuator_force_native":[0.007499672653505485,0.0466345619835522,-0.09247542724151003,0.0010290169159185975,0.11520347233599182,0.05749097530310343,0.0010659257513353504],"issued_joint_targets_rad":[-0.11733040570538751,1.7310222575440681,-1.124117464212166,-3.149308248897579e-05,1.051095518478526,-0.11733885702350838],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.079999999999298,"joint_targets_rad":[-0.11733040570538751,1.7310222575440681,-1.124117464212166,-3.149308248897579e-05,1.051095518478526,-0.11733885702350838],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.099999999999287,"qpos":[-0.11743000782311894,1.730374339987335,-1.122897257497156,-6.748938398289246e-05,1.0376438634469367,-0.12422837009260687,0.020137827167832193,-0.020169650393717906,0.3002682477306529,-0.0339748915537288,0.07989149639020371,0.9999999966578363,7.524328130925505e-05,-2.8513655340082158e-05,1.448267611052403e-05],"qvel":[0.0009104434039249351,0.0011179577818372427,-0.00183825129593302,0.001790092970810075,0.013480600263973089,0.009009281436264631,-0.03072500219552734,0.02360335534579599,-0.00040187017310689164,-0.0008225773052672583,-0.000153257532640452,0.032642261229721435,-0.01215339371468278,0.006072407179059387],"joint_position_rad":[-0.11743000782311894,1.730374339987335,-1.122897257497156,-6.748938398289246e-05,1.0376438634469367,-0.12422837009260687],"joint_velocity_rad_s":[0.0009104434039249351,0.0011179577818372427,-0.00183825129593302,0.001790092970810075,0.013480600263973089,0.009009281436264631],"gripper_joint_position_m":[0.020137827167832193,-0.020169650393717906],"tcp_position_m":[0.30272411304645847,-0.03430115858170287,0.08183689703289465],"tcp_quaternion_wxyz":[0.0064103152481611095,-0.0034122944668624243,0.999973306047363,-0.0008070301094814234],"object_position_m":[0.3002682477306529,-0.0339748915537288,0.07989149639020371],"object_quaternion_wxyz":[0.9999999966578363,7.524328130925505e-05,-2.8513655340082158e-05,1.448267611052403e-05],"object_linear_velocity_m_s":[-0.00040187017310689164,-0.0008225773052672583,-0.000153257532640452],"object_angular_velocity_rad_s":[0.03264226696261257,-0.0121533620381405,0.00607243975953459],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":5},"pad_normal_forces_n":{"left":0.0,"right":0.24200368989958645},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.05755873299252235},{"geom_ids":[1,90],"normal_force_n":0.09718260617635573},{"geom_ids":[1,90],"normal_force_n":0.17426562387858255},{"geom_ids":[1,90],"normal_force_n":0.13340477871034992},{"geom_ids":[88,90],"normal_force_n":0.026947655059556423},{"geom_ids":[88,90],"normal_force_n":0.11776336123880067},{"geom_ids":[88,90],"normal_force_n":0.030854940173260202},{"geom_ids":[89,90],"normal_force_n":0.028901551558706617},{"geom_ids":[89,90],"normal_force_n":0.03753618186926255}],"native_actuator_controls":[-0.11733040570538751,1.7310222575440681,-1.124117464212166,-3.149308248897579e-05,1.051095518478526,-0.11733885702350838,0.013999999999999459],"actuator_force_native":[0.003415952398890809,0.04624361562946433,-0.08842528072112543,-0.007510612794293709,0.11429564991993502,0.05538120853658812,-0.09188807573567259],"issued_joint_targets_rad":[-0.1173312208302417,1.7310240536662769,-1.1241171816655777,-2.9589276427851703e-05,1.0510943422043921,-0.1173401619800685],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.099999999999287,"joint_targets_rad":[-0.1173312208302417,1.7310240536662769,-1.1241171816655777,-2.9589276427851703e-05,1.0510943422043921,-0.1173401619800685],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.119999999999276,"qpos":[-0.11740238254124961,1.7303931457837447,-1.1229381063861485,-1.1238939208380539e-05,1.037892956554734,-0.12404738069281314,0.01978960550346189,-0.0200235027577395,0.3002567392227787,-0.033995851681267036,0.07988917666191714,0.9999998641276322,0.0004737596744950719,-0.00018938098770574625,0.00010691740513690129],"qvel":[0.0013896648640996756,0.0009449562726312355,-0.002126060375866185,0.002724176593452742,0.011618408804445968,0.008930991683092205,-0.008293555521782422,-0.0010448420204052916,-0.0006362019912107562,-0.0008017993324206509,1.782028015976825e-05,0.029635825617515734,-0.019084850729704516,0.009192722634980747],"joint_position_rad":[-0.11740238254124961,1.7303931457837447,-1.1229381063861485,-1.1238939208380539e-05,1.037892956554734,-0.12404738069281314],"joint_velocity_rad_s":[0.0013896648640996756,0.0009449562726312355,-0.002126060375866185,0.002724176593452742,0.011618408804445968,0.008930991683092205],"gripper_joint_position_m":[0.01978960550346189,-0.0200235027577395],"tcp_position_m":[0.30268617115175034,-0.03427791504844433,0.08184000838846338],"tcp_quaternion_wxyz":[0.006300631370051316,-0.003321478016652401,0.999974339247873,-0.0007685531232250985],"object_position_m":[0.3002567392227787,-0.033995851681267036,0.07988917666191714],"object_quaternion_wxyz":[0.9999998641276322,0.0004737596744950719,-0.00018938098770574625,0.00010691740513690129],"object_linear_velocity_m_s":[-0.0006362019912107562,-0.0008017993324206509,1.782028015976825e-05],"object_angular_velocity_rad_s":[0.029636426321651043,-0.019087220527535056,0.00918586328361092],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":4},"pad_normal_forces_n":{"left":0.10118679720097731,"right":0.17373461563692488},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":14,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.051969285895056436},{"geom_ids":[1,90],"normal_force_n":0.09866365151315787},{"geom_ids":[1,90],"normal_force_n":0.14220792508013785},{"geom_ids":[1,90],"normal_force_n":0.09298399485089678},{"geom_ids":[85,90],"normal_force_n":0.043317017363181526},{"geom_ids":[86,90],"normal_force_n":0.057869779837795794},{"geom_ids":[88,90],"normal_force_n":0.018818351508357468},{"geom_ids":[88,90],"normal_force_n":0.09682003536284013},{"geom_ids":[89,90],"normal_force_n":0.0256671244787281},{"geom_ids":[89,90],"normal_force_n":0.03242910428699918}],"native_actuator_controls":[-0.1173312208302417,1.7310240536662769,-1.1241171816655777,-2.9589276427851703e-05,1.0510943422043921,-0.1173401619800685,0.012999999999999465],"actuator_force_native":[-0.0012553874398655296,0.04574784923940456,-0.0836957204750064,-0.014354896456042555,0.11458624328991363,0.05367569960280805,-0.23011644252958485],"issued_joint_targets_rad":[-0.11733194096572092,1.7310254529897713,-1.1241170195540777,-2.7874742912775983e-05,1.0510934396242628,-0.11734099018921183],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.119999999999276,"joint_targets_rad":[-0.11733194096572092,1.7310254529897713,-1.1241170195540777,-2.7874742912775983e-05,1.0510934396242628,-0.11734099018921183],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.139999999999265,"qpos":[-0.1173823806255292,1.7304141751241262,-1.122981248766332,2.5491255638848303e-05,1.0381094172860528,-0.12387244386443028,0.01973600153812517,-0.02009135301097203,0.30024454670333744,-0.034003408759372286,0.07989169301694217,0.9999997238695437,0.0006094521173464294,-0.00038571804786613647,0.00017902664697420854],"qvel":[0.0007272033548372825,0.0011032765365701204,-0.00218404354227097,0.0012645554535325946,0.010245982653813115,0.00861157366882305,0.00020057258480380913,-0.0039050733587305824,-0.0005798005316776483,-0.0001519747738141856,0.00017309756283250018,0.0051382509010711105,-0.018419460847370152,0.006569062172989546],"joint_position_rad":[-0.1173823806255292,1.7304141751241262,-1.122981248766332,2.5491255638848303e-05,1.0381094172860528,-0.12387244386443028],"joint_velocity_rad_s":[0.0007272033548372825,0.0011032765365701204,-0.00218404354227097,0.0012645554535325946,0.010245982653813115,0.00861157366882305],"gripper_joint_position_m":[0.01973600153812517,-0.02009135301097203],"tcp_position_m":[0.30265500669683515,-0.03426138136734251,0.08184304583098645],"tcp_quaternion_wxyz":[0.006206151363360914,-0.003234786013810567,0.9999752354584149,-0.0007404826720561261],"object_position_m":[0.30024454670333744,-0.034003408759372286,0.07989169301694217],"object_quaternion_wxyz":[0.9999997238695437,0.0006094521173464294,-0.00038571804786613647,0.00017902664697420854],"object_linear_velocity_m_s":[-0.0005798005316776483,-0.0001519747738141856,0.00017309756283250018],"object_angular_velocity_rad_s":[0.005139786672762187,-0.01842561659485358,0.006550571282011564],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":4},"pad_normal_forces_n":{"left":0.13968266615542146,"right":0.17153852395273267},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":15,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04948842415384463},{"geom_ids":[1,90],"normal_force_n":0.10046920786668076},{"geom_ids":[1,90],"normal_force_n":0.1425762373733734},{"geom_ids":[1,90],"normal_force_n":0.08739817668524522},{"geom_ids":[85,90],"normal_force_n":0.019565764597039195},{"geom_ids":[85,90],"normal_force_n":0.05276424993284139},{"geom_ids":[86,90],"normal_force_n":0.0673526516255409},{"geom_ids":[88,90],"normal_force_n":0.02200282216404352},{"geom_ids":[88,90],"normal_force_n":0.087837569959806},{"geom_ids":[89,90],"normal_force_n":0.02787498060795195},{"geom_ids":[89,90],"normal_force_n":0.03382315122093117}],"native_actuator_controls":[-0.11733194096572092,1.7310254529897713,-1.1241170195540777,-2.7874742912775983e-05,1.0510934396242628,-0.11734099018921183,0.011999999999999471],"actuator_force_native":[0.0003991560104772418,0.04338584656875355,-0.07994144530829317,-0.008457417209727945,0.11447124940138131,0.052397176248949906,-0.31044292444904703],"issued_joint_targets_rad":[-0.11733252312427576,1.7310267053012083,-1.124117010637355,-2.637902460150375e-05,1.0510928164007882,-0.11734171006811765],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.139999999999265,"joint_targets_rad":[-0.11733252312427576,1.7310267053012083,-1.124117010637355,-2.637902460150375e-05,1.0510928164007882,-0.11734171006811765],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.159999999999254,"qpos":[-0.11737134530008347,1.730436569474894,-1.1230252938419274,4.41891082068251e-05,1.0383052745537236,-0.12370268715645848,0.01975391283462073,-0.02015452022250417,0.3002334221536301,-0.03400468468240663,0.07989542439511628,0.9999996220611377,0.0006239049181008955,-0.0005537925466499509,0.00024481431594302027],"qvel":[0.00042734626045747926,0.0011255637381663436,-0.0022143595802545882,0.0007009078666317059,0.00943011353959794,0.008378149207389073,0.0010225442064988773,-0.0023779595029319927,-0.0005369061603810741,-1.0247582660480658e-05,0.0001882446665239501,-8.385321217642161e-05,-0.014603559452144064,0.007078198175458973],"joint_position_rad":[-0.11737134530008347,1.730436569474894,-1.1230252938419274,4.41891082068251e-05,1.0383052745537236,-0.12370268715645848],"joint_velocity_rad_s":[0.00042734626045747926,0.0011255637381663436,-0.0022143595802545882,0.0007009078666317059,0.00943011353959794,0.008378149207389073],"gripper_joint_position_m":[0.01975391283462073,-0.02015452022250417],"tcp_position_m":[0.302627683739156,-0.034251351349649135,0.08184591552796815],"tcp_quaternion_wxyz":[0.00612072089791672,-0.0031507333724584544,0.9999760443155726,-0.0007214221269770431],"object_position_m":[0.3002334221536301,-0.03400468468240663,0.07989542439511628],"object_quaternion_wxyz":[0.9999996220611377,0.0006239049181008955,-0.0005537925466499509,0.00024481431594302027],"object_linear_velocity_m_s":[-0.0005369061603810741,-1.0247582660480658e-05,0.0001882446665239501],"object_angular_velocity_rad_s":[-8.453028265718617e-05,-0.014612421492771003,0.007059876924811562],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":4},"pad_normal_forces_n":{"left":0.16727402354384374,"right":0.17689048219743672},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04687392173493166},{"geom_ids":[1,90],"normal_force_n":0.10285720387486466},{"geom_ids":[1,90],"normal_force_n":0.1415921743418358},{"geom_ids":[1,90],"normal_force_n":0.08142925942349297},{"geom_ids":[85,90],"normal_force_n":0.02805881719744998},{"geom_ids":[85,90],"normal_force_n":0.06272751481112093},{"geom_ids":[86,90],"normal_force_n":0.07648769153527284},{"geom_ids":[88,90],"normal_force_n":0.025777757708502023},{"geom_ids":[88,90],"normal_force_n":0.08383677761183306},{"geom_ids":[89,90],"normal_force_n":0.030981610896756166},{"geom_ids":[89,90],"normal_force_n":0.036294335980345475}],"native_actuator_controls":[-0.11733252312427576,1.7310267053012083,-1.124117010637355,-2.637902460150375e-05,1.0510928164007882,-0.11734171006811765,0.010999999999999477],"actuator_force_native":[0.000969042762330119,0.04158304741432062,-0.07626554573295152,-0.0063272646454916835,0.1137302481612501,0.051042547072324584,-0.3552692344173445],"issued_joint_targets_rad":[-0.1173330172977574,1.7310278743055638,-1.1241171054616943,-2.504974019175103e-05,1.051092380216389,-0.11734238036600102],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.159999999999254,"joint_targets_rad":[-0.1173330172977574,1.7310278743055638,-1.1241171054616943,-2.504974019175103e-05,1.051092380216389,-0.11734238036600102],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.179999999999243,"qpos":[-0.11736468076750604,1.730459003938449,-1.1230696627118006,5.4581692712290454e-05,1.0384873841954718,-0.12353759685525181,0.019767705989638597,-0.020187118036053598,0.3002228515618459,-0.034004029477934745,0.07989932093074192,0.9999995293866457,0.0006151896761785859,-0.0006762641085910067,0.00032470756804936924],"qvel":[0.0002598962720140014,0.001116107067633653,-0.0022183557837374018,0.00037302138256918517,0.008835500153405904,0.00814191008045387,0.0003310383179908908,-0.0010594109452064138,-0.0005233966044927345,6.98985159461774e-05,0.00020166886897371062,-0.0014995808940046072,-0.010218348759509933,0.008852564481095247],"joint_position_rad":[-0.11736468076750604,1.730459003938449,-1.1230696627118006,5.4581692712290454e-05,1.0384873841954718,-0.12353759685525181],"joint_velocity_rad_s":[0.0002598962720140014,0.001116107067633653,-0.0022183557837374018,0.00037302138256918517,0.008835500153405904,0.00814191008045387],"gripper_joint_position_m":[0.019767705989638597,-0.020187118036053598],"tcp_position_m":[0.3026030092612451,-0.03424449442855993,0.08184887919336117],"tcp_quaternion_wxyz":[0.006041817106396812,-0.0030689156200622196,0.9999767890410742,-0.0007068112004200861],"object_position_m":[0.3002228515618459,-0.034004029477934745,0.07989932093074192],"object_quaternion_wxyz":[0.9999995293866457,0.0006151896761785859,-0.0006762641085910067,0.00032470756804936924],"object_linear_velocity_m_s":[-0.0005233966044927345,6.98985159461774e-05,0.00020166886897371062],"object_angular_velocity_rad_s":[-0.0015049045575523325,-0.010230207367918947,0.00883795290792082],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.19330176859349338,"right":0.1954997117378101},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04676257125218059},{"geom_ids":[1,90],"normal_force_n":0.10444772739185167},{"geom_ids":[1,90],"normal_force_n":0.13761144730666922},{"geom_ids":[1,90],"normal_force_n":0.07766609597142128},{"geom_ids":[85,90],"normal_force_n":0.03642678685582962},{"geom_ids":[85,90],"normal_force_n":0.07202084853134104},{"geom_ids":[86,90],"normal_force_n":0.08485413320632272},{"geom_ids":[88,90],"normal_force_n":0.02918775412416318},{"geom_ids":[88,90],"normal_force_n":0.08165060114317306},{"geom_ids":[88,90],"normal_force_n":0.012275915923107745},{"geom_ids":[89,90],"normal_force_n":0.03376995499327706},{"geom_ids":[89,90],"normal_force_n":0.03861548555408907}],"native_actuator_controls":[-0.1173330172977574,1.7310278743055638,-1.1241171054616943,-2.504974019175103e-05,1.051092380216389,-0.11734238036600102,0.009999999999999483],"actuator_force_native":[0.0012335962198211092,0.03992909403100953,-0.07270364107280614,-0.005050364229007585,0.11279670997906166,0.04973929977182712,-0.3923634311755189],"issued_joint_targets_rad":[-0.11733345253597195,1.7310289737938267,-1.1241172595905613,-2.3838937127821467e-05,1.0510920587540578,-0.11734299262220427],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.179999999999243,"joint_targets_rad":[-0.11733345253597195,1.7310289737938267,-1.1241172595905613,-2.3838937127821467e-05,1.0510920587540578,-0.11734299262220427],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.199999999999232,"qpos":[-0.1173607654521916,1.730481217951165,-1.123113890525275,5.940196341098962e-05,1.0386588965511245,-0.12337726193324802,0.019766681240384096,-0.020200097924256102,0.3002124637728749,-0.03400186760207909,0.0799034613378263,0.999999446411255,0.0005943409369071962,-0.000758779917866881,0.0004221244704403187],"qvel":[0.00014385528884603896,0.00110633162799769,-0.002202212991001559,0.00013108800400538843,0.008354205513344632,0.007903920992980847,-0.0003622539369626766,-0.0003590334079106487,-0.0005159555608489763,0.00014092498073686795,0.00021023016046056335,-0.002556009382239453,-0.006586171721457824,0.010509187938220817],"joint_position_rad":[-0.1173607654521916,1.730481217951165,-1.123113890525275,5.940196341098962e-05,1.0386588965511245,-0.12337726193324802],"joint_velocity_rad_s":[0.00014385528884603896,0.00110633162799769,-0.002202212991001559,0.00013108800400538843,0.008354205513344632,0.007903920992980847],"gripper_joint_position_m":[0.019766681240384096,-0.020200097924256102],"tcp_position_m":[0.30258030328539476,-0.034239732915054846,0.081851902695869],"tcp_quaternion_wxyz":[0.005967918548076114,-0.002989500673779344,0.9999774814641372,-0.0006952687005879889],"object_position_m":[0.3002124637728749,-0.03400186760207909,0.0799034613378263],"object_quaternion_wxyz":[0.999999446411255,0.0005943409369071962,-0.000758779917866881,0.0004221244704403187],"object_linear_velocity_m_s":[-0.0005159555608489763,0.00014092498073686795,0.00021023016046056335],"object_angular_velocity_rad_s":[-0.002566382261777426,-0.006600819129380299,0.010497463595322129],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.2183573905276074,"right":0.20794918975490856},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04725194238410711},{"geom_ids":[1,90],"normal_force_n":0.10502317830175556},{"geom_ids":[1,90],"normal_force_n":0.13260486669143717},{"geom_ids":[1,90],"normal_force_n":0.07439082136141267},{"geom_ids":[85,90],"normal_force_n":0.04475398871917343},{"geom_ids":[85,90],"normal_force_n":0.08081001064145697},{"geom_ids":[86,90],"normal_force_n":0.092793391166977},{"geom_ids":[88,90],"normal_force_n":0.0325197413320667},{"geom_ids":[88,90],"normal_force_n":0.08060637220355735},{"geom_ids":[88,90],"normal_force_n":0.017401101392667966},{"geom_ids":[89,90],"normal_force_n":0.03645164133614886},{"geom_ids":[89,90],"normal_force_n":0.04097033349046769}],"native_actuator_controls":[-0.11733345253597195,1.7310289737938267,-1.1241172595905613,-2.3838937127821467e-05,1.0510920587540578,-0.11734299262220427,0.00899999999999949],"actuator_force_native":[0.001465756853340494,0.03828880927292744,-0.06925846026788918,-0.0039850760415793855,0.11180031375931598,0.04848681162096624,-0.4288559799305709],"issued_joint_targets_rad":[-0.1173338400519137,1.7310300159920062,-1.1241174529327658,-2.272347363035214e-05,1.0510918183582303,-0.11734355240247413],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.199999999999232,"joint_targets_rad":[-0.1173338400519137,1.7310300159920062,-1.1241174529327658,-2.272347363035214e-05,1.0510918183582303,-0.11734355240247413],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.21999999999922,"qpos":[-0.11735882100163085,1.7305033153053397,-1.1231576301243116,6.004851607322279e-05,1.0388215835546457,-0.12322165363663462,0.019754339325198284,-0.020203507146739953,0.30020222148665243,-0.03399842864377051,0.07990765365108794,0.9999993705597067,0.0005647379102779772,-0.0008091427315578586,0.0005340780117333874],"qvel":[5.97220210293435e-05,0.0011044115663417346,-0.0021710353431185505,-4.883768586650698e-05,0.007945085306667933,0.007669644588629752,-0.0008092680255412607,-4.1869422134399114e-05,-0.0005086579248240293,0.00019715725663541612,0.00020738309603982768,-0.003251014227403898,-0.0037424637033576574,0.011749218583827858],"joint_position_rad":[-0.11735882100163085,1.7305033153053397,-1.1231576301243116,6.004851607322279e-05,1.0388215835546457,-0.12322165363663462],"joint_velocity_rad_s":[5.97220210293435e-05,0.0011044115663417346,-0.0021710353431185505,-4.883768586650698e-05,0.007945085306667933,0.007669644588629752],"gripper_joint_position_m":[0.019754339325198284,-0.020203507146739953],"tcp_position_m":[0.3025591385450441,-0.03423652176718889,0.08185487050092957],"tcp_quaternion_wxyz":[0.005897995523033695,-0.0029125115174779446,0.9999781298865946,-0.0006860568343896453],"object_position_m":[0.30020222148665243,-0.03399842864377051,0.07990765365108794],"object_quaternion_wxyz":[0.9999993705597067,0.0005647379102779772,-0.0008091427315578586,0.0005340780117333874],"object_linear_velocity_m_s":[-0.0005086579248240293,0.00019715725663541612,0.00020738309603982768],"object_angular_velocity_rad_s":[-0.003266013653127708,-0.0037592094030088016,0.011739708892907501],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":5},"pad_normal_forces_n":{"left":0.2422896148891549,"right":0.22199611414708978},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04777847010167987},{"geom_ids":[1,90],"normal_force_n":0.10472405172956203},{"geom_ids":[1,90],"normal_force_n":0.12731387873198172},{"geom_ids":[1,90],"normal_force_n":0.07145931332364894},{"geom_ids":[85,90],"normal_force_n":0.05287908001628826},{"geom_ids":[85,90],"normal_force_n":0.08910486681054763},{"geom_ids":[86,90],"normal_force_n":0.10030566806231898},{"geom_ids":[88,90],"normal_force_n":0.0358820533917855},{"geom_ids":[88,90],"normal_force_n":0.08047784907447732},{"geom_ids":[88,90],"normal_force_n":0.02307573414120559},{"geom_ids":[89,90],"normal_force_n":0.039137186702501235},{"geom_ids":[89,90],"normal_force_n":0.04342329083712013}],"native_actuator_controls":[-0.1173338400519137,1.7310300159920062,-1.1241174529327658,-2.272347363035214e-05,1.0510918183582303,-0.11734355240247413,0.007999999999999495],"actuator_force_native":[0.0016998658722258142,0.03661399710159685,-0.06593064796074088,-0.003066691158810462,0.11078472007584317,0.04727654545866011,-0.4661272328802452],"issued_joint_targets_rad":[-0.11733418778236422,1.731031009795655,-1.1241176724446837,-2.1688515059299288e-05,1.051091636905052,-0.11734406596551407],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.21999999999922,"joint_targets_rad":[-0.11733418778236422,1.731031009795655,-1.1241176724446837,-2.1688515059299288e-05,1.051091636905052,-0.11734406596551407],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.23999999999921,"qpos":[-0.11735832850063588,1.7305254840060609,-1.1232006313854677,5.745241485195661e-05,1.0389765963853521,-0.12307080292034614,0.01973585037522929,-0.020203025664571186,0.30019211576390403,-0.03399407570681175,0.07991159722981507,0.9999992957687006,0.0005291062179191491,-0.0008377164523308417,0.0006532532874240182],"qvel":[-1.1738081736519513e-05,0.0011176580834323059,-0.002131915039505409,-0.0002346502334429224,0.007560416522071792,0.007406126985892527,-0.0009178915957248793,2.2354393323563745e-05,-0.0005029794940830795,0.00023242672510546684,0.00017515026494387714,-0.0041637109465512585,-0.0029094652773038604,0.0112253772952826],"joint_position_rad":[-0.11735832850063588,1.7305254840060609,-1.1232006313854677,5.745241485195661e-05,1.0389765963853521,-0.12307080292034614],"joint_velocity_rad_s":[-1.1738081736519513e-05,0.0011176580834323059,-0.002131915039505409,-0.0002346502334429224,0.007560416522071792,0.007406126985892527],"gripper_joint_position_m":[0.01973585037522929,-0.020203025664571186],"tcp_position_m":[0.30253922574888803,-0.034234497347219145,0.08185766513160045],"tcp_quaternion_wxyz":[0.005831308188343603,-0.0028379888979110633,0.9999787403041398,-0.0006786778128844035],"object_position_m":[0.30019211576390403,-0.03399407570681175,0.07991159722981507],"object_quaternion_wxyz":[0.9999992957687006,0.0005291062179191491,-0.0008377164523308417,0.0006532532874240182],"object_linear_velocity_m_s":[-0.0005029794940830795,0.00023242672510546684,0.00017515026494387714],"object_angular_velocity_rad_s":[-0.004178697330313214,-0.0029267884974061168,0.011215300717359206],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.2697035541999855,"right":0.23448267286687086},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04448128587935069},{"geom_ids":[1,90],"normal_force_n":0.10489546692390225},{"geom_ids":[1,90],"normal_force_n":0.12506825436702187},{"geom_ids":[1,90],"normal_force_n":0.06549075235921163},{"geom_ids":[85,90],"normal_force_n":0.05271530863354866},{"geom_ids":[85,90],"normal_force_n":0.03307443266190246},{"geom_ids":[85,90],"normal_force_n":0.08668508622023921},{"geom_ids":[86,90],"normal_force_n":0.09722872668429514},{"geom_ids":[88,90],"normal_force_n":0.03901916848755992},{"geom_ids":[88,90],"normal_force_n":0.08074200019096986},{"geom_ids":[88,90],"normal_force_n":0.026550201899941044},{"geom_ids":[89,90],"normal_force_n":0.04207668016414512},{"geom_ids":[89,90],"normal_force_n":0.04609462212425493}],"native_actuator_controls":[-0.11733418778236422,1.731031009795655,-1.1241176724446837,-2.1688515059299288e-05,1.051091636905052,-0.11734406596551407,0.006999999999999501],"actuator_force_native":[0.0019899478704150653,0.03485377275035262,-0.06270370953977533,-0.001992386029235624,0.109809780413892,0.04615817906948183,-0.5048445570305672],"issued_joint_targets_rad":[-0.11733450150724936,1.7310319617988998,-1.1241179088740365,-2.0723501013559888e-05,1.051091498520351,-0.11734453847451234],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.23999999999921,"joint_targets_rad":[-0.11733450150724936,1.7310319617988998,-1.1241179088740365,-2.0723501013559888e-05,1.051091498520351,-0.11734453847451234],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.259999999999199,"qpos":[-0.11735931780169409,1.730548050168004,-1.123242887576452,5.069940306037079e-05,1.039123616234221,-0.12292560727564653,0.019718095015572285,-0.020202878475121925,0.30018204259092124,-0.03398921701188038,0.07991471763543782,0.9999992179906909,0.00048470890233328603,-0.0008689325564710195,0.0007576486639604676],"qvel":[-7.795588991764426e-05,0.001133672543436708,-0.0020946824402469227,-0.00041094795289322683,0.007176168801762441,0.00713754851536896,-0.000894402474816501,9.61743024841278e-06,-0.0005045291347003293,0.00024998512955572404,0.0001443744036417383,-0.004506394398358918,-0.002933022161547662,0.00997809343589701],"joint_position_rad":[-0.11735931780169409,1.730548050168004,-1.123242887576452,5.069940306037079e-05,1.039123616234221,-0.12292560727564653],"joint_velocity_rad_s":[-7.795588991764426e-05,0.001133672543436708,-0.0020946824402469227,-0.00041094795289322683,0.007176168801762441,0.00713754851536896],"gripper_joint_position_m":[0.019718095015572285,-0.020202878475121925],"tcp_position_m":[0.30252059514001545,-0.03423383989570123,0.08186018481219974],"tcp_quaternion_wxyz":[0.005767802331939667,-0.0027665957342296044,0.999979312170305,-0.0006735248374622691],"object_position_m":[0.30018204259092124,-0.03398921701188038,0.07991471763543782],"object_quaternion_wxyz":[0.9999992179906909,0.00048470890233328603,-0.0008689325564710195,0.0007576486639604676],"object_linear_velocity_m_s":[-0.0005045291347003293,0.00024998512955572404,0.0001443744036417383],"object_angular_velocity_rad_s":[-0.004519268790083069,-0.0029495282140556563,0.009967399410410515],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.2931165478402265,"right":0.24984730947738287},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.043975134450862374},{"geom_ids":[1,90],"normal_force_n":0.1048308911516972},{"geom_ids":[1,90],"normal_force_n":0.12195698010112173},{"geom_ids":[1,90],"normal_force_n":0.06222772216792162},{"geom_ids":[85,90],"normal_force_n":0.05804737438988197},{"geom_ids":[85,90],"normal_force_n":0.04228462862526124},{"geom_ids":[85,90],"normal_force_n":0.09144924428378362},{"geom_ids":[86,90],"normal_force_n":0.10133530054129965},{"geom_ids":[88,90],"normal_force_n":0.04244084887715447},{"geom_ids":[88,90],"normal_force_n":0.08167786908512277},{"geom_ids":[88,90],"normal_force_n":0.03185468373551242},{"geom_ids":[89,90],"normal_force_n":0.04501835319488245},{"geom_ids":[89,90],"normal_force_n":0.04885555458471075}],"native_actuator_controls":[-0.11733450150724936,1.7310319617988998,-1.1241179088740365,-2.0723501013559888e-05,1.051091498520351,-0.11734453847451234,0.0059999999999995075],"actuator_force_native":[0.00237508300516609,0.033044567754473064,-0.05952829160553108,-0.000802176398491093,0.10891456965865665,0.04510436523828831,-0.5442517882488287],"issued_joint_targets_rad":[-0.11733477935399647,1.7310328743499708,-1.1241181617682994,-1.982826854920467e-05,1.0510914015823254,-0.11734497439402168],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.259999999999199,"joint_targets_rad":[-0.11733477935399647,1.7310328743499708,-1.1241181617682994,-1.982826854920467e-05,1.0510914015823254,-0.11734497439402168],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.279999999999188,"qpos":[-0.11736132430877162,1.730570705013676,-1.1232843316039423,4.141973434297128e-05,1.0392640072994095,-0.12278535501047494,0.01969956804288507,-0.02020247004847445,0.3001718489320984,-0.03398415951576524,0.0799174088085549,0.9999991395913482,0.0004400952885850436,-0.0008944013913037309,0.0008527478232283475],"qvel":[-0.00011681093575011557,0.0011293721977056977,-0.0020507161345666904,-0.0005038982717984293,0.006890737897463201,0.006902526723701462,-0.0009545736457200703,2.8526532304496228e-05,-0.0005158064799977064,0.0002537570308522965,0.00012508685722493782,-0.004380825079280082,-0.002249112071219445,0.009059289420580036],"joint_position_rad":[-0.11736132430877162,1.730570705013676,-1.1232843316039423,4.141973434297128e-05,1.0392640072994095,-0.12278535501047494],"joint_velocity_rad_s":[-0.00011681093575011557,0.0011293721977056977,-0.0020507161345666904,-0.0005038982717984293,0.006890737897463201,0.006902526723701462],"gripper_joint_position_m":[0.01969956804288507,-0.02020247004847445],"tcp_position_m":[0.3025030041432768,-0.03423407986710917,0.08186250620076266],"tcp_quaternion_wxyz":[0.005707006108440134,-0.0026977989986361637,0.9999798514443495,-0.000669826229743956],"object_position_m":[0.3001718489320984,-0.03398415951576524,0.0799174088085549],"object_quaternion_wxyz":[0.9999991395913482,0.0004400952885850436,-0.0008944013913037309,0.0008527478232283475],"object_linear_velocity_m_s":[-0.0005158064799977064,0.0002537570308522965,0.00012508685722493782],"object_angular_velocity_rad_s":[-0.004393172549386847,-0.002264563665209881,0.009049455489006646],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.31531992214103816,"right":0.26657379199212994},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.043171300488504684},{"geom_ids":[1,90],"normal_force_n":0.10530703203729254},{"geom_ids":[1,90],"normal_force_n":0.12061514213250206},{"geom_ids":[1,90],"normal_force_n":0.059168210552929645},{"geom_ids":[85,90],"normal_force_n":0.06347831692890388},{"geom_ids":[85,90],"normal_force_n":0.05057518429603824},{"geom_ids":[85,90],"normal_force_n":0.09598130325844116},{"geom_ids":[86,90],"normal_force_n":0.10528511765765484},{"geom_ids":[88,90],"normal_force_n":0.04594275231241492},{"geom_ids":[88,90],"normal_force_n":0.08372500546492148},{"geom_ids":[88,90],"normal_force_n":0.036918945115875325},{"geom_ids":[89,90],"normal_force_n":0.048154755123892126},{"geom_ids":[89,90],"normal_force_n":0.051832333975026054}],"native_actuator_controls":[-0.11733477935399647,1.7310328743499708,-1.1241181617682994,-1.982826854920467e-05,1.0510914015823254,-0.11734497439402168,0.0049999999999995135],"actuator_force_native":[0.002707651060761762,0.03132668591504739,-0.05645283247572763,6.95712433051082e-05,0.10793783598296436,0.044050016078980514,-0.583209853486822],"issued_joint_targets_rad":[-0.11733502911836843,1.7310337506531224,-1.1241184244106739,-1.8992674102213967e-05,1.0510913349539237,-0.11734537562164575],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.279999999999188,"joint_targets_rad":[-0.11733502911836843,1.7310337506531224,-1.1241184244106739,-1.8992674102213967e-05,1.0510913349539237,-0.11734537562164575],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.299999999999176,"qpos":[-0.11736390897902264,1.7305931595759303,-1.1233248550173982,3.075244042255265e-05,1.0393993272451754,-0.12264965571531755,0.019680045139438187,-0.02020176211138401,0.30016135752340944,-0.033979109730759266,0.07991971424586296,0.999999063633724,0.0003975139236219348,-0.0009142552319259498,0.0009374709193725303],"qvel":[-0.00013843216941776665,0.0011154629920227842,-0.0020032987666235976,-0.0005567318290580341,0.00665994877860475,0.0066801026816440375,-0.0009899951787050779,4.019961534014368e-05,-0.0005329357901902556,0.00025048730493022883,0.0001068920082400091,-0.004114379829472187,-0.00176583529938691,0.007908343280846683],"joint_position_rad":[-0.11736390897902264,1.7305931595759303,-1.1233248550173982,3.075244042255265e-05,1.0393993272451754,-0.12264965571531755],"joint_velocity_rad_s":[-0.00013843216941776665,0.0011154629920227842,-0.0020032987666235976,-0.0005567318290580341,0.00665994877860475,0.0066801026816440375],"gripper_joint_position_m":[0.019680045139438187,-0.02020176211138401],"tcp_position_m":[0.30248614414645336,-0.0342348376794541,0.08186468944761631],"tcp_quaternion_wxyz":[0.005648295483966856,-0.002631337023083587,0.9999803637697364,-0.0006670071530604318],"object_position_m":[0.30016135752340944,-0.033979109730759266,0.07991971424586296],"object_quaternion_wxyz":[0.999999063633724,0.0003975139236219348,-0.0009142552319259498,0.0009374709193725303],"object_linear_velocity_m_s":[-0.0005329357901902556,0.00025048730493022883,0.0001068920082400091],"object_angular_velocity_rad_s":[-0.004125508181294441,-0.0017798437661289696,0.007899400454951341],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":4,"right":5},"pad_normal_forces_n":{"left":0.3369449740163101,"right":0.2840349858425434},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04234499075704847},{"geom_ids":[1,90],"normal_force_n":0.10558192084661898},{"geom_ids":[1,90],"normal_force_n":0.11972933698487381},{"geom_ids":[1,90],"normal_force_n":0.05671519432942736},{"geom_ids":[85,90],"normal_force_n":0.06876645532022076},{"geom_ids":[85,90],"normal_force_n":0.05834362584192264},{"geom_ids":[85,90],"normal_force_n":0.1005140430147229},{"geom_ids":[86,90],"normal_force_n":0.10932084983944378},{"geom_ids":[88,90],"normal_force_n":0.04943601192168504},{"geom_ids":[88,90],"normal_force_n":0.08610496240054424},{"geom_ids":[88,90],"normal_force_n":0.042293996900747095},{"geom_ids":[89,90],"normal_force_n":0.05132715853153064},{"geom_ids":[89,90],"normal_force_n":0.05487285608803641}],"native_actuator_controls":[-0.11733502911836843,1.7310337506531224,-1.1241184244106739,-1.8992674102213967e-05,1.0510913349539237,-0.11734537562164575,0.0039999999999995196],"actuator_force_native":[0.003002549699425927,0.02966997121524173,-0.05346905762893073,0.0007938545642995061,0.10693015391957594,0.04302264691425206,-0.6222518296840214],"issued_joint_targets_rad":[-0.11733525667409637,1.7310345958610136,-1.1241186910485501,-1.820725139438269e-05,1.0510912885496662,-0.11734574557738055],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.299999999999176,"joint_targets_rad":[-0.11733525667409637,1.7310345958610136,-1.1241186910485501,-1.820725139438269e-05,1.0510912885496662,-0.11734574557738055],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.319999999999165,"qpos":[-0.11736687820700428,1.730615261235331,-1.1233644481402938,1.8965659215751264e-05,1.0395302252254686,-0.1225184921943818,0.0196605435513587,-0.020200994687617973,0.3001504681349357,-0.033974186395604365,0.07992171448056715,0.9999989973343498,0.0003589530698435469,-0.0009288695043855485,0.0010068189672824475],"qvel":[-0.00016383186334285424,0.001090389612281854,-0.0019648477188967985,-0.0006547642964412269,0.006415893366499822,0.006425918619163783,-0.0009081343789985685,2.4078776406805884e-05,-0.0005605411276260561,0.00023982678209753905,9.875711270939702e-05,-0.0034176257025598554,-0.0008171951821329682,0.005351090043159651],"joint_position_rad":[-0.11736687820700428,1.730615261235331,-1.1233644481402938,1.8965659215751264e-05,1.0395302252254686,-0.1225184921943818],"joint_velocity_rad_s":[-0.00016383186334285424,0.001090389612281854,-0.0019648477188967985,-0.0006547642964412269,0.006415893366499822,0.006425918619163783],"gripper_joint_position_m":[0.0196605435513587,-0.020200994687617973],"tcp_position_m":[0.3024698948411274,-0.03423599069987019,0.08186677724669258],"tcp_quaternion_wxyz":[0.005591433312610901,-0.002567230655978581,0.9999808513569769,-0.0006649207812519192],"object_position_m":[0.3001504681349357,-0.033974186395604365,0.07992171448056715],"object_quaternion_wxyz":[0.9999989973343498,0.0003589530698435469,-0.0009288695043855485,0.0010068189672824475],"object_linear_velocity_m_s":[-0.0005605411276260561,0.00023982678209753905,9.875711270939702e-05],"object_angular_velocity_rad_s":[-0.0034259038487879437,-0.0008279244748971267,0.005344142769540101],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":5,"right":5},"pad_normal_forces_n":{"left":0.3620924448708278,"right":0.29890891377613393},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":14,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0408778240179402},{"geom_ids":[1,90],"normal_force_n":0.10385736152480222},{"geom_ids":[1,90],"normal_force_n":0.12088061396700958},{"geom_ids":[1,90],"normal_force_n":0.057166844797651314},{"geom_ids":[85,90],"normal_force_n":0.06724083106196785},{"geom_ids":[85,90],"normal_force_n":0.028216398419670347},{"geom_ids":[85,90],"normal_force_n":0.058827623540324094},{"geom_ids":[85,90],"normal_force_n":0.0995747517524497},{"geom_ids":[86,90],"normal_force_n":0.1082328400964158},{"geom_ids":[88,90],"normal_force_n":0.05198427544446123},{"geom_ids":[88,90],"normal_force_n":0.08927969937277415},{"geom_ids":[88,90],"normal_force_n":0.046859569715113174},{"geom_ids":[89,90],"normal_force_n":0.05361604679734758},{"geom_ids":[89,90],"normal_force_n":0.057169322446437784}],"native_actuator_controls":[-0.11733525667409637,1.7310345958610136,-1.1241186910485501,-1.820725139438269e-05,1.0510912885496662,-0.11734574557738055,0.0029999999999995174],"actuator_force_native":[0.003348881949348126,0.02809482199319291,-0.05051519406602267,0.0017869050578007762,0.10598679319222626,0.04208858824126671,-0.6618810701593745],"issued_joint_targets_rad":[-0.11733546396160527,1.7310354124324474,-1.1241189599290795,-1.7467693535365466e-05,1.0510912590024115,-0.11734608677950549],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.319999999999165,"joint_targets_rad":[-0.11733546396160527,1.7310354124324474,-1.1241189599290795,-1.7467693535365466e-05,1.0510912590024115,-0.11734608677950549],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.339999999999154,"qpos":[-0.1173711172161399,1.7306366115339729,-1.1234033710179752,3.3256446389458693e-06,1.039656387843702,-0.12239264533832085,0.019647080285851222,-0.02020294292712077,0.30013878125909466,-0.03396890712216984,0.07992364784562145,0.9999989657017478,0.0003173601567084883,-0.0009342849732332203,0.001046417485650982],"qvel":[-0.0002844140858447253,0.0010407125663819208,-0.001928276137525627,-0.0009533339656220408,0.006233044240497028,0.006177558827741674,-0.0003231133114434378,-0.000294225226441779,-0.0006106232173670657,0.00031197694955426014,9.169244555464503e-05,-0.005215846327889964,-0.0008421054906251305,0.0027941076890334957],"joint_position_rad":[-0.1173711172161399,1.7306366115339729,-1.1234033710179752,3.3256446389458693e-06,1.039656387843702,-0.12239264533832085],"joint_velocity_rad_s":[-0.0002844140858447253,0.0010407125663819208,-0.001928276137525627,-0.0009533339656220408,0.006233044240497028,0.006177558827741674],"gripper_joint_position_m":[0.019647080285851222,-0.02020294292712077],"tcp_position_m":[0.30245432945710354,-0.03423831976360602,0.08186894803170465],"tcp_quaternion_wxyz":[0.005536760224159471,-0.0025061134238497096,0.9999813106846884,-0.0006648030231584254],"object_position_m":[0.30013878125909466,-0.03396890712216984,0.07992364784562145],"object_quaternion_wxyz":[0.9999989657017478,0.0003173601567084883,-0.0009342849732332203,0.001046417485650982],"object_linear_velocity_m_s":[-0.0006106232173670657,0.00031197694955426014,9.169244555464503e-05],"object_angular_velocity_rad_s":[-0.005219282038675306,-0.0008547952164691454,0.002783819766091751],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":7,"right":6},"pad_normal_forces_n":{"left":0.38794525818137116,"right":0.30789298394994646},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04289670834976588},{"geom_ids":[1,90],"normal_force_n":0.10715247597259724},{"geom_ids":[1,90],"normal_force_n":0.1200834437379152},{"geom_ids":[1,90],"normal_force_n":0.055037119280955685},{"geom_ids":[85,90],"normal_force_n":0.04620865233212021},{"geom_ids":[85,90],"normal_force_n":0.03621600085428922},{"geom_ids":[85,90],"normal_force_n":0.07531084598374829},{"geom_ids":[86,90],"normal_force_n":0.031616463338876695},{"geom_ids":[86,90],"normal_force_n":0.034541478768027316},{"geom_ids":[86,90],"normal_force_n":0.0835093671065051},{"geom_ids":[86,90],"normal_force_n":0.08054244979780432},{"geom_ids":[88,90],"normal_force_n":0.013489036348515032},{"geom_ids":[88,90],"normal_force_n":0.05250485242677979},{"geom_ids":[88,90],"normal_force_n":0.08538054646720929},{"geom_ids":[88,90],"normal_force_n":0.04473354010904968},{"geom_ids":[89,90],"normal_force_n":0.05426549644258806},{"geom_ids":[89,90],"normal_force_n":0.05751951215580465}],"native_actuator_controls":[-0.11733546396160527,1.7310354124324474,-1.1241189599290795,-1.7467693535365466e-05,1.0510912590024115,-0.11734608677950549,0.0019999999999995148],"actuator_force_native":[0.004274330791991687,0.02670050904603727,-0.04760573220072217,0.00393493630113775,0.10499914522635123,0.041199247346541235,-0.704267644876851],"issued_joint_targets_rad":[-0.11733564504951524,1.7310362005475342,-1.1241192398565472,-1.6780736047475856e-05,1.0510912598118138,-0.11734640551123318],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.339999999999154,"joint_targets_rad":[-0.11733564504951524,1.7310362005475342,-1.1241192398565472,-1.6780736047475856e-05,1.0510912598118138,-0.11734640551123318],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.359999999999143,"qpos":[-0.11737768296378813,1.730656975717192,-1.1234414364269003,-1.7347999950276754e-05,1.0397797985759603,-0.12227116874571474,0.019642002760672805,-0.020210450721010693,0.30012625983617197,-0.03396228047913165,0.07992539012943314,0.9999989567942128,0.00026704869673454406,-0.0009378754299481047,0.0010655914592505146],"qvel":[-0.00035124323840752793,0.0010025580268890816,-0.0018767505193467715,-0.001066039316149199,0.0061221095615175275,0.005986826576462787,-0.0002809728537222951,-0.0004161290717514028,-0.0006379543649006369,0.0003381641830272264,8.775857708186201e-05,-0.004898116493031399,0.00013581075387821668,0.0010725131933732946],"joint_position_rad":[-0.11737768296378813,1.730656975717192,-1.1234414364269003,-1.7347999950276754e-05,1.0397797985759603,-0.12227116874571474],"joint_velocity_rad_s":[-0.00035124323840752793,0.0010025580268890816,-0.0018767505193467715,-0.001066039316149199,0.0061221095615175275,0.005986826576462787],"gripper_joint_position_m":[0.019642002760672805,-0.020210450721010693],"tcp_position_m":[0.3024389208789533,-0.03424230301643784,0.08187122366929042],"tcp_quaternion_wxyz":[0.005483254463739722,-0.002447279429451337,0.9999817497311412,-0.0006670446200188703],"object_position_m":[0.30012625983617197,-0.03396228047913165,0.07992539012943314],"object_quaternion_wxyz":[0.9999989567942128,0.00026704869673454406,-0.0009378754299481047,0.0010655914592505146],"object_linear_velocity_m_s":[-0.0006379543649006369,0.0003381641830272264,8.775857708186201e-05],"object_angular_velocity_rad_s":[-0.0049003974130203565,0.0001247991386955283,0.0010633929939487272],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":7},"pad_normal_forces_n":{"left":0.41683234099155514,"right":0.32632517908993086},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":19,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.04304265596871667},{"geom_ids":[1,90],"normal_force_n":0.10676638051285739},{"geom_ids":[1,90],"normal_force_n":0.11862515090871414},{"geom_ids":[1,90],"normal_force_n":0.054178442297153184},{"geom_ids":[85,90],"normal_force_n":0.04846335816619628},{"geom_ids":[85,90],"normal_force_n":0.012343887970696108},{"geom_ids":[85,90],"normal_force_n":0.039189797316005345},{"geom_ids":[85,90],"normal_force_n":0.07704741462246985},{"geom_ids":[86,90],"normal_force_n":0.034726689914555985},{"geom_ids":[86,90],"normal_force_n":0.03757871738252712},{"geom_ids":[86,90],"normal_force_n":0.08537009722996178},{"geom_ids":[86,90],"normal_force_n":0.08211237838914272},{"geom_ids":[88,90],"normal_force_n":0.015851898086144366},{"geom_ids":[88,90],"normal_force_n":0.05337834440176947},{"geom_ids":[88,90],"normal_force_n":0.0859199198671183},{"geom_ids":[88,90],"normal_force_n":0.04667422679056055},{"geom_ids":[89,90],"normal_force_n":0.05502145805936631},{"geom_ids":[89,90],"normal_force_n":0.058188466098782844},{"geom_ids":[89,90],"normal_force_n":0.011290865786188967}],"native_actuator_controls":[-0.11733564504951524,1.7310362005475342,-1.1241192398565472,-1.6780736047475856e-05,1.0510912598118138,-0.11734640551123318,0.0009999999999995165],"actuator_force_native":[0.00511924933386787,0.02532519629292551,-0.04484052177501496,0.005352887136858031,0.10393144801625986,0.040267392480121345,-0.74427524615832],"issued_joint_targets_rad":[-0.11733580657024516,1.7310369707695936,-1.1241195286181318,-1.6140677976798937e-05,1.0510912852080092,-0.11734671444184078],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.359999999999143,"joint_targets_rad":[-0.11733580657024516,1.7310369707695936,-1.1241195286181318,-1.6140677976798937e-05,1.0510912852080092,-0.11734671444184078],"gripper_position_m":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.379999999999132,"qpos":[-0.11738481396207967,1.7306768163642465,-1.1234783034492402,-3.844624906819669e-05,1.0399013981793592,-0.12215315597213534,0.019634466802979318,-0.020218849943967714,0.3001132987602126,-0.033955544920508,0.07992713542080158,0.9999989669611261,0.00022087766717599673,-0.00093395178905188,0.0010700578455699423],"qvel":[-0.0003550045991935618,0.000983790419556166,-0.0018122465633475936,-0.0010322987302696276,0.00604374548554341,0.005825565742932437,-0.00046173184349353446,-0.00041692005762279926,-0.0006547964182032099,0.0003334530587501008,8.69298496896545e-05,-0.004284084523582447,0.0007153644957162058,-9.01072838298018e-05],"joint_position_rad":[-0.11738481396207967,1.7306768163642465,-1.1234783034492402,-3.844624906819669e-05,1.0399013981793592,-0.12215315597213534],"joint_velocity_rad_s":[-0.0003550045991935618,0.000983790419556166,-0.0018122465633475936,-0.0010322987302696276,0.00604374548554341,0.005825565742932437],"gripper_joint_position_m":[0.019634466802979318,-0.020218849943967714],"tcp_position_m":[0.3024235076403251,-0.03424653710008455,0.08187338800887334],"tcp_quaternion_wxyz":[0.005430289642861464,-0.0023899998794695227,0.9999821756171832,-0.0006695542516202591],"object_position_m":[0.3001132987602126,-0.033955544920508,0.07992713542080158],"object_quaternion_wxyz":[0.9999989669611261,0.00022087766717599673,-0.00093395178905188,0.0010700578455699423],"object_linear_velocity_m_s":[-0.0006547964182032099,0.0003334530587501008,8.69298496896545e-05],"object_angular_velocity_rad_s":[-0.004285430226497416,0.0007062361136121037,-9.779680557927588e-05],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.43578716933000045,"right":0.346159704838568},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.043276224335141625},{"geom_ids":[1,90],"normal_force_n":0.106328906288817},{"geom_ids":[1,90],"normal_force_n":0.1167719524562919},{"geom_ids":[1,90],"normal_force_n":0.05313202738491203},{"geom_ids":[85,90],"normal_force_n":0.050722924889094446},{"geom_ids":[85,90],"normal_force_n":0.015776805620211075},{"geom_ids":[85,90],"normal_force_n":0.04181903956681003},{"geom_ids":[85,90],"normal_force_n":0.07895164106236992},{"geom_ids":[86,90],"normal_force_n":0.03748302645038192},{"geom_ids":[86,90],"normal_force_n":0.04024783089127553},{"geom_ids":[86,90],"normal_force_n":0.08695380638245535},{"geom_ids":[86,90],"normal_force_n":0.08383209446740215},{"geom_ids":[88,90],"normal_force_n":0.017927635490347763},{"geom_ids":[88,90],"normal_force_n":0.0544547310061461},{"geom_ids":[88,90],"normal_force_n":0.0862222386178881},{"geom_ids":[88,90],"normal_force_n":0.048199129967001736},{"geom_ids":[89,90],"normal_force_n":0.05579754590816632},{"geom_ids":[89,90],"normal_force_n":0.05914188765593265},{"geom_ids":[89,90],"normal_force_n":0.013512916762472807},{"geom_ids":[89,90],"normal_force_n":0.01090361943061255}],"native_actuator_controls":[-0.11733580657024516,1.7310369707695936,-1.1241195286181318,-1.6140677976798937e-05,1.0510912852080092,-0.11734671444184078,0.0],"actuator_force_native":[0.005695614342728916,0.023893400329995984,-0.042236780694594245,0.006053716495004048,0.10283325205818628,0.0393260666885471,-0.783070012901705],"issued_joint_targets_rad":[-0.12158290257279171,1.6737376457588287,-1.1132752825421521,0.00703100531507822,1.0371312928125667,-0.1294254608050795],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.379999999999132,"joint_targets_rad":[-0.12158290257279171,1.6737376457588287,-1.1132752825421521,0.00703100531507822,1.0371312928125667,-0.1294254608050795],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.399999999999121,"qpos":[-0.1175100874589692,1.7297900598729457,-1.122746154444586,0.00018414544643218682,1.0397325451943833,-0.12214677857675035,0.01962742878659779,-0.020229018585774753,0.2999667653179569,-0.033921820819157365,0.08002688740796965,0.9999986763489727,0.00023810884799500313,-0.0012195845855265184,0.0010503418100226555],"qvel":[-0.009729751709517813,-0.11928504151800016,0.0922126445325999,0.018402753847316874,-0.021519688779604015,-0.004162052725734498,-0.000587251923426505,-0.0006504464937140785,-0.01880138792307395,0.003542985416862284,0.014858138792162624,0.005333054408633367,-0.06464376749736327,-0.00738414421773462],"joint_position_rad":[-0.1175100874589692,1.7297900598729457,-1.122746154444586,0.00018414544643218682,1.0397325451943833,-0.12214677857675035],"joint_velocity_rad_s":[-0.009729751709517813,-0.11928504151800016,0.0922126445325999,0.018402753847316874,-0.021519688779604015,-0.004162052725734498],"gripper_joint_position_m":[0.01962742878659779,-0.020229018585774753],"tcp_position_m":[0.3022655537739282,-0.03422549464793157,0.08197483049596925],"tcp_quaternion_wxyz":[0.005602328623178813,-0.002268350049912218,0.9999815578894958,-0.0005936185190068048],"object_position_m":[0.2999667653179569,-0.033921820819157365,0.08002688740796965],"object_quaternion_wxyz":[0.9999986763489727,0.00023810884799500313,-0.0012195845855265184,0.0010503418100226555],"object_linear_velocity_m_s":[-0.01880138792307395,0.003542985416862284,0.014858138792162624],"object_angular_velocity_rad_s":[0.005486867704651058,-0.06462888221375164,-0.007401729392485271],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3944818112039138,"right":0.38615034505980117},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":18,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04409787525194779},{"geom_ids":[85,90],"normal_force_n":0.01155839611097491},{"geom_ids":[85,90],"normal_force_n":0.037675746701298085},{"geom_ids":[85,90],"normal_force_n":0.07305296729885082},{"geom_ids":[86,90],"normal_force_n":0.033630205855891326},{"geom_ids":[86,90],"normal_force_n":0.03640042986137928},{"geom_ids":[86,90],"normal_force_n":0.08046961688377671},{"geom_ids":[86,90],"normal_force_n":0.07759657323979482},{"geom_ids":[88,90],"normal_force_n":0.025551988973981192},{"geom_ids":[88,90],"normal_force_n":0.05869381516171683},{"geom_ids":[88,90],"normal_force_n":0.08650833250074677},{"geom_ids":[88,90],"normal_force_n":0.0521797607936007},{"geom_ids":[89,90],"normal_force_n":0.05998827048062678},{"geom_ids":[89,90],"normal_force_n":0.06291002477878478},{"geom_ids":[89,90],"normal_force_n":0.021457548023772904},{"geom_ids":[89,90],"normal_force_n":0.01886060434657119}],"native_actuator_controls":[-0.12158290257279171,1.7010369707695925,-1.1132752825421521,0.00703100531507822,1.0371312928125667,-0.1294254608050795,0.0],"actuator_force_native":[-0.27717645055821194,-1.7038219206782514,0.29660652953171507,0.18186062550925697,0.006267009351240915,-0.06654374319468981,-0.7821608918467791],"issued_joint_targets_rad":[-0.12170279175779335,1.6729276081231728,-1.112687988426194,0.007239848909496333,1.0370294664947906,-0.12942549324791905],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.399999999999121,"joint_targets_rad":[-0.12170279175779335,1.6729276081231728,-1.112687988426194,0.007239848909496333,1.0370294664947906,-0.12942549324791905],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.41999999999911,"qpos":[-0.11772327101578443,1.7249925415084246,-1.1197179405846784,0.0005791446520065417,1.0393012767046488,-0.12226050689203474,0.019614563137975508,-0.020242241271125987,0.2993158849684036,-0.03382220247239336,0.08077981701810107,0.9999964539997594,0.00020294404653969879,-0.002481027764221959,0.0009462044463547491],"qvel":[-0.010531941830671068,-0.3564923628616386,0.1940082224423604,0.019514626019640505,-0.017882302290128584,-0.006655959105687014,-0.0004978558627841438,-0.0005653347962326134,-0.04200618093670804,0.005780725131883732,0.06299144028937251,-0.016435209915593833,-0.19542755424514352,-0.009148549485316277],"joint_position_rad":[-0.11772327101578443,1.7249925415084246,-1.1197179405846784,0.0005791446520065417,1.0393012767046488,-0.12226050689203474],"joint_velocity_rad_s":[-0.010531941830671068,-0.3564923628616386,0.1940082224423604,0.019514626019640505,-0.017882302290128584,-0.006655959105687014],"gripper_joint_position_m":[0.019614563137975508,-0.020242241271125987],"tcp_position_m":[0.30159988099542406,-0.034139708061079216,0.08273393251644066],"tcp_quaternion_wxyz":[0.0067150506771247245,-0.002119717716117855,0.9999750522776398,-0.0005565191271184944],"object_position_m":[0.2993158849684036,-0.03382220247239336,0.08077981701810107],"object_quaternion_wxyz":[0.9999964539997594,0.00020294404653969879,-0.002481027764221959,0.0009462044463547491],"object_linear_velocity_m_s":[-0.04200618093670804,0.005780725131883732,0.06299144028937251],"object_angular_velocity_rad_s":[-0.016019561887231536,-0.1954545174624434,-0.009308398431417137],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.391687107262214,"right":0.3899025554929388},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04926429880692298},{"geom_ids":[85,90],"normal_force_n":0.019499676274616823},{"geom_ids":[85,90],"normal_force_n":0.03713118927442478},{"geom_ids":[85,90],"normal_force_n":0.06893275085470815},{"geom_ids":[86,90],"normal_force_n":0.03343737008585991},{"geom_ids":[86,90],"normal_force_n":0.0353081316820725},{"geom_ids":[86,90],"normal_force_n":0.07503604527119741},{"geom_ids":[86,90],"normal_force_n":0.07307764501241142},{"geom_ids":[88,90],"normal_force_n":0.029366186229425453},{"geom_ids":[88,90],"normal_force_n":0.05978273965869587},{"geom_ids":[88,90],"normal_force_n":0.07860103401591738},{"geom_ids":[88,90],"normal_force_n":0.047360327609561326},{"geom_ids":[89,90],"normal_force_n":0.06166991882170765},{"geom_ids":[89,90],"normal_force_n":0.06365340664337779},{"geom_ids":[89,90],"normal_force_n":0.025611069828871763},{"geom_ids":[89,90],"normal_force_n":0.02385787268538161}],"native_actuator_controls":[-0.12170279175779335,1.6729276081231728,-1.112687988426194,0.007239848909496333,1.0370294664947906,-0.12942549324791905,0.0],"actuator_force_native":[-0.2657019502073581,-2.38273285651195,-0.4076449395330428,0.16885504020138917,0.004105351336612273,-0.06166592490031264,-0.7820932462050996],"issued_joint_targets_rad":[-0.1219324659210329,1.668507015516649,-1.1103493757539247,0.007643470527688517,1.0369098825575622,-0.1295747901065506],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.41999999999911,"joint_targets_rad":[-0.1219324659210329,1.668507015516649,-1.1103493757539247,0.007643470527688517,1.0369098825575622,-0.1295747901065506],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.439999999999099,"qpos":[-0.1179288838113758,1.715843252512171,-1.1155326308106006,0.0009723036437205478,1.0390854490485322,-0.12241250837112463,0.019607142438859484,-0.020249292320375267,0.29842755875637145,-0.033701420412364506,0.08257473457544195,0.9999862327168595,-3.198934483106211e-05,-0.005175790206750814,0.0008628726215930334],"qvel":[-0.009295296696423804,-0.5125599943325058,0.19587799147138826,0.019438119628410525,-0.0016248700646932395,-0.00866819255454735,-0.00031108314188477723,-0.0001664057509947905,-0.04025685051783061,0.005775231509069345,0.10922424289797472,-0.027368912093104283,-0.3220287546082522,-0.0061693731952249245],"joint_position_rad":[-0.1179288838113758,1.715843252512171,-1.1155326308106006,0.0009723036437205478,1.0390854490485322,-0.12241250837112463],"joint_velocity_rad_s":[-0.009295296696423804,-0.5125599943325058,0.19587799147138826,0.019438119628410525,-0.0016248700646932395,-0.00866819255454735],"gripper_joint_position_m":[0.019607142438859484,-0.020249292320375267],"tcp_position_m":[0.3006931817043722,-0.03402311312943114,0.08453541185241423],"tcp_quaternion_wxyz":[0.009306557100383096,-0.0019953902760063836,0.999954458058293,-0.000698728795267694],"object_position_m":[0.29842755875637145,-0.033701420412364506,0.08257473457544195],"object_quaternion_wxyz":[0.9999862327168595,-3.198934483106211e-05,-0.005175790206750814,0.0008628726215930334],"object_linear_velocity_m_s":[-0.04025685051783061,0.005775231509069345,0.10922424289797472],"object_angular_velocity_rad_s":[-0.02674791744942809,-0.32207585419679974,-0.006428869639714254],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891385000484372,"right":0.3927266528622951},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.046952327354861705},{"geom_ids":[85,90],"normal_force_n":0.015430369898238554},{"geom_ids":[85,90],"normal_force_n":0.03709186019987334},{"geom_ids":[85,90],"normal_force_n":0.07015316519593053},{"geom_ids":[86,90],"normal_force_n":0.03302980800042981},{"geom_ids":[86,90],"normal_force_n":0.035418416374783816},{"geom_ids":[86,90],"normal_force_n":0.0766838168770661},{"geom_ids":[86,90],"normal_force_n":0.07437873614725332},{"geom_ids":[88,90],"normal_force_n":0.02878088480637396},{"geom_ids":[88,90],"normal_force_n":0.059343176336260815},{"geom_ids":[88,90],"normal_force_n":0.08228933585963064},{"geom_ids":[88,90],"normal_force_n":0.05031281713193446},{"geom_ids":[89,90],"normal_force_n":0.060870066007027275},{"geom_ids":[89,90],"normal_force_n":0.06322856556883627},{"geom_ids":[89,90],"normal_force_n":0.02500551096189204},{"geom_ids":[89,90],"normal_force_n":0.022896296190339692}],"native_actuator_controls":[-0.1219324659210329,1.668507015516649,-1.1103493757539247,0.007643470527688517,1.0369098825575622,-0.1295747901065506,0.0],"actuator_force_native":[-0.2738100852904495,-1.2240989879792323,-0.5647295528228824,0.16965607721666615,-0.01931835981265806,-0.0586205285224386,-0.7827302818449555],"issued_joint_targets_rad":[-0.12219227652247325,1.6599993065076344,-1.1072810582910082,0.008099794486451201,1.037171230347707,-0.12980972144014913],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.439999999999099,"joint_targets_rad":[-0.12219227652247325,1.6599993065076344,-1.1072810582910082,0.008099794486451201,1.037171230347707,-0.12980972144014913],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.459999999999088,"qpos":[-0.11811024469426654,1.7047257571773209,-1.1119244684844678,0.0013748835328531296,1.0391108862343383,-0.12259359088933035,0.0196023759189524,-0.02025035694070603,0.29773366060470324,-0.03359568072596583,0.08508268999998375,0.9999597082441095,-0.00034457620549932424,-0.00893455011501795,0.0007981039007933615],"qvel":[-0.00862236902174998,-0.5752258744199635,0.15378023987029804,0.020251499847374538,0.005392587684740134,-0.009529494772867589,-0.00018440642225805992,3.1514561748263863e-07,-0.02697152342230706,0.004499534453813067,0.13699646421449774,-0.035901407912139464,-0.41349741872643364,-0.005794977386208632],"joint_position_rad":[-0.11811024469426654,1.7047257571773209,-1.1119244684844678,0.0013748835328531296,1.0391108862343383,-0.12259359088933035],"joint_velocity_rad_s":[-0.00862236902174998,-0.5752258744199635,0.15378023987029804,0.020251499847374538,0.005392587684740134,-0.009529494772867589],"gripper_joint_position_m":[0.0196023759189524,-0.02025035694070603],"tcp_position_m":[0.2999761804831867,-0.03391953779707277,0.08705044222535209],"tcp_quaternion_wxyz":[0.013042172259281764,-0.0018969881733404003,0.999912672262016,-0.0009752068826772263],"object_position_m":[0.29773366060470324,-0.03359568072596583,0.08508268999998375],"object_quaternion_wxyz":[0.9999597082441095,-0.00034457620549932424,-0.00893455011501795,0.0007981039007933615],"object_linear_velocity_m_s":[-0.02697152342230706,0.004499534453813067,0.13699646421449774],"object_angular_velocity_rad_s":[-0.03513462518606072,-0.41355822943451054,-0.00614468277716074],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3887761390117581,"right":0.393908516522391},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04732229627042269},{"geom_ids":[85,90],"normal_force_n":0.016345845179308417},{"geom_ids":[85,90],"normal_force_n":0.03726191452921565},{"geom_ids":[85,90],"normal_force_n":0.06950315971952821},{"geom_ids":[86,90],"normal_force_n":0.03329913754558889},{"geom_ids":[86,90],"normal_force_n":0.03559147810057452},{"geom_ids":[86,90],"normal_force_n":0.0758311277689462},{"geom_ids":[86,90],"normal_force_n":0.07362117989817357},{"geom_ids":[88,90],"normal_force_n":0.02935712011950688},{"geom_ids":[88,90],"normal_force_n":0.05924732908074309},{"geom_ids":[88,90],"normal_force_n":0.08182435358237686},{"geom_ids":[88,90],"normal_force_n":0.04997453949762042},{"geom_ids":[89,90],"normal_force_n":0.06089309631145435},{"geom_ids":[89,90],"normal_force_n":0.06329155037298985},{"geom_ids":[89,90],"normal_force_n":0.02567317406588588},{"geom_ids":[89,90],"normal_force_n":0.023647353491813693}],"native_actuator_controls":[-0.12219227652247325,1.6599993065076344,-1.1072810582910082,0.008099794486451201,1.037171230347707,-0.12980972144014913,0.0],"actuator_force_native":[-0.28345070114778537,-0.7019866814750912,-0.39742838387472545,0.16773893890705016,-0.027485440393423488,-0.05786706334888647,-0.7831730046468056],"issued_joint_targets_rad":[-0.12245670458364745,1.6495773494910464,-1.1048125506746662,0.00860829831136121,1.037646180514727,-0.13010792939260235],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.459999999999088,"joint_targets_rad":[-0.12245670458364745,1.6495773494910464,-1.1048125506746662,0.00860829831136121,1.037646180514727,-0.13010792939260235],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.479999999999077,"qpos":[-0.11828535290440025,1.6927947476231495,-1.1091978330347938,0.001795171011449263,1.039202787780204,-0.12278433975009909,0.019599927726224327,-0.020249665266323824,0.29731068938893407,-0.033518135840059755,0.08802352971724264,0.9999087145533784,-0.0007379733140635361,-0.013471379870322804,0.0007347652609069249],"qvel":[-0.008582885115793039,-0.6028526570057101,0.11252668369129834,0.02111533321735366,0.005930125361472062,-0.009723033217800185,-8.312825694883684e-05,4.2375331114114324e-05,-0.01446128734168202,0.0031271048334776115,0.1541639752667482,-0.04270825005663871,-0.48000941768318933,-0.0063714247372712324],"joint_position_rad":[-0.11828535290440025,1.6927947476231495,-1.1091978330347938,0.001795171011449263,1.039202787780204,-0.12278433975009909],"joint_velocity_rad_s":[-0.008582885115793039,-0.6028526570057101,0.11252668369129834,0.02111533321735366,0.005930125361472062,-0.009723033217800185],"gripper_joint_position_m":[0.019599927726224327,-0.020249665266323824],"tcp_position_m":[0.29952382256671073,-0.03384199384159217,0.09000339145977194],"tcp_quaternion_wxyz":[0.017586824491486106,-0.0018041360813543965,0.9998428112804219,-0.001342172927939764],"object_position_m":[0.29731068938893407,-0.033518135840059755,0.08802352971724264],"object_quaternion_wxyz":[0.9999087145533784,-0.0007379733140635361,-0.013471379870322804,0.0007347652609069249],"object_linear_velocity_m_s":[-0.01446128734168202,0.0031271048334776115,0.1541639752667482],"object_angular_velocity_rad_s":[-0.041825267661774856,-0.48008125796695855,-0.006801725848748755],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891824548885956,"right":0.3939673071974515},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04777757410379402},{"geom_ids":[85,90],"normal_force_n":0.01748242256795921},{"geom_ids":[85,90],"normal_force_n":0.03750480232722405},{"geom_ids":[85,90],"normal_force_n":0.06893545088269319},{"geom_ids":[86,90],"normal_force_n":0.03364032716753219},{"geom_ids":[86,90],"normal_force_n":0.03583407272248386},{"geom_ids":[86,90],"normal_force_n":0.07506011304016214},{"geom_ids":[86,90],"normal_force_n":0.07294769207674698},{"geom_ids":[88,90],"normal_force_n":0.02981252220679801},{"geom_ids":[88,90],"normal_force_n":0.059262651455357536},{"geom_ids":[88,90],"normal_force_n":0.08081080067018812},{"geom_ids":[88,90],"normal_force_n":0.0494708654719582},{"geom_ids":[89,90],"normal_force_n":0.060913409874546826},{"geom_ids":[89,90],"normal_force_n":0.06320898663860744},{"geom_ids":[89,90],"normal_force_n":0.02621205088659735},{"geom_ids":[89,90],"normal_force_n":0.02427601999339803}],"native_actuator_controls":[-0.12245670458364745,1.6495773494910464,-1.1048125506746662,0.00860829831136121,1.037646180514727,-0.13010792939260235,0.0],"actuator_force_native":[-0.2907937087608108,-0.4431285655396948,-0.21181082964626796,0.16694842590970957,-0.024461260696977405,-0.05865134659833249,-0.7835814677642289],"issued_joint_targets_rad":[-0.122734802111856,1.6383208873644672,-1.1031241191536139,0.009167528863596905,1.0381105178846233,-0.13044313284637407],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.479999999999077,"joint_targets_rad":[-0.122734802111856,1.6383208873644672,-1.1031241191536139,0.009167528863596905,1.0381105178846233,-0.13044313284637407],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.499999999999066,"qpos":[-0.11846707309139011,1.6805059500826176,-1.1072303170159046,0.002232806803205282,1.039286943834598,-0.12297738445562378,0.01959891742044651,-0.020248737437929046,0.297108940657291,-0.03346638797693857,0.09123677880567851,0.9998268420376994,-0.001185060253241193,-0.018559121335193253,0.0006637683216130976],"qvel":[-0.008954060833492827,-0.6150029085531855,0.07933420190744203,0.02189272247646107,0.004737337586749691,-0.009762271709197811,-2.8283079170640692e-05,4.49221268304397e-05,-0.005105489519213347,0.0020190454217693184,0.16510674539606449,-0.04713044884533302,-0.52660924727151,-0.006607958949797933],"joint_position_rad":[-0.11846707309139011,1.6805059500826176,-1.1072303170159046,0.002232806803205282,1.039286943834598,-0.12297738445562378],"joint_velocity_rad_s":[-0.008954060833492827,-0.6150029085531855,0.07933420190744203,0.02189272247646107,0.004737337586749691,-0.009762271709197811],"gripper_joint_position_m":[0.01959891742044651,-0.020248737437929046],"tcp_position_m":[0.29928761196024883,-0.03378883537015913,0.09323387119190088],"tcp_quaternion_wxyz":[0.022690123739152274,-0.0017070746243646837,0.9997395220567091,-0.001769807546534836],"object_position_m":[0.297108940657291,-0.03346638797693857,0.09123677880567851],"object_quaternion_wxyz":[0.9998268420376994,-0.001185060253241193,-0.018559121335193253,0.0006637683216130976],"object_linear_velocity_m_s":[-0.005105489519213347,0.0020190454217693184,0.16510674539606449],"object_angular_velocity_rad_s":[-0.04617688837907568,-0.5266874299778326,-0.007091524849016074],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3896670966666559,"right":0.39371523343612275},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04812615227234294},{"geom_ids":[85,90],"normal_force_n":0.018459542325295647},{"geom_ids":[85,90],"normal_force_n":0.037752068205897854},{"geom_ids":[85,90],"normal_force_n":0.06846538969503861},{"geom_ids":[86,90],"normal_force_n":0.03397463252790932},{"geom_ids":[86,90],"normal_force_n":0.03608827846267612},{"geom_ids":[86,90],"normal_force_n":0.07441690902206005},{"geom_ids":[86,90],"normal_force_n":0.07238412415543535},{"geom_ids":[88,90],"normal_force_n":0.030190888314404016},{"geom_ids":[88,90],"normal_force_n":0.0591894146853431},{"geom_ids":[88,90],"normal_force_n":0.07990577781883759},{"geom_ids":[88,90],"normal_force_n":0.04907719639368267},{"geom_ids":[89,90],"normal_force_n":0.06083604057446072},{"geom_ids":[89,90],"normal_force_n":0.0630471846739655},{"geom_ids":[89,90],"normal_force_n":0.026665560793067023},{"geom_ids":[89,90],"normal_force_n":0.024803170182362038}],"native_actuator_controls":[-0.122734802111856,1.6383208873644672,-1.1031241191536139,0.009167528863596905,1.0381105178846233,-0.13044313284637407,0.0],"actuator_force_native":[-0.2966480174698063,-0.2997904746860911,-0.06817518055396476,0.16792527003335955,-0.01887026587987073,-0.06001407634370626,-0.7838152814220072],"issued_joint_targets_rad":[-0.1230342557331435,1.6266736501292969,-1.1020872725500157,0.009770863289172342,1.0384955037059054,-0.13080357696511835],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.499999999999066,"joint_targets_rad":[-0.1230342557331435,1.6266736501292969,-1.1020872725500157,0.009770863289172342,1.0384955037059054,-0.13080357696511835],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.519999999999055,"qpos":[-0.11866524216857148,1.6680729221747805,-1.1058600387290538,0.0026869442457923506,1.0393488340992434,-0.12317162409609127,0.01959849798792445,-0.02024806686064546,0.29706609506012255,-0.03343553141894312,0.09462646762875708,0.9997097608943567,-0.0016662835636900588,-0.024026650897253386,0.0005809632481027528],"qvel":[-0.009979489950190028,-0.6194010531509493,0.05358001614618807,0.022674680975734194,0.0034696695984859933,-0.009813699633250244,-8.800249431930558e-06,3.169096794584037e-05,0.0013648158972221502,0.0010841074477324112,0.17225070155863234,-0.04965248850158474,-0.5582556313135781,-0.007349561786259352],"joint_position_rad":[-0.11866524216857148,1.6680729221747805,-1.1058600387290538,0.0026869442457923506,1.0393488340992434,-0.12317162409609127],"joint_velocity_rad_s":[-0.009979489950190028,-0.6194010531509493,0.05358001614618807,0.022674680975734194,0.0034696695984859933,-0.009813699633250244],"gripper_joint_position_m":[0.01959849798792445,-0.02024806686064546],"tcp_position_m":[0.2992066260915307,-0.033756056809129124,0.09664473559629085],"tcp_quaternion_wxyz":[0.028172607976498773,-0.0016007514279077477,0.9995992882986947,-0.002237093518685832],"object_position_m":[0.29706609506012255,-0.03343553141894312,0.09462646762875708],"object_quaternion_wxyz":[0.9997097608943567,-0.0016662835636900588,-0.024026650897253386,0.0005809632481027528],"object_linear_velocity_m_s":[0.0013648158972221502,0.0010841074477324112,0.17225070155863234],"object_angular_velocity_rad_s":[-0.048638281796999576,-0.5583380865893796,-0.007850743513720634],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38998565520415757,"right":0.39346503192609894},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04835773020642294},{"geom_ids":[85,90],"normal_force_n":0.019262126672023493},{"geom_ids":[85,90],"normal_force_n":0.03798033888090547},{"geom_ids":[85,90],"normal_force_n":0.06804572408790445},{"geom_ids":[86,90],"normal_force_n":0.03428152806577145},{"geom_ids":[86,90],"normal_force_n":0.03633019160459703},{"geom_ids":[86,90],"normal_force_n":0.07384799209469418},{"geom_ids":[86,90],"normal_force_n":0.07188002359183854},{"geom_ids":[88,90],"normal_force_n":0.03053689779685524},{"geom_ids":[88,90],"normal_force_n":0.059073819992943935},{"geom_ids":[88,90],"normal_force_n":0.07912301527528687},{"geom_ids":[88,90],"normal_force_n":0.04881241310000594},{"geom_ids":[89,90],"normal_force_n":0.060708225540366687},{"geom_ids":[89,90],"normal_force_n":0.0628502446834803},{"geom_ids":[89,90],"normal_force_n":0.027081647149026295},{"geom_ids":[89,90],"normal_force_n":0.025278768388133702}],"native_actuator_controls":[-0.1230342557331435,1.6266736501292969,-1.1020872725500157,0.009770863289172342,1.0384955037059054,-0.13080357696511835,0.0],"actuator_force_native":[-0.29962363541481096,-0.2149364978839401,0.033921213592108757,0.16998335685652868,-0.013737808331109491,-0.06159897924039548,-0.7838959182698184],"issued_joint_targets_rad":[-0.12336149071251382,1.614852533381713,-1.1015581678664472,0.010413242297337123,1.0388009735998958,-0.13118490319121803],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.519999999999055,"joint_targets_rad":[-0.12336149071251382,1.614852533381713,-1.1015581678664472,0.010413242297337123,1.0388009735998958,-0.13118490319121803],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.539999999999043,"qpos":[-0.11889015895966461,1.6556076786060985,-1.1049542716418153,0.0031570860416184326,1.0393913255612206,-0.12336777555720325,0.01959826254005579,-0.020247704223737707,0.29713142105844675,-0.03342249750601709,0.09813270192223446,0.9995548395818814,-0.00216724243370018,-0.02975210081345249,0.00048808386504757887],"qvel":[-0.01150456457635723,-0.619490367471457,0.03342766028488345,0.023451306035558443,0.002518464678409409,-0.009916811407360763,-3.6213999734554322e-06,2.117547933883955e-05,0.005705029573268248,0.0002599308543997875,0.17700954095015242,-0.0519862020458743,-0.5798403342833517,-0.008789322331537446],"joint_position_rad":[-0.11889015895966461,1.6556076786060985,-1.1049542716418153,0.0031570860416184326,1.0393913255612206,-0.12336777555720325],"joint_velocity_rad_s":[-0.01150456457635723,-0.619490367471457,0.03342766028488345,0.023451306035558443,0.002518464678409409,-0.009916811407360763],"gripper_joint_position_m":[0.01959826254005579,-0.020247704223737707],"tcp_position_m":[0.2992313023156745,-0.03374104396540265,0.10017497114917738],"tcp_quaternion_wxyz":[0.033911056300410934,-0.0014806756611980931,0.9994200299976875,-0.0027297435040841513],"object_position_m":[0.29713142105844675,-0.03342249750601709,0.09813270192223446],"object_quaternion_wxyz":[0.9995548395818814,-0.00216724243370018,-0.02975210081345249,0.00048808386504757887],"object_linear_velocity_m_s":[0.005705029573268248,0.0002599308543997875,0.17700954095015242],"object_angular_velocity_rad_s":[-0.05088036159577041,-0.5799298648282086,-0.009336559122640344],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3899915313820999,"right":0.393470009260138},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048355817238181394},{"geom_ids":[85,90],"normal_force_n":0.01993658728336266},{"geom_ids":[85,90],"normal_force_n":0.038267897649878244},{"geom_ids":[85,90],"normal_force_n":0.06757245922319434},{"geom_ids":[86,90],"normal_force_n":0.034661410202450636},{"geom_ids":[86,90],"normal_force_n":0.03666243401723395},{"geom_ids":[86,90],"normal_force_n":0.07322728919395144},{"geom_ids":[86,90],"normal_force_n":0.07130763657384727},{"geom_ids":[88,90],"normal_force_n":0.030950754468760732},{"geom_ids":[88,90],"normal_force_n":0.05885641717665341},{"geom_ids":[88,90],"normal_force_n":0.07842035309034578},{"geom_ids":[88,90],"normal_force_n":0.048858007943051646},{"geom_ids":[89,90],"normal_force_n":0.060445734343295476},{"geom_ids":[89,90],"normal_force_n":0.0625362195017723},{"geom_ids":[89,90],"normal_force_n":0.02758111228899434},{"geom_ids":[89,90],"normal_force_n":0.025821410447264288}],"native_actuator_controls":[-0.12336149071251382,1.614852533381713,-1.1015581678664472,0.010413242297337123,1.0388009735998958,-0.13118490319121803,0.0],"actuator_force_native":[-0.30018371734614924,-0.1629597805935532,0.10455000060503039,0.1729897200509554,-0.009681216630863076,-0.06329605922910653,-0.7839123946023643],"issued_joint_targets_rad":[-0.12372396869712951,1.6029753935647248,-1.1014229517622478,0.011091599817411212,1.0390426281683842,-0.13158546584331055],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.539999999999043,"joint_targets_rad":[-0.12372396869712951,1.6029753935647248,-1.1014229517622478,0.011091599817411212,1.0390426281683842,-0.13158546584331055],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.559999999999032,"qpos":[-0.11914936503900629,1.6431736263797656,-1.1044148080697,0.003642943461275957,1.0394201281411175,-0.12356681072088735,0.019598072505784978,-0.02024752613206699,0.2972684406023757,-0.03342528659943772,0.10171728843844283,0.9993603961255667,-0.002687639582068373,-0.035657109172212195,0.00038185692042638677],"qvel":[-0.013320183403653573,-0.6173932388229627,0.017998441873064073,0.024228787506417767,0.0016837982843275804,-0.010051541787731386,6.821502788108118e-07,1.739015993232382e-05,0.008370640989267562,-0.000459721534679422,0.180142009269719,-0.05326221222659408,-0.5945960146599839,-0.010564206576343486],"joint_position_rad":[-0.11914936503900629,1.6431736263797656,-1.1044148080697,0.003642943461275957,1.0394201281411175,-0.12356681072088735],"joint_velocity_rad_s":[-0.013320183403653573,-0.6173932388229627,0.017998441873064073,0.024228787506417767,0.0016837982843275804,-0.010051541787731386],"gripper_joint_position_m":[0.019598072505784978,-0.02024752613206699],"tcp_position_m":[0.29932550334393615,-0.033741886571025184,0.10378517619531996],"tcp_quaternion_wxyz":[0.039822099996784294,-0.0013437974908520735,0.9992006346633524,-0.003238247751981473],"object_position_m":[0.2972684406023757,-0.03342528659943772,0.10171728843844283],"object_quaternion_wxyz":[0.9993603961255667,-0.002687639582068373,-0.035657109172212195,0.00038185692042638677],"object_linear_velocity_m_s":[0.008370640989267562,-0.000459721534679422,0.180142009269719],"object_angular_velocity_rad_s":[-0.05203399407338208,-0.5946945724728153,-0.011122737681901166],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39028658499386426,"right":0.39320524464137724},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048430805356270354},{"geom_ids":[85,90],"normal_force_n":0.020799784262860884},{"geom_ids":[85,90],"normal_force_n":0.03861933247694958},{"geom_ids":[85,90],"normal_force_n":0.06705278665535176},{"geom_ids":[86,90],"normal_force_n":0.03511854734561},{"geom_ids":[86,90],"normal_force_n":0.03705816172495376},{"geom_ids":[86,90],"normal_force_n":0.07253259703973963},{"geom_ids":[86,90],"normal_force_n":0.07067457013212831},{"geom_ids":[88,90],"normal_force_n":0.03138886304190959},{"geom_ids":[88,90],"normal_force_n":0.058587509554246915},{"geom_ids":[88,90],"normal_force_n":0.0775416395692855},{"geom_ids":[88,90],"normal_force_n":0.04887065310584259},{"geom_ids":[89,90],"normal_force_n":0.060132509638504035},{"geom_ids":[89,90],"normal_force_n":0.062157075643126385},{"geom_ids":[89,90],"normal_force_n":0.028115496956500303},{"geom_ids":[89,90],"normal_force_n":0.026411497131961878}],"native_actuator_controls":[-0.12372396869712951,1.6029753935647248,-1.1014229517622478,0.011091599817411212,1.0390426281683842,-0.13158546584331055,0.0],"actuator_force_native":[-0.29936737563159,-0.1288924310884454,0.14935629523085936,0.17680231671332142,-0.006300697153823975,-0.06510923854263484,-0.7839263109827932],"issued_joint_targets_rad":[-0.12412709771027275,1.5911107423238007,-1.1015983445512967,0.011804185341967718,1.039235921141079,-0.1320046462255361],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.559999999999032,"joint_targets_rad":[-0.12412709771027275,1.5911107423238007,-1.1015983445512967,0.011804185341967718,1.039235921141079,-0.1320046462255361],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.579999999999021,"qpos":[-0.11944758693692899,1.6307994137619193,-1.1041492869325014,0.004144799053200803,1.039436323929017,-0.12376923442486812,0.019597940567462353,-0.020247416397398164,0.29744562422165516,-0.03344164063504391,0.10535195902807767,0.9991258854111716,-0.003213243435482897,-0.0416782349287111,0.00025475712512726384],"qvel":[-0.015368133438762678,-0.6151301487055714,0.0086642829751676,0.02506527189144385,0.00046385496512323603,-0.010163823389737887,8.219689075726616e-06,1.936277366840803e-05,0.009193351436774024,-0.001022539424051699,0.1818171567427632,-0.053299240182548314,-0.6027331887662534,-0.013779326791819126],"joint_position_rad":[-0.11944758693692899,1.6307994137619193,-1.1041492869325014,0.004144799053200803,1.039436323929017,-0.12376923442486812],"joint_velocity_rad_s":[-0.015368133438762678,-0.6151301487055714,0.0086642829751676,0.02506527189144385,0.00046385496512323603,-0.010163823389737887],"gripper_joint_position_m":[0.019597940567462353,-0.020247416397398164],"tcp_position_m":[0.29945829073459795,-0.03375632097702819,0.10744659464101272],"tcp_quaternion_wxyz":[0.04584485725985638,-0.001188086641975724,0.9989408056320932,-0.0037555766613006775],"object_position_m":[0.29744562422165516,-0.03344164063504391,0.10535195902807767],"object_quaternion_wxyz":[0.9991258854111716,-0.003213243435482897,-0.0416782349287111,0.00025475712512726384],"object_linear_velocity_m_s":[0.009193351436774024,-0.001022539424051699,0.1818171567427632],"object_angular_velocity_rad_s":[-0.05182105522771009,-0.6028502557140886,-0.01428716598044361],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3905529671769549,"right":0.39298157279485996},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04842970699941124},{"geom_ids":[85,90],"normal_force_n":0.021533760042094334},{"geom_ids":[85,90],"normal_force_n":0.03896595242650161},{"geom_ids":[85,90],"normal_force_n":0.06658793783287499},{"geom_ids":[86,90],"normal_force_n":0.0355637133070488},{"geom_ids":[86,90],"normal_force_n":0.03745451910576145},{"geom_ids":[86,90],"normal_force_n":0.07191314149075426},{"geom_ids":[86,90],"normal_force_n":0.0701042359725082},{"geom_ids":[88,90],"normal_force_n":0.0317892274652886},{"geom_ids":[88,90],"normal_force_n":0.05831291317198292},{"geom_ids":[88,90],"normal_force_n":0.07679057303563024},{"geom_ids":[88,90],"normal_force_n":0.04894901154665606},{"geom_ids":[89,90],"normal_force_n":0.05980759662390351},{"geom_ids":[89,90],"normal_force_n":0.06177948651128043},{"geom_ids":[89,90],"normal_force_n":0.02860630051742928},{"geom_ids":[89,90],"normal_force_n":0.026946463922688926}],"native_actuator_controls":[-0.12412709771027275,1.5911107423238007,-1.1015983445512967,0.011804185341967718,1.039235921141079,-0.1320046462255361,0.0],"actuator_force_native":[-0.2975201946736874,-0.09944297152162562,0.16075397562053695,0.18104909209345738,-0.0026998103270639007,-0.06710838292207288,-0.7839587211438727],"issued_joint_targets_rad":[-0.12457400094387783,1.5792939340636125,-1.1020074564906743,0.012550306982092689,1.0393906678229337,-0.13244188839387586],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.579999999999021,"joint_targets_rad":[-0.12457400094387783,1.5792939340636125,-1.1020074564906743,0.012550306982092689,1.0393906678229337,-0.13244188839387586],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.59999999999901,"qpos":[-0.11978863366968069,1.6184815376913406,-1.1040262883579761,0.00466365037985385,1.0394357610108544,-0.12397502476939068,0.019597885497186746,-0.02024729810489555,0.29762316742725453,-0.03346781511053227,0.1090068368925217,0.9988524641045223,-0.0037352474732818045,-0.047747183132884806,9.685820114393445e-05],"qvel":[-0.01751456031280044,-0.6122766593489094,0.004231310842389612,0.02590922636364172,-0.00040321993378307833,-0.010336157596776257,1.2269169070086433e-05,2.1151262966255994e-05,0.008389604911574202,-0.0014219242290461416,0.18217179733918315,-0.052705395421603705,-0.6062537968572265,-0.015765932704531145],"joint_position_rad":[-0.11978863366968069,1.6184815376913406,-1.1040262883579761,0.00466365037985385,1.0394357610108544,-0.12397502476939068],"joint_velocity_rad_s":[-0.01751456031280044,-0.6122766593489094,0.004231310842389612,0.02590922636364172,-0.00040321993378307833,-0.010336157596776257],"gripper_joint_position_m":[0.019597885497186746,-0.02024729810489555],"tcp_position_m":[0.29959027265465477,-0.03378063533994903,0.111128804012063],"tcp_quaternion_wxyz":[0.051917687860562674,-0.0010114952310657551,0.9986417079837806,-0.004274299924966463],"object_position_m":[0.29762316742725453,-0.03346781511053227,0.1090068368925217],"object_quaternion_wxyz":[0.9988524641045223,-0.0037352474732818045,-0.047747183132884806,9.685820114393445e-05],"object_linear_velocity_m_s":[0.008389604911574202,-0.0014219242290461416,0.18217179733918315],"object_angular_velocity_rad_s":[-0.05106017933519299,-0.6063833647648982,-0.01619143499052307],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39062840742633986,"right":0.39293938228775116},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04842543684763943},{"geom_ids":[85,90],"normal_force_n":0.02198255301700349},{"geom_ids":[85,90],"normal_force_n":0.03917717205653073},{"geom_ids":[85,90],"normal_force_n":0.06627893633529883},{"geom_ids":[86,90],"normal_force_n":0.035838164946122346},{"geom_ids":[86,90],"normal_force_n":0.03769553612419235},{"geom_ids":[86,90],"normal_force_n":0.07150292686334335},{"geom_ids":[86,90],"normal_force_n":0.06972768123620933},{"geom_ids":[88,90],"normal_force_n":0.03206854208918532},{"geom_ids":[88,90],"normal_force_n":0.058145381680956745},{"geom_ids":[88,90],"normal_force_n":0.07630880356995653},{"geom_ids":[88,90],"normal_force_n":0.04900081622339959},{"geom_ids":[89,90],"normal_force_n":0.05960986539404378},{"geom_ids":[89,90],"normal_force_n":0.06154571186743548},{"geom_ids":[89,90],"normal_force_n":0.028945128418825447},{"geom_ids":[89,90],"normal_force_n":0.027315133043948277}],"native_actuator_controls":[-0.12457400094387783,1.5792939340636125,-1.1020074564906743,0.012550306982092689,1.0393906678229337,-0.13244188839387586,0.0],"actuator_force_native":[-0.2952565803717686,-0.07362499347370033,0.14034999517220115,0.18592013227134502,0.0001538980214679242,-0.06916439984968736,-0.7839767657328203],"issued_joint_targets_rad":[-0.12506671673687147,1.5675366269547,-1.102545533539467,0.013329448647966606,1.0395141038875326,-0.13289586608317183],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.59999999999901,"joint_targets_rad":[-0.12506671673687147,1.5675366269547,-1.102545533539467,0.013329448647966606,1.0395141038875326,-0.13289586608317183],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.619999999999,"qpos":[-0.1201739282323116,1.606232646506179,-1.1039592887726848,0.005199850337947681,1.0394241089290204,-0.12418513714246157,0.019597852053235925,-0.02024720961274564,0.2977732682629448,-0.03350085165760665,0.11265711251738265,0.9985416744255841,-0.0042513265396557556,-0.05381862291962029,-8.052974597827972e-05],"qvel":[-0.019674692064020935,-0.6081908097123706,0.002489221446638434,0.026749174152964884,-0.000713671753382267,-0.010583865345911972,1.2597588733772342e-05,2.0207497521879938e-05,0.006656948543379133,-0.001712081883344796,0.18149306057489806,-0.0523486199888566,-0.6049539277128576,-0.017050652369867577],"joint_position_rad":[-0.1201739282323116,1.606232646506179,-1.1039592887726848,0.005199850337947681,1.0394241089290204,-0.12418513714246157],"joint_velocity_rad_s":[-0.019674692064020935,-0.6081908097123706,0.002489221446638434,0.026749174152964884,-0.000713671753382267,-0.010583865345911972],"gripper_joint_position_m":[0.019597852053235925,-0.02024720961274564],"tcp_position_m":[0.2996944287951219,-0.03381195166527059,0.11480621142084463],"tcp_quaternion_wxyz":[0.05798835626846646,-0.0008138061867230209,0.9983054440821383,-0.00478837892567542],"object_position_m":[0.2977732682629448,-0.03350085165760665,0.11265711251738265],"object_quaternion_wxyz":[0.9985416744255841,-0.0042513265396557556,-0.05381862291962029,-8.052974597827972e-05],"object_linear_velocity_m_s":[0.006656948543379133,-0.001712081883344796,0.18149306057489806],"object_angular_velocity_rad_s":[-0.05058689150966273,-0.605092500254804,-0.01744677503061684],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3905681262236198,"right":0.3930127059071997},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04834278770668549},{"geom_ids":[85,90],"normal_force_n":0.022392680681640093},{"geom_ids":[85,90],"normal_force_n":0.039408380888390486},{"geom_ids":[85,90],"normal_force_n":0.06594080265977866},{"geom_ids":[86,90],"normal_force_n":0.03613855149954612},{"geom_ids":[86,90],"normal_force_n":0.03796738630590531},{"geom_ids":[86,90],"normal_force_n":0.07106192667059248},{"geom_ids":[86,90],"normal_force_n":0.06931560981108117},{"geom_ids":[88,90],"normal_force_n":0.0323861523936772},{"geom_ids":[88,90],"normal_force_n":0.05794979141446907},{"geom_ids":[88,90],"normal_force_n":0.07585081983206456},{"geom_ids":[88,90],"normal_force_n":0.04912268640175876},{"geom_ids":[89,90],"normal_force_n":0.059372871668070266},{"geom_ids":[89,90],"normal_force_n":0.061277799667387264},{"geom_ids":[89,90],"normal_force_n":0.029328866814948753},{"geom_ids":[89,90],"normal_force_n":0.027723717714823824}],"native_actuator_controls":[-0.12506671673687147,1.5675366269547,-1.102545533539467,0.013329448647966606,1.0395141038875326,-0.13289586608317183,0.0],"actuator_force_native":[-0.2930496200446875,-0.05472751555646482,0.1006543114242362,0.19143806163593263,0.001970457215195509,-0.07123149138823459,-0.7839770700731059],"issued_joint_targets_rad":[-0.1256049003633184,1.555864583881064,-1.1031468543910417,0.014140439948928666,1.0396195011675748,-0.13336583044304245],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.619999999999,"joint_targets_rad":[-0.1256049003633184,1.555864583881064,-1.1031468543910417,0.014140439948928666,1.0396195011675748,-0.13336583044304245],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.639999999998988,"qpos":[-0.12060332701060901,1.5940801708434784,-1.1039174766465312,0.005753462533930986,1.0394105398183517,-0.12440081022597868,0.0195977895533929,-0.020247193016415095,0.29788489165024257,-0.03353935762509282,0.11628657291322865,0.9981955521060951,-0.004760186594542352,-0.05985737461792943,-0.00027401285062207394],"qvel":[-0.021816111090066086,-0.60271389149596,0.001487801815718823,0.02759813840468143,-0.0006565286443516823,-0.010884060013991094,1.2676674711075852e-05,1.8546905915806328e-05,0.004651175906728872,-0.001960731013885221,0.18017008795492617,-0.05098717018558348,-0.5998065560810509,-0.020035809993824996],"joint_position_rad":[-0.12060332701060901,1.5940801708434784,-1.1039174766465312,0.005753462533930986,1.0394105398183517,-0.12440081022597868],"joint_velocity_rad_s":[-0.021816111090066086,-0.60271389149596,0.001487801815718823,0.02759813840468143,-0.0006565286443516823,-0.010884060013991094],"gripper_joint_position_m":[0.0195977895533929,-0.020247193016415095],"tcp_position_m":[0.2997601538606994,-0.033848908771114496,0.11846220831901859],"tcp_quaternion_wxyz":[0.06402322251933705,-0.0005958108341134868,0.9979341883898656,-0.005294112801023372],"object_position_m":[0.29788489165024257,-0.03353935762509282,0.11628657291322865],"object_quaternion_wxyz":[0.9981955521060951,-0.004760186594542352,-0.05985737461792943,-0.00027401285062207394],"object_linear_velocity_m_s":[0.004651175906728872,-0.001960731013885221,0.18017008795492617],"object_angular_velocity_rad_s":[-0.04889752129876199,-0.5999715088816351,-0.020303961795291838],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39045431610850023,"right":0.39313382127936514},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04821075240725653},{"geom_ids":[85,90],"normal_force_n":0.02287125429249012},{"geom_ids":[85,90],"normal_force_n":0.039692036943909687},{"geom_ids":[85,90],"normal_force_n":0.06552839834336861},{"geom_ids":[86,90],"normal_force_n":0.03650677149318642},{"geom_ids":[86,90],"normal_force_n":0.038304597274885235},{"geom_ids":[86,90],"normal_force_n":0.07052766051888854},{"geom_ids":[86,90],"normal_force_n":0.06881284483451514},{"geom_ids":[88,90],"normal_force_n":0.03277539453656417},{"geom_ids":[88,90],"normal_force_n":0.05770470640857683},{"geom_ids":[88,90],"normal_force_n":0.0753197974631484},{"geom_ids":[88,90],"normal_force_n":0.0492968431807594},{"geom_ids":[89,90],"normal_force_n":0.059073280282529755},{"geom_ids":[89,90],"normal_force_n":0.06094463709582477},{"geom_ids":[89,90],"normal_force_n":0.029798806535702792},{"geom_ids":[89,90],"normal_force_n":0.028220355776259014}],"native_actuator_controls":[-0.1256049003633184,1.555864583881064,-1.1031468543910417,0.014140439948928666,1.0396195011675748,-0.13336583044304245,0.0],"actuator_force_native":[-0.2910453127664212,-0.043677499513336215,0.05421077136055885,0.19748840457650002,0.0030744064587580056,-0.07332411214965107,-0.7839749655092713],"issued_joint_targets_rad":[-0.12618675938010673,1.5443126272595866,-1.1037907896121717,0.014982350072093892,1.0397188361597005,-0.13385137425684074],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.639999999998988,"joint_targets_rad":[-0.12618675938010673,1.5443126272595866,-1.1037907896121717,0.014982350072093892,1.0397188361597005,-0.13385137425684074],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.659999999998977,"qpos":[-0.12107641283549406,1.5820483257222993,-1.1038940421073022,0.006324840736534724,1.0393998866506422,-0.12462278903136449,0.019597693483058655,-0.02024721154366144,0.297955697500795,-0.033582842835754786,0.11988591866992247,0.9978162714899284,-0.005255309411389006,-0.06583940312875303,-0.0004930198554750887],"qvel":[-0.023938507080470434,-0.5962037009057984,0.0006203422482181008,0.028474855098102752,-0.0004613098088441822,-0.01120806289056354,1.1551774472230672e-05,1.80715215253532e-05,0.002610492028482535,-0.002196759778237939,0.1785135007871409,-0.050629665814427814,-0.5947144912635117,-0.020954744208885056],"joint_position_rad":[-0.12107641283549406,1.5820483257222993,-1.1038940421073022,0.006324840736534724,1.0393998866506422,-0.12462278903136449],"joint_velocity_rad_s":[-0.023938507080470434,-0.5962037009057984,0.0006203422482181008,0.028474855098102752,-0.0004613098088441822,-0.01120806289056354],"gripper_joint_position_m":[0.019597693483058655,-0.02024721154366144],"tcp_position_m":[0.2997853290385913,-0.03389101500547348,0.12208723878838837],"tcp_quaternion_wxyz":[0.07000434582726389,-0.0003581351535392708,0.9975298213566939,-0.005789543038190253],"object_position_m":[0.297955697500795,-0.033582842835754786,0.11988591866992247],"object_quaternion_wxyz":[0.9978162714899284,-0.005255309411389006,-0.06583940312875303,-0.0004930198554750887],"object_linear_velocity_m_s":[0.002610492028482535,-0.002196759778237939,0.1785135007871409],"object_angular_velocity_rad_s":[-0.04843421957446687,-0.5948877014649511,-0.02122591586051699],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39033574729648635,"right":0.39325697646319824},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04807269617345354},{"geom_ids":[85,90],"normal_force_n":0.023187252618782638},{"geom_ids":[85,90],"normal_force_n":0.03991154171399483},{"geom_ids":[85,90],"normal_force_n":0.06522590614887984},{"geom_ids":[86,90],"normal_force_n":0.03678974572278286},{"geom_ids":[86,90],"normal_force_n":0.03856833383832183},{"geom_ids":[86,90],"normal_force_n":0.07013760535064295},{"geom_ids":[86,90],"normal_force_n":0.0684426657296279},{"geom_ids":[88,90],"normal_force_n":0.03306650540296323},{"geom_ids":[88,90],"normal_force_n":0.057510670373410136},{"geom_ids":[88,90],"normal_force_n":0.07495791509301324},{"geom_ids":[88,90],"normal_force_n":0.04946313696171704},{"geom_ids":[89,90],"normal_force_n":0.0588341077447133},{"geom_ids":[89,90],"normal_force_n":0.06068446633016588},{"geom_ids":[89,90],"normal_force_n":0.03015111805712271},{"geom_ids":[89,90],"normal_force_n":0.02858905650009267}],"native_actuator_controls":[-0.12618675938010673,1.5443126272595866,-1.1037907896121717,0.014982350072093892,1.0397188361597005,-0.13385137425684074,0.0],"actuator_force_native":[-0.28913518816666084,-0.037837372488027654,0.005158488369360725,0.203926097931853,0.0038814598038481307,-0.07547375791891708,-0.7839654981947073],"issued_joint_targets_rad":[-0.12681021018661626,1.5329096230545234,-1.1044755251645588,0.015855052298807817,1.0398173817227363,-0.13435182190129955],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.659999999998977,"joint_targets_rad":[-0.12681021018661626,1.5329096230545234,-1.1044755251645588,0.015855052298807817,1.0398173817227363,-0.13435182190129955],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.679999999998966,"qpos":[-0.12159272565367098,1.5701540082637984,-1.1038878448167113,0.006914579576722082,1.0393937519711383,-0.12485143325734703,0.01959757793404448,-0.02024725138019698,0.2979860922850524,-0.033631111805241885,0.12344948137798699,0.9974053096461462,-0.0057400638415718115,-0.07175768171053602,-0.0007314863628224417],"qvel":[-0.02603440710038931,-0.5889765166131546,-0.00023328770362377366,0.029382729416912244,-0.00022364870199927602,-0.01154773414917212,1.2617706453897971e-05,1.8638066392991125e-05,0.0006226504946809786,-0.002423653237952095,0.17660105171368098,-0.04939701965644101,-0.5880565565266981,-0.02320655424809233],"joint_position_rad":[-0.12159272565367098,1.5701540082637984,-1.1038878448167113,0.006914579576722082,1.0393937519711383,-0.12485143325734703],"joint_velocity_rad_s":[-0.02603440710038931,-0.5889765166131546,-0.00023328770362377366,0.029382729416912244,-0.00022364870199927602,-0.01154773414917212],"gripper_joint_position_m":[0.01959757793404448,-0.02024725138019698],"tcp_position_m":[0.2997705093138661,-0.0339380349978041,0.12567548406148077],"tcp_quaternion_wxyz":[0.07592186711685167,-0.0001011863726318902,0.9970940288370209,-0.006273556596342751],"object_position_m":[0.2979860922850524,-0.033631111805241885,0.12344948137798699],"object_quaternion_wxyz":[0.9974053096461462,-0.0057400638415718115,-0.07175768171053602,-0.0007314863628224417],"object_linear_velocity_m_s":[0.0006226504946809786,-0.002423653237952095,0.17660105171368098],"object_angular_velocity_rad_s":[-0.046909111431561124,-0.5882539490679582,-0.023365574157277826],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39022165303522444,"right":0.3933823393325287},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047957475683252704},{"geom_ids":[85,90],"normal_force_n":0.02353734275908044},{"geom_ids":[85,90],"normal_force_n":0.04012231672943477},{"geom_ids":[85,90],"normal_force_n":0.06491656927812477},{"geom_ids":[86,90],"normal_force_n":0.0370637654925048},{"geom_ids":[86,90],"normal_force_n":0.038820129310751815},{"geom_ids":[86,90],"normal_force_n":0.06973813550479498},{"geom_ids":[86,90],"normal_force_n":0.06806591827728022},{"geom_ids":[88,90],"normal_force_n":0.03336197216289309},{"geom_ids":[88,90],"normal_force_n":0.057325578399307},{"geom_ids":[88,90],"normal_force_n":0.07457582500173517},{"geom_ids":[88,90],"normal_force_n":0.049606310187384636},{"geom_ids":[89,90],"normal_force_n":0.05860733955303367},{"geom_ids":[89,90],"normal_force_n":0.060433730056154204},{"geom_ids":[89,90],"normal_force_n":0.03050732214108131},{"geom_ids":[89,90],"normal_force_n":0.028964261830939572}],"native_actuator_controls":[-0.12681021018661626,1.5329096230545234,-1.1044755251645588,0.015855052298807817,1.0398173817227363,-0.13435182190129955,0.0],"actuator_force_native":[-0.2872267271336746,-0.0346682336762143,-0.04584798930969214,0.21070526179886817,0.004571770568979616,-0.07768228521576703,-0.7839662058940486],"issued_joint_targets_rad":[-0.12747290756980048,1.5216770758176321,-1.10520407862559,0.016758872464386933,1.0399164287071896,-0.13486606681026483],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.679999999998966,"joint_targets_rad":[-0.12747290756980048,1.5216770758176321,-1.10520407862559,0.016758872464386933,1.0399164287071896,-0.13486606681026483],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.699999999998955,"qpos":[-0.1221515478373004,1.5584096355859525,-1.1038989955604226,0.007523338573554148,1.0393925996712334,-0.1250869732233418,0.019597468732662614,-0.020247292319363425,0.29797741035006436,-0.03368395218947457,0.12697313896934778,0.9969641913074546,-0.006210427203205909,-0.07760704499909835,-0.0009891466697195923],"qvel":[-0.02808733209782458,-0.5811839860951096,-0.0011041422299160463,0.030325441727689948,2.760245236940607e-05,-0.011896395627208445,1.4051820263510806e-05,2.03078409623788e-05,-0.0012792064513165561,-0.002637857473002436,0.1745162354354116,-0.04836430781207099,-0.5810705112332153,-0.024859005124559873],"joint_position_rad":[-0.1221515478373004,1.5584096355859525,-1.1038989955604226,0.007523338573554148,1.0393925996712334,-0.1250869732233418],"joint_velocity_rad_s":[-0.02808733209782458,-0.5811839860951096,-0.0011041422299160463,0.030325441727689948,2.760245236940607e-05,-0.011896395627208445],"gripper_joint_position_m":[0.019597468732662614,-0.020247292319363425],"tcp_position_m":[0.2997170608370995,-0.03398973407117646,0.12922285883335757],"tcp_quaternion_wxyz":[0.08176936232970346,0.0001745740959704792,0.9966284365540963,-0.006745395452951864],"object_position_m":[0.29797741035006436,-0.03368395218947457,0.12697313896934778],"object_quaternion_wxyz":[0.9969641913074546,-0.006210427203205909,-0.07760704499909835,-0.0009891466697195923],"object_linear_velocity_m_s":[-0.0012792064513165561,-0.002637857473002436,0.1745162354354116],"object_angular_velocity_rad_s":[-0.04564134068552729,-0.5812874326457922,-0.02493600006506338],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.39011998433902023,"right":0.393498935933809},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04777497342700129},{"geom_ids":[85,90],"normal_force_n":0.023850112651504805},{"geom_ids":[85,90],"normal_force_n":0.040341864832027854},{"geom_ids":[85,90],"normal_force_n":0.06463110712760751},{"geom_ids":[86,90],"normal_force_n":0.03734476295910332},{"geom_ids":[86,90],"normal_force_n":0.03908838252809664},{"geom_ids":[86,90],"normal_force_n":0.06937370755606576},{"geom_ids":[86,90],"normal_force_n":0.06771507325761304},{"geom_ids":[88,90],"normal_force_n":0.033631364439757463},{"geom_ids":[88,90],"normal_force_n":0.05712426009855217},{"geom_ids":[88,90],"normal_force_n":0.07427021209002257},{"geom_ids":[88,90],"normal_force_n":0.04980943129468754},{"geom_ids":[89,90],"normal_force_n":0.05835630902303365},{"geom_ids":[89,90],"normal_force_n":0.06016855380435767},{"geom_ids":[89,90],"normal_force_n":0.030835524479174238},{"geom_ids":[89,90],"normal_force_n":0.02930328070422372}],"native_actuator_controls":[-0.12747290756980048,1.5216770758176321,-1.10520407862559,0.016758872464386933,1.0399164287071896,-0.13486606681026483,0.0],"actuator_force_native":[-0.2852721181108837,-0.032684850990094105,-0.09888593406380153,0.2177941469948616,0.005196886681007484,-0.07994634242841747,-0.7839690084078221],"issued_joint_targets_rad":[-0.12817188023578713,1.510632932679213,-1.1059812734374475,0.0176941888641912,1.0400157834414445,-0.13539254158784553],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.699999999998955,"joint_targets_rad":[-0.12817188023578713,1.510632932679213,-1.1059812734374475,0.0176941888641912,1.0400157834414445,-0.13539254158784553],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.719999999998944,"qpos":[-0.12275170799372445,1.5468258084054858,-1.1039280306623196,0.008151800884773795,1.0393965576099768,-0.12532957196352518,0.01959737358183191,-0.020247334465604314,0.2979314461720463,-0.0337410390835207,0.13045346080300343,0.9964948218678392,-0.006669319212544303,-0.08337857533390033,-0.0012662334354694266],"qvel":[-0.030070905957332562,-0.5728729521458477,-0.002007834126890568,0.03130294040439878,0.0002808331051047629,-0.012253146839260803,1.566663166384842e-05,2.1089828878526197e-05,-0.0030858812731325504,-0.0028336557985796577,0.17225688961041338,-0.04792544945112629,-0.5724837481137061,-0.027159305319422733],"joint_position_rad":[-0.12275170799372445,1.5468258084054858,-1.1039280306623196,0.008151800884773795,1.0393965576099768,-0.12532957196352518],"joint_velocity_rad_s":[-0.030070905957332562,-0.5728729521458477,-0.002007834126890568,0.03130294040439878,0.0002808331051047629,-0.012253146839260803],"gripper_joint_position_m":[0.01959737358183191,-0.020247334465604314],"tcp_position_m":[0.29962669498589645,-0.034045771316296415,0.13272598644524639],"tcp_quaternion_wxyz":[0.08754171340863673,0.0004684952882064282,0.9961346924426864,-0.007204404053067529],"object_position_m":[0.2979314461720463,-0.0337410390835207,0.13045346080300343],"object_quaternion_wxyz":[0.9964948218678392,-0.006669319212544303,-0.08337857533390033,-0.0012662334354694266],"object_linear_velocity_m_s":[-0.0030858812731325504,-0.0028336557985796577,0.17225688961041338],"object_angular_velocity_rad_s":[-0.0448276728613226,-0.5727300739249233,-0.027255469040785418],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3900270900806322,"right":0.3936102402903456},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047647344941709746},{"geom_ids":[85,90],"normal_force_n":0.024183311594958137},{"geom_ids":[85,90],"normal_force_n":0.04053486478329085},{"geom_ids":[85,90],"normal_force_n":0.06435303534264904},{"geom_ids":[86,90],"normal_force_n":0.037595082604555574},{"geom_ids":[86,90],"normal_force_n":0.039321040538792894},{"geom_ids":[86,90],"normal_force_n":0.06901638065928158},{"geom_ids":[86,90],"normal_force_n":0.06737602961539439},{"geom_ids":[88,90],"normal_force_n":0.0338929137688595},{"geom_ids":[88,90],"normal_force_n":0.056950388030216126},{"geom_ids":[88,90],"normal_force_n":0.0739446200500888},{"geom_ids":[88,90],"normal_force_n":0.04995797703108783},{"geom_ids":[89,90],"normal_force_n":0.05814218087865894},{"geom_ids":[89,90],"normal_force_n":0.05993536865986038},{"geom_ids":[89,90],"normal_force_n":0.031151965271791402},{"geom_ids":[89,90],"normal_force_n":0.02963482659978262}],"native_actuator_controls":[-0.12817188023578713,1.510632932679213,-1.1059812734374475,0.0176941888641912,1.0400157834414445,-0.13539254158784553,0.0],"actuator_force_native":[-0.2832592495783519,-0.031065297372578016,-0.15422025137577577,0.22518081715470234,0.005771008657019294,-0.08224997598431227,-0.7839732764315958],"issued_joint_targets_rad":[-0.12890320426859697,1.4997946580540067,-1.1068133304282033,0.01866123819249737,1.0401145643025835,-0.13592906401062982],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.719999999998944,"joint_targets_rad":[-0.12890320426859697,1.4997946580540067,-1.1068133304282033,0.01866123819249737,1.0401145643025835,-0.13592906401062982],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.739999999998933,"qpos":[-0.12339140124101644,1.5354129697937453,-1.1039757501045968,0.008800639144250326,1.039405575613479,-0.12557934110524455,0.019597288430803505,-0.02024736645523133,0.2978499997185778,-0.03380190107393614,0.13388732871657946,0.9959986972476974,-0.007116572826226151,-0.08907030039014138,-0.0015591858481172124],"qvel":[-0.031950267067492884,-0.5640127173186329,-0.0029761776028507975,0.03231380908456017,0.000532867345359494,-0.012615318032393609,1.7060353883787765e-05,2.339139565745813e-05,-0.00480462206223403,-0.003001921591598235,0.16984766410559918,-0.046479075811523135,-0.5646093822935365,-0.028921252584927643],"joint_position_rad":[-0.12339140124101644,1.5354129697937453,-1.1039757501045968,0.008800639144250326,1.039405575613479,-0.12557934110524455],"joint_velocity_rad_s":[-0.031950267067492884,-0.5640127173186329,-0.0029761776028507975,0.03231380908456017,0.000532867345359494,-0.012615318032393609],"gripper_joint_position_m":[0.019597288430803505,-0.02024736645523133],"tcp_position_m":[0.29950137504734126,-0.03410564182225813,0.13618166005014717],"tcp_quaternion_wxyz":[0.09323412801741106,0.0007796353164088738,0.9956145179862086,-0.007649909587421286],"object_position_m":[0.2978499997185778,-0.03380190107393614,0.13388732871657946],"object_quaternion_wxyz":[0.9959986972476974,-0.007116572826226151,-0.08907030039014138,-0.0015591858481172124],"object_linear_velocity_m_s":[-0.00480462206223403,-0.003001921591598235,0.16984766410559918],"object_angular_velocity_rad_s":[-0.04307997287508147,-0.5648820382124113,-0.028859950716134296],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38987983881841287,"right":0.3937719855027421},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04753309062623375},{"geom_ids":[85,90],"normal_force_n":0.024576021283227473},{"geom_ids":[85,90],"normal_force_n":0.040732557559947355},{"geom_ids":[85,90],"normal_force_n":0.06403178415961368},{"geom_ids":[86,90],"normal_force_n":0.0378559351275964},{"geom_ids":[86,90],"normal_force_n":0.03955856000974132},{"geom_ids":[86,90],"normal_force_n":0.06860424235108784},{"geom_ids":[86,90],"normal_force_n":0.06698764770096503},{"geom_ids":[88,90],"normal_force_n":0.034198224798481926},{"geom_ids":[88,90],"normal_force_n":0.05677142785210935},{"geom_ids":[88,90],"normal_force_n":0.07355702385784804},{"geom_ids":[88,90],"normal_force_n":0.05009266761457472},{"geom_ids":[89,90],"normal_force_n":0.05792296163325175},{"geom_ids":[89,90],"normal_force_n":0.05969122439588373},{"geom_ids":[89,90],"normal_force_n":0.031517867296367096},{"geom_ids":[89,90],"normal_force_n":0.030020588054225535}],"native_actuator_controls":[-0.12890320426859697,1.4997946580540067,-1.1068133304282033,0.01866123819249737,1.0401145643025835,-0.13592906401062982,0.0],"actuator_force_native":[-0.28119290686897713,-0.02940135258592136,-0.21212553787424326,0.2328549165070809,0.006290585873005128,-0.08457425200526236,-0.7839768390015591],"issued_joint_targets_rad":[-0.1296616893396605,1.4891812584448234,-1.1077079446405058,0.019659963319273742,1.040211223072357,-0.13647265052389457],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.739999999998933,"joint_targets_rad":[-0.1296616893396605,1.4891812584448234,-1.1077079446405058,0.019659963319273742,1.040211223072357,-0.13647265052389457],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.759999999998922,"qpos":[-0.12406791420610726,1.5241843769257009,-1.1040478716764979,0.009470400394554636,1.0394204547079282,-0.1258364277035434,0.019597217522868433,-0.02024739050096014,0.2977362564050411,-0.033865946924587914,0.13727200553707672,0.9954775734695471,-0.007548699995794253,-0.09467803301669131,-0.001867595150763512],"qvel":[-0.03364856533024865,-0.553968017533035,-0.00526364402012637,0.033329884879196005,0.0010837554589237948,-0.013012003127092294,1.7591715628744744e-05,2.283094198904124e-05,-0.006140500419185186,-0.0031587610875025165,0.16742770087504485,-0.04504862694993421,-0.5569432943979508,-0.029618649795163918],"joint_position_rad":[-0.12406791420610726,1.5241843769257009,-1.1040478716764979,0.009470400394554636,1.0394204547079282,-0.1258364277035434],"joint_velocity_rad_s":[-0.03364856533024865,-0.553968017533035,-0.00526364402012637,0.033329884879196005,0.0010837554589237948,-0.013012003127092294],"gripper_joint_position_m":[0.019597217522868433,-0.02024739050096014],"tcp_position_m":[0.29934438610319275,-0.03416874908793006,0.13958724242387266],"tcp_quaternion_wxyz":[0.09884245738949535,0.0011065534573195409,0.9950696643262769,-0.008081292857115658],"object_position_m":[0.2977362564050411,-0.033865946924587914,0.13727200553707672],"object_quaternion_wxyz":[0.9954775734695471,-0.007548699995794253,-0.09467803301669131,-0.001867595150763512],"object_linear_velocity_m_s":[-0.006140500419185186,-0.0031587610875025165,0.16742770087504485],"object_angular_velocity_rad_s":[-0.04152538684266818,-0.5572284414163552,-0.02940378725389488],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3896046458831069,"right":0.39404930949240774},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04736596452380321},{"geom_ids":[85,90],"normal_force_n":0.024926688481655822},{"geom_ids":[85,90],"normal_force_n":0.04092829933253116},{"geom_ids":[85,90],"normal_force_n":0.06369865939034972},{"geom_ids":[86,90],"normal_force_n":0.0381160764905546},{"geom_ids":[86,90],"normal_force_n":0.03979967373718621},{"geom_ids":[86,90],"normal_force_n":0.06818312986278512},{"geom_ids":[86,90],"normal_force_n":0.06658615406424105},{"geom_ids":[88,90],"normal_force_n":0.03452692298337652},{"geom_ids":[88,90],"normal_force_n":0.056584393968931425},{"geom_ids":[88,90],"normal_force_n":0.07320285046168742},{"geom_ids":[88,90],"normal_force_n":0.05027047796879445},{"geom_ids":[89,90],"normal_force_n":0.05768989033074362},{"geom_ids":[89,90],"normal_force_n":0.05943765082916408},{"geom_ids":[89,90],"normal_force_n":0.031909397343217384},{"geom_ids":[89,90],"normal_force_n":0.030427725606492796}],"native_actuator_controls":[-0.1296616893396605,1.4891812584448234,-1.1077079446405058,0.019659963319273742,1.040211223072357,-0.13647265052389457,0.0],"actuator_force_native":[-0.2792591840330161,-0.030409390805033354,-0.26648761702000456,0.24093309259278428,0.006282050455903132,-0.08684422351287324,-0.783976659492881],"issued_joint_targets_rad":[-0.130440487244791,1.4788156099359901,-1.1086778423953683,0.02068985440536658,1.040304124779608,-0.13701939807594551],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.759999999998922,"joint_targets_rad":[-0.130440487244791,1.4788156099359901,-1.1086778423953683,0.02068985440536658,1.040304124779608,-0.13701939807594551],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.77999999999891,"qpos":[-0.12477707420350227,1.5131648036136973,-1.1041770259337094,0.010161322667138744,1.039444967026857,-0.1261012109023094,0.019597134109504588,-0.020247422041128036,0.29760009281559124,-0.033933046348588104,0.14060921350499792,0.9949327323336367,-0.007970128529038143,-0.10020252509027142,-0.0021884121843475856],"qvel":[-0.03511167504070886,-0.5424531131118834,-0.009854770155644472,0.03435273758018339,0.0018776020492666792,-0.01343190126622072,1.653959385488977e-05,2.1936188318809638e-05,-0.006801262476008038,-0.003323702580833519,0.16522611331866985,-0.04419638024992356,-0.5488869023622708,-0.03081331532025102],"joint_position_rad":[-0.12477707420350227,1.5131648036136973,-1.1041770259337094,0.010161322667138744,1.039444967026857,-0.1261012109023094],"joint_velocity_rad_s":[-0.03511167504070886,-0.5424531131118834,-0.009854770155644472,0.03435273758018339,0.0018776020492666792,-0.01343190126622072],"gripper_joint_position_m":[0.019597134109504588,-0.020247422041128036],"tcp_position_m":[0.2991658323450659,-0.03423496523897587,0.14294437017049857],"tcp_quaternion_wxyz":[0.10436870088800144,0.0014468670698555542,0.9945013084949998,-0.008498720631139973],"object_position_m":[0.29760009281559124,-0.033933046348588104,0.14060921350499792],"object_quaternion_wxyz":[0.9949327323336367,-0.007970128529038143,-0.10020252509027142,-0.0021884121843475856],"object_linear_velocity_m_s":[-0.006801262476008038,-0.003323702580833519,0.16522611331866985],"object_angular_velocity_rad_s":[-0.04043258719881789,-0.5491922414211788,-0.03054013536744511],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3893700628917558,"right":0.39428847214053553},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047266474069724396},{"geom_ids":[85,90],"normal_force_n":0.025380144665968135},{"geom_ids":[85,90],"normal_force_n":0.04112470244835678},{"geom_ids":[85,90],"normal_force_n":0.06332861784618322},{"geom_ids":[86,90],"normal_force_n":0.0383814857303526},{"geom_ids":[86,90],"normal_force_n":0.04003549871827143},{"geom_ids":[86,90],"normal_force_n":0.06771019047466627},{"geom_ids":[86,90],"normal_force_n":0.06614294893823297},{"geom_ids":[88,90],"normal_force_n":0.03488379044371223},{"geom_ids":[88,90],"normal_force_n":0.056403646469910904},{"geom_ids":[88,90],"normal_force_n":0.0727492767263342},{"geom_ids":[88,90],"normal_force_n":0.050387302959218026},{"geom_ids":[89,90],"normal_force_n":0.05746948199836226},{"geom_ids":[89,90],"normal_force_n":0.05918587439896076},{"geom_ids":[89,90],"normal_force_n":0.032332902853841175},{"geom_ids":[89,90],"normal_force_n":0.03087619629019593}],"native_actuator_controls":[-0.130440487244791,1.4788156099359901,-1.1086778423953683,0.02068985440536658,1.040304124779608,-0.13701939807594551,0.0],"actuator_force_native":[-0.2775146680995526,-0.03566992865714269,-0.31079146615448394,0.24937758162819657,0.005775174453608756,-0.08903401983703008,-0.7839680623494579],"issued_joint_targets_rad":[-0.1312306095967976,1.4687269969882786,-1.1097552990439075,0.021750157817070247,1.0403924335491073,-0.1375647129733313],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.77999999999891,"joint_targets_rad":[-0.1312306095967976,1.4687269969882786,-1.1097552990439075,0.021750157817070247,1.0403924335491073,-0.1375647129733313],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.7999999999989,"qpos":[-0.12551334312077933,1.5023864843890442,-1.1044226784588913,0.01087348256920454,1.0394834546218237,-0.12637399780258685,0.019597036775701737,-0.0202474738884007,0.2974586406826405,-0.034003611692459884,0.14390629016836484,0.9943642741238149,-0.008380586501348175,-0.10565566824499702,-0.0025171181569361273],"qvel":[-0.03629870150235116,-0.5295574597817491,-0.01736635192946888,0.03539720366339113,0.0026870088311819855,-0.013842213095840696,1.6258183698235154e-05,2.1552262385908376e-05,-0.006580624553828378,-0.003509977440821423,0.16346824942151228,-0.04319585265759414,-0.5424335908878766,-0.03175533913457941],"joint_position_rad":[-0.12551334312077933,1.5023864843890442,-1.1044226784588913,0.01087348256920454,1.0394834546218237,-0.12637399780258685],"joint_velocity_rad_s":[-0.03629870150235116,-0.5295574597817491,-0.01736635192946888,0.03539720366339113,0.0026870088311819855,-0.013842213095840696],"gripper_joint_position_m":[0.019597036775701737,-0.0202474738884007],"tcp_position_m":[0.29898277521313166,-0.034304680279293155,0.14626062655885433],"tcp_quaternion_wxyz":[0.10982414235323211,0.0017974672483115081,0.9939095307532461,-0.00890345695392565],"object_position_m":[0.2974586406826405,-0.034003611692459884,0.14390629016836484],"object_quaternion_wxyz":[0.9943642741238149,-0.008380586501348175,-0.10565566824499702,-0.0025171181569361273],"object_linear_velocity_m_s":[-0.006580624553828378,-0.003509977440821423,0.16346824942151228],"object_angular_velocity_rad_s":[-0.03923574994720447,-0.5427569335878762,-0.0313679891330563],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3892032243495829,"right":0.39447565538182755},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04717030845249911},{"geom_ids":[85,90],"normal_force_n":0.025908876607659507},{"geom_ids":[85,90],"normal_force_n":0.041357479891021405},{"geom_ids":[85,90],"normal_force_n":0.06292143516388995},{"geom_ids":[86,90],"normal_force_n":0.03869229496914263},{"geom_ids":[86,90],"normal_force_n":0.04031275972059035},{"geom_ids":[86,90],"normal_force_n":0.06718685040155845},{"geom_ids":[86,90],"normal_force_n":0.06565321914322152},{"geom_ids":[88,90],"normal_force_n":0.03526947961850975},{"geom_ids":[88,90],"normal_force_n":0.056195738452756466},{"geom_ids":[88,90],"normal_force_n":0.07222736244225872},{"geom_ids":[88,90],"normal_force_n":0.050510319682497126},{"geom_ids":[89,90],"normal_force_n":0.05721685457661719},{"geom_ids":[89,90],"normal_force_n":0.058897683009771905},{"geom_ids":[89,90],"normal_force_n":0.03279310849589282},{"geom_ids":[89,90],"normal_force_n":0.031365109103523595}],"native_actuator_controls":[-0.1312306095967976,1.4687269969882786,-1.1097552990439075,0.021750157817070247,1.0403924335491073,-0.1375647129733313,0.0],"actuator_force_native":[-0.27588781056970824,-0.0449716931525046,-0.3397778871539572,0.2580809915976727,0.005059276026063486,-0.09114383206368348,-0.7839627619465607],"issued_joint_targets_rad":[-0.13202083410600263,1.4589442133107784,-1.1109897269760336,0.02284029729185342,1.0404742784958518,-0.13810296312582765],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.7999999999989,"joint_targets_rad":[-0.13202083410600263,1.4589442133107784,-1.1109897269760336,0.02284029729185342,1.0404742784958518,-0.13810296312582765],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.819999999998888,"qpos":[-0.12627045541955226,1.4918801288264352,-1.104858196393148,0.011609350160774776,1.039538012117889,-0.12665467501751446,0.019596933201442176,-0.020247538795204734,0.2973329554425451,-0.034077917379966134,0.14717588096046155,0.9937713935430303,-0.00878100798392882,-0.11105480536065156,-0.0028533279934840733],"qvel":[-0.037154523051678316,-0.5156530733304913,-0.02789435773413835,0.03650636998543071,0.0033074287036530497,-0.014218425199406049,1.8140761409147784e-05,2.342790776889734e-05,-0.005433889384223096,-0.00370393055957301,0.1623372879235346,-0.042596200678473965,-0.5379861156405148,-0.032666248199516745],"joint_position_rad":[-0.12627045541955226,1.4918801288264352,-1.104858196393148,0.011609350160774776,1.039538012117889,-0.12665467501751446],"joint_velocity_rad_s":[-0.037154523051678316,-0.5156530733304913,-0.02789435773413835,0.03650636998543071,0.0033074287036530497,-0.014218425199406049],"gripper_joint_position_m":[0.019596933201442176,-0.020247538795204734],"tcp_position_m":[0.2988159809965631,-0.03437814891608528,0.14954893812018766],"tcp_quaternion_wxyz":[0.11522890635448113,0.00215552785326837,0.9932931214115475,-0.009296655125843586],"object_position_m":[0.2973329554425451,-0.034077917379966134,0.14717588096046155],"object_quaternion_wxyz":[0.9937713935430303,-0.00878100798392882,-0.11105480536065156,-0.0028533279934840733],"object_linear_velocity_m_s":[-0.005433889384223096,-0.00370393055957301,0.1623372879235346],"object_angular_velocity_rad_s":[-0.03843639399693901,-0.5383267153475977,-0.032211362362087485],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3891153733489007,"right":0.39456517248437484},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04711270442688454},{"geom_ids":[85,90],"normal_force_n":0.026485523317433004},{"geom_ids":[85,90],"normal_force_n":0.04159535949995891},{"geom_ids":[85,90],"normal_force_n":0.06250947401198798},{"geom_ids":[86,90],"normal_force_n":0.039009485770656833},{"geom_ids":[86,90],"normal_force_n":0.04059195108586273},{"geom_ids":[86,90],"normal_force_n":0.06665331688855276},{"geom_ids":[86,90],"normal_force_n":0.06515755834756393},{"geom_ids":[88,90],"normal_force_n":0.03565201331547488},{"geom_ids":[88,90],"normal_force_n":0.055984271915656914},{"geom_ids":[88,90],"normal_force_n":0.0716578152287192},{"geom_ids":[88,90],"normal_force_n":0.050596209603251126},{"geom_ids":[89,90],"normal_force_n":0.05696403491707638},{"geom_ids":[89,90],"normal_force_n":0.05860475051920568},{"geom_ids":[89,90],"normal_force_n":0.0332505291177576},{"geom_ids":[89,90],"normal_force_n":0.031855547867233075}],"native_actuator_controls":[-0.13202083410600263,1.4589442133107784,-1.1109897269760336,0.02284029729185342,1.0404742784958518,-0.13810296312582765,0.0],"actuator_force_native":[-0.27425767965763725,-0.05660787460007555,-0.351050657960144,0.26670603531599213,0.0044015207241479,-0.0931552432840228,-0.7839680318647329],"issued_joint_targets_rad":[-0.13279800278992915,1.4494871512765832,-1.1124367925763134,0.02396204888066085,1.0405453934245026,-0.13862692864823592],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.819999999998888,"joint_targets_rad":[-0.13279800278992915,1.4494871512765832,-1.1124367925763134,0.02396204888066085,1.0405453934245026,-0.13862692864823592],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.839999999998877,"qpos":[-0.12704194147318454,1.4816570166027174,-1.1055256921283876,0.012375266596506831,1.039603396655713,-0.12694218390163772,0.01959686357579194,-0.02024755712547748,0.2972367486523327,-0.034154605837076676,0.15042847413799462,0.9931529393693823,-0.009167876257981619,-0.11641715082804338,-0.0031993843088636733],"qvel":[-0.03759832278946287,-0.5014477564850839,-0.03986311911252743,0.037736412539312,0.0036517472729369975,-0.01455326329997731,2.3548866384783142e-05,2.8754140360157327e-05,-0.0038129850918706886,-0.0038215637147588793,0.16162531449742737,-0.041602004130294794,-0.5363128568687592,-0.03210617696744145],"joint_position_rad":[-0.12704194147318454,1.4816570166027174,-1.1055256921283876,0.012375266596506831,1.039603396655713,-0.12694218390163772],"joint_velocity_rad_s":[-0.03759832278946287,-0.5014477564850839,-0.03986311911252743,0.037736412539312,0.0036517472729369975,-0.01455326329997731],"gripper_joint_position_m":[0.01959686357579194,-0.02024755712547748],"tcp_position_m":[0.29867875025876917,-0.034453977464368214,0.15281997428933075],"tcp_quaternion_wxyz":[0.12060109896204825,0.0025193680737285065,0.99265068233929,-0.009677322201802627],"object_position_m":[0.2972367486523327,-0.034154605837076676,0.15042847413799462],"object_quaternion_wxyz":[0.9931529393693823,-0.009167876257981619,-0.11641715082804338,-0.0031993843088636733],"object_linear_velocity_m_s":[-0.0038129850918706886,-0.0038215637147588793,0.16162531449742737],"object_angular_velocity_rad_s":[-0.037604197087321274,-0.5366447246908769,-0.031486149537904386],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3890737149373469,"right":0.39464142575405387},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04710012265440673},{"geom_ids":[85,90],"normal_force_n":0.026988109281593658},{"geom_ids":[85,90],"normal_force_n":0.041783799894707374},{"geom_ids":[85,90],"normal_force_n":0.06216970184543538},{"geom_ids":[86,90],"normal_force_n":0.039262436355503666},{"geom_ids":[86,90],"normal_force_n":0.04080942935949247},{"geom_ids":[86,90],"normal_force_n":0.06621029675272537},{"geom_ids":[86,90],"normal_force_n":0.06474981879348216},{"geom_ids":[88,90],"normal_force_n":0.03596878282678698},{"geom_ids":[88,90],"normal_force_n":0.05582356899301699},{"geom_ids":[88,90],"normal_force_n":0.07116634141416253},{"geom_ids":[88,90],"normal_force_n":0.05063789193170447},{"geom_ids":[89,90],"normal_force_n":0.056774448467406986},{"geom_ids":[89,90],"normal_force_n":0.05837789011776744},{"geom_ids":[89,90],"normal_force_n":0.033628242761979496},{"geom_ids":[89,90],"normal_force_n":0.03226425924122892}],"native_actuator_controls":[-0.13279800278992915,1.4494871512765832,-1.1124367925763134,0.02396204888066085,1.0405453934245026,-0.13862692864823592,0.0],"actuator_force_native":[-0.2724932913922551,-0.06635044366531417,-0.3535724402714351,0.27478922866960076,0.003942346778490702,-0.09501755251601596,-0.7839922873636015],"issued_joint_targets_rad":[-0.13354659072322136,1.4403627059658959,-1.1141292079629899,0.025119659196410286,1.0405959655525072,-0.13912622131619995],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.839999999998877,"joint_targets_rad":[-0.13354659072322136,1.4403627059658959,-1.1141292079629899,0.025119659196410286,1.0405959655525072,-0.13912622131619995],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.859999999998866,"qpos":[-0.12781863484632425,1.4717218397624576,-1.1064455253769592,0.013175817843321077,1.0396752083762115,-0.1272355254001892,0.01959685977295654,-0.020247521152590764,0.29717702699176296,-0.034231104765042174,0.15367033001313493,0.992507470802554,-0.009543416213559863,-0.12175913799894132,-0.0035434336240435633],"qvel":[-0.037504859306945706,-0.4869973223557687,-0.052614996367388346,0.039065254409370496,0.0038382676917745047,-0.014849087855114313,3.0178532671110083e-05,3.662218212921124e-05,-0.0018896294445303375,-0.003801047323789886,0.16116667712070196,-0.04066288853120982,-0.5340050784067222,-0.03250982752275263],"joint_position_rad":[-0.12781863484632425,1.4717218397624576,-1.1064455253769592,0.013175817843321077,1.0396752083762115,-0.1272355254001892],"joint_velocity_rad_s":[-0.037504859306945706,-0.4869973223557687,-0.052614996367388346,0.039065254409370496,0.0038382676917745047,-0.014849087855114313],"gripper_joint_position_m":[0.01959685977295654,-0.020247521152590764],"tcp_position_m":[0.2985781694706705,-0.03452952483060816,0.15608028445377642],"tcp_quaternion_wxyz":[0.1259508308785202,0.0028855619683294596,0.9919814409926809,-0.010044026046440745],"object_position_m":[0.29717702699176296,-0.034231104765042174,0.15367033001313493],"object_quaternion_wxyz":[0.992507470802554,-0.009543416213559863,-0.12175913799894132,-0.0035434336240435633],"object_linear_velocity_m_s":[-0.0018896294445303375,-0.003801047323789886,0.16116667712070196],"object_angular_velocity_rad_s":[-0.03659806134424513,-0.5343467975397954,-0.031715375107958556],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38905008731047996,"right":0.39471352393152176},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04707200437584718},{"geom_ids":[85,90],"normal_force_n":0.027607764872433414},{"geom_ids":[85,90],"normal_force_n":0.042028317781325764},{"geom_ids":[85,90],"normal_force_n":0.06175078691520818},{"geom_ids":[86,90],"normal_force_n":0.03958804541401145},{"geom_ids":[86,90],"normal_force_n":0.041093020903483955},{"geom_ids":[86,90],"normal_force_n":0.06566450718319398},{"geom_ids":[86,90],"normal_force_n":0.064245639864976},{"geom_ids":[88,90],"normal_force_n":0.036355642415360226},{"geom_ids":[88,90],"normal_force_n":0.05561664314910763},{"geom_ids":[88,90],"normal_force_n":0.0705641525748823},{"geom_ids":[88,90],"normal_force_n":0.05070546624082954},{"geom_ids":[89,90],"normal_force_n":0.05652854337392954},{"geom_ids":[89,90],"normal_force_n":0.05808778881948345},{"geom_ids":[89,90],"normal_force_n":0.034091235921513474},{"geom_ids":[89,90],"normal_force_n":0.03276405143641559}],"native_actuator_controls":[-0.13354659072322136,1.4403627059658959,-1.1141292079629899,0.025119659196410286,1.0405959655525072,-0.13912622131619995,0.0],"actuator_force_native":[-0.27071217361704036,-0.07374409194609655,-0.35161962504552946,0.2824273820767159,0.0034501702252960342,-0.0966333273774358,-0.7840252835816172],"issued_joint_targets_rad":[-0.1342447060464234,1.4315795572075503,-1.116086962977102,0.026313869812943404,1.0406175702455789,-0.13958581282938035],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.859999999998866,"joint_targets_rad":[-0.1342447060464234,1.4315795572075503,-1.116086962977102,0.026313869812943404,1.0406175702455789,-0.13958581282938035],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.879999999998855,"qpos":[-0.128588032016947,1.4620821021034252,-1.1076309380848919,0.01401364414964153,1.039751099766314,-0.12753366679803063,0.01959692400796387,-0.02024739892527137,0.29715893806327526,-0.03430384848026856,0.1569052173058973,0.9918354341198488,-0.009900839451001084,-0.12707997985205802,-0.00388892314889917],"qvel":[-0.0367193634218911,-0.4721173524719202,-0.06591322124524447,0.040463903771058476,0.003925070530097499,-0.015093442370354888,3.65302712370392e-05,4.3124133939071886e-05,0.00025277758195663976,-0.003590972512711007,0.16083163772325787,-0.04000795128229303,-0.5311284976362631,-0.03271959447135032],"joint_position_rad":[-0.128588032016947,1.4620821021034252,-1.1076309380848919,0.01401364414964153,1.039751099766314,-0.12753366679803063],"joint_velocity_rad_s":[-0.0367193634218911,-0.4721173524719202,-0.06591322124524447,0.040463903771058476,0.003925070530097499,-0.015093442370354888],"gripper_joint_position_m":[0.01959692400796387,-0.02024739892527137],"tcp_position_m":[0.29851907670794076,-0.034601229213611716,0.15933350565522364],"tcp_quaternion_wxyz":[0.13128221405424936,0.0032486500698938685,0.9912852099844071,-0.010395143669418983],"object_position_m":[0.29715893806327526,-0.03430384848026856,0.1569052173058973],"object_quaternion_wxyz":[0.9918354341198488,-0.009900839451001084,-0.12707997985205802,-0.00388892314889917],"object_linear_velocity_m_s":[0.00025277758195663976,-0.003590972512711007,0.16083163772325787],"object_angular_velocity_rad_s":[-0.0359027819158732,-0.5314752970807355,-0.031838465308108535],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3890386211102291,"right":0.3947588748975881},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04705408309207834},{"geom_ids":[85,90],"normal_force_n":0.02810408533398375},{"geom_ids":[85,90],"normal_force_n":0.042222336053658965},{"geom_ids":[85,90],"normal_force_n":0.06141851199942009},{"geom_ids":[86,90],"normal_force_n":0.039846451403750136},{"geom_ids":[86,90],"normal_force_n":0.041316912373970276},{"geom_ids":[86,90],"normal_force_n":0.06523043311693244},{"geom_ids":[86,90],"normal_force_n":0.06384580773643504},{"geom_ids":[88,90],"normal_force_n":0.03666354984771075},{"geom_ids":[88,90],"normal_force_n":0.05545077679436797},{"geom_ids":[88,90],"normal_force_n":0.07007991911465933},{"geom_ids":[88,90],"normal_force_n":0.05075310134705181},{"geom_ids":[89,90],"normal_force_n":0.05633289848000595},{"geom_ids":[89,90],"normal_force_n":0.05785587722216724},{"geom_ids":[89,90],"normal_force_n":0.03445981399354748},{"geom_ids":[89,90],"normal_force_n":0.033162938098077605}],"native_actuator_controls":[-0.1342447060464234,1.4315795572075503,-1.116086962977102,0.026313869812943404,1.0406175702455789,-0.13958581282938035,0.0],"actuator_force_native":[-0.2689371052486571,-0.07961682931038183,-0.3469158851505796,0.2896895076767825,0.0027770989975017812,-0.09788129675796475,-0.78405961167474],"issued_joint_targets_rad":[-0.13486132529007389,1.4231555638631017,-1.118328171148759,0.027540929987198384,1.0406025558451226,-0.1399833197094899],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.879999999998855,"joint_targets_rad":[-0.13486132529007389,1.4231555638631017,-1.118328171148759,0.027540929987198384,1.0406025558451226,-0.1399833197094899],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.899999999998844,"qpos":[-0.129333609161053,1.4527488419957395,-1.1090923763634897,0.014890190789323706,1.0398295091546996,-0.12783521529421182,0.019597052796639966,-0.020247219845099033,0.29718664668816636,-0.03436822217751826,0.16013474940023864,0.9911375381638657,-0.010242683028299265,-0.1323766853526016,-0.00422860046745856],"qvel":[-0.035032018457376295,-0.4566218791064234,-0.07967975405181797,0.04191925925485593,0.003932715991473583,-0.015262150865736998,4.2474587451324565e-05,4.909646472437302e-05,0.002564121509363047,-0.0031285788556951466,0.16055428536796065,-0.03813206104799749,-0.5307766697859085,-0.03020247135104192],"joint_position_rad":[-0.129333609161053,1.4527488419957395,-1.1090923763634897,0.014890190789323706,1.0398295091546996,-0.12783521529421182],"joint_velocity_rad_s":[-0.035032018457376295,-0.4566218791064234,-0.07967975405181797,0.04191925925485593,0.003932715991473583,-0.015262150865736998],"gripper_joint_position_m":[0.019597052796639966,-0.020247219845099033],"tcp_position_m":[0.2985056047005303,-0.0346644528460194,0.16258141048929609],"tcp_quaternion_wxyz":[0.13659582066883613,0.003601137947042551,0.990562218316453,-0.010728710327029293],"object_position_m":[0.29718664668816636,-0.03436822217751826,0.16013474940023864],"object_quaternion_wxyz":[0.9911375381638657,-0.010242683028299265,-0.1323766853526016,-0.00422860046745856],"object_linear_velocity_m_s":[0.002564121509363047,-0.0031285788556951466,0.16055428536796065],"object_angular_velocity_rad_s":[-0.03476000716055525,-0.531077129474463,-0.028964478173477064],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3890334320033037,"right":0.3948228151557178},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047170134692425106},{"geom_ids":[85,90],"normal_force_n":0.028602648806152292},{"geom_ids":[85,90],"normal_force_n":0.04233126043811409},{"geom_ids":[85,90],"normal_force_n":0.061133403856119366},{"geom_ids":[86,90],"normal_force_n":0.04000358710205478},{"geom_ids":[86,90],"normal_force_n":0.04143031595749403},{"geom_ids":[86,90],"normal_force_n":0.06485194555542213},{"geom_ids":[86,90],"normal_force_n":0.06351013559552186},{"geom_ids":[88,90],"normal_force_n":0.03692695196885449},{"geom_ids":[88,90],"normal_force_n":0.0553728256598537},{"geom_ids":[88,90],"normal_force_n":0.06959568296424332},{"geom_ids":[88,90],"normal_force_n":0.05066848945123796},{"geom_ids":[89,90],"normal_force_n":0.056251210343077264},{"geom_ids":[89,90],"normal_force_n":0.05772873932127823},{"geom_ids":[89,90],"normal_force_n":0.034768660535905285},{"geom_ids":[89,90],"normal_force_n":0.03351025491126754}],"native_actuator_controls":[-0.13486132529007389,1.4231555638631017,-1.118328171148759,0.027540929987198384,1.0406025558451226,-0.1399833197094899,0.0],"actuator_force_native":[-0.2670571980347898,-0.08435285507890455,-0.34046481256244476,0.2964332716407073,0.001831392917019059,-0.09858781785417547,-0.7840944848028553],"issued_joint_targets_rad":[-0.135351992211315,1.415120455491666,-1.1208734980165143,0.028791842127246486,1.04054080524108,-0.140284390499903],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.899999999998844,"joint_targets_rad":[-0.135351992211315,1.415120455491666,-1.1208734980165143,0.028791842127246486,1.04054080524108,-0.140284390499903],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.919999999998833,"qpos":[-0.13003319229106622,1.4437367273016826,-1.1108399233151482,0.015805867636939957,1.0399092120658504,-0.12813813196944956,0.01959725084048264,-0.02024697178950816,0.2972641812177477,-0.03441810434754258,0.1633596079547099,0.9904129857613506,-0.010562569670813895,-0.13765863642845136,-0.004544180222580825],"qvel":[-0.032149518036217746,-0.44029538679495955,-0.0939596071976883,0.04348116098905169,0.0038873534536585687,-0.015317139493295232,4.776778004097136e-05,5.447133347344444e-05,0.005111506178216017,-0.002318088317960638,0.16027729200865992,-0.03617766105609919,-0.5290668813405804,-0.027531531719570068],"joint_position_rad":[-0.13003319229106622,1.4437367273016826,-1.1108399233151482,0.015805867636939957,1.0399092120658504,-0.12813813196944956],"joint_velocity_rad_s":[-0.032149518036217746,-0.44029538679495955,-0.0939596071976883,0.04348116098905169,0.0038873534536585687,-0.015317139493295232],"gripper_joint_position_m":[0.01959725084048264,-0.02024697178950816],"tcp_position_m":[0.29854202427077875,-0.03471305970798894,0.1658245987391444],"tcp_quaternion_wxyz":[0.14189008437300005,0.0039328839569584195,0.989813014338643,-0.01104232884192248],"object_position_m":[0.2972641812177477,-0.03441810434754258,0.1633596079547099],"object_quaternion_wxyz":[0.9904129857613506,-0.010562569670813895,-0.13765863642845136,-0.004544180222580825],"object_linear_velocity_m_s":[0.005111506178216017,-0.002318088317960638,0.16027729200865992],"object_angular_velocity_rad_s":[-0.03360125608879722,-0.5293170168924213,-0.02594271664893192],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3890263339223759,"right":0.394873330164914},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04716544746079877},{"geom_ids":[85,90],"normal_force_n":0.029069281870657493},{"geom_ids":[85,90],"normal_force_n":0.042506174189264265},{"geom_ids":[85,90],"normal_force_n":0.06082628208669912},{"geom_ids":[86,90],"normal_force_n":0.040237542032885446},{"geom_ids":[86,90],"normal_force_n":0.041630606347496886},{"geom_ids":[86,90],"normal_force_n":0.06444976525720135},{"geom_ids":[86,90],"normal_force_n":0.06314123467737254},{"geom_ids":[88,90],"normal_force_n":0.03721146540622761},{"geom_ids":[88,90],"normal_force_n":0.055226275911991765},{"geom_ids":[88,90],"normal_force_n":0.06914232019291604},{"geom_ids":[88,90],"normal_force_n":0.05070306911727967},{"geom_ids":[89,90],"normal_force_n":0.056079396317172604},{"geom_ids":[89,90],"normal_force_n":0.057521612514514646},{"geom_ids":[89,90],"normal_force_n":0.035108984321855635},{"geom_ids":[89,90],"normal_force_n":0.03388020638295594}],"native_actuator_controls":[-0.135351992211315,1.415120455491666,-1.1208734980165143,0.028791842127246486,1.04054080524108,-0.140284390499903,0.0],"actuator_force_native":[-0.26475640343881324,-0.08782481082651827,-0.3328879401208411,0.30203317466700264,0.0004849015718075833,-0.09848687606459139,-0.7841288725195104],"issued_joint_targets_rad":[-0.13565010242042938,1.407522177031495,-1.1237514818011645,0.03004961121207119,1.040415702249114,-0.14043393915716726],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.919999999998833,"joint_targets_rad":[-0.13565010242042938,1.407522177031495,-1.1237514818011645,0.03004961121207119,1.040415702249114,-0.14043393915716726],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.939999999998822,"qpos":[-0.1306554263532635,1.435066291479017,-1.112886549179032,0.016757808684332253,1.0399893106779197,-0.12843946049953084,0.01959754656825017,-0.020246639515658294,0.2973970145516124,-0.03444541151875794,0.16657937959218233,0.9896635109182413,-0.010864209085421989,-0.1429154792005105,-0.004823890838155986],"qvel":[-0.027693747136691448,-0.42277817455972094,-0.10894223124464252,0.04542831679859456,0.003794070432088059,-0.015167962645911219,4.799922144990646e-05,5.375699453054441e-05,0.007959830763586794,-0.0009935030838568015,0.15995142431492715,-0.033336721293920325,-0.5272444485927396,-0.023456483098524838],"joint_position_rad":[-0.1306554263532635,1.435066291479017,-1.112886549179032,0.016757808684332253,1.0399893106779197,-0.12843946049953084],"joint_velocity_rad_s":[-0.027693747136691448,-0.42277817455972094,-0.10894223124464252,0.04542831679859456,0.003794070432088059,-0.015167962645911219],"gripper_joint_position_m":[0.01959754656825017,-0.020246639515658294],"tcp_position_m":[0.2986337500636501,-0.034738876631292354,0.1690628042014744],"tcp_quaternion_wxyz":[0.14716170141060708,0.004229094255678875,0.9890384679008493,-0.011333905419257355],"object_position_m":[0.2973970145516124,-0.03444541151875794,0.16657937959218233],"object_quaternion_wxyz":[0.9896635109182413,-0.010864209085421989,-0.1429154792005105,-0.004823890838155986],"object_linear_velocity_m_s":[0.007959830763586794,-0.0009935030838568015,0.15995142431492715],"object_angular_velocity_rad_s":[-0.032011974150041936,-0.5274174150538885,-0.021315627289251002],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3890738805068753,"right":0.3948463638483318},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04724841061974601},{"geom_ids":[85,90],"normal_force_n":0.02964866270839063},{"geom_ids":[85,90],"normal_force_n":0.04267438708249677},{"geom_ids":[85,90],"normal_force_n":0.060485420378256695},{"geom_ids":[86,90],"normal_force_n":0.04046813716306946},{"geom_ids":[86,90],"normal_force_n":0.041815047941550935},{"geom_ids":[86,90],"normal_force_n":0.06399863553324811},{"geom_ids":[86,90],"normal_force_n":0.06273517908011673},{"geom_ids":[88,90],"normal_force_n":0.037521216077633014},{"geom_ids":[88,90],"normal_force_n":0.05508801542805964},{"geom_ids":[88,90],"normal_force_n":0.06857436292422052},{"geom_ids":[88,90],"normal_force_n":0.05065123515733841},{"geom_ids":[89,90],"normal_force_n":0.05592541547637981},{"geom_ids":[89,90],"normal_force_n":0.05731952973738875},{"geom_ids":[89,90],"normal_force_n":0.03547739446004104},{"geom_ids":[89,90],"normal_force_n":0.03428919458727066}],"native_actuator_controls":[-0.13565010242042938,1.407522177031495,-1.1237514818011645,0.03004961121207119,1.040415702249114,-0.14043393915716726,0.0],"actuator_force_native":[-0.2611053496898137,-0.08963828300315413,-0.32448345354737285,0.30453051711658474,-0.0014271899361872897,-0.0971928426074975,-0.7841418588372563],"issued_joint_targets_rad":[-0.13628069051419836,1.4006873143654186,-1.1191569431646946,0.03156762513277643,1.0321506231486268,-0.14120267424452776],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.939999999998822,"joint_targets_rad":[-0.13628069051419836,1.4006873143654186,-1.1191569431646946,0.03156762513277643,1.0321506231486268,-0.14120267424452776],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.95999999999881,"qpos":[-0.13125452402054663,1.4264696356209015,-1.1144955995737413,0.017850135113695743,1.0398655451283076,-0.1287301819414593,0.01959757228559719,-0.020246545617307213,0.2974435165022418,-0.034427615790927096,0.16965874153307872,0.9889028541446487,-0.011076901181667808,-0.14806143058499954,-0.005124460742751776],"qvel":[-0.02727320797039324,-0.42461222551984873,-0.06305919412302859,0.051751889164492804,-0.010344579411857435,-0.014940298898250375,6.723389280595873e-05,7.790538501370056e-05,-0.0015012518305165228,0.0015020476898584389,0.14734313753731246,-0.025481197072538868,-0.5006269640115536,-0.02683390403107695],"joint_position_rad":[-0.13125452402054663,1.4264696356209015,-1.1144955995737413,0.017850135113695743,1.0398655451283076,-0.1287301819414593],"joint_velocity_rad_s":[-0.02727320797039324,-0.42461222551984873,-0.06305919412302859,0.051751889164492804,-0.010344579411857435,-0.014940298898250375],"gripper_joint_position_m":[0.01959757228559719,-0.020246545617307213],"tcp_position_m":[0.29863732744063287,-0.03472077109820517,0.17216131911543406],"tcp_quaternion_wxyz":[0.15228683923055278,0.004542836964811404,0.9882584966556337,-0.011542314214460473],"object_position_m":[0.2974435165022418,-0.034427615790927096,0.16965874153307872],"object_quaternion_wxyz":[0.9889028541446487,-0.011076901181667808,-0.14806143058499954,-0.005124460742751776],"object_linear_velocity_m_s":[-0.0015012518305165228,0.0015020476898584389,0.14734313753731246],"object_angular_velocity_rad_s":[-0.023223811562597556,-0.5009317398503711,-0.02290749860220072],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3893855958913246,"right":0.3946883562228817},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.047257790876049546},{"geom_ids":[85,90],"normal_force_n":0.03000651042799705},{"geom_ids":[85,90],"normal_force_n":0.04285192244876482},{"geom_ids":[85,90],"normal_force_n":0.06030603865156169},{"geom_ids":[86,90],"normal_force_n":0.0406894718301045},{"geom_ids":[86,90],"normal_force_n":0.042012810934332456},{"geom_ids":[86,90],"normal_force_n":0.06375081892268228},{"geom_ids":[86,90],"normal_force_n":0.06251023179983228},{"geom_ids":[88,90],"normal_force_n":0.03766402820964449},{"geom_ids":[88,90],"normal_force_n":0.05500326081274892},{"geom_ids":[88,90],"normal_force_n":0.06830418449067745},{"geom_ids":[88,90],"normal_force_n":0.05073403209151136},{"geom_ids":[89,90],"normal_force_n":0.05582097224145626},{"geom_ids":[89,90],"normal_force_n":0.057190881270462304},{"geom_ids":[89,90],"normal_force_n":0.035567948629431315},{"geom_ids":[89,90],"normal_force_n":0.03440304847694963}],"native_actuator_controls":[-0.13628069051419836,1.4006873143654186,-1.1191569431646946,0.03156762513277643,1.0321506231486268,-0.14120267424452776,0.0],"actuator_force_native":[-0.2657272796401724,0.06047542716061116,-0.05761151666112596,0.28994015494076364,-0.06163235067902306,-0.10231447468330934,-0.7842390608879174],"issued_joint_targets_rad":[-0.13730404274046348,1.39418074362258,-1.1102679514655203,0.0334087959357877,1.0196005475763996,-0.14255163992212758],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.95999999999881,"joint_targets_rad":[-0.13730404274046348,1.39418074362258,-1.1102679514655203,0.0334087959357877,1.0196005475763996,-0.14255163992212758],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.9799999999988,"qpos":[-0.13189708706965145,1.4179301678649998,-1.115051338991222,0.019095645604155866,1.0394727546511215,-0.12903104816506145,0.019597265874272705,-0.020246784455400298,0.2972715752515071,-0.034365668649388746,0.17241301936192685,0.9881777078979914,-0.011170626018338478,-0.15280718952009623,-0.005477002720530646],"qvel":[-0.030500489190745834,-0.4165472392484,-0.007470085522558575,0.05847712370189605,-0.023856483011891288,-0.015986686428129514,5.6027714089223e-05,6.867525920471996e-05,-0.012748125451352144,0.0032394022187602713,0.1285362708919527,-0.014273835402133053,-0.45147253075421745,-0.03361559302521986],"joint_position_rad":[-0.13189708706965145,1.4179301678649998,-1.115051338991222,0.019095645604155866,1.0394727546511215,-0.12903104816506145],"joint_velocity_rad_s":[-0.030500489190745834,-0.4165472392484,-0.007470085522558575,0.05847712370189605,-0.023856483011891288,-0.015986686428129514],"gripper_joint_position_m":[0.019597265874272705,-0.020246784455400298],"tcp_position_m":[0.298425274411044,-0.03465971784425748,0.17493317218898657],"tcp_quaternion_wxyz":[0.15700452472320428,0.004901673489288068,0.9875171823137803,-0.011634751759151006],"object_position_m":[0.2972715752515071,-0.034365668649388746,0.17241301936192685],"object_quaternion_wxyz":[0.9881777078979914,-0.011170626018338478,-0.15280718952009623,-0.005477002720530646],"object_linear_velocity_m_s":[-0.012748125451352144,0.0032394022187602713,0.1285362708919527],"object_angular_velocity_rad_s":[-0.009886799883154879,-0.45202539804176517,-0.027138297853712995],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.388596845884511,"right":0.3953936478771902},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04720323866154778},{"geom_ids":[85,90],"normal_force_n":0.030096464796451495},{"geom_ids":[85,90],"normal_force_n":0.04279624614265678},{"geom_ids":[85,90],"normal_force_n":0.06010053177280036},{"geom_ids":[86,90],"normal_force_n":0.040652091005234134},{"geom_ids":[86,90],"normal_force_n":0.041955552345350006},{"geom_ids":[86,90],"normal_force_n":0.06350724209681556},{"geom_ids":[86,90],"normal_force_n":0.062285479063654815},{"geom_ids":[88,90],"normal_force_n":0.0378678270038141},{"geom_ids":[88,90],"normal_force_n":0.05506972562242986},{"geom_ids":[88,90],"normal_force_n":0.068226498057658},{"geom_ids":[88,90],"normal_force_n":0.050797038558081764},{"geom_ids":[89,90],"normal_force_n":0.05588989393143072},{"geom_ids":[89,90],"normal_force_n":0.057239985805701686},{"geom_ids":[89,90],"normal_force_n":0.03573453005419459},{"geom_ids":[89,90],"normal_force_n":0.034568148843879556}],"native_actuator_controls":[-0.13730404274046348,1.39418074362258,-1.1102679514655203,0.0334087959357877,1.0196005475763996,-0.14255163992212758,0.0],"actuator_force_native":[-0.2800540077112341,0.1827822568483981,0.4200214296689353,0.28014039475579344,-0.16293734622938238,-0.1112258879284671,-0.7841707735413543],"issued_joint_targets_rad":[-0.13840542656551513,1.3880942364496034,-1.1019986137583058,0.035382379163978406,1.0080823380417425,-0.14398089996592348],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.9799999999988,"joint_targets_rad":[-0.13840542656551513,1.3880942364496034,-1.1019986137583058,0.035382379163978406,1.0080823380417425,-0.14398089996592348],"gripper_position_m":0.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.999999999998789,"qpos":[-0.13262466156561992,1.4095939343596045,-1.1143177529652801,0.020478302058548028,1.0384086580140413,-0.12935679044786316,0.01959673433890677,-0.020247234788917167,0.2969229535918608,-0.034281449513807336,0.17474570108509024,0.9874913229123408,-0.01115663996009639,-0.15716768792875097,-0.005893592178554443],"qvel":[-0.035266837885327605,-0.4012850589906606,0.05933879600376781,0.06460782668110926,-0.053699394702488634,-0.017280627912432428,6.803345391399933e-05,8.314589096045554e-05,-0.02260223440422558,0.004160939307009699,0.10483019531250946,-0.004379924476010644,-0.39967189678474774,-0.041011665401851846],"joint_position_rad":[-0.13262466156561992,1.4095939343596045,-1.1143177529652801,0.020478302058548028,1.0384086580140413,-0.12935679044786316],"joint_velocity_rad_s":[-0.035266837885327605,-0.4012850589906606,0.05933879600376781,0.06460782668110926,-0.053699394702488634,-0.017280627912432428],"gripper_joint_position_m":[0.01959673433890677,-0.020247234788917167],"tcp_position_m":[0.2980385069445984,-0.034577255912263724,0.17728112163733123],"tcp_quaternion_wxyz":[0.16132411061516533,0.005319956264449596,0.9868186602609189,-0.011625883210133293],"object_position_m":[0.2969229535918608,-0.034281449513807336,0.17474570108509024],"object_quaternion_wxyz":[0.9874913229123408,-0.01115663996009639,-0.15716768792875097,-0.005893592178554443],"object_linear_velocity_m_s":[-0.02260223440422558,0.004160939307009699,0.10483019531250946],"object_angular_velocity_rad_s":[0.0025078343402878006,-0.4004886508785446,-0.03226944067336839],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3886037643385985,"right":0.39544099366917645},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04718402799865173},{"geom_ids":[85,90],"normal_force_n":0.030051764850421606},{"geom_ids":[85,90],"normal_force_n":0.04279525904909819},{"geom_ids":[85,90],"normal_force_n":0.06012502018501218},{"geom_ids":[86,90],"normal_force_n":0.04064794750825257},{"geom_ids":[86,90],"normal_force_n":0.04195120023427906},{"geom_ids":[86,90],"normal_force_n":0.06353532505053466},{"geom_ids":[86,90],"normal_force_n":0.06231321946234845},{"geom_ids":[88,90],"normal_force_n":0.03785133801017605},{"geom_ids":[88,90],"normal_force_n":0.05508559808584004},{"geom_ids":[88,90],"normal_force_n":0.06829340289502941},{"geom_ids":[88,90],"normal_force_n":0.05082926584687847},{"geom_ids":[89,90],"normal_force_n":0.05590956926525264},{"geom_ids":[89,90],"normal_force_n":0.05726007160247361},{"geom_ids":[89,90],"normal_force_n":0.03571414724408376},{"geom_ids":[89,90],"normal_force_n":0.03449760071944247}],"native_actuator_controls":[-0.13840542656551513,1.3880942364496034,-1.1019986137583058,0.035382379163978406,1.0080823380417425,-0.14398089996592348,0.0],"actuator_force_native":[-0.2861270105649787,0.28644946215322875,0.6888371565391083,0.27312395081166874,-0.2227141076692547,-0.12032015331195445,-0.7842095408258407],"issued_joint_targets_rad":[-0.0828336028914832,1.393064940202085,-1.0886195927629798,0.017164648200629826,0.9801201998969239,-0.08182059751876708],"issued_gripper_position_m":0.0,"command":{"t_seconds":11.999999999998789,"joint_targets_rad":[-0.0828336028914832,1.393064940202085,-1.0886195927629798,0.017164648200629826,0.9801201998969239,-0.08182059751876708],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.019999999998777,"qpos":[-0.13240920808361514,1.4022160088831384,-1.1119910323756188,0.02091536205500658,1.0360559524550152,-0.12956913034105721,0.01961174160649389,-0.02023076595288526,0.29650967228804553,-0.03411098657167021,0.1763669743105813,0.9868933698067477,-0.011566046244792426,-0.16085836641071674,-0.005682355270600877],"qvel":[0.08951980162651516,-0.33121453517488947,0.1649754151300002,-0.02978476653923335,-0.17764534956422104,-0.000203319721061444,0.0015847486404049085,0.0017038350501152805,-0.016639901757858774,0.020696031213807867,0.05810906776425031,-0.06267569894256114,-0.34350301692002055,0.11825877720555533],"joint_position_rad":[-0.13240920808361514,1.4022160088831384,-1.1119910323756188,0.02091536205500658,1.0360559524550152,-0.12956913034105721],"joint_velocity_rad_s":[0.08951980162651516,-0.33121453517488947,0.1649754151300002,-0.02978476653923335,-0.17764534956422104,-0.000203319721061444],"gripper_joint_position_m":[0.01961174160649389,-0.02023076595288526],"tcp_position_m":[0.29759017177092345,-0.034377515059442545,0.17891502873211942],"tcp_quaternion_wxyz":[0.16497181659090376,0.005173903814421802,0.9862129715874367,-0.011895592574312339],"object_position_m":[0.29650967228804553,-0.03411098657167021,0.1763669743105813],"object_quaternion_wxyz":[0.9868933698067477,-0.011566046244792426,-0.16085836641071674,-0.005682355270600877],"object_linear_velocity_m_s":[-0.016639901757858774,0.020696031213807867,0.05810906776425031],"object_angular_velocity_rad_s":[-0.10209058050446079,-0.34000328243171485,0.09941320619097613],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.4447159603972895,"right":0.34802366515889377},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05695242272296555},{"geom_ids":[85,90],"normal_force_n":0.04227117729583841},{"geom_ids":[85,90],"normal_force_n":0.04991725140185788},{"geom_ids":[85,90],"normal_force_n":0.06472127603843081},{"geom_ids":[86,90],"normal_force_n":0.04808238323936502},{"geom_ids":[86,90],"normal_force_n":0.04886187857149753},{"geom_ids":[86,90],"normal_force_n":0.06732030482126583},{"geom_ids":[86,90],"normal_force_n":0.06658926630606848},{"geom_ids":[88,90],"normal_force_n":0.03441084378053145},{"geom_ids":[88,90],"normal_force_n":0.04898821537689515},{"geom_ids":[88,90],"normal_force_n":0.05686036868903937},{"geom_ids":[88,90],"normal_force_n":0.042156497863698766},{"geom_ids":[89,90],"normal_force_n":0.05002295482915784},{"geom_ids":[89,90],"normal_force_n":0.05082604353507297},{"geom_ids":[89,90],"normal_force_n":0.03272536844553456},{"geom_ids":[89,90],"normal_force_n":0.03203337263896373}],"native_actuator_controls":[-0.1084054265655151,1.393064940202085,-1.0886195927629798,0.017164648200629826,0.9801201998969239,-0.11398089996592345,0.0],"actuator_force_native":[1.4727035133154267,0.9239871813901601,1.0448380933611077,-0.0011047214789033921,-0.29288950123458335,0.15618728333292986,-0.79239340746178],"issued_joint_targets_rad":[-0.08256585547272981,1.3860992087352946,-1.085769042376746,0.017598305049651115,0.9769029675878199,-0.08204501939405054],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.019999999998777,"joint_targets_rad":[-0.08256585547272981,1.3860992087352946,-1.085769042376746,0.017598305049651115,0.9769029675878199,-0.08204501939405054],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.039999999998766,"qpos":[-0.12782740719762548,1.396232918991529,-1.1078923450152736,0.019773673289339048,1.0316925570465174,-0.12899604789820618,0.019650817408391044,-0.02019031560291477,0.2962642787800502,-0.032975831862090035,0.17713562812130415,0.9863959105264648,-0.012319038588156946,-0.16388939186197873,-0.003408257625363879],"qvel":[0.36313694775249084,-0.25703281434811753,0.2126466696196561,-0.06650011937050947,-0.2062511875754826,0.0781950329865226,0.0018713238734329684,0.0018584464655142163,-0.010616442420672886,0.09555861118781532,0.022494763411125135,0.011505822886302428,-0.24465570804648534,0.3081125336279832],"joint_position_rad":[-0.12782740719762548,1.396232918991529,-1.1078923450152736,0.019773673289339048,1.0316925570465174,-0.12899604789820618],"joint_velocity_rad_s":[0.36313694775249084,-0.25703281434811753,0.2126466696196561,-0.06650011937050947,-0.2062511875754826,0.0781950329865226],"gripper_joint_position_m":[0.019650817408391044,-0.02019031560291477],"tcp_position_m":[0.2973172643312672,-0.03317704842858307,0.17969346883344683],"tcp_quaternion_wxyz":[0.16798882228284528,0.0030030755840770073,0.9857063675962731,-0.012397338634560702],"object_position_m":[0.2962642787800502,-0.032975831862090035,0.17713562812130415],"object_quaternion_wxyz":[0.9863959105264648,-0.012319038588156946,-0.16388939186197873,-0.003408257625363879],"object_linear_velocity_m_s":[-0.010616442420672886,0.09555861118781532,0.022494763411125135],"object_angular_velocity_rad_s":[-0.09133840694970445,-0.23677443292611075,0.30086092492559086],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.4772785364221212,"right":0.31796556207906435},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.06555439953376584},{"geom_ids":[85,90],"normal_force_n":0.05504432407993571},{"geom_ids":[85,90],"normal_force_n":0.054213718627427875},{"geom_ids":[85,90],"normal_force_n":0.06472113398523946},{"geom_ids":[86,90],"normal_force_n":0.06604430836162864},{"geom_ids":[86,90],"normal_force_n":0.05290931852664207},{"geom_ids":[86,90],"normal_force_n":0.0528248713627242},{"geom_ids":[86,90],"normal_force_n":0.06596646194475746},{"geom_ids":[88,90],"normal_force_n":0.03479574369857454},{"geom_ids":[88,90],"normal_force_n":0.04490913710251841},{"geom_ids":[88,90],"normal_force_n":0.04424222835694729},{"geom_ids":[88,90],"normal_force_n":0.03427243772364737},{"geom_ids":[89,90],"normal_force_n":0.04626729339460851},{"geom_ids":[89,90],"normal_force_n":0.04619945223967907},{"geom_ids":[89,90],"normal_force_n":0.03361464999380093},{"geom_ids":[89,90],"normal_force_n":0.033664619569288255}],"native_actuator_controls":[-0.08256585547272981,1.3860992087352946,-1.085769042376746,0.017598305049651115,0.9769029675878199,-0.08398089996592342,0.0],"actuator_force_native":[1.8052393992291993,0.4744672512418191,0.7066308629839142,0.24548586726503002,-0.23851911322375052,0.33285892984304377,-0.7953893157028066],"issued_joint_targets_rad":[-0.07800385625088913,1.3807790765746135,-1.0818087503982177,0.01628842470660508,0.9720993250667438,-0.08033867967039529],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.039999999998766,"joint_targets_rad":[-0.07800385625088913,1.3807790765746135,-1.0818087503982177,0.01628842470660508,0.9720993250667438,-0.08033867967039529],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.059999999998755,"qpos":[-0.11851090195255408,1.3914985657242718,-1.1030859446700552,0.01877320738511764,1.027241184809641,-0.12664514451931083,0.01966081778098393,-0.020179190730280294,0.2960835828307036,-0.030353256889792804,0.17730968339987171,0.9860462527446268,-0.012199290828116192,-0.16602385719064564,0.00020879442283863804],"qvel":[0.5203472682228757,-0.2058072599520906,0.24056240210085092,-0.02988272658176034,-0.19935573712450594,0.11862350392015346,-0.0011677960869620149,-0.0007746689204786488,-0.010619453790051555,0.153410885479396,-0.0022179637600609897,0.12117152458035306,-0.16741482423509405,0.39085363577667764],"joint_position_rad":[-0.11851090195255408,1.3914985657242718,-1.1030859446700552,0.01877320738511764,1.027241184809641,-0.12664514451931083],"joint_velocity_rad_s":[0.5203472682228757,-0.2058072599520906,0.24056240210085092,-0.02988272658176034,-0.19935573712450594,0.11862350392015346],"gripper_joint_position_m":[0.01966081778098393,-0.020179190730280294],"tcp_position_m":[0.2971169166518628,-0.030538116527780896,0.17987650011725204],"tcp_quaternion_wxyz":[0.17014289719728135,-0.0005896208035644845,0.985344298125638,-0.012151585572143348],"object_position_m":[0.2960835828307036,-0.030353256889792804,0.17730968339987171],"object_quaternion_wxyz":[0.9860462527446268,-0.012199290828116192,-0.16602385719064564,0.00020879442283863804],"object_linear_velocity_m_s":[-0.010619453790051555,0.153410885479396,-0.0022179637600609897],"object_angular_velocity_rad_s":[-0.014090732196440293,-0.15744814060555667,0.41290236210109466],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":5},"pad_normal_forces_n":{"left":0.40868819358220637,"right":0.36985516079994846},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.06000057731975544},{"geom_ids":[85,90],"normal_force_n":0.051393968099732},{"geom_ids":[85,90],"normal_force_n":0.04545766776469221},{"geom_ids":[85,90],"normal_force_n":0.054018119882420695},{"geom_ids":[86,90],"normal_force_n":0.055094664019182345},{"geom_ids":[86,90],"normal_force_n":0.04439364333727912},{"geom_ids":[86,90],"normal_force_n":0.04379207792753423},{"geom_ids":[86,90],"normal_force_n":0.05453747523161031},{"geom_ids":[88,90],"normal_force_n":0.07082537228603239},{"geom_ids":[88,90],"normal_force_n":0.07935137899737273},{"geom_ids":[88,90],"normal_force_n":0.07357929874801604},{"geom_ids":[88,90],"normal_force_n":0.06509011522541602},{"geom_ids":[89,90],"normal_force_n":0.08100899554311125}],"native_actuator_controls":[-0.07800385625088913,1.3807790765746135,-1.0818087503982177,0.01628842470660508,0.9720993250667438,-0.08033867967039529,0.0],"actuator_force_native":[0.6388273150188173,0.1714771677877991,0.4993635312427358,0.050022325768299236,-0.25238499174221474,0.2851293926089251,-0.7805937308045471],"issued_joint_targets_rad":[-0.06834076317708292,1.3770499257588757,-1.077764477017939,0.014242968411037416,0.9673334652258273,-0.07531434677286274],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.059999999998755,"joint_targets_rad":[-0.06834076317708292,1.3770499257588757,-1.077764477017939,0.014242968411037416,0.9673334652258273,-0.07531434677286274],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.079999999998744,"qpos":[-0.107246437248118,1.387647388759749,-1.097902344534925,0.018276915452021033,1.0230574389425524,-0.12395336714581437,0.01963222015344125,-0.020204570132690305,0.2958550091540821,-0.02701158954504875,0.17708127125061443,0.9858030476929479,-0.01146811080636337,-0.167452748955338,0.004517793834311541],"qvel":[0.5822411661894421,-0.16795813953737307,0.2533859728132551,-0.018723393715050808,-0.1849813184178662,0.13098746768151434,-0.0016285615703599747,-0.0017426216508590433,-0.01401499343451978,0.17410920566711688,-0.018586138806195578,0.16408115191361555,-0.10594306267360785,0.42874433685093666],"joint_position_rad":[-0.107246437248118,1.387647388759749,-1.097902344534925,0.018276915452021033,1.0230574389425524,-0.12395336714581437],"joint_velocity_rad_s":[0.5822411661894421,-0.16795813953737307,0.2533859728132551,-0.018723393715050808,-0.1849813184178662,0.13098746768151434],"gripper_joint_position_m":[0.01963222015344125,-0.020204570132690305],"tcp_position_m":[0.29686846255794064,-0.02722617954385369,0.17965570415172866],"tcp_quaternion_wxyz":[0.17159142910551078,-0.004877922565927123,0.9850905686507354,-0.011364809032255679],"object_position_m":[0.2958550091540821,-0.02701158954504875,0.17708127125061443],"object_quaternion_wxyz":[0.9858030476929479,-0.01146811080636337,-0.167452748955338,0.004517793834311541],"object_linear_velocity_m_s":[-0.01401499343451978,0.17410920566711688,-0.018586138806195578],"object_angular_velocity_rad_s":[0.013814674018913356,-0.09477369688378257,0.46129747938227955],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3826649871654947,"right":0.3943961038908225},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05603253854869826},{"geom_ids":[85,90],"normal_force_n":0.04742536247326781},{"geom_ids":[85,90],"normal_force_n":0.04241242472515605},{"geom_ids":[85,90],"normal_force_n":0.05097521897575323},{"geom_ids":[86,90],"normal_force_n":0.05205077738102498},{"geom_ids":[86,90],"normal_force_n":0.04134690366247276},{"geom_ids":[86,90],"normal_force_n":0.04084038301161372},{"geom_ids":[86,90],"normal_force_n":0.05158137838750785},{"geom_ids":[88,90],"normal_force_n":0.046105110892285285},{"geom_ids":[88,90],"normal_force_n":0.054680989126991465},{"geom_ids":[88,90],"normal_force_n":0.04980519137252402},{"geom_ids":[88,90],"normal_force_n":0.04126874049084426},{"geom_ids":[89,90],"normal_force_n":0.055758350983270644},{"geom_ids":[89,90],"normal_force_n":0.05625297578689207},{"geom_ids":[89,90],"normal_force_n":0.045486683631512634},{"geom_ids":[89,90],"normal_force_n":0.045038061606502165}],"native_actuator_controls":[-0.06834076317708292,1.3770499257588757,-1.077764477017939,0.014242968411037416,0.9673334652258273,-0.07531434677286274,0.0],"actuator_force_native":[0.2012480947355959,-0.008006342382998355,0.34409953729259257,-0.06774091306409069,-0.2797677595404515,0.2899090022072449,-0.7771459982858502],"issued_joint_targets_rad":[-0.05647725996321651,1.374423982229442,-1.0737823202640602,0.012117848887020471,0.9630574389425524,-0.069027441880286],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.079999999998744,"joint_targets_rad":[-0.05647725996321651,1.374423982229442,-1.0737823202640602,0.012117848887020471,0.9630574389425524,-0.069027441880286],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.099999999998733,"qpos":[-0.0951991352689101,1.3844963739057612,-1.092606712163341,0.017864161713906267,1.0191987660638544,-0.12092670968768834,0.01960925392864446,-0.02022970501116277,0.2955578237615665,-0.023435466895967847,0.17658554197490056,0.9856334273229136,-0.010503728962371492,-0.16833021143450602,0.00901989689448509],"qvel":[0.6086539620384531,-0.13642710573294756,0.25476370617193084,-0.019137252800971345,-0.17081576939636683,0.15065780845371396,-0.0009553602422738321,-0.0010807542110536266,-0.016871516579126864,0.18065894124322834,-0.029430626811504167,0.1798028651403076,-0.05971112526151528,0.4326071571488402],"joint_position_rad":[-0.0951991352689101,1.3844963739057612,-1.092606712163341,0.017864161713906267,1.0191987660638544,-0.12092670968768834],"joint_velocity_rad_s":[0.6086539620384531,-0.13642710573294756,0.25476370617193084,-0.019137252800971345,-0.17081576939636683,0.15065780845371396],"gripper_joint_position_m":[0.01960925392864446,-0.02022970501116277],"tcp_position_m":[0.2965523803439989,-0.02367068773595873,0.17916508465757525],"tcp_quaternion_wxyz":[0.17249002363620045,-0.009369735924679315,0.9849121828605988,-0.010363003785350017],"object_position_m":[0.2955578237615665,-0.023435466895967847,0.17658554197490056],"object_quaternion_wxyz":[0.9856334273229136,-0.010503728962371492,-0.16833021143450602,0.00901989689448509],"object_linear_velocity_m_s":[-0.016871516579126864,0.18065894124322834,-0.029430626811504167],"object_angular_velocity_rad_s":[0.026803400464746063,-0.04821166904065229,0.46904227304252943],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3757768031253498,"right":0.40345483426877754},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05543837418893417},{"geom_ids":[85,90],"normal_force_n":0.04712561413069065},{"geom_ids":[85,90],"normal_force_n":0.041578314001692394},{"geom_ids":[85,90],"normal_force_n":0.04984562175703886},{"geom_ids":[86,90],"normal_force_n":0.050883605879725784},{"geom_ids":[86,90],"normal_force_n":0.040549129162661936},{"geom_ids":[86,90],"normal_force_n":0.03998993781799438},{"geom_ids":[86,90],"normal_force_n":0.05036620618661158},{"geom_ids":[88,90],"normal_force_n":0.04749108668736012},{"geom_ids":[88,90],"normal_force_n":0.0558123129131976},{"geom_ids":[88,90],"normal_force_n":0.05037628411052248},{"geom_ids":[88,90],"normal_force_n":0.04209964917095792},{"geom_ids":[89,90],"normal_force_n":0.05685765310496384},{"geom_ids":[89,90],"normal_force_n":0.05740787793195861},{"geom_ids":[89,90],"normal_force_n":0.04695427523657482},{"geom_ids":[89,90],"normal_force_n":0.04645569511324214}],"native_actuator_controls":[-0.05647725996321651,1.374423982229442,-1.0737823202640602,0.012117848887020471,0.9630574389425524,-0.069027441880286,0.0],"actuator_force_native":[0.05448021426322214,-0.1236558054407908,0.23213282108279998,-0.13416624907057517,-0.3051896171184705,0.2930059653934526,-0.7795933559344093],"issued_joint_targets_rad":[-0.04376369359938659,1.3726657229484895,-1.07003650826521,0.009820714078647453,0.9592833613355909,-0.062084747625809046],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.099999999998733,"joint_targets_rad":[-0.04376369359938659,1.3726657229484895,-1.07003650826521,0.009820714078647453,0.9592833613355909,-0.062084747625809046],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.119999999998722,"qpos":[-0.08278277137000603,1.3819624037328084,-1.0874051415213666,0.017395009666295643,1.015639241513374,-0.11747054125285443,0.019599493104023032,-0.020241019954794857,0.29521906824700683,-0.019785483375726397,0.17591478568158514,0.9855130256146486,-0.009438764634379735,-0.16879812318167609,0.013497395170264763],"qvel":[0.6228277362612281,-0.10778980448215006,0.24716050760154454,-0.023539586760410198,-0.15879973351637067,0.17320645917196947,-0.000385736222789429,-0.0004751084034182954,-0.01800531126576002,0.1827951996732285,-0.036378978948131115,0.18552926211136947,-0.026621757277531865,0.42502775897438655],"joint_position_rad":[-0.08278277137000603,1.3819624037328084,-1.0874051415213666,0.017395009666295643,1.015639241513374,-0.11747054125285443],"joint_velocity_rad_s":[0.6228277362612281,-0.10778980448215006,0.24716050760154454,-0.023539586760410198,-0.15879973351637067,0.17320645917196947],"gripper_joint_position_m":[0.019599493104023032,-0.020241019954794857],"tcp_position_m":[0.29619573445591957,-0.020026249102024753,0.17849773136062744],"tcp_quaternion_wxyz":[0.1729814279123893,-0.013842264534331563,0.9847842324750046,-0.009264598133132986],"object_position_m":[0.29521906824700683,-0.019785483375726397,0.17591478568158514],"object_quaternion_wxyz":[0.9855130256146486,-0.009438764634379735,-0.16879812318167609,0.013497395170264763],"object_linear_velocity_m_s":[-0.01800531126576002,0.1827951996732285,-0.036378978948131115],"object_angular_velocity_rad_s":[0.033995203513408054,-0.015109831531888876,0.4630274722822421],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37467869430076,"right":0.40696796281663444},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05562352095245769},{"geom_ids":[85,90],"normal_force_n":0.04740952048242431},{"geom_ids":[85,90],"normal_force_n":0.0413826770134438},{"geom_ids":[85,90],"normal_force_n":0.049549061525063436},{"geom_ids":[86,90],"normal_force_n":0.05057417741834668},{"geom_ids":[86,90],"normal_force_n":0.04036586742680243},{"geom_ids":[86,90],"normal_force_n":0.03975980685402012},{"geom_ids":[86,90],"normal_force_n":0.05001406262820146},{"geom_ids":[88,90],"normal_force_n":0.04808290227977884},{"geom_ids":[88,90],"normal_force_n":0.05632222827267573},{"geom_ids":[88,90],"normal_force_n":0.050391087198243374},{"geom_ids":[88,90],"normal_force_n":0.0422006389988827},{"geom_ids":[89,90],"normal_force_n":0.057357272630270996},{"geom_ids":[89,90],"normal_force_n":0.05795622084492075},{"geom_ids":[89,90],"normal_force_n":0.04759993017359466},{"geom_ids":[89,90],"normal_force_n":0.04705768241826742}],"native_actuator_controls":[-0.04376369359938659,1.3726657229484895,-1.07003650826521,0.009820714078647453,0.9592833613355909,-0.062084747625809046,0.0],"actuator_force_native":[0.007387540343414489,-0.20478544033475998,0.153688122484823,-0.1852738897038767,-0.32535920150327513,0.2940482475124997,-0.7820510430469741],"issued_joint_targets_rad":[-0.030708857706733164,1.3716570352300117,-1.0666602474333127,0.0073696797419924975,0.9561095899001567,-0.05747054125285443],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.119999999998722,"joint_targets_rad":[-0.030708857706733164,1.3716570352300117,-1.0666602474333127,0.0073696797419924975,0.9561095899001567,-0.05747054125285443],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.139999999998711,"qpos":[-0.0701331496234438,1.3800104708849474,-1.0824626268292092,0.016791123728199537,1.0123388473111694,-0.11375908332556334,0.01959737059910607,-0.020244254705845205,0.29487513990398806,-0.016113649978379375,0.1751354428080062,0.9854216570582064,-0.00836057086693635,-0.1689682852868259,0.01799936728521314],"qvel":[0.6325801283519351,-0.08038410368922584,0.2323776782032719,-0.03034542297562331,-0.1487792159757339,0.17955088643906958,-0.00016816447175738126,-0.00024463801538050653,-0.01739756453211259,0.18342976798922905,-0.04049784834937901,0.18629609441761122,-0.0036177712948146827,0.4319762282437102],"joint_position_rad":[-0.0701331496234438,1.3800104708849474,-1.0824626268292092,0.016791123728199537,1.0123388473111694,-0.11375908332556334],"joint_velocity_rad_s":[0.6325801283519351,-0.08038410368922584,0.2323776782032719,-0.03034542297562331,-0.1487792159757339,0.17955088643906958],"gripper_joint_position_m":[0.01959737059910607,-0.020244254705845205],"tcp_position_m":[0.2958345263658626,-0.016351206743474893,0.1777206898952683],"tcp_quaternion_wxyz":[0.17317715010002482,-0.018330483927944282,0.9846863512134351,-0.008152163895073346],"object_position_m":[0.29487513990398806,-0.016113649978379375,0.1751354428080062],"object_quaternion_wxyz":[0.9854216570582064,-0.00836057086693635,-0.1689682852868259,0.01799936728521314],"object_linear_velocity_m_s":[-0.01739756453211259,0.18342976798922905,-0.04049784834937901],"object_angular_velocity_rad_s":[0.03167346404235321,0.008010360605138782,0.46931376565214106],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3746166239816338,"right":0.4079605084521113},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05579786931599933},{"geom_ids":[85,90],"normal_force_n":0.04793081847009338},{"geom_ids":[85,90],"normal_force_n":0.0414447069130191},{"geom_ids":[85,90],"normal_force_n":0.04926334858010241},{"geom_ids":[86,90],"normal_force_n":0.0502445586286381},{"geom_ids":[86,90],"normal_force_n":0.040470967606605505},{"geom_ids":[86,90],"normal_force_n":0.03982031009359598},{"geom_ids":[86,90],"normal_force_n":0.04964404437357999},{"geom_ids":[88,90],"normal_force_n":0.04848358415965569},{"geom_ids":[88,90],"normal_force_n":0.05638157319126631},{"geom_ids":[88,90],"normal_force_n":0.04998331530810746},{"geom_ids":[88,90],"normal_force_n":0.04213600667006325},{"geom_ids":[89,90],"normal_force_n":0.0573734953616069},{"geom_ids":[89,90],"normal_force_n":0.05801805614855942},{"geom_ids":[89,90],"normal_force_n":0.04808387728282992},{"geom_ids":[89,90],"normal_force_n":0.047500600330022326}],"native_actuator_controls":[-0.030708857706733164,1.3716570352300117,-1.0666602474333127,0.0073696797419924975,0.9561095899001567,-0.05747054125285443,0.0],"actuator_force_native":[-0.008957288422824394,-0.2663543339487262,0.10230196065536745,-0.22513064457016502,-0.33912375014652696,0.29355909106848455,-0.7830540016054559],"issued_joint_targets_rad":[-0.01751533135437444,1.3713439712456492,-1.0637696784915773,0.004789551733483402,0.9534440245035025,-0.05375908332556334],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.139999999998711,"joint_targets_rad":[-0.01751533135437444,1.3713439712456492,-1.0637696784915773,0.004789551733483402,0.9534440245035025,-0.05375908332556334],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.1599999999987,"qpos":[-0.05730128361566336,1.3786244987067588,-1.077905984392837,0.015989065185599442,1.0092730270275951,-0.1100129659149259,0.01959760885593098,-0.02024488171598032,0.2945556453096567,-0.012442641448560476,0.17429507417276338,0.9853429146921625,-0.007337010852264525,-0.16891937200300872,0.022621991508646702],"qvel":[0.6399752977391693,-0.053604587148506425,0.2122614801211446,-0.03865075649492521,-0.13975489449717063,0.17863154275757062,-0.00015267069637686043,-0.00022004934352027114,-0.015517023486802619,0.1833092470327248,-0.04262924041192124,0.18417795367639697,0.012527602213151542,0.4442862999573596],"joint_position_rad":[-0.05730128361566336,1.3786244987067588,-1.077905984392837,0.015989065185599442,1.0092730270275951,-0.1100129659149259],"joint_velocity_rad_s":[0.6399752977391693,-0.053604587148506425,0.2122614801211446,-0.03865075649492521,-0.13975489449717063,0.17863154275757062],"gripper_joint_position_m":[0.01959760885593098,-0.02024488171598032],"tcp_position_m":[0.2954984269263222,-0.012673181165997811,0.17688201194254005],"tcp_quaternion_wxyz":[0.17315603871294588,-0.02293114355868577,0.9846018752936283,-0.007091972969643362],"object_position_m":[0.2945556453096567,-0.012442641448560476,0.17429507417276338],"object_quaternion_wxyz":[0.9853429146921625,-0.007337010852264525,-0.16891937200300872,0.022621991508646702],"object_linear_velocity_m_s":[-0.015517023486802619,0.1833092470327248,-0.04262924041192124],"object_angular_velocity_rad_s":[0.02490680793902957,0.02420918017658271,0.4798565851177862],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37471110405210795,"right":0.40789085914152706},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05587714090066275},{"geom_ids":[85,90],"normal_force_n":0.04860383482413469},{"geom_ids":[85,90],"normal_force_n":0.04164646368078913},{"geom_ids":[85,90],"normal_force_n":0.04887195631736576},{"geom_ids":[86,90],"normal_force_n":0.049778422573543465},{"geom_ids":[86,90],"normal_force_n":0.040746328719774724},{"geom_ids":[86,90],"normal_force_n":0.04005009875021292},{"geom_ids":[86,90],"normal_force_n":0.04913685828562448},{"geom_ids":[88,90],"normal_force_n":0.048880849648753354},{"geom_ids":[88,90],"normal_force_n":0.056181769767836245},{"geom_ids":[88,90],"normal_force_n":0.049312064890274974},{"geom_ids":[88,90],"normal_force_n":0.042061147054856814},{"geom_ids":[89,90],"normal_force_n":0.05709826444681994},{"geom_ids":[89,90],"normal_force_n":0.05778860249859527},{"geom_ids":[89,90],"normal_force_n":0.04859640810083584},{"geom_ids":[89,90],"normal_force_n":0.04797175273355469}],"native_actuator_controls":[-0.01751533135437444,1.3713439712456492,-1.0637696784915773,0.004789551733483402,0.9534440245035025,-0.05375908332556334,0.0],"actuator_force_native":[-0.017000307792733205,-0.3144192611462415,0.06959707149503913,-0.2547267556100156,-0.3486576834951691,0.2945915117572697,-0.783141000755355],"issued_joint_targets_rad":[-0.004285503442506139,1.3717007002406354,-1.0614609837746727,0.002094130011821519,0.9512589295814547,-0.050012965914925905],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.1599999999987,"joint_targets_rad":[-0.004285503442506139,1.3717007002406354,-1.0614609837746727,0.002094130011821519,0.9512589295814547,-0.050012965914925905],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.179999999998689,"qpos":[-0.04432763373641411,1.377798961523069,-1.0738342505039438,0.014962907604487355,1.006438367895258,-0.10627917103421897,0.019597866889116255,-0.020245234277651607,0.29428223521864355,-0.008785584616510606,0.17342780197273056,0.9852659245450316,-0.006393929563494631,-0.1687044734373007,0.02736743023020715],"qvel":[0.6451501562878095,-0.026994078016514093,0.18793429341843199,-0.04708363758628515,-0.13089926023273818,0.1776484074338799,-0.00019940400334703102,-0.00025689438076913164,-0.012681771376276244,0.18267866172327502,-0.04332294300181838,0.18069801411102782,0.024015320002311897,0.4542268503501576],"joint_position_rad":[-0.04432763373641411,1.377798961523069,-1.0738342505039438,0.014962907604487355,1.006438367895258,-0.10627917103421897],"joint_velocity_rad_s":[0.6451501562878095,-0.026994078016514093,0.18793429341843199,-0.04708363758628515,-0.13089926023273818,0.1776484074338799],"gripper_joint_position_m":[0.019597866889116255,-0.020245234277651607],"tcp_position_m":[0.29520930251824334,-0.009007729076018958,0.1760161540790728],"tcp_quaternion_wxyz":[0.17297145112423656,-0.02765363598402879,0.9845195746957685,-0.006112328010006851],"object_position_m":[0.29428223521864355,-0.008785584616510606,0.17342780197273056],"object_quaternion_wxyz":[0.9852659245450316,-0.006393929563494631,-0.1687044734373007,0.02736743023020715],"object_linear_velocity_m_s":[-0.012681771376276244,0.18267866172327502,-0.04332294300181838],"object_angular_velocity_rad_s":[0.017737252988694063,0.03564063525852017,0.487817255180966],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37479315904660093,"right":0.4075516082468498},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05591013134987297},{"geom_ids":[85,90],"normal_force_n":0.049259963903822444},{"geom_ids":[85,90],"normal_force_n":0.041869726554493766},{"geom_ids":[85,90],"normal_force_n":0.04847325872026255},{"geom_ids":[86,90],"normal_force_n":0.04930143622559248},{"geom_ids":[86,90],"normal_force_n":0.041046846875268335},{"geom_ids":[86,90],"normal_force_n":0.04030910234431886},{"geom_ids":[86,90],"normal_force_n":0.04862269307296956},{"geom_ids":[88,90],"normal_force_n":0.049251644053655674},{"geom_ids":[88,90],"normal_force_n":0.055921276728092766},{"geom_ids":[88,90],"normal_force_n":0.04862481328103469},{"geom_ids":[88,90],"normal_force_n":0.04200313744563868},{"geom_ids":[89,90],"normal_force_n":0.05675807111657475},{"geom_ids":[89,90],"normal_force_n":0.057489465155325443},{"geom_ids":[89,90],"normal_force_n":0.04908248982118449},{"geom_ids":[89,90],"normal_force_n":0.04842071064534324}],"native_actuator_controls":[-0.004285503442506139,1.3717007002406354,-1.0614609837746727,0.002094130011821519,0.9512589295814547,-0.050012965914925905,0.0],"actuator_force_native":[-0.02238035792640991,-0.35289051251211845,0.050189871249529006,-0.2793329157752077,-0.3554454927889257,0.2961894400421109,-0.782917655547915],"issued_joint_targets_rad":[0.008907426549397905,1.3727050704425496,-1.0597995606067365,-0.000692015459794899,0.9495326958067748,-0.04627917103421897],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.179999999998689,"joint_targets_rad":[0.008907426549397905,1.3727050704425496,-1.0597995606067365,-0.000692015459794899,0.9495326958067748,-0.04627917103421897],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.199999999998678,"qpos":[-0.03125801333886537,1.3774728379042243,-1.0702833733784496,0.013718699112060818,1.0037871282858235,-0.10255187885971033,0.019597692666422036,-0.02024577420332894,0.29407010882888396,-0.005151712248875556,0.17256716782265313,0.9851766262756834,-0.005538759085702895,-0.1684015045883148,0.03220668316120825],"qvel":[0.6479532612964534,-0.009326070924852358,0.16548149649995114,-0.055214427173347326,-0.12778828746794982,0.17733607043849997,-0.00024264959030417075,-0.0002920776600410372,-0.009524988294886527,0.1815678448874529,-0.04154042397471778,0.1751643347604447,0.021634160022579545,0.4610780401614952],"joint_position_rad":[-0.03125801333886537,1.3774728379042243,-1.0702833733784496,0.013718699112060818,1.0037871282858235,-0.10255187885971033],"joint_velocity_rad_s":[0.6479532612964534,-0.009326070924852358,0.16548149649995114,-0.055214427173347326,-0.12778828746794982,0.17733607043849997],"gripper_joint_position_m":[0.019597692666422036,-0.02024577420332894],"tcp_position_m":[0.2949816703641665,-0.005364812341683541,0.17515673988255223],"tcp_quaternion_wxyz":[0.17269667147600715,-0.032472147527049855,0.9844257958055166,-0.005222245567276844],"object_position_m":[0.29407010882888396,-0.005151712248875556,0.17256716782265313],"object_quaternion_wxyz":[0.9851766262756834,-0.005538759085702895,-0.1684015045883148,0.03220668316120825],"object_linear_velocity_m_s":[-0.009524988294886527,0.1815678448874529,-0.04154042397471778],"object_angular_velocity_rad_s":[0.010378428766102003,0.03306082216435874,0.4924863555727016],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37490422359488895,"right":0.4072002329444613},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05592774878251501},{"geom_ids":[85,90],"normal_force_n":0.049832815467367716},{"geom_ids":[85,90],"normal_force_n":0.042077930047522326},{"geom_ids":[85,90],"normal_force_n":0.04812752479578698},{"geom_ids":[86,90],"normal_force_n":0.048886035688735514},{"geom_ids":[86,90],"normal_force_n":0.04132390829051207},{"geom_ids":[86,90],"normal_force_n":0.04055168221193097},{"geom_ids":[86,90],"normal_force_n":0.048176578310518386},{"geom_ids":[88,90],"normal_force_n":0.049571517237967745},{"geom_ids":[88,90],"normal_force_n":0.055675687748061226},{"geom_ids":[88,90],"normal_force_n":0.04802573879933994},{"geom_ids":[88,90],"normal_force_n":0.04196688063345178},{"geom_ids":[89,90],"normal_force_n":0.056441122627731696},{"geom_ids":[89,90],"normal_force_n":0.05720600598909368},{"geom_ids":[89,90],"normal_force_n":0.04950265786512417},{"geom_ids":[89,90],"normal_force_n":0.04881062204369104}],"native_actuator_controls":[0.008907426549397905,1.3727050704425496,-1.0597995606067365,-0.000692015459794899,0.9495326958067748,-0.04627917103421897,0.0],"actuator_force_native":[-0.02653111542120523,-0.33479104230971757,0.011297539237304477,-0.30035644700749203,-0.35086189358856323,0.2967229725971636,-0.7826944587053605],"issued_joint_targets_rad":[0.022002218856792752,1.3742774219836207,-1.058781153699177,-0.0035369113711851783,0.948182755729425,-0.04255187885971033],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.199999999998678,"joint_targets_rad":[0.022002218856792752,1.3742774219836207,-1.058781153699177,-0.0035369113711851783,0.948182755729425,-0.04255187885971033],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.219999999998667,"qpos":[-0.018141081982709265,1.377375231816443,-1.067218090110069,0.01226547682748382,1.0012675518548506,-0.09882391051003515,0.01959728084495268,-0.02024637570187632,0.29390850264184154,-0.0015497917246169437,0.17178590462938745,0.9850499130677152,-0.004781251997835098,-0.16815659811387892,0.037110199479215546],"qvel":[0.6484102511135754,-0.00214059774718043,0.14013661332246385,-0.06292093839249872,-0.11932057245526853,0.1766359261745734,-0.0002756498004120076,-0.0003213886406787431,-0.007324945793823346,0.18005379220795506,-0.03611895657081881,0.16860600784692575,0.012199728823063933,0.46620989822059417],"joint_position_rad":[-0.018141081982709265,1.377375231816443,-1.067218090110069,0.01226547682748382,1.0012675518548506,-0.09882391051003515],"joint_velocity_rad_s":[0.6484102511135754,-0.00214059774718043,0.14013661332246385,-0.06292093839249872,-0.11932057245526853,0.1766359261745734],"gripper_joint_position_m":[0.01959728084495268,-0.02024637570187632],"tcp_position_m":[0.29480444163489433,-0.0017533634249933586,0.17437638478896328],"tcp_quaternion_wxyz":[0.17247542695352583,-0.03735771810095244,0.9842951760163924,-0.0044310795916421885],"object_position_m":[0.29390850264184154,-0.0015497917246169437,0.17178590462938745],"object_quaternion_wxyz":[0.9850499130677152,-0.004781251997835098,-0.16815659811387892,0.037110199479215546],"object_linear_velocity_m_s":[-0.007324945793823346,0.18005379220795506,-0.03611895657081881],"object_angular_velocity_rad_s":[0.003120151474268295,0.023336488818843683,0.4953525627355492],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37513518245111954,"right":0.4067744672351377},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05596880714703969},{"geom_ids":[85,90],"normal_force_n":0.05035019826924977},{"geom_ids":[85,90],"normal_force_n":0.04227071578178084},{"geom_ids":[85,90],"normal_force_n":0.04784515320334},{"geom_ids":[86,90],"normal_force_n":0.048543942898375894},{"geom_ids":[86,90],"normal_force_n":0.04157579124287011},{"geom_ids":[86,90],"normal_force_n":0.04077314259193301},{"geom_ids":[86,90],"normal_force_n":0.04780743131653033},{"geom_ids":[88,90],"normal_force_n":0.0498328849375963},{"geom_ids":[88,90],"normal_force_n":0.05545038947030795},{"geom_ids":[88,90],"normal_force_n":0.04749010286268447},{"geom_ids":[88,90],"normal_force_n":0.041915226805207685},{"geom_ids":[89,90],"normal_force_n":0.05615445609503317},{"geom_ids":[89,90],"normal_force_n":0.05694845435302029},{"geom_ids":[89,90],"normal_force_n":0.049850642941302495},{"geom_ids":[89,90],"normal_force_n":0.04913230976998532}],"native_actuator_controls":[0.022002218856792752,1.3742774219836207,-1.058781153699177,-0.0035369113711851783,0.948182755729425,-0.04255187885971033,0.0],"actuator_force_native":[-0.030587188407715793,-0.23712179788988408,-0.025728153740942616,-0.3174908359842663,-0.3518671025713509,0.297766427241388,-0.7825129847960471],"issued_joint_targets_rad":[0.034952746294197576,1.3761459587933118,-1.0583164403298835,-0.006431479356997937,0.9470933429194314,-0.038823910510035156],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.219999999998667,"joint_targets_rad":[0.034952746294197576,1.3761459587933118,-1.0583164403298835,-0.006431479356997937,0.9470933429194314,-0.038823910510035156],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.239999999998656,"qpos":[-0.005022819445555296,1.377394050092984,-1.0647293109466665,0.010619828056981343,0.9989926095881468,-0.09510462030347158,0.019596735233612744,-0.020247016242130666,0.29379153373810163,0.0020133299610976423,0.17113803066413294,0.9848790954373707,-0.004118618759514582,-0.1680098549391252,0.04205820958285758],"qvel":[0.6467122879018168,0.002708735108959243,0.11028639978787047,-0.07005127945445574,-0.1071936369301762,0.17569995845517156,-0.0003023310417769844,-0.0003473356623382569,-0.0048072541499188165,0.1781609891912315,-0.02883795379245736,0.16165513403303808,-0.0003909417024632917,0.46933531646469284],"joint_position_rad":[-0.005022819445555296,1.377394050092984,-1.0647293109466665,0.010619828056981343,0.9989926095881468,-0.09510462030347158],"joint_velocity_rad_s":[0.6467122879018168,0.002708735108959243,0.11028639978787047,-0.07005127945445574,-0.1071936369301762,0.17569995845517156],"gripper_joint_position_m":[0.019596735233612744,-0.020247016242130666],"tcp_position_m":[0.29467254447131064,0.001819471342287995,0.1737293315088226],"tcp_quaternion_wxyz":[0.17235474958608812,-0.042289612503468216,0.984119641873969,-0.0037362343709198375],"object_position_m":[0.29379153373810163,0.0020133299610976423,0.17113803066413294],"object_quaternion_wxyz":[0.9848790954373707,-0.004118618759514582,-0.1680098549391252,0.04205820958285758],"object_linear_velocity_m_s":[-0.0048072541499188165,0.1781609891912315,-0.02883795379245736],"object_angular_velocity_rad_s":[-0.003494959411989225,0.01040115452618503,0.4962738918368558],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3752789797256107,"right":0.4064629176381078},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.055975651936047276},{"geom_ids":[85,90],"normal_force_n":0.050783164922908804},{"geom_ids":[85,90],"normal_force_n":0.042441521726157345},{"geom_ids":[85,90],"normal_force_n":0.0475912585042241},{"geom_ids":[86,90],"normal_force_n":0.0482366901500536},{"geom_ids":[86,90],"normal_force_n":0.0417994364269105},{"geom_ids":[86,90],"normal_force_n":0.04097247371551754},{"geom_ids":[86,90],"normal_force_n":0.04747878234379154},{"geom_ids":[88,90],"normal_force_n":0.0500682092185528},{"geom_ids":[88,90],"normal_force_n":0.05525104383320633},{"geom_ids":[88,90],"normal_force_n":0.04704348275455375},{"geom_ids":[88,90],"normal_force_n":0.04190052240158033},{"geom_ids":[89,90],"normal_force_n":0.055900351118776094},{"geom_ids":[89,90],"normal_force_n":0.05671726794681741},{"geom_ids":[89,90],"normal_force_n":0.05016048597583464},{"geom_ids":[89,90],"normal_force_n":0.04942155438878646}],"native_actuator_controls":[0.034952746294197576,1.3761459587933118,-1.0583164403298835,-0.006431479356997937,0.9470933429194314,-0.038823910510035156,0.0],"actuator_force_native":[-0.03551618032885395,-0.11339097951857013,-0.03840234959670852,-0.33179589928689246,-0.3582022112918892,0.29925716025160687,-0.7823577541356248],"issued_joint_targets_rad":[0.04771840876717215,1.3781917817619926,-1.0584483814329781,-0.009359936237324023,0.9463215439283008,-0.035104620303471584],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.239999999998656,"joint_targets_rad":[0.04771840876717215,1.3781917817619926,-1.0584483814329781,-0.009359936237324023,0.9463215439283008,-0.035104620303471584],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.259999999998644,"qpos":[0.008051516426249187,1.3775059743580418,-1.0628839412748146,0.008801406148735378,0.9969891720033714,-0.09139594943602848,0.019596123565546915,-0.020247673248098303,0.29373131056479806,0.0055309534747264135,0.1706497989999147,0.9846590974028807,-0.0035446043769995403,-0.16799567793018771,0.04702499206094191],"qvel":[0.6428756244992134,0.007029629019852427,0.07808770247730878,-0.07673442349483069,-0.09529062149263413,0.17487993952593525,-0.0003213846617055839,-0.00036683882734399775,-0.0015685838736813368,0.17586855909215376,-0.020639739994609073,0.15415954424216985,-0.016367183527294483,0.4700880039763742],"joint_position_rad":[0.008051516426249187,1.3775059743580418,-1.0628839412748146,0.008801406148735378,0.9969891720033714,-0.09139594943602848],"joint_velocity_rad_s":[0.6428756244992134,0.007029629019852427,0.07808770247730878,-0.07673442349483069,-0.09529062149263413,0.17487993952593525],"gripper_joint_position_m":[0.019596123565546915,-0.020247673248098303],"tcp_position_m":[0.294597641150126,0.0053469582621786475,0.1732420674753023],"tcp_quaternion_wxyz":[0.17236844304099844,-0.04724205815159402,0.9838940503726128,-0.0031313617800974585],"object_position_m":[0.29373131056479806,0.0055309534747264135,0.1706497989999147],"object_quaternion_wxyz":[0.9846590974028807,-0.0035446043769995403,-0.16799567793018771,0.04702499206094191],"object_linear_velocity_m_s":[-0.0015685838736813368,0.17586855909215376,-0.020639739994609073],"object_angular_velocity_rad_s":[-0.009406773804787485,-0.005980466824139278,0.49486516131489017],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37543603366589096,"right":0.4061770819576928},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05596580307448263},{"geom_ids":[85,90],"normal_force_n":0.05115109278326812},{"geom_ids":[85,90],"normal_force_n":0.042602168174623894},{"geom_ids":[85,90],"normal_force_n":0.047375676748422},{"geom_ids":[86,90],"normal_force_n":0.047973857257183804},{"geom_ids":[86,90],"normal_force_n":0.042006905572861686},{"geom_ids":[86,90],"normal_force_n":0.04116100872707434},{"geom_ids":[86,90],"normal_force_n":0.047199521327974524},{"geom_ids":[88,90],"normal_force_n":0.05026932535024225},{"geom_ids":[88,90],"normal_force_n":0.05506722417751657},{"geom_ids":[88,90],"normal_force_n":0.04666765195176765},{"geom_ids":[88,90],"normal_force_n":0.04190691351920988},{"geom_ids":[89,90],"normal_force_n":0.055668072273620736},{"geom_ids":[89,90],"normal_force_n":0.05650246779880544},{"geom_ids":[89,90],"normal_force_n":0.050424973759507184},{"geom_ids":[89,90],"normal_force_n":0.04967045312702319}],"native_actuator_controls":[0.04771840876717215,1.3781917817619926,-1.0584483814329781,-0.009359936237324023,0.9463215439283008,-0.035104620303471584,0.0],"actuator_force_native":[-0.041026735222230215,0.01971644721682253,-0.03559372503961811,-0.34278157796822256,-0.3637403485117563,0.300593382036666,-0.7822380193133486],"issued_joint_targets_rad":[0.060264160032034386,1.3803776649560626,-1.0592042896811282,-0.012309488692652372,0.9458528298665752,-0.031395949436028484],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.259999999998644,"joint_targets_rad":[0.060264160032034386,1.3803776649560626,-1.0592042896811282,-0.012309488692652372,0.9458528298665752,-0.031395949436028484],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.279999999998633,"qpos":[0.02103751143963502,1.3778596745130198,-1.0617947667748895,0.006831339673646982,0.9953250270533189,-0.08770501815311198,0.01959547887630814,-0.02024833928800411,0.2937503256042095,0.008997509275231335,0.17030854646823124,0.9844001815598694,-0.003048629772623743,-0.16806011185213174,0.05198833720801597],"qvel":[0.6370520583298696,0.022337867820137684,0.04092345349239546,-0.08307662021501186,-0.08224930096326677,0.17407749230225003,-0.0003315576223645672,-0.0003773466788639628,0.003294669559794611,0.1732465809394058,-0.014175387744275127,0.14688388238897038,-0.025268302887162152,0.4687634161876224],"joint_position_rad":[0.02103751143963502,1.3778596745130198,-1.0617947667748895,0.006831339673646982,0.9953250270533189,-0.08770501815311198],"joint_velocity_rad_s":[0.6370520583298696,0.022337867820137684,0.04092345349239546,-0.08307662021501186,-0.08224930096326677,0.17407749230225003],"gripper_joint_position_m":[0.01959547887630814,-0.02024833928800411],"tcp_position_m":[0.2946028897958358,0.008823628642521808,0.17290221207872014],"tcp_quaternion_wxyz":[0.17246783420329587,-0.052192058308532484,0.9836280001614547,-0.0026062450231082814],"object_position_m":[0.2937503256042095,0.008997509275231335,0.17030854646823124],"object_quaternion_wxyz":[0.9844001815598694,-0.003048629772623743,-0.16806011185213174,0.05198833720801597],"object_linear_velocity_m_s":[0.003294669559794611,0.1732465809394058,-0.014175387744275127],"object_angular_velocity_rad_s":[-0.014898444383247195,-0.015324223360128682,0.49142212702086635],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37562637808722105,"right":0.40590613183440133},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05591272074741775},{"geom_ids":[85,90],"normal_force_n":0.051446175948892496},{"geom_ids":[85,90],"normal_force_n":0.04277020715322677},{"geom_ids":[85,90],"normal_force_n":0.04719738707312305},{"geom_ids":[86,90],"normal_force_n":0.04775208630432081},{"geom_ids":[86,90],"normal_force_n":0.04221805871759855},{"geom_ids":[86,90],"normal_force_n":0.04136109269264203},{"geom_ids":[86,90],"normal_force_n":0.04696864944999958},{"geom_ids":[88,90],"normal_force_n":0.05043870786925926},{"geom_ids":[88,90],"normal_force_n":0.05488211195366875},{"geom_ids":[88,90],"normal_force_n":0.04637166596747468},{"geom_ids":[88,90],"normal_force_n":0.04196254427051328},{"geom_ids":[89,90],"normal_force_n":0.055438373660025714},{"geom_ids":[89,90],"normal_force_n":0.05628225103280422},{"geom_ids":[89,90],"normal_force_n":0.050646600107355985},{"geom_ids":[89,90],"normal_force_n":0.04988387697329936}],"native_actuator_controls":[0.060264160032034386,1.3803776649560626,-1.0592042896811282,-0.012309488692652372,0.9458528298665752,-0.031395949436028484,0.0],"actuator_force_native":[-0.04712840425739806,0.08974989634273811,0.0026209000389201265,-0.35025003357691487,-0.3713480204225377,0.30197444871745993,-0.7821613669405028],"issued_joint_targets_rad":[0.07254937300227475,1.3828236558069122,-1.0606725449411176,-0.015252633554810276,0.9457354858907694,-0.02770501815311198],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.279999999998633,"joint_targets_rad":[0.07254937300227475,1.3828236558069122,-1.0606725449411176,-0.015252633554810276,0.9457354858907694,-0.02770501815311198],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.299999999998622,"qpos":[0.03388824780176114,1.3785742996503303,-1.0614017716607014,0.004733130593151317,0.993853653557266,-0.08402016211336849,0.019594863521835624,-0.020248959623816207,0.2938737657325081,0.012408047424143137,0.1700703240086007,0.9841054472435373,-0.002620149927801269,-0.16819816851754454,0.0569120341166674],"qvel":[0.6290937454400707,0.04168922263039483,0.00905798922737314,-0.08906653023745738,-0.07615703097636829,0.17406380982104103,-0.00032856886782031583,-0.00037361101540847846,0.008652762256965997,0.17027984616259362,-0.010104701007200241,0.13919251202345037,-0.032270285500723486,0.46441630540820933],"joint_position_rad":[0.03388824780176114,1.3785742996503303,-1.0614017716607014,0.004733130593151317,0.993853653557266,-0.08402016211336849],"joint_velocity_rad_s":[0.6290937454400707,0.04168922263039483,0.00905798922737314,-0.08906653023745738,-0.07615703097636829,0.17406380982104103],"gripper_joint_position_m":[0.019594863521835624,-0.020248959623816207],"tcp_position_m":[0.2947120964798985,0.012244568716300407,0.17266595059117662],"tcp_quaternion_wxyz":[0.1726388663431918,-0.05710482450132397,0.9833261075801697,-0.002151045709188181],"object_position_m":[0.2938737657325081,0.012408047424143137,0.1700703240086007],"object_quaternion_wxyz":[0.9841054472435373,-0.002620149927801269,-0.16819816851754454,0.0569120341166674],"object_linear_velocity_m_s":[0.008652762256965997,0.17027984616259362,-0.010104701007200241],"object_angular_velocity_rad_s":[-0.019881824807322347,-0.022842729652394592,0.4849550022456374],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.375624773820755,"right":0.40590542629613185},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.055812936425437235},{"geom_ids":[85,90],"normal_force_n":0.05161921419586141},{"geom_ids":[85,90],"normal_force_n":0.04289431008981804},{"geom_ids":[85,90],"normal_force_n":0.04705022803948668},{"geom_ids":[86,90],"normal_force_n":0.0475708849762215},{"geom_ids":[86,90],"normal_force_n":0.042375943915897794},{"geom_ids":[86,90],"normal_force_n":0.041515783495145515},{"geom_ids":[86,90],"normal_force_n":0.04678547268288677},{"geom_ids":[88,90],"normal_force_n":0.05058630612998037},{"geom_ids":[88,90],"normal_force_n":0.05475022418650039},{"geom_ids":[88,90],"normal_force_n":0.046208591954444156},{"geom_ids":[88,90],"normal_force_n":0.042076297173402395},{"geom_ids":[89,90],"normal_force_n":0.05527134370765437},{"geom_ids":[89,90],"normal_force_n":0.056116646097955025},{"geom_ids":[89,90],"normal_force_n":0.0508298034292245},{"geom_ids":[89,90],"normal_force_n":0.050066213616970674}],"native_actuator_controls":[0.07254937300227475,1.3828236558069122,-1.0606725449411176,-0.015252633554810276,0.9457354858907694,-0.02770501815311198,0.0],"actuator_force_native":[-0.05257871115926438,0.13150237937458087,0.013048191429845701,-0.35409791473117674,-0.36694613020041267,0.3020557248710035,-0.7821516965343234],"issued_joint_targets_rad":[0.08453622403183733,1.3856178645689776,-1.0627871850745396,-0.018170379804764825,0.9458241909257393,-0.024020162113368493],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.299999999998622,"joint_targets_rad":[0.08453622403183733,1.3856178645689776,-1.0627871850745396,-0.018170379804764825,0.9458241909257393,-0.024020162113368493],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.319999999998611,"qpos":[0.04655397401111056,1.379596463479422,-1.061325370978703,0.0025371502518531787,0.9922098502369104,-0.08031268709145295,0.01959437328748293,-0.02024944041464127,0.2940874585545903,0.0157576507248952,0.16985497815333142,0.9837723529581782,-0.002244645872268927,-0.16844630618238984,0.06174755908978744],"qvel":[0.6188030791248457,0.05691426267235426,0.001107841265985187,-0.09373974082112149,-0.08631080498221116,0.17539858876476883,-0.00031677845752735556,-0.0003607389525446668,0.011571938391627365,0.16698854989540657,-0.011342235285253317,0.1321601558644199,-0.036396618949003666,0.4556531400746209],"joint_position_rad":[0.04655397401111056,1.379596463479422,-1.061325370978703,0.0025371502518531787,0.9922098502369104,-0.08031268709145295],"joint_velocity_rad_s":[0.6188030791248457,0.05691426267235426,0.001107841265985187,-0.09373974082112149,-0.08631080498221116,0.17539858876476883],"gripper_joint_position_m":[0.01959437328748293,-0.02024944041464127],"tcp_position_m":[0.2949089864208868,0.015604429974907214,0.17245341077646142],"tcp_quaternion_wxyz":[0.17290245041393273,-0.061934402069648016,0.9829881997952942,-0.0017525821919213583],"object_position_m":[0.2940874585545903,0.0157576507248952,0.16985497815333142],"object_quaternion_wxyz":[0.9837723529581782,-0.002244645872268927,-0.16844630618238984,0.06174755908978744],"object_linear_velocity_m_s":[0.011571938391627365,0.16698854989540657,-0.011342235285253317],"object_angular_velocity_rad_s":[-0.023094600236204455,-0.027428754838644105,0.4744735056637204],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37553541004282914,"right":0.4060532567091636},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05572895126196759},{"geom_ids":[85,90],"normal_force_n":0.051654609229812715},{"geom_ids":[85,90],"normal_force_n":0.04294571855541855},{"geom_ids":[85,90],"normal_force_n":0.046982725286422646},{"geom_ids":[86,90],"normal_force_n":0.047488474214946556},{"geom_ids":[86,90],"normal_force_n":0.04244217580282115},{"geom_ids":[86,90],"normal_force_n":0.04158574607549151},{"geom_ids":[86,90],"normal_force_n":0.046707009615948474},{"geom_ids":[88,90],"normal_force_n":0.05066147559386416},{"geom_ids":[88,90],"normal_force_n":0.054698383246980495},{"geom_ids":[88,90],"normal_force_n":0.0461904465583872},{"geom_ids":[88,90],"normal_force_n":0.042183426412270957},{"geom_ids":[89,90],"normal_force_n":0.0552035161583298},{"geom_ids":[89,90],"normal_force_n":0.05604333137663432},{"geom_ids":[89,90],"normal_force_n":0.050915502648901274},{"geom_ids":[89,90],"normal_force_n":0.050157174713795355}],"native_actuator_controls":[0.08453622403183733,1.3856178645689776,-1.0627871850745396,-0.018170379804764825,0.9458241909257393,-0.024020162113368493,0.0],"actuator_force_native":[-0.055435393966086544,0.1971407738026869,-0.12248433399686576,-0.35960249815911266,-0.3343903856383932,0.29982736663369136,-0.7821910392116804],"issued_joint_targets_rad":[0.0961842221134401,1.3886873983308625,-1.0651968506212022,-0.021049596280079283,0.9457802784007118,-0.020312687091452952],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.319999999998611,"joint_targets_rad":[0.0961842221134401,1.3886873983308625,-1.0651968506212022,-0.021049596280079283,0.9457802784007118,-0.020312687091452952],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.3399999999986,"qpos":[0.05899374749271135,1.380975891414794,-1.061358652749564,0.0002574658890958535,0.9904732253984746,-0.07658779444188933,0.019594007397668946,-0.020249801833039583,0.294328593213978,0.01903776137547064,0.1695758626552029,0.9834342611082413,-0.0019166146495058346,-0.16862348279351494,0.06647933300927653],"qvel":[0.6066123359925891,0.07682116346930208,-0.003057458703175832,-0.09785420974348528,-0.0862025554230237,0.17600797751483546,-0.00031249465644216833,-0.0003565446850905313,0.01179509605752239,0.16324298274939197,-0.01589843841904402,0.1264570715811315,-0.020602859254071577,0.4458117054582232],"joint_position_rad":[0.05899374749271135,1.380975891414794,-1.061358652749564,0.0002574658890958535,0.9904732253984746,-0.07658779444188933],"joint_velocity_rad_s":[0.6066123359925891,0.07682116346930208,-0.003057458703175832,-0.09785420974348528,-0.0862025554230237,0.17600797751483546],"gripper_joint_position_m":[0.019594007397668946,-0.020249801833039583],"tcp_position_m":[0.2951345794415508,0.018894333092501124,0.17217764022247023],"tcp_quaternion_wxyz":[0.17309416591507315,-0.06666258077646244,0.9826456824989243,-0.0014045343035429846],"object_position_m":[0.294328593213978,0.01903776137547064,0.1695758626552029],"object_quaternion_wxyz":[0.9834342611082413,-0.0019166146495058346,-0.16862348279351494,0.06647933300927653],"object_linear_velocity_m_s":[0.01179509605752239,0.16324298274939197,-0.01589843841904402],"object_angular_velocity_rad_s":[-0.027142995409297065,-0.012118314638047517,0.4629042554745337],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37523537413857255,"right":0.406377508807726},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05559147847663409},{"geom_ids":[85,90],"normal_force_n":0.05156112116770646},{"geom_ids":[85,90],"normal_force_n":0.0429521512613791},{"geom_ids":[85,90],"normal_force_n":0.04694545631588112},{"geom_ids":[86,90],"normal_force_n":0.04744573656631908},{"geom_ids":[86,90],"normal_force_n":0.04245406652887562},{"geom_ids":[86,90],"normal_force_n":0.041609654104535786},{"geom_ids":[86,90],"normal_force_n":0.046675709717241345},{"geom_ids":[88,90],"normal_force_n":0.050702266966871176},{"geom_ids":[88,90],"normal_force_n":0.05468885456827021},{"geom_ids":[88,90],"normal_force_n":0.04629413630292064},{"geom_ids":[88,90],"normal_force_n":0.04233616339438233},{"geom_ids":[89,90],"normal_force_n":0.055187653073870864},{"geom_ids":[89,90],"normal_force_n":0.05601410055280943},{"geom_ids":[89,90],"normal_force_n":0.050950108647056416},{"geom_ids":[89,90],"normal_force_n":0.05020422530154496}],"native_actuator_controls":[0.0961842221134401,1.3886873983308625,-1.0651968506212022,-0.021049596280079283,0.9457802784007118,-0.020312687091452952,0.0],"actuator_force_native":[-0.05782371030464439,0.23281473593897317,-0.29176853621517296,-0.363011438049579,-0.31762563684309164,0.2987391072321106,-0.7821978226245471],"issued_joint_targets_rad":[0.10742521206292566,1.392050721824843,-1.0677264768365196,-0.023837493493151066,0.9457043210449679,-0.016587794441889334],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.3399999999986,"joint_targets_rad":[0.10742521206292566,1.392050721824843,-1.0677264768365196,-0.023837493493151066,0.9457043210449679,-0.016587794441889334],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.359999999998589,"qpos":[0.07117112019759457,1.382895399307107,-1.0617252269000175,-0.002094683941873001,0.989058211751813,-0.0728786571774233,0.019593487418771014,-0.02025034342859159,0.2945760511701418,0.022240231526965484,0.1692213579143192,0.9831269882019337,-0.001637993380663791,-0.16852937090892303,0.07110902325108487],"qvel":[0.5923791336251314,0.10371181729597831,-0.020564070078957723,-0.1009906356917099,-0.07225478639598418,0.17557097533801855,-0.00032339680369738186,-0.00036753979532313353,0.012923119494630696,0.15917955037051354,-0.019222549634218638,0.12119259718913915,0.002400542518028574,0.4346362183576115],"joint_position_rad":[0.07117112019759457,1.382895399307107,-1.0617252269000175,-0.002094683941873001,0.989058211751813,-0.0728786571774233],"joint_velocity_rad_s":[0.5923791336251314,0.10371181729597831,-0.020564070078957723,-0.1009906356917099,-0.07225478639598418,0.17557097533801855],"gripper_joint_position_m":[0.019593487418771014,-0.02025034342859159],"tcp_position_m":[0.2953711634330397,0.022105808448956592,0.17182612612308834],"tcp_quaternion_wxyz":[0.17303091643922214,-0.07128849729246181,0.9823324395390457,-0.0011092065870038513],"object_position_m":[0.2945760511701418,0.022240231526965484,0.1692213579143192],"object_quaternion_wxyz":[0.9831269882019337,-0.001637993380663791,-0.16852937090892303,0.07110902325108487],"object_linear_velocity_m_s":[0.012923119494630696,0.15917955037051354,-0.019222549634218638],"object_angular_velocity_rad_s":[-0.0313789219024973,0.010370630858648144,0.4500109596463914],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37453394552007235,"right":0.4070203023212279},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.055282567781626775},{"geom_ids":[85,90],"normal_force_n":0.05128744033303351},{"geom_ids":[85,90],"normal_force_n":0.04294055506756153},{"geom_ids":[85,90],"normal_force_n":0.0468997822870036},{"geom_ids":[86,90],"normal_force_n":0.04739579484246126},{"geom_ids":[86,90],"normal_force_n":0.042446723077433954},{"geom_ids":[86,90],"normal_force_n":0.04162966346672476},{"geom_ids":[86,90],"normal_force_n":0.04665141866422694},{"geom_ids":[88,90],"normal_force_n":0.05074175472699903},{"geom_ids":[88,90],"normal_force_n":0.054690222868126796},{"geom_ids":[88,90],"normal_force_n":0.046562849898633366},{"geom_ids":[88,90],"normal_force_n":0.04264159338777308},{"geom_ids":[89,90],"normal_force_n":0.055184254094964566},{"geom_ids":[89,90],"normal_force_n":0.055982693955425315},{"geom_ids":[89,90],"normal_force_n":0.05096846101020733},{"geom_ids":[89,90],"normal_force_n":0.05024847237909838}],"native_actuator_controls":[0.10742521206292566,1.392050721824843,-1.0677264768365196,-0.023837493493151066,0.9457043210449679,-0.016587794441889334,0.0],"actuator_force_native":[-0.06156831889916958,0.21386671493898746,-0.377279644525359,-0.3647592035925731,-0.32515672747447333,0.2995521643483119,-0.7821225127323537],"issued_joint_targets_rad":[0.11820161157378224,1.3958476490930054,-1.0705757465715178,-0.026475077998433922,0.9459829990949041,-0.0128786571774233],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.359999999998589,"joint_targets_rad":[0.11820161157378224,1.3958476490930054,-1.0705757465715178,-0.026475077998433922,0.9459829990949041,-0.0128786571774233],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.379999999998578,"qpos":[0.08303952972454408,1.385395669416731,-1.0625598087644537,-0.004488077518789361,0.9879348686920623,-0.06919302293985777,0.019592694230815517,-0.020251160359613274,0.2948750237602926,0.025360816704848084,0.16882436471469214,0.9828415973046635,-0.0014033102543637552,-0.168236854430192,0.07560943155045091],"qvel":[0.5757345311375208,0.13271406794944535,-0.04686999503500828,-0.10270369505297228,-0.056905945673587095,0.17496676177470602,-0.0003283697381613196,-0.0003707405036209155,0.016111947307938718,0.15484362264898835,-0.02048285700488597,0.11551471610224012,0.020337617867492486,0.4206512380077634],"joint_position_rad":[0.08303952972454408,1.385395669416731,-1.0625598087644537,-0.004488077518789361,0.9879348686920623,-0.06919302293985777],"joint_velocity_rad_s":[0.5757345311375208,0.13271406794944535,-0.04686999503500828,-0.10270369505297228,-0.056905945673587095,0.17496676177470602],"gripper_joint_position_m":[0.019592694230815517,-0.020251160359613274],"tcp_position_m":[0.29566152303400073,0.025234605779262807,0.17143145914475116],"tcp_quaternion_wxyz":[0.17277447384060146,-0.07578652955304463,0.9820410576783538,-0.0008626478938383471],"object_position_m":[0.2948750237602926,0.025360816704848084,0.16882436471469214],"object_quaternion_wxyz":[0.9828415973046635,-0.0014033102543637552,-0.168236854430192,0.07560943155045091],"object_linear_velocity_m_s":[0.016111947307938718,0.15484362264898835,-0.02048285700488597],"object_angular_velocity_rad_s":[-0.03455684235753339,0.027786567628641505,0.43444040290915037],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.373774678605542,"right":0.40775024539917554},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05486212634142971},{"geom_ids":[85,90],"normal_force_n":0.05084164147091625},{"geom_ids":[85,90],"normal_force_n":0.04293082389769367},{"geom_ids":[85,90],"normal_force_n":0.04691690386520495},{"geom_ids":[86,90],"normal_force_n":0.047416296675850914},{"geom_ids":[86,90],"normal_force_n":0.04243365820702067},{"geom_ids":[86,90],"normal_force_n":0.041660566770170646},{"geom_ids":[86,90],"normal_force_n":0.04671266137725518},{"geom_ids":[88,90],"normal_force_n":0.05072294584462533},{"geom_ids":[88,90],"normal_force_n":0.054695061829033796},{"geom_ids":[88,90],"normal_force_n":0.047003550095900855},{"geom_ids":[88,90],"normal_force_n":0.043057261290311115},{"geom_ids":[89,90],"normal_force_n":0.0551920932187496},{"geom_ids":[89,90],"normal_force_n":0.0559463623392306},{"geom_ids":[89,90],"normal_force_n":0.050906219210377864},{"geom_ids":[89,90],"normal_force_n":0.050226751570946374}],"native_actuator_controls":[0.11820161157378224,1.3958476490930054,-1.0705757465715178,-0.026475077998433922,0.9459829990949041,-0.0128786571774233,0.0],"actuator_force_native":[-0.0657061077485519,0.17258803435471748,-0.40692504939008245,-0.36596154392092095,-0.33415977746120085,0.3006935149622856,-0.782065920541814],"issued_joint_targets_rad":[0.128501528657269,1.4000961280261695,-1.0738385425194505,-0.028962228262127746,0.9465570260510746,-0.00919302293985777],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.379999999998578,"joint_targets_rad":[0.128501528657269,1.4000961280261695,-1.0738385425194505,-0.028962228262127746,0.9465570260510746,-0.00919302293985777],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.399999999998567,"qpos":[0.09454842676638157,1.3884535294726377,-1.0639314747688464,-0.006891882573747649,0.9870090334859055,-0.06552432521366401,0.019591817893145333,-0.020252040246362693,0.2952641472021268,0.028394778378963363,0.1684196265615081,0.9825659117300406,-0.001205576689891491,-0.16784413766148829,0.07994448788772306],"qvel":[0.5567186276954647,0.15954400266394983,-0.07473956149228805,-0.103117426499285,-0.04721119779756963,0.17475839719126932,-0.00031996213654305434,-0.0003599132725187923,0.020909191009458768,0.15026847422390846,-0.020253233249336536,0.10913769499445504,0.02864091154077381,0.4033489048922002],"joint_position_rad":[0.09454842676638157,1.3884535294726377,-1.0639314747688464,-0.006891882573747649,0.9870090334859055,-0.06552432521366401],"joint_velocity_rad_s":[0.5567186276954647,0.15954400266394983,-0.07473956149228805,-0.103117426499285,-0.04721119779756963,0.17475839719126932],"gripper_joint_position_m":[0.019591817893145333,-0.020252040246362693],"tcp_position_m":[0.29604297007429853,0.028276474054157407,0.1710283881194848],"tcp_quaternion_wxyz":[0.1724169854165984,-0.08012142745073213,0.9817599031686354,-0.000657672730713386],"object_position_m":[0.2952641472021268,0.028394778378963363,0.1684196265615081],"object_quaternion_wxyz":[0.9825659117300406,-0.001205576689891491,-0.16784413766148829,0.07994448788772306],"object_linear_velocity_m_s":[0.020909191009458768,0.15026847422390846,-0.020253233249336536],"object_angular_velocity_rad_s":[-0.036011126701581735,0.03559572919250837,0.4157617348641678],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3732633361284537,"right":0.40830381269650917},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05440959085122039},{"geom_ids":[85,90],"normal_force_n":0.050282396036991396},{"geom_ids":[85,90],"normal_force_n":0.042941940499886415},{"geom_ids":[85,90],"normal_force_n":0.04703618233378324},{"geom_ids":[86,90],"normal_force_n":0.04754916919870374},{"geom_ids":[86,90],"normal_force_n":0.04243132517871068},{"geom_ids":[86,90],"normal_force_n":0.04171499990273962},{"geom_ids":[86,90],"normal_force_n":0.04689773212641818},{"geom_ids":[88,90],"normal_force_n":0.05061177336209027},{"geom_ids":[88,90],"normal_force_n":0.05468779067279652},{"geom_ids":[88,90],"normal_force_n":0.0475647958601604},{"geom_ids":[88,90],"normal_force_n":0.04351324681856925},{"geom_ids":[89,90],"normal_force_n":0.05519790593310615},{"geom_ids":[89,90],"normal_force_n":0.055895318282265245},{"geom_ids":[89,90],"normal_force_n":0.050730287183610605},{"geom_ids":[89,90],"normal_force_n":0.05010269458391068}],"native_actuator_controls":[0.128501528657269,1.4000961280261695,-1.0738385425194505,-0.028962228262127746,0.9465570260510746,-0.00919302293985777,0.0],"actuator_force_native":[-0.06734498720632942,0.13368787096280244,-0.41886761258687955,-0.3672266950387789,-0.3337032776519546,0.30117542695115845,-0.782072905043098],"issued_joint_targets_rad":[0.13831932209627706,1.4047634808396916,-1.0775517561081054,-0.031312735037646554,0.9473089967820966,-0.005524325213664014],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.399999999998567,"joint_targets_rad":[0.13831932209627706,1.4047634808396916,-1.0775517561081054,-0.031312735037646554,0.9473089967820966,-0.005524325213664014],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.419999999998556,"qpos":[0.1056536993706795,1.392020929683646,-1.0658602853413985,-0.009283951242471106,0.9862049251486028,-0.0618656847574534,0.01959106200221803,-0.020252783372309055,0.29576491908053715,0.03133757242550781,0.16803189130727506,0.9822923665412214,-0.0010397201282161934,-0.16742312639439597,0.08408401967809738],"qvel":[0.5357858256133234,0.18385460945383464,-0.10300526961475455,-0.10264306332644854,-0.04097392674088856,0.17478631889412363,-0.00030371641570895987,-0.00034176462881867946,0.026568146237250328,0.1455056429434785,-0.018972484113073295,0.10225445125136266,0.030614070521867313,0.383563123754789],"joint_position_rad":[0.1056536993706795,1.392020929683646,-1.0658602853413985,-0.009283951242471106,0.9862049251486028,-0.0618656847574534],"joint_velocity_rad_s":[0.5357858256133234,0.18385460945383464,-0.10300526961475455,-0.10264306332644854,-0.04097392674088856,0.17478631889412363],"gripper_joint_position_m":[0.01959106200221803,-0.020252783372309055],"tcp_position_m":[0.2965366887447545,0.031227191486840764,0.17064173908943742],"tcp_quaternion_wxyz":[0.17202935049098927,-0.08426271027653279,0.9814812581297389,-0.00048802312047943326],"object_position_m":[0.29576491908053715,0.03133757242550781,0.16803189130727506],"object_quaternion_wxyz":[0.9822923665412214,-0.0010397201282161934,-0.16742312639439597,0.08408401967809738],"object_linear_velocity_m_s":[0.026568146237250328,0.1455056429434785,-0.018972484113073295],"object_angular_velocity_rad_s":[-0.036197890536717084,0.03709231408595006,0.3947502209950078],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3730055281295587,"right":0.40865028293704925},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05395745911820633},{"geom_ids":[85,90],"normal_force_n":0.04965808271390665},{"geom_ids":[85,90],"normal_force_n":0.04297089001970942},{"geom_ids":[85,90],"normal_force_n":0.047238749536190484},{"geom_ids":[86,90],"normal_force_n":0.04777355983824738},{"geom_ids":[86,90],"normal_force_n":0.04243868817573725},{"geom_ids":[86,90],"normal_force_n":0.0417869012530313},{"geom_ids":[86,90],"normal_force_n":0.04718119747452991},{"geom_ids":[88,90],"normal_force_n":0.05042398549232097},{"geom_ids":[88,90],"normal_force_n":0.054667563340511025},{"geom_ids":[88,90],"normal_force_n":0.048195972142527105},{"geom_ids":[88,90],"normal_force_n":0.04397541746089061},{"geom_ids":[89,90],"normal_force_n":0.055198761421124204},{"geom_ids":[89,90],"normal_force_n":0.05583152900454559},{"geom_ids":[89,90],"normal_force_n":0.0504629446994531},{"geom_ids":[89,90],"normal_force_n":0.049894109375676614}],"native_actuator_controls":[0.13831932209627706,1.4047634808396916,-1.0775517561081054,-0.031312735037646554,0.9473089967820966,-0.005524325213664014,0.0],"actuator_force_native":[-0.06567931001881178,0.10013104521446792,-0.4202913132627799,-0.36793603517477524,-0.32749839355372856,0.30123411709670844,-0.7821238980101763],"issued_joint_targets_rad":[0.14765076080256737,1.4098002341748501,-1.0817166740512063,-0.03354263869452077,0.9481485950980411,-0.001865684757453405],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.419999999998556,"joint_targets_rad":[0.14765076080256737,1.4098002341748501,-1.0817166740512063,-0.03354263869452077,0.9481485950980411,-0.001865684757453405],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.439999999998545,"qpos":[0.11632333821827645,1.3960474127642946,-1.068349449622169,-0.011649658536841129,0.9854814033802289,-0.0582124344033086,0.01959051077513353,-0.020253318709360184,0.29638764278431506,0.03418645277645814,0.16767860243848845,0.9820174365160249,-0.0009017443887036993,-0.16702021156950175,0.08800676202901503],"qvel":[0.5135270347779011,0.2055880986161666,-0.13091027888102771,-0.10151649229991626,-0.036879929088743615,0.17495375271873642,-0.0002870089084716338,-0.0003238707933960373,0.03264109930869754,0.14066397733677818,-0.01696457580924353,0.09515080645753123,0.028254609327120418,0.3620302694734626],"joint_position_rad":[0.11632333821827645,1.3960474127642946,-1.068349449622169,-0.011649658536841129,0.9854814033802289,-0.0582124344033086],"joint_velocity_rad_s":[0.5135270347779011,0.2055880986161666,-0.13091027888102771,-0.10151649229991626,-0.036879929088743615,0.17495375271873642],"gripper_joint_position_m":[0.01959051077513353,-0.020253318709360184],"tcp_position_m":[0.29715292271735466,0.034084008921120096,0.17028901866163232],"tcp_quaternion_wxyz":[0.1716580993668643,-0.08818856871173891,0.9812013818526474,-0.00034859831583441487],"object_position_m":[0.29638764278431506,0.03418645277645814,0.16767860243848845],"object_quaternion_wxyz":[0.9820174365160249,-0.0009017443887036993,-0.16702021156950175,0.08800676202901503],"object_linear_velocity_m_s":[0.03264109930869754,0.14066397733677818,-0.01696457580924353],"object_angular_velocity_rad_s":[-0.0353224987193433,0.03429048697725734,0.37214835552486236],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3729158249181332,"right":0.408838513088886},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.053515274030164886},{"geom_ids":[85,90],"normal_force_n":0.049000217470877606},{"geom_ids":[85,90],"normal_force_n":0.043008753042111755},{"geom_ids":[85,90],"normal_force_n":0.047493867344231805},{"geom_ids":[86,90],"normal_force_n":0.04805599491677406},{"geom_ids":[86,90],"normal_force_n":0.04244954717289328},{"geom_ids":[86,90],"normal_force_n":0.04186613319407716},{"geom_ids":[86,90],"normal_force_n":0.04752603774700261},{"geom_ids":[88,90],"normal_force_n":0.05018576285663832},{"geom_ids":[88,90],"normal_force_n":0.05463884681217438},{"geom_ids":[88,90],"normal_force_n":0.048860958195638717},{"geom_ids":[88,90],"normal_force_n":0.04442929304870755},{"geom_ids":[89,90],"normal_force_n":0.055196400362875826},{"geom_ids":[89,90],"normal_force_n":0.0557607078278005},{"geom_ids":[89,90],"normal_force_n":0.050136668033713416},{"geom_ids":[89,90],"normal_force_n":0.04962987595133728}],"native_actuator_controls":[0.14765076080256737,1.4098002341748501,-1.0817166740512063,-0.03354263869452077,0.9481485950980411,-0.001865684757453405,0.0],"actuator_force_native":[-0.06144136714623194,0.07228521976360014,-0.41482655991784156,-0.36813674480760417,-0.31800818918876494,0.30103686738044727,-0.782185386462983],"issued_joint_targets_rad":[0.15649632524670706,1.415159471634285,-1.0863270437285035,-0.03566667041440369,0.9490256140098764,0.0017875655966913956],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.439999999998545,"joint_targets_rad":[0.15649632524670706,1.415159471634285,-1.0863270437285035,-0.03566667041440369,0.9490256140098764,0.0017875655966913956],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.459999999998534,"qpos":[0.1265350389848676,1.4004845215185524,-1.0713894127785355,-0.013978066979887528,0.984814766661524,-0.054561565514312474,0.019590134182321355,-0.020253685067358685,0.29713611883757696,0.036940221282021374,0.16737122634510646,0.9817399895343222,-0.0007875143150344251,-0.16666581342027803,0.09169776119028368],"qvel":[0.4903933317547234,0.22490464760340195,-0.15796018940520376,-0.0999375264321711,-0.03417049100389358,0.1752124784544942,-0.0002724033656121719,-0.0003082582968513878,0.03886046008536573,0.13580191247579756,-0.01448959907195667,0.08797920262944224,0.022967666860945174,0.3393102974585894],"joint_position_rad":[0.1265350389848676,1.4004845215185524,-1.0713894127785355,-0.013978066979887528,0.984814766661524,-0.054561565514312474],"joint_velocity_rad_s":[0.4903933317547234,0.22490464760340195,-0.15796018940520376,-0.0999375264321711,-0.03417049100389358,0.1752124784544942],"gripper_joint_position_m":[0.019590134182321355,-0.020253685067358685],"tcp_position_m":[0.29789542737432073,0.03684552682534247,0.16998175320160872],"tcp_quaternion_wxyz":[0.17133375708982582,-0.09188362462020792,0.9809190018531699,-0.00023454534300604407],"object_position_m":[0.29713611883757696,0.036940221282021374,0.16737122634510646],"object_quaternion_wxyz":[0.9817399895343222,-0.0007875143150344251,-0.16666581342027803,0.09169776119028368],"object_linear_velocity_m_s":[0.03886046008536573,0.13580191247579756,-0.01448959907195667],"object_angular_velocity_rad_s":[-0.033603846984391145,0.028598240022069923,0.3485000056144535],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3729454908805384,"right":0.4089031547274338},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05308900147479112},{"geom_ids":[85,90],"normal_force_n":0.048331110520500105},{"geom_ids":[85,90],"normal_force_n":0.043051601343726556},{"geom_ids":[85,90],"normal_force_n":0.047781394129620416},{"geom_ids":[86,90],"normal_force_n":0.04837429888565993},{"geom_ids":[86,90],"normal_force_n":0.04246199354844838},{"geom_ids":[86,90],"normal_force_n":0.04194826767221918},{"geom_ids":[86,90],"normal_force_n":0.04790782330557275},{"geom_ids":[88,90],"normal_force_n":0.049915415756691874},{"geom_ids":[88,90],"normal_force_n":0.054604206914586145},{"geom_ids":[88,90],"normal_force_n":0.04953545906698523},{"geom_ids":[88,90],"normal_force_n":0.04486630630791513},{"geom_ids":[89,90],"normal_force_n":0.05519141220869237},{"geom_ids":[89,90],"normal_force_n":0.05568603512449893},{"geom_ids":[89,90],"normal_force_n":0.0497740566125434},{"geom_ids":[89,90],"normal_force_n":0.04933026273552072}],"native_actuator_controls":[0.15649632524670706,1.415159471634285,-1.0863270437285035,-0.03566667041440369,0.9490256140098764,0.0017875655966913956,0.0],"actuator_force_native":[-0.05506375782645989,0.04947277124159655,-0.4052095289714117,-0.3678565052197911,-0.30663579001063646,0.30067259342829733,-0.7822433504647934],"issued_joint_targets_rad":[0.16486009527768844,1.4207990587328176,-1.0913703114095485,-0.03769677981860353,0.9499113490519867,0.005438434485687524],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.459999999998534,"joint_targets_rad":[0.16486009527768844,1.4207990587328176,-1.0913703114095485,-0.03769677981860353,0.9499113490519867,0.005438434485687524],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.479999999998522,"qpos":[0.13627351671375612,1.405286677871592,-1.0749606301254997,-0.01626114696454338,0.9841903699755814,-0.05091097968829213,0.019589875748224708,-0.020253939427443475,0.29800998312673305,0.03959834692366408,0.16711656313443285,0.9814603925252264,-0.0006931370828016674,-0.16637954085363002,0.0951465493360055],"qvel":[0.46671888648228144,0.24202190991808126,-0.18384132643515305,-0.09807566731635035,-0.03232001436790699,0.17553091981054683,-0.0002590240670630185,-0.0002936480740513011,0.0450470688030667,0.13094101491247623,-0.011746715217011166,0.08081600504857102,0.015829352247436708,0.31583515211158897],"joint_position_rad":[0.13627351671375612,1.405286677871592,-1.0749606301254997,-0.01626114696454338,0.9841903699755814,-0.05091097968829213],"joint_velocity_rad_s":[0.46671888648228144,0.24202190991808126,-0.18384132643515305,-0.09807566731635035,-0.03232001436790699,0.17553091981054683],"gripper_joint_position_m":[0.019589875748224708,-0.020253939427443475],"tcp_position_m":[0.2987637852257316,0.039510999179270014,0.1697267986283391],"tcp_quaternion_wxyz":[0.17107594628134865,-0.09533708610395374,0.9806344072074586,-0.00014148506768307296],"object_position_m":[0.29800998312673305,0.03959834692366408,0.16711656313443285],"object_quaternion_wxyz":[0.9814603925252264,-0.0006931370828016674,-0.16637954085363002,0.0951465493360055],"object_linear_velocity_m_s":[0.0450470688030667,0.13094101491247623,-0.011746715217011166],"object_angular_velocity_rad_s":[-0.0312644860241537,0.021085085995711683,0.3242091754348321],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3730804641068941,"right":0.40886067817422206},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05268502657418309},{"geom_ids":[85,90],"normal_force_n":0.04766927210018644},{"geom_ids":[85,90],"normal_force_n":0.04309952101537982},{"geom_ids":[85,90],"normal_force_n":0.048089363279255205},{"geom_ids":[86,90],"normal_force_n":0.04871499175167277},{"geom_ids":[86,90],"normal_force_n":0.04247761334599593},{"geom_ids":[86,90],"normal_force_n":0.042033151343369324},{"geom_ids":[86,90],"normal_force_n":0.04831152469685151},{"geom_ids":[88,90],"normal_force_n":0.04962502276318896},{"geom_ids":[88,90],"normal_force_n":0.05456423697109926},{"geom_ids":[88,90],"normal_force_n":0.05020127995858331},{"geom_ids":[88,90],"normal_force_n":0.0452797606957327},{"geom_ids":[89,90],"normal_force_n":0.055182948695839194},{"geom_ids":[89,90],"normal_force_n":0.055608443252952694},{"geom_ids":[89,90],"normal_force_n":0.0493902087816749},{"geom_ids":[89,90],"normal_force_n":0.04900877705515112}],"native_actuator_controls":[0.16486009527768844,1.4207990587328176,-1.0913703114095485,-0.03769677981860353,0.9499113490519867,0.005438434485687524,0.0],"actuator_force_native":[-0.04666814729682223,0.030880919307634258,-0.39356787054813935,-0.3670469775806544,-0.29431018768408634,0.3001977620239762,-0.7822999095936732],"issued_joint_targets_rad":[0.1727480609910998,1.4266810201354962,-1.0968281477121506,-0.03964265592666864,0.9507890599366032,0.009089020311707871],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.479999999998522,"joint_targets_rad":[0.1727480609910998,1.4266810201354962,-1.0968281477121506,-0.03964265592666864,0.9507890599366032,0.009089020311707871],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.499999999998511,"qpos":[0.14553224761246505,1.4104133619579116,-1.0790406211515324,-0.018494510367852216,0.9835995334486258,-0.04725935372617329,0.019589717769412474,-0.02025409653020571,0.2990069471283198,0.042161405269633606,0.1669186368457462,0.9811796249646673,-0.0006155525165927274,-0.16617401393936165,0.09834816592380465],"qvel":[0.4428791556898788,0.25721173251598467,-0.20852506503475804,-0.09600009959002587,-0.030854799638612453,0.17588642714966768,-0.00024712415525362944,-0.0002805199948139611,0.05109166961044056,0.12613960340764818,-0.008854882303335027,0.07382188516798141,0.007641446015462904,0.29199344106781977],"joint_position_rad":[0.14553224761246505,1.4104133619579116,-1.0790406211515324,-0.018494510367852216,0.9835995334486258,-0.04725935372617329],"joint_velocity_rad_s":[0.4428791556898788,0.25721173251598467,-0.20852506503475804,-0.09600009959002587,-0.030854799638612453,0.17588642714966768],"gripper_joint_position_m":[0.019589717769412474,-0.02025409653020571],"tcp_position_m":[0.29975564341692534,0.04208088271056419,0.16952822319325692],"tcp_quaternion_wxyz":[0.17089737432194074,-0.09854365681332972,0.9803485251719101,-6.591649157569243e-05],"object_position_m":[0.2990069471283198,0.042161405269633606,0.1669186368457462],"object_quaternion_wxyz":[0.9811796249646673,-0.0006155525165927274,-0.16617401393936165,0.09834816592380465],"object_linear_velocity_m_s":[0.05109166961044056,0.12613960340764818,-0.008854882303335027],"object_angular_velocity_rad_s":[-0.028408781978170653,0.01256459814001324,0.299671994076332],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3732557258065619,"right":0.40877300500194824},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05230090353104691},{"geom_ids":[85,90],"normal_force_n":0.04702425861049501},{"geom_ids":[85,90],"normal_force_n":0.0431469353113682},{"geom_ids":[85,90],"normal_force_n":0.04840021098384387},{"geom_ids":[86,90],"normal_force_n":0.04905900226701408},{"geom_ids":[86,90],"normal_force_n":0.0424923194782567},{"geom_ids":[86,90],"normal_force_n":0.042115282571076926},{"geom_ids":[86,90],"normal_force_n":0.048716813053460185},{"geom_ids":[88,90],"normal_force_n":0.049331467023985956},{"geom_ids":[88,90],"normal_force_n":0.05452440905074387},{"geom_ids":[88,90],"normal_force_n":0.0508488060771881},{"geom_ids":[88,90],"normal_force_n":0.04567147741113279},{"geom_ids":[89,90],"normal_force_n":0.05517505202267052},{"geom_ids":[89,90],"normal_force_n":0.05553338746873583},{"geom_ids":[89,90],"normal_force_n":0.04900468291149657},{"geom_ids":[89,90],"normal_force_n":0.048683723035994685}],"native_actuator_controls":[0.1727480609910998,1.4266810201354962,-1.0968281477121506,-0.03964265592666864,0.9507890599366032,0.009089020311707871,0.0],"actuator_force_native":[-0.03713070815861386,0.015353991626852803,-0.38037679967565907,-0.3659253244025278,-0.2818225356623074,0.2996540996543101,-0.7823530900002308],"issued_joint_targets_rad":[0.18017024048272368,1.4327735036439704,-1.1026823268087007,-0.04151341736862561,0.9516502871454726,0.012740646273826706],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.499999999998511,"joint_targets_rad":[0.18017024048272368,1.4327735036439704,-1.1026823268087007,-0.04151341736862561,0.9516502871454726,0.012740646273826706],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.5199999999985,"qpos":[0.15431042475863363,1.4158275416193544,-1.083604925160277,-0.020675006134956455,0.98303793780218,-0.043605783157110924,0.019589631859022585,-0.0202541839709897,0.3001232403256529,0.04463069561005888,0.16677960920944962,0.9808990290710048,-0.0005516577804343575,-0.16605699664692536,0.101300860341149],"qvel":[0.41912387924241024,0.27066361702101804,-0.2319844527046146,-0.09379248858229061,-0.02950962553022458,0.1762676621254318,-0.00023653667533787335,-0.0002686682858415857,0.056927056649435606,0.12141922150192065,-0.005891559924391696,0.06704614755163435,-0.0011016230269685306,0.2680739266959334],"joint_position_rad":[0.15431042475863363,1.4158275416193544,-1.083604925160277,-0.020675006134956455,0.98303793780218,-0.043605783157110924],"joint_velocity_rad_s":[0.41912387924241024,0.27066361702101804,-0.2319844527046146,-0.09379248858229061,-0.02950962553022458,0.1762676621254318],"gripper_joint_position_m":[0.019589631859022585,-0.0202541839709897],"tcp_position_m":[0.3008671663122785,0.04455637839446241,0.16938823068381498],"tcp_quaternion_wxyz":[0.1708058670841939,-0.10150137307030158,0.9800626648404889,-4.496624488932043e-06],"object_position_m":[0.3001232403256529,0.04463069561005888,0.16677960920944962],"object_quaternion_wxyz":[0.9808990290710048,-0.0005516577804343575,-0.16605699664692536,0.101300860341149],"object_linear_velocity_m_s":[0.056927056649435606,0.12141922150192065,-0.005891559924391696],"object_angular_velocity_rad_s":[-0.02516923235398532,0.0035286678495429313,0.2751619303154136],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3734654821666767,"right":0.40864518379610454},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05193912310803362},{"geom_ids":[85,90],"normal_force_n":0.04640588985498723},{"geom_ids":[85,90],"normal_force_n":0.04319476585934042},{"geom_ids":[85,90],"normal_force_n":0.04870749912611417},{"geom_ids":[86,90],"normal_force_n":0.04939896494563537},{"geom_ids":[86,90],"normal_force_n":0.04250794643384303},{"geom_ids":[86,90],"normal_force_n":0.042195685961149934},{"geom_ids":[86,90],"normal_force_n":0.04911560687757292},{"geom_ids":[88,90],"normal_force_n":0.04904079260275453},{"geom_ids":[88,90],"normal_force_n":0.05448389640887517},{"geom_ids":[88,90],"normal_force_n":0.05146855826170833},{"geom_ids":[88,90],"normal_force_n":0.04603887854795989},{"geom_ids":[89,90],"normal_force_n":0.055166030596694754},{"geom_ids":[89,90],"normal_force_n":0.05545996263770314},{"geom_ids":[89,90],"normal_force_n":0.04862506576204797},{"geom_ids":[89,90],"normal_force_n":0.04836199897836076}],"native_actuator_controls":[0.18017024048272368,1.4327735036439704,-1.1026823268087007,-0.04151341736862561,0.9516502871454726,0.012740646273826706,0.0],"actuator_force_native":[-0.026834138284847597,0.0023588768641928937,-0.36626986835082675,-0.36457400643531335,-0.2696120682717371,0.29906280112122857,-0.782402590984214],"issued_joint_targets_rad":[0.18713854362211138,1.4390484991194032,-1.1089142699351142,-0.0433163166992297,0.9524920413435801,0.016394216842889074],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.5199999999985,"joint_targets_rad":[0.18713854362211138,1.4390484991194032,-1.1089142699351142,-0.0433163166992297,0.9524920413435801,0.016394216842889074],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.53999999999849,"qpos":[0.1626093131597881,1.4214948800227987,-1.0886266353330822,-0.022800113443142832,0.9825034857918992,-0.039949647500487524,0.019589580962006515,-0.02025423737227772,0.301353980400025,0.04700729213264693,0.16670004099924682,0.9806202382764891,-0.0004984935105511818,-0.1660326373447976,0.1040041495475691],"qvel":[0.39556851758940087,0.28252892825094716,-0.2541424106602371,-0.09155539246391659,-0.028228518424813272,0.17666573212156905,-0.00022565259633134876,-0.00025625425808896077,0.06252103130708683,0.11676101448857938,-0.002922781216769852,0.060441819401597735,-0.010116083185975839,0.244264597629764],"joint_position_rad":[0.1626093131597881,1.4214948800227987,-1.0886266353330822,-0.022800113443142832,0.9825034857918992,-0.039949647500487524],"joint_velocity_rad_s":[0.39556851758940087,0.28252892825094716,-0.2541424106602371,-0.09155539246391659,-0.028228518424813272,0.17666573212156905],"gripper_joint_position_m":[0.019589580962006515,-0.02025423737227772],"tcp_position_m":[0.3020934071344737,0.04693847826453604,0.16930742545039573],"tcp_quaternion_wxyz":[0.1708055905730794,-0.10420963139052876,0.9797784447787041,4.5841635783215175e-05],"object_position_m":[0.301353980400025,0.04700729213264693,0.16670004099924682],"object_quaternion_wxyz":[0.9806202382764891,-0.0004984935105511818,-0.1660326373447976,0.1040041495475691],"object_linear_velocity_m_s":[0.06252103130708683,0.11676101448857938,-0.002922781216769852],"object_angular_velocity_rad_s":[-0.02170155816371135,-0.005755628279124495,0.2508319306691457],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37373589250005107,"right":0.4084580786801384},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.051604806618559824},{"geom_ids":[85,90],"normal_force_n":0.04582318524377218},{"geom_ids":[85,90],"normal_force_n":0.04324713065893508},{"geom_ids":[85,90],"normal_force_n":0.049011390565677555},{"geom_ids":[86,90],"normal_force_n":0.049734542610343345},{"geom_ids":[86,90],"normal_force_n":0.04252910119900377},{"geom_ids":[86,90],"normal_force_n":0.0422785411809153},{"geom_ids":[86,90],"normal_force_n":0.04950719442284401},{"geom_ids":[88,90],"normal_force_n":0.048753440623993366},{"geom_ids":[88,90],"normal_force_n":0.05443956620509881},{"geom_ids":[88,90],"normal_force_n":0.05205284734084704},{"geom_ids":[88,90],"normal_force_n":0.04637787677606003},{"geom_ids":[89,90],"normal_force_n":0.055152301245704506},{"geom_ids":[89,90],"normal_force_n":0.05538497854398875},{"geom_ids":[89,90],"normal_force_n":0.04825257783735041},{"geom_ids":[89,90],"normal_force_n":0.04804449010709547}],"native_actuator_controls":[0.18713854362211138,1.4390484991194032,-1.1089142699351142,-0.0433163166992297,0.9524920413435801,0.016394216842889074,0.0],"actuator_force_native":[-0.015504150961142216,-0.008355113526363311,-0.35229871486139075,-0.36287116792389185,-0.2577716668459704,0.29844004525141243,-0.7824549754986039],"issued_joint_targets_rad":[0.19366422677336606,1.4454801922260618,-1.115503522135712,-0.045056827134350844,0.953314111929872,0.020050352499512474],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.53999999999849,"joint_targets_rad":[0.19366422677336606,1.4454801922260618,-1.115503522135712,-0.045056827134350844,0.953314111929872,0.020050352499512474],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.559999999998478,"qpos":[0.17043544927580082,1.4273853765395275,-1.0940793842726515,-0.024869718679660157,0.981994914007393,-0.036290533560748545,0.019589573114901115,-0.0202542464294772,0.30269411742410984,0.04929282183329315,0.16667946723802982,0.9803447107499988,-0.0004540016503718741,-0.16610277384831848,0.10646084025075701],"qvel":[0.3724213712503081,0.2930019692587349,-0.2750292942127313,-0.08929603173461562,-0.026992937800402534,0.1770589803833174,-0.00021516049881164137,-0.00024430423380858706,0.0678672252561149,0.11220348676563263,8.843624570323945e-06,0.05409825395049583,-0.019231327670074932,0.22077624454382794],"joint_position_rad":[0.17043544927580082,1.4273853765395275,-1.0940793842726515,-0.024869718679660157,0.981994914007393,-0.036290533560748545],"joint_velocity_rad_s":[0.3724213712503081,0.2930019692587349,-0.2750292942127313,-0.08929603173461562,-0.026992937800402534,0.1770589803833174],"gripper_joint_position_m":[0.019589573114901115,-0.0202542464294772],"tcp_position_m":[0.3034292426586409,0.04922881373392658,0.1692853795549154],"tcp_quaternion_wxyz":[0.17089846464549688,-0.10667106506899761,0.9794973154797457,8.733171801702124e-05],"object_position_m":[0.30269411742410984,0.04929282183329315,0.16667946723802982],"object_quaternion_wxyz":[0.9803447107499988,-0.0004540016503718741,-0.16610277384831848,0.10646084025075701],"object_linear_velocity_m_s":[0.0678672252561149,0.11220348676563263,8.843624570323945e-06],"object_angular_velocity_rad_s":[-0.01802466444374471,-0.015106582294355282,0.22690420410912743],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3740325530469032,"right":0.40824178576469705},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.051295119364455875},{"geom_ids":[85,90],"normal_force_n":0.04527896550841543},{"geom_ids":[85,90],"normal_force_n":0.04330132871990329},{"geom_ids":[85,90],"normal_force_n":0.04930344576950097},{"geom_ids":[86,90],"normal_force_n":0.05005657053841367},{"geom_ids":[86,90],"normal_force_n":0.042553792674533866},{"geom_ids":[86,90],"normal_force_n":0.0423613600989144},{"geom_ids":[86,90],"normal_force_n":0.04988197037276568},{"geom_ids":[88,90],"normal_force_n":0.04847705380587779},{"geom_ids":[88,90],"normal_force_n":0.05439363163513509},{"geom_ids":[88,90],"normal_force_n":0.05259879266368137},{"geom_ids":[88,90],"normal_force_n":0.046691051795113764},{"geom_ids":[89,90],"normal_force_n":0.05513539413036306},{"geom_ids":[89,90],"normal_force_n":0.055310420022684346},{"geom_ids":[89,90],"normal_force_n":0.04789592782973225},{"geom_ids":[89,90],"normal_force_n":0.047739513882109404}],"native_actuator_controls":[0.19366422677336606,1.4454801922260618,-1.115503522135712,-0.045056827134350844,0.953314111929872,0.020050352499512474,0.0],"actuator_force_native":[-0.0038046564463201094,-0.01742459137092567,-0.338784557981171,-0.36100417951454933,-0.24631861407460676,0.29782039002763405,-0.7825071221019864],"issued_joint_targets_rad":[0.1997607851576877,1.4520469617137834,-1.122431092416979,-0.04674057611251509,0.9541182322101746,0.023709466439251453],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.559999999998478,"joint_targets_rad":[0.1997607851576877,1.4520469617137834,-1.122431092416979,-0.04674057611251509,0.9541182322101746,0.023709466439251453],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.579999999998467,"qpos":[0.17779867129518026,1.4334729029348692,-1.099938631432452,-0.026884084434082602,0.9815113604872711,-0.03262834229512187,0.019589600467995006,-0.020254219730391654,0.3041387875853159,0.05148945003148042,0.1667169655147805,0.9800736686903471,-0.0004160919946977365,-0.16626801547319844,0.10867556228472225],"qvel":[0.3498116789392277,0.30224622031020976,-0.29472733224732495,-0.08703525420261975,-0.025795316788714207,0.17744511210781044,-0.00020567315053281844,-0.00023345981493987306,0.07297517836155623,0.10776383366742667,0.0028872608843073517,0.048039473378137666,-0.028369088370304007,0.19774400137392192],"joint_position_rad":[0.17779867129518026,1.4334729029348692,-1.099938631432452,-0.026884084434082602,0.9815113604872711,-0.03262834229512187],"joint_velocity_rad_s":[0.3498116789392277,0.30224622031020976,-0.29472733224732495,-0.08703525420261975,-0.025795316788714207,0.17744511210781044],"gripper_joint_position_m":[0.019589600467995006,-0.020254219730391654],"tcp_position_m":[0.30486974072838563,0.051429549824386064,0.16932120484977034],"tcp_quaternion_wxyz":[0.1710852088362999,-0.10889020373418518,0.9792204858619292,0.0001221331022142275],"object_position_m":[0.3041387875853159,0.05148945003148042,0.1667169655147805],"object_quaternion_wxyz":[0.9800736686903471,-0.0004160919946977365,-0.16626801547319844,0.10867556228472225],"object_linear_velocity_m_s":[0.07297517836155623,0.10776383366742667,0.0028872608843073517],"object_angular_velocity_rad_s":[-0.01417669479291362,-0.024443857339089034,0.2035111923701383],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37433582248826197,"right":0.408004492549374},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05100836579022044},{"geom_ids":[85,90],"normal_force_n":0.04477314343590718},{"geom_ids":[85,90],"normal_force_n":0.04335528378404202},{"geom_ids":[85,90],"normal_force_n":0.04957989662457419},{"geom_ids":[86,90],"normal_force_n":0.05036106375140324},{"geom_ids":[86,90],"normal_force_n":0.042580151045255255},{"geom_ids":[86,90],"normal_force_n":0.0424421098451009},{"geom_ids":[86,90],"normal_force_n":0.05023580821175877},{"geom_ids":[88,90],"normal_force_n":0.04821389014920313},{"geom_ids":[88,90],"normal_force_n":0.05434684495060806},{"geom_ids":[88,90],"normal_force_n":0.05310550765289812},{"geom_ids":[88,90],"normal_force_n":0.04697904782539829},{"geom_ids":[89,90],"normal_force_n":0.05523676611202799},{"geom_ids":[89,90],"normal_force_n":0.055115648797074805},{"geom_ids":[89,90],"normal_force_n":0.04744931583621612},{"geom_ids":[89,90],"normal_force_n":0.04755747122594744}],"native_actuator_controls":[0.1997607851576877,1.4520469617137834,-1.122431092416979,-0.04674057611251509,0.9541182322101746,0.023709466439251453,0.0],"actuator_force_native":[0.007910714304456334,-0.025306399237905453,-0.3257602175255272,-0.35908339612420104,-0.23523830758789366,0.29721041918201757,-0.7825556529671361],"issued_joint_targets_rad":[0.20544272680808015,1.4587307081704037,-1.1296801542764465,-0.048372130581836884,0.9549070805539195,0.02737165770487813],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.579999999998467,"joint_targets_rad":[0.20544272680808015,1.4587307081704037,-1.1296801542764465,-0.048372130581836884,0.9549070805539195,0.02737165770487813],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.599999999998456,"qpos":[0.184708449942804,1.4397342119419094,-1.1061813762925965,-0.028843173440423316,0.9810520839976605,-0.028963151549586067,0.019589635287193777,-0.02025418536285527,0.305683403082765,0.05359895344786863,0.16681137350923042,0.9798082286341557,-0.0003826527489421506,-0.16652825196879711,0.11065274499030567],"qvel":[0.32774559778824663,0.31039399691322794,-0.31331615517562694,-0.08483339465619458,-0.02463043192766201,0.1778340232266426,-0.00019586606394848035,-0.0002221410863093095,0.07786058034248527,0.10341531287524655,0.005705201680580255,0.042196023209547205,-0.03747497407190938,0.175210647329828],"joint_position_rad":[0.184708449942804,1.4397342119419094,-1.1061813762925965,-0.028843173440423316,0.9810520839976605,-0.028963151549586067],"joint_velocity_rad_s":[0.32774559778824663,0.31039399691322794,-0.31331615517562694,-0.08483339465619458,-0.02463043192766201,0.1778340232266426],"gripper_joint_position_m":[0.019589635287193777,-0.02025418536285527],"tcp_position_m":[0.3064102523782877,0.05354244716000126,0.16941377237906347],"tcp_quaternion_wxyz":[0.17136581276935642,-0.1108714638403651,0.9789490556259467,0.00015234454290056153],"object_position_m":[0.305683403082765,0.05359895344786863,0.16681137350923042],"object_quaternion_wxyz":[0.9798082286341557,-0.0003826527489421506,-0.16652825196879711,0.11065274499030567],"object_linear_velocity_m_s":[0.07786058034248527,0.10341531287524655,0.005705201680580255],"object_angular_velocity_rad_s":[-0.010248015556243729,-0.033728003277837995,0.18066833968954688],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37466743675686587,"right":0.4077437198185976},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05074528387480011},{"geom_ids":[85,90],"normal_force_n":0.044308839258994606},{"geom_ids":[85,90],"normal_force_n":0.043413164262198205},{"geom_ids":[85,90],"normal_force_n":0.04984245835388084},{"geom_ids":[86,90],"normal_force_n":0.05064942735255907},{"geom_ids":[86,90],"normal_force_n":0.04261264815475406},{"geom_ids":[86,90],"normal_force_n":0.04252538641574374},{"geom_ids":[86,90],"normal_force_n":0.050570229083935284},{"geom_ids":[88,90],"normal_force_n":0.047964363441100284},{"geom_ids":[88,90],"normal_force_n":0.05429725509171523},{"geom_ids":[88,90],"normal_force_n":0.053572352766887835},{"geom_ids":[88,90],"normal_force_n":0.04724360650669411},{"geom_ids":[89,90],"normal_force_n":0.05516196571654045},{"geom_ids":[89,90],"normal_force_n":0.055091190418276495},{"geom_ids":[89,90],"normal_force_n":0.047174922311427156},{"geom_ids":[89,90],"normal_force_n":0.04723806356595597}],"native_actuator_controls":[0.20544272680808015,1.4587307081704037,-1.1296801542764465,-0.048372130581836884,0.9549070805539195,0.02737165770487813,0.0],"actuator_force_native":[0.02001416028085856,-0.03225028628659743,-0.31332146282986173,-0.3569913123755697,-0.22450438654591842,0.29659705770467804,-0.7826060811680087],"issued_joint_targets_rad":[0.21072311403366542,1.4655153541336368,-1.1372349706110605,-0.04995487168064161,0.9556834399470622,0.03103684845041393],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.599999999998456,"joint_targets_rad":[0.21072311403366542,1.4655153541336368,-1.1372349706110605,-0.04995487168064161,0.9556834399470622,0.03103684845041393],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.619999999998445,"qpos":[0.19117637264191426,1.446148382753332,-1.1127858751379092,-0.030748265948267458,0.9806163811368821,-0.025294876639934693,0.01958968330919149,-0.02025413571393861,0.30732351933374147,0.05562317663506989,0.16696137448343257,0.9795491981893554,-0.0003521862949461117,-0.166882906285488,0.11239813112821562],"qvel":[0.3062997523263646,0.31755719102732627,-0.33086221336747024,-0.0826919425533979,-0.023493365083585585,0.17821440950516002,-0.0001858894242671153,-0.00021065140857612927,0.0825291566760686,0.09916831694298854,0.00845648682008564,0.03659575643735149,-0.046506834677558985,0.15326148439891651],"joint_position_rad":[0.19117637264191426,1.446148382753332,-1.1127858751379092,-0.030748265948267458,0.9806163811368821,-0.025294876639934693],"joint_velocity_rad_s":[0.3062997523263646,0.31755719102732627,-0.33086221336747024,-0.0826919425533979,-0.023493365083585585,0.17821440950516002],"gripper_joint_position_m":[0.01958968330919149,-0.02025413571393861],"tcp_position_m":[0.3080462660724652,0.05556938307524015,0.16956179462100507],"tcp_quaternion_wxyz":[0.1717397696466293,-0.11262052054137409,0.978683829258057,0.00017950905052651673],"object_position_m":[0.30732351933374147,0.05562317663506989,0.16696137448343257],"object_quaternion_wxyz":[0.9795491981893554,-0.0003521862949461117,-0.166882906285488,0.11239813112821562],"object_linear_velocity_m_s":[0.0825291566760686,0.09916831694298854,0.00845648682008564],"object_angular_velocity_rad_s":[-0.006251430485160779,-0.042912905211429694,0.1584633075645944],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37501426861883597,"right":0.40746702477613433},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05050484683440328},{"geom_ids":[85,90],"normal_force_n":0.0438856141416647},{"geom_ids":[85,90],"normal_force_n":0.04347339241785487},{"geom_ids":[85,90],"normal_force_n":0.05008888681859253},{"geom_ids":[86,90],"normal_force_n":0.05091933004911499},{"geom_ids":[86,90],"normal_force_n":0.04264978604307878},{"geom_ids":[86,90],"normal_force_n":0.042609595528326535},{"geom_ids":[86,90],"normal_force_n":0.05088281678580026},{"geom_ids":[88,90],"normal_force_n":0.04773001372763671},{"geom_ids":[88,90],"normal_force_n":0.054245760391311904},{"geom_ids":[88,90],"normal_force_n":0.05399930492652337},{"geom_ids":[88,90],"normal_force_n":0.047485370415177086},{"geom_ids":[89,90],"normal_force_n":0.0550867739636616},{"geom_ids":[89,90],"normal_force_n":0.05506268848459302},{"geom_ids":[89,90],"normal_force_n":0.04691783792967322},{"geom_ids":[89,90],"normal_force_n":0.046939274937557375}],"native_actuator_controls":[0.21072311403366542,1.4655153541336368,-1.1372349706110605,-0.04995487168064161,0.9556834399470622,0.03103684845041393,0.0],"actuator_force_native":[0.03224054970827339,-0.03842824471223594,-0.3016165710147476,-0.35480451652797673,-0.21408936427281944,0.2959956366457462,-0.782657885246324],"issued_joint_targets_rad":[0.21561547581877505,1.4723866644605466,-1.1450810677422392,-0.05149236990539452,0.9564505211998617,0.0347051233600653],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.619999999998445,"joint_targets_rad":[0.21561547581877505,1.4723866644605466,-1.1450810677422392,-0.05149236990539452,0.9564505211998617,0.0347051233600653],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.639999999998434,"qpos":[0.19721588596130382,1.4526961608695255,-1.1197305878387274,-0.03260094156543035,0.9802034824418971,-0.021623378120745416,0.019589748661001646,-0.020254067006899888,0.30905454510317776,0.057564194221613386,0.167165357570848,0.979297147594346,-0.0003232945067347286,-0.16733076901439584,0.1139184178932094],"qvel":[0.28553893742742875,0.32383089328608067,-0.34739786794617084,-0.08060830545529207,-0.022376316269841785,0.17857378421003628,-0.00017643748117218285,-0.00019980423058787972,0.08697741041953147,0.09503157584832646,0.01112859013472927,0.031259896426970094,-0.055397866673390625,0.1319718650135591],"joint_position_rad":[0.19721588596130382,1.4526961608695255,-1.1197305878387274,-0.03260094156543035,0.9802034824418971,-0.021623378120745416],"joint_velocity_rad_s":[0.28553893742742875,0.32383089328608067,-0.34739786794617084,-0.08060830545529207,-0.022376316269841785,0.17857378421003628],"gripper_joint_position_m":[0.019589748661001646,-0.020254067006899888],"tcp_position_m":[0.3097731269382226,0.05751246165091774,0.16976369030208194],"tcp_quaternion_wxyz":[0.17220591263192567,-0.11414403550124147,0.97842537823604,0.00020503111665799777],"object_position_m":[0.30905454510317776,0.057564194221613386,0.167165357570848],"object_quaternion_wxyz":[0.979297147594346,-0.0003232945067347286,-0.16733076901439584,0.1139184178932094],"object_linear_velocity_m_s":[0.08697741041953147,0.09503157584832646,0.01112859013472927],"object_angular_velocity_rad_s":[-0.002208868279354433,-0.05192967013374532,0.1369711946814718],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3753581755286867,"right":0.4071889897755899},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.050283950068807114},{"geom_ids":[85,90],"normal_force_n":0.04350101515526404},{"geom_ids":[85,90],"normal_force_n":0.04353420553460164},{"geom_ids":[85,90],"normal_force_n":0.05031670508622865},{"geom_ids":[86,90],"normal_force_n":0.05116820277052457},{"geom_ids":[86,90],"normal_force_n":0.042689888691818716},{"geom_ids":[86,90],"normal_force_n":0.04269313649956647},{"geom_ids":[86,90],"normal_force_n":0.05117107172187552},{"geom_ids":[88,90],"normal_force_n":0.04751284355676966},{"geom_ids":[88,90],"normal_force_n":0.054193637371053975},{"geom_ids":[88,90],"normal_force_n":0.054388456083212695},{"geom_ids":[88,90],"normal_force_n":0.04770717696873467},{"geom_ids":[89,90],"normal_force_n":0.0550122858306224},{"geom_ids":[89,90],"normal_force_n":0.05503132738296624},{"geom_ids":[89,90],"normal_force_n":0.04668015486600103},{"geom_ids":[89,90],"normal_force_n":0.0466631077162293}],"native_actuator_controls":[0.21561547581877505,1.4723866644605466,-1.1450810677422392,-0.05149236990539452,0.9564505211998617,0.0347051233600653,0.0],"actuator_force_native":[0.044272501460557834,-0.04391417914871454,-0.2910490525500933,-0.3526156063221064,-0.20396513801559024,0.2954243384930528,-0.782707759034205],"issued_joint_targets_rad":[0.2201335065322347,1.4793314665263528,-1.153204233818412,-0.05298754156807949,0.9572118976499862,0.038376621879254585],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.639999999998434,"joint_targets_rad":[0.2201335065322347,1.4793314665263528,-1.153204233818412,-0.05298754156807949,0.9572118976499862,0.038376621879254585],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.659999999998423,"qpos":[0.2028412895260568,1.4593609973341681,-1.1269968339682241,-0.03440275653401149,0.9798130819903721,-0.017948879098164713,0.019589824568178853,-0.020253986947560223,0.3108723418225966,0.05942422768935176,0.167421895007881,0.9790523900580078,-0.00029464067348026666,-0.16787041400299105,0.11522089572226396],"qvel":[0.26548719214270966,0.3293260802196016,-0.36305298107702294,-0.07858143938814269,-0.02127214198419108,0.17891494204190453,-0.00016779082388065192,-0.00018984975041830732,0.0912284982338297,0.09100766482319027,0.013734659844829024,0.02618767127885152,-0.0641677967722232,0.11136138440779197],"joint_position_rad":[0.2028412895260568,1.4593609973341681,-1.1269968339682241,-0.03440275653401149,0.9798130819903721,-0.017948879098164713],"joint_velocity_rad_s":[0.26548719214270966,0.3293260802196016,-0.36305298107702294,-0.07858143938814269,-0.02127214198419108,0.17891494204190453],"gripper_joint_position_m":[0.019589824568178853,-0.020253986947560223],"tcp_position_m":[0.3115866452682561,0.05937392428633194,0.1700180572392026],"tcp_quaternion_wxyz":[0.17276294143126875,-0.11544927746748256,0.9781740015922915,0.00023023721589179036],"object_position_m":[0.3108723418225966,0.05942422768935176,0.167421895007881],"object_quaternion_wxyz":[0.9790523900580078,-0.00029464067348026666,-0.16787041400299105,0.11522089572226396],"object_linear_velocity_m_s":[0.0912284982338297,0.09100766482319027,0.013734659844829024],"object_angular_velocity_rad_s":[0.0018743015104271538,-0.06079680495983454,0.11621055764152584],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37569020327059405,"right":0.4069170975693776},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05008011893876769},{"geom_ids":[85,90],"normal_force_n":0.04315267261314549},{"geom_ids":[85,90],"normal_force_n":0.04359494173018711},{"geom_ids":[85,90],"normal_force_n":0.050525099608517296},{"geom_ids":[86,90],"normal_force_n":0.051395211141505},{"geom_ids":[86,90],"normal_force_n":0.04273231153877641},{"geom_ids":[86,90],"normal_force_n":0.042775534105499766},{"geom_ids":[86,90],"normal_force_n":0.051434313594195244},{"geom_ids":[88,90],"normal_force_n":0.04731349226397989},{"geom_ids":[88,90],"normal_force_n":0.05414131827098144},{"geom_ids":[88,90],"normal_force_n":0.054742003064659726},{"geom_ids":[88,90],"normal_force_n":0.04791144488130171},{"geom_ids":[89,90],"normal_force_n":0.05493872966648656},{"geom_ids":[89,90],"normal_force_n":0.054997512285843035},{"geom_ids":[89,90],"normal_force_n":0.04646253737412179},{"geom_ids":[89,90],"normal_force_n":0.04641005976200348}],"native_actuator_controls":[0.2201335065322347,1.4793314665263528,-1.153204233818412,-0.05298754156807949,0.9572118976499862,0.038376621879254585,0.0],"actuator_force_native":[0.055941399780685686,-0.04899286572323547,-0.28132708262991457,-0.3504842044220067,-0.19410363042757162,0.2948825967113362,-0.7827540286077509],"issued_joint_targets_rad":[0.22429056273600462,1.486338672767505,-1.1615929232864264,-0.054442617663754536,0.9579718547783619,0.042051120901835284],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.659999999998423,"joint_targets_rad":[0.22429056273600462,1.486338672767505,-1.1615929232864264,-0.054442617663754536,0.9579718547783619,0.042051120901835284],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.679999999998412,"qpos":[0.20806445837415594,1.4661281477510997,-1.1345680730383318,-0.03615430465531116,0.979444936328236,-0.014271673276057469,0.019589888382866388,-0.020253917791494158,0.312773263285859,0.06120482663834753,0.16772979964211776,0.9788151700314782,-0.0002647016201556221,-0.16850055498131236,0.11631146039961317],"qvel":[0.24606959281956106,0.33412222836372174,-0.37792625555162873,-0.07665318076943656,-0.020178659836904048,0.17925214242206325,-0.0001583717795043589,-0.00017896050648931976,0.09530637981694308,0.08705887790651631,0.016287896678283557,0.021293449337512736,-0.07283663999256046,0.09138238029220197],"joint_position_rad":[0.20806445837415594,1.4661281477510997,-1.1345680730383318,-0.03615430465531116,0.979444936328236,-0.014271673276057469],"joint_velocity_rad_s":[0.24606959281956106,0.33412222836372174,-0.37792625555162873,-0.07665318076943656,-0.020178659836904048,0.17925214242206325],"gripper_joint_position_m":[0.019589888382866388,-0.020253917791494158],"tcp_position_m":[0.31348313056625166,0.061155316504505744,0.17032373323458772],"tcp_quaternion_wxyz":[0.1734096689640197,-0.11654218073295357,0.9779299264199007,0.00025657779482102786],"object_position_m":[0.312773263285859,0.06120482663834753,0.16772979964211776],"object_quaternion_wxyz":[0.9788151700314782,-0.0002647016201556221,-0.16850055498131236,0.11631146039961317],"object_linear_velocity_m_s":[0.09530637981694308,0.08705887790651631,0.016287896678283557],"object_angular_velocity_rad_s":[0.005937019502884385,-0.0695501719772754,0.0961085423639205],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3760387711567761,"right":0.40663090843523214},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04989556390123159},{"geom_ids":[85,90],"normal_force_n":0.04284086588586446},{"geom_ids":[85,90],"normal_force_n":0.04365887591015187},{"geom_ids":[85,90],"normal_force_n":0.05071925199289249},{"geom_ids":[86,90],"normal_force_n":0.05160577602836054},{"geom_ids":[86,90],"normal_force_n":0.042780092100519994},{"geom_ids":[86,90],"normal_force_n":0.04286011739087224},{"geom_ids":[86,90],"normal_force_n":0.05167822794688293},{"geom_ids":[88,90],"normal_force_n":0.04712782744676488},{"geom_ids":[88,90],"normal_force_n":0.05408646567967345},{"geom_ids":[88,90],"normal_force_n":0.05506060636533604},{"geom_ids":[88,90],"normal_force_n":0.048097044462694125},{"geom_ids":[89,90],"normal_force_n":0.05486369908094417},{"geom_ids":[89,90],"normal_force_n":0.05495913054215072},{"geom_ids":[89,90],"normal_force_n":0.0462606290879675},{"geom_ids":[89,90],"normal_force_n":0.046175505769701176}],"native_actuator_controls":[0.22429056273600462,1.486338672767505,-1.1615929232864264,-0.054442617663754536,0.9579718547783619,0.042051120901835284,0.0],"actuator_force_native":[0.0677403848500866,-0.05376914050619064,-0.2723567420894284,-0.34826661649055213,-0.18446282574338646,0.29434972814583266,-0.7828036764171338],"issued_joint_targets_rad":[0.22809764941821675,1.4933980169856653,-1.1702369980153913,-0.05585878959329637,0.9587345797262634,0.04572832672394253],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.679999999998412,"joint_targets_rad":[0.22809764941821675,1.4933980169856653,-1.1702369980153913,-0.05585878959329637,0.9587345797262634,0.04572832672394253],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.6999999999984,"qpos":[0.21289870582675163,1.4729843277787578,-1.1424296323100156,-0.03785757808658543,0.979098847951084,-0.010591845391778525,0.019589955353295087,-0.020253843449686896,0.3147539675511598,0.06290761465223933,0.16808815104616984,0.978585382264826,-0.00023262351025239936,-0.16922017967218855,0.11719695514653242],"qvel":[0.2273140214324283,0.3382849382252874,-0.392102875857436,-0.07479705623786383,-0.019093168510636447,0.17957508023010527,-0.00014885526989334293,-0.00016806917820130315,0.09922204423003439,0.08319651927513812,0.01880023912230401,0.016615063628323774,-0.08142832623643768,0.07205059650254583],"joint_position_rad":[0.21289870582675163,1.4729843277787578,-1.1424296323100156,-0.03785757808658543,0.979098847951084,-0.010591845391778525],"joint_velocity_rad_s":[0.2273140214324283,0.3382849382252874,-0.392102875857436,-0.07479705623786383,-0.019093168510636447,0.17957508023010527],"gripper_joint_position_m":[0.019589955353295087,-0.020253843449686896],"tcp_position_m":[0.31545918688993324,0.0628583059265979,0.1706798182594897],"tcp_quaternion_wxyz":[0.17414516081870007,-0.11742956843099146,0.9776930388622055,0.00028492442193161794],"object_position_m":[0.3147539675511598,0.06290761465223933,0.16808815104616984],"object_quaternion_wxyz":[0.978585382264826,-0.00023262351025239936,-0.16922017967218855,0.11719695514653242],"object_linear_velocity_m_s":[0.09922204423003439,0.08319651927513812,0.01880023912230401],"object_angular_velocity_rad_s":[0.010011683897032083,-0.07820410581245538,0.07669292750334818],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37638638911024114,"right":0.40634452767053664},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.049727414570785326},{"geom_ids":[85,90],"normal_force_n":0.04256299892533883},{"geom_ids":[85,90],"normal_force_n":0.043724138086236326},{"geom_ids":[85,90],"normal_force_n":0.05089698317608532},{"geom_ids":[86,90],"normal_force_n":0.05179767859806622},{"geom_ids":[86,90],"normal_force_n":0.042831398081202524},{"geom_ids":[86,90],"normal_force_n":0.042945121028370586},{"geom_ids":[86,90],"normal_force_n":0.051900656644156024},{"geom_ids":[88,90],"normal_force_n":0.046957655137743526},{"geom_ids":[88,90],"normal_force_n":0.054030475248473216},{"geom_ids":[88,90],"normal_force_n":0.05534637048669287},{"geom_ids":[88,90],"normal_force_n":0.04826650929339728},{"geom_ids":[89,90],"normal_force_n":0.05478847022542325},{"geom_ids":[89,90],"normal_force_n":0.054917525027091116},{"geom_ids":[89,90],"normal_force_n":0.04607628604742565},{"geom_ids":[89,90],"normal_force_n":0.04596123620428971}],"native_actuator_controls":[0.22809764941821675,1.4933980169856653,-1.1702369980153913,-0.05585878959329637,0.9587345797262634,0.04572832672394253,0.0],"actuator_force_native":[0.07934538015506476,-0.05832955457383093,-0.2640748771428747,-0.3460631790791182,-0.17500292948225216,0.29383910081205267,-0.7828539377823367],"issued_joint_targets_rad":[0.2315659918592412,1.500500235138621,-1.1791282065140987,-0.057237896197134305,0.9595048202383969,0.04940815460822147],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.6999999999984,"joint_targets_rad":[0.2315659918592412,1.500500235138621,-1.1791282065140987,-0.057237896197134305,0.9595048202383969,0.04940815460822147],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.71999999999839,"qpos":[0.2173576691634348,1.4799174758601668,-1.1505684918555374,-0.03951429631240299,0.9787746967447154,-0.006909544064074791,0.019590027471241795,-0.020253763242607414,0.3168113399989239,0.06453432765756117,0.1684962782509476,0.9783626973703512,-0.00019743031863042064,-0.17002846201825605,0.11788433110123453],"qvel":[0.20922007664619038,0.34187177004468006,-0.40566416612638134,-0.07300133768654953,-0.018011169092207898,0.17988203456671017,-0.00013985923064549662,-0.00015782235931364409,0.10298742227799315,0.07942107239279697,0.021284593529609454,0.012155674790878774,-0.08996705500637578,0.05336152322332867],"joint_position_rad":[0.2173576691634348,1.4799174758601668,-1.1505684918555374,-0.03951429631240299,0.9787746967447154,-0.006909544064074791],"joint_velocity_rad_s":[0.20922007664619038,0.34187177004468006,-0.40566416612638134,-0.07300133768654953,-0.018011169092207898,0.17988203456671017],"gripper_joint_position_m":[0.019590027471241795,-0.020253763242607414],"tcp_position_m":[0.3175116519654931,0.06448465163065466,0.1710856624496471],"tcp_quaternion_wxyz":[0.17496866663566085,-0.1181184019404653,0.9774629961396691,0.00031622212229917514],"object_position_m":[0.3168113399989239,0.06453432765756117,0.1684962782509476],"object_quaternion_wxyz":[0.9783626973703512,-0.00019743031863042064,-0.17002846201825605,0.11788433110123453],"object_linear_velocity_m_s":[0.10298742227799315,0.07942107239279697,0.021284593529609454],"object_angular_velocity_rad_s":[0.014105598099438938,-0.08678033186283944,0.05796110489706211],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3767079773887831,"right":0.4060662930604085},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04957229203506021},{"geom_ids":[85,90],"normal_force_n":0.04231229137561274},{"geom_ids":[85,90],"normal_force_n":0.04378669095121865},{"geom_ids":[85,90],"normal_force_n":0.051057645789320365},{"geom_ids":[86,90],"normal_force_n":0.04288143096687011},{"geom_ids":[86,90],"normal_force_n":0.04302602173800463},{"geom_ids":[86,90],"normal_force_n":0.05210126723737593},{"geom_ids":[86,90],"normal_force_n":0.051970337295320475},{"geom_ids":[88,90],"normal_force_n":0.04680177096637252},{"geom_ids":[88,90],"normal_force_n":0.05397541250185655},{"geom_ids":[88,90],"normal_force_n":0.055604050964475626},{"geom_ids":[88,90],"normal_force_n":0.04842133188426084},{"geom_ids":[89,90],"normal_force_n":0.05471525895999423},{"geom_ids":[89,90],"normal_force_n":0.05487517008749521},{"geom_ids":[89,90],"normal_force_n":0.04590789523077951},{"geom_ids":[89,90],"normal_force_n":0.04576540246517395}],"native_actuator_controls":[0.2315659918592412,1.500500235138621,-1.1791282065140987,-0.057237896197134305,0.9595048202383969,0.04940815460822147,0.0],"actuator_force_native":[0.09056543243356074,-0.06273810794705525,-0.25645634205298506,-0.34393730695650504,-0.16568201142487204,0.2933539348728973,-0.7829018026964443],"issued_joint_targets_rad":[0.23470605775600867,1.507636647760994,-1.1882598940741502,-0.05858103085762277,0.960287853218156,0.05309045593592521],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.71999999999839,"joint_targets_rad":[0.23470605775600867,1.507636647760994,-1.1882598940741502,-0.05858103085762277,0.960287853218156,0.05309045593592521],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.739999999998378,"qpos":[0.22145465749174,1.48691624251909,-1.1589723267902061,-0.041125887199251726,0.9784723305882082,-0.003224853976295152,0.01959009940612855,-0.02025368412086366,0.3189423152891751,0.06608658534740092,0.1689536162861993,0.9781466454483282,-0.00015808735254774713,-0.17092463160506366,0.1183802572950592],"qvel":[0.19176294977546532,0.34492523127997315,-0.41865399193127883,-0.07125690512962755,-0.01692649733650997,0.18016856396850617,-0.00013148011526828662,-0.00014828622186994616,0.10660669543127053,0.07572339228660338,0.023746246827138977,0.007907718931541753,-0.09844963011981939,0.03529483359035053],"joint_position_rad":[0.22145465749174,1.48691624251909,-1.1589723267902061,-0.041125887199251726,0.9784723305882082,-0.003224853976295152],"joint_velocity_rad_s":[0.19176294977546532,0.34492523127997315,-0.41865399193127883,-0.07125690512962755,-0.01692649733650997,0.18016856396850617],"gripper_joint_position_m":[0.01959009940612855,-0.02025368412086366],"tcp_position_m":[0.3196374167496029,0.06603598474534868,0.17154072314553237],"tcp_quaternion_wxyz":[0.17587945068691524,-0.11861540246476475,0.9772393164467955,0.0003514467109217198],"object_position_m":[0.3189423152891751,0.06608658534740092,0.1689536162861993],"object_quaternion_wxyz":[0.9781466454483282,-0.00015808735254774713,-0.17092463160506366,0.1183802572950592],"object_linear_velocity_m_s":[0.10660669543127053,0.07572339228660338,0.023746246827138977],"object_angular_velocity_rad_s":[0.018215154730503186,-0.09527595627441683,0.03989094210142547],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3770237267210622,"right":0.40580142966322535},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.049429334577749055},{"geom_ids":[85,90],"normal_force_n":0.042090856485846304},{"geom_ids":[85,90],"normal_force_n":0.04385068677166265},{"geom_ids":[85,90],"normal_force_n":0.051202413526095295},{"geom_ids":[86,90],"normal_force_n":0.0429353584095794},{"geom_ids":[86,90],"normal_force_n":0.04310815259840194},{"geom_ids":[86,90],"normal_force_n":0.05228169139374904},{"geom_ids":[86,90],"normal_force_n":0.05212523295797852},{"geom_ids":[88,90],"normal_force_n":0.04666191793956126},{"geom_ids":[88,90],"normal_force_n":0.05391994275675702},{"geom_ids":[88,90],"normal_force_n":0.05583428615601231},{"geom_ids":[88,90],"normal_force_n":0.04856523226578424},{"geom_ids":[89,90],"normal_force_n":0.05464215891277842},{"geom_ids":[89,90],"normal_force_n":0.05483034587953864},{"geom_ids":[89,90],"normal_force_n":0.045757583969157654},{"geom_ids":[89,90],"normal_force_n":0.045589961783635884}],"native_actuator_controls":[0.23470605775600867,1.507636647760994,-1.1882598940741502,-0.05858103085762277,0.960287853218156,0.05309045593592521,0.0],"actuator_force_native":[0.10129727226416563,-0.06699373704755374,-0.24973542305913554,-0.34192122068670416,-0.15645502769575792,0.29290025316944435,-0.7829465756688005],"issued_joint_targets_rad":[0.23752693770179995,1.5147983882383973,-1.1976260514042816,-0.05988848775729547,0.9610895617466794,0.05677514602370484],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.739999999998378,"joint_targets_rad":[0.23752693770179995,1.5147983882383973,-1.1976260514042816,-0.05988848775729547,0.9610895617466794,0.05677514602370484],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.759999999998367,"qpos":[0.22520091677048948,1.4939702812472702,-1.1676301509023668,-0.04269315599346017,0.9781918059421052,0.00046197063629519104,0.01959015714181785,-0.02025361922659586,0.3211441015056444,0.06756543756368162,0.16945979529255992,0.9779367284027524,-0.00011353539079630004,-0.17190792722031936,0.11869038254824633],"qvel":[0.17486244346649138,0.34749292117449904,-0.4311457974442503,-0.06957262790066114,-0.015830214184650096,0.18043907391610434,-0.0001229449621611867,-0.00013848128057945038,0.11009609757244831,0.07207446024760333,0.026198077966314053,0.0038226487328120555,-0.10689068231794192,0.017786701271080747],"joint_position_rad":[0.22520091677048948,1.4939702812472702,-1.1676301509023668,-0.04269315599346017,0.9781918059421052,0.00046197063629519104],"joint_velocity_rad_s":[0.17486244346649138,0.34749292117449904,-0.4311457974442503,-0.06957262790066114,-0.015830214184650096,0.18043907391610434],"gripper_joint_position_m":[0.01959015714181785,-0.02025361922659586],"tcp_position_m":[0.3218336529116547,0.06751335375690785,0.1720446511585615],"tcp_quaternion_wxyz":[0.17687682821582135,-0.11892624469207748,0.9770214852397477,0.00039159120109833227],"object_position_m":[0.3211441015056444,0.06756543756368162,0.16945979529255992],"object_quaternion_wxyz":[0.9779367284027524,-0.00011353539079630004,-0.17190792722031936,0.11869038254824633],"object_linear_velocity_m_s":[0.11009609757244831,0.07207446024760333,0.026198077966314053],"object_angular_velocity_rad_s":[0.022317895860888403,-0.10371338620459568,0.022406302643569336],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37733446316359226,"right":0.4055411327390619},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04929812165376096},{"geom_ids":[85,90],"normal_force_n":0.041894232593029324},{"geom_ids":[85,90],"normal_force_n":0.043915144848945306},{"geom_ids":[85,90],"normal_force_n":0.05133435851819008},{"geom_ids":[86,90],"normal_force_n":0.04299139460961689},{"geom_ids":[86,90],"normal_force_n":0.043190073533083566},{"geom_ids":[86,90],"normal_force_n":0.05244550714262674},{"geom_ids":[86,90],"normal_force_n":0.05226563026433941},{"geom_ids":[88,90],"normal_force_n":0.04653425375993525},{"geom_ids":[88,90],"normal_force_n":0.05386415712144942},{"geom_ids":[88,90],"normal_force_n":0.0560405789429031},{"geom_ids":[88,90],"normal_force_n":0.04869777467885042},{"geom_ids":[89,90],"normal_force_n":0.054569426639343485},{"geom_ids":[89,90],"normal_force_n":0.054783636094828045},{"geom_ids":[89,90],"normal_force_n":0.04562101908403732},{"geom_ids":[89,90],"normal_force_n":0.04543028641771485}],"native_actuator_controls":[0.23752693770179995,1.5147983882383973,-1.1976260514042816,-0.05988848775729547,0.9610895617466794,0.05677514602370484,0.0],"actuator_force_native":[0.1117694571723824,-0.07121604658232172,-0.2439430529319253,-0.3399501310501063,-0.14727712067728405,0.29247314299993993,-0.782991560861908],"issued_joint_targets_rad":[0.24003530949324553,1.521976357218026,-1.2072218104272956,-0.06115967169121264,0.9619167778677074,0.06046197063629519],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.759999999998367,"joint_targets_rad":[0.24003530949324553,1.521976357218026,-1.2072218104272956,-0.06115967169121264,0.9619167778677074,0.06046197063629519],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.779999999998356,"qpos":[0.22860653981160314,1.5010703591627719,-1.1765331644969281,-0.04421694235437624,0.97793345150165,0.004150623539321647,0.019590200314012176,-0.020253567947665623,0.32341435682188746,0.06897156646110827,0.1700148687565535,0.9777323074171305,-6.288791172732685e-05,-0.17297797944679608,0.11881982033477087],"qvel":[0.1584570197234834,0.34961496330686015,-0.4432391078774801,-0.06793758403604772,-0.014715494321150569,0.18069645105605367,-0.0001139852030529798,-0.00012822532932963936,0.11347634977586427,0.0684576198755266,0.02866329315023475,-0.00011647708396619613,-0.11534659211243711,0.0007670987635417655],"joint_position_rad":[0.22860653981160314,1.5010703591627719,-1.1765331644969281,-0.04421694235437624,0.97793345150165,0.004150623539321647],"joint_velocity_rad_s":[0.1584570197234834,0.34961496330686015,-0.4432391078774801,-0.06793758403604772,-0.014715494321150569,0.18069645105605367],"gripper_joint_position_m":[0.019590200314012176,-0.020253567947665623],"tcp_position_m":[0.32409798181268434,0.06891745272798658,0.17259751746506116],"tcp_quaternion_wxyz":[0.1779605233754792,-0.11905606069850504,0.976808842675566,0.00043749480092237163],"object_position_m":[0.32341435682188746,0.06897156646110827,0.1700148687565535],"object_quaternion_wxyz":[0.9777323074171305,-6.288791172732685e-05,-0.17297797944679608,0.11881982033477087],"object_linear_velocity_m_s":[0.11347634977586427,0.0684576198755266,0.02866329315023475],"object_angular_velocity_rad_s":[0.02643233287925682,-0.11214813438936358,0.005437467326102882],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3776423443425008,"right":0.4052844418645175},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04917744859444238},{"geom_ids":[85,90],"normal_force_n":0.041720096803132795},{"geom_ids":[85,90],"normal_force_n":0.043980368775655254},{"geom_ids":[85,90],"normal_force_n":0.051454912662803214},{"geom_ids":[86,90],"normal_force_n":0.04304970311330388},{"geom_ids":[86,90],"normal_force_n":0.04327219712649424},{"geom_ids":[86,90],"normal_force_n":0.05259451413483994},{"geom_ids":[86,90],"normal_force_n":0.052393103131829113},{"geom_ids":[88,90],"normal_force_n":0.04641755986133528},{"geom_ids":[88,90],"normal_force_n":0.05380787000112368},{"geom_ids":[88,90],"normal_force_n":0.056225304400180746},{"geom_ids":[88,90],"normal_force_n":0.048820298460416245},{"geom_ids":[89,90],"normal_force_n":0.05449676220777397},{"geom_ids":[89,90],"normal_force_n":0.05473498440398834},{"geom_ids":[89,90],"normal_force_n":0.0454968529990265},{"geom_ids":[89,90],"normal_force_n":0.04528480953067274}],"native_actuator_controls":[0.24003530949324553,1.521976357218026,-1.2072218104272956,-0.06115967169121264,0.9619167778677074,0.06046197063629519,0.0],"actuator_force_native":[0.12201647591397347,-0.07559497211396149,-0.23889613504199758,-0.3380212532932174,-0.13809349485770106,0.2920687943856549,-0.7830380865452221],"issued_joint_targets_rad":[0.24223589550204827,1.5291613433471198,-1.2170445836597716,-0.06239354258420009,0.9627778123289185,0.06415062353932165],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.779999999998356,"joint_targets_rad":[0.24223589550204827,1.5291613433471198,-1.2170445836597716,-0.06239354258420009,0.9627778123289185,0.06415062353932165],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.799999999998345,"qpos":[0.23168133227147578,1.5082077607911124,-1.1856742860712322,-0.04569804373667178,0.9776977105117062,0.007840880931052771,0.019590235033292124,-0.020253524593432663,0.32575103024781654,0.07030557889097488,0.17061936154237065,0.9775325410210441,-5.257499059913703e-06,-0.17413498706355465,0.11877347135481951],"qvel":[0.14250859827103105,0.3513075705081743,-0.4550122469895923,-0.06632284468794224,-0.013576161807296086,0.18093824554701865,-0.00010513957387392472,-0.0001181566162086145,0.11675994656026616,0.06486696972015847,0.03116582128850242,-0.0038996191522618503,-0.12387607644524846,-0.015816392919066898],"joint_position_rad":[0.23168133227147578,1.5082077607911124,-1.1856742860712322,-0.04569804373667178,0.9776977105117062,0.007840880931052771],"joint_velocity_rad_s":[0.14250859827103105,0.3513075705081743,-0.4550122469895923,-0.06632284468794224,-0.013576161807296086,0.18093824554701865],"gripper_joint_position_m":[0.019590235033292124,-0.020253524593432663],"tcp_position_m":[0.3264283122192097,0.07024890390679323,0.1731998639128219],"tcp_quaternion_wxyz":[0.17913080382568256,-0.11900977744237103,0.9766005262652865,0.0004899920893868483],"object_position_m":[0.32575103024781654,0.07030557889097488,0.17061936154237065],"object_quaternion_wxyz":[0.9775325410210441,-5.257499059913703e-06,-0.17413498706355465,0.11877347135481951],"object_linear_velocity_m_s":[0.11675994656026616,0.06486696972015847,0.03116582128850242],"object_angular_velocity_rad_s":[0.030596557706571024,-0.12063245371725692,-0.011059357876221691],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37793536457313837,"right":0.40504065342622486},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.049064341208700984},{"geom_ids":[85,90],"normal_force_n":0.041564122900050855},{"geom_ids":[85,90],"normal_force_n":0.04404480628617603},{"geom_ids":[85,90],"normal_force_n":0.05156389053590297},{"geom_ids":[86,90],"normal_force_n":0.0431085620377735},{"geom_ids":[86,90],"normal_force_n":0.04335306525562265},{"geom_ids":[86,90],"normal_force_n":0.05272893808666561},{"geom_ids":[86,90],"normal_force_n":0.05250763826224574},{"geom_ids":[88,90],"normal_force_n":0.046311739719273284},{"geom_ids":[88,90],"normal_force_n":0.05375226814409775},{"geom_ids":[88,90],"normal_force_n":0.05639236482077374},{"geom_ids":[88,90],"normal_force_n":0.04893541642958549},{"geom_ids":[89,90],"normal_force_n":0.054425254353050775},{"geom_ids":[89,90],"normal_force_n":0.05468573844030179},{"geom_ids":[89,90],"normal_force_n":0.04538482918262397},{"geom_ids":[89,90],"normal_force_n":0.045153042336518075}],"native_actuator_controls":[0.24223589550204827,1.5291613433471198,-1.2170445836597716,-0.06239354258420009,0.9627778123289185,0.06415062353932165,0.0],"actuator_force_native":[0.1318220670906456,-0.08025124806027861,-0.2345625721352036,-0.3362057304614212,-0.12883473911693422,0.29169005776216084,-0.7830837034623154],"issued_joint_targets_rad":[0.24413133006555832,1.5363431774808012,-1.227093930015692,-0.06358818189425672,0.963682944987409,0.06784088093105277],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.799999999998345,"joint_targets_rad":[0.24413133006555832,1.5363431774808012,-1.227093930015692,-0.06358818189425672,0.963682944987409,0.06784088093105277],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.819999999998334,"qpos":[0.23443394897692157,1.5153739305189413,-1.19504793582308,-0.04713660626069915,0.9774851922994116,0.011532475189418908,0.019590256872756572,-0.02025349458112303,0.3281523152523341,0.07156784348462203,0.1712743086815997,0.9773364523393998,6.0475525441902715e-05,-0.17537970806182884,0.11855552821987299],"qvel":[0.1269492929526295,0.35257226448638557,-0.4665399243557944,-0.06470204866089932,-0.012402497521275558,0.18116404266000882,-9.668100317644459e-05,-0.0001085167751992621,0.11995961363859704,0.06128557969157435,0.03373319138234464,-0.007533473534801566,-0.1325426122122358,-0.032042150587903974],"joint_position_rad":[0.23443394897692157,1.5153739305189413,-1.19504793582308,-0.04713660626069915,0.9774851922994116,0.011532475189418908],"joint_velocity_rad_s":[0.1269492929526295,0.35257226448638557,-0.4665399243557944,-0.06470204866089932,-0.012402497521275558,0.18116404266000882],"gripper_joint_position_m":[0.019590256872756572,-0.02025349458112303],"tcp_position_m":[0.3288227993110868,0.07150807412926463,0.1738527441153661],"tcp_quaternion_wxyz":[0.18038848997296394,-0.11879163128669608,0.9763955337839361,0.0005501166258834693],"object_position_m":[0.3281523152523341,0.07156784348462203,0.1712743086815997],"object_quaternion_wxyz":[0.9773364523393998,6.0475525441902715e-05,-0.17537970806182884,0.11855552821987299],"object_linear_velocity_m_s":[0.11995961363859704,0.06128557969157435,0.03373319138234464],"object_angular_velocity_rad_s":[0.0348435132366327,-0.12922611223506852,-0.02715765438653734],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37820546683438033,"right":0.40481637559622374},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04895597023673874},{"geom_ids":[85,90],"normal_force_n":0.04142144806401023},{"geom_ids":[85,90],"normal_force_n":0.04410725365759073},{"geom_ids":[85,90],"normal_force_n":0.05166214829335569},{"geom_ids":[86,90],"normal_force_n":0.04316651202906402},{"geom_ids":[86,90],"normal_force_n":0.043431570106458366},{"geom_ids":[86,90],"normal_force_n":0.05285021319169133},{"geom_ids":[86,90],"normal_force_n":0.05261035125547124},{"geom_ids":[88,90],"normal_force_n":0.046215804127240724},{"geom_ids":[88,90],"normal_force_n":0.053698351688412374},{"geom_ids":[88,90],"normal_force_n":0.05654637822096505},{"geom_ids":[88,90],"normal_force_n":0.049045740218609836},{"geom_ids":[89,90],"normal_force_n":0.05435580491875432},{"geom_ids":[89,90],"normal_force_n":0.05463714831797425},{"geom_ids":[89,90],"normal_force_n":0.045283710907582854},{"geom_ids":[89,90],"normal_force_n":0.04503343719668437}],"native_actuator_controls":[0.24413133006555832,1.5363431774808012,-1.227093930015692,-0.06358818189425672,0.963682944987409,0.06784088093105277,0.0],"actuator_force_native":[0.14104402232779378,-0.08532156548314163,-0.23097991362998016,-0.3345527820378065,-0.11941872683811106,0.2913379934263254,-0.7831268698943807],"issued_joint_targets_rad":[0.24572076522521585,1.5435095979018607,-1.2373714910315716,-0.06473996536303728,0.964645310945585,0.07148271480051659],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.819999999998334,"joint_targets_rad":[0.24572076522521585,1.5435095979018607,-1.2373714910315716,-0.06473996536303728,0.964645310945585,0.07148271480051659],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.839999999998323,"qpos":[0.23687119905798767,1.5225601884673094,-1.2046500905973412,-0.04853187643202868,0.9772967294162809,0.015220930335952693,0.01959025358023386,-0.020253490895705686,0.330616683845416,0.07275829470842347,0.17198136628968902,0.9771426920201193,0.00013535040762536026,-0.17671357504872318,0.11817128883718202],"qvel":[0.11167914645555463,0.3533936493560495,-0.47790084374764796,-0.06304211502683553,-0.011182342883788093,0.18107563165647805,-8.857306428199067e-05,-9.920660541405847e-05,0.12309016489695655,0.05768598372969825,0.03639999764917452,-0.01103286916817158,-0.14142663184881243,-0.047711719520262055],"joint_position_rad":[0.23687119905798767,1.5225601884673094,-1.2046500905973412,-0.04853187643202868,0.9772967294162809,0.015220930335952693],"joint_velocity_rad_s":[0.11167914645555463,0.3533936493560495,-0.47790084374764796,-0.06304211502683553,-0.011182342883788093,0.18107563165647805],"gripper_joint_position_m":[0.01959025358023386,-0.020253490895705686],"tcp_position_m":[0.3312798739523665,0.07269488414237887,0.17455783369386635],"tcp_quaternion_wxyz":[0.18173507437334052,-0.1184068055716837,0.976192505722701,0.0006187953296618184],"object_position_m":[0.330616683845416,0.07275829470842347,0.17198136628968902],"object_quaternion_wxyz":[0.9771426920201193,0.00013535040762536026,-0.17671357504872318,0.11817128883718202],"object_linear_velocity_m_s":[0.12309016489695655,0.05768598372969825,0.03639999764917452],"object_angular_velocity_rad_s":[0.03910787704473946,-0.13801884553515445,-0.04267313918565621],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3784451810235107,"right":0.4046190195310967},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04884566444199153},{"geom_ids":[85,90],"normal_force_n":0.04128781520075498},{"geom_ids":[85,90],"normal_force_n":0.04416930032184349},{"geom_ids":[85,90],"normal_force_n":0.05174889296120695},{"geom_ids":[86,90],"normal_force_n":0.0432254371068669},{"geom_ids":[86,90],"normal_force_n":0.04351016456311941},{"geom_ids":[86,90],"normal_force_n":0.05295775868425451},{"geom_ids":[86,90],"normal_force_n":0.05270014774347294},{"geom_ids":[88,90],"normal_force_n":0.04613055180635594},{"geom_ids":[88,90],"normal_force_n":0.053644537993861076},{"geom_ids":[88,90],"normal_force_n":0.056691589664586206},{"geom_ids":[88,90],"normal_force_n":0.04915787115129883},{"geom_ids":[89,90],"normal_force_n":0.0542859636244451},{"geom_ids":[89,90],"normal_force_n":0.054587331101195125},{"geom_ids":[89,90],"normal_force_n":0.045194592211614065},{"geom_ids":[89,90],"normal_force_n":0.04492658197774034}],"native_actuator_controls":[0.24572076522521585,1.5435095979018607,-1.2373714910315716,-0.06473996536303728,0.964645310945585,0.07148271480051659,0.0],"actuator_force_native":[0.14956956110048125,-0.09101549201615455,-0.22820781600019302,-0.33311298210616647,-0.109740670381278,0.29100439716092186,-0.7831672778879445],"issued_joint_targets_rad":[0.24699798073352286,1.5506448761935774,-1.2478816576757719,-0.06584250961923849,0.965682874085086,0.07402868846430091],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.839999999998323,"joint_targets_rad":[0.24699798073352286,1.5506448761935774,-1.2478816576757719,-0.06584250961923849,0.965682874085086,0.07402868846430091],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.859999999998312,"qpos":[0.23899427687242739,1.529757959717792,-1.214479872503938,-0.04987919183061559,0.9771331290619327,0.018809786567033738,0.01959014729100495,-0.02025359629206665,0.33314350891365335,0.07387578203394712,0.1727432658133724,0.9769441628691647,0.00021335935471387838,-0.17813934546771562,0.11767085752210317],"qvel":[0.09647828798581767,0.35375364521616953,-0.4892539162311196,-0.06132268843809409,-0.009919235047038179,0.17442584833363434,-7.93072605943035e-05,-8.821504253418744e-05,0.1262009725985249,0.053991695526167095,0.03923052824136182,-0.014529967316827895,-0.15071079368715926,-0.05653615673643195],"joint_position_rad":[0.23899427687242739,1.529757959717792,-1.214479872503938,-0.04987919183061559,0.9771331290619327,0.018809786567033738],"joint_velocity_rad_s":[0.09647828798581767,0.35375364521616953,-0.4892539162311196,-0.06132268843809409,-0.009919235047038179,0.17442584833363434],"gripper_joint_position_m":[0.01959014729100495,-0.02025359629206665],"tcp_position_m":[0.3337988111491287,0.07380815201114416,0.1753178712464398],"tcp_quaternion_wxyz":[0.18317336084695182,-0.11790180297832115,0.975984737965857,0.0006899189883443161],"object_position_m":[0.33314350891365335,0.07387578203394712,0.1727432658133724],"object_quaternion_wxyz":[0.9769441628691647,0.00021335935471387838,-0.17813934546771562,0.11767085752210317],"object_linear_velocity_m_s":[0.1262009725985249,0.053991695526167095,0.03923052824136182],"object_angular_velocity_rad_s":[0.04113220631133641,-0.14748296104994366,-0.05175053725779531],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37865156596194083,"right":0.4044589966898334},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04865246352764807},{"geom_ids":[85,90],"normal_force_n":0.041185747702257455},{"geom_ids":[85,90],"normal_force_n":0.044290876130569014},{"geom_ids":[85,90],"normal_force_n":0.05178051722115229},{"geom_ids":[86,90],"normal_force_n":0.043358095794140725},{"geom_ids":[86,90],"normal_force_n":0.043665304605560507},{"geom_ids":[86,90],"normal_force_n":0.05299820753575512},{"geom_ids":[86,90],"normal_force_n":0.052720353444857676},{"geom_ids":[88,90],"normal_force_n":0.046100131497585725},{"geom_ids":[88,90],"normal_force_n":0.053532426272049086},{"geom_ids":[88,90],"normal_force_n":0.056806976725171564},{"geom_ids":[88,90],"normal_force_n":0.04935336919015263},{"geom_ids":[89,90],"normal_force_n":0.0541407253524974},{"geom_ids":[89,90],"normal_force_n":0.054464968753998054},{"geom_ids":[89,90],"normal_force_n":0.04517435240698035},{"geom_ids":[89,90],"normal_force_n":0.044886046491398615}],"native_actuator_controls":[0.24699798073352286,1.5506448761935774,-1.2478816576757719,-0.06584250961923849,0.965682874085086,0.07402868846430091,0.0],"actuator_force_native":[0.15790486895854627,-0.09781490801800885,-0.22587323259109837,-0.3319192693544455,-0.09962369719790942,0.29055024647222016,-0.7832093553372265],"issued_joint_targets_rad":[0.24794448302113054,1.557731660013158,-1.2586396374854252,-0.06687761855409485,0.9668288126042697,0.07644749673776235],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.859999999998312,"joint_targets_rad":[0.24794448302113054,1.557731660013158,-1.2586396374854252,-0.06687761855409485,0.9668288126042697,0.07644749673776235],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.8799999999983,"qpos":[0.24080337459201806,1.5369556518103216,-1.2245343976280276,-0.051177164423747874,0.9769959836683363,0.022254290439496848,0.019590013353872376,-0.020253723785431315,0.3357314387470003,0.07491772367525244,0.17356316548686682,0.9767374732539557,0.0002911928097857645,-0.17966015573097247,0.11707284907675863],"qvel":[0.08121263616827769,0.3535256179637841,-0.5005171120879799,-0.05944804757179901,-0.008536068228819185,0.16751178706827363,-6.780072992831843e-05,-7.49860948031861e-05,0.12924554015114462,0.050165785228190304,0.0422389855292647,-0.01797849434399962,-0.16032913778053426,-0.06553963159084085],"joint_position_rad":[0.24080337459201806,1.5369556518103216,-1.2245343976280276,-0.051177164423747874,0.9769959836683363,0.022254290439496848],"joint_velocity_rad_s":[0.08121263616827769,0.3535256179637841,-0.5005171120879799,-0.05944804757179901,-0.008536068228819185,0.16751178706827363],"gripper_joint_position_m":[0.019590013353872376,-0.020253723785431315],"tcp_position_m":[0.3363782305470387,0.07484549925194711,0.17613605569963045],"tcp_quaternion_wxyz":[0.18470643133627052,-0.11729800912200862,0.9757684834602876,0.0007602398591737486],"object_position_m":[0.3357314387470003,0.07491772367525244,0.17356316548686682],"object_quaternion_wxyz":[0.9767374732539557,0.0002911928097857645,-0.17966015573097247,0.11707284907675863],"object_linear_velocity_m_s":[0.12924554015114462,0.050165785228190304,0.0422389855292647],"object_angular_velocity_rad_s":[0.04335624104317571,-0.15724961761827458,-0.060966352284702444],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3788382205443842,"right":0.4043279024892374},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04843156922149957},{"geom_ids":[85,90],"normal_force_n":0.04109005403859955},{"geom_ids":[85,90],"normal_force_n":0.044429490940771615},{"geom_ids":[85,90],"normal_force_n":0.05179499173855119},{"geom_ids":[86,90],"normal_force_n":0.04351203254137978},{"geom_ids":[86,90],"normal_force_n":0.04384282295766547},{"geom_ids":[86,90],"normal_force_n":0.05301816144084491},{"geom_ids":[86,90],"normal_force_n":0.05271909766507209},{"geom_ids":[88,90],"normal_force_n":0.04608770165334167},{"geom_ids":[88,90],"normal_force_n":0.05340448328191657},{"geom_ids":[88,90],"normal_force_n":0.05691782394917248},{"geom_ids":[88,90],"normal_force_n":0.04957816456970161},{"geom_ids":[89,90],"normal_force_n":0.05397424161221593},{"geom_ids":[89,90],"normal_force_n":0.054322515968719405},{"geom_ids":[89,90],"normal_force_n":0.04517630243714342},{"geom_ids":[89,90],"normal_force_n":0.044866669017026274}],"native_actuator_controls":[0.24794448302113054,1.557731660013158,-1.2586396374854252,-0.06687761855409485,0.9668288126042697,0.07644749673776235,0.0],"actuator_force_native":[0.16522549348761117,-0.10554743359200813,-0.22583362815190355,-0.33077792735488387,-0.08886760829743778,0.2906643823802446,-0.7832615305052535],"issued_joint_targets_rad":[0.2485330576381404,1.5647364503154217,-1.269658046329688,-0.0678282522884898,0.968125720316092,0.0786622646568056],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.8799999999983,"joint_targets_rad":[0.2485330576381404,1.5647364503154217,-1.269658046329688,-0.0678282522884898,0.968125720316092,0.0786622646568056],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.89999999999829,"qpos":[0.2422935012906201,1.5441409125598264,-1.2348142246306615,-0.05241894011412384,0.9768882748894011,0.02554700796920679,0.019589824030235126,-0.02025390729680137,0.3383796070745924,0.07588096302648188,0.17444560016027935,0.9765214588650589,0.00037152222862247625,-0.18127994867313646,0.11637560980015264],"qvel":[0.06559772277939756,0.35263250521970885,-0.5119027186212552,-0.0572576068106527,-0.0069903214376910786,0.16020745399259026,-5.7053465090589783e-05,-6.255236910927452e-05,0.13227040171864882,0.046145341483023336,0.04552500462503949,-0.02133616044765595,-0.1705208345045566,-0.07471315199387468],"joint_position_rad":[0.2422935012906201,1.5441409125598264,-1.2348142246306615,-0.05241894011412384,0.9768882748894011,0.02554700796920679],"joint_velocity_rad_s":[0.06559772277939756,0.35263250521970885,-0.5119027186212552,-0.0572576068106527,-0.0069903214376910786,0.16020745399259026],"gripper_joint_position_m":[0.019589824030235126,-0.02025390729680137],"tcp_position_m":[0.33901725859453413,0.075803695373247,0.17701696549435164],"tcp_quaternion_wxyz":[0.1863384144222563,-0.1165949051331609,0.9755423780185856,0.0008319239339070292],"object_position_m":[0.3383796070745924,0.07588096302648188,0.17444560016027935],"object_quaternion_wxyz":[0.9765214588650589,0.00037152222862247625,-0.18127994867313646,0.11637560980015264],"object_linear_velocity_m_s":[0.13227040171864882,0.046145341483023336,0.04552500462503949],"object_angular_velocity_rad_s":[0.04586968709310664,-0.16754191885765668,-0.07028740324633792],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3789474370593219,"right":0.4042676277753604},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04818517119073914},{"geom_ids":[85,90],"normal_force_n":0.040966679893348124},{"geom_ids":[85,90],"normal_force_n":0.04456225526836156},{"geom_ids":[85,90],"normal_force_n":0.051805838123516815},{"geom_ids":[86,90],"normal_force_n":0.043659842790812135},{"geom_ids":[86,90],"normal_force_n":0.044016418044026985},{"geom_ids":[86,90],"normal_force_n":0.05303673844230559},{"geom_ids":[86,90],"normal_force_n":0.052714493306211474},{"geom_ids":[88,90],"normal_force_n":0.0460777737125508},{"geom_ids":[88,90],"normal_force_n":0.053281462061822375},{"geom_ids":[88,90],"normal_force_n":0.057056391790420484},{"geom_ids":[88,90],"normal_force_n":0.0498280983408504},{"geom_ids":[89,90],"normal_force_n":0.05381069255541555},{"geom_ids":[89,90],"normal_force_n":0.054185291277777166},{"geom_ids":[89,90],"normal_force_n":0.04518045515059676},{"geom_ids":[89,90],"normal_force_n":0.044847462885926885}],"native_actuator_controls":[0.2485330576381404,1.5647364503154217,-1.269658046329688,-0.0678282522884898,0.968125720316092,0.0786622646568056,0.0],"actuator_force_native":[0.1711758939046355,-0.11551950565090863,-0.22799214281585023,-0.33008445292137445,-0.07714006357655556,0.29084138588710273,-0.783307693883952],"issued_joint_targets_rad":[0.24883463021502925,1.5688101760502524,-1.2763756665748742,-0.06877973194357428,0.9678801808278557,0.08086333341121163],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.89999999999829,"joint_targets_rad":[0.24883463021502925,1.5688101760502524,-1.2763756665748742,-0.06877973194357428,0.9678801808278557,0.08086333341121163],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.919999999998279,"qpos":[0.24346074614495442,1.550998039569097,-1.2449324996926603,-0.05360787137566674,0.9767299639830143,0.02876493823936755,0.01958957002333394,-0.02025415641821683,0.3410022466742155,0.07674025928505566,0.17538106312088553,0.9762957025147386,0.00046410100976073407,-0.1830240423853407,0.11553651271539543],"qvel":[0.049715704680444006,0.3208760267911861,-0.4828662475846898,-0.05509286514996346,-0.011927949192173782,0.15807067398084831,-5.266475706669927e-05,-5.6957749961367236e-05,0.12599122084504283,0.039647007461833646,0.04691921186220888,-0.02448827174737554,-0.180671160835094,-0.0893538475889306],"joint_position_rad":[0.24346074614495442,1.550998039569097,-1.2449324996926603,-0.05360787137566674,0.9767299639830143,0.02876493823936755],"joint_velocity_rad_s":[0.049715704680444006,0.3208760267911861,-0.4828662475846898,-0.05509286514996346,-0.011927949192173782,0.15807067398084831],"gripper_joint_position_m":[0.01958957002333394,-0.02025415641821683],"tcp_position_m":[0.3416286196476409,0.07665699263835134,0.1779513596735926],"tcp_quaternion_wxyz":[0.18807336492533672,-0.11575539297895926,0.9753093191862549,0.0009112136914466715],"object_position_m":[0.3410022466742155,0.07674025928505566,0.17538106312088553],"object_quaternion_wxyz":[0.9762957025147386,0.00046410100976073407,-0.1830240423853407,0.11553651271539543],"object_linear_velocity_m_s":[0.12599122084504283,0.039647007461833646,0.04691921186220888],"object_angular_velocity_rad_s":[0.05051832627927487,-0.17750800602213382,-0.0846443169835186],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3790149950479304,"right":0.404216539735308},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04800925653904058},{"geom_ids":[85,90],"normal_force_n":0.040745802770742266},{"geom_ids":[85,90],"normal_force_n":0.04460786022320794},{"geom_ids":[85,90],"normal_force_n":0.05189806786003324},{"geom_ids":[86,90],"normal_force_n":0.04369961673776338},{"geom_ids":[86,90],"normal_force_n":0.04408285051271591},{"geom_ids":[86,90],"normal_force_n":0.05315897766759729},{"geom_ids":[86,90],"normal_force_n":0.05281256273682975},{"geom_ids":[88,90],"normal_force_n":0.04598210415744841},{"geom_ids":[88,90],"normal_force_n":0.05324096679047872},{"geom_ids":[88,90],"normal_force_n":0.05728959225580498},{"geom_ids":[88,90],"normal_force_n":0.05000368202134505},{"geom_ids":[89,90],"normal_force_n":0.05374981292503956},{"geom_ids":[89,90],"normal_force_n":0.05415178919542443},{"geom_ids":[89,90],"normal_force_n":0.04507798006819008},{"geom_ids":[89,90],"normal_force_n":0.044720612321576786}],"native_actuator_controls":[0.24883463021502925,1.5688101760502524,-1.2763756665748742,-0.06877973194357428,0.9678801808278557,0.08086333341121163,0.0],"actuator_force_native":[0.181332202203766,-0.17940921546349387,-0.10112211265366966,-0.3314100969664846,-0.07060590776332454,0.28387794074716843,-0.7833194771480242],"issued_joint_targets_rad":[0.24929210334766988,1.5669307263702783,-1.273463258518115,-0.07001679639818427,0.9638235026388271,0.08380100827940926],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.919999999998279,"joint_targets_rad":[0.24929210334766988,1.5669307263702783,-1.273463258518115,-0.07001679639818427,0.9638235026388271,0.08380100827940926],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.939999999998268,"qpos":[0.24434129294282095,1.556245673920628,-1.253060706420875,-0.05479961891852484,0.975984211072971,0.03213274944468495,0.01958969604479531,-0.020253990743628186,0.34323136734434884,0.07740712033021466,0.17626530035769558,0.9760570770742952,0.0005788791237870068,-0.18494938353765025,0.1144813204028774],"qvel":[0.036868144358526714,0.21479005547713712,-0.34496785340388064,-0.055887207789807145,-0.04471012985913048,0.16404775571136043,-3.36788890469653e-05,-3.7656402590610344e-05,0.09686018653061762,0.028037930223073246,0.041192673519746904,-0.02814559463369949,-0.18743204482309128,-0.10587285655761328],"joint_position_rad":[0.24434129294282095,1.556245673920628,-1.253060706420875,-0.05479961891852484,0.975984211072971,0.03213274944468495],"joint_velocity_rad_s":[0.036868144358526714,0.21479005547713712,-0.34496785340388064,-0.055887207789807145,-0.04471012985913048,0.16404775571136043],"gripper_joint_position_m":[0.01958969604479531,-0.020253990743628186],"tcp_position_m":[0.34383940473232477,0.07731623906456156,0.17883628780567312],"tcp_quaternion_wxyz":[0.1899083838696421,-0.11471218110282888,0.9750768773240069,0.001002272775293946],"object_position_m":[0.34323136734434884,0.07740712033021466,0.17626530035769558],"object_quaternion_wxyz":[0.9760570770742952,0.0005788791237870068,-0.18494938353765025,0.1144813204028774],"object_linear_velocity_m_s":[0.09686018653061762,0.028037930223073246,0.041192673519746904],"object_angular_velocity_rad_s":[0.054655777245668447,-0.18419994328560813,-0.10106994897975062],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.37984579169155924,"right":0.4034956445121226},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04818627923824375},{"geom_ids":[85,90],"normal_force_n":0.04051876659961828},{"geom_ids":[85,90],"normal_force_n":0.04454604758827636},{"geom_ids":[85,90],"normal_force_n":0.05224263962507752},{"geom_ids":[86,90],"normal_force_n":0.04358739387007422},{"geom_ids":[86,90],"normal_force_n":0.0439863960916366},{"geom_ids":[86,90],"normal_force_n":0.05356988191259955},{"geom_ids":[86,90],"normal_force_n":0.05320838676603301},{"geom_ids":[88,90],"normal_force_n":0.04564555191371072},{"geom_ids":[88,90],"normal_force_n":0.05331876458043152},{"geom_ids":[88,90],"normal_force_n":0.057541140417440274},{"geom_ids":[88,90],"normal_force_n":0.04983760575007127},{"geom_ids":[89,90],"normal_force_n":0.0538632500140356},{"geom_ids":[89,90],"normal_force_n":0.05428184618023337},{"geom_ids":[89,90],"normal_force_n":0.044690057812531145},{"geom_ids":[89,90],"normal_force_n":0.044317427843668704}],"native_actuator_controls":[0.24929210334766988,1.5669307263702783,-1.273463258518115,-0.07001679639818427,0.9638235026388271,0.08380100827940926,0.0],"actuator_force_native":[0.21172411059528073,-0.21914608141366898,0.09263509924021207,-0.3292510602373415,-0.05454188955274297,0.2706109547802025,-0.7834194473465775],"issued_joint_targets_rad":[0.24984658003192678,1.564912350754156,-1.270224264091477,-0.0714333257144666,0.9593901453713675,0.08734824047849216],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.939999999998268,"joint_targets_rad":[0.24984658003192678,1.564912350754156,-1.270224264091477,-0.0714333257144666,0.9593901453713675,0.08734824047849216],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.959999999998256,"qpos":[0.2450192135837372,1.559312416073829,-1.2582472857344233,-0.05604750814229906,0.9745095800917607,0.035566681232311846,0.019590551160863022,-0.02025308071071294,0.3448445570795025,0.07784409391675774,0.17700638087817033,0.9758222689546767,0.0006672696208090147,-0.18688853455204996,0.1133275333552527],"qvel":[0.0288900426315823,0.11243100008126646,-0.20496195929282746,-0.058860190948473834,-0.0653028036423049,0.16522143859737062,-4.370934568602662e-06,-9.704093202732877e-06,0.06462968126780409,0.01677588449709276,0.03291625620468478,-0.03258966934557794,-0.16880655488569432,-0.11063105192330001],"joint_position_rad":[0.2450192135837372,1.559312416073829,-1.2582472857344233,-0.05604750814229906,0.9745095800917607,0.035566681232311846],"joint_velocity_rad_s":[0.0288900426315823,0.11243100008126646,-0.20496195929282746,-0.058860190948473834,-0.0653028036423049,0.16522143859737062],"gripper_joint_position_m":[0.019590551160863022,-0.02025308071071294],"tcp_position_m":[0.3454328012403525,0.07774634484972505,0.17958051600426678],"tcp_quaternion_wxyz":[0.1917300909500452,-0.11356747303771754,0.97485427677633,0.001067868443928651],"object_position_m":[0.3448445570795025,0.07784409391675774,0.17700638087817033],"object_quaternion_wxyz":[0.9758222689546767,0.0006672696208090147,-0.18688853455204996,0.1133275333552527],"object_linear_velocity_m_s":[0.06462968126780409,0.01677588449709276,0.03291625620468478],"object_angular_velocity_rad_s":[0.048236716143779196,-0.16683997111689167,-0.10786386059967477],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3811433226584612,"right":0.4023781448560545},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.048472830376722356},{"geom_ids":[85,90],"normal_force_n":0.040516093220754286},{"geom_ids":[85,90],"normal_force_n":0.04456909143360759},{"geom_ids":[85,90],"normal_force_n":0.052555889120040104},{"geom_ids":[86,90],"normal_force_n":0.04357441776600501},{"geom_ids":[86,90],"normal_force_n":0.04397484858645788},{"geom_ids":[86,90],"normal_force_n":0.05392195002158069},{"geom_ids":[86,90],"normal_force_n":0.05355820213329326},{"geom_ids":[88,90],"normal_force_n":0.045349153348119765},{"geom_ids":[88,90],"normal_force_n":0.053320984330408425},{"geom_ids":[88,90],"normal_force_n":0.05757548153361693},{"geom_ids":[88,90],"normal_force_n":0.049571445699472916},{"geom_ids":[89,90],"normal_force_n":0.053901131868128234},{"geom_ids":[89,90],"normal_force_n":0.05432176414509219},{"geom_ids":[89,90],"normal_force_n":0.04435666972814575},{"geom_ids":[89,90],"normal_force_n":0.043981514203070254}],"native_actuator_controls":[0.24984658003192678,1.564912350754156,-1.270224264091477,-0.0714333257144666,0.9593901453713675,0.08734824047849216,0.0],"actuator_force_native":[0.24173910269725596,-0.1141602259801715,0.0666515278998645,-0.3211317481443321,-0.0532401417404742,0.26998343456574714,-0.7836001917616779],"issued_joint_targets_rad":[0.25048345617927653,1.5628877243663968,-1.2669071843537842,-0.07300444340021513,0.9549101281116072,0.09126038424524752],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.959999999998256,"joint_targets_rad":[0.25048345617927653,1.5628877243663968,-1.2669071843537842,-0.07300444340021513,0.9549101281116072,0.09126038424524752],"gripper_position_m":0.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.979999999998245,"qpos":[0.24558817244090025,1.560582843085759,-1.2609319940529673,-0.05737308228755847,0.9729514051327512,0.03902750313679605,0.019591901872738494,-0.02025170718000576,0.3458272650815114,0.07807135817884878,0.17756831237243312,0.9756487106846381,0.000672517975915725,-0.18850218639275038,0.11214306391448155],"qvel":[0.02518763890253232,0.0343640987070679,-0.09368331050932566,-0.06244461966399226,-0.058593047324071244,0.1661393334320642,1.4431872037393588e-06,-6.90304465690247e-06,0.03463294205461219,0.007275440993086602,0.023540137539488394,-0.03703057914636141,-0.12583904061709505,-0.11107608123259873],"joint_position_rad":[0.24558817244090025,1.560582843085759,-1.2609319940529673,-0.05737308228755847,0.9729514051327512,0.03902750313679605],"joint_velocity_rad_s":[0.02518763890253232,0.0343640987070679,-0.09368331050932566,-0.06244461966399226,-0.058593047324071244,0.1661393334320642],"gripper_joint_position_m":[0.019591901872738494,-0.02025170718000576],"tcp_position_m":[0.34640136422864737,0.0779693143840417,0.18014684411197063],"tcp_quaternion_wxyz":[0.19325383727225018,-0.11238823725879245,0.974690062522381,0.0010585487845649066],"object_position_m":[0.3458272650815114,0.07807135817884878,0.17756831237243312],"object_quaternion_wxyz":[0.9756487106846381,0.000672517975915725,-0.18850218639275038,0.11214306391448155],"object_linear_velocity_m_s":[0.03463294205461219,0.007275440993086602,0.023540137539488394],"object_angular_velocity_rad_s":[0.034940681947925815,-0.1259257294939357,-0.11165340636886402],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3824455506846515,"right":0.4011509626830623},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04879793388480005},{"geom_ids":[85,90],"normal_force_n":0.040701269482899836},{"geom_ids":[85,90],"normal_force_n":0.044635265059898066},{"geom_ids":[85,90],"normal_force_n":0.052761434579897196},{"geom_ids":[86,90],"normal_force_n":0.043623271677028994},{"geom_ids":[86,90],"normal_force_n":0.04401097738896315},{"geom_ids":[86,90],"normal_force_n":0.054134124903736994},{"geom_ids":[86,90],"normal_force_n":0.05378127370742725},{"geom_ids":[88,90],"normal_force_n":0.045148819825640354},{"geom_ids":[88,90],"normal_force_n":0.05326677830086643},{"geom_ids":[88,90],"normal_force_n":0.05740481159833598},{"geom_ids":[88,90],"normal_force_n":0.049254656153699894},{"geom_ids":[89,90],"normal_force_n":0.053877902631265615},{"geom_ids":[89,90],"normal_force_n":0.05428602699054579},{"geom_ids":[89,90],"normal_force_n":0.044138255978106895},{"geom_ids":[89,90],"normal_force_n":0.04377371120460134}],"native_actuator_controls":[0.25048345617927653,1.5628877243663968,-1.2669071843537842,-0.07300444340021513,0.9549101281116072,0.09126038424524752,0.0],"actuator_force_native":[0.2656845045574414,0.012570008915702147,-0.009598671518730839,-0.313031346186305,-0.09252319922533303,0.27311981093641835,-0.7836832908455584],"issued_joint_targets_rad":[0.2447854452504985,1.598332709912013,-1.2564167707855112,-0.056793756960719706,0.973860495640097,0.06503766086661922],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.979999999998245,"joint_targets_rad":[0.2447854452504985,1.598332709912013,-1.2564167707855112,-0.056793756960719706,0.973860495640097,0.06503766086661922],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.999999999998234,"qpos":[0.24582404424986098,1.5614668386752752,-1.2619715429049838,-0.0580111891480234,0.9721709621920299,0.04117941621308865,0.019587627409825868,-0.02025637619548807,0.34626064313183913,0.07817062894917377,0.17765586309105397,0.9756412703069428,0.0007602772787325368,-0.18900636780691868,0.11135585561949148],"qvel":[0.0039239259942184515,0.0899421057328927,-0.03364180004915648,-0.007582551274251712,-0.020782550785173604,0.06177037369455301,-0.00014573501597434844,-0.00013851050278682804,0.015994656947604345,0.004793771198506515,-0.01963968504087762,0.004553363676756281,0.03789656727814681,-0.04947292774206392],"joint_position_rad":[0.24582404424986098,1.5614668386752752,-1.2619715429049838,-0.0580111891480234,0.9721709621920299,0.04117941621308865],"joint_velocity_rad_s":[0.0039239259942184515,0.0899421057328927,-0.03364180004915648,-0.007582551274251712,-0.020782550785173604,0.06177037369455301],"gripper_joint_position_m":[0.019587627409825868,-0.02025637619548807],"tcp_position_m":[0.3468353741758755,0.07805545309992636,0.18024234481589343],"tcp_quaternion_wxyz":[0.19374649539005925,-0.11157765307817402,0.9746853758915074,0.0010681202492121894],"object_position_m":[0.34626064313183913,0.07817062894917377,0.17765586309105397],"object_quaternion_wxyz":[0.9756412703069428,0.0007602772787325368,-0.18900636780691868,0.11135585561949148],"object_linear_velocity_m_s":[0.015994656947604345,0.004793771198506515,-0.01963968504087762],"object_angular_velocity_rad_s":[0.014107280668212074,0.04010065983494424,-0.04579710934722583],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3861114543704059,"right":0.39664506525940263},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04703076465791985},{"geom_ids":[85,90],"normal_force_n":0.03921066260644885},{"geom_ids":[85,90],"normal_force_n":0.045835952841705864},{"geom_ids":[85,90],"normal_force_n":0.05370143067231397},{"geom_ids":[86,90],"normal_force_n":0.04485607537793407},{"geom_ids":[86,90],"normal_force_n":0.0455076330568993},{"geom_ids":[86,90],"normal_force_n":0.05528082758960941},{"geom_ids":[86,90],"normal_force_n":0.05468810756757458},{"geom_ids":[88,90],"normal_force_n":0.044080399083661466},{"geom_ids":[88,90],"normal_force_n":0.05196347623011575},{"geom_ids":[88,90],"normal_force_n":0.058859633146375614},{"geom_ids":[88,90],"normal_force_n":0.05092084612331875},{"geom_ids":[89,90],"normal_force_n":0.05227513232463083},{"geom_ids":[89,90],"normal_force_n":0.05295323391024693},{"geom_ids":[89,90],"normal_force_n":0.043099091721132396},{"geom_ids":[89,90],"normal_force_n":0.042493252719920896}],"native_actuator_controls":[0.2447854452504985,1.592887724366398,-1.2564167707855112,-0.056793756960719706,0.973860495640097,0.06503766086661922,0.0],"actuator_force_native":[-0.10270754992009046,2.063960326625349,0.6125907698035888,0.0866100438634061,0.048069160658430476,0.14592688599347614,-0.7827764213131629],"issued_joint_targets_rad":[0.24497866229715615,1.5990275198029855,-1.2573370517458842,-0.05731528385755715,0.973251550166989,0.06691924153091472],"issued_gripper_position_m":0.0,"command":{"t_seconds":12.999999999998234,"joint_targets_rad":[0.24497866229715615,1.5990275198029855,-1.2573370517458842,-0.05731528385755715,0.973251550166989,0.06691924153091472],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.019999999998223,"qpos":[0.2458464933233939,1.5649913886281739,-1.2627063604109954,-0.05802028450554977,0.9719441368636389,0.04206708399045708,0.01958931343144726,-0.020254214712919726,0.3466494174820785,0.07827769939817955,0.17665441970273013,0.97593054367485,0.0007170745715849916,-0.18770228804383504,0.11102662198625522],"qvel":[-0.00042500740818500016,0.23639618204193236,-0.025329199700449927,0.002671980509252421,-0.008633773029242951,0.03605300269676227,0.0002063954097372186,0.00022647674184818025,0.01962820827556447,0.005104235651571797,-0.07541483945648135,0.0025341888492213037,0.20603584538004055,-0.026554475209378814],"joint_position_rad":[0.2458464933233939,1.5649913886281739,-1.2627063604109954,-0.05802028450554977,0.9719441368636389,0.04206708399045708],"joint_velocity_rad_s":[-0.00042500740818500016,0.23639618204193236,-0.025329199700449927,0.002671980509252421,-0.008633773029242951,0.03605300269676227],"gripper_joint_position_m":[0.01958931343144726,-0.020254214712919726],"tcp_position_m":[0.34723247092019455,0.07816329184530935,0.1792487721025302],"tcp_quaternion_wxyz":[0.19249984453255825,-0.11122266074249922,0.9749730004850556,0.0009888970965262435],"object_position_m":[0.3466494174820785,0.07827769939817955,0.17665441970273013],"object_quaternion_wxyz":[0.97593054367485,0.0007170745715849916,-0.18770228804383504,0.11102662198625522],"object_linear_velocity_m_s":[0.01962820827556447,0.005104235651571797,-0.07541483945648135],"object_angular_velocity_rad_s":[-0.032687546962891306,0.20264851507314743,-0.03205363412210936],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3856530521758428,"right":0.3989524191720841},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04542916801289413},{"geom_ids":[85,90],"normal_force_n":0.038145325017080206},{"geom_ids":[85,90],"normal_force_n":0.04641869427503735},{"geom_ids":[85,90],"normal_force_n":0.05375422950977936},{"geom_ids":[86,90],"normal_force_n":0.04550438946250246},{"geom_ids":[86,90],"normal_force_n":0.04631634205602235},{"geom_ids":[86,90],"normal_force_n":0.05541097865621328},{"geom_ids":[86,90],"normal_force_n":0.05467392518631362},{"geom_ids":[88,90],"normal_force_n":0.04425063058432838},{"geom_ids":[88,90],"normal_force_n":0.05160632132302221},{"geom_ids":[88,90],"normal_force_n":0.06019103346976543},{"geom_ids":[88,90],"normal_force_n":0.05276912254353353},{"geom_ids":[89,90],"normal_force_n":0.0516877496874842},{"geom_ids":[89,90],"normal_force_n":0.052529612827007986},{"geom_ids":[89,90],"normal_force_n":0.043334758841041966},{"geom_ids":[89,90],"normal_force_n":0.042583189895900445}],"native_actuator_controls":[0.24497866229715615,1.5990275198029855,-1.2573370517458842,-0.05731528385755715,0.973251550166989,0.06691924153091472,0.0],"actuator_force_native":[-0.06730144505809221,1.5409095837752744,0.5561906917111514,0.014840123373442538,0.026024792577366895,0.19444207135943298,-0.7846045143065765],"issued_joint_targets_rad":[0.24495282269420737,1.6024816801247552,-1.2580207512447528,-0.05724107350197896,0.9730042607560982,0.06777476032351071],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.019999999998223,"joint_targets_rad":[0.24495282269420737,1.6024816801247552,-1.2580207512447528,-0.05724107350197896,0.9730042607560982,0.06777476032351071],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.039999999998212,"qpos":[0.24582518429976155,1.5707418250805998,-1.2629650044901637,-0.057952852027279046,0.971810612409907,0.0427412908260373,0.019593380209663263,-0.020250033840637942,0.3470296143826825,0.07837347883836024,0.17469821647816566,0.9764602548628215,0.0004666945964621469,-0.1850577890237528,0.11080960062659782],"qvel":[-0.0014153404010413706,0.3239064200289487,-0.003890553723018695,0.003458836533125292,-0.004518655509840212,0.03229629074831316,0.00016297310952444278,0.00015747408535636613,0.018243467331105916,0.004500651771026305,-0.11386716620560346,-0.0006130824245457168,0.31775497650096957,-0.01954181383876151],"joint_position_rad":[0.24582518429976155,1.5707418250805998,-1.2629650044901637,-0.057952852027279046,0.971810612409907,0.0427412908260373],"joint_velocity_rad_s":[-0.0014153404010413706,0.3239064200289487,-0.003890553723018695,0.003458836533125292,-0.004518655509840212,0.03229629074831316],"gripper_joint_position_m":[0.019593380209663263,-0.020250033840637942],"tcp_position_m":[0.34762188213546585,0.07826621865241874,0.1772962669987643],"tcp_quaternion_wxyz":[0.18988838597349986,-0.11099623470530101,0.9755109915053248,0.0007363463337733771],"object_position_m":[0.3470296143826825,0.07837347883836024,0.17469821647816566],"object_quaternion_wxyz":[0.9764602548628215,0.0004666945964621469,-0.1850577890237528,0.11080960062659782],"object_linear_velocity_m_s":[0.018243467331105916,0.004500651771026305,-0.11386716620560346],"object_angular_velocity_rad_s":[-0.062313390116678614,0.31063825913810816,-0.031167239549111058],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3851506291014207,"right":0.3993152281187138},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.045013245332510055},{"geom_ids":[85,90],"normal_force_n":0.03802346249082876},{"geom_ids":[85,90],"normal_force_n":0.046564201565947795},{"geom_ids":[85,90],"normal_force_n":0.05360584921955833},{"geom_ids":[86,90],"normal_force_n":0.045686249608076095},{"geom_ids":[86,90],"normal_force_n":0.04652261177660774},{"geom_ids":[86,90],"normal_force_n":0.055246658944502536},{"geom_ids":[86,90],"normal_force_n":0.054488350163389404},{"geom_ids":[88,90],"normal_force_n":0.04438838186648783},{"geom_ids":[88,90],"normal_force_n":0.0514401108231367},{"geom_ids":[88,90],"normal_force_n":0.06028520763964579},{"geom_ids":[88,90],"normal_force_n":0.05316867666556947},{"geom_ids":[89,90],"normal_force_n":0.05145966712744272},{"geom_ids":[89,90],"normal_force_n":0.052325048672025525},{"geom_ids":[89,90],"normal_force_n":0.043510175549019425},{"geom_ids":[89,90],"normal_force_n":0.042737959775386275}],"native_actuator_controls":[0.24495282269420737,1.6024816801247552,-1.2580207512447528,-0.05724107350197896,0.9730042607560982,0.06777476032351071,0.0],"actuator_force_native":[-0.06271222643912466,0.9196563033877112,0.41499302824797724,0.01117695834637722,0.01871446672667254,0.2018902588522643,-0.7845500739341528],"issued_joint_targets_rad":[0.24485742558400034,1.6082714506560336,-1.2583094673469837,-0.05705006619608234,0.9727276371006623,0.06852476932540288],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.039999999998212,"joint_targets_rad":[0.24485742558400034,1.6082714506560336,-1.2583094673469837,-0.05705006619608234,0.9727276371006623,0.06852476932540288],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.059999999998201,"qpos":[0.24579237436262402,1.577931272617724,-1.2629723975978275,-0.05788015480418532,0.9717579042796025,0.043381249019059126,0.019595410592929536,-0.02024818385795425,0.34739928238002327,0.07846495707307723,0.1721412462409384,0.9771375922497091,8.88573805725361e-05,-0.18155517129740764,0.1106337999527069],"qvel":[-0.0017606048914333382,0.3828077111851082,0.0022728474829019386,0.003528628296659906,-0.0010284646678506667,0.031611995853370226,4.776582077427061e-05,3.796434948264678e-05,0.018339823723481304,0.004530845341202014,-0.13714997097641335,-0.002111542781826845,0.3858423108080634,-0.01634037046907],"joint_position_rad":[0.24579237436262402,1.577931272617724,-1.2629723975978275,-0.05788015480418532,0.9717579042796025,0.043381249019059126],"joint_velocity_rad_s":[-0.0017606048914333382,0.3828077111851082,0.0022728474829019386,0.003528628296659906,-0.0010284646678506667,0.031611995853370226],"gripper_joint_position_m":[0.019595410592929536,-0.02024818385795425],"tcp_position_m":[0.3480025547577316,0.07836307385915328,0.1747396957403234],"tcp_quaternion_wxyz":[0.18641327672024258,-0.11081629331312709,0.9762016732560183,0.00036404795231884275],"object_position_m":[0.34739928238002327,0.07846495707307723,0.1721412462409384],"object_quaternion_wxyz":[0.9771375922497091,8.88573805725361e-05,-0.18155517129740764,0.1106337999527069],"object_linear_velocity_m_s":[0.018339823723481304,0.004530845341202014,-0.13714997097641335],"object_angular_velocity_rad_s":[-0.0795582518407396,0.376599811428632,-0.031445535862125645],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38446645736859264,"right":0.3994798499876644},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044861361547626585},{"geom_ids":[85,90],"normal_force_n":0.03808441174484511},{"geom_ids":[85,90],"normal_force_n":0.04657477470773148},{"geom_ids":[85,90],"normal_force_n":0.053402267915302136},{"geom_ids":[86,90],"normal_force_n":0.04572335513523759},{"geom_ids":[86,90],"normal_force_n":0.04655317718243161},{"geom_ids":[86,90],"normal_force_n":0.05500937801119447},{"geom_ids":[86,90],"normal_force_n":0.05425773112422367},{"geom_ids":[88,90],"normal_force_n":0.044533230276728744},{"geom_ids":[88,90],"normal_force_n":0.05136342379543809},{"geom_ids":[88,90],"normal_force_n":0.06014585799489073},{"geom_ids":[88,90],"normal_force_n":0.053254048055459906},{"geom_ids":[89,90],"normal_force_n":0.05136283554595828},{"geom_ids":[89,90],"normal_force_n":0.05222041520854052},{"geom_ids":[89,90],"normal_force_n":0.04368248077484051},{"geom_ids":[89,90],"normal_force_n":0.042917558335807626}],"native_actuator_controls":[0.24485742558400034,1.6082714506560336,-1.2583094673469837,-0.05705006619608234,0.9727276371006623,0.06852476932540288,0.0],"actuator_force_native":[-0.06599287783273056,0.5131756871392383,0.36167018265300044,0.01556040284081961,0.011240025212375215,0.20401720928338218,-0.7840552528210528],"issued_joint_targets_rad":[0.24472998512868582,1.6155648518554027,-1.2583945734860529,-0.05681892284326065,0.9724522867235296,0.06930067036223415],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.059999999998201,"joint_targets_rad":[0.24472998512868582,1.6155648518554027,-1.2583945734860529,-0.05681892284326065,0.9724522867235296,0.06930067036223415],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.07999999999819,"qpos":[0.24575393765718,1.5860547937731762,-1.2629059832995781,-0.057803893304073,0.9717521945480243,0.04401597353206785,0.01959569067380171,-0.020248035343899948,0.34776979022698745,0.07855720879303645,0.16922269236908247,0.9778927288806057,-0.00036006544674102396,-0.17754129611875102,0.1104751977947503],"qvel":[-0.0020035592568373004,0.41952763431124906,0.00529011029500237,0.003789440597387902,0.0002770475688102808,0.03159494426572213,-9.778769058156674e-06,-1.3789447485604254e-05,0.018078872072087422,0.004494868553239118,-0.15139673836737014,-0.0027524074138147534,0.4261315112003527,-0.014982423500696082],"joint_position_rad":[0.24575393765718,1.5860547937731762,-1.2629059832995781,-0.057803893304073,0.9717521945480243,0.04401597353206785],"joint_velocity_rad_s":[-0.0020035592568373004,0.41952763431124906,0.00529011029500237,0.003789440597387902,0.0002770475688102808,0.03159494426572213],"gripper_joint_position_m":[0.01959569067380171,-0.020248035343899948],"tcp_position_m":[0.3483844438050748,0.0784584407639474,0.17181935205330773],"tcp_quaternion_wxyz":[0.1824219155946966,-0.11065557313278981,0.9769736857166927,-7.913631285631313e-05],"object_position_m":[0.34776979022698745,0.07855720879303645,0.16922269236908247],"object_quaternion_wxyz":[0.9778927288806057,-0.00036006544674102396,-0.17754129611875102,0.1104751977947503],"object_linear_velocity_m_s":[0.018078872072087422,0.004494868553239118,-0.15139673836737014],"object_angular_velocity_rad_s":[-0.08932608396783225,0.41571185116163356,-0.032009703609396666],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38402359194938995,"right":0.3996580123260233},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044787749445845806},{"geom_ids":[85,90],"normal_force_n":0.03818459085202318},{"geom_ids":[85,90],"normal_force_n":0.04658758949828955},{"geom_ids":[85,90],"normal_force_n":0.05323978631739648},{"geom_ids":[86,90],"normal_force_n":0.045757915735622906},{"geom_ids":[86,90],"normal_force_n":0.04657769216069185},{"geom_ids":[86,90],"normal_force_n":0.054815099313004455},{"geom_ids":[86,90],"normal_force_n":0.05407316862651576},{"geom_ids":[88,90],"normal_force_n":0.04466605992266827},{"geom_ids":[88,90],"normal_force_n":0.05131726610153076},{"geom_ids":[88,90],"normal_force_n":0.060004003255113625},{"geom_ids":[88,90],"normal_force_n":0.05329385577740804},{"geom_ids":[89,90],"normal_force_n":0.05130501218942105},{"geom_ids":[89,90],"normal_force_n":0.05215169647941478},{"geom_ids":[89,90],"normal_force_n":0.04383751098712829},{"geom_ids":[89,90],"normal_force_n":0.04308260761333845}],"native_actuator_controls":[0.24472998512868582,1.6155648518554027,-1.2583945734860529,-0.05681892284326065,0.9724522867235296,0.06930067036223415,0.0],"actuator_force_native":[-0.07189840599535202,0.26316647502187607,0.3344622336070273,0.020451615445554516,0.00658535040183672,0.20545455190307982,-0.7837787331067776],"issued_joint_targets_rad":[0.24458266309990812,1.6238183314402421,-1.2584224794339705,-0.05656103999910809,0.9721706064480974,0.07010889432546252],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.07999999999819,"joint_targets_rad":[0.24458266309990812,1.6238183314402421,-1.2584224794339705,-0.05656103999910809,0.9721706064480974,0.07010889432546252],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.099999999998179,"qpos":[0.24571069239978266,1.594751969923672,-1.262791990744125,-0.05772032220659298,0.9717622697718301,0.04465251384213069,0.019595376636938912,-0.02024837154837783,0.34812905206639355,0.07864701505060218,0.16608097974121952,0.978684590773035,-0.0008490638941724211,-0.17321920616081052,0.11032160935618468],"qvel":[-0.002241724711065995,0.44127016363337507,0.009193352819152713,0.00422682405337949,0.00024709429339901564,0.03179001937061122,-2.0291463535278852e-05,-2.011764970561109e-05,0.016890707224818946,0.004211545847285127,-0.160522804840832,-0.003005880864283643,0.45096613827845494,-0.014586318754764075],"joint_position_rad":[0.24571069239978266,1.594751969923672,-1.262791990744125,-0.05772032220659298,0.9717622697718301,0.04465251384213069],"joint_velocity_rad_s":[-0.002241724711065995,0.44127016363337507,0.009193352819152713,0.00422682405337949,0.00024709429339901564,0.03179001937061122],"gripper_joint_position_m":[0.019595376636938912,-0.02024837154837783],"tcp_position_m":[0.3487547332347734,0.07855029497767252,0.16867447938805658],"tcp_quaternion_wxyz":[0.178116720497666,-0.11050106262571069,0.9777850640115975,-0.000563589905345993],"object_position_m":[0.34812905206639355,0.07864701505060218,0.16608097974121952],"object_quaternion_wxyz":[0.978684590773035,-0.0008490638941724211,-0.17321920616081052,0.11032160935618468],"object_linear_velocity_m_s":[0.016890707224818946,0.004211545847285127,-0.160522804840832],"object_angular_velocity_rad_s":[-0.0950530791783542,0.4398714668540674,-0.032714808187315016],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38380859990037663,"right":0.3998209364324471},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04474750489077891},{"geom_ids":[85,90],"normal_force_n":0.03828935846423352},{"geom_ids":[85,90],"normal_force_n":0.04661716436481436},{"geom_ids":[85,90],"normal_force_n":0.05312298634884343},{"geom_ids":[86,90],"normal_force_n":0.045805657852296344},{"geom_ids":[86,90],"normal_force_n":0.046616602852538554},{"geom_ids":[86,90],"normal_force_n":0.05467138116840073},{"geom_ids":[86,90],"normal_force_n":0.053937943958470756},{"geom_ids":[88,90],"normal_force_n":0.044777942375346935},{"geom_ids":[88,90],"normal_force_n":0.051281306384962096},{"geom_ids":[88,90],"normal_force_n":0.059887957673615516},{"geom_ids":[88,90],"normal_force_n":0.0533276758171501},{"geom_ids":[89,90],"normal_force_n":0.051259776608441554},{"geom_ids":[89,90],"normal_force_n":0.0520971142420793},{"geom_ids":[89,90],"normal_force_n":0.04396774306941643},{"geom_ids":[89,90],"normal_force_n":0.043221420261435176}],"native_actuator_controls":[0.24458266309990812,1.6238183314402421,-1.2584224794339705,-0.05656103999910809,0.9721706064480974,0.07010889432546252,0.0],"actuator_force_native":[-0.07903372043463364,0.11895810315871813,0.30359414071659785,0.025237168032498314,0.003712725322575494,0.2068787757774015,-0.7837136081598801],"issued_joint_targets_rad":[0.2444201445049955,1.6326594683558007,-1.2584106025675352,-0.056280296983722396,0.9718645197620953,0.07094461343679466],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.099999999998179,"joint_targets_rad":[0.2444201445049955,1.6326594683558007,-1.2584106025675352,-0.056280296983722396,0.9718645197620953,0.07094461343679466],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.119999999998168,"qpos":[0.245662579110775,1.6037954989971368,-1.2626150275368333,-0.057626777171139745,0.9717733132227822,0.045293124144476136,0.01959507112740836,-0.020248649879313508,0.3484612554697518,0.07873019755249291,0.16279290677364328,0.979491042512677,-0.0013621984893979827,-0.168697174745999,0.11016671586927311],"qvel":[-0.0024864667392869373,0.4549121100953383,0.012594125426682916,0.0047602899094368835,6.808812983665757e-05,0.03202064053530694,-1.43683881492879e-05,-1.3198698349945444e-05,0.015279679291503348,0.00381481158048136,-0.16658934672187883,-0.0031169550594616034,0.46744544643543867,-0.014642125603542862],"joint_position_rad":[0.245662579110775,1.6037954989971368,-1.2626150275368333,-0.057626777171139745,0.9717733132227822,0.045293124144476136],"joint_velocity_rad_s":[-0.0024864667392869373,0.4549121100953383,0.012594125426682916,0.0047602899094368835,6.808812983665757e-05,0.03202064053530694],"gripper_joint_position_m":[0.01959507112740836,-0.020248649879313508],"tcp_position_m":[0.3490975191941238,0.07863520682052796,0.16538247460025396],"tcp_quaternion_wxyz":[0.17360751071572045,-0.1103459785625279,0.9786128169488657,-0.0010731922357977443],"object_position_m":[0.3484612554697518,0.07873019755249291,0.16279290677364328],"object_quaternion_wxyz":[0.979491042512677,-0.0013621984893979827,-0.168697174745999,0.11016671586927311],"object_linear_velocity_m_s":[0.015279679291503348,0.00381481158048136,-0.16658934672187883],"object_angular_velocity_rad_s":[-0.09868736502253901,0.4559282689114039,-0.033459979626671986],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3837143063312132,"right":0.39993816322614045},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04472086548467375},{"geom_ids":[85,90],"normal_force_n":0.038388959187429905},{"geom_ids":[85,90],"normal_force_n":0.04665553759983283},{"geom_ids":[85,90],"normal_force_n":0.05303390275042454},{"geom_ids":[86,90],"normal_force_n":0.04585985269864141},{"geom_ids":[86,90],"normal_force_n":0.04666331063325375},{"geom_ids":[86,90],"normal_force_n":0.05455906133475282},{"geom_ids":[86,90],"normal_force_n":0.05383281664220417},{"geom_ids":[88,90],"normal_force_n":0.04487050599114403},{"geom_ids":[88,90],"normal_force_n":0.051246076644179565},{"geom_ids":[88,90],"normal_force_n":0.05978860604296914},{"geom_ids":[88,90],"normal_force_n":0.05335771572990174},{"geom_ids":[89,90],"normal_force_n":0.05121626851462868},{"geom_ids":[89,90],"normal_force_n":0.05204579494681494},{"geom_ids":[89,90],"normal_force_n":0.044076175083532385},{"geom_ids":[89,90],"normal_force_n":0.043337020272969935}],"native_actuator_controls":[0.2444201445049955,1.6326594683558007,-1.2584106025675352,-0.056280296983722396,0.9718645197620953,0.07094461343679466,0.0],"actuator_force_native":[-0.08696243476592613,0.03455699821643066,0.2733833704104427,0.030057757949509156,0.0008099331983775215,0.20848393212022476,-0.783731003155588],"issued_joint_targets_rad":[0.24424430135017416,1.6418598669606166,-1.2583438483567668,-0.055978145577723286,0.9715251584749048,0.07180389298119252],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.119999999998168,"joint_targets_rad":[0.24424430135017416,1.6418598669606166,-1.2583438483567668,-0.055978145577723286,0.9715251584749048,0.07180389298119252],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.139999999998157,"qpos":[0.24560940930396974,1.6130618553169933,-1.262383826756705,-0.057521712584142466,0.9717820550821048,0.04593844713836388,0.01959490141255472,-0.02024879064927886,0.3487603678554053,0.07880525222111318,0.15940567667697014,0.980299019421335,-0.0018904458177859524,-0.1640388324804736,0.11000690966762411],"qvel":[-0.00274132855004804,0.464129953115931,0.014942786486413628,0.005353303852498782,-0.0001123774564210261,0.03226501403155269,-8.045931771145851e-06,-7.341639109151861e-06,0.013586432014316311,0.0034003575968049515,-0.17072841293764196,-0.003145257282025303,0.4786891791938493,-0.01498829670651601],"joint_position_rad":[0.24560940930396974,1.6130618553169933,-1.262383826756705,-0.057521712584142466,0.9717820550821048,0.04593844713836388],"joint_velocity_rad_s":[-0.00274132855004804,0.464129953115931,0.014942786486413628,0.005353303852498782,-0.0001123774564210261,0.03226501403155269],"gripper_joint_position_m":[0.01959490141255472,-0.02024879064927886],"tcp_position_m":[0.3494068805009055,0.07871192214056606,0.16199088759292485],"tcp_quaternion_wxyz":[0.16895999870815312,-0.11018636036325744,0.9794431732806526,-0.0015984806427223103],"object_position_m":[0.3487603678554053,0.07880525222111318,0.15940567667697014],"object_quaternion_wxyz":[0.980299019421335,-0.0018904458177859524,-0.1640388324804736,0.11000690966762411],"object_linear_velocity_m_s":[0.013586432014316311,0.0034003575968049515,-0.17072841293764196],"object_angular_velocity_rad_s":[-0.10101965225163316,0.46690509357430443,-0.03424230442219647],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836680447577966,"right":0.40001019506486274},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04469830388330012},{"geom_ids":[85,90],"normal_force_n":0.038483141949923014},{"geom_ids":[85,90],"normal_force_n":0.04669707591625608},{"geom_ids":[85,90],"normal_force_n":0.0529575639437368},{"geom_ids":[86,90],"normal_force_n":0.045916026418803546},{"geom_ids":[86,90],"normal_force_n":0.04671281546018788},{"geom_ids":[86,90],"normal_force_n":0.054461475085799016},{"geom_ids":[86,90],"normal_force_n":0.05374164209979014},{"geom_ids":[88,90],"normal_force_n":0.04495022106639938},{"geom_ids":[88,90],"normal_force_n":0.05120809294254738},{"geom_ids":[88,90],"normal_force_n":0.059696062795236475},{"geom_ids":[88,90],"normal_force_n":0.05338425277493498},{"geom_ids":[89,90],"normal_force_n":0.05117037016498081},{"geom_ids":[89,90],"normal_force_n":0.05199299693891502},{"geom_ids":[89,90],"normal_force_n":0.04417050906363278},{"geom_ids":[89,90],"normal_force_n":0.04343768931821589}],"native_actuator_controls":[0.24424430135017416,1.6418598669606166,-1.2583438483567668,-0.055978145577723286,0.9715251584749048,0.07180389298119252,0.0],"actuator_force_native":[-0.09550199355340538,-0.016808834089772517,0.2484843395629781,0.03497616099427381,-0.0024003998873691756,0.2102569373809573,-0.7837558268433331],"issued_joint_targets_rad":[0.24405595287017764,1.6512935947927951,-1.2582296886070192,-0.055655399877473935,0.9711524549479268,0.07268373728349486],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.139999999998157,"joint_targets_rad":[0.24405595287017764,1.6512935947927951,-1.2582296886070192,-0.055655399877473935,0.9711524549479268,0.07268373728349486],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.159999999998146,"qpos":[0.2455509595352534,1.622483662619033,-1.2621180236509784,-0.05740411421272836,0.9717871106709136,0.04658887439308077,0.019594825331263915,-0.02024884990263671,0.34902621263322936,0.07887223415189328,0.15594997742559072,0.9811000566266217,-0.0024279010508535047,-0.15928597125528893,0.10983971752050864],"qvel":[-0.0030076544639499494,0.47084395495695347,0.016185480230723828,0.005988936654516884,-0.0003391717848901901,0.03252635630936336,-4.677150647111729e-06,-4.571999251634789e-06,0.011967550478884403,0.00300928001750667,-0.1736034436906432,-0.003110262122879503,0.4863821011616975,-0.015550496273601094],"joint_position_rad":[0.2455509595352534,1.622483662619033,-1.2621180236509784,-0.05740411421272836,0.9717871106709136,0.04658887439308077],"joint_velocity_rad_s":[-0.0030076544639499494,0.47084395495695347,0.016185480230723828,0.005988936654516884,-0.0003391717848901901,0.03252635630936336],"gripper_joint_position_m":[0.019594825331263915,-0.02024884990263671],"tcp_position_m":[0.3496827326004464,0.0787805297420694,0.15853058565824513],"tcp_quaternion_wxyz":[0.16421711178301934,-0.1100195483531871,0.9802672534519274,-0.0021333043895805388],"object_position_m":[0.34902621263322936,0.07887223415189328,0.15594997742559072],"object_quaternion_wxyz":[0.9811000566266217,-0.0024279010508535047,-0.15928597125528893,0.10983971752050864],"object_linear_velocity_m_s":[0.011967550478884403,0.00300928001750667,-0.1736034436906432],"object_angular_velocity_rad_s":[-0.10246129293350047,0.47443750188490347,-0.03506822280788022],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836395319094468,"right":0.4000523442526772},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044676268198415935},{"geom_ids":[85,90],"normal_force_n":0.038573094565705394},{"geom_ids":[85,90],"normal_force_n":0.04673961798916481},{"geom_ids":[85,90],"normal_force_n":0.0528870376729853},{"geom_ids":[86,90],"normal_force_n":0.04597261005750235},{"geom_ids":[86,90],"normal_force_n":0.04676323199887172},{"geom_ids":[86,90],"normal_force_n":0.054370782635261586},{"geom_ids":[86,90],"normal_force_n":0.05365688879153968},{"geom_ids":[88,90],"normal_force_n":0.045022423343746974},{"geom_ids":[88,90],"normal_force_n":0.05116759730123395},{"geom_ids":[88,90],"normal_force_n":0.059606674907389676},{"geom_ids":[88,90],"normal_force_n":0.053408834953290726},{"geom_ids":[89,90],"normal_force_n":0.05112204882036531},{"geom_ids":[89,90],"normal_force_n":0.051938318991132416},{"geom_ids":[89,90],"normal_force_n":0.04425671137287817},{"geom_ids":[89,90],"normal_force_n":0.04352973456263998}],"native_actuator_controls":[0.24405595287017764,1.6512935947927951,-1.2582296886070192,-0.055655399877473935,0.9711524549479268,0.07268373728349486,0.0],"actuator_force_native":[-0.10456226088631126,-0.04942520088383162,0.2301394023631076,0.04000389013759298,-0.0058377995525322746,0.21215909444009595,-0.783769627497321],"issued_joint_targets_rad":[0.24385537181987607,1.6608898169488577,-1.2580852966872744,-0.05531251558761089,0.9707468158888124,0.07358209065901801],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.159999999998146,"joint_targets_rad":[0.24385537181987607,1.6608898169488577,-1.2580852966872744,-0.05531251558761089,0.9707468158888124,0.07358209065901801],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.179999999998135,"qpos":[0.24548699097865145,1.632021872650952,-1.261835994248598,-0.05727322228691974,0.9717866521330529,0.04724481860024023,0.01959479094289998,-0.020248877034375598,0.349260425494461,0.07893163975017956,0.15244599345843515,0.9818885251859897,-0.0029704840061423863,-0.15446701699088836,0.10966330742224886],"qvel":[-0.003285990888716551,0.4760508034059155,0.016567870967024344,0.006657866570524941,-0.0006464264752997247,0.03280688199425289,-3.2796021202062775e-06,-3.509576122949705e-06,0.010447156779765416,0.0026460523070149225,-0.17564938802841737,-0.003025505375417868,0.49166829436528414,-0.0162759632128743],"joint_position_rad":[0.24548699097865145,1.632021872650952,-1.261835994248598,-0.05727322228691974,0.9717866521330529,0.04724481860024023],"joint_velocity_rad_s":[-0.003285990888716551,0.4760508034059155,0.016567870967024344,0.006657866570524941,-0.0006464264752997247,0.03280688199425289],"gripper_joint_position_m":[0.01959479094289998,-0.020248877034375598],"tcp_position_m":[0.3499267618147807,0.07884151456697956,0.1550218450010466],"tcp_quaternion_wxyz":[0.15940768011484974,-0.10984363006181165,0.981079212338213,-0.0026734945440013216],"object_position_m":[0.349260425494461,0.07893163975017956,0.15244599345843515],"object_quaternion_wxyz":[0.9818885251859897,-0.0029704840061423863,-0.15446701699088836,0.10966330742224886],"object_linear_velocity_m_s":[0.010447156779765416,0.0026460523070149225,-0.17564938802841737],"object_angular_velocity_rad_s":[-0.10329230216904056,0.47963610473024126,-0.03593994570350941],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836201678430124,"right":0.4000774602435103},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04465388269698713},{"geom_ids":[85,90],"normal_force_n":0.0386596722671361},{"geom_ids":[85,90],"normal_force_n":0.04678264503822817},{"geom_ids":[85,90],"normal_force_n":0.05282006643565202},{"geom_ids":[86,90],"normal_force_n":0.046029300430213256},{"geom_ids":[86,90],"normal_force_n":0.04681413258568643},{"geom_ids":[86,90],"normal_force_n":0.05428438798280637},{"geom_ids":[86,90],"normal_force_n":0.05357608040630292},{"geom_ids":[88,90],"normal_force_n":0.04509003373474201},{"geom_ids":[88,90],"normal_force_n":0.05112561541240474},{"geom_ids":[88,90],"normal_force_n":0.05951984049338507},{"geom_ids":[88,90],"normal_force_n":0.053432798288959964},{"geom_ids":[89,90],"normal_force_n":0.05107223952494453},{"geom_ids":[89,90],"normal_force_n":0.05188254740658977},{"geom_ids":[89,90],"normal_force_n":0.04433793750797763},{"geom_ids":[89,90],"normal_force_n":0.04361644787450659}],"native_actuator_controls":[0.24385537181987607,1.6608898169488577,-1.2580852966872744,-0.05531251558761089,0.9707468158888124,0.07358209065901801,0.0],"actuator_force_native":[-0.11409957825844685,-0.07081847319713575,0.21721645007076518,0.045138935119728885,-0.009428722729456496,0.21416239759639843,-0.7837752397053982],"issued_joint_targets_rad":[0.24364245314290384,1.670606417144589,-1.2579267778981966,-0.054949659844496804,0.97030718292893,0.07449759106329931],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.179999999998135,"joint_targets_rad":[0.24364245314290384,1.670606417144589,-1.2579267778981966,-0.054949659844496804,0.97030718292893,0.07449759106329931],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.199999999998123,"qpos":[0.2454172571151662,1.6416528786672153,-1.261552650971343,-0.0571284369550486,0.9717789481331388,0.04790665833256855,0.01959477195474404,-0.02024889329253747,0.34946496614443284,0.0789840046978033,0.14890721325333592,0.9826606668246348,-0.003515361265937552,-0.14960145284601195,0.10947630527788113],"qvel":[-0.003576784816895629,0.48031353165513024,0.016301471533156163,0.007353941079175539,-0.0010354164921893873,0.03310552022316846,-2.6778269487039313e-06,-3.027743673959322e-06,0.009019792654117405,0.002307528661006996,-0.17713834962782082,-0.002901812266501027,0.49529483129032986,-0.01712753465322364],"joint_position_rad":[0.2454172571151662,1.6416528786672153,-1.261552650971343,-0.0571284369550486,0.9717789481331388,0.04790665833256855],"joint_velocity_rad_s":[-0.003576784816895629,0.48031353165513024,0.016301471533156163,0.007353941079175539,-0.0010354164921893873,0.03310552022316846],"gripper_joint_position_m":[0.01959477195474404,-0.02024889329253747],"tcp_position_m":[0.3501409585872084,0.07889540573045899,0.15147820107506327],"tcp_quaternion_wxyz":[0.15455133897958995,-0.1096571902533248,0.9818751653922928,-0.003216182709256244],"object_position_m":[0.34946496614443284,0.0789840046978033,0.14890721325333592],"object_quaternion_wxyz":[0.9826606668246348,-0.003515361265937552,-0.14960145284601195,0.10947630527788113],"object_linear_velocity_m_s":[0.009019792654117405,0.002307528661006996,-0.17713834962782082],"object_angular_velocity_rad_s":[-0.10369819211665404,0.48322560926822444,-0.03685699878902463],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38360768242746696,"right":0.4000927691084413},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044631014686952755},{"geom_ids":[85,90],"normal_force_n":0.038743492784260355},{"geom_ids":[85,90],"normal_force_n":0.04682609427678852},{"geom_ids":[85,90],"normal_force_n":0.0527558334167453},{"geom_ids":[86,90],"normal_force_n":0.046086128016418926},{"geom_ids":[86,90],"normal_force_n":0.04686548988049769},{"geom_ids":[86,90],"normal_force_n":0.05420132443294816},{"geom_ids":[86,90],"normal_force_n":0.05349830493285525},{"geom_ids":[88,90],"normal_force_n":0.045154544870141096},{"geom_ids":[88,90],"normal_force_n":0.0510828203371078},{"geom_ids":[88,90],"normal_force_n":0.05943544196429654},{"geom_ids":[88,90],"normal_force_n":0.05345686316658038},{"geom_ids":[89,90],"normal_force_n":0.051021580142187196},{"geom_ids":[89,90],"normal_force_n":0.05182625176814619},{"geom_ids":[89,90],"normal_force_n":0.04441578159380664},{"geom_ids":[89,90],"normal_force_n":0.043699485266175446}],"native_actuator_controls":[0.24364245314290384,1.670606417144589,-1.2579267778981966,-0.054949659844496804,0.97030718292893,0.07449759106329931,0.0],"actuator_force_native":[-0.12410039369651216,-0.08528458008575512,0.20856248818591894,0.05038137902619422,-0.013164527303803908,0.21625104697255504,-0.7837774890550182],"issued_joint_targets_rad":[0.24341680626296272,1.6804174530482254,-1.2577673447495612,-0.05456680204980174,0.9698318347746085,0.07542923845696412],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.199999999998123,"joint_targets_rad":[0.24341680626296272,1.6804174530482254,-1.2577673447495612,-0.05456680204980174,0.9698318347746085,0.07542923845696412],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.219999999998112,"qpos":[0.24534149908961042,1.6513611539135111,-1.2612780110955804,-0.056969251119151,0.9717622645581065,0.04857474942030813,0.019594758868262174,-0.02024890515923299,0.34964129574122527,0.07902971162080202,0.1453426200355708,0.9834139799115184,-0.004060548107742402,-0.14470263688104337,0.10927764155272118],"qvel":[-0.0038806335992319727,0.4839388934200853,0.015626296163871244,0.008073363196786714,-0.0014999601192256732,0.03342041764285099,-2.306400138691165e-06,-2.6730225479201186e-06,0.007652571347135818,0.001984295949216072,-0.17825920948897495,-0.0027479323915621497,0.49780592416065433,-0.018077279243685487],"joint_position_rad":[0.24534149908961042,1.6513611539135111,-1.2612780110955804,-0.056969251119151,0.9717622645581065,0.04857474942030813],"joint_velocity_rad_s":[-0.0038806335992319727,0.4839388934200853,0.015626296163871244,0.008073363196786714,-0.0014999601192256732,0.03342041764285099],"gripper_joint_position_m":[0.019594758868262174,-0.02024890515923299],"tcp_position_m":[0.3503267993428219,0.07894258253986207,0.1479086642027384],"tcp_quaternion_wxyz":[0.14966143969025814,-0.10945914336661722,0.9826525410541266,-0.003759383347544926],"object_position_m":[0.34964129574122527,0.07902971162080202,0.1453426200355708],"object_quaternion_wxyz":[0.9834139799115184,-0.004060548107742402,-0.14470263688104337,0.10927764155272118],"object_linear_velocity_m_s":[0.007652571347135818,0.001984295949216072,-0.17825920948897495],"object_angular_velocity_rad_s":[-0.10381488886898654,0.48573379496241476,-0.03781833638933039],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38360058682681947,"right":0.400102014922589},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04460756716925142},{"geom_ids":[85,90],"normal_force_n":0.03882458502053435},{"geom_ids":[85,90],"normal_force_n":0.04686979725804544},{"geom_ids":[85,90],"normal_force_n":0.052694043367557966},{"geom_ids":[86,90],"normal_force_n":0.04614293963921495},{"geom_ids":[86,90],"normal_force_n":0.046917136401638346},{"geom_ids":[86,90],"normal_force_n":0.054121267407141606},{"geom_ids":[86,90],"normal_force_n":0.0534232505634354},{"geom_ids":[88,90],"normal_force_n":0.045216549994224566},{"geom_ids":[88,90],"normal_force_n":0.05103966058433677},{"geom_ids":[88,90],"normal_force_n":0.059353698243509764},{"geom_ids":[88,90],"normal_force_n":0.053481398277816845},{"geom_ids":[89,90],"normal_force_n":0.050970518131381086},{"geom_ids":[89,90],"normal_force_n":0.051769862239127565},{"geom_ids":[89,90],"normal_force_n":0.044490854742330506},{"geom_ids":[89,90],"normal_force_n":0.04377947270986192}],"native_actuator_controls":[0.24341680626296272,1.6804174530482254,-1.2577673447495612,-0.05456680204980174,0.9698318347746085,0.07542923845696412,0.0],"actuator_force_native":[-0.13457225813565543,-0.09519053632328678,0.20272182686217377,0.05573114679003721,-0.017054357656142827,0.21841426390228347,-0.7837788227297935],"issued_joint_targets_rad":[0.24317778448016555,1.6903061128110513,-1.257616287717802,-0.054163752525024346,0.9693184900571022,0.07637622027722939],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.219999999998112,"joint_targets_rad":[0.24317778448016555,1.6903061128110513,-1.257616287717802,-0.054163752525024346,0.9693184900571022,0.07637622027722939],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.239999999998101,"qpos":[0.2452594431614146,1.6611362776503296,-1.2610185511708278,-0.05679522074874455,0.9717351806420371,0.049249392017473366,0.019594749094446386,-0.020248914021064168,0.3497903739297409,0.07906899587279152,0.14175818562247747,0.984146822972806,-0.004604677668583399,-0.13977958386725978,0.10906647381297178],"qvel":[-0.004198385650314697,0.48713623190187255,0.014684108123062681,0.00881358373526032,-0.0020258306612141947,0.03374895393263157,-1.985919560386215e-06,-2.3349688301221357e-06,0.006325009174850281,0.0016703102285973298,-0.17913439134158618,-0.0025705793625053898,0.49956560551109885,-0.01910581758881007],"joint_position_rad":[0.2452594431614146,1.6611362776503296,-1.2610185511708278,-0.05679522074874455,0.9717351806420371,0.049249392017473366],"joint_velocity_rad_s":[-0.004198385650314697,0.48713623190187255,0.014684108123062681,0.00881358373526032,-0.0020258306612141947,0.03374895393263157],"gripper_joint_position_m":[0.019594749094446386,-0.020248914021064168],"tcp_position_m":[0.3504852549236567,0.07898327892679043,0.14431922386118515],"tcp_quaternion_wxyz":[0.1447469890316235,-0.10924863575171355,0.983409650081602,-0.004301729774172875],"object_position_m":[0.3497903739297409,0.07906899587279152,0.14175818562247747],"object_quaternion_wxyz":[0.984146822972806,-0.004604677668583399,-0.13977958386725978,0.10906647381297178],"object_linear_velocity_m_s":[0.006325009174850281,0.0016703102285973298,-0.17913439134158618],"object_angular_velocity_rad_s":[-0.10373434058345485,0.48751349574795483,-0.03882283350028427],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3835976697729812,"right":0.4001070408034605},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04458344410407312},{"geom_ids":[85,90],"normal_force_n":0.038902961801510726},{"geom_ids":[85,90],"normal_force_n":0.04691362535372251},{"geom_ids":[85,90],"normal_force_n":0.05263445646488653},{"geom_ids":[86,90],"normal_force_n":0.04619962008141111},{"geom_ids":[86,90],"normal_force_n":0.046968946186997},{"geom_ids":[86,90],"normal_force_n":0.054043952791163447},{"geom_ids":[86,90],"normal_force_n":0.053350662989216806},{"geom_ids":[88,90],"normal_force_n":0.04527636845101111},{"geom_ids":[88,90],"normal_force_n":0.05099634539305102},{"geom_ids":[88,90],"normal_force_n":0.05927467139779924},{"geom_ids":[88,90],"normal_force_n":0.05350657866233951},{"geom_ids":[89,90],"normal_force_n":0.05091925999920245},{"geom_ids":[89,90],"normal_force_n":0.05171357413810508},{"geom_ids":[89,90],"normal_force_n":0.044563489928660285},{"geom_ids":[89,90],"normal_force_n":0.04385675283329185}],"native_actuator_controls":[0.24317778448016555,1.6903061128110513,-1.257616287717802,-0.054163752525024346,0.9693184900571022,0.07637622027722939,0.0],"actuator_force_native":[-0.14554076624835233,-0.10209434665162576,0.19876053562674656,0.061190810272506724,-0.02112815985752725,0.22064485169861292,-0.7837800341800536],"issued_joint_targets_rad":[0.24292449430710056,1.7002616589480006,-1.2574803519456952,-0.05374020009442793,0.9687647983256118,0.0773377398223628],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.239999999998101,"joint_targets_rad":[0.24292449430710056,1.7002616589480006,-1.2574803519456952,-0.05374020009442793,0.9687647983256118,0.0773377398223628],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.25999999999809,"qpos":[0.24517079203974174,1.6709706618357962,-1.260777151660573,-0.056605932453925104,0.971696322491397,0.049930857796629854,0.01959474139986256,-0.020248920817928177,0.34991251910985693,0.07910191829182031,0.13815771614644345,0.9848581442701382,-0.005146812824168248,-0.13483820879471572,0.10884210321178389],"qvel":[-0.004531246647495316,0.4900262548651436,0.01363177563731372,0.009573286124654854,-0.0026046344130272515,0.034089002361855136,-1.670982617962236e-06,-1.9902633416530104e-06,0.00500657762783538,0.0013571755880241833,-0.17985739252270713,-0.0023750693045043888,0.5008611680098058,-0.020198457208963783],"joint_position_rad":[0.24517079203974174,1.6709706618357962,-1.260777151660573,-0.056605932453925104,0.971696322491397,0.049930857796629854],"joint_velocity_rad_s":[-0.004531246647495316,0.4900262548651436,0.01363177563731372,0.009573286124654854,-0.0026046344130272515,0.034089002361855136],"gripper_joint_position_m":[0.01959474139986256,-0.020248920817928177],"tcp_position_m":[0.35061664841662693,0.07901755254879826,0.1407137008929892],"tcp_quaternion_wxyz":[0.13981384769274127,-0.10902496622883434,0.9841454145116317,-0.004842295724220311],"object_position_m":[0.34991251910985693,0.07910191829182031,0.13815771614644345],"object_quaternion_wxyz":[0.9848581442701382,-0.005146812824168248,-0.13483820879471572,0.10884210321178389],"object_linear_velocity_m_s":[0.00500657762783538,0.0013571755880241833,-0.17985739252270713],"object_angular_velocity_rad_s":[-0.10352870691044884,0.488843243378626,-0.039870020021137195],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38359795065351504,"right":0.40010893897622246},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04455853138204411},{"geom_ids":[85,90],"normal_force_n":0.038978416136000796},{"geom_ids":[85,90],"normal_force_n":0.04695742122201077},{"geom_ids":[85,90],"normal_force_n":0.0525770075644354},{"geom_ids":[86,90],"normal_force_n":0.046256000153489636},{"geom_ids":[86,90],"normal_force_n":0.047020754807255274},{"geom_ids":[86,90],"normal_force_n":0.05396933127984222},{"geom_ids":[86,90],"normal_force_n":0.053280488108436844},{"geom_ids":[88,90],"normal_force_n":0.045334073196464875},{"geom_ids":[88,90],"normal_force_n":0.050953048097098386},{"geom_ids":[88,90],"normal_force_n":0.05919859428991764},{"geom_ids":[88,90],"normal_force_n":0.0535325361293166},{"geom_ids":[89,90],"normal_force_n":0.05086798592533516},{"geom_ids":[89,90],"normal_force_n":0.051657573377084244},{"geom_ids":[89,90],"normal_force_n":0.04463374760391946},{"geom_ids":[89,90],"normal_force_n":0.04393138035708604}],"native_actuator_controls":[0.24292449430710056,1.7002616589480006,-1.2574803519456952,-0.05374020009442793,0.9687647983256118,0.0773377398223628,0.0],"actuator_force_native":[-0.15704758537381736,-0.10685150534936838,0.19558509900366516,0.06676286375661222,-0.025408290038310355,0.2229353167145468,-0.7837813010814125],"issued_joint_targets_rad":[0.24265576675882794,1.7102773566259073,-1.2573640181887302,-0.05329571648423498,0.9681682361330826,0.07831291962879638],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.25999999999809,"joint_targets_rad":[0.24265576675882794,1.7102773566259073,-1.2573640181887302,-0.05329571648423498,0.9681682361330826,0.07831291962879638],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.27999999999808,"qpos":[0.24507521968964754,1.6808592687341408,-1.26055514866214,-0.056400995565165646,0.9716446459783253,0.050619357981694854,0.019594735310665287,-0.02024892597005497,0.35000776621698093,0.07912845117787588,0.13454359371586552,0.985547289017702,-0.0056863382255925255,-0.12988221695689783,0.10860394277282451],"qvel":[-0.004880841746812206,0.4927232086652907,0.012517400040156834,0.010351691588735406,-0.0032250345636812847,0.0344380614353165,-1.3466049990763583e-06,-1.6317021654958407e-06,0.0036898236465244226,0.001042204663050533,-0.18048514124810183,-0.0021650655702128057,0.5018680296216577,-0.021346295168443448],"joint_position_rad":[0.24507521968964754,1.6808592687341408,-1.26055514866214,-0.056400995565165646,0.9716446459783253,0.050619357981694854],"joint_velocity_rad_s":[-0.004880841746812206,0.4927232086652907,0.012517400040156834,0.010351691588735406,-0.0032250345636812847,0.0344380614353165],"gripper_joint_position_m":[0.019594735310665287,-0.02024892597005497],"tcp_position_m":[0.3507210204602522,0.07904537399888696,0.13709448929036885],"tcp_quaternion_wxyz":[0.13486572460808324,-0.10878754128173955,0.9848591563164854,-0.005380465350828575],"object_position_m":[0.35000776621698093,0.07912845117787588,0.13454359371586552],"object_quaternion_wxyz":[0.985547289017702,-0.0056863382255925255,-0.12988221695689783,0.10860394277282451],"object_linear_velocity_m_s":[0.0036898236465244226,0.001042204663050533,-0.18048514124810183],"object_angular_velocity_rad_s":[-0.10324260717972954,0.48989297503144674,-0.0409598347193533],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38360086355899203,"right":0.4001083000112454},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04453275440049415},{"geom_ids":[85,90],"normal_force_n":0.03905098876236701},{"geom_ids":[85,90],"normal_force_n":0.04700115778821009},{"geom_ids":[85,90],"normal_force_n":0.05252155160659925},{"geom_ids":[86,90],"normal_force_n":0.046312067178475524},{"geom_ids":[86,90],"normal_force_n":0.047072542505176736},{"geom_ids":[86,90],"normal_force_n":0.05389723562544504},{"geom_ids":[86,90],"normal_force_n":0.05321256569222426},{"geom_ids":[88,90],"normal_force_n":0.04538980708978417},{"geom_ids":[88,90],"normal_force_n":0.05090980118469992},{"geom_ids":[88,90],"normal_force_n":0.05912543702648718},{"geom_ids":[88,90],"normal_force_n":0.0535593530544207},{"geom_ids":[89,90],"normal_force_n":0.05081672100748312},{"geom_ids":[89,90],"normal_force_n":0.05160187850787139},{"geom_ids":[89,90],"normal_force_n":0.04470178430676908},{"geom_ids":[89,90],"normal_force_n":0.04400351783372988}],"native_actuator_controls":[0.24265576675882794,1.7102773566259073,-1.2573640181887302,-0.05329571648423498,0.9681682361330826,0.07831291962879638,0.0],"actuator_force_native":[-0.16915202573150623,-0.11016901198513551,0.1927034376720087,0.07245270529354952,-0.02992654660690519,0.22527852431804052,-0.7837826794016161],"issued_joint_targets_rad":[0.2423701206151364,1.720350049823445,-1.2572715531165042,-0.05282977805034331,0.9675265567640866,0.07930064282344036],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.27999999999808,"joint_targets_rad":[0.2423701206151364,1.720350049823445,-1.2572715531165042,-0.05282977805034331,0.9675265567640866,0.07930064282344036],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.299999999998068,"qpos":[0.24497236044356743,1.6907991036602186,-1.2603534267483907,-0.05618002658032664,0.971579287100798,0.05131505525668898,0.019594730397432533,-0.020248929939372808,0.3500761097766915,0.07914853981921102,0.13091731159471032,0.9862138360120177,-0.006222827727304181,-0.12491399682622531,0.10835146270555666],"qvel":[-0.005249345260484618,0.49531399126121156,0.01135768828563489,0.011148748422063957,-0.0038825052838576167,0.03479407857571203,-1.015492010055946e-06,-1.2632440724709935e-06,0.0023739130860884593,0.0007243663409331726,-0.1810545302984365,-0.00194249307345554,0.5026940962828702,-0.02254484338029868],"joint_position_rad":[0.24497236044356743,1.6907991036602186,-1.2603534267483907,-0.05618002658032664,0.971579287100798,0.05131505525668898],"joint_velocity_rad_s":[-0.005249345260484618,0.49531399126121156,0.01135768828563489,0.011148748422063957,-0.0038825052838576167,0.03479407857571203],"gripper_joint_position_m":[0.019594730397432533,-0.020248929939372808],"tcp_position_m":[0.35079836933983355,0.07906668683434548,0.13346309088696046],"tcp_quaternion_wxyz":[0.12990502686831448,-0.10853582468530293,0.985550436024601,-0.005915809829811172],"object_position_m":[0.3500761097766915,0.07914853981921102,0.13091731159471032],"object_quaternion_wxyz":[0.9862138360120177,-0.006222827727304181,-0.12491399682622531,0.10835146270555666],"object_linear_velocity_m_s":[0.0023739130860884593,0.0007243663409331726,-0.1810545302984365],"object_angular_velocity_rad_s":[-0.10290315219606652,0.4907672607441774,-0.042093167257919485],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38360593855839814,"right":0.4001055520798269},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04450603386969862},{"geom_ids":[85,90],"normal_force_n":0.03912075139506562},{"geom_ids":[85,90],"normal_force_n":0.04704483758900065},{"geom_ids":[85,90],"normal_force_n":0.05246793738736417},{"geom_ids":[86,90],"normal_force_n":0.04636784260134941},{"geom_ids":[86,90],"normal_force_n":0.04712432329536592},{"geom_ids":[86,90],"normal_force_n":0.05382748746657585},{"geom_ids":[86,90],"normal_force_n":0.05314672495397795},{"geom_ids":[88,90],"normal_force_n":0.04544371182850831},{"geom_ids":[88,90],"normal_force_n":0.050866598877250986},{"geom_ids":[88,90],"normal_force_n":0.05905512837301705},{"geom_ids":[88,90],"normal_force_n":0.053587107953282156},{"geom_ids":[89,90],"normal_force_n":0.05076544793881169},{"geom_ids":[89,90],"normal_force_n":0.05154646514921204},{"geom_ids":[89,90],"normal_force_n":0.044767760024671845},{"geom_ids":[89,90],"normal_force_n":0.04407333193507277}],"native_actuator_controls":[0.2423701206151364,1.720350049823445,-1.2572715531165042,-0.05282977805034331,0.9675265567640866,0.07930064282344036,0.0],"actuator_force_native":[-0.1819324599720602,-0.11249426324795309,0.18976144912275572,0.07826619908901344,-0.03470354544132981,0.2276647578039458,-0.783784138437251],"issued_joint_targets_rad":[0.24206569403704947,1.7304796811859717,-1.25720830095793,-0.05234177522905097,0.9668378465665409,0.08029940386777348],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.299999999998068,"joint_targets_rad":[0.24206569403704947,1.7304796811859717,-1.25720830095793,-0.05234177522905097,0.9668378465665409,0.08029940386777348],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.319999999998057,"qpos":[0.2448617960609303,1.70078842129125,-1.260171980575067,-0.05594263246850194,0.9714993493351796,0.05201807803352537,0.019594726029562092,-0.020248933386850458,0.35011738376981966,0.07916207264283204,0.12727964454259116,0.9868575297092101,-0.006755989974770842,-0.11993492781779266,0.10808416047245577],"qvel":[-0.005639518698544618,0.49786635368800747,0.010175250484025974,0.011964886826228106,-0.004572853046050405,0.03515457985176538,-6.583051060622488e-07,-8.613431049219609e-07,0.001054488030836256,0.0004015904460169073,-0.18159712898929073,-0.001709196356314362,0.503436542357261,-0.023790314547552628],"joint_position_rad":[0.2448617960609303,1.70078842129125,-1.260171980575067,-0.05594263246850194,0.9714993493351796,0.05201807803352537],"joint_velocity_rad_s":[-0.005639518698544618,0.49786635368800747,0.010175250484025974,0.011964886826228106,-0.004572853046050405,0.03515457985176538],"gripper_joint_position_m":[0.019594726029562092,-0.020248933386850458],"tcp_position_m":[0.3508485298495143,0.07908137707526938,0.12982028805409143],"tcp_quaternion_wxyz":[0.12493313244802136,-0.10826931095144189,0.9862189875983607,-0.006448040267391829],"object_position_m":[0.35011738376981966,0.07916207264283204,0.12727964454259116],"object_quaternion_wxyz":[0.9868575297092101,-0.006755989974770842,-0.11993492781779266,0.10808416047245577],"object_linear_velocity_m_s":[0.001054488030836256,0.0004015904460169073,-0.18159712898929073],"object_angular_velocity_rad_s":[-0.10253469343490816,0.4915602799763556,-0.04327101097577536],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836130238355884,"right":0.4001009241948099},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044478300744692556},{"geom_ids":[85,90],"normal_force_n":0.0391876970127517},{"geom_ids":[85,90],"normal_force_n":0.04708847981129489},{"geom_ids":[85,90],"normal_force_n":0.05241612052743357},{"geom_ids":[86,90],"normal_force_n":0.04642335332084131},{"geom_ids":[86,90],"normal_force_n":0.04717612486550359},{"geom_ids":[86,90],"normal_force_n":0.05376003431994352},{"geom_ids":[86,90],"normal_force_n":0.05308291323312719},{"geom_ids":[88,90],"normal_force_n":0.04549583746175307},{"geom_ids":[88,90],"normal_force_n":0.05082343293016033},{"geom_ids":[88,90],"normal_force_n":0.0589876917833221},{"geom_ids":[88,90],"normal_force_n":0.05361588352988896},{"geom_ids":[89,90],"normal_force_n":0.05071414982203918},{"geom_ids":[89,90],"normal_force_n":0.05149131767170923},{"geom_ids":[89,90],"normal_force_n":0.044831732012553825},{"geom_ids":[89,90],"normal_force_n":0.04414087898338321}],"native_actuator_controls":[0.24206569403704947,1.7304796811859717,-1.25720830095793,-0.05234177522905097,0.9668378465665409,0.08029940386777348,0.0],"actuator_force_native":[-0.19549056841774615,-0.11403097686229557,0.18621811695084034,0.08420985544689819,-0.039755748117309864,0.23008138856483296,-0.7837857496569534],"issued_joint_targets_rad":[0.2417401161880653,1.7406690076684677,-1.2571810248819861,-0.051830986020719894,0.9661005603645395,0.08130714734526226],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.319999999998057,"joint_targets_rad":[0.2417401161880653,1.7406690076684677,-1.2571810248819861,-0.051830986020719894,0.9661005603645395,0.08130714734526226],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.339999999998046,"qpos":[0.24474304180592837,1.7108269099391036,-1.260010773734266,-0.05568840522049141,0.9714040193873794,0.052728497825743945,0.0195947218096402,-0.020248936718456942,0.3501314305263172,0.07916891799968033,0.12363083849332328,0.9874782281466679,-0.007285640883373524,-0.11494561222995966,0.10780155194761533],"qvel":[-0.0060549684077877705,0.500450505615754,0.008968378679004001,0.012801004335761906,-0.005293548480023707,0.035516704129656504,-2.6170518724782706e-07,-4.111516670621997e-07,-0.0002674164655627403,7.296154094808157e-05,-0.18213794545118223,-0.0014663181048999985,0.504167870643443,-0.025080871649353565],"joint_position_rad":[0.24474304180592837,1.7108269099391036,-1.260010773734266,-0.05568840522049141,0.9714040193873794,0.052728497825743945],"joint_velocity_rad_s":[-0.0060549684077877705,0.500450505615754,0.008968378679004001,0.012801004335761906,-0.005293548480023707,0.035516704129656504],"gripper_joint_position_m":[0.0195947218096402,-0.020248936718456942],"tcp_position_m":[0.35087134493168554,0.07908931127448979,0.12616633278064351],"tcp_quaternion_wxyz":[0.11995066110174388,-0.10798751176804657,0.9868646604592036,-0.00697697213276432],"object_position_m":[0.3501314305263172,0.07916891799968033,0.12363083849332328],"object_quaternion_wxyz":[0.9874782281466679,-0.007285640883373524,-0.11494561222995966,0.10780155194761533],"object_linear_velocity_m_s":[-0.0002674164655627403,7.296154094808157e-05,-0.18213794545118223],"object_angular_velocity_rad_s":[-0.1021550254096116,0.49234234764258344,-0.044495005359816674],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38362204783963594,"right":0.4000945394687532},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04444947717532669},{"geom_ids":[85,90],"normal_force_n":0.03925187220506227},{"geom_ids":[85,90],"normal_force_n":0.04713214148352052},{"geom_ids":[85,90],"normal_force_n":0.052366031719338874},{"geom_ids":[86,90],"normal_force_n":0.046478671911927796},{"geom_ids":[86,90],"normal_force_n":0.04722801905099455},{"geom_ids":[86,90],"normal_force_n":0.05369478921414294},{"geom_ids":[86,90],"normal_force_n":0.05302104507932223},{"geom_ids":[88,90],"normal_force_n":0.045546257022593684},{"geom_ids":[88,90],"normal_force_n":0.05078025380747664},{"geom_ids":[88,90],"normal_force_n":0.05892309100561637},{"geom_ids":[88,90],"normal_force_n":0.053645767784843736},{"geom_ids":[89,90],"normal_force_n":0.050662762177543806},{"geom_ids":[89,90],"normal_force_n":0.05143637107156244},{"geom_ids":[89,90],"normal_force_n":0.04489378849728359},{"geom_ids":[89,90],"normal_force_n":0.04420624810183286}],"native_actuator_controls":[0.2417401161880653,1.7406690076684677,-1.2571810248819861,-0.051830986020719894,0.9661005603645395,0.08130714734526226,0.0],"actuator_force_native":[-0.20995920739010998,-0.11488470972966525,0.1815380147873782,0.09029174631205095,-0.04509426750836454,0.23251143900069826,-0.7837875638596717],"issued_joint_targets_rad":[0.24139032496385662,1.7509242111302332,-1.2571995655267394,-0.05129655197497172,0.965313989097081,0.08232100258053072],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.339999999998046,"joint_targets_rad":[0.24139032496385662,1.7509242111302332,-1.2571995655267394,-0.05129655197497172,0.965313989097081,0.08232100258053072],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.359999999998035,"qpos":[0.24461552587033825,1.7209158484048133,-1.259870248979921,-0.05541691229551263,0.9712925689816628,0.053446314280029716,0.019594717473990164,-0.02024894020500754,0.35011821213413635,0.07916894643020088,0.11997070272177553,0.9880758656980638,-0.00781167782729893,-0.10994604305558867,0.10750315777204932],"qvel":[-0.006500422444814425,0.5031520943028722,0.007701751168014674,0.013658427653441883,-0.006040480062597426,0.03587661338755731,1.8623740781092237e-07,1.0058594160487857e-07,-0.0015832236728360006,-0.00026089138471178784,-0.1826979221460528,-0.0012146865037086956,0.5049448942182316,-0.02641584527222833],"joint_position_rad":[0.24461552587033825,1.7209158484048133,-1.259870248979921,-0.05541691229551263,0.9712925689816628,0.053446314280029716],"joint_velocity_rad_s":[-0.006500422444814425,0.5031520943028722,0.007701751168014674,0.013658427653441883,-0.006040480062597426,0.03587661338755731],"gripper_joint_position_m":[0.019594717473990164,-0.02024894020500754],"tcp_position_m":[0.35086677726827004,0.07909035857073819,0.1225010383276426],"tcp_quaternion_wxyz":[0.11495764405729694,-0.10768994201331651,0.9874873816739578,-0.007502499361905205],"object_position_m":[0.35011821213413635,0.07916894643020088,0.11997070272177553],"object_quaternion_wxyz":[0.9880758656980638,-0.00781167782729893,-0.10994604305558867,0.10750315777204932],"object_linear_velocity_m_s":[-0.0015832236728360006,-0.00026089138471178784,-0.1826979221460528],"object_angular_velocity_rad_s":[-0.10177792903958584,0.49316856993189995,-0.04576716435991031],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836330681072036,"right":0.4000863905521894},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04441948044439159},{"geom_ids":[85,90],"normal_force_n":0.03931338778977183},{"geom_ids":[85,90],"normal_force_n":0.047175926519451655},{"geom_ids":[85,90],"normal_force_n":0.05231757901692318},{"geom_ids":[86,90],"normal_force_n":0.04653392650317322},{"geom_ids":[86,90],"normal_force_n":0.04728013188691347},{"geom_ids":[86,90],"normal_force_n":0.05363163227018229},{"geom_ids":[86,90],"normal_force_n":0.05296100367639632},{"geom_ids":[88,90],"normal_force_n":0.04559506701151246},{"geom_ids":[88,90],"normal_force_n":0.05073696476545814},{"geom_ids":[88,90],"normal_force_n":0.058861222949746383},{"geom_ids":[88,90],"normal_force_n":0.05367685329772394},{"geom_ids":[89,90],"normal_force_n":0.05061116601085734},{"geom_ids":[89,90],"normal_force_n":0.051381504255472346},{"geom_ids":[89,90],"normal_force_n":0.04495404996222189},{"geom_ids":[89,90],"normal_force_n":0.04426956229919695}],"native_actuator_controls":[0.24139032496385662,1.7509242111302332,-1.2571995655267394,-0.05129655197497172,0.965313989097081,0.08232100258053072,0.0],"actuator_force_native":[-0.2255139602944567,-0.11509145348077254,0.17514592041445098,0.09652227455442697,-0.050725078751924,0.23493196292367413,-0.7837896301466456],"issued_joint_targets_rad":[0.2410122789200078,1.761255829399527,-1.2572787106644765,-0.050737427957102864,0.9644788112570784,0.08333691024934012],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.359999999998035,"joint_targets_rad":[0.2410122789200078,1.761255829399527,-1.2572787106644765,-0.050737427957102864,0.9644788112570784,0.08333691024934012],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.379999999998024,"qpos":[0.2444785586760258,1.7310578830428538,-1.2597505404208358,-0.05512767761193833,0.9711641672633502,0.05417145311307418,0.019594712404599007,-0.020248944489392875,0.35007761718618974,0.07916197671488971,0.11629846523874497,0.9886504539814083,-0.008334085218504261,-0.1049354605440983,0.10718848812406231],"qvel":[-0.006982235862015632,0.5060549155639925,0.006383542225319452,0.01453929400734692,-0.006812823954893864,0.03622958738968946,7.020583981886993e-07,6.9534783607779e-07,-0.0028965777901583897,-0.0006028281498789627,-0.18331006596659788,-0.0009555739162262779,0.5058629944470019,-0.027793906932844566],"joint_position_rad":[0.2444785586760258,1.7310578830428538,-1.2597505404208358,-0.05512767761193833,0.9711641672633502,0.05417145311307418],"joint_velocity_rad_s":[-0.006982235862015632,0.5060549155639925,0.006383542225319452,0.01453929400734692,-0.006812823954893864,0.03622958738968946],"gripper_joint_position_m":[0.019594712404599007,-0.020248944489392875],"tcp_position_m":[0.3508347134859216,0.07908433522600863,0.11882363676545138],"tcp_quaternion_wxyz":[0.1099533346835751,-0.10737610986349996,0.9880871625795509,-0.008024610148505773],"object_position_m":[0.35007761718618974,0.07916197671488971,0.11629846523874497],"object_quaternion_wxyz":[0.9886504539814083,-0.008334085218504261,-0.1049354605440983,0.10718848812406231],"object_linear_velocity_m_s":[-0.0028965777901583897,-0.0006028281498789627,-0.18331006596659788],"object_angular_velocity_rad_s":[-0.10142576187879793,0.49413165640726814,-0.047090386476460334],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38364629124283167,"right":0.40007633997994446},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04438819162310253},{"geom_ids":[85,90],"normal_force_n":0.039372208438024504},{"geom_ids":[85,90],"normal_force_n":0.047219934391269},{"geom_ids":[85,90],"normal_force_n":0.05227077732736745},{"geom_ids":[86,90],"normal_force_n":0.046589226896671096},{"geom_ids":[86,90],"normal_force_n":0.047332583668201554},{"geom_ids":[86,90],"normal_force_n":0.05357057601822503},{"geom_ids":[86,90],"normal_force_n":0.05290279287997052},{"geom_ids":[88,90],"normal_force_n":0.04564225867945657},{"geom_ids":[88,90],"normal_force_n":0.05069347530195535},{"geom_ids":[88,90],"normal_force_n":0.058802136793130934},{"geom_ids":[88,90],"normal_force_n":0.05370927164348196},{"geom_ids":[89,90],"normal_force_n":0.05055924965209462},{"geom_ids":[89,90],"normal_force_n":0.051326616396069454},{"geom_ids":[89,90],"normal_force_n":0.04501251778586583},{"geom_ids":[89,90],"normal_force_n":0.04433081372788974}],"native_actuator_controls":[0.2410122789200078,1.761255829399527,-1.2572787106644765,-0.050737427957102864,0.9644788112570784,0.08333691024934012,0.0],"actuator_force_native":[-0.24239120117136181,-0.11443886928611846,0.1658286693821509,0.10291351615668409,-0.05663432413037661,0.23731019027812505,-0.7837920064759513],"issued_joint_targets_rad":[0.240600474214472,1.771680232764967,-1.257440159996153,-0.050152266153137094,0.9635978542765832,0.08434907354807007],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.379999999998024,"joint_targets_rad":[0.240600474214472,1.771680232764967,-1.257440159996153,-0.050152266153137094,0.9635978542765832,0.08434907354807007],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.399999999998013,"qpos":[0.24433129124390462,1.7412577300256722,-1.2596518431146757,-0.054820166996562794,0.9710180272833118,0.05490371987769308,0.019594705999944555,-0.020248950187978572,0.35000949851537855,0.07914777113470944,0.11261262278178252,0.9892020897865723,-0.00885297419339555,-0.0999120708353861,0.10685704708250379],"qvel":[-0.007509262213663009,0.5092643009228234,0.005039404042315693,0.01544694465297349,-0.00761564064244935,0.03656983508640128,1.279009507528899e-06,1.366535102067343e-06,-0.00421623836425836,-0.0009575955208303278,-0.18401973764969673,-0.0006899027616293461,0.5070457549236186,-0.029214902307006237],"joint_position_rad":[0.24433129124390462,1.7412577300256722,-1.2596518431146757,-0.054820166996562794,0.9710180272833118,0.05490371987769308],"joint_velocity_rad_s":[-0.007509262213663009,0.5092643009228234,0.005039404042315693,0.01544694465297349,-0.00761564064244935,0.03656983508640128],"gripper_joint_position_m":[0.019594705999944555,-0.020248950187978572],"tcp_position_m":[0.3507750045870678,0.07907100113418529,0.11513262879912739],"tcp_quaternion_wxyz":[0.10493596927076418,-0.10704551668545413,0.988664103579837,-0.008543418720097375],"object_position_m":[0.35000949851537855,0.07914777113470944,0.11261262278178252],"object_quaternion_wxyz":[0.9892020897865723,-0.00885297419339555,-0.0999120708353861,0.10685704708250379],"object_linear_velocity_m_s":[-0.00421623836425836,-0.0009575955208303278,-0.18401973764969673],"object_angular_velocity_rad_s":[-0.10112604169760421,0.495351996199978,-0.04846965669324805],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3836619015544602,"right":0.400064145721116},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04435542761808576},{"geom_ids":[85,90],"normal_force_n":0.03942828180626031},{"geom_ids":[85,90],"normal_force_n":0.04726429685771818},{"geom_ids":[85,90],"normal_force_n":0.05222562655365968},{"geom_ids":[86,90],"normal_force_n":0.046644721024142834},{"geom_ids":[86,90],"normal_force_n":0.04738553697814292},{"geom_ids":[86,90],"normal_force_n":0.053511615270459244},{"geom_ids":[86,90],"normal_force_n":0.05284639544599133},{"geom_ids":[88,90],"normal_force_n":0.04568782244238681},{"geom_ids":[88,90],"normal_force_n":0.050649646571950785},{"geom_ids":[88,90],"normal_force_n":0.05874588320958138},{"geom_ids":[88,90],"normal_force_n":0.05374320357481459},{"geom_ids":[89,90],"normal_force_n":0.05050684295523447},{"geom_ids":[89,90],"normal_force_n":0.051271552354858266},{"geom_ids":[89,90],"normal_force_n":0.04506919842169078},{"geom_ids":[89,90],"normal_force_n":0.04438999619059897}],"native_actuator_controls":[0.240600474214472,1.771680232764967,-1.257440159996153,-0.050152266153137094,0.9635978542765832,0.08434907354807007,0.0],"actuator_force_native":[-0.2609190512862938,-0.1125212854705353,0.1517376292702295,0.10948131047216059,-0.06277826910361206,0.23959878407416801,-0.7837946350453199],"issued_joint_targets_rad":[0.24014715551168703,1.782222768244005,-1.2577171332222121,-0.04953923875720778,0.9626778851862198,0.08534901210366615],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.399999999998013,"joint_targets_rad":[0.24014715551168703,1.782222768244005,-1.2577171332222121,-0.04953923875720778,0.9626778851862198,0.08534901210366615],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.419999999998002,"qpos":[0.2441726481559814,1.7515224711147257,-1.2595735136464592,-0.05449375616660934,0.9708533293891092,0.05564276184415046,0.019594697220979063,-0.020248958369055478,0.34991340440705293,0.07912595096172073,0.10891058455780021,0.9897309793453251,-0.009368640478187279,-0.09487251572610714,0.10650832295897296],"qvel":[-0.008094357133673092,0.5128760021555342,0.0038111983570673627,0.01638711026718283,-0.008475907214941006,0.03689130009034723,1.844133916655498e-06,2.032670233083043e-06,-0.005580294896816864,-0.001338014304635067,-0.1849003754469902,-0.0004173711691182712,0.5086863035569364,-0.03068127948114116],"joint_position_rad":[0.2441726481559814,1.7515224711147257,-1.2595735136464592,-0.05449375616660934,0.9708533293891092,0.05564276184415046],"joint_velocity_rad_s":[-0.008094357133673092,0.5128760021555342,0.0038111983570673627,0.01638711026718283,-0.008475907214941006,0.03689130009034723],"gripper_joint_position_m":[0.019594697220979063,-0.020248958369055478],"tcp_position_m":[0.3506871957169468,0.07904997422476374,0.11142542966851905],"tcp_quaternion_wxyz":[0.09990221053633593,-0.10669765087777015,0.9892184237952834,-0.009059230160112666],"object_position_m":[0.34991340440705293,0.07912595096172073,0.10891058455780021],"object_quaternion_wxyz":[0.9897309793453251,-0.009368640478187279,-0.09487251572610714,0.10650832295897296],"object_linear_velocity_m_s":[-0.005580294896816864,-0.001338014304635067,-0.1849003754469902],"object_angular_velocity_rad_s":[-0.10091896585026333,0.4970182440012612,-0.049914907566057605],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38367990718235623,"right":0.40004937491126724},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044320871890478584},{"geom_ids":[85,90],"normal_force_n":0.03948135995533858},{"geom_ids":[85,90],"normal_force_n":0.04730913472533435},{"geom_ids":[85,90],"normal_force_n":0.052182178819552096},{"geom_ids":[86,90],"normal_force_n":0.046700537897187866},{"geom_ids":[86,90],"normal_force_n":0.0474391512344365},{"geom_ids":[86,90],"normal_force_n":0.053454818764686385},{"geom_ids":[86,90],"normal_force_n":0.05279185389534184},{"geom_ids":[88,90],"normal_force_n":0.0457316492508195},{"geom_ids":[88,90],"normal_force_n":0.05060530426705257},{"geom_ids":[88,90],"normal_force_n":0.05869266776936413},{"geom_ids":[88,90],"normal_force_n":0.053778919221996395},{"geom_ids":[89,90],"normal_force_n":0.05045373217044676},{"geom_ids":[89,90],"normal_force_n":0.05121612957968214},{"geom_ids":[89,90],"normal_force_n":0.045123990903158724},{"geom_ids":[89,90],"normal_force_n":0.044446981748747005}],"native_actuator_controls":[0.24014715551168703,1.782222768244005,-1.2577171332222121,-0.04953923875720778,0.9626778851862198,0.08534901210366615,0.0],"actuator_force_native":[-0.2815676258751836,-0.10835624043534153,0.12945444215442592,0.11624514504014805,-0.06904058120648138,0.241725552459636,-0.7837971095087458],"issued_joint_targets_rad":[0.23964091918787006,1.7929228710512637,-1.2581617832777179,-0.04889569452843077,0.9617327500651346,0.08632393533786534],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.419999999998002,"joint_targets_rad":[0.23964091918787006,1.7929228710512637,-1.2581617832777179,-0.04889569452843077,0.9617327500651346,0.08632393533786534],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.43999999999799,"qpos":[0.24399176755724983,1.7618627903706894,-1.259513958690832,-0.0541461554086487,0.970669412269824,0.056388004388116066,0.01959456745504278,-0.02024909508460506,0.3497890777996262,0.07909303442563122,0.10518817845574276,0.9902380558845477,-0.009881124963571648,-0.08981085850666241,0.10613654291402953],"qvel":[-0.00939719434100719,0.5170070080883862,0.0029524282150235046,0.017422284554092154,-0.009451733138129054,0.03718532115242375,4.899145980212765e-08,7.816905863891837e-07,-0.007006767498297247,-0.001978109678961289,-0.18606199841670445,-0.0001989492810895384,0.5110812073046938,-0.03286528097466928],"joint_position_rad":[0.24399176755724983,1.7618627903706894,-1.259513958690832,-0.0541461554086487,0.970669412269824,0.056388004388116066],"joint_velocity_rad_s":[-0.00939719434100719,0.5170070080883862,0.0029524282150235046,0.017422284554092154,-0.009451733138129054,0.03718532115242375],"gripper_joint_position_m":[0.01959456745504278,-0.02024909508460506],"tcp_position_m":[0.3505710673666972,0.07901760749790622,0.10769788981721055],"tcp_quaternion_wxyz":[0.09484623847539331,-0.1063269224313369,0.9897510522140992,-0.009572421555328626],"object_position_m":[0.3497890777996262,0.07909303442563122,0.10518817845574276],"object_quaternion_wxyz":[0.9902380558845477,-0.009881124963571648,-0.08981085850666241,0.10613654291402953],"object_linear_velocity_m_s":[-0.007006767498297247,-0.001978109678961289,-0.18606199841670445],"object_angular_velocity_rad_s":[-0.10079925592870176,0.4994080159964219,-0.052108639371234354],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38367767344258963,"right":0.40003932404928855},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.044276212847768726},{"geom_ids":[85,90],"normal_force_n":0.03951711229157697},{"geom_ids":[85,90],"normal_force_n":0.04735107554901295},{"geom_ids":[85,90],"normal_force_n":0.05214315468853259},{"geom_ids":[86,90],"normal_force_n":0.046752547313588584},{"geom_ids":[86,90],"normal_force_n":0.04749031930200546},{"geom_ids":[86,90],"normal_force_n":0.0534045943908966},{"geom_ids":[86,90],"normal_force_n":0.05274265705920772},{"geom_ids":[88,90],"normal_force_n":0.0457689717018784},{"geom_ids":[88,90],"normal_force_n":0.05056187301230295},{"geom_ids":[88,90],"normal_force_n":0.058655296082823244},{"geom_ids":[88,90],"normal_force_n":0.05382291677555224},{"geom_ids":[89,90],"normal_force_n":0.050401059240438376},{"geom_ids":[89,90],"normal_force_n":0.05116255099533236},{"geom_ids":[89,90],"normal_force_n":0.04517135787158897},{"geom_ids":[89,90],"normal_force_n":0.04449529836937202}],"native_actuator_controls":[0.23964091918787006,1.7929228710512637,-1.2581617832777179,-0.04889569452843077,0.9617327500651346,0.08632393533786534,0.0],"actuator_force_native":[-0.3010818978453429,-0.10022858599600681,0.09341189197400013,0.12290701243825675,-0.07518902233969982,0.2435813277688571,-0.7837829431590103],"issued_joint_targets_rad":[0.23906029197471412,1.8038447680554204,-1.2588616611699928,-0.04821707800640755,0.960791331282278,0.08725897418042465],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.43999999999799,"joint_targets_rad":[0.23906029197471412,1.8038447680554204,-1.2588616611699928,-0.04821707800640755,0.960791331282278,0.08725897418042465],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.45999999999798,"qpos":[0.2437628092507277,1.772296800837252,-1.2594733493849732,-0.05377394895369164,0.9704663184485967,0.057138501823054695,0.019594189940955707,-0.020249489818557915,0.3496374246411321,0.07904051358742303,0.10143904132706894,0.9907252141227785,-0.010390921835056544,-0.08471767333460507,0.10572840048711538],"qvel":[-0.012554595830412721,0.5223125348317617,0.0019553079706336293,0.01867159022983885,-0.0104125196249663,0.03742599206534923,-9.574728680361744e-06,-8.454657662917439e-06,-0.008322789401264965,-0.0032250722078192347,-0.18760267872920863,-8.188981937810329e-05,0.5146361339582854,-0.03694984047041388],"joint_position_rad":[0.2437628092507277,1.772296800837252,-1.2594733493849732,-0.05377394895369164,0.9704663184485967,0.057138501823054695],"joint_velocity_rad_s":[-0.012554595830412721,0.5223125348317617,0.0019553079706336293,0.01867159022983885,-0.0104125196249663,0.03742599206534923],"gripper_joint_position_m":[0.019594189940955707,-0.020249489818557915],"tcp_position_m":[0.3504275740158646,0.07896520917188905,0.10394367079928721],"tcp_quaternion_wxyz":[0.08975892444823094,-0.10592026992611513,0.990263877169688,-0.010083921535433223],"object_position_m":[0.3496374246411321,0.07904051358742303,0.10143904132706894],"object_quaternion_wxyz":[0.9907252141227785,-0.010390921835056544,-0.08471767333460507,0.10572840048711538],"object_linear_velocity_m_s":[-0.008322789401264965,-0.0032250722078192347,-0.18760267872920863],"object_angular_velocity_rad_s":[-0.10070308769390449,0.5029031481947176,-0.0562401943188108],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38322805896081824,"right":0.40042587379365047},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04415845740665907},{"geom_ids":[85,90],"normal_force_n":0.03946489962626291},{"geom_ids":[85,90],"normal_force_n":0.047336821392241636},{"geom_ids":[85,90],"normal_force_n":0.052062990758692744},{"geom_ids":[86,90],"normal_force_n":0.04674648759094997},{"geom_ids":[86,90],"normal_force_n":0.04748639268264184},{"geom_ids":[86,90],"normal_force_n":0.053317794907916716},{"geom_ids":[86,90],"normal_force_n":0.05265421459545337},{"geom_ids":[88,90],"normal_force_n":0.04584069272395499},{"geom_ids":[88,90],"normal_force_n":0.050568208828165},{"geom_ids":[88,90],"normal_force_n":0.05870069390936025},{"geom_ids":[88,90],"normal_force_n":0.05393401082264738},{"geom_ids":[89,90],"normal_force_n":0.050397000449880075},{"geom_ids":[89,90],"normal_force_n":0.05116067233159414},{"geom_ids":[89,90],"normal_force_n":0.04525121340528077},{"geom_ids":[89,90],"normal_force_n":0.04457338132276783}],"native_actuator_controls":[0.23906029197471412,1.8038447680554204,-1.2588616611699928,-0.04821707800640755,0.960791331282278,0.08725897418042465,0.0],"actuator_force_native":[-0.3134284029290235,-0.08772529670534368,0.03915851734527109,0.12891688674216928,-0.08113109222573556,0.24506573547567567,-0.7837197239948265],"issued_joint_targets_rad":[0.23837198997885095,1.8150978496830437,-1.2599733799670862,-0.04749737919015374,0.9599126074738348,0.08813963401068418],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.45999999999798,"joint_targets_rad":[0.23837198997885095,1.8150978496830437,-1.2599733799670862,-0.04749737919015374,0.9599126074738348,0.08813963401068418],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.479999999997968,"qpos":[0.24345435585777148,1.7828555597492057,-1.259458670260612,-0.05337571749180559,0.9702453824489229,0.05789282040649503,0.01959370681795515,-0.020249976677753995,0.34946109167378137,0.0789575246473186,0.09765404508746035,0.9911945681659239,-0.0109005981723961,-0.07957987428436376,0.10526893467085598],"qvel":[-0.01704847816191333,0.5295444510528498,0.0004996194906578729,0.019928764219587336,-0.011300567226127232,0.03759217565855982,-6.840169791215269e-06,-4.514139553551153e-06,-0.009507863383966397,-0.004945716481418619,-0.18970379802281442,-0.00020569722254220343,0.5198164300112122,-0.04221701127071721],"joint_position_rad":[0.24345435585777148,1.7828555597492057,-1.259458670260612,-0.05337571749180559,0.9702453824489229,0.05789282040649503],"joint_velocity_rad_s":[-0.01704847816191333,0.5295444510528498,0.0004996194906578729,0.019928764219587336,-0.011300567226127232,0.03759217565855982],"gripper_joint_position_m":[0.01959370681795515,-0.020249976677753995],"tcp_position_m":[0.35025932192431486,0.07888209276544952,0.10015362913987486],"tcp_quaternion_wxyz":[0.0846275370709428,-0.10546260197890253,0.9907590742645987,-0.010596051882694519],"object_position_m":[0.34946109167378137,0.0789575246473186,0.09765404508746035],"object_quaternion_wxyz":[0.9911945681659239,-0.0109005981723961,-0.07957987428436376,0.10526893467085598],"object_linear_velocity_m_s":[-0.009507863383966397,-0.004945716481418619,-0.18970379802281442],"object_angular_velocity_rad_s":[-0.10101708191121059,0.507923924189865,-0.061646375881254684],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38297822628587813,"right":0.4006730438446752},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04405723219743951},{"geom_ids":[85,90],"normal_force_n":0.039419718693647},{"geom_ids":[85,90],"normal_force_n":0.04734661762405559},{"geom_ids":[85,90],"normal_force_n":0.05201651343396202},{"geom_ids":[86,90],"normal_force_n":0.04676327987403596},{"geom_ids":[86,90],"normal_force_n":0.04750689328701937},{"geom_ids":[86,90],"normal_force_n":0.05326730121615733},{"geom_ids":[86,90],"normal_force_n":0.05260066995956142},{"geom_ids":[88,90],"normal_force_n":0.04588623664037807},{"geom_ids":[88,90],"normal_force_n":0.05055795831119866},{"geom_ids":[88,90],"normal_force_n":0.05874692185351154},{"geom_ids":[88,90],"normal_force_n":0.05403617380430381},{"geom_ids":[89,90],"normal_force_n":0.050375953307421555},{"geom_ids":[89,90],"normal_force_n":0.051143412916824275},{"geom_ids":[89,90],"normal_force_n":0.04530369926717056},{"geom_ids":[89,90],"normal_force_n":0.044622687743866817}],"native_actuator_controls":[0.23837198997885095,1.8150978496830437,-1.2599733799670862,-0.04749737919015374,0.9599126074738348,0.08813963401068418,0.0],"actuator_force_native":[-0.3213468795040768,-0.06833906055720718,-0.043674873971212946,0.13548971096813767,-0.08637689891169131,0.24607987255405184,-0.7837140718692499],"issued_joint_targets_rad":[0.23753611802399494,1.8268749286191737,-1.261794125693933,-0.046729922499927724,0.9592180923398403,0.08894594169552629],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.479999999997968,"joint_targets_rad":[0.23753611802399494,1.8268749286191737,-1.261794125693933,-0.046729922499927724,0.9592180923398403,0.08894594169552629],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.499999999997957,"qpos":[0.24304152669641296,1.793589163013761,-1.259483662258211,-0.05295082978059698,0.9700096559570076,0.058649228706158775,0.019593277832576226,-0.02025039901687349,0.3492629377816169,0.07883556571320657,0.09381896711716205,0.9916480431818494,-0.011413469639094178,-0.07437733272615767,0.10474685456351346],"qvel":[-0.02268700715713611,0.5399089162546675,-0.0017828879410493846,0.02122600284209595,-0.012019091135035095,0.03766793483472165,6.464293858854496e-07,3.6646482156016256e-06,-0.010552211717059706,-0.007048906874997899,-0.1927059371618482,-0.00048407294613700446,0.5275707368934823,-0.04846442010232299],"joint_position_rad":[0.24304152669641296,1.793589163013761,-1.259483662258211,-0.05295082978059698,0.9700096559570076,0.058649228706158775],"joint_velocity_rad_s":[-0.02268700715713611,0.5399089162546675,-0.0017828879410493846,0.02122600284209595,-0.012019091135035095,0.03766793483472165],"gripper_joint_position_m":[0.019593277832576226,-0.02025039901687349],"tcp_position_m":[0.35006913879525997,0.07875992679390043,0.0963135197011744],"tcp_quaternion_wxyz":[0.07943247437109768,-0.10494250179560573,0.9912386591544307,-0.011111882373885931],"object_position_m":[0.3492629377816169,0.07883556571320657,0.09381896711716205],"object_quaternion_wxyz":[0.9916480431818494,-0.011413469639094178,-0.07437733272615767,0.10474685456351346],"object_linear_velocity_m_s":[-0.010552211717059706,-0.007048906874997899,-0.1927059371618482],"object_angular_velocity_rad_s":[-0.10190707319518486,0.5154130886234053,-0.06814846496640341],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.3828452997837283,"right":0.4008279061723397},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04396545846230792},{"geom_ids":[85,90],"normal_force_n":0.039379724684966526},{"geom_ids":[85,90],"normal_force_n":0.04737102025230958},{"geom_ids":[85,90],"normal_force_n":0.05198897945328136},{"geom_ids":[86,90],"normal_force_n":0.04679414096501379},{"geom_ids":[86,90],"normal_force_n":0.047542315848385835},{"geom_ids":[86,90],"normal_force_n":0.05323704422362954},{"geom_ids":[86,90],"normal_force_n":0.05256661589383372},{"geom_ids":[88,90],"normal_force_n":0.045915952648790254},{"geom_ids":[88,90],"normal_force_n":0.05053611585630581},{"geom_ids":[88,90],"normal_force_n":0.0587910739738037},{"geom_ids":[88,90],"normal_force_n":0.05413194897254576},{"geom_ids":[89,90],"normal_force_n":0.05034298778940595},{"geom_ids":[89,90],"normal_force_n":0.05111509393664841},{"geom_ids":[89,90],"normal_force_n":0.04533983038280091},{"geom_ids":[89,90],"normal_force_n":0.0446549026120389}],"native_actuator_controls":[0.23753611802399494,1.8268749286191737,-1.261794125693933,-0.046729922499927724,0.9592180923398403,0.08894594169552629,0.0],"actuator_force_native":[-0.32699765800775893,-0.0366833328403402,-0.17592263515248874,0.14270627701629035,-0.08988699946911893,0.24646522764159262,-0.7837343454499784],"issued_joint_targets_rad":[0.23657571380833636,1.838928838903338,-1.2655134450972125,-0.04587111117678098,0.9601672535413245,0.08963510278889941],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.499999999997957,"joint_targets_rad":[0.23657571380833636,1.838928838903338,-1.2655134450972125,-0.04587111117678098,0.9601672535413245,0.08963510278889941],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.519999999997946,"qpos":[0.24250768102378387,1.8046517322229458,-1.2597751947595224,-0.052498763180676644,0.9698137456312215,0.059401977314559436,0.019593069017335107,-0.02025059265968241,0.349092541327432,0.07868039078405695,0.08993766579766735,0.9920852083653661,-0.011930981813722435,-0.06910975148388551,0.1041558124419626],"qvel":[-0.02898771805910515,0.5580905935309038,-0.018947026681742203,0.022601957042170946,-0.01011598687119855,0.03750710368685471,9.045827054045536e-06,1.1557023056424205e-05,-0.00806701043127264,-0.008519620979010316,-0.19463308459487597,-0.0006605555864736332,0.5311808765716592,-0.05548447720344213],"joint_position_rad":[0.24250768102378387,1.8046517322229458,-1.2597751947595224,-0.052498763180676644,0.9698137456312215,0.059401977314559436],"joint_velocity_rad_s":[-0.02898771805910515,0.5580905935309038,-0.018947026681742203,0.022601957042170946,-0.01011598687119855,0.03750710368685471],"gripper_joint_position_m":[0.019593069017335107,-0.02025059265968241],"tcp_position_m":[0.34990713278685337,0.07860480518568265,0.09242662953040943],"tcp_quaternion_wxyz":[0.07418264009326045,-0.10435257395879666,0.9917016687092135,-0.011630842459997601],"object_position_m":[0.349092541327432,0.07868039078405695,0.08993766579766735],"object_quaternion_wxyz":[0.9920852083653661,-0.011930981813722435,-0.06910975148388551,0.1041558124419626],"object_linear_velocity_m_s":[-0.00806701043127264,-0.008519620979010316,-0.19463308459487597],"object_angular_velocity_rad_s":[-0.10179308001054815,0.5188523740545307,-0.0752493852440167],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38274321043937887,"right":0.40096144009277185},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.043881401064502064},{"geom_ids":[85,90],"normal_force_n":0.039379493440985534},{"geom_ids":[85,90],"normal_force_n":0.047409544266509146},{"geom_ids":[85,90],"normal_force_n":0.051943217401824435},{"geom_ids":[86,90],"normal_force_n":0.04684315385913744},{"geom_ids":[86,90],"normal_force_n":0.04759371427213509},{"geom_ids":[86,90],"normal_force_n":0.05318239568194288},{"geom_ids":[86,90],"normal_force_n":0.05251029045234221},{"geom_ids":[88,90],"normal_force_n":0.045965421904328355},{"geom_ids":[88,90],"normal_force_n":0.05050141050612078},{"geom_ids":[88,90],"normal_force_n":0.05879552981614666},{"geom_ids":[88,90],"normal_force_n":0.054221078221033385},{"geom_ids":[89,90],"normal_force_n":0.05029534103058867},{"geom_ids":[89,90],"normal_force_n":0.05106981427414657},{"geom_ids":[89,90],"normal_force_n":0.045399772167830116},{"geom_ids":[89,90],"normal_force_n":0.044713072172577285}],"native_actuator_controls":[0.23657571380833636,1.838928838903338,-1.2655134450972125,-0.04587111117678098,0.9601672535413245,0.08963510278889941,0.0],"actuator_force_native":[-0.32961878694027646,-0.04828443322313092,-0.36432489360650777,0.152096294944972,-0.08129094059217046,0.2460705992131177,-0.7837679898286746],"issued_joint_targets_rad":[0.23622655368937662,1.8453166031947068,-1.2757546016627226,-0.0446747502809514,0.9732893527117682,0.09034951137634739],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.519999999997946,"joint_targets_rad":[0.23622655368937662,1.8453166031947068,-1.2757546016627226,-0.0446747502809514,0.9732893527117682,0.09034951137634739],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.539999999997935,"qpos":[0.24189637196705693,1.8161164428428638,-1.2609709683863062,-0.052021638401901035,0.9698503261601309,0.0601435139077535,0.019593772385720677,-0.02024982563794552,0.3490901296661442,0.07854019008935184,0.08614604599599872,0.9924922585072845,-0.012433524846957575,-0.06394826992718629,0.10351397507732785],"qvel":[-0.03099341860781061,0.5709170415527898,-0.085955566993698,0.02379525290259754,0.008037248602503879,0.036814207142444454,5.082420881216483e-05,5.274159974130952e-05,0.005554253767236244,-0.005839051663797402,-0.18205505197145302,5.022295687239076e-05,0.4975596409100777,-0.05967226852406779],"joint_position_rad":[0.24189637196705693,1.8161164428428638,-1.2609709683863062,-0.052021638401901035,0.9698503261601309,0.0601435139077535],"joint_velocity_rad_s":[-0.03099341860781061,0.5709170415527898,-0.085955566993698,0.02379525290259754,0.008037248602503879,0.036814207142444454],"gripper_joint_position_m":[0.019593772385720677,-0.02024982563794552],"tcp_position_m":[0.3499144451064097,0.07846605956552856,0.0886266621212742],"tcp_quaternion_wxyz":[0.06906248654662131,-0.10370884137253239,0.9921329251604722,-0.012128808090215217],"object_position_m":[0.3490901296661442,0.07854019008935184,0.08614604599599872],"object_quaternion_wxyz":[0.9924922585072845,-0.012433524846957575,-0.06394826992718629,0.10351397507732785],"object_linear_velocity_m_s":[0.005554253767236244,-0.005839051663797402,-0.18205505197145302],"object_angular_velocity_rad_s":[-0.09366725168385005,0.4860706299696411,-0.07802670734197302],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":0.38379868169878933,"right":0.4001386754733849},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.04400044086392273},{"geom_ids":[85,90],"normal_force_n":0.039682870078303754},{"geom_ids":[85,90],"normal_force_n":0.04761130807084107},{"geom_ids":[85,90],"normal_force_n":0.051959102378476694},{"geom_ids":[86,90],"normal_force_n":0.0470679731227064},{"geom_ids":[86,90],"normal_force_n":0.04780888067514221},{"geom_ids":[86,90],"normal_force_n":0.05316538850490895},{"geom_ids":[86,90],"normal_force_n":0.052502718004487546},{"geom_ids":[88,90],"normal_force_n":0.045980113474342145},{"geom_ids":[88,90],"normal_force_n":0.0503291134141369},{"geom_ids":[88,90],"normal_force_n":0.0585163809287006},{"geom_ids":[88,90],"normal_force_n":0.05413104964738333},{"geom_ids":[89,90],"normal_force_n":0.05010971169791746},{"geom_ids":[89,90],"normal_force_n":0.05087402660873375},{"geom_ids":[89,90],"normal_force_n":0.045437727006264056},{"geom_ids":[89,90],"normal_force_n":0.044760552695906605}],"native_actuator_controls":[0.23622655368937662,1.8453166031947068,-1.2757546016627226,-0.0446747502809514,0.9732893527117682,0.09034951137634739,0.0],"actuator_force_native":[-0.29861836917536877,-0.5185723796165291,-0.7529128271448116,0.1748992603249977,0.022334392612616938,0.24683866397227228,-0.7840050164728879],"issued_joint_targets_rad":[0.23587529604467872,1.8513573150978004,-1.2855150038658871,-0.04349217103349556,0.9859689886423701,0.09116699531014628],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.539999999997935,"joint_targets_rad":[0.23587529604467872,1.8513573150978004,-1.2855150038658871,-0.04349217103349556,0.9859689886423701,0.09116699531014628],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.559999999997924,"qpos":[0.2412721082270636,1.8275297682418896,-1.263677882338982,-0.05151868683796243,0.9703669670709025,0.06087705109558048,0.01960060015954461,-0.020254405260237623,0.34940039457640054,0.07847176515806716,0.08275746235223333,0.992853957020264,-0.01282666222026584,-0.05922431893762149,0.10280552909190292],"qvel":[-0.031435405430672615,0.5516094345460115,-0.16328505652167372,0.024484971223650596,0.028867212488238658,0.0363813852228882,0.005921351095309244,-0.005489247086680712,0.02376937786188065,-0.0035088510597042336,-0.15083703360708992,0.08781155310622121,0.5872312459606255,-0.12363757270199603],"joint_position_rad":[0.2412721082270636,1.8275297682418896,-1.263677882338982,-0.05151868683796243,0.9703669670709025,0.06087705109558048],"joint_velocity_rad_s":[-0.031435405430672615,0.5516094345460115,-0.16328505652167372,0.024484971223650596,0.028867212488238658,0.0363813852228882],"gripper_joint_position_m":[0.01960060015954461,-0.020254405260237623],"tcp_position_m":[0.35023485791186304,0.07840119806324267,0.0852205923217792],"tcp_quaternion_wxyz":[0.06447481402444642,-0.1030252286097473,0.9925075788776203,-0.012550159238284607],"object_position_m":[0.34940039457640054,0.07847176515806716,0.08275746235223333],"object_quaternion_wxyz":[0.992853957020264,-0.01282666222026584,-0.05922431893762149,0.10280552909190292],"object_linear_velocity_m_s":[0.02376937786188065,-0.0035088510597042336,-0.15083703360708992],"object_angular_velocity_rad_s":[-0.018780719740134243,0.5910410760166235,-0.13474192184391376],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":5,"right":1},"pad_normal_forces_n":{"left":0.9200548644435838,"right":0.24884935110930198},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":17,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.5006920673753887},{"geom_ids":[85,90],"normal_force_n":0.19221748068324754},{"geom_ids":[86,90],"normal_force_n":0.23530250674697645},{"geom_ids":[86,90],"normal_force_n":0.3313730888600539},{"geom_ids":[86,90],"normal_force_n":0.1431881137916526},{"geom_ids":[86,90],"normal_force_n":0.017973674361653216},{"geom_ids":[88,90],"normal_force_n":0.24884935110930198}],"native_actuator_controls":[0.23587529604467872,1.8513573150978004,-1.2855150038658871,-0.04349217103349556,0.9859689886423701,0.09116699531014628,0.0],"actuator_force_native":[-0.2745679474374292,-0.8518434242571686,-0.9305444395440503,0.19863577606042204,0.11271939698231748,0.24832736431132574,-0.8136307618583306],"issued_joint_targets_rad":[0.23553688208800524,1.856623781267592,-1.294093774552445,-0.04238731627766245,0.9972466058191665,0.092064177388368],"issued_gripper_position_m":0.0,"command":{"t_seconds":13.559999999997924,"joint_targets_rad":[0.23553688208800524,1.856623781267592,-1.294093774552445,-0.04238731627766245,0.9972466058191665,0.092064177388368],"gripper_position_m":0.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.579999999997913,"qpos":[0.24049542861037065,1.8380577344469073,-1.2680753562426847,-0.05106880296967672,0.9713444410452725,0.061595709237115916,0.01979942631019721,-0.020325080031367196,0.3503196984240235,0.07848218294484897,0.08090244141422405,0.9940701232366076,-0.01263638832043173,-0.03841967737374673,0.1009397848673628],"qvel":[-0.04109837112919883,0.48741350782583365,-0.24335681613922236,0.023313945102598432,0.04361075027691653,0.03650563531017819,-0.01129198441634883,0.017807543317814357,0.0667225273084385,0.011094718929362965,-0.06089582566894636,-0.026361226165549,3.251406920108022,-0.08409456034529332],"joint_position_rad":[0.24049542861037065,1.8380577344469073,-1.2680753562426847,-0.05106880296967672,0.9713444410452725,0.061595709237115916],"joint_velocity_rad_s":[-0.04109837112919883,0.48741350782583365,-0.24335681613922236,0.023313945102598432,0.04361075027691653,0.03650563531017819],"gripper_joint_position_m":[0.01979942631019721,-0.020325080031367196],"tcp_position_m":[0.3509832231239391,0.07837222100820715,0.08254597664751313],"tcp_quaternion_wxyz":[0.06093464493023558,-0.10224404156283898,0.9928079931933564,-0.012861324329278787],"object_position_m":[0.3503196984240235,0.07848218294484897,0.08090244141422405],"object_quaternion_wxyz":[0.9940701232366076,-0.01263638832043173,-0.03841967737374673,0.1009397848673628],"object_linear_velocity_m_s":[0.0667225273084385,0.011094718929362965,-0.06089582566894636],"object_angular_velocity_rad_s":[-0.668451519357612,3.177336149083713,-0.19266896855841345],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.5074517267475601,"right":0.6010867296513006},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.059138377638673},{"geom_ids":[85,90],"normal_force_n":0.20015651630816067},{"geom_ids":[86,90],"normal_force_n":0.30729521043939945},{"geom_ids":[88,90],"normal_force_n":0.6010867296513006}],"native_actuator_controls":[0.23553688208800524,1.856623781267592,-1.294093774552445,-0.04238731627766245,0.9972466058191665,0.092064177388368,0.0],"actuator_force_native":[-0.1911918661432388,-0.9517837934743909,-0.8646893840847127,0.23068974216757865,0.19360552232356376,0.24992622854725366,-0.7355171303261443],"issued_joint_targets_rad":[0.23527249710959258,1.860637106990075,-1.3006786250775322,-0.041523040211363854,1.0059675982511984,0.09323440793963059],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.579999999997913,"joint_targets_rad":[0.23527249710959258,1.860637106990075,-1.3006786250775322,-0.041523040211363854,1.0059675982511984,0.09323440793963059],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.599999999997902,"qpos":[0.23978187861982506,1.8470312248828271,-1.2736089746052972,-0.05053626170444093,0.9726422949726916,0.06234945303706385,0.019829537655959902,-0.0203936703729752,0.3516776110995151,0.07856367663973758,0.07988024629216642,0.9951438686504709,-0.016620783397580507,-0.0030783497344470966,0.09696883009265471],"qvel":[-0.03716672398583471,0.3963653901960282,-0.27885202590713504,0.024188472955308918,0.05644120165297052,0.03834251229249035,0.006365474075945699,-0.0024383586579228207,0.054407317646785754,-0.00570940126686342,-0.03237393732645343,0.9198649625663397,2.10990875511481,0.18457764212552222],"joint_position_rad":[0.23978187861982506,1.8470312248828271,-1.2736089746052972,-0.05053626170444093,0.9726422949726916,0.06234945303706385],"joint_velocity_rad_s":[-0.03716672398583471,0.3963653901960282,-0.27885202590713504,0.024188472955308918,0.05644120165297052,0.03834251229249035],"gripper_joint_position_m":[0.019829537655959902,-0.0203936703729752],"tcp_position_m":[0.35204156297180234,0.07845424756657943,0.08069845373470966],"tcp_quaternion_wxyz":[0.058561547569359405,-0.10141474970966641,0.9930343421808906,-0.012976476292647046],"object_position_m":[0.3516776110995151,0.07856367663973758,0.07988024629216642],"object_quaternion_wxyz":[0.9951438686504709,-0.016620783397580507,-0.0030783497344470966,0.09696883009265471],"object_linear_velocity_m_s":[0.054407317646785754,-0.00570940126686342,-0.03237393732645343],"object_angular_velocity_rad_s":[0.4938350177015582,2.2526842097770765,0.11608719374958959],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":0},"pad_normal_forces_n":{"left":0.8893813860721662,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":1.1423358971853583},{"geom_ids":[1,90],"normal_force_n":0.04926381997526584},{"geom_ids":[85,90],"normal_force_n":0.3838369986409185},{"geom_ids":[86,90],"normal_force_n":0.5055443874312476}],"native_actuator_controls":[0.23527249710959258,1.860637106990075,-1.3006786250775322,-0.041523040211363854,1.0059675982511984,0.09323440793963059,0.0010000000000000002],"actuator_force_native":[-0.1749169008894249,-0.8933563824003272,-0.7713119082431206,0.2395864949465385,0.24859123030561037,0.25133578058693173,-0.7850088766181246],"issued_joint_targets_rad":[0.23501272889485375,1.863330824332907,-1.3051208309537123,-0.040773064090458846,1.011856487868784,0.09444381281499556],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.599999999997902,"joint_targets_rad":[0.23501272889485375,1.863330824332907,-1.3051208309537123,-0.040773064090458846,1.011856487868784,0.09444381281499556],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.61999999999789,"qpos":[0.23894643134010524,1.853982342214239,-1.2794296142636483,-0.05007060558220619,0.9743566765020966,0.0631304015538687,0.02024903174346915,-0.02071751762802231,0.3524298942293328,0.07856579682421835,0.07975399626018692,0.9947181352276313,-0.004415826151576057,0.004238070732480516,0.10246155710865376],"qvel":[-0.039514842771551935,0.2925553364120618,-0.27662986622519214,0.024564147000076787,0.08467834407168974,0.038678913949386017,0.030928750343041784,-0.032972951076264696,0.018392273443556404,0.002759022890934161,0.005371640712946622,0.6065612333739443,0.15704602123407088,0.2688894207105256],"joint_position_rad":[0.23894643134010524,1.853982342214239,-1.2794296142636483,-0.05007060558220619,0.9743566765020966,0.0631304015538687],"joint_velocity_rad_s":[-0.039514842771551935,0.2925553364120618,-0.27662986622519214,0.024564147000076787,0.08467834407168974,0.038678913949386017],"gripper_joint_position_m":[0.02024903174346915,-0.02071751762802231],"tcp_position_m":[0.353188886096974,0.07849667296472163,0.07963104229182887],"tcp_quaternion_wxyz":[0.05712843963608047,-0.10049368090306521,0.9932111590558873,-0.012998269506388393],"object_position_m":[0.3524298942293328,0.07856579682421835,0.07975399626018692],"object_quaternion_wxyz":[0.9947181352276313,-0.004415826151576057,0.004238070732480516,0.10246155710865376],"object_linear_velocity_m_s":[0.018392273443556404,0.002759022890934161,0.005371640712946622],"object_angular_velocity_rad_s":[0.5638091671610914,0.2799573478431572,0.2619629928088263],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":0},"pad_normal_forces_n":{"left":0.6943375278504247,"right":0.0},"table_object_contact_count":3,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.6006854785841699},{"geom_ids":[1,90],"normal_force_n":0.2232374114568678},{"geom_ids":[1,90],"normal_force_n":0.06789642270969537},{"geom_ids":[85,90],"normal_force_n":0.25416918865086247},{"geom_ids":[86,90],"normal_force_n":0.4401683391995623}],"native_actuator_controls":[0.23501272889485375,1.863330824332907,-1.3051208309537123,-0.040773064090458846,1.011856487868784,0.09444381281499556,0.0019999999999999987],"actuator_force_native":[-0.11712198176235944,-0.7148981125668854,-0.6721480040791619,0.24908092466951004,0.247980597559339,0.25511574168718953,-0.884605021453975],"issued_joint_targets_rad":[0.2348198170584047,1.8650211510671324,-1.3079025119383807,-0.04024896182634325,1.0155235270554428,0.09591285321265555],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.61999999999789,"joint_targets_rad":[0.2348198170584047,1.8650211510671324,-1.3079025119383807,-0.04024896182634325,1.0155235270554428,0.09591285321265555],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.63999999999788,"qpos":[0.23827148930830055,1.8589239980282608,-1.2848819288502202,-0.04954433319991985,0.9762159056166823,0.06390892885058393,0.02038146648407416,-0.02089303346297569,0.3526020936614686,0.07859308170450556,0.07993553878482434,0.9948572391458124,-0.001426336191032693,0.0009603025822708327,0.10127248936998788],"qvel":[-0.025354291517887602,0.20057520602981896,-0.25408249269421296,0.02763674002741514,0.0791506149242549,0.03884855937734699,-0.008901917165661048,0.005378062745833996,0.003798522846504012,-0.005032403165737986,0.006447130705335653,0.04743757521502891,-0.6934894369640833,-0.27001197724055365],"joint_position_rad":[0.23827148930830055,1.8589239980282608,-1.2848819288502202,-0.04954433319991985,0.9762159056166823,0.06390892885058393],"joint_velocity_rad_s":[-0.025354291517887602,0.20057520602981896,-0.25408249269421296,0.02763674002741514,0.0791506149242549,0.03884855937734699],"gripper_joint_position_m":[0.02038146648407416,-0.02089303346297569],"tcp_position_m":[0.35426238830300083,0.07858941125075379,0.07918445404089736],"tcp_quaternion_wxyz":[0.05643240321080754,-0.09961538979259943,0.993340847390735,-0.012888711703563867],"object_position_m":[0.3526020936614686,0.07859308170450556,0.07993553878482434],"object_quaternion_wxyz":[0.9948572391458124,-0.001426336191032693,0.0009603025822708327,0.10127248936998788],"object_linear_velocity_m_s":[0.003798522846504012,-0.005032403165737986,0.006447130705335653],"object_angular_velocity_rad_s":[0.18576885977606983,-0.6705217106827112,-0.2682814880252224],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.5538781032240042,"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":0.5507135913473766},{"geom_ids":[1,90],"normal_force_n":0.13886023634672093},{"geom_ids":[86,90],"normal_force_n":0.5538781032240042}],"native_actuator_controls":[0.2348198170584047,1.8650211510671324,-1.3079025119383807,-0.04024896182634325,1.0155235270554428,0.09591285321265555,0.0030000000000000014],"actuator_force_native":[-0.14936232240222935,-0.5151037870393509,-0.5712341835817796,0.2336311548059884,0.2743502920012233,0.2617664045546957,-0.650749073534661],"issued_joint_targets_rad":[0.23461842653069825,1.8659090500511364,-1.3093616185513715,-0.03978013140114006,1.0174106420371969,0.09724730190225837],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.63999999999788,"joint_targets_rad":[0.23461842653069825,1.8659090500511364,-1.3093616185513715,-0.03978013140114006,1.0174106420371969,0.09724730190225837],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.659999999997869,"qpos":[0.23786123740334347,1.8621403348202086,-1.289680930809875,-0.048988540273057615,0.9779244161816032,0.06470234986801426,0.02026202784877395,-0.020803415193313832,0.3529466298423736,0.0786189714948823,0.0800552257705214,0.9950677721512289,-0.0021998748334565534,0.0007166986417895129,0.09917043773103097],"qvel":[-0.017423692743962126,0.12326433153524877,-0.21852395178252634,0.026891542350935035,0.07313094426552504,0.03994050904086371,-0.012819423312662174,0.01616491462015343,0.02100101131675285,0.009702615528370265,0.004528539786568184,-0.3997805285280624,0.19125339045992557,-0.16587185208437116],"joint_position_rad":[0.23786123740334347,1.8621403348202086,-1.289680930809875,-0.048988540273057615,0.9779244161816032,0.06470234986801426],"joint_velocity_rad_s":[-0.017423692743962126,0.12326433153524877,-0.21852395178252634,0.026891542350935035,0.07313094426552504,0.03994050904086371],"gripper_joint_position_m":[0.02026202784877395,-0.020803415193313832],"tcp_position_m":[0.35522055004135317,0.0787582870877284,0.07919641667216519],"tcp_quaternion_wxyz":[0.05634036996906667,-0.09884152408018095,0.9934261562636204,-0.012672327353116786],"object_position_m":[0.3529466298423736,0.0786189714948823,0.0800552257705214],"object_quaternion_wxyz":[0.9950677721512289,-0.0021998748334565534,0.0007166986417895129,0.09917043773103097],"object_linear_velocity_m_s":[0.02100101131675285,0.009702615528370265,0.004528539786568184],"object_angular_velocity_rad_s":[-0.42982769965791534,0.10783942789422453,-0.16593555395009396],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":1},"pad_normal_forces_n":{"left":0.3524924028005615,"right":0.2863478172924453},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":3,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.4018267593548172},{"geom_ids":[86,90],"normal_force_n":0.3524924028005615},{"geom_ids":[88,90],"normal_force_n":0.2863478172924453}],"native_actuator_controls":[0.23461842653069825,1.8659090500511364,-1.3093616185513715,-0.03978013140114006,1.0174106420371969,0.09724730190225837,0.0040000000000000036],"actuator_force_native":[-0.17230640609180625,-0.3148244392020274,-0.481835260407081,0.23387864312202677,0.2851658421576495,0.2655387567811456,-0.586383997387647],"issued_joint_targets_rad":[0.23441265105582132,1.8661266769156115,-1.3097298816565428,-0.03935382121500774,1.0178343199343332,0.09833525982518991],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.659999999997869,"joint_targets_rad":[0.23441265105582132,1.8661266769156115,-1.3097298816565428,-0.03935382121500774,1.0178343199343332,0.09833525982518991],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.679999999997857,"qpos":[0.23760357056299924,1.8639498653640325,-1.2936271853983783,-0.0484240322841522,0.979246746057259,0.06551230683456065,0.02007310947895273,-0.020605974984563465,0.35359119778809023,0.07871903901693642,0.08022980561478743,0.9950737887584006,-0.0068343802620461375,-6.133209230142434e-05,0.09890117497183869],"qvel":[-0.009432210572318326,0.0635919144337381,-0.17749599481262512,0.02872382942933231,0.05517460705023165,0.0405268789872916,-0.008425643524634688,0.007572738410357347,0.03930732574395959,-0.002480209729004413,0.004951558387938104,-0.7860842974531368,-0.0206050565691641,-0.16893991379643492],"joint_position_rad":[0.23760357056299924,1.8639498653640325,-1.2936271853983783,-0.0484240322841522,0.979246746057259,0.06551230683456065],"joint_velocity_rad_s":[-0.009432210572318326,0.0635919144337381,-0.17749599481262512,0.02872382942933231,0.05517460705023165,0.0405268789872916],"gripper_joint_position_m":[0.02007310947895273,-0.020605974984563465],"tcp_position_m":[0.35604843077896425,0.07895614810974934,0.07951016494449906],"tcp_quaternion_wxyz":[0.05671273947309796,-0.09812978473997928,0.9934792478973906,-0.0123771776094811],"object_position_m":[0.35359119778809023,0.07871903901693642,0.08022980561478743],"object_quaternion_wxyz":[0.9950737887584006,-0.0068343802620461375,-6.133209230142434e-05,0.09890117497183869],"object_linear_velocity_m_s":[0.03930732574395959,-0.002480209729004413,0.004951558387938104],"object_angular_velocity_rad_s":[-0.7664015782239083,-0.1772198185008536,-0.16767689870278568],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":0},"pad_normal_forces_n":{"left":0.43376491989300214,"right":0.0},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.4937012205914529},{"geom_ids":[1,90],"normal_force_n":0.08539383717575674},{"geom_ids":[85,90],"normal_force_n":0.18852872527314835},{"geom_ids":[86,90],"normal_force_n":0.24523619461985383}],"native_actuator_controls":[0.23441265105582132,1.8661266769156115,-1.3097298816565428,-0.03935382121500774,1.0178343199343332,0.09833525982518991,0.0049999999999999975],"actuator_force_native":[-0.20811250771264156,-0.14381464804236543,-0.4007357265900282,0.21918929561911704,0.3031138281953929,0.2674392114253552,-0.5607961615349359],"issued_joint_targets_rad":[0.234209219350949,1.8658231510621615,-1.3092601976126519,-0.03896642718829382,1.017144485893496,0.09927052500155649],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.679999999997857,"joint_targets_rad":[0.234209219350949,1.8658231510621615,-1.3092601976126519,-0.03896642718829382,1.017144485893496,0.09927052500155649],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.699999999997846,"qpos":[0.23741148523742836,1.864673162444409,-1.2967184974190602,-0.04786538611060128,0.9801896443368971,0.06633071677347538,0.01986072693538587,-0.02035396342701174,0.35420950425089437,0.07886988826575163,0.0804959756867524,0.9950471431130558,-0.012105095823217072,-0.0005990486268154271,0.09866250948764875],"qvel":[-0.008019024479837983,0.018453054005501495,-0.13787419669875978,0.028588622851781043,0.0421687636211307,0.040931491435335775,-0.006538869087101168,0.005467857367851751,0.032259426000681296,0.001050169300091027,0.009809059659889294,-0.8394911362729034,-0.05384048940002947,-0.09630074608911136],"joint_position_rad":[0.23741148523742836,1.864673162444409,-1.2967184974190602,-0.04786538611060128,0.9801896443368971,0.06633071677347538],"joint_velocity_rad_s":[-0.008019024479837983,0.018453054005501495,-0.13787419669875978,0.028588622851781043,0.0421687636211307,0.040931491435335775],"gripper_joint_position_m":[0.01986072693538587,-0.02035396342701174],"tcp_position_m":[0.3567380420034798,0.07914609810019546,0.08001078844775524],"tcp_quaternion_wxyz":[0.05738685234338633,-0.09744874840998909,0.9935117805578634,-0.012034637684148844],"object_position_m":[0.35420950425089437,0.07886988826575163,0.0804959756867524],"object_quaternion_wxyz":[0.9950471431130558,-0.012105095823217072,-0.0005990486268154271,0.09866250948764875],"object_linear_velocity_m_s":[0.032259426000681296,0.001050169300091027,0.009809059659889294],"object_angular_velocity_rad_s":[-0.8122313230310919,-0.21992936723181222,-0.09396462735041722],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":1},"pad_normal_forces_n":{"left":0.2726343235900886,"right":0.2587798407133387},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.23158643769814352},{"geom_ids":[85,90],"normal_force_n":0.1089410518781659},{"geom_ids":[85,90],"normal_force_n":0.03783414201688553},{"geom_ids":[86,90],"normal_force_n":0.12585912969503718},{"geom_ids":[88,90],"normal_force_n":0.2587798407133387}],"native_actuator_controls":[0.234209219350949,1.8658231510621615,-1.3092601976126519,-0.03896642718829382,1.017144485893496,0.09927052500155649,0.0059999999999999915],"actuator_force_native":[-0.2160861485191603,-0.0002661806072978834,-0.31396503199353276,0.2130152426333931,0.30629527013429225,0.2680008451278074,-0.5217347319799294],"issued_joint_targets_rad":[0.23401171708875695,1.8651750631910196,-1.3082416927660967,-0.03861163843768263,1.0157341308770338,0.10012770153457815],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.699999999997846,"joint_targets_rad":[0.23401171708875695,1.8651750631910196,-1.3082416927660967,-0.03861163843768263,1.0157341308770338,0.10012770153457815],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.719999999997835,"qpos":[0.23725579946623035,1.8648528497749928,-1.299127232824719,-0.04729893425605424,0.9809653988984232,0.06715358491584743,0.01966733280777964,-0.020142577968306173,0.3547367072637679,0.07903661223517536,0.08072481102778063,0.9950024588735822,-0.018711949615422947,-0.0020760515774426603,0.09805947066430805],"qvel":[-0.007552480381632132,0.004185116140491287,-0.10649057235806071,0.027817895559367967,0.03636499939327009,0.041076932434915364,-0.0069698709760877085,0.007578736226249613,0.021783420222492796,0.011430118320656105,0.01616528315682558,-0.2900779232199589,-0.06864700002181082,-0.06636400648572388],"joint_position_rad":[0.23725579946623035,1.8648528497749928,-1.299127232824719,-0.04729893425605424,0.9809653988984232,0.06715358491584743],"joint_velocity_rad_s":[-0.007552480381632132,0.004185116140491287,-0.10649057235806071,0.027817895559367967,0.03636499939327009,0.041076932434915364],"gripper_joint_position_m":[0.01966733280777964,-0.020142577968306173],"tcp_position_m":[0.35727672613260625,0.07931547834058705,0.08054018451927225],"tcp_quaternion_wxyz":[0.0580740089173033,-0.09678534654362346,0.9935409004078106,-0.011682696586871467],"object_position_m":[0.3547367072637679,0.07903661223517536,0.08072481102778063],"object_quaternion_wxyz":[0.9950024588735822,-0.018711949615422947,-0.0020760515774426603,0.09805947066430805],"object_linear_velocity_m_s":[0.021783420222492796,0.011430118320656105,0.01616528315682558],"object_angular_velocity_rad_s":[-0.2705887661609427,-0.12635092711280943,-0.06386670770963937],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":7,"right":4},"pad_normal_forces_n":{"left":0.2626050001671738,"right":0.27166134298204114},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":13,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.02585307515910888},{"geom_ids":[85,90],"normal_force_n":0.01583651421740703},{"geom_ids":[85,90],"normal_force_n":0.04294342418675737},{"geom_ids":[85,90],"normal_force_n":0.049953352820505545},{"geom_ids":[85,90],"normal_force_n":0.024261163373733213},{"geom_ids":[86,90],"normal_force_n":0.021173462148294048},{"geom_ids":[86,90],"normal_force_n":0.05336689913832086},{"geom_ids":[86,90],"normal_force_n":0.05507018428215577},{"geom_ids":[88,90],"normal_force_n":0.07227984355876574},{"geom_ids":[88,90],"normal_force_n":0.045102019521791714},{"geom_ids":[88,90],"normal_force_n":0.07914351951651302},{"geom_ids":[89,90],"normal_force_n":0.07513596038497067}],"native_actuator_controls":[0.23401171708875695,1.8651750631910196,-1.3082416927660967,-0.03861163843768263,1.0157341308770338,0.10012770153457815,0.006999999999999985],"actuator_force_native":[-0.22176418828971123,0.00485149257968942,-0.19670393351991322,0.20840235493802473,0.2931398206962008,0.2681257675349341,-0.47184395743074775],"issued_joint_targets_rad":[0.23380698681909995,1.8644973473696882,-1.3071779529787264,-0.038242394262898216,1.01427681532848,0.10092959679919848],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.719999999997835,"joint_targets_rad":[0.23380698681909995,1.8644973473696882,-1.3071779529787264,-0.038242394262898216,1.01427681532848,0.10092959679919848],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.739999999997824,"qpos":[0.23711063709493826,1.8648773942669543,-1.3008715844562388,-0.046733802747460584,0.9816225563369131,0.06798210405958566,0.019651707108160162,-0.020144640754875195,0.35508077495761997,0.07922953242358798,0.08102439567213944,0.9951090972427893,-0.01891355578044354,-0.002697871730892448,0.09691688955236093],"qvel":[-0.006998038318694215,-0.0002349279043187158,-0.07175378392627076,0.02810325597662136,0.031193267111311367,0.041307803006508166,0.0028368195356890426,-0.00403781335368096,0.013229919485978027,0.007970032545929977,0.01190623558614251,0.09903347081840456,-0.039022930832158326,-0.1444648801016819],"joint_position_rad":[0.23711063709493826,1.8648773942669543,-1.3008715844562388,-0.046733802747460584,0.9816225563369131,0.06798210405958566],"joint_velocity_rad_s":[-0.006998038318694215,-0.0002349279043187158,-0.07175378392627076,0.02810325597662136,0.031193267111311367,0.041307803006508166],"gripper_joint_position_m":[0.019651707108160162,-0.020144640754875195],"tcp_position_m":[0.35764687113694427,0.07944846153820823,0.08095964668948345],"tcp_quaternion_wxyz":[0.05856775582593513,-0.0961325655299222,0.9935790820894289,-0.01135585560300708],"object_position_m":[0.35508077495761997,0.07922953242358798,0.08102439567213944],"object_quaternion_wxyz":[0.9951090972427893,-0.01891355578044354,-0.002697871730892448,0.09691688955236093],"object_linear_velocity_m_s":[0.013229919485978027,0.007970032545929977,0.01190623558614251],"object_angular_velocity_rad_s":[0.10599989830736947,-0.024512099366021837,-0.14270142816160647],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":5,"right":5},"pad_normal_forces_n":{"left":0.23741575508853485,"right":0.2557595388672945},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":10,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.05571742308772051},{"geom_ids":[85,90],"normal_force_n":0.04030496359603835},{"geom_ids":[85,90],"normal_force_n":0.04781705147258396},{"geom_ids":[86,90],"normal_force_n":0.0458059484918022},{"geom_ids":[86,90],"normal_force_n":0.04777036844038986},{"geom_ids":[88,90],"normal_force_n":0.04611572877213662},{"geom_ids":[88,90],"normal_force_n":0.052171167417853395},{"geom_ids":[88,90],"normal_force_n":0.06052625838742072},{"geom_ids":[88,90],"normal_force_n":0.053195569623996464},{"geom_ids":[89,90],"normal_force_n":0.043750814665887316}],"native_actuator_controls":[0.23380698681909995,1.8644973473696882,-1.3071779529787264,-0.038242394262898216,1.01427681532848,0.10092959679919848,0.00799999999999998],"actuator_force_native":[-0.22930183047359165,-0.029229112259685053,-0.14574056216764575,0.19914005949938796,0.2797526892487028,0.26751322288636603,-0.48025238200485254],"issued_joint_targets_rad":[0.23359198531459685,1.8640194300241786,-1.3064327632040467,-0.037838434872121185,1.0132564947072624,0.10170244409068098],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.739999999997824,"joint_targets_rad":[0.23359198531459685,1.8640194300241786,-1.3064327632040467,-0.037838434872121185,1.0132564947072624,0.10170244409068098],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.759999999997813,"qpos":[0.23697069812889926,1.8648472072404367,-1.3019460192952363,-0.04616908021909024,0.9822147235552268,0.06881142298947854,0.01973779952806859,-0.02024296330304659,0.35525665670036227,0.07934194673047754,0.08114342932222852,0.9952856955657643,-0.01727847838693113,-0.002654213518208914,0.09539807931716705],"qvel":[-0.006899569034855752,-0.0019739225389169227,-0.039585460414169424,0.02788717156497715,0.029131013727103347,0.041236732593527906,0.005240622905485484,-0.005351898179644832,0.006101899024232369,0.0025085754894465105,-0.001780490587992407,0.2941757406377433,0.09921678845843673,-0.2083845715882317],"joint_position_rad":[0.23697069812889926,1.8648472072404367,-1.3019460192952363,-0.04616908021909024,0.9822147235552268,0.06881142298947854],"joint_velocity_rad_s":[-0.006899569034855752,-0.0019739225389169227,-0.039585460414169424,0.02788717156497715,0.029131013727103347,0.041236732593527906],"gripper_joint_position_m":[0.01973779952806859,-0.02024296330304659],"tcp_position_m":[0.3578328916450819,0.07953921472747029,0.08122916932832328],"tcp_quaternion_wxyz":[0.058789288823554844,-0.0954906458169176,0.9936311667224845,-0.011066191702804859],"object_position_m":[0.35525665670036227,0.07934194673047754,0.08114342932222852],"object_quaternion_wxyz":[0.9952856955657643,-0.01727847838693113,-0.002654213518208914,0.09539807931716705],"object_linear_velocity_m_s":[0.006101899024232369,0.0025085754894465105,-0.001780490587992407],"object_angular_velocity_rad_s":[0.27177324524080543,0.14617996538863925,-0.21113547323469595],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":2},"pad_normal_forces_n":{"left":0.2197427730571771,"right":0.2474370355669708},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":6,"active_contact_pairs":[{"geom_ids":[85,90],"normal_force_n":0.2197427730571771},{"geom_ids":[88,90],"normal_force_n":0.1337924207667727},{"geom_ids":[88,90],"normal_force_n":0.11364461480019811}],"native_actuator_controls":[0.23359198531459685,1.8640194300241786,-1.3064327632040467,-0.037838434872121185,1.0132564947072624,0.10170244409068098,0.008999999999999973],"actuator_force_native":[-0.23579917996991284,-0.05635256460607252,-0.1610122106339702,0.1937899560538765,0.26672119092969915,0.2670551121217327,-0.45571509565017204],"issued_joint_targets_rad":[0.2333640628605231,1.8638318020335622,-1.3061482342214235,-0.037390185193151924,1.012858297210718,0.10245077890310483],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.759999999997813,"joint_targets_rad":[0.2333640628605231,1.8638318020335622,-1.3061482342214235,-0.037390185193151924,1.012858297210718,0.10245077890310483],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.779999999997802,"qpos":[0.2368305079428396,1.8648012847512552,-1.3024851097617418,-0.045610203131617635,0.9827906363544587,0.06963703871049283,0.01975693277945024,-0.020240202573241814,0.355273395900618,0.07930476339089465,0.08056767736220471,0.9954033588104962,-0.01579290807023256,-0.002706996540716799,0.0944214461507369],"qvel":[-0.007070598119103645,-0.0021643150102047715,-0.01709001158615364,0.027363316543257233,0.028759329395632957,0.04097458691882857,0.0015142145127402112,-0.00014649683002830501,-0.0030734878024800557,-0.005632338293043252,-0.039560907307251716,0.20652603198175964,-0.07840231560227413,-0.0848122586971944],"joint_position_rad":[0.2368305079428396,1.8648012847512552,-1.3024851097617418,-0.045610203131617635,0.9827906363544587,0.06963703871049283],"joint_velocity_rad_s":[-0.007070598119103645,-0.0021643150102047715,-0.01709001158615364,0.027363316543257233,0.028759329395632957,0.04097458691882857],"gripper_joint_position_m":[0.01975693277945024,-0.020240202573241814],"tcp_position_m":[0.3578643360848733,0.07959162687312901,0.08136753509150556],"tcp_quaternion_wxyz":[0.0587622059681321,-0.09485870865926009,0.9936960731105453,-0.010814010631521943],"object_position_m":[0.355273395900618,0.07930476339089465,0.08056767736220471],"object_quaternion_wxyz":[0.9954033588104962,-0.01579290807023256,-0.002706996540716799,0.0944214461507369],"object_linear_velocity_m_s":[-0.0030734878024800557,-0.005632338293043252,-0.039560907307251716],"object_angular_velocity_rad_s":[0.21828144134366864,-0.04074906511613999,-0.0817665595481453],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":4,"right":1},"pad_normal_forces_n":{"left":0.2260857149449616,"right":0.14698710907235812},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":7,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09701291986517907},{"geom_ids":[1,90],"normal_force_n":0.17992197531464205},{"geom_ids":[85,90],"normal_force_n":0.0864297586206342},{"geom_ids":[85,90],"normal_force_n":0.04805476535057596},{"geom_ids":[85,90],"normal_force_n":0.051574811251712274},{"geom_ids":[86,90],"normal_force_n":0.040026379722039145},{"geom_ids":[88,90],"normal_force_n":0.14698710907235812}],"native_actuator_controls":[0.2333640628605231,1.8638318020335622,-1.3061482342214235,-0.037390185193151924,1.012858297210718,0.10245077890310483,0.009999999999999967],"actuator_force_native":[-0.2419626159898023,-0.0667370423644229,-0.2075998988437533,0.1919841348223421,0.25753761446914325,0.2666755215478772,-0.39784838374171183],"issued_joint_targets_rad":[0.23312746831973125,1.8639128436672492,-1.3062889701503138,-0.036908951650531756,1.0130311899929432,0.1031854137036454],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.779999999997802,"joint_targets_rad":[0.23312746831973125,1.8639128436672492,-1.3062889701503138,-0.036908951650531756,1.0130311899929432,0.1031854137036454],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.799999999997791,"qpos":[0.2366720501192967,1.8647613250674644,-1.3027459420077103,-0.04508405059580718,0.9833561889446708,0.07045264576372874,0.01976609882773722,-0.020175289503091463,0.3552193905654024,0.07926818045060409,0.08029165876210435,0.995489467629484,-0.015017063196100038,-0.0028604673003769904,0.09363239492053674],"qvel":[-0.008267935625525474,-0.002059561276784512,-0.011519426896969576,0.025338720683447634,0.027473775014561694,0.04046554811147659,0.0009105952617421918,0.0032278224337379023,-0.002376113870240306,-0.0006430046027250114,-0.001980692417217836,0.03607144088722027,0.002032459752298131,-0.06881552160012684],"joint_position_rad":[0.2366720501192967,1.8647613250674644,-1.3027459420077103,-0.04508405059580718,0.9833561889446708,0.07045264576372874],"joint_velocity_rad_s":[-0.008267935625525474,-0.002059561276784512,-0.011519426896969576,0.025338720683447634,0.027473775014561694,0.04046554811147659],"gripper_joint_position_m":[0.01976609882773722,-0.020175289503091463],"tcp_position_m":[0.35781808512786073,0.0796126278320135,0.08143274287454706],"tcp_quaternion_wxyz":[0.05860158725536326,-0.09423461152864676,0.9937672882322559,-0.010595697273203851],"object_position_m":[0.3552193905654024,0.07926818045060409,0.08029165876210435],"object_quaternion_wxyz":[0.995489467629484,-0.015017063196100038,-0.0028604673003769904,0.09363239492053674],"object_linear_velocity_m_s":[-0.002376113870240306,-0.0006430046027250114,-0.001980692417217836],"object_angular_velocity_rad_s":[0.03564508943072144,0.006702817732121568,-0.06874122189304101],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.23106772969910477,"right":0.11088610962289722},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":12,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.14386497263748022},{"geom_ids":[1,90],"normal_force_n":0.2876976208524607},{"geom_ids":[85,90],"normal_force_n":0.03718870679714842},{"geom_ids":[85,90],"normal_force_n":0.036936033330011574},{"geom_ids":[86,90],"normal_force_n":0.03730125804331827},{"geom_ids":[86,90],"normal_force_n":0.04336042372982033},{"geom_ids":[86,90],"normal_force_n":0.03937409890385063},{"geom_ids":[86,90],"normal_force_n":0.036907208894955565},{"geom_ids":[88,90],"normal_force_n":0.05528122663127829},{"geom_ids":[88,90],"normal_force_n":0.055604882991618934}],"native_actuator_controls":[0.23312746831973125,1.8639128436672492,-1.3062889701503138,-0.036908951650531756,1.0130311899929432,0.1031854137036454,0.010999999999999961],"actuator_force_native":[-0.24222686583760833,-0.05758070563328488,-0.22584511692342346,0.20031035439377876,0.2555393479608803,0.2666293572319517,-0.3551969294182013],"issued_joint_targets_rad":[0.23289906325824294,1.864140918546766,-1.3066615203447771,-0.036437225830652946,1.0135153474032785,0.10393398539138173],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.799999999997791,"joint_targets_rad":[0.23289906325824294,1.864140918546766,-1.3066615203447771,-0.036437225830652946,1.0135153474032785,0.10393398539138173],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.81999999999778,"qpos":[0.2364999440658818,1.8647263571803552,-1.302988735436206,-0.04457845152180845,0.9839089205719674,0.07126294975287271,0.01979156088655857,-0.020127169871214812,0.35517660144701163,0.07926009622117945,0.08031443210467518,0.9955532875062212,-0.014728654949589462,-0.002763877144198883,0.09300042710688752],"qvel":[-0.008632050823096439,-0.0016185350713468626,-0.011993654676640798,0.02487848587937319,0.027486390451971068,0.040323869952583684,0.001446052001766572,0.0016570052480370532,-0.002082724116414001,-0.000305348827510316,0.002398000053860746,0.026306131365455565,0.010038098700846211,-0.06136192601971052],"joint_position_rad":[0.2364999440658818,1.8647263571803552,-1.302988735436206,-0.04457845152180845,0.9839089205719674,0.07126294975287271],"joint_velocity_rad_s":[-0.008632050823096439,-0.0016185350713468626,-0.011993654676640798,0.02487848587937319,0.027486390451971068,0.040323869952583684],"gripper_joint_position_m":[0.01979156088655857,-0.020127169871214812],"tcp_position_m":[0.3577708774225973,0.07962469815534161,0.08149197035006232],"tcp_quaternion_wxyz":[0.058436987374486965,-0.09361203674008747,0.9938380198948146,-0.010387266027226044],"object_position_m":[0.35517660144701163,0.07926009622117945,0.08031443210467518],"object_quaternion_wxyz":[0.9955532875062212,-0.014728654949589462,-0.002763877144198883,0.09300042710688752],"object_linear_velocity_m_s":[-0.002082724116414001,-0.000305348827510316,0.002398000053860746],"object_angular_velocity_rad_s":[0.024498495537809018,0.01296547550624696,-0.06156120612101284],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.21234030499826936,"right":0.07823663280160303},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.12160339427901605},{"geom_ids":[1,90],"normal_force_n":0.2546682405175072},{"geom_ids":[85,90],"normal_force_n":0.03412360487672088},{"geom_ids":[85,90],"normal_force_n":0.033750141021580984},{"geom_ids":[86,90],"normal_force_n":0.03433839134060027},{"geom_ids":[86,90],"normal_force_n":0.039909333143426796},{"geom_ids":[86,90],"normal_force_n":0.036294448312961566},{"geom_ids":[86,90],"normal_force_n":0.03392438630297886},{"geom_ids":[88,90],"normal_force_n":0.03948683892479373},{"geom_ids":[88,90],"normal_force_n":0.03874979387680931}],"native_actuator_controls":[0.23289906325824294,1.864140918546766,-1.3066615203447771,-0.036437225830652946,1.0135153474032785,0.10393398539138173,0.011999999999999955],"actuator_force_native":[-0.2449102104956289,-0.03874241533043232,-0.2338545193024828,0.20125659824935416,0.2548346826351544,0.2662245514562145,-0.3188926954711774],"issued_joint_targets_rad":[0.23267939374243035,1.8643750415819764,-1.3070430432116869,-0.035983740433696246,1.0140121234677426,0.10469681480984673],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.81999999999778,"joint_targets_rad":[0.23267939374243035,1.8643750415819764,-1.3070430432116869,-0.035983740433696246,1.0140121234677426,0.10469681480984673],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.839999999997769,"qpos":[0.2363227749562506,1.8647051970317796,-1.3032317895831076,-0.044075941517443734,0.9844669057464468,0.07207234433615237,0.01981981593648289,-0.020105586903438753,0.35513409455540357,0.0792554168536961,0.08036468326963465,0.9956144450207767,-0.014493188708605404,-0.00264264216980771,0.0923842020552822],"qvel":[-0.008740767332090484,-0.0007802002344172505,-0.01153839804411045,0.024862975268245845,0.027890724732434754,0.040309814659611344,0.001379331332705434,0.000668223217255758,-0.002227355698626948,-0.00019430673344481174,0.0023351230847998674,0.022096042188515578,0.009446767508854394,-0.06270312483216293],"joint_position_rad":[0.2363227749562506,1.8647051970317796,-1.3032317895831076,-0.044075941517443734,0.9844669057464468,0.07207234433615237],"joint_velocity_rad_s":[-0.008740767332090484,-0.0007802002344172505,-0.01153839804411045,0.024862975268245845,0.027890724732434754,0.040309814659611344],"gripper_joint_position_m":[0.01981981593648289,-0.020105586903438753],"tcp_position_m":[0.3577226642471499,0.07963411838516153,0.08154615850131271],"tcp_quaternion_wxyz":[0.05826313060480096,-0.09298841932936204,0.9939088962737144,-0.010181718456221298],"object_position_m":[0.35513409455540357,0.0792554168536961,0.08036468326963465],"object_quaternion_wxyz":[0.9956144450207767,-0.014493188708605404,-0.00264264216980771,0.0923842020552822],"object_linear_velocity_m_s":[-0.002227355698626948,-0.00019430673344481174,0.0023351230847998674],"object_angular_velocity_rad_s":[0.02047933757473514,0.011569034839851805,-0.06289604539122601],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.1798297674546229,"right":0.07084328050539919},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":17,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.10026286013740857},{"geom_ids":[1,90],"normal_force_n":0.2219529942503569},{"geom_ids":[85,90],"normal_force_n":0.029254435132923785},{"geom_ids":[85,90],"normal_force_n":0.028178905665976306},{"geom_ids":[86,90],"normal_force_n":0.029578469407270644},{"geom_ids":[86,90],"normal_force_n":0.03416093503054958},{"geom_ids":[86,90],"normal_force_n":0.03011374198719252},{"geom_ids":[86,90],"normal_force_n":0.028543280230710028},{"geom_ids":[88,90],"normal_force_n":0.0376681807981498},{"geom_ids":[88,90],"normal_force_n":0.03317509970724939}],"native_actuator_controls":[0.23267939374243035,1.8643750415819764,-1.3070430432116869,-0.035983740433696246,1.0140121234677426,0.10469681480984673,0.012999999999999949],"actuator_force_native":[-0.24776666044516915,-0.022511434812173547,-0.2472083000657932,0.19937316700867047,0.2536160901143063,0.2657799827475267,-0.2796892941228446],"issued_joint_targets_rad":[0.23246100560601207,1.864620176325921,-1.307441670135189,-0.03553275659517631,1.014531856559692,0.10546481583864756],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.839999999997769,"joint_targets_rad":[0.23246100560601207,1.864620176325921,-1.307441670135189,-0.03553275659517631,1.014531856559692,0.10546481583864756],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.859999999997758,"qpos":[0.2361460416107597,1.8647019103188907,-1.3034630779043546,-0.04357301027883429,0.9850346652281344,0.07288110114803377,0.019846551478316432,-0.02009760246914444,0.35508877067102795,0.0792523272702099,0.08040482848596277,0.9956759606564252,-0.014307982237939403,-0.0025553860586592972,0.09175038428952911],"qvel":[-0.008673639988773874,0.0001218868699049597,-0.01091418852099378,0.02489985016901695,0.02843268742640155,0.04025505221022545,0.0013829314534028981,0.00018145433703652326,-0.002309588289249009,-0.00016781490642107992,0.001606548767190362,0.01659276024613696,0.0043342948186900244,-0.06325229968458745],"joint_position_rad":[0.2361460416107597,1.8647019103188907,-1.3034630779043546,-0.04357301027883429,0.9850346652281344,0.07288110114803377],"joint_velocity_rad_s":[-0.008673639988773874,0.0001218868699049597,-0.01091418852099378,0.02489985016901695,0.02843268742640155,0.04025505221022545],"gripper_joint_position_m":[0.019846551478316432,-0.02009760246914444],"tcp_position_m":[0.3576682145491441,0.07964231464555474,0.08159060673887919],"tcp_quaternion_wxyz":[0.05806964414847183,-0.09236562649673469,0.9939803461886921,-0.009978920830598821],"object_position_m":[0.35508877067102795,0.0792523272702099,0.08040482848596277],"object_quaternion_wxyz":[0.9956759606564252,-0.014307982237939403,-0.0025553860586592972,0.09175038428952911],"object_linear_velocity_m_s":[-0.002309588289249009,-0.00016781490642107992,0.001606548767190362],"object_angular_velocity_rad_s":[0.016009533848808995,0.00551983972500008,-0.06331023151832671],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":8,"right":2},"pad_normal_forces_n":{"left":0.16922299148296777,"right":0.05993435853864808},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":16,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.08555306506473498},{"geom_ids":[1,90],"normal_force_n":0.2039519478223467},{"geom_ids":[85,90],"normal_force_n":0.011260845780314303},{"geom_ids":[85,90],"normal_force_n":0.013463523397711103},{"geom_ids":[85,90],"normal_force_n":0.026044146632438623},{"geom_ids":[85,90],"normal_force_n":0.020351346370913112},{"geom_ids":[86,90],"normal_force_n":0.026931287208211373},{"geom_ids":[86,90],"normal_force_n":0.030100102440676183},{"geom_ids":[86,90],"normal_force_n":0.020905877378932177},{"geom_ids":[86,90],"normal_force_n":0.02016586227377088},{"geom_ids":[88,90],"normal_force_n":0.033696730815042715},{"geom_ids":[88,90],"normal_force_n":0.02623762772360536}],"native_actuator_controls":[0.23246100560601207,1.864620176325921,-1.307441670135189,-0.03553275659517631,1.014531856559692,0.10546481583864756,0.013999999999999943],"actuator_force_native":[-0.2514346804359384,-0.007148153787085221,-0.26371643586178095,0.19711089650123448,0.25232288217597443,0.26545456859079963,-0.24077671639967402],"issued_joint_targets_rad":[0.23224191210619724,1.8648870934796693,-1.3078744385268803,-0.03507951399042432,1.0150971832808675,0.10623179304702923],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.859999999997758,"joint_targets_rad":[0.23224191210619724,1.8648870934796693,-1.3078744385268803,-0.03507951399042432,1.0150971832808675,0.10623179304702923],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.879999999997747,"qpos":[0.23597133655027125,1.8647163518745873,-1.3036899754065232,-0.043069919121451895,0.9856144120560253,0.07368809614995907,0.019874239330878077,-0.020094716779980662,0.35504465584167083,0.07925008139535918,0.08042956204610559,0.9957345362997988,-0.014191179802563646,-0.0025246310783442324,0.09113160743428059],"qvel":[-0.008601351646888336,0.0009578374595531695,-0.011036620257480811,0.024889698788563657,0.02906881588530122,0.04014011242079787,0.0015296514992074713,1.4360326597758113e-05,-0.0020612298678859965,-0.00013061998429795448,0.0007949119776772402,0.008989456480808988,-0.0010682169499260877,-0.0583278095028325],"joint_position_rad":[0.23597133655027125,1.8647163518745873,-1.3036899754065232,-0.043069919121451895,0.9856144120560253,0.07368809614995907],"joint_velocity_rad_s":[-0.008601351646888336,0.0009578374595531695,-0.011036620257480811,0.024889698788563657,0.02906881588530122,0.04014011242079787],"gripper_joint_position_m":[0.019874239330878077,-0.020094716779980662],"tcp_position_m":[0.3576091559184267,0.07965022488806853,0.08162721745522392],"tcp_quaternion_wxyz":[0.05785917523183964,-0.09174496390139922,0.994052089022781,-0.009778637413644929],"object_position_m":[0.35504465584167083,0.07925008139535918,0.08042956204610559],"object_quaternion_wxyz":[0.9957345362997988,-0.014191179802563646,-0.0025246310783442324,0.09113160743428059],"object_linear_velocity_m_s":[-0.0020612298678859965,-0.00013061998429795448,0.0007949119776772402],"object_angular_velocity_rad_s":[0.00947793999936004,-0.0010395211171579373,-0.058250946995621534],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":6,"right":2},"pad_normal_forces_n":{"left":0.1408227448711839,"right":0.06187839323418258},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":10,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.08497054631776908},{"geom_ids":[1,90],"normal_force_n":0.20323133887786993},{"geom_ids":[85,90],"normal_force_n":0.03355275500562715},{"geom_ids":[85,90],"normal_force_n":0.013514170886153502},{"geom_ids":[86,90],"normal_force_n":0.03643189188034174},{"geom_ids":[86,90],"normal_force_n":0.03508343004182658},{"geom_ids":[86,90],"normal_force_n":0.010483443484243812},{"geom_ids":[86,90],"normal_force_n":0.01175705357299111},{"geom_ids":[88,90],"normal_force_n":0.033439471598758264},{"geom_ids":[88,90],"normal_force_n":0.02843892163542432}],"native_actuator_controls":[0.23224191210619724,1.8648870934796693,-1.3078744385268803,-0.03507951399042432,1.0150971832808675,0.10623179304702923,0.014999999999999937],"actuator_force_native":[-0.25534719729148136,0.008870141108786811,-0.27957394834118077,0.1951677112982848,0.25122448842047085,0.26522680033950485,-0.20261783073116302],"issued_joint_targets_rad":[0.23202234617289108,1.8651727439557038,-1.3083364983310124,-0.03462465735123553,1.015701577816079,0.1069956116798617],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.879999999997747,"joint_targets_rad":[0.23202234617289108,1.8651727439557038,-1.3083364983310124,-0.03462465735123553,1.015701577816079,0.1069956116798617],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.899999999997736,"qpos":[0.23579902957643314,1.8647461201778603,-1.303929676727212,-0.042566657207880595,0.9862084664918304,0.07449210813188567,0.019907262961814914,-0.020097380179059363,0.3550116998082937,0.07924794293448811,0.08043662252212284,0.9957769490037107,-0.01417123175183634,-0.00259497297694975,0.0906681318807542],"qvel":[-0.008535181500587026,0.0016517402862179834,-0.012064747428221815,0.02485802686722542,0.029805925720635368,0.03997146519487659,0.0020504803179597947,-0.00039200078104360787,-0.0012015792437211526,-0.00017404409043465677,-0.0001975252701688244,0.0047580704265833,-0.00856321651824183,-0.03439990370630907],"joint_position_rad":[0.23579902957643314,1.8647461201778603,-1.303929676727212,-0.042566657207880595,0.9862084664918304,0.07449210813188567],"joint_velocity_rad_s":[-0.008535181500587026,0.0016517402862179834,-0.012064747428221815,0.02485802686722542,0.029805925720635368,0.03997146519487659],"gripper_joint_position_m":[0.019907262961814914,-0.020097380179059363],"tcp_position_m":[0.35755017535645217,0.07965910903495317,0.08166123485993361],"tcp_quaternion_wxyz":[0.05764025820742878,-0.09112697599141603,0.9941235860861276,-0.009579690375908178],"object_position_m":[0.3550116998082937,0.07924794293448811,0.08043662252212284],"object_quaternion_wxyz":[0.9957769490037107,-0.01417123175183634,-0.00259497297694975,0.0906681318807542],"object_linear_velocity_m_s":[-0.0012015792437211526,-0.00017404409043465677,-0.0001975252701688244],"object_angular_velocity_rad_s":[0.006491590267247657,-0.008514142036307848,-0.03412755378742671],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":3,"right":2},"pad_normal_forces_n":{"left":0.12869721432862843,"right":0.04074577740002562},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":7,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.08791308361066594},{"geom_ids":[1,90],"normal_force_n":0.20347976551706604},{"geom_ids":[85,90],"normal_force_n":0.05472027205636452},{"geom_ids":[85,90],"normal_force_n":0.014133314161317276},{"geom_ids":[86,90],"normal_force_n":0.059843628110946644},{"geom_ids":[88,90],"normal_force_n":0.01243945406899429},{"geom_ids":[88,90],"normal_force_n":0.02830632333103133}],"native_actuator_controls":[0.23202234617289108,1.8651727439557038,-1.3083364983310124,-0.03462465735123553,1.015701577816079,0.1069956116798617,0.015999999999999945],"actuator_force_native":[-0.2594587647804296,0.02587120079638794,-0.2922219911629327,0.1933898599296755,0.25022222466153465,0.2650778376874453,-0.1665429200623978],"issued_joint_targets_rad":[0.2318027261774485,1.8654677671283544,-1.30881306388239,-0.03416955675150107,1.0163252498961177,0.10775523604017496],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.899999999997736,"joint_targets_rad":[0.2318027261774485,1.8654677671283544,-1.30881306388239,-0.03416955675150107,1.0163252498961177,0.10775523604017496],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.919999999997724,"qpos":[0.23562174788156523,1.8647880724884758,-1.3042001238290746,-0.04206852485894537,0.9868165959497897,0.07529257937014326,0.019948703840894377,-0.02009417168050393,0.35499707111357587,0.07924592923196594,0.08042457663233842,0.9958011149251715,-0.014085443329845657,-0.002593679813515383,0.09041577641656981],"qvel":[-0.008930676945662215,0.002186942051998384,-0.013959753125021361,0.024457944030660036,0.03045004061483344,0.03981556651964998,0.002507545321469736,5.07353183932116e-05,-0.0003635648536806149,-0.00023809635792944683,-0.0009695892228664944,0.021259986155890472,0.009385469321298051,-0.021638578795974625],"joint_position_rad":[0.23562174788156523,1.8647880724884758,-1.3042001238290746,-0.04206852485894537,0.9868165959497897,0.07529257937014326],"joint_velocity_rad_s":[-0.008930676945662215,0.002186942051998384,-0.013959753125021361,0.024457944030660036,0.03045004061483344,0.03981556651964998],"gripper_joint_position_m":[0.019948703840894377,-0.02009417168050393],"tcp_position_m":[0.3574975750273015,0.07966674752504324,0.08169845003906032],"tcp_quaternion_wxyz":[0.05742373649088138,-0.09050937056277344,0.9941944110543152,-0.009383035549312031],"object_position_m":[0.35499707111357587,0.07924592923196594,0.08042457663233842],"object_quaternion_wxyz":[0.9958011149251715,-0.014085443329845657,-0.002593679813515383,0.09041577641656981],"object_linear_velocity_m_s":[-0.0003635648536806149,-0.00023809635792944683,-0.0009695892228664944],"object_angular_velocity_rad_s":[0.019389613118466185,0.01246131020013434,-0.021841721297817036],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":2,"right":1},"pad_normal_forces_n":{"left":0.12209785754411057,"right":0.018053944200268075},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":5,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.10963264630513964},{"geom_ids":[1,90],"normal_force_n":0.194552983328212},{"geom_ids":[85,90],"normal_force_n":0.05592551446157839},{"geom_ids":[86,90],"normal_force_n":0.06617234308253217},{"geom_ids":[88,90],"normal_force_n":0.018053944200268075}],"native_actuator_controls":[0.2318027261774485,1.8654677671283544,-1.30881306388239,-0.03416955675150107,1.0163252498961177,0.10775523604017496,0.016999999999999973],"actuator_force_native":[-0.2608683516010295,0.043440860930303415,-0.29923643864012206,0.19366900414447152,0.24941147854103107,0.26490321692084196,-0.1304858802431248],"issued_joint_targets_rad":[0.23158588652567114,1.8657611639014868,-1.3092867311093825,-0.03372078612493599,1.016945030836833,0.10851932282667442],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.919999999997724,"joint_targets_rad":[0.23158588652567114,1.8657611639014868,-1.3092867311093825,-0.03372078612493599,1.016945030836833,0.10851932282667442],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.939999999997713,"qpos":[0.2354326981746024,1.864839551642335,-1.3045106673459144,-0.041575817647124806,0.987435750620238,0.07609172784515848,0.02000289078677938,-0.020094618439632537,0.35499993975280936,0.07922938734613383,0.0803923876634398,0.9958221085582897,-0.013597957237883698,-0.0023556222084181286,0.09026557876338306],"qvel":[-0.009484766077685903,0.0025925031243411263,-0.015976285976275217,0.02438179584748771,0.030999914020571055,0.03983380036913087,0.0020751838363328103,0.0004976386404129285,0.0011722741170149763,-0.004695919674405623,-0.005262726354505846,0.24407297386789745,0.028661985892329735,-0.010361724645170801],"joint_position_rad":[0.2354326981746024,1.864839551642335,-1.3045106673459144,-0.041575817647124806,0.987435750620238,0.07609172784515848],"joint_velocity_rad_s":[-0.009484766077685903,0.0025925031243411263,-0.015976285976275217,0.02438179584748771,0.030999914020571055,0.03983380036913087],"gripper_joint_position_m":[0.02000289078677938,-0.020094618439632537],"tcp_position_m":[0.3574553980934872,0.07967151269965292,0.08174230495999603],"tcp_quaternion_wxyz":[0.05721704463142597,-0.08988763712975463,0.9942645557478009,-0.009187800525883175],"object_position_m":[0.35499993975280936,0.07922938734613383,0.0803923876634398],"object_quaternion_wxyz":[0.9958221085582897,-0.013597957237883698,-0.0023556222084181286,0.09026557876338306],"object_linear_velocity_m_s":[0.0011722741170149763,-0.004695919674405623,-0.005262726354505846],"object_angular_velocity_rad_s":[0.23501603503880752,0.07180242821061261,-0.010600279398745312],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.12041564025086302,"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":0.14274274873155904},{"geom_ids":[1,90],"normal_force_n":0.17871183077062044},{"geom_ids":[86,90],"normal_force_n":0.12041564025086302}],"native_actuator_controls":[0.23158588652567114,1.8657611639014868,-1.3092867311093825,-0.03372078612493599,1.016945030836833,0.10851932282667442,0.018000000000000002],"actuator_force_native":[-0.260321101526074,0.06076646511044714,-0.30220367119608227,0.19229228165011425,0.24859293113509473,0.26452524926146315,-0.0904915506528392],"issued_joint_targets_rad":[0.23137236777940812,1.8660455681432044,-1.3097459298949796,-0.033279976858730104,1.0175454996035092,0.10929644574787548],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.939999999997713,"joint_targets_rad":[0.23137236777940812,1.8660455681432044,-1.3097459298949796,-0.033279976858730104,1.0175454996035092,0.10929644574787548],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.959999999997702,"qpos":[0.23523103351436672,1.8649000015679886,-1.3048561809389192,-0.041086980424845626,0.9880617726590176,0.0768913345635484,0.0201280616181674,-0.020175311101705326,0.3550200355962652,0.07916632624186824,0.0803182982974646,0.9958525085193725,-0.01195524780754515,-0.001878029908029487,0.09017386721881188],"qvel":[-0.010202938273047071,0.0031003506308728435,-0.017463020228488706,0.024061679431788906,0.031168858140636472,0.039831932032650126,0.009382990295270002,-0.007560692301551633,0.0009952019303399644,-0.002815558729358773,-0.0032790749688732545,0.1515322961661083,0.0342508474662146,-0.008042186504659089],"joint_position_rad":[0.23523103351436672,1.8649000015679886,-1.3048561809389192,-0.041086980424845626,0.9880617726590176,0.0768913345635484],"joint_velocity_rad_s":[-0.010202938273047071,0.0031003506308728435,-0.017463020228488706,0.024061679431788906,0.031168858140636472,0.039831932032650126],"gripper_joint_position_m":[0.0201280616181674,-0.020175311101705326],"tcp_position_m":[0.3574229881395541,0.07967322700099938,0.08179177251326625],"tcp_quaternion_wxyz":[0.05701987730558203,-0.08926016906659182,0.994334187801437,-0.008993263007183738],"object_position_m":[0.3550200355962652,0.07916632624186824,0.0803182982974646],"object_quaternion_wxyz":[0.9958525085193736,-0.011955247807545163,-0.001878029908029489,0.09017386721881197],"object_linear_velocity_m_s":[0.0009952019303399644,-0.002815558729358773,-0.0032790749688732545],"object_angular_velocity_rad_s":[0.1429644261766359,0.06071724182849708,-0.008626905008623873],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.10827141863563203,"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":0.152524834453677},{"geom_ids":[1,90],"normal_force_n":0.1604583857577022},{"geom_ids":[86,90],"normal_force_n":0.10827141863563203}],"native_actuator_controls":[0.23137236777940812,1.8660455681432044,-1.3097459298949796,-0.033279976858730104,1.0175454996035092,0.10929644574787548,0.01900000000000003],"actuator_force_native":[-0.25767856743145146,0.07614357286291806,-0.3038648153424077,0.19197174548567641,0.2480839822339611,0.26430321379429556,-0.09203741620304473],"issued_joint_targets_rad":[0.231161456340869,1.866321411804522,-1.3101914001172192,-0.03284561406315356,1.0181276618947952,0.11008809536671169],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.959999999997702,"joint_targets_rad":[0.231161456340869,1.866321411804522,-1.3101914001172192,-0.03284561406315356,1.0181276618947952,0.11008809536671169],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.979999999997691,"qpos":[0.23502142420261876,1.8649690466852402,-1.305227594540537,-0.04060098697391209,0.9886914016184118,0.07769154389299156,0.020361770673366333,-0.020382060811963316,0.3550490470895992,0.07906896226079102,0.08021450281239592,0.9958867896048385,-0.009449775894920796,-0.0012853086898174664,0.09010300776154416],"qvel":[-0.010411059473152596,0.003502534744269242,-0.018569725117358594,0.023948497555330125,0.031327770098638706,0.03986071485704546,0.014588053773654965,-0.013558857844971345,0.001621162063423246,-0.005754763741441945,-0.006015322262796497,0.2995333487858008,0.036279494637429174,-0.0066711672793620435],"joint_position_rad":[0.23502142420261876,1.8649690466852402,-1.305227594540537,-0.04060098697391209,0.9886914016184118,0.07769154389299156],"joint_velocity_rad_s":[-0.010411059473152596,0.003502534744269242,-0.018569725117358594,0.023948497555330125,0.031327770098638706,0.03986071485704546],"gripper_joint_position_m":[0.020361770673366333,-0.020382060811963316],"tcp_position_m":[0.3573979171576927,0.07967326500863732,0.08184473092419857],"tcp_quaternion_wxyz":[0.05682950199684657,-0.08862908476441915,0.9944032719371942,-0.008799192986520675],"object_position_m":[0.3550490470895992,0.07906896226079102,0.08021450281239592],"object_quaternion_wxyz":[0.9958867896048385,-0.009449775894920796,-0.0012853086898174664,0.09010300776154416],"object_linear_velocity_m_s":[0.001621162063423246,-0.005754763741441945,-0.006015322262796497],"object_angular_velocity_rad_s":[0.28818723322778955,0.08932288883571973,-0.0071044615141552785],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.11001746060178515,"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":0.16453094067724086},{"geom_ids":[1,90],"normal_force_n":0.14747980718469478},{"geom_ids":[86,90],"normal_force_n":0.11001746060178515}],"native_actuator_controls":[0.231161456340869,1.866321411804522,-1.3101914001172192,-0.03284561406315356,1.0181276618947952,0.11008809536671169,0.02000000000000006],"actuator_force_native":[-0.2567421315742209,0.09067653582118851,-0.30425582054778033,0.19047242865369052,0.24737094761587564,0.26417444245163313,-0.08741109580292583],"issued_joint_targets_rad":[0.23095244487060948,1.8665912111837595,-1.3106271335917252,-0.03241594230976382,1.018696867998816,0.11088908311843901],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.979999999997691,"joint_targets_rad":[0.23095244487060948,1.8665912111837595,-1.3106271335917252,-0.03241594230976382,1.018696867998816,0.11088908311843901],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.99999999999768,"qpos":[0.23480920290672275,1.8650459128519334,-1.3056172520968934,-0.04011787609015464,0.9893228588055217,0.07849230410450701,0.020704618792176725,-0.020710543295422254,0.3550895910347547,0.07890470618508572,0.0800463593056031,0.9959237944192971,-0.005261430088667296,-0.0005720074241236425,0.09004324444620619],"qvel":[-0.010480649776026498,0.003884471973508795,-0.01934270668684775,0.023803846486825115,0.03138051741163801,0.039887125795359045,0.019880532773783297,-0.019356972587684516,0.002201669584444137,-0.009549597577565992,-0.009746099227018181,0.49156216329717695,0.029699780308302504,-0.005972966855900605],"joint_position_rad":[0.23480920290672275,1.8650459128519334,-1.3056172520968934,-0.04011787609015464,0.9893228588055217,0.07849230410450701],"joint_velocity_rad_s":[-0.010480649776026498,0.003884471973508795,-0.01934270668684775,0.023803846486825115,0.03138051741163801,0.039887125795359045],"gripper_joint_position_m":[0.020704618792176725,-0.020710543295422254],"tcp_position_m":[0.3573778861157714,0.07967308175033548,0.08189953934657905],"tcp_quaternion_wxyz":[0.05664342335142406,-0.08799716226040016,0.9944717000607772,-0.008605800565656394],"object_position_m":[0.3550895910347547,0.07890470618508572,0.0800463593056031],"object_quaternion_wxyz":[0.9959237944192971,-0.005261430088667296,-0.0005720074241236425,0.09004324444620619],"object_linear_velocity_m_s":[0.002201669584444137,-0.009549597577565992,-0.009746099227018181],"object_angular_velocity_rad_s":[0.4782767961876057,0.11732037787103113,-0.00619264350192682],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":1,"right":0},"pad_normal_forces_n":{"left":0.11635076073588073,"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":0.17355648036622476},{"geom_ids":[1,90],"normal_force_n":0.13994238269577713},{"geom_ids":[86,90],"normal_force_n":0.11635076073588073}],"native_actuator_controls":[0.23095244487060948,1.8665912111837595,-1.3106271335917252,-0.03241594230976382,1.018696867998816,0.11088908311843901,0.021000000000000088],"actuator_force_native":[-0.2561373940089311,0.10420150667854955,-0.30407698615231027,0.18905811878150702,0.24666931581548646,0.26413710144628144,-0.08758741555598193],"issued_joint_targets_rad":[0.2307450719424982,1.8668572046892677,-1.311056658578805,-0.031990132038357426,1.0192578515226265,0.11169387980414783],"issued_gripper_position_m":0.035,"command":{"t_seconds":13.99999999999768,"joint_targets_rad":[0.2307450719424982,1.8668572046892677,-1.311056658578805,-0.031990132038357426,1.0192578515226265,0.11169387980414783],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.019999999997669,"qpos":[0.23459879212430373,1.865129681746821,-1.3060210697248444,-0.03963633187262443,0.9899549388333359,0.07929380799618564,0.021123098222379785,-0.021123344847670835,0.35512968768135716,0.07872274709740974,0.07986344968572137,0.9959423049550361,-0.0006136320182621774,7.994870362313885e-05,0.08999190110671951],"qvel":[-0.009666243140380797,0.0040748681405938245,-0.020377341395763686,0.02413713111916825,0.03149449126683203,0.039997069989397616,0.01651440034521027,-0.016554624042234768,0.0010961378903371758,-0.0053423292810831115,-0.004695940549154048,0.2744546222174863,0.009189744871985426,-0.0027547517114591504],"joint_position_rad":[0.23459879212430373,1.865129681746821,-1.3060210697248444,-0.03963633187262443,0.9899549388333359,0.07929380799618564],"joint_velocity_rad_s":[-0.009666243140380797,0.0040748681405938245,-0.020377341395763686,0.02413713111916825,0.03149449126683203,0.039997069989397616],"gripper_joint_position_m":[0.021123098222379785,-0.021123344847670835],"tcp_position_m":[0.3573615569267551,0.07967426286599785,0.08195550627117418],"tcp_quaternion_wxyz":[0.056460603954904334,-0.08736622070158233,0.9945393774002619,-0.00841251934137295],"object_position_m":[0.35512968768135716,0.07872274709740974,0.07986344968572137],"object_quaternion_wxyz":[0.9959423049550361,-0.0006136320182621774,7.994870362313885e-05,0.08999190110671951],"object_linear_velocity_m_s":[0.0010961378903371758,-0.0053423292810831115,-0.004695940549154048],"object_angular_velocity_rad_s":[0.26836182487204163,0.05823440413052947,-0.002839868175997704],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09613135671427743},{"geom_ids":[1,90],"normal_force_n":0.09508245617190234},{"geom_ids":[1,90],"normal_force_n":0.11120527823371858},{"geom_ids":[1,90],"normal_force_n":0.11212830998407622}],"native_actuator_controls":[0.2307450719424982,1.8668572046892677,-1.311056658578805,-0.031990132038357426,1.0192578515226265,0.11169387980414783,0.022000000000000117],"actuator_force_native":[-0.2599663988425398,0.11782749469276155,-0.30096040133803115,0.18516233777483881,0.2457873899926568,0.26400511309552543,-0.047495930621238136],"issued_joint_targets_rad":[0.2305386270388817,1.8671200937076677,-1.311481099042072,-0.03156655217237134,1.0198121116989969,0.11249774011193239],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.019999999997669,"joint_targets_rad":[0.2305386270388817,1.8671200937076677,-1.311481099042072,-0.03156655217237134,1.0198121116989969,0.11249774011193239],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.039999999997658,"qpos":[0.23442089659197587,1.8652142706324115,-1.3064549114613266,-0.03914338857967274,0.9905890241921401,0.08009810098158415,0.021381904351069944,-0.02138369359243699,0.3551366542527586,0.07868033247609188,0.07984076531666603,0.9959433294336933,0.00046181281396606114,0.00017003624381980488,0.08998134458393209],"qvel":[-0.008370485087442809,0.00413863796313077,-0.021849759431566605,0.024547584951968453,0.03146577076440539,0.04008628045242569,0.012158489397238494,-0.01215984507334934,-2.8241780495657517e-05,-0.0004376685452000254,0.0005629340318964698,0.021226724473059563,-0.0050036736740962885,-0.0002975490227247533],"joint_position_rad":[0.23442089659197587,1.8652142706324115,-1.3064549114613266,-0.03914338857967274,0.9905890241921401,0.08009810098158415],"joint_velocity_rad_s":[-0.008370485087442809,0.00413863796313077,-0.021849759431566605,0.024547584951968453,0.03146577076440539,0.04008628045242569],"gripper_joint_position_m":[0.021381904351069944,-0.02138369359243699],"tcp_position_m":[0.35735057205508486,0.07969109937239327,0.08201882812456557],"tcp_quaternion_wxyz":[0.05629046303943409,-0.08674704100286541,0.9946049002905037,-0.008211392462330823],"object_position_m":[0.3551366542527586,0.07868033247609188,0.07984076531666603],"object_quaternion_wxyz":[0.9959433294336933,0.00046181281396606114,0.00017003624381980488,0.08998134458393209],"object_linear_velocity_m_s":[-2.8241780495657517e-05,-0.0004376685452000254,0.0005629340318964698],"object_angular_velocity_rad_s":[0.021779688200834074,-0.0011178558274872112,-0.0003077299731227062],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09726265781413006},{"geom_ids":[1,90],"normal_force_n":0.09720715547448346},{"geom_ids":[1,90],"normal_force_n":0.100313741982413},{"geom_ids":[1,90],"normal_force_n":0.10050721085010146}],"native_actuator_controls":[0.2305386270388817,1.8671200937076677,-1.311481099042072,-0.03156655217237134,1.0198121116989969,0.11249774011193239,0.023000000000000145],"actuator_force_native":[-0.2687291388103219,0.1317726562048449,-0.29284620930179983,0.18033553153221393,0.24503221892195803,0.26386697062484377,0.003931378971015587],"issued_joint_targets_rad":[0.23032750640295088,1.86736670457195,-1.31187986471429,-0.031133432361390764,1.0203320291791897,0.11326810009635985],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.039999999997658,"joint_targets_rad":[0.23032750640295088,1.86736670457195,-1.31187986471429,-0.031133432361390764,1.0203320291791897,0.11326810009635985],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.059999999997647,"qpos":[0.23425573469824632,1.8653013821394808,-1.3069073732047447,-0.038647741441272566,0.9912197137343859,0.08090275248250163,0.02165895554833442,-0.021659250469602945,0.35513413614750017,0.07868230845201973,0.07985880114292078,0.9959434649599805,0.00040575832534581164,0.0001127227906749869,0.08998020480784803],"qvel":[-0.00812605718374696,0.004309902789460419,-0.022361407474650184,0.02452117786023621,0.031238817711235246,0.040070283978399436,0.01586309883262023,-0.01573634637851793,-0.00015440415227999335,0.0003246744467585645,0.0009412496807438956,-0.017461713620963555,-0.004666225725300179,-3.212630069664871e-05],"joint_position_rad":[0.23425573469824632,1.8653013821394808,-1.3069073732047447,-0.038647741441272566,0.9912197137343859,0.08090275248250163],"joint_velocity_rad_s":[-0.00812605718374696,0.004309902789460419,-0.022361407474650184,0.02452117786023621,0.031238817711235246,0.040070283978399436],"gripper_joint_position_m":[0.02165895554833442,-0.021659250469602945],"tcp_position_m":[0.3573445374078193,0.07971449660501098,0.08208612412564557],"tcp_quaternion_wxyz":[0.056129666009583995,-0.08613335227227495,0.9946689851432873,-0.008007260081668991],"object_position_m":[0.35513413614750017,0.07868230845201973,0.07985880114292078],"object_quaternion_wxyz":[0.9959434649599805,0.00040575832534581164,0.0001127227906749869,0.08998020480784803],"object_linear_velocity_m_s":[-0.00015440415227999335,0.0003246744467585645,0.0009412496807438956],"object_angular_velocity_rad_s":[-0.01634263835100647,-0.007720310675547334,-3.3346670545304445e-05],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09776665114544995},{"geom_ids":[1,90],"normal_force_n":0.09783273611615009},{"geom_ids":[1,90],"normal_force_n":0.09815675544488128},{"geom_ids":[1,90],"normal_force_n":0.09815247958903324}],"native_actuator_controls":[0.23032750640295088,1.86736670457195,-1.31187986471429,-0.031133432361390764,1.0203320291791897,0.11326810009635985,0.024000000000000174],"actuator_force_native":[-0.2736279777048978,0.14367628065025428,-0.28599228339037097,0.17796647389409115,0.2442649278811846,0.26354805017098293,0.01432628390352908],"issued_joint_targets_rad":[0.23011559431668335,1.8676024105833164,-1.312261340736892,-0.03069900748768411,1.0208289888128672,0.11402472554413254],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.059999999997647,"joint_targets_rad":[0.23011559431668335,1.8676024105833164,-1.312261340736892,-0.03069900748768411,1.0208289888128672,0.11402472554413254],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.079999999997636,"qpos":[0.23409208581317448,1.8653921686486181,-1.3073616034290405,-0.0381540711772418,0.9918453816212602,0.08170670087444717,0.022028201764779477,-0.022026026207201024,0.3551314746107372,0.07868879157130981,0.0798742570268976,0.9959435344762321,0.0002375961373757116,6.09961139468286e-05,0.0899800864777396],"qvel":[-0.0081447623713976,0.004510524731889154,-0.02214197193212004,0.02438079987773079,0.030991790761369882,0.04002521366838637,0.02083024491401012,-0.020713496796526776,-0.00010784916661394839,0.0002854274999549737,0.0006061683855803719,-0.015056605555595693,-0.002750387553735558,-3.4677122476786486e-06],"joint_position_rad":[0.23409208581317448,1.8653921686486181,-1.3073616034290405,-0.0381540711772418,0.9918453816212602,0.08170670087444717],"joint_velocity_rad_s":[-0.0081447623713976,0.004510524731889154,-0.02214197193212004,0.02438079987773079,0.030991790761369882,0.04002521366838637],"gripper_joint_position_m":[0.022028201764779477,-0.022026026207201024],"tcp_position_m":[0.35733985056740786,0.079738526933335,0.08215271191697739],"tcp_quaternion_wxyz":[0.05597038553393018,-0.08552147090484001,0.994732374564813,-0.00780364979380785],"object_position_m":[0.3551314746107372,0.07868879157130981,0.0798742570268976],"object_quaternion_wxyz":[0.9959435344762321,0.0002375961373757116,6.09961139468286e-05,0.0899800864777396],"object_linear_velocity_m_s":[-0.00010784916661394839,0.0002854274999549737,0.0006061683855803719],"object_angular_velocity_rad_s":[-0.014319844578946844,-0.005404447497319131,-3.6140137238797127e-06],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09796637405842491},{"geom_ids":[1,90],"normal_force_n":0.09801538412473193},{"geom_ids":[1,90],"normal_force_n":0.09788511254146597},{"geom_ids":[1,90],"normal_force_n":0.09785381859441887}],"native_actuator_controls":[0.23011559431668335,1.8676024105833164,-1.312261340736892,-0.03069900748768411,1.0208289888128672,0.11402472554413254,0.025000000000000203],"actuator_force_native":[-0.2773955078623018,0.1542667311164223,-0.28126912496752254,0.17629854819365365,0.24334838577401463,0.2631424261942741,0.014720704838778409],"issued_joint_targets_rad":[0.2299047212426648,1.8678367303797117,-1.3126404517668748,-0.03026692429978072,1.0213229809437143,0.11477915957344109],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.079999999997636,"joint_targets_rad":[0.2299047212426648,1.8678367303797117,-1.3126404517668748,-0.03026692429978072,1.0213229809437143,0.11477915957344109],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.099999999997625,"qpos":[0.23392731058713634,1.8654873166620687,-1.3078069384599742,-0.03766362781470174,0.9924665161518638,0.08250963173424584,0.022494574384977657,-0.0224907135524142,0.35512985724801693,0.07869322217533396,0.0798832136022808,0.995943557606996,0.000123326857210136,3.063444477312941e-05,0.08998007508964959],"qvel":[-0.008221457755139107,0.004744375937368902,-0.02154216337731635,0.024209514751859132,0.030786992821400107,0.03997101253025305,0.025483741089515007,-0.025419941462748032,-5.93705230392615e-05,0.00016707309000521466,0.00032492300427643404,-0.008770252263844014,-0.001425556813589332,-3.7419182022301883e-07],"joint_position_rad":[0.23392731058713634,1.8654873166620687,-1.3078069384599742,-0.03766362781470174,0.9924665161518638,0.08250963173424584],"joint_velocity_rad_s":[-0.008221457755139107,0.004744375937368902,-0.02154216337731635,0.024209514751859132,0.030786992821400107,0.03997101253025305],"gripper_joint_position_m":[0.022494574384977657,-0.0224907135524142],"tcp_position_m":[0.35733349885741683,0.07976124776316798,0.08221560118001064],"tcp_quaternion_wxyz":[0.05580685186178353,-0.08491066150211403,0.9947954480877854,-0.007602059745413452],"object_position_m":[0.35512985724801693,0.07869322217533396,0.0798832136022808],"object_quaternion_wxyz":[0.995943557606996,0.000123326857210136,3.063444477312941e-05,0.08998007508964959],"object_linear_velocity_m_s":[-5.93705230392615e-05,0.00016707309000521466,0.00032492300427643404],"object_angular_velocity_rad_s":[-0.008372734339725933,-0.002974366598652032,-3.9172579582844727e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09804412045876745},{"geom_ids":[1,90],"normal_force_n":0.09807089674220613},{"geom_ids":[1,90],"normal_force_n":0.09794013934885545},{"geom_ids":[1,90],"normal_force_n":0.09791777162537613}],"native_actuator_controls":[0.2299047212426648,1.8678367303797117,-1.3126404517668748,-0.03026692429978072,1.0213229809437143,0.11477915957344109,0.02600000000000023],"actuator_force_native":[-0.28069985878202885,0.16423121772461968,-0.27897024766546963,0.17482056683754488,0.24238415868640573,0.2627387595965729,0.012798319153328075],"issued_joint_targets_rad":[0.22969520936568114,1.8680761799739858,-1.3130274163916515,-0.029837655818439418,1.0218276283385144,0.1155342405125269],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.099999999997625,"joint_targets_rad":[0.22969520936568114,1.8680761799739858,-1.3130274163916515,-0.029837655818439418,1.0218276283385144,0.1155342405125269],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.119999999997614,"qpos":[0.2337608866067176,1.8655876214359872,-1.3082393517999584,-0.03717675423572158,0.9930842666659496,0.08331143483450844,0.023047551017634504,-0.02304301518967135,0.35512900693843336,0.07869564747386067,0.07988784231034625,0.9959435638213634,6.090311670380521e-05,1.4891349000464885e-05,0.08998007419346603],"qvel":[-0.008306508958522871,0.005017050811912229,-0.020872458907776628,0.024029486731865283,0.03064125299154212,0.03991356838130501,0.029508189455768614,-0.029488962941081175,-3.0046350166974054e-05,8.670477386552461e-05,0.0001628840643013733,-0.004542225678076617,-0.0007020498055257576,-4.036307587457253e-08],"joint_position_rad":[0.2337608866067176,1.8655876214359872,-1.3082393517999584,-0.03717675423572158,0.9930842666659496,0.08331143483450844],"joint_velocity_rad_s":[-0.008306508958522871,0.005017050811912229,-0.020872458907776628,0.024029486731865283,0.03064125299154212,0.03991356838130501],"gripper_joint_position_m":[0.023047551017634504,-0.02304301518967135],"tcp_position_m":[0.3573240865928179,0.07978206209883171,0.08227344403197553],"tcp_quaternion_wxyz":[0.055636143072610444,-0.084300838469778,0.9948583728799695,-0.007403116094996524],"object_position_m":[0.35512900693843336,0.07869564747386067,0.07988784231034625],"object_quaternion_wxyz":[0.9959435638213634,6.090311670380521e-05,1.4891349000464885e-05,0.08998007419346603],"object_linear_velocity_m_s":[-3.0046350166974054e-05,8.670477386552461e-05,0.0001628840643013733],"object_angular_velocity_rad_s":[-0.004342845709060897,-0.0015047854289348826,-4.246404322505954e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09807554420893252},{"geom_ids":[1,90],"normal_force_n":0.09808896908759598},{"geom_ids":[1,90],"normal_force_n":0.09801042550309731},{"geom_ids":[1,90],"normal_force_n":0.09799803523403106}],"native_actuator_controls":[0.22969520936568114,1.8680761799739858,-1.3130274163916515,-0.029837655818439418,1.0218276283385144,0.1155342405125269,0.02700000000000026],"actuator_force_native":[-0.2837216344903055,0.17399942898035192,-0.27868287279656556,0.1734165030319601,0.24147173723833504,0.2623577042082271,0.01055701201578696],"issued_joint_targets_rad":[0.22948709305432524,1.868324002328833,-1.3134273128600462,-0.029411174535873295,1.0223496684752935,0.11629066590313189],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.119999999997614,"joint_targets_rad":[0.22948709305432524,1.868324002328833,-1.3134273128600462,-0.029411174535873295,1.0223496684752935,0.11629066590313189],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.139999999997602,"qpos":[0.23359279465632876,1.8656938482977674,-1.3086598930253104,-0.036693545348121345,0.9936998180637265,0.08411207655952242,0.02367431670269038,-0.023669798639066243,0.3551285848990882,0.07869687301362949,0.07989012736503891,0.9959435653375843,2.938877512877037e-05,7.128300302913202e-06,0.0899800741728303],"qvel":[-0.008388498680298903,0.0053237794795311,-0.020341251088363575,0.02384727297987537,0.030549591844937034,0.0398557074101158,0.032903487612175486,-0.032910197646124795,-1.466093402142504e-05,4.28151679094123e-05,7.934320052813423e-05,-0.00224080240898469,-0.00033795598035211044,-4.3519184649174375e-09],"joint_position_rad":[0.23359279465632876,1.8656938482977674,-1.3086598930253104,-0.036693545348121345,0.9936998180637265,0.08411207655952242],"joint_velocity_rad_s":[-0.008388498680298903,0.0053237794795311,-0.020341251088363575,0.02384727297987537,0.030549591844937034,0.0398557074101158],"gripper_joint_position_m":[0.02367431670269038,-0.023669798639066243],"tcp_position_m":[0.3573116614401121,0.07980095187646245,0.08232620279970992],"tcp_quaternion_wxyz":[0.055457826515332785,-0.08369201375105244,0.9949211708371795,-0.007206950288790124],"object_position_m":[0.3551285848990882,0.07869687301362949,0.07989012736503891],"object_quaternion_wxyz":[0.9959435653375843,2.938877512877037e-05,7.128300302913202e-06,0.0899800741728303],"object_linear_velocity_m_s":[-1.466093402142504e-05,4.28151679094123e-05,7.934320052813423e-05],"object_angular_velocity_rad_s":[-0.0021439455804739965,-0.0007341028733979381,-4.603635695628316e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09808890570996183},{"geom_ids":[1,90],"normal_force_n":0.09809541709662212},{"geom_ids":[1,90],"normal_force_n":0.09805427192782327},{"geom_ids":[1,90],"normal_force_n":0.09804799685600715}],"native_actuator_controls":[0.22948709305432524,1.868324002328833,-1.3134273128600462,-0.029411174535873295,1.0223496684752935,0.11629066590313189,0.02800000000000029],"actuator_force_native":[-0.28651363475878355,0.18379342508760033,-0.27968733133705825,0.17205846759054522,0.24067411634826286,0.26200233232092096,0.008509893831519122],"issued_joint_targets_rad":[0.22928040591677998,1.8685806972917347,-1.3138409151938413,-0.02898754923741997,1.0228900961450889,0.11704860228611327],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.139999999997602,"joint_targets_rad":[0.22928040591677998,1.8685806972917347,-1.3138409151938413,-0.02898754923741997,1.0228900961450889,0.11704860228611327],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.159999999997591,"qpos":[0.2334230559152968,1.865806554238317,-1.3090725074696987,-0.036214010551003366,0.9943141002491193,0.08491157094504426,0.024363023314730416,-0.024358878268183018,0.35512838082083875,0.07869747087325123,0.07989123275473689,0.9959435656908912,1.4022086715434596e-05,3.3868015501979167e-06,0.08998007418770892],"qvel":[-0.008466657125265464,0.005652338223030062,-0.020045419969501804,0.02366485055805344,0.030497128155398304,0.03979942869664141,0.035744039372490245,-0.03576213219979405,-7.031885787513758e-06,2.066022605553159e-05,3.8146172364375645e-05,-0.0010807606308433312,-0.00016096394047965764,-4.689783032414881e-10],"joint_position_rad":[0.2334230559152968,1.865806554238317,-1.3090725074696987,-0.036214010551003366,0.9943141002491193,0.08491157094504426],"joint_velocity_rad_s":[-0.008466657125265464,0.005652338223030062,-0.020045419969501804,0.02366485055805344,0.030497128155398304,0.03979942869664141],"gripper_joint_position_m":[0.024363023314730416,-0.024358878268183018],"tcp_position_m":[0.3572971790338454,0.07981814701812291,0.08237466347920533],"tcp_quaternion_wxyz":[0.05527312180317177,-0.08308414604513026,0.994983778198141,-0.007013401787708583],"object_position_m":[0.35512838082083875,0.07869747087325123,0.07989123275473689],"object_quaternion_wxyz":[0.9959435656908912,1.4022086715434596e-05,3.3868015501979167e-06,0.08998007418770892],"object_linear_velocity_m_s":[-7.031885787513758e-06,2.066022605553159e-05,3.8146172364375645e-05],"object_angular_velocity_rad_s":[-0.0010344104688769604,-0.00035206237116927895,-4.991353029040246e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809484322489263},{"geom_ids":[1,90],"normal_force_n":0.098097955632663},{"geom_ids":[1,90],"normal_force_n":0.09807755279379615},{"geom_ids":[1,90],"normal_force_n":0.09807449365496991}],"native_actuator_controls":[0.22928040591677998,1.8685806972917347,-1.3138409151938413,-0.02898754923741997,1.0228900961450889,0.11704860228611327,0.029000000000000317],"actuator_force_native":[-0.2890787142550195,0.19366975315827517,-0.2812455180838924,0.1707341997530687,0.24001426672659854,0.26167117036572796,0.006758870548344564],"issued_joint_targets_rad":[0.22907521730917896,1.8688449667172808,-1.3142661811795529,-0.028566986405706946,1.0234461596179207,0.11780813117826072],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.159999999997591,"joint_targets_rad":[0.22907521730917896,1.8688449667172808,-1.3142661811795529,-0.028566986405706946,1.0234461596179207,0.11780813117826072],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.17999999999758,"qpos":[0.2332513068243198,1.8659260045453177,-1.3094820211885725,-0.035738089242346914,0.994927691793043,0.08570996735341789,0.025103462164985605,-0.025099828511842524,0.35512828336717167,0.07869775766853034,0.07989176247781163,0.9959435657713618,6.6523617242954465e-06,1.6031811976278187e-06,0.0899800741931371],"qvel":[-0.008551763724613333,0.005988310302829785,-0.01999109012133702,0.023481182984510695,0.03046684336185,0.03974611693950175,0.038114160532293065,-0.03813464441322008,-3.344513227484452e-06,9.857547868338057e-06,1.822726818664085e-05,-0.0005155303288339108,-7.627538709616165e-05,-5.050904805146793e-11],"joint_position_rad":[0.2332513068243198,1.8659260045453177,-1.3094820211885725,-0.035738089242346914,0.994927691793043,0.08570996735341789],"joint_velocity_rad_s":[-0.008551763724613333,0.005988310302829785,-0.01999109012133702,0.023481182984510695,0.03046684336185,0.03974611693950175],"gripper_joint_position_m":[0.025103462164985605,-0.025099828511842524],"tcp_position_m":[0.35728196474529533,0.07983383431233726,0.08241995176469233],"tcp_quaternion_wxyz":[0.05508399381182226,-0.0824769603460297,0.9950461108093167,-0.006822169821355185],"object_position_m":[0.35512828336717167,0.07869775766853034,0.07989176247781163],"object_quaternion_wxyz":[0.9959435657713618,6.6523617242954465e-06,1.6031811976278187e-06,0.0899800741931371],"object_linear_velocity_m_s":[-3.344513227484452e-06,9.857547868338057e-06,1.822726818664085e-05],"object_angular_velocity_rad_s":[-0.0004935115859314316,-0.0001674388520496751,-5.412195435765523e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809756669583611},{"geom_ids":[1,90],"normal_force_n":0.09809904423816948},{"geom_ids":[1,90],"normal_force_n":0.09808917876033554},{"geom_ids":[1,90],"normal_force_n":0.09808771314656628}],"native_actuator_controls":[0.22907521730917896,1.8688449667172808,-1.3142661811795529,-0.028566986405706946,1.0234461596179207,0.11780813117826072,0.030000000000000346],"actuator_force_native":[-0.29132834258819784,0.20357542224289205,-0.2827773486717433,0.16943819854304532,0.2394844132060019,0.26136246283917564,0.005290710739124238],"issued_joint_targets_rad":[0.2288716072670145,1.8691147335364275,-1.314699854083961,-0.0281497486185123,1.0240134987975997,0.11856965605019998],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.17999999999758,"joint_targets_rad":[0.2288716072670145,1.8691147335364275,-1.314699854083961,-0.0281497486185123,1.0240134987975997,0.11856965605019998],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.19999999999757,"qpos":[0.23307702122119994,1.8660521864760897,-1.3098927113853969,-0.03526572591443716,0.9955408476020979,0.0865073451559238,0.025887038920895358,-0.025883939509861127,0.3551282371174191,0.078697894102142,0.079892015204579,0.995943565789479,3.146876666434847e-06,7.574737396844201e-07,0.08998007419457489],"qvel":[-0.008655213518065946,0.006319235808400184,-0.020127501781580143,0.023295675986825866,0.030444478852178707,0.03969702052639413,0.0400904426137161,-0.04010850946681041,-1.5840610114691054e-06,4.6766622566554976e-06,8.684039022789706e-06,-0.0002445481254056342,-3.6055206836948345e-05,-5.436222406163295e-12],"joint_position_rad":[0.23307702122119994,1.8660521864760897,-1.3098927113853969,-0.03526572591443716,0.9955408476020979,0.0865073451559238],"joint_velocity_rad_s":[-0.008655213518065946,0.006319235808400184,-0.020127501781580143,0.023295675986825866,0.030444478852178707,0.03969702052639413],"gripper_joint_position_m":[0.025887038920895358,-0.025883939509861127],"tcp_position_m":[0.3572672708409226,0.07984812169285793,0.0824631612949222],"tcp_quaternion_wxyz":[0.05489243254197982,-0.08187009390497835,0.9951080908954273,-0.006632948671021832],"object_position_m":[0.3551282371174191,0.078697894102142,0.079892015204579],"object_quaternion_wxyz":[0.995943565789479,3.146876666434847e-06,7.574737396844201e-07,0.08998007419457489],"object_linear_velocity_m_s":[-1.5840610114691054e-06,4.6766622566554976e-06,8.684039022789706e-06],"object_angular_velocity_rad_s":[-0.0002341260195966944,-7.93017687524886e-05,-5.8690582640820534e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809884165892352},{"geom_ids":[1,90],"normal_force_n":0.09809954075205635},{"geom_ids":[1,90],"normal_force_n":0.09809482872232703},{"geom_ids":[1,90],"normal_force_n":0.09809413229141473}],"native_actuator_controls":[0.2288716072670145,1.8691147335364275,-1.314699854083961,-0.0281497486185123,1.0240134987975997,0.11856965605019998,0.031000000000000374],"actuator_force_native":[-0.2931570487445043,0.2134075857850064,-0.2839339069772393,0.1681607119028652,0.23905979367675023,0.26107757815317056,0.004066230095620238],"issued_joint_targets_rad":[0.22866965823506,1.8693879064610135,-1.315138660045828,-0.027736101145747646,1.0245877403426462,0.11933371693369572],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.19999999999757,"joint_targets_rad":[0.22866965823506,1.8693879064610135,-1.315138660045828,-0.027736101145747646,1.0245877403426462,0.11933371693369572],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.219999999997558,"qpos":[0.23289966582667362,1.866184881292822,-1.310307554420099,-0.03479689237550135,0.9961535902369015,0.08730380747716683,0.026706573909214302,-0.026703978615814784,0.3551282152363144,0.07869795873212594,0.07989213552288099,0.9959435657935342,1.4863973238517346e-06,3.5755618626986545e-07,0.08998007419491977],"qvel":[-0.008789293939714919,0.006636695395871297,-0.02038036185393109,0.02311001857877589,0.030420678527216898,0.03965313609722497,0.04173816205355666,-0.04175194042031149,-7.486690838554914e-07,2.2122955889917566e-06,4.13155411004014e-06,-0.0001156755341069444,-1.702267999639582e-05,-5.8465660523241e-13],"joint_position_rad":[0.23289966582667362,1.866184881292822,-1.310307554420099,-0.03479689237550135,0.9961535902369015,0.08730380747716683],"joint_velocity_rad_s":[-0.008789293939714919,0.006636695395871297,-0.02038036185393109,0.02311001857877589,0.030420678527216898,0.03965313609722497],"gripper_joint_position_m":[0.026706573909214302,-0.026703978615814784],"tcp_position_m":[0.35725402180928323,0.07986103186424326,0.08250513273201746],"tcp_quaternion_wxyz":[0.0547000035929768,-0.08126318913373005,0.9951696635200048,-0.006445502945819927],"object_position_m":[0.3551282152363144,0.07869795873212594,0.07989213552288099],"object_quaternion_wxyz":[0.9959435657935342,1.4863973238517346e-06,3.5755618626986545e-07,0.08998007419491977],"object_linear_velocity_m_s":[-7.486690838554914e-07,2.2122955889917566e-06,4.13155411004014e-06],"object_angular_velocity_rad_s":[-0.00011075144261538145,-3.747957822332617e-05,-6.365114472077144e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809944586215547},{"geom_ids":[1,90],"normal_force_n":0.09809977608949788},{"geom_ids":[1,90],"normal_force_n":0.09809753935669031},{"geom_ids":[1,90],"normal_force_n":0.09809720972248027}],"native_actuator_controls":[0.22866965823506,1.8693879064610135,-1.315138660045828,-0.027736101145747646,1.0245877403426462,0.11933371693369572,0.0320000000000004],"actuator_force_native":[-0.29445413763051675,0.22305853647597473,-0.28458664078866036,0.16688155629626866,0.23871048326662248,0.26081939041945146,0.003046233363660722],"issued_joint_targets_rad":[0.22846944055788876,1.869662855349189,-1.3155800509126663,-0.027326261856096917,1.025165484399824,0.12010086213352235],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.219999999997558,"joint_targets_rad":[0.22846944055788876,1.869662855349189,-1.3155800509126663,-0.027326261856096917,1.025165484399824,0.12010086213352235],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.239999999997547,"qpos":[0.2327187896586624,1.8663237562962465,-1.3107280588941042,-0.03433160313855217,0.996765817837483,0.08809947166403818,0.027556084694256654,-0.027553940664028855,0.3551282049005304,0.07869798928163868,0.07989219274576467,0.995943565794439,7.015422893543071e-07,1.686993895883805e-07,0.08998007419499918],"qvel":[-0.00896396586373562,0.006936690871334544,-0.020677625417928436,0.022928441440122963,0.030391175806204207,0.03961529495539867,0.04311163563267652,-0.04312148897304587,-3.534586633547924e-07,1.0449624204512799e-06,1.9643214251852805e-06,-5.4636541876878793e-05,-8.032130922052315e-06,-6.282607956436769e-14],"joint_position_rad":[0.2327187896586624,1.8663237562962465,-1.3107280588941042,-0.03433160313855217,0.996765817837483,0.08809947166403818],"joint_velocity_rad_s":[-0.00896396586373562,0.006936690871334544,-0.020677625417928436,0.022928441440122963,0.030391175806204207,0.03961529495539867],"gripper_joint_position_m":[0.027556084694256654,-0.027553940664028855],"tcp_position_m":[0.3572427333491976,0.07987251369383404,0.08254637516586098],"tcp_quaternion_wxyz":[0.054507668715704935,-0.08065594767983136,0.9952308015174458,-0.006259701749258461],"object_position_m":[0.3551282049005304,0.07869798928163868,0.07989219274576467],"object_quaternion_wxyz":[0.995943565794439,7.015422893543071e-07,1.686993895883805e-07,0.08998007419499918],"object_linear_velocity_m_s":[-3.534586633547924e-07,1.0449624204512799e-06,1.9643214251852805e-06],"object_angular_velocity_rad_s":[-5.2312221733688014e-05,-1.7694583710796336e-05,-6.903842228283796e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809973420127556},{"geom_ids":[1,90],"normal_force_n":0.0980998900603523},{"geom_ids":[1,90],"normal_force_n":0.0980988316650392},{"geom_ids":[1,90],"normal_force_n":0.09809867593799265}],"native_actuator_controls":[0.22846944055788876,1.869662855349189,-1.3155800509126663,-0.027326261856096917,1.025165484399824,0.12010086213352235,0.03300000000000043],"actuator_force_native":[-0.2951280987432128,0.23244446987874312,-0.28477123439533614,0.16557144409759528,0.23840990191410327,0.2605909622617437,0.0021984340663683266],"issued_joint_targets_rad":[0.2282710095119235,1.8699385988163357,-1.3160224957809408,-0.026920388465109787,1.0257446896454927,0.12087157872616588],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.239999999997547,"joint_targets_rad":[0.2282710095119235,1.8699385988163357,-1.3160224957809408,-0.026920388465109787,1.0257446896454927,0.12087157872616588],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.259999999997536,"qpos":[0.23253405848471928,1.8664684483065328,-1.311154494123787,-0.033869913156100453,0.9973773976331883,0.08889446071055512,0.028430589590982727,-0.028428833464574768,0.35512820002224393,0.07869800370568741,0.07989221994738865,0.9959435657946404,3.3097689292196214e-07,7.957501919470872e-08,0.08998007419501712],"qvel":[-0.009165917836632006,0.007218976085540986,-0.020965308759972566,0.022750207080825622,0.030355746745163722,0.039583946550106754,0.0442563311468751,-0.0442632015794393,-1.66781106450081e-07,4.93197801711903e-07,9.336210965563826e-07,-2.5786670961460667e-05,-3.7888449093978287e-06,-6.744795395429434e-15],"joint_position_rad":[0.23253405848471928,1.8664684483065328,-1.311154494123787,-0.033869913156100453,0.9973773976331883,0.08889446071055512],"joint_velocity_rad_s":[-0.009165917836632006,0.007218976085540986,-0.020965308759972566,0.022750207080825622,0.030355746745163722,0.039583946550106754],"gripper_joint_position_m":[0.028430589590982727,-0.028428833464574768],"tcp_position_m":[0.35723355496337705,0.07988246559805239,0.08258709220487842],"tcp_quaternion_wxyz":[0.05431581142934306,-0.08004814854831785,0.9952915023527901,-0.006075515376022015],"object_position_m":[0.35512820002224393,0.07869800370568741,0.07989221994738865],"object_quaternion_wxyz":[0.9959435657946404,3.3097689292196214e-07,7.957501919470872e-08,0.08998007419501712],"object_linear_velocity_m_s":[-1.66781106450081e-07,4.93197801711903e-07,9.336210965563826e-07],"object_angular_velocity_rad_s":[-2.4690036598078584e-05,-8.34924175046145e-06,-7.48905017769279e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809987233286095},{"geom_ids":[1,90],"normal_force_n":0.09809994586382263},{"geom_ids":[1,90],"normal_force_n":0.09809944586043073},{"geom_ids":[1,90],"normal_force_n":0.09809937235884506}],"native_actuator_controls":[0.2282710095119235,1.8699385988163357,-1.3160224957809408,-0.026920388465109787,1.0257446896454927,0.12087157872616588,0.03400000000000046],"actuator_force_native":[-0.2952143286405011,0.2415171603565227,-0.28461358877244436,0.1642299522354984,0.2381393000052956,0.2603952603309474,0.001494760626334024],"issued_joint_targets_rad":[0.228074405930061,1.8702147735125587,-1.3164654310729753,-0.026518582587657595,1.0263246039069505,0.12164626575987117],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.259999999997536,"joint_targets_rad":[0.228074405930061,1.8702147735125587,-1.3164654310729753,-0.026518582587657595,1.0263246039069505,0.12164626575987117],"gripper_position_m":0.035,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.279999999997525,"qpos":[0.23234544594025514,1.8666186229404391,-1.3115863100835878,-0.0334119032833628,0.9979882294150779,0.08968890009542961,0.029325936701878604,-0.02932450051285831,0.35512819772074244,0.0786980105120751,0.07989223287496798,0.9959435657946853,1.5611691006656312e-07,3.75306113046244e-08,0.08998007419502119],"qvel":[-0.009350754574341797,0.007485807580947042,-0.02121309198246819,0.02256577296489591,0.030316639195846554,0.03955883073751816,0.04521094174961614,-0.04521437128050115,-7.867399697885293e-08,2.3268366493176837e-07,4.436706337457984e-07,-1.216565763702676e-05,-1.7869816661725141e-06,-7.233291529112619e-16],"joint_position_rad":[0.23234544594025514,1.8666186229404391,-1.3115863100835878,-0.0334119032833628,0.9979882294150779,0.08968890009542961],"joint_velocity_rad_s":[-0.009350754574341797,0.007485807580947042,-0.02121309198246819,0.02256577296489591,0.030316639195846554,0.03955883073751816],"gripper_joint_position_m":[0.029325936701878604,-0.02932450051285831],"tcp_position_m":[0.35722636300655275,0.07989083214780136,0.08262726652450303],"tcp_quaternion_wxyz":[0.05412438343805966,-0.07943973683303558,0.9953517730315257,-0.005892983314573334],"object_position_m":[0.35512819772074244,0.0786980105120751,0.07989223287496798],"object_quaternion_wxyz":[0.9959435657946853,1.5611691006656312e-07,3.75306113046244e-08,0.08998007419502119],"object_linear_velocity_m_s":[-7.867399697885293e-08,2.3268366493176837e-07,4.436706337457984e-07],"object_angular_velocity_rad_s":[-1.1648380245984108e-05,-3.938498046406955e-06,-8.12492835341685e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809993864039246},{"geom_ids":[1,90],"normal_force_n":0.09809997332339745},{"geom_ids":[1,90],"normal_force_n":0.09809973731387621},{"geom_ids":[1,90],"normal_force_n":0.09809970263740578}],"native_actuator_controls":[0.228074405930061,1.8702147735125587,-1.3164654310729753,-0.026518582587657595,1.0263246039069505,0.12164626575987117,0.035],"actuator_force_native":[-0.2949294279438206,0.2502630078648167,-0.28426421923866485,0.16290396300372856,0.23788878612495346,0.26023541053813826,0.0009078231767754019],"issued_joint_targets_rad":[0.2364852853442618,1.8145066288106824,-1.294520020179827,-0.04201232418308773,0.9871677915190008,0.11518928589729774],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.279999999997525,"joint_targets_rad":[0.2364852853442618,1.8145066288106824,-1.294520020179827,-0.04201232418308773,0.9871677915190008,0.11518928589729774],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.299999999997514,"qpos":[0.23231065741963658,1.8659483166226598,-1.3109298702038064,-0.03339453755681613,0.9981649933613501,0.09038924107540605,0.030207393155690997,-0.030200593413964527,0.3551281966351609,0.07869801372287977,0.07989223901810175,0.9959435657946952,7.362990005845814e-08,1.7699725697375425e-08,0.0899800741950221],"qvel":[0.0038501578321993133,-0.11331951146183078,0.12995324656917312,-0.018318149419505162,-0.03268962668387232,0.032882116302442,0.041967613484063915,-0.04184147115469925,-3.7106631905559305e-08,1.0975359048335305e-07,2.1082290678077415e-07,-5.73833718411409e-06,-8.427565939529279e-07,-7.747827885006709e-17],"joint_position_rad":[0.23231065741963658,1.8659483166226598,-1.3109298702038064,-0.03339453755681613,0.9981649933613501,0.09038924107540605],"joint_velocity_rad_s":[0.0038501578321993133,-0.11331951146183078,0.12995324656917312,-0.018318149419505162,-0.03268962668387232,0.032882116302442],"gripper_joint_position_m":[0.030207393155690997,-0.030200593413964527],"tcp_position_m":[0.3570250445820646,0.07983259123519107,0.08270062190620608],"tcp_quaternion_wxyz":[0.05404499695374498,-0.07906850552697645,0.9953857137291275,-0.005881380956510103],"object_position_m":[0.3551281966351609,0.07869801372287977,0.07989223901810175],"object_quaternion_wxyz":[0.9959435657946952,7.362990005845814e-08,1.7699725697375425e-08,0.0899800741950221],"object_linear_velocity_m_s":[-3.7106631905559305e-08,1.0975359048335305e-07,2.1082290678077415e-07],"object_angular_velocity_rad_s":[-5.494369887591076e-06,-1.857593026895285e-06,-8.8160307595483e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809997050212206},{"geom_ids":[1,90],"normal_force_n":0.09809998685960726},{"geom_ids":[1,90],"normal_force_n":0.09809987550873181},{"geom_ids":[1,90],"normal_force_n":0.09809985915269993}],"native_actuator_controls":[0.2364852853442618,1.8402147735125576,-1.294520020179827,-0.04201232418308773,0.9963246039069497,0.11518928589729774,0.035],"actuator_force_native":[0.3147194448090218,-1.4920858914990163,0.6630217690724862,-0.2531207179533381,0.030630545481804106,0.1986772737652539,-0.018133793647959306],"issued_joint_targets_rad":[0.23646659578172308,1.8138930957505173,-1.293995216765103,-0.04201417340172854,0.987392088608827,0.11583552656637078],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.299999999997514,"joint_targets_rad":[0.23646659578172308,1.8138930957505173,-1.293995216765103,-0.04201417340172854,0.987392088608827,0.11583552656637078],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.319999999997503,"qpos":[0.2324291875455196,1.8614634459674217,-1.3066383385097713,-0.033881197120093166,0.9972127878625723,0.0910420805634887,0.030984873068326275,-0.030981930884124917,0.35512819612316615,0.07869801523728386,0.07989224193713289,0.9959435657946976,3.4724278391498155e-08,8.347049099527567e-09,0.0899800741950223],"qvel":[0.0070239755788304836,-0.3224782516150477,0.2639242091427795,-0.026859524138597282,-0.03431503742679295,0.03214416370592432,0.03606114504869252,-0.036417143799483444,-1.750002307244698e-08,5.176346448918152e-08,1.0017491308140984e-07,-2.7063839013897173e-06,-3.9743732487778117e-07,-8.287312855139631e-18],"joint_position_rad":[0.2324291875455196,1.8614634459674217,-1.3066383385097713,-0.033881197120093166,0.9972127878625723,0.0910420805634887],"joint_velocity_rad_s":[0.0070239755788304836,-0.3224782516150477,0.2639242091427795,-0.026859524138597282,-0.03431503742679295,0.03214416370592432],"gripper_joint_position_m":[0.030984873068326275,-0.030981930884124917],"tcp_position_m":[0.3561383420894357,0.07958238795393398,0.08326374682793379],"tcp_quaternion_wxyz":[0.054644959627792,-0.07892635483810118,0.9953636893171793,-0.005973682962868481],"object_position_m":[0.35512819612316615,0.07869801523728386,0.07989224193713289],"object_quaternion_wxyz":[0.9959435657946976,3.4724278391498155e-08,8.347049099527567e-09,0.0899800741950223],"object_linear_velocity_m_s":[-1.750002307244698e-08,5.176346448918152e-08,1.0017491308140984e-07],"object_angular_velocity_rad_s":[-2.5913271416101303e-06,-8.76067288547007e-07,-9.567042384233245e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999858188849},{"geom_ids":[1,90],"normal_force_n":0.09809999353311387},{"geom_ids":[1,90],"normal_force_n":0.09809994100922732},{"geom_ids":[1,90],"normal_force_n":0.09809993329532164}],"native_actuator_controls":[0.23646659578172308,1.8138930957505173,-1.293995216765103,-0.04201417340172854,0.987392088608827,0.11583552656637078,0.035],"actuator_force_native":[0.2878727810021253,-2.193236759277113,-0.3081713061404372,-0.19102143057242849,-0.046734436397263934,0.1997182144699342,-0.019700647976513386],"issued_joint_targets_rad":[0.2366110960598196,1.8097729821706905,-1.2904691176782204,-0.04250545109551289,0.9868485012605743,0.11651987748274512],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.319999999997503,"joint_targets_rad":[0.2366110960598196,1.8097729821706905,-1.2904691176782204,-0.04250545109551289,0.9868485012605743,0.11651987748274512],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.339999999997492,"qpos":[0.23258111920106878,1.8533465473857698,-1.3009645677589894,-0.03443730033709657,0.9967953263100466,0.09167448067501371,0.03164671163340205,-0.03164976616735573,0.355128195881707,0.07869801595150593,0.07989224332413093,0.9959435657946976,1.6375664777523742e-08,3.936333608206382e-09,0.0899800741950223],"qvel":[0.00793906324060953,-0.4510369176699038,0.2715318798836576,-0.02777287260840597,-0.009314781106076982,0.0306124729798114,0.030502900730504188,-0.03066976349182259,-8.25293453357154e-09,2.4411954285220914e-08,4.759840797070794e-08,-1.2763445875688934e-06,-1.8742492397255032e-07,-8.85178694464662e-19],"joint_position_rad":[0.23258111920106878,1.8533465473857698,-1.3009645677589894,-0.03443730033709657,0.9967953263100466,0.09167448067501371],"joint_velocity_rad_s":[0.00793906324060953,-0.4510369176699038,0.2715318798836576,-0.02777287260840597,-0.009314781106076982,0.0306124729798114],"gripper_joint_position_m":[0.03164671163340205,-0.03164976616735573],"tcp_position_m":[0.3548706465884776,0.0792395247060816,0.08477654051180157],"tcp_quaternion_wxyz":[0.056096671342879795,-0.07880433979790358,0.9952926293954345,-0.00596836362733343],"object_position_m":[0.355128195881707,0.07869801595150593,0.07989224332413093],"object_quaternion_wxyz":[0.9959435657946976,1.6375664777523742e-08,3.936333608206382e-09,0.0899800741950223],"object_linear_velocity_m_s":[-8.25293453357154e-09,2.4411954285220914e-08,4.759840797070794e-08],"object_angular_velocity_rad_s":[-1.2220847622350679e-06,-4.131494188007275e-07,-1.0384944841633322e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999318302381},{"geom_ids":[1,90],"normal_force_n":0.09809999682097037},{"geom_ids":[1,90],"normal_force_n":0.09809997204863084},{"geom_ids":[1,90],"normal_force_n":0.09809996841075619}],"native_actuator_controls":[0.2366110960598196,1.8097729821706905,-1.2904691176782204,-0.04250545109551289,0.9868485012605743,0.11651987748274512,0.035],"actuator_force_native":[0.28270283249701933,-1.2307006288567948,-0.5180233929567635,-0.18386166729462294,-0.08549607883560562,0.20253525860759702,-0.018382968988602588],"issued_joint_targets_rad":[0.23681885077190928,1.8022772449039188,-1.2860427580205775,-0.04310563344527712,0.9870928084553229,0.11728241398981494],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.339999999997492,"joint_targets_rad":[0.23681885077190928,1.8022772449039188,-1.2860427580205775,-0.04310563344527712,0.9870928084553229,0.11728241398981494],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.35999999999748,"qpos":[0.23274492500511396,1.8435305810071023,-1.2957661453197444,-0.03499811026054473,0.9966714798616377,0.09228651012029022,0.03220326656259049,-0.03220803079971075,0.3551281957678372,0.0786980162883319,0.0798922439831642,0.9959435657946976,7.722494688353736e-09,1.8562947000312654e-09,0.0899800741950223],"qvel":[0.008311596905895979,-0.5085713136484884,0.23310154573174172,-0.02767415798744724,-0.0020533065202678735,0.030121410129428153,0.025536899894436662,-0.02552951308753742,-3.891966912093583e-09,1.1512466221968983e-08,2.2616329741000722e-08,-6.019125559673468e-07,-8.83857218417731e-08,-9.431580133206985e-20],"joint_position_rad":[0.23274492500511396,1.8435305810071023,-1.2957661453197444,-0.03499811026054473,0.9966714798616377,0.09228651012029022],"joint_velocity_rad_s":[0.008311596905895979,-0.5085713136484884,0.23310154573174172,-0.02767415798744724,-0.0020533065202678735,0.030121410129428153],"gripper_joint_position_m":[0.03220326656259049,-0.03220803079971075],"tcp_position_m":[0.35373394774469147,0.07892971570611611,0.08700560294638177],"tcp_quaternion_wxyz":[0.05847673089141897,-0.07867649883671955,0.9951666050840462,-0.005823109181719577],"object_position_m":[0.3551281957678372,0.0786980162883319,0.0798922439831642],"object_quaternion_wxyz":[0.9959435657946976,7.722494688353736e-09,1.8562947000312654e-09,0.0899800741950223],"object_linear_velocity_m_s":[-3.891966912093583e-09,1.1512466221968983e-08,2.2616329741000722e-08],"object_angular_velocity_rad_s":[-5.763245034254267e-07,-1.948353859237848e-07,-1.1268192023855218e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999672350661},{"geom_ids":[1,90],"normal_force_n":0.09809999843909771},{"geom_ids":[1,90],"normal_force_n":0.0980999867562362},{"geom_ids":[1,90],"normal_force_n":0.09809998504066113}],"native_actuator_controls":[0.23681885077190928,1.8022772449039188,-1.2860427580205775,-0.04310563344527712,0.9870928084553229,0.11728241398981494,0.035],"actuator_force_native":[0.28435607681414865,-0.7574103200122408,-0.3876367447253699,-0.18593013745205944,-0.09270675428274622,0.20477692350110488,-0.015815161975802683],"issued_joint_targets_rad":[0.23706827454508622,1.7931566014525764,-1.282170820202601,-0.04377025142206359,0.987667521156554,0.11814418339994455],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.35999999999748,"joint_targets_rad":[0.23706827454508622,1.7931566014525764,-1.282170820202601,-0.04377025142206359,0.987667521156554,0.11814418339994455],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.37999999999747,"qpos":[0.2329152731744543,1.8329075281399343,-1.291409881817808,-0.035558226032835046,0.9966144386973367,0.09289755557056537,0.03266806643644179,-0.03267231775470914,0.35512819571413823,0.07869801644717472,0.07989224429630246,0.9959435657946976,3.6417705108045662e-09,8.753866406463947e-10,0.0899800741950223],"qvel":[0.008554269676853589,-0.5381937923435176,0.19198354739950754,-0.027668427580992878,-0.001337490689990959,0.03037356427107837,0.021294806347030876,-0.02123331863034225,-1.8353764025304578e-09,5.42909086771683e-09,1.0746078298109278e-08,-2.838519955189807e-07,-4.168069039174919e-08,-1.0005651424301992e-20],"joint_position_rad":[0.2329152731744543,1.8329075281399343,-1.291409881817808,-0.035558226032835046,0.9966144386973367,0.09289755557056537],"joint_velocity_rad_s":[0.008554269676853589,-0.5381937923435176,0.19198354739950754,-0.027668427580992878,-0.001337490689990959,0.03037356427107837],"gripper_joint_position_m":[0.03266806643644179,-0.03267231775470914],"tcp_position_m":[0.352840224367315,0.07867944217187224,0.08972475159585197],"tcp_quaternion_wxyz":[0.06163685398980957,-0.07853422204825501,0.9949886486485465,-0.0055554710019647775],"object_position_m":[0.35512819571413823,0.07869801644717472,0.07989224429630246],"object_quaternion_wxyz":[0.9959435657946976,3.6417705108045662e-09,8.753866406463947e-10,0.0899800741950223],"object_linear_velocity_m_s":[-1.8353764025304578e-09,5.42909086771683e-09,1.0746078298109278e-08],"object_angular_velocity_rad_s":[-2.717851926490631e-07,-9.188059843270363e-08,-1.2206034444429452e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999984254718},{"geom_ids":[1,90],"normal_force_n":0.09809999923450817},{"geom_ids":[1,90],"normal_force_n":0.09809999372495147},{"geom_ids":[1,90],"normal_force_n":0.0980999929159187}],"native_actuator_controls":[0.23706827454508622,1.7931566014525764,-1.282170820202601,-0.04377025142206359,0.987667521156554,0.11814418339994455,0.035],"actuator_force_native":[0.2894687612662885,-0.4891051732710423,-0.2207928077809811,-0.19013887766417747,-0.08746293937283944,0.20690593188717432,-0.013196689192825906],"issued_joint_targets_rad":[0.237350214306956,1.783241083767446,-1.279096586815523,-0.04449126869267047,0.988281721342551,0.11911443228359184],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.37999999999747,"joint_targets_rad":[0.237350214306956,1.783241083767446,-1.279096586815523,-0.04449126869267047,0.988281721342551,0.11911443228359184],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.399999999997458,"qpos":[0.2330967321096097,1.821861311149004,-1.2878370712567078,-0.036122499653781386,0.9965545750571542,0.09351717132698811,0.03305552803619779,-0.0330585853835101,0.3551281956888148,0.07869801652208207,0.07989224444508893,0.9959435657946976,1.7173766655897325e-09,4.128115467876538e-10,0.0899800741950223],"qvel":[0.009253943753585367,-0.5539528037920429,0.15627407224403259,-0.02795036811589506,-0.002143526726302979,0.03092116025881323,0.017746478925082586,-0.01767736179870214,-8.65523095976556e-10,2.560248396026528e-09,5.105955039399281e-09,-1.3385877379861623e-07,-1.9655617545535872e-08,-1.0681834699637654e-21],"joint_position_rad":[0.2330967321096097,1.821861311149004,-1.2878370712567078,-0.036122499653781386,0.9965545750571542,0.09351717132698811],"joint_velocity_rad_s":[0.009253943753585367,-0.5539528037920429,0.15627407224403259,-0.02795036811589506,-0.002143526726302979,0.03092116025881323],"gripper_joint_position_m":[0.03305552803619779,-0.0330585853835101],"tcp_position_m":[0.3521650053901213,0.07848410038213714,0.09278403473706391],"tcp_quaternion_wxyz":[0.06539285010410174,-0.07837987739724503,0.9947629806031719,-0.005194458195847937],"object_position_m":[0.3551281956888148,0.07869801652208207,0.07989224444508893],"object_quaternion_wxyz":[0.9959435657946976,1.7173766655897325e-09,4.128115467876538e-10,0.0899800741950223],"object_linear_velocity_m_s":[-8.65523095976556e-10,2.560248396026528e-09,5.105955039399281e-09],"object_angular_velocity_rad_s":[-1.2816834244641104e-07,-4.332886588066837e-08,-1.3322275156264373e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999924349964},{"geom_ids":[1,90],"normal_force_n":0.09809999962502239},{"geom_ids":[1,90],"normal_force_n":0.09809999702680036},{"geom_ids":[1,90],"normal_force_n":0.09809999664527837}],"native_actuator_controls":[0.237350214306956,1.783241083767446,-1.279096586815523,-0.04449126869267047,0.988281721342551,0.11911443228359184,0.035],"actuator_force_native":[0.29400885701977586,-0.31985417156442963,-0.08213160592539737,-0.19499892097608806,-0.07951324705657825,0.20959086917781744,-0.010953516073324288],"issued_joint_targets_rad":[0.23766473647295175,1.7729015602226537,-1.27674480041403,-0.04526513289774045,0.9888589555024317,0.12018582829621938],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.399999999997458,"joint_targets_rad":[0.23766473647295175,1.7729015602226537,-1.27674480041403,-0.04526513289774045,0.9888589555024317,0.12018582829621938],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.419999999997447,"qpos":[0.23329838146999465,1.8106002386338722,-1.284932108555181,-0.03669586688578862,0.996480058225681,0.09414915265791315,0.03337847909223398,-0.03338027263709364,0.35512819567687287,0.07869801655740677,0.07989224451578417,0.9959435657946976,8.09874064388974e-10,1.9467186880087286e-10,0.0899800741950223],"qvel":[0.010439883212660147,-0.5615974674409899,0.126244310034618,-0.02845984574175878,-0.003012072593227739,0.03159588211177122,0.014791535691795726,-0.014730898741764965,-4.0816040086979994e-10,1.2073553335625514e-09,2.4260715229116557e-09,-6.312476709188037e-08,-9.269108566595937e-09,-1.1191042146309991e-22],"joint_position_rad":[0.23329838146999465,1.8106002386338722,-1.284932108555181,-0.03669586688578862,0.996480058225681,0.09414915265791315],"joint_velocity_rad_s":[0.010439883212660147,-0.5615974674409899,0.126244310034618,-0.02845984574175878,-0.003012072593227739,0.03159588211177122],"gripper_joint_position_m":[0.03337847909223398,-0.03338027263709364],"tcp_position_m":[0.35166344829254637,0.07833565234682588,0.09608228085914416],"tcp_quaternion_wxyz":[0.06959070325631095,-0.07821973633194232,0.994492886461249,-0.0047650442208590615],"object_position_m":[0.35512819567687287,0.07869801655740677,0.07989224451578417],"object_quaternion_wxyz":[0.9959435657946976,8.09874064388974e-10,1.9467186880087286e-10,0.0899800741950223],"object_linear_velocity_m_s":[-4.0816040086979994e-10,1.2073553335625514e-09,2.4260715229116557e-09],"object_angular_velocity_rad_s":[-6.044129489085119e-08,-2.0432877084263975e-08,-1.4367220310524943e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999963660064},{"geom_ids":[1,90],"normal_force_n":0.09809999981651768},{"geom_ids":[1,90],"normal_force_n":0.0980999985912479},{"geom_ids":[1,90],"normal_force_n":0.09809999841133103}],"native_actuator_controls":[0.23766473647295175,1.7729015602226537,-1.27674480041403,-0.04526513289774045,0.9888589555024317,0.12018582829621938,0.035],"actuator_force_native":[0.29710898417326703,-0.2079069356925345,0.023763101118987606,-0.2004714117692794,-0.07169291834265046,0.21297293321540545,-0.009096842148337725],"issued_joint_targets_rad":[0.23801682547178155,1.7623450627256607,-1.275006440418128,-0.04608930041195373,0.9893929951530511,0.12134786413442303],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.419999999997447,"joint_targets_rad":[0.23801682547178155,1.7623450627256607,-1.275006440418128,-0.04608930041195373,0.9893929951530511,0.12134786413442303],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.439999999997436,"qpos":[0.23352882140035103,1.7992516188295433,-1.2825893835329845,-0.037282083366425994,0.996393499000931,0.09479538774518419,0.03364771381237623,-0.03364838248454543,0.35512819567124143,0.07869801657406507,0.0798922445493747,0.9959435657946976,3.819168914532444e-10,9.180244834692873e-11,0.0899800741950223],"qvel":[0.012008363789012272,-0.5640144250562646,0.10083216339458685,-0.0291346279044861,-0.003618325469664605,0.03234310422896233,0.012330721341176049,-0.012283754669654775,-1.9247857027512552e-10,5.69360126626714e-10,1.1527359983907423e-09,-2.976814035635487e-08,-4.371082138652047e-09,-9.311519504518982e-24],"joint_position_rad":[0.23352882140035103,1.7992516188295433,-1.2825893835329845,-0.037282083366425994,0.996393499000931,0.09479538774518419],"joint_velocity_rad_s":[0.012008363789012272,-0.5640144250562646,0.10083216339458685,-0.0291346279044861,-0.003618325469664605,0.03234310422896233],"gripper_joint_position_m":[0.03364771381237623,-0.03364838248454543],"tcp_position_m":[0.351295295825207,0.07822709120325361,0.09954978972060145],"tcp_quaternion_wxyz":[0.07411414002981125,-0.0780597069495575,0.9941807713227209,-0.004286062382925596],"object_position_m":[0.35512819567124143,0.07869801657406507,0.0798922445493747],"object_quaternion_wxyz":[0.9959435657946976,3.819168914532444e-10,9.180244834692873e-11,0.0899800741950223],"object_linear_velocity_m_s":[-1.9247857027512552e-10,5.69360126626714e-10,1.1527359983907423e-09],"object_angular_velocity_rad_s":[-2.8502680278813257e-08,-9.635650277082177e-09,-1.3028739601297609e-23],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999982546795},{"geom_ids":[1,90],"normal_force_n":0.09809999991031236},{"geom_ids":[1,90],"normal_force_n":0.09809999933250241},{"geom_ids":[1,90],"normal_force_n":0.09809999924765812}],"native_actuator_controls":[0.23801682547178155,1.7623450627256607,-1.275006440418128,-0.04608930041195373,0.9893929951530511,0.12134786413442303,0.035],"actuator_force_native":[0.29899850676937945,-0.13245236302930152,0.10247463221558917,-0.20661554229867884,-0.06457755027430245,0.2170101075489448,-0.007562159200929397],"issued_joint_targets_rad":[0.23841186452434826,1.7517004204159594,-1.2737862074991684,-0.04696204433619564,0.9898940627651553,0.12259199533170023],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.439999999997436,"joint_targets_rad":[0.23841186452434826,1.7517004204159594,-1.2737862074991684,-0.04696204433619564,0.9898940627651553,0.12259199533170023],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.459999999997425,"qpos":[0.23379497521997472,1.787900479034929,-1.280729241080782,-0.037884118867228506,0.9963004007229548,0.09545711035115946,0.0338722101133958,-0.0338719320068861,0.35512819566858583,0.07869801658192095,0.0798922445653638,0.9959435657946976,1.7955725422535727e-10,4.316066738289631e-11,0.0899800741950223],"qvel":[0.013886582693762934,-0.5628883722128942,0.07883451437216808,-0.029944812822448433,-0.0039523112794691735,0.0331468694873007,0.010280275915851107,-0.01024695491988251,-9.083992668211104e-11,2.687088729479999e-10,5.764209749090875e-10,-1.5147758738022305e-08,-2.2242640023062387e-09,-1.147297642513191e-22],"joint_position_rad":[0.23379497521997472,1.787900479034929,-1.280729241080782,-0.037884118867228506,0.9963004007229548,0.09545711035115946],"joint_velocity_rad_s":[0.013886582693762934,-0.5628883722128942,0.07883451437216808,-0.029944812822448433,-0.0039523112794691735,0.0331468694873007],"gripper_joint_position_m":[0.0338722101133958,-0.0338719320068861],"tcp_position_m":[0.35103018208288694,0.07815324729675842,0.10313841896581413],"tcp_quaternion_wxyz":[0.07887910215823797,-0.07790443956230841,0.9938283374302886,-0.0037711085559811557],"object_position_m":[0.35512819566858583,0.07869801658192095,0.0798922445653638],"object_quaternion_wxyz":[0.9959435657946976,1.7955725422535727e-10,4.316066738289631e-11,0.0899800741950223],"object_linear_velocity_m_s":[-9.083992668211104e-11,2.687088729479999e-10,5.764209749090875e-10],"object_angular_velocity_rad_s":[-1.4503818518727464e-08,-4.903181978379357e-09,-1.1750760702249716e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999989982691},{"geom_ids":[1,90],"normal_force_n":0.09809999994457441},{"geom_ids":[1,90],"normal_force_n":0.09809999963983375},{"geom_ids":[1,90],"normal_force_n":0.09809999959508625}],"native_actuator_controls":[0.23841186452434826,1.7517004204159594,-1.2737862074991684,-0.04696204433619564,0.9898940627651553,0.12259199533170023,0.035],"actuator_force_native":[0.29991823088106884,-0.0815628284531158,0.16127011466825536,-0.21339295464644326,-0.05813491265879023,0.22162854557445688,-0.0062897841150875156],"issued_joint_targets_rad":[0.2388543771764598,1.7410542175890134,-1.2730131453925162,-0.047882642514142884,0.9903745461776945,0.12391242041939754],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.459999999997425,"joint_targets_rad":[0.2388543771764598,1.7410542175890134,-1.2730131453925162,-0.047882642514142884,0.9903745461776945,0.12391242041939754],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.479999999997414,"qpos":[0.2341024663226219,1.776604331735871,-1.2792928554868115,-0.03850446452245588,0.9962055462798116,0.09613539999023141,0.0340594239330845,-0.034058359032727,0.3551281956673745,0.07869801658550406,0.07989224457321739,0.9959435657946976,7.564833742636077e-11,1.818372842061354e-11,0.0899800741950223],"qvel":[0.016016974365484767,-0.5593469026452432,0.05932783918511265,-0.030870423846134483,-0.0040673572221335995,0.0340031039238729,0.00857080370610368,-0.008549712779401012,-3.761695309245907e-11,1.1127320765541435e-10,2.7042570967175223e-10,-7.896015287212554e-09,-1.1594400340613036e-09,-1.723654493708478e-22],"joint_position_rad":[0.2341024663226219,1.776604331735871,-1.2792928554868115,-0.03850446452245588,0.9962055462798116,0.09613539999023141],"joint_velocity_rad_s":[0.016016974365484767,-0.5593469026452432,0.05932783918511265,-0.030870423846134483,-0.0040673572221335995,0.0340031039238729],"gripper_joint_position_m":[0.0340594239330845,-0.034058359032727],"tcp_position_m":[0.3508459206275804,0.07811049297149927,0.10681498494979001],"tcp_quaternion_wxyz":[0.08382572361622863,-0.07775750856437409,0.9934367549202481,-0.00322984451702755],"object_position_m":[0.3551281956673745,0.07869801658550406,0.07989224457321739],"object_quaternion_wxyz":[0.9959435657946976,7.564833742636077e-11,1.818372842061354e-11,0.0899800741950223],"object_linear_velocity_m_s":[-3.761695309245907e-11,1.1127320765541435e-10,2.7042570967175223e-10],"object_angular_velocity_rad_s":[-7.560349860285082e-09,-2.5558694408293997e-09,-1.7501478417698638e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999995743522},{"geom_ids":[1,90],"normal_force_n":0.09809999998166295},{"geom_ids":[1,90],"normal_force_n":0.09809999981666727},{"geom_ids":[1,90],"normal_force_n":0.09809999979243954}],"native_actuator_controls":[0.2388543771764598,1.7410542175890134,-1.2730131453925162,-0.047882642514142884,0.9903745461776945,0.12391242041939754,0.035],"actuator_force_native":[0.3000679964796049,-0.04727461852240822,0.20573761161806203,-0.22077500043680764,-0.05220896518797069,0.22676554840585195,-0.005230975853898201],"issued_joint_targets_rad":[0.2393481783946421,1.730465259591962,-1.272635353652039,-0.04885126680679221,0.9908453618974691,0.12530576602257076],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.479999999997414,"joint_targets_rad":[0.2393481783946421,1.730465259591962,-1.272635353652039,-0.04885126680679221,0.9908453618974691,0.12530576602257076],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.499999999997403,"qpos":[0.23445588400698972,1.765402180553577,-1.278236216105587,-0.03914528339873571,0.9961125030464385,0.09683131796265301,0.03421555534341312,-0.03421383527550648,0.35512819566689086,0.07869801658693454,0.07989224457682761,0.9959435657946976,2.5836620113814425e-11,6.2103054090406186e-12,0.0899800741950223],"qvel":[0.018354406710665364,-0.554134698947881,0.041646854791947296,-0.03189839529089002,-0.004013582805143304,0.03491099401680318,0.00714512718041165,-0.007134691481701469,-9.021254398991609e-12,2.668627064313019e-11,1.2493209945654394e-10,-4.837740009044888e-09,-7.103762081900828e-10,-3.1138793274478646e-22],"joint_position_rad":[0.23445588400698972,1.765402180553577,-1.278236216105587,-0.03914528339873571,0.9961125030464385,0.09683131796265301],"joint_velocity_rad_s":[0.018354406710665364,-0.554134698947881,0.041646854791947296,-0.03189839529089002,-0.004013582805143304,0.03491099401680318],"gripper_joint_position_m":[0.03421555534341312,-0.03421383527550648],"tcp_position_m":[0.35072621094462,0.07809627830702644,0.11055650920287652],"tcp_quaternion_wxyz":[0.08891116738231926,-0.07762163088682145,0.9930068289675331,-0.0026691491204981076],"object_position_m":[0.35512819566689086,0.07869801658693454,0.07989224457682761],"object_quaternion_wxyz":[0.9959435657946976,2.5836620113814425e-11,6.2103054090406186e-12,0.0899800741950223],"object_linear_velocity_m_s":[-9.021254398991609e-12,2.668627064313019e-11,1.2493209945654394e-10],"object_angular_velocity_rad_s":[-4.632082483875946e-09,-1.5659420854060174e-09,-3.132767539517177e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998434707},{"geom_ids":[1,90],"normal_force_n":0.09809999999758644},{"geom_ids":[1,90],"normal_force_n":0.09809999990742413},{"geom_ids":[1,90],"normal_force_n":0.09809999989418469}],"native_actuator_controls":[0.2393481783946421,1.730465259591962,-1.272635353652039,-0.04885126680679221,0.9908453618974691,0.12530576602257076,0.035],"actuator_force_native":[0.29961151745886383,-0.024280182189784227,0.23983472232410463,-0.2287473598678098,-0.046651037281980834,0.2323779895739726,-0.0043478496385829235],"issued_joint_targets_rad":[0.2398964441548192,1.719973639188335,-1.2726144712645624,-0.04986873345851515,0.9913157546887602,0.12677046091151611],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.499999999997403,"joint_targets_rad":[0.2398964441548192,1.719973639188335,-1.2726144712645624,-0.04986873345851515,0.9913157546887602,0.12677046091151611],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.519999999997392,"qpos":[0.23485902233620484,1.7543213187574416,-1.2775273292182683,-0.03980853840720238,0.996024010075754,0.0975459246170687,0.03434576751192764,-0.03434349667425246,0.35512819566676157,0.07869801658731695,0.07989224457846351,0.9959435657946976,3.188661871878412e-12,7.663350707774618e-13,0.0899800741950223],"qvel":[0.020863426429263622,-0.5477433970275173,0.025289555570875828,-0.03302042496350474,-0.003832507059832609,0.035871490162675906,0.005955861571014033,-0.005954813585264935,-3.6030764426669114e-12,1.0658535662910703e-11,5.316759539499948e-11,-9.2902122434312e-10,-1.3641072032646924e-10,-3.457161114329099e-23],"joint_position_rad":[0.23485902233620484,1.7543213187574416,-1.2775273292182683,-0.03980853840720238,0.996024010075754,0.0975459246170687],"joint_velocity_rad_s":[0.020863426429263622,-0.5477433970275173,0.025289555570875828,-0.03302042496350474,-0.003832507059832609,0.035871490162675906],"gripper_joint_position_m":[0.03434576751192764,-0.03434349667425246],"tcp_position_m":[0.350659274062915,0.07810887508917738,0.11434711646455936],"tcp_quaternion_wxyz":[0.09410470359168861,-0.07749887525831264,0.9925390896873062,-0.0020939289172592335],"object_position_m":[0.35512819566676157,0.07869801658731695,0.07989224457846351],"object_quaternion_wxyz":[0.9959435657946976,3.188661871878412e-12,7.663350707774618e-13,0.0899800741950223],"object_linear_velocity_m_s":[-3.6030764426669114e-12,1.0658535662910703e-11,5.316759539499948e-11],"object_angular_velocity_rad_s":[-8.895288297861764e-10,-3.0071046020916737e-10,-3.478543582999723e-23],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999364595},{"geom_ids":[1,90],"normal_force_n":0.09809999999885065},{"geom_ids":[1,90],"normal_force_n":0.09809999996340489},{"geom_ids":[1,90],"normal_force_n":0.09809999995820029}],"native_actuator_controls":[0.2398964441548192,1.719973639188335,-1.2726144712645624,-0.04986873345851515,0.9913157546887602,0.12677046091151611,0.035],"actuator_force_native":[0.29867661334283113,-0.009097380390954868,0.266580858442083,-0.23730567723498686,-0.04133379328018982,0.23843812770046036,-0.003610008332175507],"issued_joint_targets_rad":[0.24050180035131088,1.7096074488004085,-1.2729230174084794,-0.050936354815968254,0.991793838655164,0.12830623239971575],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.519999999997392,"joint_targets_rad":[0.24050180035131088,1.7096074488004085,-1.2729230174084794,-0.050936354815968254,0.991793838655164,0.12830623239971575],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.53999999999738,"qpos":[0.2353149536453718,1.7433787458109395,-1.2771371970936936,-0.04049598502091952,0.9959408025177194,0.09828042278918442,0.034454353029148704,-0.034451638504095244,0.3551281956668155,0.07869801658715722,0.07989224457920034,0.9959435657946976,-8.854040357411874e-12,-2.1284317894022216e-12,0.0899800741950223],"qvel":[0.023476240797378298,-0.5417390986430002,0.012506056960710847,-0.03419710102365391,-0.004123621957230347,0.03695172602864263,0.004959436559872497,-0.004977013765037899,2.6363250709315084e-12,-7.797774696671905e-12,2.3873271483921795e-11,-1.8416708871303061e-10,-2.7038719381512318e-11,-6.664783931300633e-23],"joint_position_rad":[0.2353149536453718,1.7433787458109395,-1.2771371970936936,-0.04049598502091952,0.9959408025177194,0.09828042278918442],"joint_velocity_rad_s":[0.023476240797378298,-0.5417390986430002,0.012506056960710847,-0.03419710102365391,-0.004123621957230347,0.03695172602864263],"gripper_joint_position_m":[0.034454353029148704,-0.034451638504095244],"tcp_position_m":[0.35063529308847874,0.07814680310671818,0.11817516702509975],"tcp_quaternion_wxyz":[0.0993831375572763,-0.07739072845767236,0.9920339679854692,-0.0015078067075665652],"object_position_m":[0.3551281956668155,0.07869801658715722,0.07989224457920034],"object_quaternion_wxyz":[0.9959435657946976,-8.854040357411874e-12,-2.1284317894022216e-12,0.0899800741950223],"object_linear_velocity_m_s":[2.6363250709315084e-12,-7.797774696671905e-12,2.3873271483921795e-11],"object_angular_velocity_rad_s":[-1.763387490319146e-10,-5.960918134553447e-11,-6.677643635758713e-23],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999924236},{"geom_ids":[1,90],"normal_force_n":0.09810000000238137},{"geom_ids":[1,90],"normal_force_n":0.0980999999810041},{"geom_ids":[1,90],"normal_force_n":0.0980999999778651}],"native_actuator_controls":[0.24050180035131088,1.7096074488004085,-1.2729230174084794,-0.050936354815968254,0.991793838655164,0.12830623239971575,0.035],"actuator_force_native":[0.2975665324882364,0.0069917323725121605,0.27460409001358244,-0.24662928668367967,-0.035284205689707804,0.24483050706234932,-0.0029713039653105344],"issued_joint_targets_rad":[0.24116626877167038,1.6993847571355762,-1.2735365930390143,-0.05205565352912725,0.9922859748776096,0.12991369767889283],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.53999999999738,"joint_targets_rad":[0.24116626877167038,1.6993847571355762,-1.2735365930390143,-0.05205565352912725,0.9922859748776096,0.12991369767889283],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.55999999999737,"qpos":[0.23582551038463134,1.7325569213278182,-1.276968654333702,-0.04120882229435265,0.995854980931526,0.09903694506202368,0.03454488301447672,-0.03454194029074179,0.3551281956669443,0.07869801658677666,0.07989224457952683,0.9959435657946976,-1.4716915352112887e-11,-3.537734125334642e-12,0.0899800741950223],"qvel":[0.026173037878526983,-0.5367965132977133,0.005352880902744054,-0.035438770466237335,-0.004701868492908892,0.038125941183503646,0.004128592767441129,-0.0041666070549104955,6.025013802726322e-12,-1.7821518900829585e-11,1.068355966118537e-11,8.794929756460786e-12,1.2938577128913978e-12,-1.1395042931269367e-22],"joint_position_rad":[0.23582551038463134,1.7325569213278182,-1.276968654333702,-0.04120882229435265,0.995854980931526,0.09903694506202368],"joint_velocity_rad_s":[0.026173037878526983,-0.5367965132977133,0.005352880902744054,-0.035438770466237335,-0.004701868492908892,0.038125941183503646],"gripper_joint_position_m":[0.03454488301447672,-0.03454194029074179],"tcp_position_m":[0.3506284684686595,0.07820442412221998,0.12202199805782857],"tcp_quaternion_wxyz":[0.10471097907716853,-0.07729798483390266,0.9914937182212205,-0.0009160399431140434],"object_position_m":[0.3551281956669443,0.07869801658677666,0.07989224457952683],"object_quaternion_wxyz":[0.9959435657946976,-1.4716915352112887e-11,-3.537734125334642e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.025013802726322e-12,-1.7821518900829585e-11,1.068355966118537e-11],"object_angular_velocity_rad_s":[8.420616661598453e-12,2.8492230942308244e-12,-1.1402005523158306e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000269072},{"geom_ids":[1,90],"normal_force_n":0.098100000005174},{"geom_ids":[1,90],"normal_force_n":0.0980999999882628},{"geom_ids":[1,90],"normal_force_n":0.09809999998577948}],"native_actuator_controls":[0.24116626877167038,1.6993847571355762,-1.2735365930390143,-0.05205565352912725,0.9922859748776096,0.12991369767889283,0.035],"actuator_force_native":[0.29639548157048523,0.03020943110919916,0.24780049906129875,-0.2566793970597969,-0.028637257799800864,0.251578614393436,-0.00243828441627425],"issued_joint_targets_rad":[0.24189017095998833,1.6892967425562215,-1.2743754196394201,-0.05322614670660468,0.9927942364368881,0.13159161518155052],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.55999999999737,"joint_targets_rad":[0.24189017095998833,1.6892967425562215,-1.2743754196394201,-0.05322614670660468,0.9927942364368881,0.13159161518155052],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.579999999997359,"qpos":[0.23639311832946866,1.7218331060459544,-1.2768930020107616,-0.04195365323112345,0.9957624856191115,0.09981702551498856,0.03462038125607711,-0.03461738107009565,0.355128195667104,0.07869801658630435,0.07989224457967083,0.9959435657946976,-1.7336773356009172e-11,-4.167482296182659e-12,0.0899800741950223],"qvel":[0.028973278128061185,-0.5316655918332833,0.0025188978321901037,-0.036851676123028365,-0.004835205484798901,0.03931483189774392,0.0034389129791671173,-0.00348870150977768,8.334630097175743e-12,-2.4653373854357517e-11,4.7738036432998e-12,-1.3868870036685007e-10,-2.036464339905175e-11,-2.081952457706381e-22],"joint_position_rad":[0.23639311832946866,1.7218331060459544,-1.2768930020107616,-0.04195365323112345,0.9957624856191115,0.09981702551498856],"joint_velocity_rad_s":[0.028973278128061185,-0.5316655918332833,0.0025188978321901037,-0.036851676123028365,-0.004835205484798901,0.03931483189774392],"gripper_joint_position_m":[0.03462038125607711,-0.03461738107009565],"tcp_position_m":[0.35060485045955886,0.0782733102081401,0.12586048288831705],"tcp_quaternion_wxyz":[0.1100384073131183,-0.07722365336891941,0.9909227761242324,-0.0003286861630185314],"object_position_m":[0.355128195667104,0.07869801658630435,0.07989224457967083],"object_quaternion_wxyz":[0.9959435657946976,-1.7336773356009172e-11,-4.167482296182659e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.334630097175743e-12,-2.4653373854357517e-11,4.7738036432998e-12],"object_angular_velocity_rad_s":[-1.3279298003544854e-10,-4.4892079073277156e-11,-2.0824955542993884e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000487278},{"geom_ids":[1,90],"normal_force_n":0.09810000000726196},{"geom_ids":[1,90],"normal_force_n":0.09809999999099256},{"geom_ids":[1,90],"normal_force_n":0.0980999999886034}],"native_actuator_controls":[0.24189017095998833,1.6892967425562215,-1.2743754196394201,-0.05322614670660468,0.9927942364368881,0.13159161518155052,0.035],"actuator_force_native":[0.2948978198012675,0.05541887998779771,0.18881210054637165,-0.26664135840410763,-0.0224296835950355,0.2587736488190038,-0.002009815138919846],"issued_joint_targets_rad":[0.2426732556459975,1.6793347523606457,-1.2753358726757744,-0.0544495831457794,0.9933258418427524,0.13333380163017938],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.579999999997359,"joint_targets_rad":[0.2426732556459975,1.6793347523606457,-1.2753358726757744,-0.0544495831457794,0.9933258418427524,0.13333380163017938],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.599999999997348,"qpos":[0.23702172418816203,1.7112262051749516,-1.27685792186607,-0.042744828303744466,0.9956729268506289,0.10062048243036584,0.03468337068465739,-0.034680247534943386,0.35512819566727327,0.07869801658580364,0.07989224457973415,0.9959435657946976,-1.7900568090424863e-11,-4.302983275544741e-12,0.0899800741950223],"qvel":[0.03184747591333205,-0.5250666813665031,0.0009126617981570105,-0.03856012228736999,-0.004473826137692218,0.040522752625365276,0.0028591635653215323,-0.0029234865485761718,1.0602515238112144e-11,-3.136184918514162e-11,2.133075729183728e-12,-5.611877680068878e-10,-8.240425468500988e-11,-3.707162794541635e-22],"joint_position_rad":[0.23702172418816203,1.7112262051749516,-1.27685792186607,-0.042744828303744466,0.9956729268506289,0.10062048243036584],"joint_velocity_rad_s":[0.03184747591333205,-0.5250666813665031,0.0009126617981570105,-0.03856012228736999,-0.004473826137692218,0.040522752625365276],"gripper_joint_position_m":[0.03468337068465739,-0.034680247534943386],"tcp_position_m":[0.35054949193255774,0.07834862530556279,0.12966867622418066],"tcp_quaternion_wxyz":[0.11532666512694813,-0.07717360330426339,0.9903251671024239,0.00024221331316461183],"object_position_m":[0.35512819566727327,0.07869801658580364,0.07989224457973415],"object_quaternion_wxyz":[0.9959435657946976,-1.7900568090424863e-11,-4.302983275544741e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0602515238112144e-11,-3.136184918514162e-11,2.133075729183728e-12],"object_angular_velocity_rad_s":[-5.373312241985829e-10,-1.816516657011326e-10,-3.7087479122317744e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000057383},{"geom_ids":[1,90],"normal_force_n":0.0981000000080389},{"geom_ids":[1,90],"normal_force_n":0.09809999999237276},{"geom_ids":[1,90],"normal_force_n":0.09809999999007218}],"native_actuator_controls":[0.2426732556459975,1.6793347523606457,-1.2753358726757744,-0.0544495831457794,0.9933258418427524,0.13333380163017938,0.035],"actuator_force_native":[0.2928851370601784,0.07401718168802063,0.1172006262328722,-0.27538958224454757,-0.01676011087222662,0.26634906306008754,-0.0016306452129031257],"issued_joint_targets_rad":[0.24351614294927176,1.669525433929873,-1.2763783834757785,-0.05573405042557657,0.993896240994356,0.13513209639540763],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.599999999997348,"joint_targets_rad":[0.24351614294927176,1.669525433929873,-1.2763783834757785,-0.05573405042557657,0.993896240994356,0.13513209639540763],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.619999999997336,"qpos":[0.23771299001582522,1.7007665255041426,-1.2768526154460915,-0.04359096751191169,0.9955935503858577,0.10144758574215573,0.03473589297300721,-0.03473259051705306,0.3551281956674398,0.07869801658531075,0.07989224457976198,0.9959435657946976,-1.6713123453125904e-11,-4.017515954751501e-12,0.0899800741950223],"qvel":[0.0347309243377567,-0.5170346103127113,-0.0005021708572109538,-0.0404969278148757,-0.0038682671324073315,0.0417655207708659,0.002371406265315593,-0.0024570456591163116,1.3676491002048172e-11,-4.045489896246097e-11,9.541812471491628e-13,-1.2729683683317378e-09,-1.8692060097135754e-10,-6.606106904259054e-22],"joint_position_rad":[0.23771299001582522,1.7007665255041426,-1.2768526154460915,-0.04359096751191169,0.9955935503858577,0.10144758574215573],"joint_velocity_rad_s":[0.0347309243377567,-0.5170346103127113,-0.0005021708572109538,-0.0404969278148757,-0.0038682671324073315,0.0417655207708659],"gripper_joint_position_m":[0.03473589297300721,-0.03473259051705306],"tcp_position_m":[0.3504596596088648,0.07842865129120281,0.13343215431665667],"tcp_quaternion_wxyz":[0.12055262295738106,-0.07715065854900173,0.9897041061063612,0.0007895186883959448],"object_position_m":[0.3551281956674398,0.07869801658531075,0.07989224457976198],"object_quaternion_wxyz":[0.9959435657946976,-1.6713123453125904e-11,-4.017515954751501e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.3676491002048172e-11,-4.045489896246097e-11,9.541812471491628e-13],"object_angular_velocity_rad_s":[-1.2188536034217404e-09,-4.1204814192821495e-10,-6.6090787922848455e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000441628},{"geom_ids":[1,90],"normal_force_n":0.09810000000608529},{"geom_ids":[1,90],"normal_force_n":0.09809999999471956},{"geom_ids":[1,90],"normal_force_n":0.09809999999305058}],"native_actuator_controls":[0.24351614294927176,1.669525433929873,-1.2763783834757785,-0.05573405042557657,0.993896240994356,0.13513209639540763,0.035],"actuator_force_native":[0.290597612986943,0.08588572562197783,0.040449411911097854,-0.28323867747221665,-0.01117069321640507,0.27419682537622014,-0.0012927502468662588],"issued_joint_targets_rad":[0.24441756694854241,1.6599025989943061,-1.2774970362345635,-0.05708354310726565,0.9945153367875305,0.13698061701463082],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.619999999997336,"joint_targets_rad":[0.24441756694854241,1.6599025989943061,-1.2774970362345635,-0.05708354310726565,0.9945153367875305,0.13698061701463082],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.639999999997325,"qpos":[0.23846701325354877,1.6904791225525428,-1.2768756377832928,-0.04449769023196376,0.9955276465307296,0.10229887894203629,0.03477967261885386,-0.034776196727240395,0.3551281956676145,0.07869801658479425,0.07989224457977429,0.9959435657946976,-1.6067293392887362e-11,-3.862241729205916e-12,0.0899800741950223],"qvel":[0.03757830474088531,-0.5078948122543783,-0.0019084825355681035,-0.042632203297715145,-0.0031490740977790266,0.04304391839967764,0.0019619801665138213,-0.002073820730910619,6.468816179364637e-12,-1.913466221944289e-11,3.918588362916442e-13,6.343418343020082e-10,9.315003039091e-11,-7.173447243978583e-23],"joint_position_rad":[0.23846701325354877,1.6904791225525428,-1.2768756377832928,-0.04449769023196376,0.9955276465307296,0.10229887894203629],"joint_velocity_rad_s":[0.03757830474088531,-0.5078948122543783,-0.0019084825355681035,-0.042632203297715145,-0.0031490740977790266,0.04304391839967764],"gripper_joint_position_m":[0.03477967261885386,-0.034776196727240395],"tcp_position_m":[0.3503362998185146,0.07851252982892593,0.13714119143207446],"tcp_quaternion_wxyz":[0.12570210530952028,-0.07715588163914526,0.989062302268642,0.0013087705276868258],"object_position_m":[0.3551281956676145,0.07869801658479425,0.07989224457977429],"object_quaternion_wxyz":[0.9959435657946976,-1.6067293392887362e-11,-3.862241729205916e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.468816179364637e-12,-1.913466221944289e-11,3.918588362916442e-13],"object_angular_velocity_rad_s":[6.073747523050208e-10,2.053348513279649e-10,-7.17691644432609e-23],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000084441},{"geom_ids":[1,90],"normal_force_n":0.09810000000119139},{"geom_ids":[1,90],"normal_force_n":0.0980999999988284},{"geom_ids":[1,90],"normal_force_n":0.09809999999848147}],"native_actuator_controls":[0.24441756694854241,1.6599025989943061,-1.2774970362345635,-0.05708354310726565,0.9945153367875305,0.13698061701463082,0.035],"actuator_force_native":[0.2881527718950636,0.09335217661296724,-0.04016946342379413,-0.2902730985234996,-0.005399486285323718,0.282251503126429,-0.0009968055867235481],"issued_joint_targets_rad":[0.24537489380025918,1.6504940685621197,-1.2786936173160128,-0.05849981907420915,0.9951884215761052,0.13887460487465597],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.639999999997325,"joint_targets_rad":[0.24537489380025918,1.6504940685621197,-1.2786936173160128,-0.05849981907420915,0.9951884215761052,0.13887460487465597],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.659999999997314,"qpos":[0.2392833758373853,1.6803836755670458,-1.27692777231824,-0.045470705881093816,0.9954771590836028,0.10319487466931973,0.03481617310993999,-0.03481253195023944,0.3551281956678158,0.07869801658419835,0.07989224457977967,0.9959435657946976,-1.804345574417089e-11,-4.3372510840499344e-12,0.0899800741950223],"qvel":[0.04037358516773073,-0.49771282323159244,-0.0036814013721102965,-0.045057716705170635,-0.002284736755209617,0.04469798233961664,0.0016180967904882086,-0.0017582539991043394,7.343308689217606e-12,-2.172147667581108e-11,1.718001428019111e-13,5.723114911249609e-10,8.404050946210962e-11,-1.3177408841688425e-22],"joint_position_rad":[0.2392833758373853,1.6803836755670458,-1.27692777231824,-0.045470705881093816,0.9954771590836028,0.10319487466931973],"joint_velocity_rad_s":[0.04037358516773073,-0.49771282323159244,-0.0036814013721102965,-0.045057716705170635,-0.002284736755209617,0.04469798233961664],"gripper_joint_position_m":[0.03481617310993999,-0.03481253195023944],"tcp_position_m":[0.35018150930385367,0.07859947192912113,0.14078873091097127],"tcp_quaternion_wxyz":[0.1307653737325422,-0.07718012214551043,0.9884029619109366,0.0017974047624209062],"object_position_m":[0.3551281956678158,0.07869801658419835,0.07989224457977967],"object_quaternion_wxyz":[0.9959435657946976,-1.804345574417089e-11,-4.3372510840499344e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.343308689217606e-12,-2.172147667581108e-11,1.718001428019111e-13],"object_angular_velocity_rad_s":[5.479815565947716e-10,1.8525513147089182e-10,-1.3180596130388597e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000245507},{"geom_ids":[1,90],"normal_force_n":0.09810000000332522},{"geom_ids":[1,90],"normal_force_n":0.09809999999739948},{"geom_ids":[1,90],"normal_force_n":0.09809999999652944}],"native_actuator_controls":[0.24537489380025918,1.6504940685621197,-1.2786936173160128,-0.05849981907420915,0.9951884215761052,0.13887460487465597,0.035],"actuator_force_native":[0.28545351119125684,0.09739555576385328,-0.12286059296127405,-0.2958759441987602,0.0005397300578380282,0.28975032854393734,-0.000737408350040214],"issued_joint_targets_rad":[0.2463853769130162,1.6413216852727537,-1.2799708490544814,-0.059985661065523055,0.9959176943497977,0.14082783474373045],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.659999999997314,"joint_targets_rad":[0.2463853769130162,1.6413216852727537,-1.2799708490544814,-0.059985661065523055,0.9959176943497977,0.14082783474373045],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.679999999997303,"qpos":[0.24016133713668458,1.6705085190899058,-1.2770390837113224,-0.04651627574624332,0.9954477163436766,0.10416614608520965,0.03484664080094472,-0.0348427583663448,0.35512819566801684,0.07869801658360359,0.079892244579782,0.9959435657946976,-1.935991801147373e-11,-4.6536711973985406e-12,0.0899800741950223],"qvel":[0.0432310645438827,-0.4851176540597113,-0.00937454155459324,-0.04827388744819454,-0.0007401813748210503,0.04712021973393146,0.0013359898960190197,-0.001485968224108806,8.257933975830266e-12,-2.4427053273256458e-11,7.563401218766083e-14,4.0959331707727206e-10,6.014662457985631e-11,-2.3245957083926377e-22],"joint_position_rad":[0.24016133713668458,1.6705085190899058,-1.2770390837113224,-0.04651627574624332,0.9954477163436766,0.10416614608520965],"joint_velocity_rad_s":[0.0432310645438827,-0.4851176540597113,-0.00937454155459324,-0.04827388744819454,-0.0007401813748210503,0.04712021973393146],"gripper_joint_position_m":[0.03484664080094472,-0.0348427583663448],"tcp_position_m":[0.35000447733655504,0.07869017906013998,0.14437328762860896],"tcp_quaternion_wxyz":[0.135741051625621,-0.07720890010635202,0.9877287425397432,0.00225473031545253],"object_position_m":[0.35512819566801684,0.07869801658360359,0.079892244579782],"object_quaternion_wxyz":[0.9959435657946976,-1.935991801147373e-11,-4.6536711973985406e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.257933975830266e-12,-2.4427053273256458e-11,7.563401218766083e-14],"object_angular_velocity_rad_s":[3.921807544879023e-10,1.3258415309535354e-10,-2.325189621721241e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000402166},{"geom_ids":[1,90],"normal_force_n":0.09810000000541713},{"geom_ids":[1,90],"normal_force_n":0.09809999999591346},{"geom_ids":[1,90],"normal_force_n":0.09809999999451795}],"native_actuator_controls":[0.2463853769130162,1.6413216852727537,-1.2799708490544814,-0.059985661065523055,0.9959176943497977,0.14082783474373045,0.035],"actuator_force_native":[0.28176785938711646,0.09064156492638631,-0.18766851967976095,-0.29740597553021697,0.005810052123443654,0.2959365569843109,-0.0005455815178836421],"issued_joint_targets_rad":[0.2474463280978019,1.6324116222197826,-1.2813540895455322,-0.06154548002217734,0.996706514985735,0.14286442576994512],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.679999999997303,"joint_targets_rad":[0.2474463280978019,1.6324116222197826,-1.2813540895455322,-0.06154548002217734,0.996706514985735,0.14286442576994512],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.699999999997292,"qpos":[0.24109904285228792,1.6609054447696916,-1.2773133551755824,-0.047638121988283336,0.9954501710003277,0.1052345193270003,0.03487206555100607,-0.03486783324985644,0.35512819566821474,0.07869801658301781,0.07989224457978303,0.9959435657946976,-1.997915486336957e-11,-4.802497746484915e-12,0.0899800741950223],"qvel":[0.04598672270127888,-0.47045146042366154,-0.020156430041338255,-0.05174468543712215,0.0009591864422050167,0.05085939014774427,0.0010978371184364754,-0.0012591602705418921,9.370821077820963e-12,-2.7719084844299377e-11,3.3170757053310155e-14,1.1384853867513324e-10,1.6719105705237855e-11,-4.140158518497696e-22],"joint_position_rad":[0.24109904285228792,1.6609054447696916,-1.2773133551755824,-0.047638121988283336,0.9954501710003277,0.1052345193270003],"joint_velocity_rad_s":[0.04598672270127888,-0.47045146042366154,-0.020156430041338255,-0.05174468543712215,0.0009591864422050167,0.05085939014774427],"gripper_joint_position_m":[0.03487206555100607,-0.03486783324985644],"tcp_position_m":[0.3498321845160961,0.07878977012591477,0.14790740284952808],"tcp_quaternion_wxyz":[0.1406496040189203,-0.07723015067505674,0.9870389998466196,0.0026843058346895216],"object_position_m":[0.35512819566821474,0.07869801658301781,0.07989224457978303],"object_quaternion_wxyz":[0.9959435657946976,-1.997915486336957e-11,-4.802497746484915e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.370821077820963e-12,-2.7719084844299377e-11,3.3170757053310155e-14],"object_angular_velocity_rad_s":[1.0900844107176185e-10,3.685346698955766e-11,-4.140806981701468e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000546622},{"geom_ids":[1,90],"normal_force_n":0.09810000000735287},{"geom_ids":[1,90],"normal_force_n":0.09809999999450454},{"geom_ids":[1,90],"normal_force_n":0.09809999999261793}],"native_actuator_controls":[0.2474463280978019,1.6324116222197826,-1.2813540895455322,-0.06154548002217734,0.996706514985735,0.14286442576994512,0.035],"actuator_force_native":[0.2778492061347251,0.07275149812559789,-0.22247659938928166,-0.2975708941701498,0.011124660190764857,0.3000099792078319,-0.00037180763242505854],"issued_joint_targets_rad":[0.24855474142796277,1.6238018871755378,-1.2829262752182045,-0.06318397482031965,0.9975615285488278,0.14500540669047762],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.699999999997292,"joint_targets_rad":[0.24855474142796277,1.6238018871755378,-1.2829262752182045,-0.06318397482031965,0.9975615285488278,0.14500540669047762],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.719999999997281,"qpos":[0.24209300262756694,1.6516084952336365,-1.2778512473783254,-0.04883704768980174,0.995485856111874,0.10641529161168473,0.03489324822873809,-0.034888674148294316,0.3551281956684069,0.07869801658244938,0.07989224457978344,0.9959435657946976,-1.974849382386662e-11,-4.747047569120328e-12,0.0899800741950223],"qvel":[0.04856992169600704,-0.4551494273947171,-0.03436823471270697,-0.055264171992129206,0.002364961352006064,0.05694911970082532,0.0008981236286512952,-0.0010751429073614168,1.0978183005823017e-11,-3.2473723812823525e-11,1.501305948556572e-14,-3.569336782223853e-10,-5.2412066149652786e-11,-7.5560979245762425e-22],"joint_position_rad":[0.24209300262756694,1.6516084952336365,-1.2778512473783254,-0.04883704768980174,0.995485856111874,0.10641529161168473],"joint_velocity_rad_s":[0.04856992169600704,-0.4551494273947171,-0.03436823471270697,-0.055264171992129206,0.002364961352006064,0.05694911970082532],"gripper_joint_position_m":[0.03489324822873809,-0.034888674148294316],"tcp_position_m":[0.34969168018507313,0.07890346310921274,0.15141056871121256],"tcp_quaternion_wxyz":[0.1455229989028704,-0.07723335260699679,0.9863308276046102,0.003092661023039643],"object_position_m":[0.3551281956684069,0.07869801658244938,0.07989224457978344],"object_quaternion_wxyz":[0.9959435657946976,-1.974849382386662e-11,-4.747047569120328e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0978183005823017e-11,-3.2473723812823525e-11,1.501305948556572e-14],"object_angular_velocity_rad_s":[-3.417600901636667e-10,-1.1553664396527594e-10,-7.556082766543608e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000626014},{"geom_ids":[1,90],"normal_force_n":0.09810000000841716},{"geom_ids":[1,90],"normal_force_n":0.09809999999372704},{"geom_ids":[1,90],"normal_force_n":0.09809999999157001}],"native_actuator_controls":[0.24855474142796277,1.6238018871755378,-1.2829262752182045,-0.06318397482031965,0.9975615285488278,0.14500540669047762,0.035],"actuator_force_native":[0.27408949555163176,0.051218492325716625,-0.23416105362677797,-0.29755622526007075,0.0172092823415273,0.3004774712366909,-0.00022054729278009333],"issued_joint_targets_rad":[0.24970673144256683,1.6155105118455497,-1.2847662440969743,-0.0649051836106551,0.9984833648631721,0.14726959776144044],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.719999999997281,"joint_targets_rad":[0.24970673144256683,1.6155105118455497,-1.2847662440969743,-0.0649051836106551,0.9984833648631721,0.14726959776144044],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.73999999999727,"qpos":[0.243138656198061,1.6426168362716127,-1.2786942871848161,-0.05011227339853178,0.9955482995892386,0.1077252403894784,0.03491087805398142,-0.03490612208817736,0.35512819566858983,0.07869801658190856,0.0798922445797837,0.9959435657946976,-1.8368877528031867e-11,-4.415427686506821e-12,0.0899800741950223],"qvel":[0.05093649334166023,-0.44022190177808496,-0.049843684545421645,-0.058806980772793276,0.0035070825908472786,0.06341072434634583,0.0007324194586409589,-0.0009274227451677194,1.3558171606042394e-11,-4.010530178697886e-11,6.90288029067895e-15,-1.0639544388723443e-09,-1.5623438189305436e-10,-1.3943424403427378e-21],"joint_position_rad":[0.243138656198061,1.6426168362716127,-1.2786942871848161,-0.05011227339853178,0.9955482995892386,0.1077252403894784],"joint_velocity_rad_s":[0.05093649334166023,-0.44022190177808496,-0.049843684545421645,-0.058806980772793276,0.0035070825908472786,0.06341072434634583],"gripper_joint_position_m":[0.03491087805398142,-0.03490612208817736],"tcp_position_m":[0.34959539819645163,0.079032911301587,0.1548979207573587],"tcp_quaternion_wxyz":[0.1503849451640173,-0.07720675145613017,0.9856020157880068,0.003486010932892796],"object_position_m":[0.35512819566858983,0.07869801658190856,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8368877528031867e-11,-4.415427686506821e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.3558171606042394e-11,-4.010530178697886e-11,6.90288029067895e-15],"object_angular_velocity_rad_s":[-1.0187240961743646e-09,-3.4439722117838107e-10,-1.3942177969924299e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000537399},{"geom_ids":[1,90],"normal_force_n":0.09810000000722559},{"geom_ids":[1,90],"normal_force_n":0.09809999999461731},{"geom_ids":[1,90],"normal_force_n":0.09809999999276577}],"native_actuator_controls":[0.24970673144256683,1.6155105118455497,-1.2847662440969743,-0.0649051836106551,0.9984833648631721,0.14726959776144044,0.035],"actuator_force_native":[0.27076355285216636,0.03260355480540511,-0.23653813024553472,-0.29768150462096665,0.024090028853064993,0.30032748720010183,-9.721945246154995e-05],"issued_joint_targets_rad":[0.250897140957782,1.607527691448432,-1.2869055743564266,-0.06671130655336707,0.9994696091405324,0.14967598102391091],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.73999999999727,"joint_targets_rad":[0.250897140957782,1.607527691448432,-1.2869055743564266,-0.06671130655336707,0.9994696091405324,0.14967598102391091],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.759999999997259,"qpos":[0.24423170052312565,1.6339217070176804,-1.2798599338756231,-0.05146458064433504,0.99563415786474,0.10916881564034704,0.0349255748832942,-0.034920791552744745,0.3551281956687681,0.07869801658138148,0.0798922445797837,0.9959435657946976,-1.660314433680091e-11,-3.991000196314633e-12,0.0899800741950223],"qvel":[0.053095240038429185,-0.42575653913732786,-0.06590480693857259,-0.06240254178109618,0.004544983613279448,0.07002998929582471,0.0005949286673902487,-0.0008058230995070947,6.695036534858526e-12,-1.9804032219914406e-11,3.1461631311035774e-15,6.939904012041615e-10,1.019056274711867e-10,-1.5060753474448775e-22],"joint_position_rad":[0.24423170052312565,1.6339217070176804,-1.2798599338756231,-0.05146458064433504,0.99563415786474,0.10916881564034704],"joint_velocity_rad_s":[0.053095240038429185,-0.42575653913732786,-0.06590480693857259,-0.06240254178109618,0.004544983613279448,0.07002998929582471],"gripper_joint_position_m":[0.0349255748832942,-0.034920791552744745],"tcp_position_m":[0.34954862489457783,0.07917784969899756,0.1583801376917441],"tcp_quaternion_wxyz":[0.15524983085750177,-0.07714532198508477,0.9848508168801481,0.0038675321640174757],"object_position_m":[0.3551281956687681,0.07869801658138148,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.660314433680091e-11,-3.991000196314633e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.695036534858526e-12,-1.9804032219914406e-11,3.1461631311035774e-15],"object_angular_velocity_rad_s":[6.644881732578771e-10,2.2463949224082937e-10,-1.505949815124449e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000057231},{"geom_ids":[1,90],"normal_force_n":0.09810000000076972},{"geom_ids":[1,90],"normal_force_n":0.09809999999942667},{"geom_ids":[1,90],"normal_force_n":0.09809999999922929}],"native_actuator_controls":[0.250897140957782,1.607527691448432,-1.2869055743564266,-0.06671130655336707,0.9994696091405324,0.14967598102391091,0.035],"actuator_force_native":[0.26775903458036154,0.01726145014677627,-0.23412720377140772,-0.29785632745580104,0.031537037338004836,0.30002666989190163,2.361331280731349e-06],"issued_joint_targets_rad":[0.25211969746082163,1.5998388713463505,-1.2893574717266734,-0.06860367746779333,1.0005242380745298,0.15222925075280358],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.759999999997259,"joint_targets_rad":[0.25211969746082163,1.5998388713463505,-1.2893574717266734,-0.06860367746779333,1.0005242380745298,0.15222925075280358],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.779999999997248,"qpos":[0.24536783476160784,1.6255145380589562,-1.2813564615049828,-0.0528950192986842,0.995742313666366,0.11074869387295501,0.034937840360317586,-0.034933141351251876,0.35512819566896625,0.07869801658079538,0.0798922445797837,0.9959435657946976,-1.767452553424314e-11,-4.248522348742858e-12,0.0899800741950223],"qvel":[0.055040087193088075,-0.41169522876557924,-0.08223966559939166,-0.06605758830979629,0.005556003350749323,0.07676857408272611,0.00048013124881527585,-0.0007044677666622434,7.234895046494405e-12,-2.140097081303715e-11,2.739543948334614e-15,5.932547613427231e-10,8.711392244404442e-11,-2.7309453359592e-22],"joint_position_rad":[0.24536783476160784,1.6255145380589562,-1.2813564615049828,-0.0528950192986842,0.995742313666366,0.11074869387295501],"joint_velocity_rad_s":[0.055040087193088075,-0.41169522876557924,-0.08223966559939166,-0.06605758830979629,0.005556003350749323,0.07676857408272611],"gripper_joint_position_m":[0.034937840360317586,-0.034933141351251876],"tcp_position_m":[0.34955368504444134,0.07933724894326175,0.1618649269945456],"tcp_quaternion_wxyz":[0.1601263826663005,-0.07704507116387502,0.9840760273401884,0.004239221380321451],"object_position_m":[0.35512819566896625,0.07869801658079538,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.767452553424314e-11,-4.248522348742858e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.234895046494405e-12,-2.140097081303715e-11,2.739543948334614e-15],"object_angular_velocity_rad_s":[5.680348477749537e-10,1.9203244270873265e-10,-2.7310929445699277e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000019918},{"geom_ids":[1,90],"normal_force_n":0.0981000000026775},{"geom_ids":[1,90],"normal_force_n":0.098099999998008},{"geom_ids":[1,90],"normal_force_n":0.09809999999732236}],"native_actuator_controls":[0.25211969746082163,1.5998388713463505,-1.2893574717266734,-0.06860367746779333,1.0005242380745298,0.15222925075280358,0.035],"actuator_force_native":[0.2649485799716622,0.004422806819462721,-0.2288824897382966,-0.2980583852153842,0.03948523905551404,0.29965270767439667,8.57293432203754e-05],"issued_joint_targets_rad":[0.2533668991927376,1.592429611607482,-1.2921267384503548,-0.07058251772507544,1.001654637206668,0.15493001524624161],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.779999999997248,"joint_targets_rad":[0.2533668991927376,1.592429611607482,-1.2921267384503548,-0.07058251772507544,1.001654637206668,0.15493001524624161],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.799999999997237,"qpos":[0.24654239295042404,1.6173883967583604,-1.2831875437247429,-0.05440450805142917,0.9958727193898569,0.11246685506621791,0.03494807895981216,-0.03494354508029689,0.3551281956691594,0.07869801658022398,0.0798922445797837,0.9959435657946976,-1.847247955639894e-11,-4.440328730811237e-12,0.0899800741950223],"qvel":[0.056746612255418244,-0.3979673019894821,-0.09866285036724019,-0.06976559504928814,0.006576967198707821,0.08360110331197025,0.0003838941163103184,-0.0006200470968322235,7.903378787995647e-12,-2.3378370849512144e-11,2.6701550092955414e-15,4.132546246847978e-10,6.068234341409409e-11,-4.951491841844978e-22],"joint_position_rad":[0.24654239295042404,1.6173883967583604,-1.2831875437247429,-0.05440450805142917,0.9958727193898569,0.11246685506621791],"joint_velocity_rad_s":[0.056746612255418244,-0.3979673019894821,-0.09866285036724019,-0.06976559504928814,0.006576967198707821,0.08360110331197025],"gripper_joint_position_m":[0.03494807895981216,-0.03494354508029689],"tcp_position_m":[0.349611451725637,0.07950961961372217,0.16535790163309788],"tcp_quaternion_wxyz":[0.16501974474000208,-0.07690221337512179,0.9832768434255564,0.0046024566293891254],"object_position_m":[0.3551281956691594,0.07869801658022398,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.847247955639894e-11,-4.440328730811237e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.903378787995647e-12,-2.3378370849512144e-11,2.6701550092955414e-15],"object_angular_velocity_rad_s":[3.956867582048693e-10,1.3376741384552515e-10,-4.951527001848126e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000354797},{"geom_ids":[1,90],"normal_force_n":0.09810000000476908},{"geom_ids":[1,90],"normal_force_n":0.09809999999645198},{"geom_ids":[1,90],"normal_force_n":0.0980999999952309}],"native_actuator_controls":[0.2533668991927376,1.592429611607482,-1.2921267384503548,-0.07058251772507544,1.001654637206668,0.15493001524624161,0.035],"actuator_force_native":[0.2622274381079919,-0.00686630212287298,-0.22182132621274775,-0.29829241169941056,0.0479537273700501,0.29922994683228166,0.0001573710259621386],"issued_joint_targets_rad":[0.25462947481737974,1.5852855243496968,-1.2952122446985663,-0.07264668618023971,1.002869910933359,0.15777578150484117],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.799999999997237,"joint_targets_rad":[0.25462947481737974,1.5852855243496968,-1.2952122446985663,-0.07264668618023971,1.002869910933359,0.15777578150484117],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.819999999997226,"qpos":[0.24774994648267584,1.6095373168414422,-1.2853529591608823,-0.055993582320158615,0.9960257952337815,0.11432466678273655,0.03495662299058782,-0.034952326321141286,0.355128195669347,0.07869801657966925,0.0798922445797837,0.9959435657946976,-1.8828783164043984e-11,-4.5259774769894516e-12,0.0899800741950223],"qvel":[0.05817113944287293,-0.38454096518870856,-0.11500701273204204,-0.0735106585333727,0.0076301497411344265,0.0904934574464586,0.00030320261038569373,-0.0005502661437329916,8.837769960480878e-12,-2.6142299764884932e-11,2.661828336610853e-15,1.219196515552231e-10,1.7902326728948775e-11,-9.106030468820554e-22],"joint_position_rad":[0.24774994648267584,1.6095373168414422,-1.2853529591608823,-0.055993582320158615,0.9960257952337815,0.11432466678273655],"joint_velocity_rad_s":[0.05817113944287293,-0.38454096518870856,-0.11500701273204204,-0.0735106585333727,0.0076301497411344265,0.0904934574464586],"gripper_joint_position_m":[0.03495662299058782,-0.034952326321141286],"tcp_position_m":[0.34972171787032597,0.0796929969403296,0.1688630210164514],"tcp_quaternion_wxyz":[0.16993243422531507,-0.07671287784031994,0.9824528070838612,0.004958227985534317],"object_position_m":[0.355128195669347,0.07869801657966925,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8828783164043984e-11,-4.5259774769894516e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.837769960480878e-12,-2.6142299764884932e-11,2.661828336610853e-15],"object_angular_velocity_rad_s":[1.167367909294194e-10,3.946411510674011e-11,-9.10589603141412e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000498054},{"geom_ids":[1,90],"normal_force_n":0.09810000000669501},{"geom_ids":[1,90],"normal_force_n":0.09809999999501949},{"geom_ids":[1,90],"normal_force_n":0.098099999993305}],"native_actuator_controls":[0.25462947481737974,1.5852855243496968,-1.2952122446985663,-0.07264668618023971,1.002869910933359,0.15777578150484117,0.035],"actuator_force_native":[0.25950656956194607,-0.017438573396091783,-0.21370777935452168,-0.29857086173638026,0.056995932384072745,0.2987709610513585,0.00021906732455878597],"issued_joint_targets_rad":[0.2558956330412362,1.578390545859108,-1.2986062263448166,-0.0747932857795417,1.0041799526936273,0.16076060784225232],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.819999999997226,"joint_targets_rad":[0.2558956330412362,1.578390545859108,-1.2986062263448166,-0.0747932857795417,1.0041799526936273,0.16076060784225232],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.839999999997215,"qpos":[0.24898385757142175,1.6019537013360927,-1.2878473499261969,-0.057662166112935107,0.9962021475965195,0.11632274036600421,0.03496374920394032,-0.03495977420672664,0.355128195669538,0.07869801657910432,0.0798922445797837,0.9959435657946976,-1.96117792657385e-11,-4.714198276203156e-12,0.0899800741950223],"qvel":[0.05924783748088965,-0.3714954346987116,-0.1310686713333713,-0.07726699361400252,0.008737558258717144,0.09738812341295554,0.00023583199840752353,-0.0004931615619560393,1.0474390943232501e-11,-3.0983422626887045e-11,2.6604405578300722e-15,-2.9418111522988214e-10,-4.319877729836318e-11,-1.6708712277955236e-21],"joint_position_rad":[0.24898385757142175,1.6019537013360927,-1.2878473499261969,-0.057662166112935107,0.9962021475965195,0.11632274036600421],"joint_velocity_rad_s":[0.05924783748088965,-0.3714954346987116,-0.1310686713333713,-0.07726699361400252,0.008737558258717144,0.09738812341295554],"gripper_joint_position_m":[0.03496374920394032,-0.03495977420672664],"tcp_position_m":[0.3498829523696062,0.0798847459890341,0.17238309262331555],"tcp_quaternion_wxyz":[0.17486512960634884,-0.07647290883778587,0.9816037455171416,0.005307301419846099],"object_position_m":[0.355128195669538,0.07869801657910432,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.96117792657385e-11,-4.714198276203156e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0474390943232501e-11,-3.0983422626887045e-11,2.6604405578300722e-15],"object_angular_velocity_rad_s":[-2.816749677593624e-10,-9.522539291456191e-11,-1.6708265289878455e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000666182},{"geom_ids":[1,90],"normal_force_n":0.09810000000895518},{"geom_ids":[1,90],"normal_force_n":0.09809999999333821},{"geom_ids":[1,90],"normal_force_n":0.09809999999104486}],"native_actuator_controls":[0.2558956330412362,1.578390545859108,-1.2986062263448166,-0.0747932857795417,1.0041799526936273,0.16076060784225232,0.035],"actuator_force_native":[0.25670285018070516,-0.027575264665216537,-0.20536675682271266,-0.2989098185942507,0.06667171358300372,0.2982964896430478,0.0002708718503496854],"issued_joint_targets_rad":[0.2571500841949321,1.5717235150271793,-1.3022918930496241,-0.07701717136742924,1.0055948600965048,0.1638743095382047],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.839999999997215,"joint_targets_rad":[0.2571500841949321,1.5717235150271793,-1.3022918930496241,-0.07701717136742924,1.0055948600965048,0.1638743095382047],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.859999999997203,"qpos":[0.25023578684613046,1.5946287500835736,-1.2906632974670784,-0.05940932641177972,0.9964029229027778,0.11845948714931966,0.03496969058190034,-0.034966143253155356,0.3551281956697239,0.07869801657855424,0.0798922445797837,0.9959435657946976,-1.901747718278341e-11,-4.5713399117621114e-12,0.0899800741950223],"qvel":[0.0598837836950012,-0.35893983456495193,-0.14669733939628898,-0.08099457847393346,0.00990901753320066,0.10422518470226878,0.00017983789045310038,-0.0004469883301557785,1.3019329472317006e-11,-3.851148465819997e-11,2.6548894427069467e-15,-9.320334904495906e-10,-1.3685791186820168e-10,-3.035883528661602e-21],"joint_position_rad":[0.25023578684613046,1.5946287500835736,-1.2906632974670784,-0.05940932641177972,0.9964029229027778,0.11845948714931966],"joint_velocity_rad_s":[0.0598837836950012,-0.35893983456495193,-0.14669733939628898,-0.08099457847393346,0.00990901753320066,0.10422518470226878],"gripper_joint_position_m":[0.03496969058190034,-0.034966143253155356],"tcp_position_m":[0.35009302731100894,0.0800815931497336,0.17592052749470305],"tcp_quaternion_wxyz":[0.1798177765374236,-0.07617824849924883,0.980729583345317,0.0056503139775812665],"object_position_m":[0.3551281956697239,0.07869801657855424,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.901747718278341e-11,-4.5713399117621114e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.3019329472317006e-11,-3.851148465819997e-11,2.6548894427069467e-15],"object_angular_velocity_rad_s":[-8.924121685792399e-10,-3.0169029936719454e-10,-3.0359645144149716e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000631272},{"geom_ids":[1,90],"normal_force_n":0.09810000000848589},{"geom_ids":[1,90],"normal_force_n":0.09809999999368729},{"geom_ids":[1,90],"normal_force_n":0.0980999999915141}],"native_actuator_controls":[0.2571500841949321,1.5717235150271793,-1.3022918930496241,-0.07701717136742924,1.0055948600965048,0.1638743095382047,0.035],"actuator_force_native":[0.25372486942912786,-0.03771963168678383,-0.19680094962220096,-0.29934090585631346,0.07705584563746903,0.2978104468354472,0.00031318727172124916],"issued_joint_targets_rad":[0.2583726331017881,1.5652558816113833,-1.3062429205230974,-0.07931023555177909,1.0071246510256917,0.16710015195071348],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.859999999997203,"joint_targets_rad":[0.2583726331017881,1.5652558816113833,-1.3062429205230974,-0.07931023555177909,1.0071246510256917,0.16710015195071348],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.879999999997192,"qpos":[0.25149500308700645,1.5875503641581459,-1.293789136751551,-0.06123284114344077,0.9966292791771187,0.12073241008074156,0.03497464085577191,-0.03497166476561472,0.3551281956698993,0.07869801657803535,0.0798922445797837,0.9959435657946976,-1.665852954975535e-11,-4.004299638092023e-12,0.0899800741950223],"qvel":[0.0599491374967421,-0.34707633200802596,-0.1616463538606906,-0.08463576772101535,0.011145689498125735,0.11092106330975049,0.00013370343054137178,-0.0004104262313740107,6.6907892010108744e-12,-1.9791503246436225e-11,2.6576650002685095e-15,7.16675858532058e-10,1.052368785092525e-10,-3.2977190742338877e-22],"joint_position_rad":[0.25149500308700645,1.5875503641581459,-1.293789136751551,-0.06123284114344077,0.9966292791771187,0.12073241008074156],"joint_velocity_rad_s":[0.0599491374967421,-0.34707633200802596,-0.1616463538606906,-0.08463576772101535,0.011145689498125735,0.11092106330975049],"gripper_joint_position_m":[0.03497464085577191,-0.03497166476561472],"tcp_position_m":[0.3503487793205965,0.08027932825868321,0.17947739246395608],"tcp_quaternion_wxyz":[0.18478976402882247,-0.07582390184395212,0.9798304050427521,0.005988019128829071],"object_position_m":[0.3551281956698993,0.07869801657803535,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.665852954975535e-11,-4.004299638092023e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.6907892010108744e-12,-1.9791503246436225e-11,2.6576650002685095e-15],"object_angular_velocity_rad_s":[6.862092282588757e-10,2.3198271886800184e-10,-3.2978233205417973e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997953753},{"geom_ids":[1,90],"normal_force_n":0.09809999997249375},{"geom_ids":[1,90],"normal_force_n":0.09810000002046236},{"geom_ids":[1,90],"normal_force_n":0.09810000002750618}],"native_actuator_controls":[0.2583726331017881,1.5652558816113833,-1.3062429205230974,-0.07931023555177909,1.0071246510256917,0.16710015195071348,0.035],"actuator_force_native":[0.25046471369882184,-0.04817694370086656,-0.18807093242025985,-0.2999169377284563,0.08823518423854004,0.29729582373509356,0.00034584861641695497],"issued_joint_targets_rad":[0.2595361154822426,1.5589464149821506,-1.3104167763570789,-0.08166038810838855,1.0087772451899095,0.17041432182208094],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.879999999997192,"joint_targets_rad":[0.2595361154822426,1.5589464149821506,-1.3104167763570789,-0.08166038810838855,1.0087772451899095,0.17041432182208094],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.899999999997181,"qpos":[0.2527474455469508,1.580700991993523,-1.297206523158541,-0.06312870180900602,0.9968821761644711,0.1231369016115355,0.03497876132348587,-0.034976556931570986,0.35512819567010423,0.0786980165774288,0.0798922445797837,0.9959435657946976,-1.7962482799854588e-11,-4.3177292456120455e-12,0.0899800741950223],"qvel":[0.05926414296390519,-0.3362267270295435,-0.17552875916060998,-0.08811189646083951,0.012440651929269117,0.11735682525830547,9.632616858740837e-05,-0.0003824440757721886,7.29771939858639e-12,-2.1586853941251093e-11,2.6521138851453836e-15,6.387261668784865e-10,9.379052145460888e-11,-6.044302278913781e-22],"joint_position_rad":[0.2527474455469508,1.580700991993523,-1.297206523158541,-0.06312870180900602,0.9968821761644711,0.1231369016115355],"joint_velocity_rad_s":[0.05926414296390519,-0.3362267270295435,-0.17552875916060998,-0.08811189646083951,0.012440651929269117,0.11735682525830547],"gripper_joint_position_m":[0.03497876132348587,-0.034976556931570986],"tcp_position_m":[0.35064546940252267,0.08047239273321029,0.18305535781774795],"tcp_quaternion_wxyz":[0.18977985464476174,-0.07540400380277819,0.9789064738613802,0.006321266787815959],"object_position_m":[0.35512819567010423,0.0786980165774288,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7962482799854588e-11,-4.3177292456120455e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.29771939858639e-12,-2.1586853941251093e-11,2.6521138851453836e-15],"object_angular_velocity_rad_s":[6.115732948297367e-10,2.067507756239633e-10,-6.044436100042859e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000175964},{"geom_ids":[1,90],"normal_force_n":0.09810000000236509},{"geom_ids":[1,90],"normal_force_n":0.09809999999824047},{"geom_ids":[1,90],"normal_force_n":0.09809999999763487}],"native_actuator_controls":[0.2595361154822426,1.5589464149821506,-1.3104167763570789,-0.08166038810838855,1.0087772451899095,0.17041432182208094,0.035],"actuator_force_native":[0.24677288000382092,-0.059232525762084265,-0.17917646007997234,-0.30070796967110347,0.10028971236048179,0.2967389642179963,0.00036791621762843896],"issued_joint_targets_rad":[0.2606030211693554,1.5527336938318759,-1.314744475995243,-0.08404977529775039,1.0105556552002601,0.173781877170972],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.899999999997181,"joint_targets_rad":[0.2606030211693554,1.5527336938318759,-1.314744475995243,-0.08404977529775039,1.0105556552002601,0.173781877170972],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.91999999999717,"qpos":[0.2539743676785649,1.5740545245495594,-1.3008865332262496,-0.06509036407719748,0.9971622260113119,0.12566528882182845,0.03498218514527199,-0.03498103746655128,0.3551281956703054,0.07869801657683427,0.0798922445797837,0.9959435657946976,-1.8945573840539883e-11,-4.554048941602491e-12,0.0899800741950223],"qvel":[0.057574333765455836,-0.32689408132944137,-0.18772464009281248,-0.09131122618379009,0.01377528518948061,0.12336506623691962,6.69841748842871e-05,-0.0003624541823405596,7.982062040497565e-12,-2.3611124687597596e-11,2.6535016639261646e-15,4.802850113269436e-10,7.05245344886637e-11,-1.1049080593868171e-21],"joint_position_rad":[0.2539743676785649,1.5740545245495594,-1.3008865332262496,-0.06509036407719748,0.9971622260113119,0.12566528882182845],"joint_velocity_rad_s":[0.057574333765455836,-0.32689408132944137,-0.18772464009281248,-0.09131122618379009,0.01377528518948061,0.12336506623691962],"gripper_joint_position_m":[0.03498218514527199,-0.03498103746655128],"tcp_position_m":[0.35097588726897216,0.0806532583030091,0.18665547197804383],"tcp_quaternion_wxyz":[0.19478581577363482,-0.07491153375532755,0.9779583387225308,0.006651000442919668],"object_position_m":[0.3551281956703054,0.07869801657683427,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8945573840539883e-11,-4.554048941602491e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.982062040497565e-12,-2.3611124687597596e-11,2.6535016639261646e-15],"object_angular_velocity_rad_s":[4.598677159573623e-10,1.5546409839677832e-10,-1.1048907881471827e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000331877},{"geom_ids":[1,90],"normal_force_n":0.0981000000044613},{"geom_ids":[1,90],"normal_force_n":0.09809999999668123},{"geom_ids":[1,90],"normal_force_n":0.09809999999553871}],"native_actuator_controls":[0.2606030211693554,1.5527336938318759,-1.314744475995243,-0.08404977529775039,1.0105556552002601,0.173781877170972,0.035],"actuator_force_native":[0.24242061043596053,-0.07119605076748314,-0.17001222105540137,-0.30182031790316577,0.1132713641052625,0.2961182841360559,0.0003776733146991784],"issued_joint_targets_rad":[0.2615198782520978,1.546523577513377,-1.3191122073955845,-0.08645191926398857,1.012452334184276,0.17715087572515942],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.91999999999717,"joint_targets_rad":[0.2615198782520978,1.546523577513377,-1.3191122073955845,-0.08645191926398857,1.012452334184276,0.17715087572515942],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.939999999997159,"qpos":[0.25515023328901526,1.567571337537595,-1.3047829460021478,-0.0671075636625964,0.9974691182952485,0.12830555222503212,0.03498501993818027,-0.03498534379253714,0.35512819567050125,0.07869801657625497,0.0798922445797837,0.9959435657946976,-1.9483909400788725e-11,-4.683447026379989e-12,0.0899800741950223],"qvel":[0.05450760459082014,-0.31987479094927784,-0.19721351009425872,-0.09406986234744787,0.015103489086132054,0.12870561322898205,4.5400328991688966e-05,-0.0003505725033926441,8.881608276077656e-12,-2.627203171373626e-11,2.660440557830072e-15,2.129638803759129e-10,3.127173078033832e-11,-2.0149702229301354e-21],"joint_position_rad":[0.25515023328901526,1.567571337537595,-1.3047829460021478,-0.0671075636625964,0.9974691182952485,0.12830555222503212],"joint_velocity_rad_s":[0.05450760459082014,-0.31987479094927784,-0.19721351009425872,-0.09406986234744787,0.015103489086132054,0.12870561322898205],"gripper_joint_position_m":[0.03498501993818027,-0.03498534379253714],"tcp_position_m":[0.35132887878162816,0.08081145002657672,0.19027765614110415],"tcp_quaternion_wxyz":[0.19980375652751634,-0.0743377871788728,0.976987029616248,0.006978268872873854],"object_position_m":[0.35512819567050125,0.07869801657625497,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9483909400788725e-11,-4.683447026379989e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.881608276077656e-12,-2.627203171373626e-11,2.660440557830072e-15],"object_angular_velocity_rad_s":[2.0391055593876553e-10,6.893490166459618e-11,-2.0149778627037974e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000485555},{"geom_ids":[1,90],"normal_force_n":0.09810000000652687},{"geom_ids":[1,90],"normal_force_n":0.09809999999514446},{"geom_ids":[1,90],"normal_force_n":0.09809999999347313}],"native_actuator_controls":[0.2615198782520978,1.546523577513377,-1.3191122073955845,-0.08645191926398857,1.012452334184276,0.17715087572515942,0.035],"actuator_force_native":[0.23703357409250359,-0.08444684719106021,-0.16027336100364664,-0.30342491231844715,0.12717692526107705,0.29539481515779986,0.00037220082783107067],"issued_joint_targets_rad":[0.26220720752421145,1.540166729979711,-1.323326088164594,-0.08882680680689378,1.0144366664161928,0.1804422958634626],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.939999999997159,"joint_targets_rad":[0.26220720752421145,1.540166729979711,-1.323326088164594,-0.08882680680689378,1.0144366664161928,0.1804422958634626],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.959999999997148,"qpos":[0.25623925594165786,1.561189891844684,-1.3088202964503448,-0.0691643423894924,0.9978005841729377,0.13103935287199164,0.034987348091525254,-0.03498976810652756,0.3551281956706905,0.07869801657569513,0.0798922445797837,0.9959435657946976,-1.9368132127430057e-11,-4.655599749382133e-12,0.0899800741950223],"qvel":[0.049495240378077184,-0.3164733796765821,-0.20224916225858589,-0.09613720836594321,0.016325254494336357,0.13302331059506026,3.189945440730731e-05,-0.00034815326272050613,1.0225069883639016e-11,-3.0246122914328526e-11,2.661828336610853e-15,-2.042723821509062e-10,-2.999286466571665e-11,-3.685566057802743e-21],"joint_position_rad":[0.25623925594165786,1.561189891844684,-1.3088202964503448,-0.0691643423894924,0.9978005841729377,0.13103935287199164],"joint_velocity_rad_s":[0.049495240378077184,-0.3164733796765821,-0.20224916225858589,-0.09613720836594321,0.016325254494336357,0.13302331059506026],"gripper_joint_position_m":[0.034987348091525254,-0.03498976810652756],"tcp_position_m":[0.3516867493737264,0.08093190569810071,0.19391965296006441],"tcp_quaternion_wxyz":[0.2048267668813391,-0.07367145538078375,0.9759944469530957,0.007304228072547665],"object_position_m":[0.3551281956706905,0.07869801657569513,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9368132127430057e-11,-4.655599749382133e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0225069883639016e-11,-3.0246122914328526e-11,2.661828336610853e-15],"object_angular_velocity_rad_s":[-1.955890090132389e-10,-6.611896546136286e-11,-3.6856543836718105e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000590566},{"geom_ids":[1,90],"normal_force_n":0.09810000000793852},{"geom_ids":[1,90],"normal_force_n":0.09809999999409436},{"geom_ids":[1,90],"normal_force_n":0.09809999999206145}],"native_actuator_controls":[0.26220720752421145,1.540166729979711,-1.323326088164594,-0.08882680680689378,1.0144366664161928,0.1804422958634626,0.035],"actuator_force_native":[0.22995992471389926,-0.09948605081491735,-0.14921752584700698,-0.3058125348663392,0.14187294069104617,0.2944944640221192,0.0003465790669534563],"issued_joint_targets_rad":[0.2625399592363657,1.5334153340355354,-1.3270391912025081,-0.09111170590298039,1.0164258510220354,0.18353091815181194],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.959999999997148,"joint_targets_rad":[0.2625399592363657,1.5334153340355354,-1.3270391912025081,-0.09111170590298039,1.0164258510220354,0.18353091815181194],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.979999999997137,"qpos":[0.25718928218445486,1.554811406839246,-1.312871160865364,-0.07123549646977527,0.998150219691883,0.13383880673772694,0.034989222319557214,-0.03499472532779267,0.3551281956708707,0.07869801657516162,0.0798922445797837,0.9959435657946976,-1.828825925328867e-11,-4.396003074575774e-12,0.0899800741950223],"qvel":[0.04161461584735606,-0.3189406389631979,-0.19967865346480324,-0.09710689069677199,0.017224186367329197,0.13576931795175273,2.7753403467402195e-05,-0.00035903682690049726,1.240054763857167e-11,-3.668148973540506e-11,2.660440557830072e-15,-8.288895951820982e-10,-1.2170672205068717e-10,-6.740532700156729e-21],"joint_position_rad":[0.25718928218445486,1.554811406839246,-1.312871160865364,-0.07123549646977527,0.998150219691883,0.13383880673772694],"joint_velocity_rad_s":[0.04161461584735606,-0.3189406389631979,-0.19967865346480324,-0.09710689069677199,0.017224186367329197,0.13576931795175273],"gripper_joint_position_m":[0.034989222319557214,-0.03499472532779267],"tcp_position_m":[0.35202039876341146,0.0809920342001511,0.1975748042965504],"tcp_quaternion_wxyz":[0.2098421398935483,-0.07289689375175624,0.9749841537291088,0.007630149629926839],"object_position_m":[0.3551281956708707,0.07869801657516162,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.828825925328867e-11,-4.396003074575774e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.240054763857167e-11,-3.668148973540506e-11,2.660440557830072e-15],"object_angular_velocity_rad_s":[-7.93654014668219e-10,-2.68297954137713e-10,-6.7407335844374954e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000561395},{"geom_ids":[1,90],"normal_force_n":0.09810000000754643},{"geom_ids":[1,90],"normal_force_n":0.09809999999438607},{"geom_ids":[1,90],"normal_force_n":0.09809999999245361}],"native_actuator_controls":[0.2625399592363657,1.5334153340355354,-1.3270391912025081,-0.09111170590298039,1.0164258510220354,0.18353091815181194,0.035],"actuator_force_native":[0.21998108491608903,-0.11698262948085869,-0.13504915964750808,-0.3095139238443445,0.156920033750529,0.29326713721322073,0.00029234020037471886],"issued_joint_targets_rad":[0.2634792359502672,1.5276913833881614,-1.3228503147214177,-0.09414538120272761,1.009761622065494,0.18829593106480935],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.979999999997137,"joint_targets_rad":[0.2634792359502672,1.5276913833881614,-1.3228503147214177,-0.09414538120272761,1.009761622065494,0.18829593106480935],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.999999999997126,"qpos":[0.2580442454140096,1.5480576844246796,-1.3160422346487808,-0.07344427066644889,0.9983187844804274,0.13694425265491375,0.034991325267985325,-0.034998370680599813,0.355128195671038,0.07869801657466666,0.0798922445797837,0.9959435657946976,-1.5805330484263743e-11,-3.799155238383305e-12,0.0899800741950223],"qvel":[0.038185302982799,-0.3433674921798793,-0.13124543587486212,-0.1043089623270152,0.004822170138373423,0.15242667528578868,1.1323436785870967e-05,-0.00029830267144870845,6.370882549141669e-12,-1.8845407983095653e-11,2.660440557830072e-15,6.88684684141598e-10,1.0112491590083379e-10,-7.305147290373107e-22],"joint_position_rad":[0.2580442454140096,1.5480576844246796,-1.3160422346487808,-0.07344427066644889,0.9983187844804274,0.13694425265491375],"joint_velocity_rad_s":[0.038185302982799,-0.3433674921798793,-0.13124543587486212,-0.1043089623270152,0.004822170138373423,0.15242667528578868],"gripper_joint_position_m":[0.034991325267985325,-0.034998370680599813],"tcp_position_m":[0.3521619226469578,0.08094283481145392,0.20109538592005516],"tcp_quaternion_wxyz":[0.21470736005414956,-0.07195436432898226,0.9739922238892242,0.007903593860616192],"object_position_m":[0.355128195671038,0.07869801657466666,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.5805330484263743e-11,-3.799155238383305e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.370882549141669e-12,-1.8845407983095653e-11,2.660440557830072e-15],"object_angular_velocity_rad_s":[6.594082978098296e-10,2.2292047812326503e-10,-7.30544881594985e-22],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999809109},{"geom_ids":[1,90],"normal_force_n":0.09809999997434013},{"geom_ids":[1,90],"normal_force_n":0.0981000000190891},{"geom_ids":[1,90],"normal_force_n":0.09810000002565987}],"native_actuator_controls":[0.2634792359502672,1.5276913833881614,-1.3228503147214177,-0.09414538120272761,1.009761622065494,0.18829593106480935,0.035],"actuator_force_native":[0.24387272798661286,0.08753337797793392,0.11158077356336094,-0.30649960981607327,0.10719512064310521,0.2848767711702731,0.0002903720966578316],"issued_joint_targets_rad":[0.26503969308890135,1.5229325089806245,-1.3148540893028278,-0.0978407421463423,0.9988216163487145,0.1945466753925922],"issued_gripper_position_m":0.035,"command":{"t_seconds":14.999999999997126,"joint_targets_rad":[0.26503969308890135,1.5229325089806245,-1.3148540893028278,-0.0978407421463423,0.9988216163487145,0.1945466753925922],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.019999999997115,"qpos":[0.2589242842941589,1.5408247002110547,-1.3174188477133066,-0.07589209200836265,0.9981958804912968,0.14048473165130348,0.034993576879163296,-0.03499908641962657,0.35512819567123105,0.07869801657409557,0.0798922445797837,0.9959435657946976,-1.6875875795026804e-11,-4.056459983325156e-12,0.0899800741950223],"qvel":[0.04182648223271452,-0.36351337911371795,-0.027037465842215797,-0.11597704559883582,-0.01071607493365551,0.1743987344564751,-1.9063494449052045e-05,-0.0001708193834630572,6.868461659502254e-12,-2.031736302465979e-11,2.661828336610853e-15,6.055741974818627e-10,8.892056786585461e-11,-1.3326802882518455e-21],"joint_position_rad":[0.2589242842941589,1.5408247002110547,-1.3174188477133066,-0.07589209200836265,0.9981958804912968,0.14048473165130348],"joint_velocity_rad_s":[0.04182648223271452,-0.36351337911371795,-0.027037465842215797,-0.11597704559883582,-0.01071607493365551,0.1743987344564751],"gripper_joint_position_m":[0.034993576879163296,-0.03499908641962657],"tcp_position_m":[0.3519431893017404,0.08076661205620803,0.2042139067856648],"tcp_quaternion_wxyz":[0.21909517903959586,-0.0708786340030671,0.9730923978352564,0.008044068541366706],"object_position_m":[0.35512819567123105,0.07869801657409557,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6875875795026804e-11,-4.056459983325156e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.868461659502254e-12,-2.031736302465979e-11,2.661828336610853e-15],"object_angular_velocity_rad_s":[5.798309920763823e-10,1.96017847843265e-10,-1.3327170345807353e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000015578},{"geom_ids":[1,90],"normal_force_n":0.09810000000209398},{"geom_ids":[1,90],"normal_force_n":0.09809999999844216},{"geom_ids":[1,90],"normal_force_n":0.0980999999979061}],"native_actuator_controls":[0.26503969308890135,1.5229325089806245,-1.3148540893028278,-0.0978407421463423,0.9988216163487145,0.1945466753925922,0.035],"actuator_force_native":[0.280100292415824,0.3861915971341858,0.340368002049388,-0.2980607775250066,0.022331470974659595,0.27902133572817456,0.0003522423057136237],"issued_joint_targets_rad":[0.26667927158418936,1.518636632411945,-1.3076908116320514,-0.1016552104434597,0.9892034846274655,0.20048473165130348],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.019999999997115,"joint_targets_rad":[0.26667927158418936,1.518636632411945,-1.3076908116320514,-0.1016552104434597,0.9892034846274655,0.20048473165130348],"gripper_position_m":0.035,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.039999999997104,"qpos":[0.25992308347609966,1.5337656325058617,-1.3174937209278006,-0.07857600577431091,0.997922157570835,0.14425791172478322,0.034995685259363175,-0.03499625699913782,0.3551281956714319,0.07869801657350127,0.0798922445797837,0.9959435657946976,-1.8654375501690884e-11,-4.483926287914004e-12,0.0899800741950223],"qvel":[0.04904490241063592,-0.3347286072068573,0.008680339553014593,-0.12684998235455108,-0.01492201057628486,0.18319253531818838,-5.0444453569889004e-05,-4.653433578424057e-06,7.745226551560907e-12,-2.2911019917718033e-11,2.6590527790492905e-15,4.953871278220334e-10,7.274076345971827e-11,-2.435028658840041e-21],"joint_position_rad":[0.25992308347609966,1.5337656325058617,-1.3174937209278006,-0.07857600577431091,0.997922157570835,0.14425791172478322],"joint_velocity_rad_s":[0.04904490241063592,-0.3347286072068573,0.008680339553014593,-0.12684998235455108,-0.01492201057628486,0.18319253531818838],"gripper_joint_position_m":[0.034995685259363175,-0.03499625699913782],"tcp_position_m":[0.3514900607055079,0.08053021922001642,0.20684239910540575],"tcp_quaternion_wxyz":[0.22286434461100235,-0.0698174218154811,0.9723131295446454,0.00801184293686843],"object_position_m":[0.3551281956714319,0.07869801657350127,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8654375501690884e-11,-4.483926287914004e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.745226551560907e-12,-2.2911019917718033e-11,2.6590527790492905e-15],"object_angular_velocity_rad_s":[4.743280714299957e-10,1.6035119498764773e-10,-2.435082322107307e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000331123},{"geom_ids":[1,90],"normal_force_n":0.09810000000445092},{"geom_ids":[1,90],"normal_force_n":0.0980999999966887},{"geom_ids":[1,90],"normal_force_n":0.09809999999554915}],"native_actuator_controls":[0.26667927158418936,1.518636632411945,-1.3076908116320514,-0.1016552104434597,0.9892034846274655,0.20048473165130348,0.035],"actuator_force_native":[0.2952705365939927,0.4633230285209464,0.7408310458948648,-0.28891827499319556,-0.06480371356926895,0.2874793962879201,0.000424811893322552],"issued_joint_targets_rad":[0.2683321781296729,1.514979900190017,-1.3016123827396835,-0.10543649410943859,0.9811881438051865,0.20425791172478322],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.039999999997104,"joint_targets_rad":[0.2683321781296729,1.514979900190017,-1.3016123827396835,-0.10543649410943859,0.9811881438051865,0.20425791172478322],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.059999999997093,"qpos":[0.26106678185397025,1.5272164318258328,-1.3165271003645427,-0.08143184548040382,0.9974245608399546,0.1481477799740519,0.03499628967434293,-0.03499302281873522,0.3551281956716313,0.07869801657291108,0.0798922445797837,0.9959435657946976,-1.9737816036024815e-11,-4.744352853363333e-12,0.0899800741950223],"qvel":[0.05641167965601292,-0.3094322254941585,0.06997688281309442,-0.13442480007019167,-0.026334882105527754,0.185064812540845,-0.00010606330593890671,-6.195534242495143e-05,8.763744139432695e-12,-2.5923874115166415e-11,2.660440557830072e-15,2.7389778613989817e-10,4.021720245648518e-11,-4.453612748179449e-21],"joint_position_rad":[0.26106678185397025,1.5272164318258328,-1.3165271003645427,-0.08143184548040382,0.9974245608399546,0.1481477799740519],"joint_velocity_rad_s":[0.05641167965601292,-0.3094322254941585,0.06997688281309442,-0.13442480007019167,-0.026334882105527754,0.185064812540845],"gripper_joint_position_m":[0.03499628967434293,-0.03499302281873522],"tcp_position_m":[0.3508992308082384,0.08028092221179453,0.20895048702453572],"tcp_quaternion_wxyz":[0.2260108567223235,-0.068833835635918,0.9716582520169267,0.007825407510118666],"object_position_m":[0.3551281956716313,0.07869801657291108,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9737816036024815e-11,-4.744352853363333e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.763744139432695e-12,-2.5923874115166415e-11,2.660440557830072e-15],"object_angular_velocity_rad_s":[2.62254471230322e-10,8.86567140461868e-11,-4.453606888088538e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000486888},{"geom_ids":[1,90],"normal_force_n":0.09810000000654477},{"geom_ids":[1,90],"normal_force_n":0.09809999999513114},{"geom_ids":[1,90],"normal_force_n":0.09809999999345526}],"native_actuator_controls":[0.2683321781296729,1.514979900190017,-1.3016123827396835,-0.10543649410943859,0.9811881438051865,0.20425791172478322,0.035],"actuator_force_native":[0.29917330377614704,0.568238596605525,0.8432929959232496,-0.288061944810432,-0.1228618471893892,0.28350409869604576,0.0006787295559775863],"issued_joint_targets_rad":[0.26994002795190025,1.5119734269393164,-1.2966111164900904,-0.10906811900361031,0.9747076863949197,0.2081477799740519],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.059999999997093,"joint_targets_rad":[0.26994002795190025,1.5119734269393164,-1.2966111164900904,-0.10906811900361031,0.9747076863949197,0.2081477799740519],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.079999999997082,"qpos":[0.2623488900306535,1.5212997498308232,-1.3143986944317343,-0.08440798581275158,0.9966598540697622,0.15202658867738503,0.03499643324352992,-0.03499125178306153,0.35512819567182696,0.07869801657233239,0.0798922445797837,0.9959435657946976,-2.002036294490548e-11,-4.812275033338328e-12,0.0899800741950223],"qvel":[0.0630048555044575,-0.2714272739632813,0.1213667841690794,-0.13963289148726263,-0.03507315551212607,0.18393450081405735,-0.00010651595314665349,-0.0001274058841563986,1.0107548718770965e-11,-2.989892449938751e-11,2.663216115391635e-15,-1.0126171277774482e-10,-1.4869284313715104e-11,-8.142649659377426e-21],"joint_position_rad":[0.2623488900306535,1.5212997498308232,-1.3143986944317343,-0.08440798581275158,0.9966598540697622,0.15202658867738503],"joint_velocity_rad_s":[0.0630048555044575,-0.2714272739632813,0.1213667841690794,-0.13963289148726263,-0.03507315551212607,0.18393450081405735],"gripper_joint_position_m":[0.03499643324352992,-0.03499125178306153],"tcp_position_m":[0.35017307187110114,0.08002633106513954,0.21045416705339665],"tcp_quaternion_wxyz":[0.22843754420486417,-0.06798775395271181,0.9711529796108264,0.007472877834527368],"object_position_m":[0.35512819567182696,0.07869801657233239,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-2.002036294490548e-11,-4.812275033338328e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0107548718770965e-11,-2.989892449938751e-11,2.663216115391635e-15],"object_angular_velocity_rad_s":[-9.695697524392557e-11,-3.2777660719358236e-11,-8.142623263032052e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000606459},{"geom_ids":[1,90],"normal_force_n":0.09810000000815214},{"geom_ids":[1,90],"normal_force_n":0.09809999999393544},{"geom_ids":[1,90],"normal_force_n":0.09809999999184787}],"native_actuator_controls":[0.26994002795190025,1.5119734269393164,-1.2966111164900904,-0.10906811900361031,0.9747076863949197,0.2081477799740519,0.035],"actuator_force_native":[0.29226675617745457,0.6110305384958536,0.8161723144860957,-0.28824087019803635,-0.16691194348023508,0.2853101617455829,0.0006752500245366111],"issued_joint_targets_rad":[0.2714501179773395,1.5097126122288598,-1.2928283088353087,-0.11242983985627292,0.9698980801767608,0.21202658867738503],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.079999999997082,"joint_targets_rad":[0.2714501179773395,1.5097126122288598,-1.2928283088353087,-0.11242983985627292,0.9698980801767608,0.21202658867738503],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.09999999999707,"qpos":[0.2637384701793135,1.516304727699464,-1.3114875776821262,-0.08744322915419808,0.995826873993035,0.15586167677171944,0.03499658473607162,-0.03499084192582659,0.35512819567201553,0.07869801657177478,0.0798922445797837,0.9959435657946976,-1.9290139461713672e-11,-4.6367620766756584e-12,0.0899800741950223],"qvel":[0.06752451484166344,-0.22088332501421137,0.15212779708996302,-0.14189405240629488,-0.037001078380025525,0.18203909733787582,-9.737313215195643e-05,-0.0001795129855461453,1.2150146214107116e-11,-3.5941010984437724e-11,2.660440557830072e-15,-6.817222597152953e-10,-1.0010219435361521e-10,-1.4888436030769766e-20],"joint_position_rad":[0.2637384701793135,1.516304727699464,-1.3114875776821262,-0.08744322915419808,0.995826873993035,0.15586167677171944],"joint_velocity_rad_s":[0.06752451484166344,-0.22088332501421137,0.15212779708996302,-0.14189405240629488,-0.037001078380025525,0.18203909733787582],"gripper_joint_position_m":[0.03499658473607162,-0.03499084192582659],"tcp_position_m":[0.34937928005855823,0.07978185663515475,0.2113605144504141],"tcp_quaternion_wxyz":[0.23008999592344026,-0.06726811394009481,0.970816756661447,0.0069584199529902],"object_position_m":[0.35512819567201553,0.07869801657177478,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9290139461713672e-11,-4.6367620766756584e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.2150146214107116e-11,-3.5941010984437724e-11,2.660440557830072e-15],"object_angular_velocity_rad_s":[-6.527419172595213e-10,-2.2066644094220686e-10,-1.4888356888413028e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000616972},{"geom_ids":[1,90],"normal_force_n":0.09810000000829323},{"geom_ids":[1,90],"normal_force_n":0.0980999999938303},{"geom_ids":[1,90],"normal_force_n":0.09809999999170677}],"native_actuator_controls":[0.2714501179773395,1.5097126122288598,-1.2928283088353087,-0.11242983985627292,0.9698980801767608,0.21202658867738503,0.035],"actuator_force_native":[0.2793092496337586,0.5770473874227235,0.7321025222955768,-0.2899941660515184,-0.20378632059270352,0.2885904730498421,0.0006234762178951581],"issued_joint_targets_rad":[0.2728355534234485,1.5082364783499909,-1.290315861797318,-0.11545683224807837,0.9667882594566439,0.21586167677171944],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.09999999999707,"joint_targets_rad":[0.2728355534234485,1.5082364783499909,-1.290315861797318,-0.11545683224807837,0.9667882594566439,0.21586167677171944],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.11999999999706,"qpos":[0.26518501887049867,1.5124354576381518,-1.30823252727364,-0.09047624498496026,0.9950720258180914,0.15964560921045437,0.034996795666366896,-0.03499157774667139,0.35512819567219256,0.07869801657125125,0.0798922445797837,0.9959435657946976,-1.717837306085031e-11,-4.129167178633125e-12,0.0899800741950223],"qvel":[0.06932202898773554,-0.16326448873213498,0.16222845253046606,-0.14135751670397137,-0.034893493008095966,0.18009861856542594,-8.585194936164351e-05,-0.0002181787132932222,1.5507389645501902e-11,-4.5871724572121085e-11,2.6562772214877277e-15,-1.5405854166468172e-09,-2.2621821279179137e-10,-2.717878161404616e-20],"joint_position_rad":[0.26518501887049867,1.5124354576381518,-1.30823252727364,-0.09047624498496026,0.9950720258180914,0.15964560921045437],"joint_velocity_rad_s":[0.06932202898773554,-0.16326448873213498,0.16222845253046606,-0.14135751670397137,-0.034893493008095966,0.18009861856542594],"gripper_joint_position_m":[0.034996795666366896,-0.03499157774667139],"tcp_position_m":[0.34859755222603916,0.07955963757059721,0.21173474238601186],"tcp_quaternion_wxyz":[0.23100727267224347,-0.06663828514814907,0.9706468060009631,0.006305309284607947],"object_position_m":[0.35512819567219256,0.07869801657125125,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.717837306085031e-11,-4.129167178633125e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.5507389645501902e-11,-4.5871724572121085e-11,2.6562772214877277e-15],"object_angular_velocity_rad_s":[-1.4750938581008156e-09,-4.986744585165803e-10,-2.7178547811401597e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000381425},{"geom_ids":[1,90],"normal_force_n":0.09810000000512703},{"geom_ids":[1,90],"normal_force_n":0.09809999999618582},{"geom_ids":[1,90],"normal_force_n":0.09809999999487291}],"native_actuator_controls":[0.2728355534234485,1.5082364783499909,-1.290315861797318,-0.11545683224807837,0.9667882594566439,0.21586167677171944,0.035],"actuator_force_native":[0.2654326192973109,0.4804041006078137,0.6221909754534352,-0.292435907004867,-0.23049742410232987,0.292012747764512,0.0005574330921325199],"issued_joint_targets_rad":[0.2740921358081976,1.5074876302408142,-1.2889771386592255,-0.1181415541345545,0.9652273703641183,0.21964560921045437],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.11999999999706,"joint_targets_rad":[0.2740921358081976,1.5074876302408142,-1.2889771386592255,-0.1181415541345545,0.9652273703641183,0.21964560921045437],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.139999999997048,"qpos":[0.26663304915835934,1.5097697481704493,-1.3050063320231349,-0.09345429829867848,0.9943884973514304,0.16337979479978446,0.03499710745862401,-0.0349931265104079,0.35512819567238485,0.07869801657068243,0.0798922445797837,0.9959435657946976,-1.7241142620599357e-11,-4.144278018913055e-12,0.0899800741950223],"qvel":[0.06850683800377445,-0.1042499541018342,0.15473395800850528,-0.13855389927523482,-0.03264434223751825,0.17855179917269148,-7.35721899168328e-05,-0.00023708868562027013,6.984798553921825e-12,-2.0661454657848607e-11,2.6562772214877277e-15,6.545329938658077e-10,9.610832940758711e-11,-2.944062948168292e-21],"joint_position_rad":[0.26663304915835934,1.5097697481704493,-1.3050063320231349,-0.09345429829867848,0.9943884973514304,0.16337979479978446],"joint_velocity_rad_s":[0.06850683800377445,-0.1042499541018342,0.15473395800850528,-0.13855389927523482,-0.03264434223751825,0.17855179917269148],"gripper_joint_position_m":[0.03499710745862401,-0.0349931265104079],"tcp_position_m":[0.34790980504265273,0.07937110609222692,0.21168008861795173],"tcp_quaternion_wxyz":[0.23132981169488595,-0.06605610088294255,0.9706143623139748,0.0055560262046852335],"object_position_m":[0.35512819567238485,0.07869801657068243,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7241142620599357e-11,-4.144278018913055e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.984798553921825e-12,-2.0661454657848607e-11,2.6562772214877277e-15],"object_angular_velocity_rad_s":[6.267087435228015e-10,2.118641117143841e-10,-2.94403765700079e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000126629},{"geom_ids":[1,90],"normal_force_n":0.09810000000170208},{"geom_ids":[1,90],"normal_force_n":0.0980999999987338},{"geom_ids":[1,90],"normal_force_n":0.09809999999829787}],"native_actuator_controls":[0.2740921358081976,1.5074876302408142,-1.2889771386592255,-0.1181415541345545,0.9652273703641183,0.21964560921045437,0.035],"actuator_force_native":[0.25419274196818975,0.338680336138367,0.5086656790702193,-0.29472073705886714,-0.24264475651684414,0.29483044534766156,0.0004835626046237884],"issued_joint_targets_rad":[0.27523209084148187,1.5073144594146701,-1.2885680440711305,-0.12052442127638564,0.9648830404594898,0.22337979479978445],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.139999999997048,"joint_targets_rad":[0.27523209084148187,1.5073144594146701,-1.2885680440711305,-0.12052442127638564,0.9648830404594898,0.22337979479978445],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.159999999997037,"qpos":[0.26803645187239267,1.5082660954621046,-1.3020991791654153,-0.09634170829587418,0.9937578370410706,0.16707664614098153,0.034997501583195055,-0.03499509698631491,0.35512819567258147,0.07869801657010084,0.0798922445797837,0.9959435657946976,-1.8201448030219187e-11,-4.375110107096014e-12,0.0899800741950223],"qvel":[0.06566748255681215,-0.04976549513356113,0.1349036949158839,-0.134180252212661,-0.030433858564661364,0.17765316885099905,-6.437635213250926e-05,-0.00024029816700510808,7.581229925385907e-12,-2.2425725179636388e-11,2.661828336610853e-15,5.171692162530437e-10,7.593912315903186e-11,-5.379775885560613e-21],"joint_position_rad":[0.26803645187239267,1.5082660954621046,-1.3020991791654153,-0.09634170829587418,0.9937578370410706,0.16707664614098153],"joint_velocity_rad_s":[0.06566748255681215,-0.04976549513356113,0.1349036949158839,-0.134180252212661,-0.030433858564661364,0.17765316885099905],"gripper_joint_position_m":[0.034997501583195055,-0.03499509698631491],"tcp_position_m":[0.3473724397780446,0.07922181603582462,0.21131515769354037],"tcp_quaternion_wxyz":[0.23122177483819348,-0.06547982308569372,0.9706834125838079,0.0047535401539449875],"object_position_m":[0.35512819567258147,0.07869801657010084,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8201448030219187e-11,-4.375110107096014e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.581229925385907e-12,-2.2425725179636388e-11,2.661828336610853e-15],"object_angular_velocity_rad_s":[4.951842037656575e-10,1.674017712179929e-10,-5.3797748440893854e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000278021},{"geom_ids":[1,90],"normal_force_n":0.09810000000373727},{"geom_ids":[1,90],"normal_force_n":0.09809999999721977},{"geom_ids":[1,90],"normal_force_n":0.09809999999626276}],"native_actuator_controls":[0.27523209084148187,1.5073144594146701,-1.2885680440711305,-0.12052442127638564,0.9648830404594898,0.22337979479978445,0.035],"actuator_force_native":[0.24731370474307113,0.17269659187304853,0.407972332963368,-0.29640725815715374,-0.24309717796881536,0.29655173331153084,0.0004218184328603769],"issued_joint_targets_rad":[0.2762768920889207,1.5075477802027284,-1.288819173902418,-0.12266675878195703,0.9653989462950509,0.22707664614098153],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.159999999997037,"joint_targets_rad":[0.2762768920889207,1.5075477802027284,-1.288819173902418,-0.12266675878195703,0.9653989462950509,0.22707664614098153],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.179999999997026,"qpos":[0.2693639868445346,1.5077332196091504,-1.2996562423632863,-0.09911847910075398,0.9931759971153955,0.17075853612552577,0.034997878120110876,-0.034997292021173465,0.3551281956727729,0.07869801656953478,0.0798922445797837,0.9959435657946976,-1.880820579869198e-11,-4.520941764573799e-12,0.0899800741950223],"qvel":[0.061573702556790316,-0.012118300172612843,0.11360612364690188,-0.12897697912140882,-0.02860805850929542,0.1782051631619713,-6.658841922905186e-05,-0.00025057291183541177,8.364746735703854e-12,-2.474347368869678e-11,2.6604405578300722e-15,2.851941062186237e-10,4.1877702528970176e-11,-9.81931562936344e-21],"joint_position_rad":[0.2693639868445346,1.5077332196091504,-1.2996562423632863,-0.09911847910075398,0.9931759971153955,0.17075853612552577],"joint_velocity_rad_s":[0.061573702556790316,-0.012118300172612843,0.11360612364690188,-0.12897697912140882,-0.02860805850929542,0.1782051631619713],"gripper_joint_position_m":[0.034997878120110876,-0.034997292021173465],"tcp_position_m":[0.34699796325217896,0.0791080726020775,0.21075981911574482],"tcp_quaternion_wxyz":[0.23084362511893294,-0.06487150309131264,0.9708179084199783,0.003936688923707182],"object_position_m":[0.3551281956727729,0.07869801656953478,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.880820579869198e-11,-4.520941764573799e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.364746735703854e-12,-2.474347368869678e-11,2.6604405578300722e-15],"object_angular_velocity_rad_s":[2.730702602663771e-10,9.231496709091857e-11,-9.819358459873952e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000432625},{"geom_ids":[1,90],"normal_force_n":0.09810000000581542},{"geom_ids":[1,90],"normal_force_n":0.09809999999567373},{"geom_ids":[1,90],"normal_force_n":0.0980999999941846}],"native_actuator_controls":[0.2762768920889207,1.5075477802027284,-1.288819173902418,-0.12266675878195703,0.9653989462950509,0.22707664614098153,0.035],"actuator_force_native":[0.2451639067669369,0.045756348349300424,0.29893485863495073,-0.29704629164107743,-0.23485842043950278,0.29587335541160065,0.0004178172917104206],"issued_joint_targets_rad":[0.27725183329569386,1.508025740240216,-1.2894724615443887,-0.12463629404388421,0.9664384946449849,0.23075853612552577],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.179999999997026,"joint_targets_rad":[0.27725183329569386,1.508025740240216,-1.2894724615443887,-0.12463629404388421,0.9664384946449849,0.23075853612552577],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.199999999997015,"qpos":[0.2705998388785827,1.5076375024885111,-1.2975864637174293,-0.10177765514045158,0.9926360582476689,0.17444727511369265,0.03499817009222305,-0.034999966785673395,0.355128195672958,0.07869801656898709,0.0798922445797837,0.9959435657946976,-1.886047651437654e-11,-4.533505048229987e-12,0.0899800741950223],"qvel":[0.057004787985341074,-0.0005958641574263302,0.0946827511776258,-0.12344528876500574,-0.026046165202463646,0.17798937337804713,-5.4605199932672235e-05,-0.0002540969095604429,9.520655419927154e-12,-2.81627143155708e-11,2.661828336610854e-15,-7.915809106583324e-11,-1.162348655461144e-11,-1.7921991342887626e-20],"joint_position_rad":[0.2705998388785827,1.5076375024885111,-1.2975864637174293,-0.10177765514045158,0.9926360582476689,0.17444727511369265],"joint_velocity_rad_s":[0.057004787985341074,-0.0005958641574263302,0.0946827511776258,-0.12344528876500574,-0.026046165202463646,0.17798937337804713],"gripper_joint_position_m":[0.03499817009222305,-0.034999966785673395],"tcp_position_m":[0.3467252957774706,0.07900915707735144,0.21017352832170838],"tcp_quaternion_wxyz":[0.2304086182713949,-0.06419929668812618,0.9709687856469137,0.003152178671103391],"object_position_m":[0.355128195672958,0.07869801656898709,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.886047651437654e-11,-4.533505048229987e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.520655419927154e-12,-2.81627143155708e-11,2.661828336610854e-15],"object_angular_velocity_rad_s":[-7.579301849097852e-11,-2.5622786126769145e-11,-1.7921980485093076e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000553082},{"geom_ids":[1,90],"normal_force_n":0.09810000000743457},{"geom_ids":[1,90],"normal_force_n":0.09809999999446918},{"geom_ids":[1,90],"normal_force_n":0.09809999999256544}],"native_actuator_controls":[0.27725183329569386,1.508025740240216,-1.2894724615443887,-0.12463629404388421,0.9664384946449849,0.23075853612552577,0.035],"actuator_force_native":[0.2471356134421896,0.034038340923515875,0.17570641795512643,-0.2971191123122763,-0.22290638822314435,0.2961285500512605,0.0003462223107413287],"issued_joint_targets_rad":[0.27819063865699145,1.5085392739745673,-1.2901887031878305,-0.12652468160411715,0.9675598814760944,0.23444727511369265],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.199999999997015,"joint_targets_rad":[0.27819063865699145,1.5085392739745673,-1.2901887031878305,-0.12652468160411715,0.9675598814760944,0.23444727511369265],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.219999999997004,"qpos":[0.2717455723194515,1.5076821464538965,-1.2959626855313109,-0.10432556603937167,0.9921542787326738,0.17812351087426861,0.03499830776710331,-0.03500163519432783,0.35512819567314524,0.07869801656843359,0.0798922445797837,0.9959435657946976,-1.9208097007166497e-11,-4.617057704498372e-12,0.0899800741950223],"qvel":[0.05277936716246118,0.0037354674499387236,0.0696353758225328,-0.11829013192420859,-0.023125915771235992,0.17741273331429008,-7.959976839330934e-05,-0.00015609367447945005,1.1525145422618377e-11,-3.409219356821313e-11,2.6618283366108544e-15,-6.030628202069847e-10,-8.854920506749318e-11,-3.2754704871735074e-20],"joint_position_rad":[0.2717455723194515,1.5076821464538965,-1.2959626855313109,-0.10432556603937167,0.9921542787326738,0.17812351087426861],"joint_velocity_rad_s":[0.05277936716246118,0.0037354674499387236,0.0696353758225328,-0.11829013192420859,-0.023125915771235992,0.17741273331429008],"gripper_joint_position_m":[0.03499830776710331,-0.03500163519432783],"tcp_position_m":[0.3465405232812425,0.07892081578258654,0.20968530328476342],"tcp_quaternion_wxyz":[0.23008539825589278,-0.06346291609032818,0.9710959091989264,0.0024295941738326577],"object_position_m":[0.35512819567314524,0.07869801656843359,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9208097007166497e-11,-4.617057704498372e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1525145422618377e-11,-3.409219356821313e-11,2.6618283366108544e-15],"object_angular_velocity_rad_s":[-5.774268405112706e-10,-1.952023839282132e-10,-3.275476595524901e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000678898},{"geom_ids":[1,90],"normal_force_n":0.09810000000912586},{"geom_ids":[1,90],"normal_force_n":0.09809999999321105},{"geom_ids":[1,90],"normal_force_n":0.09809999999087413}],"native_actuator_controls":[0.27819063865699145,1.5085392739745673,-1.2901887031878305,-0.12652468160411715,0.9675598814760944,0.23444727511369265,0.035],"actuator_force_native":[0.2517084711908879,0.049892864403958015,0.11374170836577946,-0.29651396296877586,-0.21125509890893923,0.29711854242280555,0.0004656881578342098],"issued_joint_targets_rad":[0.2791165435935758,1.5089299411091626,-1.2907079924369762,-0.12840117025400524,0.9684211853050387,0.2381235108742686],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.219999999997004,"joint_targets_rad":[0.2791165435935758,1.5089299411091626,-1.2907079924369762,-0.12840117025400524,0.9684211853050387,0.2381235108742686],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.239999999996993,"qpos":[0.27281399251678934,1.5077800054960326,-1.294850469894378,-0.10677737017468038,0.9917180038197411,0.18179561215111295,0.03499804832835614,-0.03500167688288971,0.3551281956733253,0.07869801656790072,0.0798922445797837,0.9959435657946976,-1.7955334497126136e-11,-4.315924048689261e-12,0.0899800741950223],"qvel":[0.04930452896966189,0.005348410039571292,0.04401505540877391,-0.11386399436038347,-0.02131962059492537,0.17746787974042197,-7.898066346118912e-05,-0.00011136800244159817,1.4777128959213443e-11,-4.371189510098267e-11,2.6576650002685103e-15,-1.3853248850357215e-09,-2.034120451947402e-10,-5.977481594211783e-20],"joint_position_rad":[0.27281399251678934,1.5077800054960326,-1.294850469894378,-0.10677737017468038,0.9917180038197411,0.18179561215111295],"joint_velocity_rad_s":[0.04930452896966189,0.005348410039571292,0.04401505540877391,-0.11386399436038347,-0.02131962059492537,0.17746787974042197],"gripper_joint_position_m":[0.03499804832835614,-0.03500167688288971],"tcp_position_m":[0.346451188686225,0.0788475614970581,0.20934972905659865],"tcp_quaternion_wxyz":[0.22995362348685097,-0.06266205568198042,0.9711805305386506,0.0017818321023716378],"object_position_m":[0.3551281956733253,0.07869801656790072,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7955334497126136e-11,-4.315924048689261e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.4777128959213443e-11,-4.371189510098267e-11,2.6576650002685103e-15],"object_angular_velocity_rad_s":[-1.3264349863787365e-09,-4.484102185945123e-10,-5.977487906245941e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000518872},{"geom_ids":[1,90],"normal_force_n":0.09810000000697486},{"geom_ids":[1,90],"normal_force_n":0.09809999999481121},{"geom_ids":[1,90],"normal_force_n":0.09809999999302525}],"native_actuator_controls":[0.2791165435935758,1.5089299411091626,-1.2907079924369762,-0.12840117025400524,0.9684211853050387,0.2381235108742686,0.035],"actuator_force_native":[0.2576814412946078,0.06525279885254065,0.11132291954825746,-0.29563203137107674,-0.20098875425463625,0.2970771676209236,0.0004729701830605837],"issued_joint_targets_rad":[0.280042168961965,1.5091253291335462,-1.2909096699183231,-0.13030494270823212,0.9688613871480697,0.24179561215111295],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.239999999996993,"joint_targets_rad":[0.280042168961965,1.5091253291335462,-1.2909096699183231,-0.13030494270823212,0.9688613871480697,0.24179561215111295],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.259999999996982,"qpos":[0.27382281621753957,1.507890395262856,-1.294199002593265,-0.10915120092894619,0.9913005715555898,0.18547730497085493,0.03499782582922816,-0.03500111899896389,0.3551281956735137,0.07869801656734352,0.0798922445797837,0.9959435657946976,-1.73173332210697e-11,-4.16256079662317e-12,0.0899800741950223],"qvel":[0.04674284457595959,0.005411659519675295,0.023221980159127686,-0.1102906752397564,-0.020833114312399682,0.17806204272151593,-7.413120859852582e-05,-9.777247822643008e-05,6.972104473067716e-12,-2.062400956024847e-11,2.660440557830073e-15,6.816628940316475e-10,1.0009176199438226e-10,-6.4760549887638295e-21],"joint_position_rad":[0.27382281621753957,1.507890395262856,-1.294199002593265,-0.10915120092894619,0.9913005715555898,0.18547730497085493],"joint_velocity_rad_s":[0.04674284457595959,0.005411659519675295,0.023221980159127686,-0.1102906752397564,-0.020833114312399682,0.17806204272151593],"gripper_joint_position_m":[0.03499782582922816,-0.03500111899896389],"tcp_position_m":[0.34644876273324543,0.07879085136751994,0.20916621583086495],"tcp_quaternion_wxyz":[0.23002231048065797,-0.06180183379807737,0.9712202697040885,0.0012073674883864131],"object_position_m":[0.3551281956735137,0.07869801656734352,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.73173332210697e-11,-4.16256079662317e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.972104473067716e-12,-2.062400956024847e-11,2.660440557830073e-15],"object_angular_velocity_rad_s":[6.526853826674784e-10,2.2064553739187029e-10,-6.476063889135857e-21],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000110913},{"geom_ids":[1,90],"normal_force_n":0.09810000000149088},{"geom_ids":[1,90],"normal_force_n":0.09809999999889082},{"geom_ids":[1,90],"normal_force_n":0.09809999999850916}],"native_actuator_controls":[0.280042168961965,1.5091253291335462,-1.2909096699183231,-0.13030494270823212,0.9688613871480697,0.24179561215111295,0.035],"actuator_force_native":[0.26383399667423646,0.07173641205685044,0.147036713199725,-0.29469629497265526,-0.19314217260660094,0.29609000772030614,0.0004576228738661925],"issued_joint_targets_rad":[0.28097112203630703,1.509120076192345,-1.290783102469258,-0.13224711512779116,0.9688652209227226,0.24547730497085493],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.259999999996982,"joint_targets_rad":[0.28097112203630703,1.509120076192345,-1.290783102469258,-0.13224711512779116,0.9688652209227226,0.24547730497085493],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.27999999999697,"qpos":[0.2747902814464305,1.5079891919711983,-1.2938801673166809,-0.11146395619192553,0.9908790449985395,0.1891766347214961,0.03499766482613368,-0.03500040771365734,0.3551281956737171,0.07869801656674198,0.0798922445797837,0.9959435657946976,-1.8533909316573324e-11,-4.454990732245962e-12,0.0899800741950223],"qvel":[0.04505347880747451,0.004523807888781066,0.009917646805255555,-0.1074945279507429,-0.021325011277958737,0.1789207848181186,-7.148653886253782e-05,-9.828244941388063e-05,7.632778735026222e-12,-2.2578325176847713e-11,2.6604405578300734e-15,5.697016198397963e-10,8.365193184696845e-11,-1.1820387641180192e-20],"joint_position_rad":[0.2747902814464305,1.5079891919711983,-1.2938801673166809,-0.11146395619192553,0.9908790449985395,0.1891766347214961],"joint_velocity_rad_s":[0.04505347880747451,0.004523807888781066,0.009917646805255555,-0.1074945279507429,-0.021325011277958737,0.1789207848181186],"gripper_joint_position_m":[0.03499766482613368,-0.03500040771365734],"tcp_position_m":[0.34651036454142775,0.07874843101876926,0.2091014767185072],"tcp_quaternion_wxyz":[0.23025400001918467,-0.06089315854625608,0.9712232679050244,0.0006946922416730723],"object_position_m":[0.3551281956737171,0.07869801656674198,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8533909316573324e-11,-4.454990732245962e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.632778735026222e-12,-2.2578325176847713e-11,2.6604405578300734e-15],"object_angular_velocity_rad_s":[5.454835913301182e-10,1.8440507839919512e-10,-1.1820392198742065e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000256686},{"geom_ids":[1,90],"normal_force_n":0.09810000000345043},{"geom_ids":[1,90],"normal_force_n":0.09809999999743321},{"geom_ids":[1,90],"normal_force_n":0.09809999999654957}],"native_actuator_controls":[0.28097112203630703,1.509120076192345,-1.290783102469258,-0.13224711512779116,0.9688652209227226,0.24547730497085493,0.035],"actuator_force_native":[0.26919985315274886,0.06785169824782145,0.1981769537675575,-0.2938537176809115,-0.188150723841229,0.2946255252664103,0.0004508396489657507],"issued_joint_targets_rad":[0.28190042875389154,1.5089524359147797,-1.2903900193221292,-0.1342177004458238,0.9685142778475155,0.2491766347214961],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.27999999999697,"joint_targets_rad":[0.28190042875389154,1.5089524359147797,-1.2903900193221292,-0.1342177004458238,0.9685142778475155,0.2491766347214961],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.29999999999696,"qpos":[0.275731826085035,1.5080621136944066,-1.2937342937553409,-0.11372843794525918,0.990438225463379,0.19289699692941983,0.0349975359220855,-0.034999791763557976,0.35512819567391607,0.07869801656615294,0.0798922445797837,0.9959435657946976,-1.9347858339170176e-11,-4.6506533747694595e-12,0.0899800741950223],"qvel":[0.04405145803581209,0.0029973727487095573,0.005507137873162112,-0.10526871003770497,-0.02254858460799031,0.18000905881833726,-6.80133480764047e-05,-0.00011257988999632236,8.420489611250343e-12,-2.4908378974685048e-11,2.6604405578300738e-15,3.6217093185940344e-10,5.3178620444888225e-11,-2.1577287550627783e-20],"joint_position_rad":[0.275731826085035,1.5080621136944066,-1.2937342937553409,-0.11372843794525918,0.990438225463379,0.19289699692941983],"joint_velocity_rad_s":[0.04405145803581209,0.0029973727487095573,0.005507137873162112,-0.10526871003770497,-0.02254858460799031,0.18000905881833726],"gripper_joint_position_m":[0.0349975359220855,-0.034999791763557976],"tcp_position_m":[0.3466063964159691,0.0787156757098358,0.20910720303743077],"tcp_quaternion_wxyz":[0.2305876134978111,-0.05994853283365732,0.9712031064584601,0.00022785502730233846],"object_position_m":[0.35512819567391607,0.07869801656615294,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9347858339170176e-11,-4.6506533747694595e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.420489611250343e-12,-2.4908378974685048e-11,2.6604405578300738e-15],"object_angular_velocity_rad_s":[3.4677514821317854e-10,1.1722945934387746e-10,-2.1577256331774446e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000414874},{"geom_ids":[1,90],"normal_force_n":0.09810000000557688},{"geom_ids":[1,90],"normal_force_n":0.0980999999958512},{"geom_ids":[1,90],"normal_force_n":0.09809999999442325}],"native_actuator_controls":[0.28190042875389154,1.5089524359147797,-1.2903900193221292,-0.1342177004458238,0.9685142778475155,0.2491766347214961,0.035],"actuator_force_native":[0.2732309233294643,0.056238913886303976,0.24000626529112878,-0.29322694983406006,-0.18541659924664877,0.29278278969325644,0.0004386298569623026],"issued_joint_targets_rad":[0.2828233752986398,1.5086818458985847,-1.289827760274959,-0.13619442720853603,0.9679379123270246,0.2528969969294198],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.29999999999696,"joint_targets_rad":[0.2828233752986398,1.5086818458985847,-1.289827760274959,-0.13619442720853603,0.9679379123270246,0.2528969969294198],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.319999999996949,"qpos":[0.27665818095158756,1.508106306774025,-1.2936257607286281,-0.1159518453303283,0.9899762287472564,0.1966318455495653,0.03499780322354703,-0.03499984250479872,0.3551281956741094,0.07869801656558052,0.0798922445797837,0.9959435657946976,-1.9606396955641524e-11,-4.712796140083777e-12,0.0899800741950223],"qvel":[0.04349520575589144,0.0017514900133046105,0.0050606903164974225,-0.10335788613142835,-0.02333787741218404,0.1804000081883827,-5.6536837012210575e-05,-0.00012896505521553587,9.517617015776697e-12,-2.8153775965926598e-11,2.6548894427069483e-15,2.5368299568618383e-11,3.7255444463199006e-12,-3.938961876937781e-20],"joint_position_rad":[0.27665818095158756,1.508106306774025,-1.2936257607286281,-0.1159518453303283,0.9899762287472564,0.1966318455495653],"joint_velocity_rad_s":[0.04349520575589144,0.0017514900133046105,0.0050606903164974225,-0.10335788613142835,-0.02333787741218404,0.1804000081883827],"gripper_joint_position_m":[0.03499780322354703,-0.03499984250479872],"tcp_position_m":[0.346710489165598,0.07868787606726939,0.20913801738159377],"tcp_quaternion_wxyz":[0.23096138844619324,-0.058981624146207896,0.9711734970579492,-0.00020897922273489756],"object_position_m":[0.3551281956741094,0.07869801656558052,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9606396955641524e-11,-4.712796140083777e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.517617015776697e-12,-2.8153775965926598e-11,2.6548894427069483e-15],"object_angular_velocity_rad_s":[2.428978517264536e-11,8.211981532578145e-12,-3.9389642307777706e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000551843},{"geom_ids":[1,90],"normal_force_n":0.09810000000741775},{"geom_ids":[1,90],"normal_force_n":0.09809999999448166},{"geom_ids":[1,90],"normal_force_n":0.09809999999258219}],"native_actuator_controls":[0.2828233752986398,1.5086818458985847,-1.289827760274959,-0.13619442720853603,0.9679379123270246,0.2528969969294198,0.035],"actuator_force_native":[0.2757395189847216,0.037285679898246826,0.27853658471103415,-0.2929138444711672,-0.18537634808404135,0.2920515015159708,0.00037055524317985977],"issued_joint_targets_rad":[0.283731950100073,1.508367451258337,-1.2891938231394817,-0.13815124257269898,0.967265517642563,0.2566318455495653],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.319999999996949,"joint_targets_rad":[0.283731950100073,1.508367451258337,-1.2891938231394817,-0.13815124257269898,0.967265517642563,0.2566318455495653],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.339999999996937,"qpos":[0.2775751045152368,1.508125511287687,-1.2934841488373647,-0.11813678947763726,0.9894977608251379,0.20037542936237773,0.03499815466585991,-0.03500010645912096,0.3551281956742955,0.07869801656503035,0.0798922445797837,0.9959435657946976,-1.9058655391390855e-11,-4.581135790253408e-12,0.0899800741950223],"qvel":[0.04312828836161435,0.0006286759241185579,0.007797351999451146,-0.10153322618400258,-0.02400913941727219,0.18067268658575356,-5.454708601769005e-05,-0.00013319298989245126,1.1226697061037002e-11,-3.320933721472994e-11,2.659052779049293e-15,-4.891210089538721e-10,-7.182043198287967e-11,-7.191066763235283e-20],"joint_position_rad":[0.2775751045152368,1.508125511287687,-1.2934841488373647,-0.11813678947763726,0.9894977608251379,0.20037542936237773],"joint_velocity_rad_s":[0.04312828836161435,0.0006286759241185579,0.007797351999451146,-0.10153322618400258,-0.02400913941727219,0.18067268658575356],"gripper_joint_position_m":[0.03499815466585991,-0.03500010645912096],"tcp_position_m":[0.34680829318766593,0.07866255673235292,0.2091679400050747],"tcp_quaternion_wxyz":[0.23133796995465974,-0.05800069024643086,0.9711427664208693,-0.0006251532736347912],"object_position_m":[0.3551281956742955,0.07869801656503035,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9058655391390855e-11,-4.581135790253408e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1226697061037002e-11,-3.320933721472994e-11,2.659052779049293e-15],"object_angular_velocity_rad_s":[-4.683283698941694e-10,-1.5832268884316826e-10,-7.191065476643677e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000603597},{"geom_ids":[1,90],"normal_force_n":0.09810000000811357},{"geom_ids":[1,90],"normal_force_n":0.09809999999396403},{"geom_ids":[1,90],"normal_force_n":0.09809999999188647}],"native_actuator_controls":[0.283731950100073,1.508367451258337,-1.2891938231394817,-0.13815124257269898,0.967265517642563,0.2566318455495653,0.035],"actuator_force_native":[0.27690620497882534,0.016211818031393932,0.3042392958333835,-0.2929119928824555,-0.1863087226998399,0.291555131993245,0.00034654879569195884],"issued_joint_targets_rad":[0.28462093633630786,1.5080444003968143,-1.2885464170575172,-0.14007127905367922,0.9665741100792096,0.26037542936237773],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.339999999996937,"joint_targets_rad":[0.28462093633630786,1.5080444003968143,-1.2885464170575172,-0.14007127905367922,0.9665741100792096,0.26037542936237773],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.359999999996926,"qpos":[0.27848405731465353,1.508123358337268,-1.2932634284165445,-0.12028276494081638,0.9890066212956664,0.20412423785477338,0.03499812221690106,-0.034999979121498805,0.3551281956744708,0.07869801656451177,0.0798922445797837,0.9959435657946976,-1.733653424321569e-11,-4.1671933983296765e-12,0.0899800741950223],"qvel":[0.04276822715257874,-0.00035031079571526554,0.012507697579573035,-0.09968141891147009,-0.024551874608545556,0.18087677865142993,-6.38338499771326e-05,-0.0001241453188727811,1.4056520956431333e-11,-4.158003983012917e-11,2.663216115391637e-15,-1.2489571738873667e-09,-1.8339390501897128e-10,-1.3125007790385494e-19],"joint_position_rad":[0.27848405731465353,1.508123358337268,-1.2932634284165445,-0.12028276494081638,0.9890066212956664,0.20412423785477338],"joint_velocity_rad_s":[0.04276822715257874,-0.00035031079571526554,0.012507697579573035,-0.09968141891147009,-0.024551874608545556,0.18087677865142993],"gripper_joint_position_m":[0.03499812221690106,-0.034999979121498805],"tcp_position_m":[0.3468904768017752,0.07863761230942554,0.2091794337441693],"tcp_quaternion_wxyz":[0.23169181750835813,-0.05700960042347728,0.9711167559337203,-0.0010264034276684366],"object_position_m":[0.3551281956744708,0.07869801656451177,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.733653424321569e-11,-4.1671933983296765e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.4056520956431333e-11,-4.158003983012917e-11,2.663216115391637e-15],"object_angular_velocity_rad_s":[-1.1958633083583899e-09,-4.0427502312775624e-10,-1.3124997476269555e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000455292},{"geom_ids":[1,90],"normal_force_n":0.09810000000612015},{"geom_ids":[1,90],"normal_force_n":0.09809999999544709},{"geom_ids":[1,90],"normal_force_n":0.09809999999387983}],"native_actuator_controls":[0.28462093633630786,1.5080444003968143,-1.2885464170575172,-0.14007127905367922,0.9665741100792096,0.26037542936237773,0.035],"actuator_force_native":[0.2771091859694508,-0.00456508125770938,0.31482242082431355,-0.29313346995716305,-0.18749730025175104,0.29119674709889853,0.0003942805738432753],"issued_joint_targets_rad":[0.28548670554344047,1.507735719453607,-1.2879238786463316,-0.14194263626757622,0.9659142044150516,0.26412423785477335],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.359999999996926,"joint_targets_rad":[0.28548670554344047,1.507735719453607,-1.2879238786463316,-0.14194263626757622,0.9659142044150516,0.26412423785477335],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.379999999996915,"qpos":[0.2793836016144909,1.5081045155679962,-1.2929448441119453,-0.12238772620285497,0.9885078568424958,0.20787444714840442,0.034998175613223374,-0.03500010245404746,0.3551281956746504,0.07869801656398046,0.0798922445797837,0.9959435657946976,-1.6439212879423428e-11,-3.951512901302813e-12,0.0899800741950223],"qvel":[0.04229806665574946,-0.0010744309730818002,0.01742038375830135,-0.09773526545795161,-0.024817912494827735,0.18090667016190146,-5.92982499614164e-05,-0.00012956337677629145,6.64246414333711e-12,-1.964882148937767e-11,2.6618283366108556e-15,6.574585586417135e-10,9.653813723388695e-11,-1.4220941218412612e-20],"joint_position_rad":[0.2793836016144909,1.5081045155679962,-1.2929448441119453,-0.12238772620285497,0.9885078568424958,0.20787444714840442],"joint_velocity_rad_s":[0.04229806665574946,-0.0010744309730818002,0.01742038375830135,-0.09773526545795161,-0.024817912494827735,0.18090667016190146],"gripper_joint_position_m":[0.034998175613223374,-0.03500010245404746],"tcp_position_m":[0.34695294144107747,0.07861159007410985,0.20916382720998405],"tcp_quaternion_wxyz":[0.23200913898200423,-0.056009869457848305,0.9710986817878154,-0.0014156913897091648],"object_position_m":[0.3551281956746504,0.07869801656398046,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6439212879423428e-11,-3.951512901302813e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.64246414333711e-12,-1.964882148937767e-11,2.6618283366108556e-15],"object_angular_velocity_rad_s":[6.295099006109478e-10,2.12811309155838e-10,-1.4220930106363074e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000087117},{"geom_ids":[1,90],"normal_force_n":0.0981000000011712},{"geom_ids":[1,90],"normal_force_n":0.09809999999912886},{"geom_ids":[1,90],"normal_force_n":0.09809999999882882}],"native_actuator_controls":[0.28548670554344047,1.507735719453607,-1.2879238786463316,-0.14194263626757622,0.9659142044150516,0.26412423785477335,0.035],"actuator_force_native":[0.27675798103722116,-0.024131534285729117,0.31457531845758524,-0.2935200752990923,-0.18870965553220032,0.29113790182083754,0.00036946672087223575],"issued_joint_targets_rad":[0.28632727981375505,1.5074530649538103,-1.2873458182998156,-0.1437586290102046,0.9653114490738285,0.2678744471484044],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.379999999996915,"joint_targets_rad":[0.28632727981375505,1.5074530649538103,-1.2873458182998156,-0.1437586290102046,0.9653114490738285,0.2678744471484044],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.399999999996904,"qpos":[0.2802707622956207,1.5080739703963348,-1.2925366746301172,-0.12444921651825247,0.9880068055113319,0.21162303574864458,0.03499808214556576,-0.03500008240277588,0.3551281956748421,0.07869801656341364,0.0798922445797837,0.9959435657946976,-1.741826486838956e-11,-4.186848708820754e-12,0.0899800741950223],"qvel":[0.04166239040845706,-0.0015727097493828755,0.021489480027705465,-0.09567799065143615,-0.024848931616048838,0.18083078489960466,-6.052564591189989e-05,-0.0001244998134088823,7.1857432969671075e-12,-2.1255871535184597e-11,2.6507261063646042e-15,5.419797588659773e-10,7.958220406595057e-11,-2.596461404794831e-20],"joint_position_rad":[0.2802707622956207,1.5080739703963348,-1.2925366746301172,-0.12444921651825247,0.9880068055113319,0.21162303574864458],"joint_velocity_rad_s":[0.04166239040845706,-0.0015727097493828755,0.021489480027705465,-0.09567799065143615,-0.024848931616048838,0.18083078489960466],"gripper_joint_position_m":[0.03499808214556576,-0.03500008240277588],"tcp_position_m":[0.3469968236954468,0.07858402457473464,0.20912160459185106],"tcp_quaternion_wxyz":[0.23228864813654887,-0.05500092708521852,0.9710889076595721,-0.0017931500773702425],"object_position_m":[0.3551281956748421,0.07869801656341364,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.741826486838956e-11,-4.186848708820754e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.1857432969671075e-12,-2.1255871535184597e-11,2.6507261063646042e-15],"object_angular_velocity_rad_s":[5.189400435974829e-10,1.7543265766515453e-10,-2.5964619773073496e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000023044},{"geom_ids":[1,90],"normal_force_n":0.09810000000309753},{"geom_ids":[1,90],"normal_force_n":0.09809999999769567},{"geom_ids":[1,90],"normal_force_n":0.09809999999690243}],"native_actuator_controls":[0.28632727981375505,1.5074530649538103,-1.2873458182998156,-0.1437586290102046,0.9653114490738285,0.2678744471484044,0.035],"actuator_force_native":[0.27620944940846215,-0.04180888665506188,0.30782110628560133,-0.29398654642090527,-0.18968016695096246,0.29126793664819184,0.00037934240692916177],"issued_joint_targets_rad":[0.287142522016979,1.5071964540186613,-1.2868125746678973,-0.14551849286413202,0.9647660137812891,0.27162303574864455],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.399999999996904,"joint_targets_rad":[0.287142522016979,1.5071964540186613,-1.2868125746678973,-0.14551849286413202,0.9647660137812891,0.27162303574864455],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.419999999996893,"qpos":[0.28114213513198905,1.5080354799748301,-1.292061193722856,-0.12646523673687796,0.9875072372403786,0.21536854228977,0.03499797996339194,-0.03500006846105849,0.3551281956750408,0.07869801656282599,0.0798922445797837,0.9959435657946976,-1.907363357935326e-11,-4.584746915073231e-12,0.0899800741950223],"qvel":[0.04085862646596837,-0.0019171552652296193,0.024273489511840576,-0.09353414097154952,-0.024731666646188942,0.18071239526926705,-5.808267504490206e-05,-0.00012233875348389092,8.147870960107886e-12,-2.4101920141414083e-11,2.649338327583823e-15,3.844479257991106e-10,5.6450898962528264e-11,-4.7409182516547726e-20],"joint_position_rad":[0.28114213513198905,1.5080354799748301,-1.292061193722856,-0.12646523673687796,0.9875072372403786,0.21536854228977],"joint_velocity_rad_s":[0.04085862646596837,-0.0019171552652296193,0.024273489511840576,-0.09353414097154952,-0.024731666646188942,0.18071239526926705],"gripper_joint_position_m":[0.03499797996339194,-0.03500006846105849],"tcp_position_m":[0.3470261608968461,0.07855506800480185,0.2090586604781131],"tcp_quaternion_wxyz":[0.23253705235078093,-0.053980823981363585,0.9710859573825185,-0.002157151079664262],"object_position_m":[0.3551281956750408,0.07869801656282599,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.907363357935326e-11,-4.584746915073231e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.147870960107886e-12,-2.4101920141414083e-11,2.649338327583823e-15],"object_angular_velocity_rad_s":[3.681049236569679e-10,1.2444145942736882e-10,-4.740919276437794e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000418058},{"geom_ids":[1,90],"normal_force_n":0.09810000000561964},{"geom_ids":[1,90],"normal_force_n":0.09809999999581943},{"geom_ids":[1,90],"normal_force_n":0.0980999999943804}],"native_actuator_controls":[0.287142522016979,1.5071964540186613,-1.2868125746678973,-0.14551849286413202,0.9647660137812891,0.27162303574864455,0.035],"actuator_force_native":[0.2757378184693522,-0.05753630016735656,0.2985220768374859,-0.29445954023241505,-0.19031473462161053,0.29147634168484426,0.0003712148395471626],"issued_joint_targets_rad":[0.287933612642231,1.5069586764881109,-1.286312440091918,-0.14722566261882286,0.9642622138629326,0.27536854228977004],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.419999999996893,"joint_targets_rad":[0.287933612642231,1.5069586764881109,-1.286312440091918,-0.14722566261882286,0.9642622138629326,0.27536854228977004],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.439999999996882,"qpos":[0.28199475236402094,1.507991199802874,-1.2915442461769175,-0.12843476405814483,0.9870110321426695,0.21911075787602474,0.0349979053595077,-0.03500007111877488,0.35512819567523785,0.07869801656224337,0.0798922445797837,0.9959435657946976,-1.9922044165688323e-11,-4.78866679727111e-12,0.0899800741950223],"qvel":[0.03992027452820194,-0.0021851648876860873,0.025784823146821297,-0.09135033950105556,-0.024554851506683,0.1805988508315636,-5.505917665837162e-05,-0.00011978090403061447,9.34738886157925e-12,-2.765022475844956e-11,2.657665000268511e-15,9.765409273847338e-11,1.4340284262355881e-11,-8.657173299416122e-20],"joint_position_rad":[0.28199475236402094,1.507991199802874,-1.2915442461769175,-0.12843476405814483,0.9870110321426695,0.21911075787602474],"joint_velocity_rad_s":[0.03992027452820194,-0.0021851648876860873,0.025784823146821297,-0.09135033950105556,-0.024554851506683,0.1805988508315636],"gripper_joint_position_m":[0.0349979053595077,-0.03500007111877488],"tcp_position_m":[0.34704588811303094,0.0785251565924951,0.20898288407327936],"tcp_quaternion_wxyz":[0.2327644808122387,-0.05294722091758338,0.9710875403198427,-0.0025054550228399207],"object_position_m":[0.35512819567523785,0.07869801656224337,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9922044165688323e-11,-4.78866679727111e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.34738886157925e-12,-2.765022475844956e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[9.35025855332052e-11,3.1610632386985726e-11,-8.657178375268555e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000563779},{"geom_ids":[1,90],"normal_force_n":0.0981000000075782},{"geom_ids":[1,90],"normal_force_n":0.09809999999436221},{"geom_ids":[1,90],"normal_force_n":0.09809999999242186}],"native_actuator_controls":[0.287933612642231,1.5069586764881109,-1.286312440091918,-0.14722566261882286,0.9642622138629326,0.27536854228977004,0.035],"actuator_force_native":[0.27550744961579454,-0.07167604074263068,0.28962037106585115,-0.2948842449218434,-0.19065590553734424,0.2916795678901076,0.00035908150298413766],"issued_joint_targets_rad":[0.2887024148553364,1.5067296495181608,-1.2858288407386198,-0.14888571131713332,0.9637780112947915,0.27911075787602474],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.439999999996882,"joint_targets_rad":[0.2887024148553364,1.5067296495181608,-1.2858288407386198,-0.14888571131713332,0.9637780112947915,0.27911075787602474],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.459999999996871,"qpos":[0.28282655683461894,1.5079418482557758,-1.2910082216820478,-0.13035787343922953,0.9865184433979257,0.22285028268499973,0.03499786072065749,-0.03500007248519629,0.35512819567543025,0.0786980165616744,0.0798922445797837,0.9959435657946976,-1.9814249808506514e-11,-4.762732144866946e-12,0.0899800741950223],"qvel":[0.0388977300146065,-0.002439930251649629,0.026307482239730662,-0.08917670781391937,-0.024388758308245533,0.18051788683560596,-5.239538823641231e-05,-0.00011658447365875734,1.1023215898015655e-11,-3.260761482400992e-11,2.647950548803041e-15,-3.6960359538825933e-10,-5.426698330027599e-11,-1.5806651241083764e-19],"joint_position_rad":[0.28282655683461894,1.5079418482557758,-1.2910082216820478,-0.13035787343922953,0.9865184433979257,0.22285028268499973],"joint_velocity_rad_s":[0.0388977300146065,-0.002439930251649629,0.026307482239730662,-0.08917670781391937,-0.024388758308245533,0.18051788683560596],"gripper_joint_position_m":[0.03499786072065749,-0.03500007248519629],"tcp_position_m":[0.347060436073921,0.07849475904329442,0.2089016598487572],"tcp_quaternion_wxyz":[0.2329809670019742,-0.05189809384524422,0.9710913518618833,-0.002836055203194019],"object_position_m":[0.35512819567543025,0.0786980165616744,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9814249808506514e-11,-4.762732144866946e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1023215898015655e-11,-3.260761482400992e-11,2.647950548803041e-15],"object_angular_velocity_rad_s":[-3.5389238846373334e-10,-1.1963235594049898e-10,-1.5806664558075554e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000639599},{"geom_ids":[1,90],"normal_force_n":0.09810000000859762},{"geom_ids":[1,90],"normal_force_n":0.09809999999360405},{"geom_ids":[1,90],"normal_force_n":0.09809999999140245}],"native_actuator_controls":[0.2887024148553364,1.5067296495181608,-1.2858288407386198,-0.14888571131713332,0.9637780112947915,0.27911075787602474,0.035],"actuator_force_native":[0.27557999158436175,-0.08477624775095194,0.2828130642755866,-0.29522997604655465,-0.19082118356897304,0.29182792165684157,0.00034754811488246773],"issued_joint_targets_rad":[0.2894509329714583,1.5064996515269486,-1.2853457019844832,-0.15050460761622325,0.9632920907993359,0.28285028268499973],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.459999999996871,"joint_targets_rad":[0.2894509329714583,1.5064996515269486,-1.2853457019844832,-0.15050460761622325,0.9632920907993359,0.28285028268499973],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.47999999999686,"qpos":[0.2836365369009939,1.5078871212816185,-1.2904685390200423,-0.13223557075138695,0.9860286076833678,0.2265880847510923,0.03499783954376455,-0.035000059447253706,0.355128195675614,0.0786980165611309,0.0798922445797837,0.9959435657946976,-1.8485835734943336e-11,-4.44339862395508e-12,0.0899800741950223],"qvel":[0.03784273524374426,-0.0027224225098466605,0.02622947666333919,-0.08705450582876688,-0.02427746859221668,0.1804793841550485,-5.0250341139049574e-05,-0.00011323140673881307,1.3658197287542756e-11,-4.040234751745283e-11,2.6535016639261666e-15,-1.0789266064232108e-09,-1.584156261885177e-10,-2.885683742355056e-19],"joint_position_rad":[0.2836365369009939,1.5078871212816185,-1.2904685390200423,-0.13223557075138695,0.9860286076833678,0.2265880847510923],"joint_velocity_rad_s":[0.03784273524374426,-0.0027224225098466605,0.02622947666333919,-0.08705450582876688,-0.02427746859221668,0.1804793841550485],"gripper_joint_position_m":[0.03499783954376455,-0.035000059447253706],"tcp_position_m":[0.3470729861304836,0.0784642311835533,0.20882045955535916],"tcp_quaternion_wxyz":[0.23319433701632117,-0.05083211673447955,0.9710955614415132,-0.003147640450073426],"object_position_m":[0.355128195675614,0.0786980165611309,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8485835734943336e-11,-4.44339862395508e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.3658197287542756e-11,-4.040234751745283e-11,2.6535016639261666e-15],"object_angular_velocity_rad_s":[-1.0330628772523326e-09,-3.492266088254655e-10,-2.8856859532934135e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000054695},{"geom_ids":[1,90],"normal_force_n":0.09810000000735196},{"geom_ids":[1,90],"normal_force_n":0.09809999999453052},{"geom_ids":[1,90],"normal_force_n":0.09809999999264805}],"native_actuator_controls":[0.2894509329714583,1.5064996515269486,-1.2853457019844832,-0.15050460761622325,0.9632920907993359,0.28285028268499973,0.035],"actuator_force_native":[0.2759380094184323,-0.09738546782435265,0.27867957952803124,-0.2954889454496188,-0.19094896595199273,0.29190290310650147,0.00033766995511319564],"issued_joint_targets_rad":[0.29018093611366447,1.506261176708844,-1.2848505548742286,-0.1520875309231262,0.9627879448940886,0.2865880847510923],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.47999999999686,"joint_targets_rad":[0.29018093611366447,1.506261176708844,-1.2848505548742286,-0.1520875309231262,0.9627879448940886,0.2865880847510923],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.499999999996849,"qpos":[0.28442461418132425,1.507826161139156,-1.289932997646362,-0.13406948101538313,0.9855400911245729,0.2303251522986936,0.03499783483973281,-0.03500002922321814,0.3551281956757934,0.07869801656059996,0.0798922445797837,0.9959435657946976,-1.673494949065827e-11,-4.022523043938188e-12,0.0899800741950223],"qvel":[0.03679799575425864,-0.0030515246572141684,0.025919431477656373,-0.08501023694098703,-0.024239893516536094,0.18048022556989574,-4.853228161842583e-05,-0.00011016006413317868,6.74512622027529e-12,-1.995276639257636e-11,2.6535016639261666e-15,6.984706012215901e-10,1.0255800834406003e-10,-3.126525245159452e-20],"joint_position_rad":[0.28442461418132425,1.507826161139156,-1.289932997646362,-0.13406948101538313,0.9855400911245729,0.2303251522986936],"joint_velocity_rad_s":[0.03679799575425864,-0.0030515246572141684,0.025919431477656373,-0.08501023694098703,-0.024239893516536094,0.18048022556989574],"gripper_joint_position_m":[0.03499783483973281,-0.03500002922321814],"tcp_position_m":[0.34708528098193175,0.07843376265345985,0.20874239637129663],"tcp_quaternion_wxyz":[0.2334094007524291,-0.04974875945429874,0.9710990067282171,-0.003439724497729289],"object_position_m":[0.3551281956757934,0.07869801656059996,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.673494949065827e-11,-4.022523043938188e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.74512622027529e-12,-1.995276639257636e-11,2.6535016639261666e-15],"object_angular_velocity_rad_s":[6.687788998463045e-10,2.2608429615237588e-10,-3.1265272273383053e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000059678},{"geom_ids":[1,90],"normal_force_n":0.09810000000080225},{"geom_ids":[1,90],"normal_force_n":0.09809999999940325},{"geom_ids":[1,90],"normal_force_n":0.09809999999919775}],"native_actuator_controls":[0.29018093611366447,1.506261176708844,-1.2848505548742286,-0.1520875309231262,0.9627879448940886,0.2865880847510923,0.035],"actuator_force_native":[0.27651577581592335,-0.10994113113886783,0.2769982643823994,-0.29567081160478903,-0.19116162203003917,0.29190898616914396,0.0003292678187798437],"issued_joint_targets_rad":[0.290893764264781,1.5060095649300995,-1.2843356211220212,-0.15363828572172145,0.9622552895606761,0.2903251522986936],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.499999999996849,"joint_targets_rad":[0.290893764264781,1.5060095649300995,-1.2843356211220212,-0.15363828572172145,0.9622552895606761,0.2903251522986936],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.519999999996838,"qpos":[0.2851913928446781,1.5077579549316538,-1.2894029997963605,-0.1358615120179801,0.9850513390471327,0.23406227708398877,0.03499784137971939,-0.03499998647746307,0.3551281956759933,0.07869801656000878,0.0798922445797837,0.9959435657946976,-1.7832264133463633e-11,-4.286270884020385e-12,0.0899800741950223],"qvel":[0.035792216550577134,-0.003428913335501121,0.025656179364159693,-0.08305510585027147,-0.024275803734124045,0.18051002582740214,-4.7098428927161484e-05,-0.00010758531966699143,7.2978752046442e-12,-2.158789994103742e-11,2.6576650002685115e-15,5.979326532725587e-10,8.779531128448558e-11,-5.708488778922683e-20],"joint_position_rad":[0.2851913928446781,1.5077579549316538,-1.2894029997963605,-0.1358615120179801,0.9850513390471327,0.23406227708398877],"joint_velocity_rad_s":[0.035792216550577134,-0.003428913335501121,0.025656179364159693,-0.08305510585027147,-0.024275803734124045,0.18051002582740214],"gripper_joint_position_m":[0.03499784137971939,-0.03499998647746307],"tcp_position_m":[0.34709781271608003,0.07840338742753648,0.20866845617064894],"tcp_quaternion_wxyz":[0.23362810325634184,-0.04864818408391586,0.9711011690749798,-0.003712542981401794],"object_position_m":[0.3551281956759933,0.07869801656000878,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7832264133463633e-11,-4.286270884020385e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.2978752046442e-12,-2.158789994103742e-11,2.6576650002685115e-15],"object_angular_velocity_rad_s":[5.725148659823182e-10,1.9354121721831973e-10,-5.708490000236624e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000202046},{"geom_ids":[1,90],"normal_force_n":0.09810000000271574},{"geom_ids":[1,90],"normal_force_n":0.09809999999797953},{"geom_ids":[1,90],"normal_force_n":0.09809999999728423}],"native_actuator_controls":[0.290893764264781,1.5060095649300995,-1.2843356211220212,-0.15363828572172145,0.9622552895606761,0.2903251522986936,0.035],"actuator_force_native":[0.277228630855344,-0.1227266334468311,0.2771093971263525,-0.29579541889829564,-0.19154678926338065,0.2918637134059452,0.0003218369558604106],"issued_joint_targets_rad":[0.2915902887063364,1.5057427621155035,-1.2837974505784322,-0.1551592124331674,0.9616895696759363,0.2940622770839888],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.519999999996838,"joint_targets_rad":[0.2915902887063364,1.5057427621155035,-1.2837974505784322,-0.1551592124331674,0.9616895696759363,0.2940622770839888],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.539999999996827,"qpos":[0.28593786603913124,1.5076816045541166,-1.2888756419150464,-0.13761357490341983,0.9845609713832857,0.23779996369883427,0.03499803081434179,-0.03500017160971713,0.3551281956761882,0.07869801655943211,0.0798922445797837,0.9959435657946976,-1.8645414657544636e-11,-4.481707148092969e-12,0.0899800741950223],"qvel":[0.03483967945085006,-0.003845708338775841,0.025605379365703892,-0.08118778431325674,-0.0243736272542469,0.18055616678870795,-4.4524437591641026e-05,-0.00010612481860681843,7.976553280376063e-12,-2.3595571024393902e-11,2.65627722148773e-15,4.167528133448841e-10,6.119285050252795e-11,-1.0422118830316682e-19],"joint_position_rad":[0.28593786603913124,1.5076816045541166,-1.2888756419150464,-0.13761357490341983,0.9845609713832857,0.23779996369883427],"joint_velocity_rad_s":[0.03483967945085006,-0.003845708338775841,0.025605379365703892,-0.08118778431325674,-0.0243736272542469,0.18055616678870795],"gripper_joint_position_m":[0.03499803081434179,-0.03500017160971713],"tcp_position_m":[0.34711020004766846,0.0783730268287064,0.20859808867392082],"tcp_quaternion_wxyz":[0.23385022383718657,-0.04753103436907616,0.9711020223615203,-0.003966831036042071],"object_position_m":[0.3551281956761882,0.07869801655943211,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8645414657544636e-11,-4.481707148092969e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.976553280376063e-12,-2.3595571024393902e-11,2.65627722148773e-15],"object_angular_velocity_rad_s":[3.9903680303640514e-10,1.3489663526561826e-10,-1.0422122808158096e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000358694},{"geom_ids":[1,90],"normal_force_n":0.09810000000482141},{"geom_ids":[1,90],"normal_force_n":0.09809999999641308},{"geom_ids":[1,90],"normal_force_n":0.09809999999517857}],"native_actuator_controls":[0.2915902887063364,1.5057427621155035,-1.2837974505784322,-0.1551592124331674,0.9616895696759363,0.2940622770839888,0.035],"actuator_force_native":[0.27799541612216316,-0.13587885339516959,0.27822841010062405,-0.29588657962361964,-0.19215357619212448,0.2917888836684832,0.0003013896142869399],"issued_joint_targets_rad":[0.29227097794017587,1.5054606097984422,-1.2832357645414363,-0.15665142766905538,0.961090417948646,0.29763436112580643],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.539999999996827,"joint_targets_rad":[0.29227097794017587,1.5054606097984422,-1.2832357645414363,-0.15665142766905538,0.961090417948646,0.29763436112580643],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.559999999996815,"qpos":[0.2866648835234779,1.5075964737008287,-1.288346134871941,-0.13932697520666337,0.9840678574663508,0.24152462373924666,0.034998035769307274,-0.035000109460339664,0.3551281956763776,0.07869801655887215,0.0798922445797837,0.9959435657946976,-1.900873767273171e-11,-4.569033780273944e-12,0.0899800741950223],"qvel":[0.03393361934685542,-0.004288771992996188,0.025815486347334184,-0.0794012899101416,-0.02452081301997015,0.17961632443717632,-4.7899931098749496e-05,-9.849476337825854e-05,8.921798953592078e-12,-2.639172158438473e-11,2.6548894427069487e-15,1.2285721304432847e-10,1.8039152607686565e-11,-1.902799535943396e-19],"joint_position_rad":[0.2866648835234779,1.5075964737008287,-1.288346134871941,-0.13932697520666337,0.9840678574663508,0.24152462373924666],"joint_velocity_rad_s":[0.03393361934685542,-0.004288771992996188,0.025815486347334184,-0.0794012899101416,-0.02452081301997015,0.17961632443717632],"gripper_joint_position_m":[0.034998035769307274,-0.035000109460339664],"tcp_position_m":[0.34712165918590365,0.07834253690749177,0.20852996764502665],"tcp_quaternion_wxyz":[0.23407432063604985,-0.04640469690951846,0.971101505785206,-0.004204995269031984],"object_position_m":[0.3551281956763776,0.07869801655887215,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.900873767273171e-11,-4.569033780273944e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.921798953592078e-12,-2.639172158438473e-11,2.6548894427069487e-15],"object_angular_velocity_rad_s":[1.1763464732402858e-10,3.9766764675722564e-11,-1.9027995568649405e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000503134},{"geom_ids":[1,90],"normal_force_n":0.09810000000676289},{"geom_ids":[1,90],"normal_force_n":0.09809999999496874},{"geom_ids":[1,90],"normal_force_n":0.09809999999323707}],"native_actuator_controls":[0.29227097794017587,1.5054606097984422,-1.2832357645414363,-0.15665142766905538,0.961090417948646,0.29763436112580643,0.035],"actuator_force_native":[0.27881945660155694,-0.14942525222595293,0.27975219470370405,-0.2959716489449722,-0.19299317564709284,0.29167288720983375,0.0003180688832029599],"issued_joint_targets_rad":[0.2929348354331706,1.505165342716132,-1.2826543758485134,-0.1581125309937161,0.9604626613904458,0.30106697122731985],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.559999999996815,"joint_targets_rad":[0.2929348354331706,1.505165342716132,-1.2826543758485134,-0.1581125309937161,0.9604626613904458,0.30106697122731985],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.579999999996804,"qpos":[0.2873732713696508,1.5075022227534867,-1.2878094240622908,-0.14100281824894112,0.9835712892125166,0.2452189685735286,0.03499800278320462,-0.03500002402577337,0.3551281956765599,0.07869801655833296,0.0798922445797837,0.9959435657946976,-1.8683079931665483e-11,-4.490771495220099e-12,0.0899800741950223],"qvel":[0.03306792742928805,-0.004742765865718624,0.02626801197896644,-0.0776686889321363,-0.024695481683250028,0.17790411397946132,-4.478966015221644e-05,-9.977449221128341e-05,1.0381373920114697e-11,-3.0709207163966963e-11,2.6535016639261674e-15,-3.281802331457508e-10,-4.818918592214763e-11,-3.47412404900087e-19],"joint_position_rad":[0.2873732713696508,1.5075022227534867,-1.2878094240622908,-0.14100281824894112,0.9835712892125166,0.2452189685735286],"joint_velocity_rad_s":[0.03306792742928805,-0.004742765865718624,0.02626801197896644,-0.0776686889321363,-0.024695481683250028,0.17790411397946132],"gripper_joint_position_m":[0.03499800278320462,-0.03500002402577337],"tcp_position_m":[0.3471312969533542,0.07831176078516211,0.20846252881798422],"tcp_quaternion_wxyz":[0.23429846061538095,-0.04527832315009248,0.9710996244261142,-0.00442992612111892],"object_position_m":[0.3551281956765599,0.07869801655833296,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8683079931665483e-11,-4.490771495220099e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0381373920114697e-11,-3.0709207163966963e-11,2.6535016639261674e-15],"object_angular_velocity_rad_s":[-3.1422911212789485e-10,-1.0622865978046248e-10,-3.474123171660798e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000583101},{"geom_ids":[1,90],"normal_force_n":0.098100000007838},{"geom_ids":[1,90],"normal_force_n":0.09809999999416902},{"geom_ids":[1,90],"normal_force_n":0.09809999999216205}],"native_actuator_controls":[0.2929348354331706,1.505165342716132,-1.2826543758485134,-0.1581125309937161,0.9604626613904458,0.30106697122731985,0.035],"actuator_force_native":[0.2795854879351438,-0.1632365736597734,0.2810637972073522,-0.29604506513031836,-0.19404305569583258,0.2916238555687207,0.0003038369725765211],"issued_joint_targets_rad":[0.2935804432139348,1.5048601118796974,-1.2820586627932027,-0.1595390224705509,0.9598131332891493,0.30446185563890094],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.579999999996804,"joint_targets_rad":[0.2935804432139348,1.5048601118796974,-1.2820586627932027,-0.1595390224705509,0.9598131332891493,0.30446185563890094],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.599999999996793,"qpos":[0.28806369971820245,1.5073988223009993,-1.2872614228669466,-0.14264176526646025,0.9830709936957354,0.24887704543328554,0.03499801830480509,-0.035000017343034345,0.35512819567674236,0.0786980165577932,0.0798922445797837,0.9959435657946976,-1.848582898539623e-11,-4.443378919198862e-12,0.0899800741950223],"qvel":[0.03222642717422375,-0.005192949216660116,0.02689083605389915,-0.07595212442522929,-0.024878371701592142,0.17612826533955983,-4.202512824419706e-05,-9.973623512187066e-05,1.288363303223585e-11,-3.8111031710285405e-11,2.663216115391637e-15,-9.803028396244255e-10,-1.4394355963358314e-10,-6.343043740253033e-19],"joint_position_rad":[0.28806369971820245,1.5073988223009993,-1.2872614228669466,-0.14264176526646025,0.9830709936957354,0.24887704543328554],"joint_velocity_rad_s":[0.03222642717422375,-0.005192949216660116,0.02689083605389915,-0.07595212442522929,-0.024878371701592142,0.17612826533955983],"gripper_joint_position_m":[0.03499801830480509,-0.035000017343034345],"tcp_position_m":[0.34713834301541113,0.07828059170839473,0.20839438264342752],"tcp_quaternion_wxyz":[0.23452079508430226,-0.04415537656770351,0.971096669690461,-0.004643006492189229],"object_position_m":[0.35512819567674236,0.0786980165577932,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.848582898539623e-11,-4.443378919198862e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.288363303223585e-11,-3.8111031710285405e-11,2.663216115391637e-15],"object_angular_velocity_rad_s":[-9.386299387839248e-10,-3.173125332447209e-10,-6.343042175942693e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000638433},{"geom_ids":[1,90],"normal_force_n":0.09810000000858186},{"geom_ids":[1,90],"normal_force_n":0.0980999999936157},{"geom_ids":[1,90],"normal_force_n":0.09809999999141816}],"native_actuator_controls":[0.2935804432139348,1.5048601118796974,-1.2820586627932027,-0.1595390224705509,0.9598131332891493,0.30446185563890094,0.035],"actuator_force_native":[0.28020734378747036,-0.17713208762084776,0.28176662563001287,-0.2961296660374799,-0.19526104651347254,0.2916557040468142,0.000289393449017572],"issued_joint_targets_rad":[0.2942072155677024,1.5045468304616925,-1.2814519176988648,-0.16092930681259615,0.9591460294375098,0.30780973706330367],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.599999999996793,"joint_targets_rad":[0.2942072155677024,1.5045468304616925,-1.2814519176988648,-0.16092930681259615,0.9591460294375098,0.30780973706330367],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.619999999996782,"qpos":[0.2887363749218248,1.5072864589447632,-1.2866997716791837,-0.1442438039221579,0.9825669039943576,0.2524974058394193,0.034998051804046026,-0.03500004308473878,0.3551281956769153,0.07869801655728204,0.0798922445797837,0.9959435657946976,-1.6428151641338636e-11,-3.9487960372769795e-12,0.0899800741950223],"qvel":[0.03138801877753162,-0.005631815746481579,0.027592685719446102,-0.07423481384672717,-0.025063501795904053,0.17427703459737004,-4.025630232390064e-05,-9.818313278834674e-05,6.584375729912777e-12,-1.9477215954680434e-11,2.65627722148773e-15,6.972755276450218e-10,1.0238225352758168e-10,-6.872055893750147e-20],"joint_position_rad":[0.2887363749218248,1.5072864589447632,-1.2866997716791837,-0.1442438039221579,0.9825669039943576,0.2524974058394193],"joint_velocity_rad_s":[0.03138801877753162,-0.005631815746481579,0.027592685719446102,-0.07423481384672717,-0.025063501795904053,0.17427703459737004],"gripper_joint_position_m":[0.034998051804046026,-0.03500004308473878],"tcp_position_m":[0.3471423397383699,0.07824896102115741,0.2083246241033892],"tcp_quaternion_wxyz":[0.23474002908411118,-0.04303673392880175,0.9710929343237719,-0.004844706882637041],"object_position_m":[0.3551281956769153,0.07869801655728204,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6428151641338636e-11,-3.9487960372769795e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.584375729912777e-12,-1.9477215954680434e-11,2.65627722148773e-15],"object_angular_velocity_rad_s":[6.67634678452469e-10,2.2569719408467753e-10,-6.872054578686081e-20],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997942978},{"geom_ids":[1,90],"normal_force_n":0.09809999997234903},{"geom_ids":[1,90],"normal_force_n":0.09810000002057036},{"geom_ids":[1,90],"normal_force_n":0.09810000002765114}],"native_actuator_controls":[0.2942072155677024,1.5045468304616925,-1.2814519176988648,-0.16092930681259615,0.9591460294375098,0.30780973706330367,0.035],"actuator_force_native":[0.2807271577825503,-0.19101119991324822,0.2818648898282703,-0.29624604638389407,-0.19661349287462215,0.29170776034278845,0.00027920934977854195],"issued_joint_targets_rad":[0.2948149144866798,1.5042263379846044,-1.280835648077559,-0.16228269567379985,0.9584632147100802,0.31110713377591215],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.619999999996782,"joint_targets_rad":[0.2948149144866798,1.5042263379846044,-1.280835648077559,-0.16228269567379985,0.9584632147100802,0.31110713377591215],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.639999999996771,"qpos":[0.2893912138659185,1.5071653793430124,-1.286123672013612,-0.1458088418893741,0.982058990369062,0.25607834737949126,0.03499807188628838,-0.03500005754311021,0.35512819567711973,0.07869801655667726,0.0798922445797837,0.9959435657946976,-1.7936283997515526e-11,-4.311327163879618e-12,0.0899800741950223],"qvel":[0.03054137953327324,-0.00605878929993188,0.02830598597984052,-0.0725144232855327,-0.02525089577710896,0.17234088723448293,-3.9358346337910463e-05,-9.541130860553156e-05,7.2741779412175165e-12,-2.1517622896886975e-11,2.6604405578300746e-15,6.30500254966703e-10,9.257786635532235e-11,-1.2546921400882266e-19],"joint_position_rad":[0.2893912138659185,1.5071653793430124,-1.286123672013612,-0.1458088418893741,0.982058990369062,0.25607834737949126],"joint_velocity_rad_s":[0.03054137953327324,-0.00605878929993188,0.02830598597984052,-0.0725144232855327,-0.02525089577710896,0.17234088723448293],"gripper_joint_position_m":[0.03499807188628838,-0.03500005754311021],"tcp_position_m":[0.3471431448813027,0.07821679956134504,0.20825285978724734],"tcp_quaternion_wxyz":[0.23495555130937756,-0.04192318711204419,0.9710885543654837,-0.005035362115079042],"object_position_m":[0.35512819567711973,0.07869801655667726,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7936283997515526e-11,-4.311327163879618e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.2741779412175165e-12,-2.1517622896886975e-11,2.6604405578300746e-15],"object_angular_velocity_rad_s":[6.036979280482397e-10,2.0408342539815115e-10,-1.254691829105915e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000018742},{"geom_ids":[1,90],"normal_force_n":0.09810000000251931},{"geom_ids":[1,90],"normal_force_n":0.09809999999812585},{"geom_ids":[1,90],"normal_force_n":0.0980999999974807}],"native_actuator_controls":[0.2948149144866798,1.5042263379846044,-1.280835648077559,-0.16228269567379985,0.9584632147100802,0.31110713377591215,0.035],"actuator_force_native":[0.2811891519945391,-0.20482936217298686,0.2815119849850305,-0.29638203494936644,-0.1980814129241537,0.29177653311248486,0.00027391628015438485],"issued_joint_targets_rad":[0.295403418952438,1.5038988948148964,-1.2802103887697756,-0.16359886223546422,0.9577652709463667,0.3143512976864467],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.639999999996771,"joint_targets_rad":[0.295403418952438,1.5038988948148964,-1.2802103887697756,-0.16359886223546422,0.9577652709463667,0.3143512976864467],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.65999999999676,"qpos":[0.2900279792834201,1.507035800487423,-1.2855333774258624,-0.14733679432249805,0.9815471828037918,0.2596180718791882,0.034998090947349784,-0.035000077272464694,0.3551281956773211,0.078698016556081,0.0798922445797837,0.9959435657946976,-1.903078440313975e-11,-4.574446708016393e-12,0.0899800741950223],"qvel":[0.029681141388597013,-0.0064762637909633715,0.02898976332069535,-0.070791196006119,-0.025443277029478843,0.17031657915786896,-3.7982145156702084e-05,-9.313264795129501e-05,8.011042170972827e-12,-2.3697176954240415e-11,2.661828336610856e-15,4.775736993563518e-10,7.012344365717339e-11,-2.290676341130592e-19],"joint_position_rad":[0.2900279792834201,1.507035800487423,-1.2855333774258624,-0.14733679432249805,0.9815471828037918,0.2596180718791882],"joint_velocity_rad_s":[0.029681141388597013,-0.0064762637909633715,0.02898976332069535,-0.070791196006119,-0.025443277029478843,0.17031657915786896],"gripper_joint_position_m":[0.034998090947349784,-0.035000077272464694],"tcp_position_m":[0.3471408347017093,0.0781840454541673,0.20817907361400345],"tcp_quaternion_wxyz":[0.2351672813732369,-0.040815463269162654,0.9710835439459605,-0.0052152091998153806],"object_position_m":[0.3551281956773211,0.078698016556081,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.903078440313975e-11,-4.574446708016393e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.011042170972827e-12,-2.3697176954240415e-11,2.661828336610856e-15],"object_angular_velocity_rad_s":[4.572721953644697e-10,1.5458355350362956e-10,-2.290675815912435e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000340748},{"geom_ids":[1,90],"normal_force_n":0.09810000000458063},{"geom_ids":[1,90],"normal_force_n":0.09809999999659248},{"geom_ids":[1,90],"normal_force_n":0.09809999999541948}],"native_actuator_controls":[0.295403418952438,1.5038988948148964,-1.2802103887697756,-0.16359886223546422,0.9577652709463667,0.3143512976864467,0.035],"actuator_force_native":[0.281629466578444,-0.21857113484730917,0.2808902758834648,-0.29652673648805195,-0.19965420303003256,0.2918573893357821,0.000266272831792147],"issued_joint_targets_rad":[0.2959727100658759,1.5035643324333707,-1.2795759476415027,-0.16487778667802871,0.9570518255822061,0.3175400927489116],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.65999999999676,"joint_targets_rad":[0.2959727100658759,1.5035643324333707,-1.2795759476415027,-0.16487778667802871,0.9570518255822061,0.3175400927489116],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.679999999996749,"qpos":[0.2906463842069283,1.506897873579391,-1.284929685028858,-0.14882762040986186,0.9810313380956174,0.2631147805646432,0.0349981115290407,-0.03500010199335224,0.35512819567751824,0.07869801655549814,0.0798922445797837,0.9959435657946976,-1.9625588740383394e-11,-4.717419745484363e-12,0.0899800741950223],"qvel":[0.028806519837215903,-0.006887723894472401,0.029627216606280378,-0.06906692240064402,-0.025644392862309035,0.16820478912208642,-3.863778432876669e-05,-8.77592417350921e-05,8.943763379068816e-12,-2.6456237304238035e-11,2.6604405578300746e-15,2.113920080295854e-10,3.104010792908761e-11,-4.1822652673653557e-19],"joint_position_rad":[0.2906463842069283,1.506897873579391,-1.284929685028858,-0.14882762040986186,0.9810313380956174,0.2631147805646432],"joint_velocity_rad_s":[0.028806519837215903,-0.006887723894472401,0.029627216606280378,-0.06906692240064402,-0.025644392862309035,0.16820478912208642],"gripper_joint_position_m":[0.0349981115290407,-0.03500010199335224],"tcp_position_m":[0.3471356034337228,0.07815064750208837,0.20810346849564046],"tcp_quaternion_wxyz":[0.23537546621419062,-0.039714253074613536,0.9710778423725986,-0.00538442756069918],"object_position_m":[0.35512819567751824,0.07869801655549814,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9625588740383394e-11,-4.717419745484363e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.943763379068816e-12,-2.6456237304238035e-11,2.6604405578300746e-15],"object_angular_velocity_rad_s":[2.024056504490114e-10,6.842530252284018e-11,-4.182265367719238e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000049327},{"geom_ids":[1,90],"normal_force_n":0.09810000000663062},{"geom_ids":[1,90],"normal_force_n":0.09809999999506733},{"geom_ids":[1,90],"normal_force_n":0.09809999999336938}],"native_actuator_controls":[0.2959727100658759,1.5035643324333707,-1.2795759476415027,-0.16487778667802871,0.9570518255822061,0.3175400927489116,0.035],"actuator_force_native":[0.28207346952972756,-0.23224467220924794,0.2801629079570347,-0.2966720387234538,-0.20132853584064847,0.29194593815955416,0.0002687277600159632],"issued_joint_targets_rad":[0.29652283764272613,1.5032222370566077,-1.2789317112749532,-0.16611965112131116,0.956321956466364,0.3206717770801575],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.679999999996749,"joint_targets_rad":[0.29652283764272613,1.5032222370566077,-1.2789317112749532,-0.16611965112131116,0.956321956466364,0.3206717770801575],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.699999999996738,"qpos":[0.29124616251702395,1.5067516773194902,-1.2843135210532266,-0.15028133728060614,0.9805112358980875,0.2665667197881397,0.03499811558737947,-0.03500010492747101,0.355128195677709,0.07869801655493382,0.0798922445797837,0.9959435657946976,-1.9533747344837975e-11,-4.69533862687078e-12,0.0899800741950223],"qvel":[0.027919507024406955,-0.007296591063955571,0.03021942344462848,-0.06734421799574485,-0.0258577592463901,0.16600786407647286,-3.755218212702715e-05,-8.490742040257218e-05,1.0312692227184461e-11,-3.050563377082691e-11,2.657665000268512e-15,-2.0802773714354213e-10,-3.0545215723451334e-11,-7.635786405015775e-19],"joint_position_rad":[0.29124616251702395,1.5067516773194902,-1.2843135210532266,-0.15028133728060614,0.9805112358980875,0.2665667197881397],"joint_velocity_rad_s":[0.027919507024406955,-0.007296591063955571,0.03021942344462848,-0.06734421799574485,-0.0258577592463901,0.16600786407647286],"gripper_joint_position_m":[0.03499811558737947,-0.03500010492747101],"tcp_position_m":[0.3471276794671144,0.07811656421316611,0.2080263267519533],"tcp_quaternion_wxyz":[0.23558049145981008,-0.038620239951896534,0.9710713579826021,-0.005543177377423243],"object_position_m":[0.355128195677709,0.07869801655493382,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9533747344837975e-11,-4.69533862687078e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0312692227184461e-11,-3.050563377082691e-11,2.657665000268512e-15],"object_angular_velocity_rad_s":[-1.9918455622628815e-10,-6.73354452394233e-11,-7.6357866410653e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000597846},{"geom_ids":[1,90],"normal_force_n":0.09810000000803622},{"geom_ids":[1,90],"normal_force_n":0.09809999999402158},{"geom_ids":[1,90],"normal_force_n":0.09809999999196382}],"native_actuator_controls":[0.29652283764272613,1.5032222370566077,-1.2789317112749532,-0.16611965112131116,0.956321956466364,0.3206717770801575,0.035],"actuator_force_native":[0.28253647493414036,-0.24587226571081544,0.27944766503871676,-0.29681146364947786,-0.20310615544764943,0.2920387768054682,0.0002631374154564714],"issued_joint_targets_rad":[0.2970538869371929,1.5028721144649757,-1.2782769214511747,-0.16732473512856452,0.955574557120461,0.32374477706159416],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.699999999996738,"joint_targets_rad":[0.2970538869371929,1.5028721144649757,-1.2782769214511747,-0.16732473512856452,0.955574557120461,0.32374477706159416],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.719999999996727,"qpos":[0.29182710707347215,1.5065972286183078,-1.2836856678724973,-0.15169801539657574,0.9799865927216996,0.26997218666746486,0.03499812215278358,-0.035000111405232515,0.3551281956778909,0.07869801655439558,0.0798922445797837,0.9959435657946976,-1.8455399888007917e-11,-4.436136244425547e-12,0.0899800741950223],"qvel":[0.027023570440403183,-0.0077055535454819135,0.030777826482785466,-0.06562522944509133,-0.026086089084036233,0.1637280040929863,-3.598493815235122e-05,-8.262722137096702e-05,1.251547718744772e-11,-3.702156699428015e-11,2.6632161153916373e-15,-8.377951235741583e-10,-1.2301886706948266e-10,-1.394089383257035e-18],"joint_position_rad":[0.29182710707347215,1.5065972286183078,-1.2836856678724973,-0.15169801539657574,0.9799865927216996,0.26997218666746486],"joint_velocity_rad_s":[0.027023570440403183,-0.0077055535454819135,0.030777826482785466,-0.06562522944509133,-0.026086089084036233,0.1637280040929863],"gripper_joint_position_m":[0.03499812215278358,-0.035000111405232515],"tcp_position_m":[0.3471172683459673,0.07808176156023765,0.20794791095234727],"tcp_quaternion_wxyz":[0.2357827410707315,-0.037534125088922024,0.9710640008988604,-0.005691627647688072],"object_position_m":[0.3551281956778909,0.07869801655439558,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8455399888007917e-11,-4.436136244425547e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.251547718744772e-11,-3.702156699428015e-11,2.6632161153916373e-15],"object_angular_velocity_rad_s":[-8.021801614241735e-10,-2.7118499102491507e-10,-1.3940893470734726e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000056763},{"geom_ids":[1,90],"normal_force_n":0.09810000000763001},{"geom_ids":[1,90],"normal_force_n":0.09809999999432374},{"geom_ids":[1,90],"normal_force_n":0.09809999999237003}],"native_actuator_controls":[0.2970538869371929,1.5028721144649757,-1.2782769214511747,-0.16732473512856452,0.955574557120461,0.32374477706159416,0.035],"actuator_force_native":[0.283024536895649,-0.25948136453914117,0.27881058129187863,-0.2969426420540948,-0.20499122238633127,0.29213389780181354,0.0002550385794186649],"issued_joint_targets_rad":[0.29756595144486697,1.5025135102811047,-1.277610878393347,-0.16849333114361928,0.9548086045356391,0.3267575000642423],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.719999999996727,"joint_targets_rad":[0.29756595144486697,1.5025135102811047,-1.277610878393347,-0.16849333114361928,0.9548086045356391,0.3267575000642423],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.739999999996716,"qpos":[0.2923890843344547,1.5064343663984192,-1.283046568931936,-0.15307776235419757,0.9794570827854887,0.27332951025833396,0.034998135229540095,-0.03500012509676469,0.35512819567805987,0.07869801655389605,0.0798922445797837,0.9959435657946976,-1.5954020433046523e-11,-3.8348804116683625e-12,0.0899800741950223],"qvel":[0.026122410608202612,-0.00811903204926649,0.031317004658834226,-0.0639115562043627,-0.026330485026522393,0.16136560316223847,-3.434649098949674e-05,-8.034566992638606e-05,6.430250324215661e-12,-1.9021094921635508e-11,2.6632161153916373e-15,6.949879644277408e-10,1.0204892836305306e-10,-1.5103809415347866e-19],"joint_position_rad":[0.2923890843344547,1.5064343663984192,-1.283046568931936,-0.15307776235419757,0.9794570827854887,0.27332951025833396],"joint_velocity_rad_s":[0.026122410608202612,-0.00811903204926649,0.031317004658834226,-0.0639115562043627,-0.026330485026522393,0.16136560316223847],"gripper_joint_position_m":[0.034998135229540095,-0.03500012509676469],"tcp_position_m":[0.3471045003186445,0.07804620512831269,0.20786843568566216],"tcp_quaternion_wxyz":[0.23598254897081486,-0.036456643323135564,0.9710556942219257,-0.005829962094246798],"object_position_m":[0.35512819567805987,0.07869801655389605,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.5954020433046523e-11,-3.8348804116683625e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.430250324215661e-12,-1.9021094921635508e-11,2.6632161153916373e-15],"object_angular_velocity_rad_s":[6.654438992716373e-10,2.2495926609415305e-10,-1.5103809607189408e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998072493},{"geom_ids":[1,90],"normal_force_n":0.09809999997409005},{"geom_ids":[1,90],"normal_force_n":0.09810000001927507},{"geom_ids":[1,90],"normal_force_n":0.09810000002590993}],"native_actuator_controls":[0.29756595144486697,1.5025135102811047,-1.277610878393347,-0.16849333114361928,0.9548086045356391,0.3267575000642423,0.035],"actuator_force_native":[0.2835373157919676,-0.27307332913883897,0.27827021979294386,-0.29706497055505565,-0.20698905495871323,0.29223149331572573,0.0002463232733438403],"issued_joint_targets_rad":[0.29805911963977216,1.5021460526765222,-1.2769330146516975,-0.16962570434772006,0.9540232560677968,0.3297082481158008],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.739999999996716,"joint_targets_rad":[0.29805911963977216,1.5021460526765222,-1.2769330146516975,-0.16962570434772006,0.9540232560677968,0.3297082481158008],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.759999999996705,"qpos":[0.2929320344978939,1.5062597113022733,-1.2823948251730304,-0.15442068175638363,0.9789223249588342,0.27663677444020646,0.03499814807079355,-0.0350001436032938,0.3551281956782548,0.07869801655331954,0.0798922445797837,0.9959435657946976,-1.7037720850239583e-11,-4.09537460534589e-12,0.0899800741950223],"qvel":[0.02521960764154017,-0.008613935391072225,0.031844890423936595,-0.06220416463451007,-0.02657971143287454,0.1589029605831195,-3.249949112831962e-05,-7.75222665208479e-05,6.934083027422157e-12,-2.0511455396196836e-11,2.6604405578300746e-15,6.112794093314963e-10,8.975724775772777e-11,-2.757587659493729e-19],"joint_position_rad":[0.2929320344978939,1.5062597113022733,-1.2823948251730304,-0.15442068175638363,0.9789223249588342,0.27663677444020646],"joint_velocity_rad_s":[0.02521960764154017,-0.008613935391072225,0.031844890423936595,-0.06220416463451007,-0.02657971143287454,0.1589029605831195],"gripper_joint_position_m":[0.03499814807079355,-0.0350001436032938],"tcp_position_m":[0.3470888956738837,0.07800970640111737,0.20778862857460556],"tcp_quaternion_wxyz":[0.23618092178913574,-0.035388634444871656,0.9710461969232098,-0.00595820240778815],"object_position_m":[0.3551281956782548,0.07869801655331954,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7037720850239583e-11,-4.09537460534589e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.934083027422157e-12,-2.0511455396196836e-11,2.6604405578300746e-15],"object_angular_velocity_rad_s":[5.85293862150557e-10,1.9786352550833882e-10,-2.757587525511978e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000157454},{"geom_ids":[1,90],"normal_force_n":0.09810000000211669},{"geom_ids":[1,90],"normal_force_n":0.09809999999842545},{"geom_ids":[1,90],"normal_force_n":0.09809999999788334}],"native_actuator_controls":[0.29805911963977216,1.5021460526765222,-1.2769330146516975,-0.16962570434772006,0.9540232560677968,0.3297082481158008,0.035],"actuator_force_native":[0.28406877314256107,-0.28602301310472455,0.2777203895869462,-0.29718008048090727,-0.20912112176106312,0.29236029588126433,0.00023657462389969908],"issued_joint_targets_rad":[0.29853355915022844,1.5017689083304935,-1.2762419899603334,-0.17072237470199603,0.953216655771917,0.33259582247830166],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.759999999996705,"joint_targets_rad":[0.29853355915022844,1.5017689083304935,-1.2762419899603334,-0.17072237470199603,0.953216655771917,0.33259582247830166],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.779999999996694,"qpos":[0.29345598384792787,1.5060669482970335,-1.281727908861672,-0.15572692297978025,0.978381918579074,0.2798924011423621,0.03499815532542075,-0.03500016984805702,0.3551281956784448,0.07869801655275728,0.0798922445797837,0.9959435657946976,-1.78922565367274e-11,-4.300785230845131e-12,0.0899800741950223],"qvel":[0.024318116817857702,-0.009362450275652712,0.03240408192393731,-0.06050235691259043,-0.026825608220794644,0.156326959828544,-3.1074822310349514e-05,-7.288866151521943e-05,7.543675333473992e-12,-2.2314644604435382e-11,2.6562772214877305e-15,4.5691722652911606e-10,6.709181859696117e-11,-5.034695445307414e-19],"joint_position_rad":[0.29345598384792787,1.5060669482970335,-1.281727908861672,-0.15572692297978025,0.978381918579074,0.2798924011423621],"joint_velocity_rad_s":[0.024318116817857702,-0.009362450275652712,0.03240408192393731,-0.06050235691259043,-0.026825608220794644,0.156326959828544],"gripper_joint_position_m":[0.03499815532542075,-0.03500016984805702],"tcp_position_m":[0.3470695207953271,0.0779719630865286,0.20770987310378602],"tcp_quaternion_wxyz":[0.2363797312171576,-0.03433075672877634,0.9710350677176454,-0.006076106872221057],"object_position_m":[0.3551281956784448,0.07869801655275728,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.78922565367274e-11,-4.300785230845131e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.543675333473992e-12,-2.2314644604435382e-11,2.6562772214877305e-15],"object_angular_velocity_rad_s":[4.3749356785858324e-10,1.4789875626276838e-10,-5.03469542305271e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000308164},{"geom_ids":[1,90],"normal_force_n":0.09810000000414242},{"geom_ids":[1,90],"normal_force_n":0.09809999999691847},{"geom_ids":[1,90],"normal_force_n":0.09809999999585754}],"native_actuator_controls":[0.29853355915022844,1.5017689083304935,-1.2762419899603334,-0.17072237470199603,0.953216655771917,0.33259582247830166,0.035],"actuator_force_native":[0.2846154400947576,-0.2970309459449254,0.2768531024874079,-0.2973062843256793,-0.211414215740378,0.2925437736165799,0.00022916109472181923],"issued_joint_targets_rad":[0.2989896037647771,1.5013805814315342,-1.2755353423221716,-0.17178435693784078,0.9523854799082875,0.3354204300521325],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.779999999996694,"joint_targets_rad":[0.2989896037647771,1.5013805814315342,-1.2755353423221716,-0.17178435693784078,0.9523854799082875,0.3354204300521325],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.799999999996682,"qpos":[0.2939610596521654,1.5058484227622124,-1.281043489644717,-0.15699679430870758,0.9778354688503607,0.28309512451245805,0.03499814880722787,-0.03500019712228242,0.35512819567864107,0.07869801655217676,0.0798922445797837,0.9959435657946976,-1.9376110304016804e-11,-4.657447858079094e-12,0.0899800741950223],"qvel":[0.023423042403848317,-0.010777679470737076,0.03323575202687509,-0.05880865553651544,-0.02710409338610377,0.1537030180053811,-2.9124604811488792e-05,-7.092730726352024e-05,8.62489348763276e-12,-2.5513024789503306e-11,2.652113885145386e-15,2.423618544995786e-10,3.5587914200497415e-11,-9.19219542703912e-19],"joint_position_rad":[0.2939610596521654,1.5058484227622124,-1.281043489644717,-0.15699679430870758,0.9778354688503607,0.28309512451245805],"joint_velocity_rad_s":[0.023423042403848317,-0.010777679470737076,0.03323575202687509,-0.05880865553651544,-0.02710409338610377,0.1537030180053811],"gripper_joint_position_m":[0.03499814880722787,-0.03500019712228242],"tcp_position_m":[0.3470453729841793,0.07793265906214339,0.20763409897585694],"tcp_quaternion_wxyz":[0.2365815878946998,-0.0332835349422258,0.9710216918020894,-0.006183253252153825],"object_position_m":[0.35512819567864107,0.07869801655217676,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9376110304016804e-11,-4.657447858079094e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.62489348763276e-12,-2.5513024789503306e-11,2.652113885145386e-15],"object_angular_velocity_rad_s":[2.3205890352849747e-10,7.845019723855528e-11,-9.192195678888707e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000050259},{"geom_ids":[1,90],"normal_force_n":0.09810000000675616},{"geom_ids":[1,90],"normal_force_n":0.098099999994974},{"geom_ids":[1,90],"normal_force_n":0.09809999999324392}],"native_actuator_controls":[0.2989896037647771,1.5013805814315342,-1.2755353423221716,-0.17178435693784078,0.9523854799082875,0.3354204300521325,0.035],"actuator_force_native":[0.2851683169896937,-0.3035389091005669,0.274473025669252,-0.2974592274827508,-0.21384374934157613,0.2926985283886734,0.00021967073494288947],"issued_joint_targets_rad":[0.29942775116940806,1.5009790603712707,-1.2748097174067847,-0.17281314615848042,0.951525238376101,0.338183569856762],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.799999999996682,"joint_targets_rad":[0.29942775116940806,1.5009790603712707,-1.2748097174067847,-0.17281314615848042,0.951525238376101,0.338183569856762],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.819999999996671,"qpos":[0.2944474737465173,1.5055956422686363,-1.2803403150070756,-0.15823073848085598,0.9772828449876796,0.2862433896311474,0.03499814696829449,-0.03500022985261145,0.35512819567883497,0.07869801655160284,0.0798922445797837,0.9959435657946976,-1.9922956945047053e-11,-4.788893213759093e-12,0.0899800741950223],"qvel":[0.02254079226296215,-0.012631886168170958,0.034141203474378476,-0.05714172015450521,-0.027406299237914995,0.15104433331401268,-2.7848125922021313e-05,-6.79042942836318e-05,1.0071955594878082e-11,-2.979351348770549e-11,2.6535016639261677e-15,-1.2239941423260523e-10,-1.7972753736405524e-11,-1.6782516641607795e-18],"joint_position_rad":[0.2944474737465173,1.5055956422686363,-1.2803403150070756,-0.15823073848085598,0.9772828449876796,0.2862433896311474],"joint_velocity_rad_s":[0.02254079226296215,-0.012631886168170958,0.034141203474378476,-0.05714172015450521,-0.027406299237914995,0.15104433331401268],"gripper_joint_position_m":[0.03499814696829449,-0.03500022985261145],"tcp_position_m":[0.3470155449627966,0.0778915076310938,0.20756388274218818],"tcp_quaternion_wxyz":[0.23678989423207028,-0.03224761581835272,0.9710052576193448,-0.0062790874486099895],"object_position_m":[0.35512819567883497,0.07869801655160284,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9922956945047053e-11,-4.788893213759093e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0071955594878082e-11,-2.979351348770549e-11,2.6535016639261677e-15],"object_angular_velocity_rad_s":[-1.1719616224928017e-10,-3.961938963935111e-11,-1.6782516559649442e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000624708},{"geom_ids":[1,90],"normal_force_n":0.09810000000839739},{"geom_ids":[1,90],"normal_force_n":0.09809999999375295},{"geom_ids":[1,90],"normal_force_n":0.09809999999160263}],"native_actuator_controls":[0.29942775116940806,1.5009790603712707,-1.2748097174067847,-0.17281314615848042,0.951525238376101,0.338183569856762,0.035],"actuator_force_native":[0.28571823251645156,-0.3061671209483876,0.2717417906513617,-0.29758770633245124,-0.21646661725891292,0.29283530228512733,0.0002133618978308327],"issued_joint_targets_rad":[0.29984862585440036,1.5005618838312251,-1.274060971125205,-0.1738106355499555,0.9506303984592834,0.3408876391915168],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.819999999996671,"joint_targets_rad":[0.29984862585440036,1.5005618838312251,-1.274060971125205,-0.1738106355499555,0.9506303984592834,0.3408876391915168],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.83999999999666,"qpos":[0.29491553814795,1.50530372156938,-1.2796192270142681,-0.15942946472123823,0.976723690469117,0.28933628129145267,0.034998150699999696,-0.035000247416049776,0.3551281956790233,0.07869801655104561,0.0798922445797837,0.9959435657946976,-1.933125095787277e-11,-4.64665615808416e-12,0.0899800741950223],"qvel":[0.02167402813938103,-0.014594206598421693,0.03494788462274367,-0.055509933198809897,-0.027730786026972792,0.14834812384253565,-2.6079712311790158e-05,-6.469653144814477e-05,1.2196403874230888e-11,-3.607789653506011e-11,2.652113885145386e-15,-6.990301953841178e-10,-1.0263959622419413e-10,-3.064084912107471e-18],"joint_position_rad":[0.29491553814795,1.50530372156938,-1.2796192270142681,-0.15942946472123823,0.976723690469117,0.28933628129145267],"joint_velocity_rad_s":[0.02167402813938103,-0.014594206598421693,0.03494788462274367,-0.055509933198809897,-0.027730786026972792,0.14834812384253565],"gripper_joint_position_m":[0.034998150699999696,-0.035000247416049776],"tcp_position_m":[0.3469798715129032,0.0778484397306572,0.20750126950793762],"tcp_quaternion_wxyz":[0.23700748052067844,-0.031223493560479813,0.9709850961860714,-0.006363223369086963],"object_position_m":[0.3551281956790233,0.07869801655104561,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.933125095787277e-11,-4.64665615808416e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.2196403874230888e-11,-3.607789653506011e-11,2.652113885145386e-15],"object_angular_velocity_rad_s":[-6.693148095889373e-10,-2.262648590407863e-10,-3.0640850066689016e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000063106},{"geom_ids":[1,90],"normal_force_n":0.09810000000848274},{"geom_ids":[1,90],"normal_force_n":0.0980999999936894},{"geom_ids":[1,90],"normal_force_n":0.09809999999151725}],"native_actuator_controls":[0.29984862585440036,1.5005618838312251,-1.274060971125205,-0.1738106355499555,0.9506303984592834,0.3408876391915168,0.035],"actuator_force_native":[0.286276875819123,-0.3063759860602744,0.26992104801131234,-0.2976971671546407,-0.2193367410578766,0.292991393236838,0.00020437056157129874],"issued_joint_targets_rad":[0.30025284140067876,1.50012710168146,-1.2732857739858234,-0.17477863042375683,0.9496965134207185,0.34353507088456525],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.83999999999666,"joint_targets_rad":[0.30025284140067876,1.50012710168146,-1.2732857739858234,-0.17477863042375683,0.9496965134207185,0.34353507088456525],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.85999999999665,"qpos":[0.2953656479029186,1.5049720561559854,-1.2788818152106354,-0.16059389063838542,0.9761572839676481,0.2923735784446755,0.03499816425286675,-0.03500024792756571,0.3551281956792009,0.07869801655051996,0.0798922445797837,0.9959435657946976,-1.727396422434797e-11,-4.152127917236099e-12,0.0899800741950223],"qvel":[0.02082663281004262,-0.016526813744101226,0.035697105385553776,-0.053920989030367565,-0.02809865958586961,0.14565030726055023,-2.4168661672048132e-05,-6.192937203623031e-05,1.562121219017025e-11,-4.620933086930887e-11,2.649338327583823e-15,-1.5609485674070873e-09,-2.2918485797537388e-10,-5.594247797199266e-18],"joint_position_rad":[0.2953656479029186,1.5049720561559854,-1.2788818152106354,-0.16059389063838542,0.9761572839676481,0.2923735784446755],"joint_velocity_rad_s":[0.02082663281004262,-0.016526813744101226,0.035697105385553776,-0.053920989030367565,-0.02809865958586961,0.14565030726055023],"gripper_joint_position_m":[0.03499816425286675,-0.03500024792756571],"tcp_position_m":[0.3469387469006131,0.07780355753152209,0.20744708231601575],"tcp_quaternion_wxyz":[0.23723571682480277,-0.03021154803620996,0.9709608948937601,-0.006435651869606103],"object_position_m":[0.3551281956792009,0.07869801655051996,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.727396422434797e-11,-4.152127917236099e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.562121219017025e-11,-4.620933086930887e-11,2.649338327583823e-15],"object_angular_velocity_rad_s":[-1.494595559606528e-09,-5.052427559301308e-10,-5.594248333117318e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000389699},{"geom_ids":[1,90],"normal_force_n":0.0981000000052384},{"geom_ids":[1,90],"normal_force_n":0.098099999996103},{"geom_ids":[1,90],"normal_force_n":0.09809999999476159}],"native_actuator_controls":[0.30025284140067876,1.50012710168146,-1.2732857739858234,-0.17477863042375683,0.9496965134207185,0.34353507088456525,0.035],"actuator_force_native":[0.2868423157706026,-0.30496228924153,0.2691977710571791,-0.29778464626301826,-0.22245971609049064,0.2931394635080724,0.0001942731936903641],"issued_joint_targets_rad":[0.30064085124706463,1.4996739049892545,-1.2724826925353165,-0.17571836762773546,0.9487216546661118,0.3461271330911069],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.85999999999665,"joint_targets_rad":[0.30064085124706463,1.4996739049892545,-1.2724826925353165,-0.17571836762773546,0.9487216546661118,0.3461271330911069],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.879999999996638,"qpos":[0.2957982401849344,1.5046020473697141,-1.2781284438821063,-0.1617249743598305,0.9755826660262191,0.2953554450400812,0.03499818735327375,-0.035000238555334934,0.35512819567939474,0.07869801654994707,0.0798922445797837,0.9959435657946976,-1.7374517191498826e-11,-4.176247246955856e-12,0.0899800741950223],"qvel":[0.020000362629634907,-0.01835708566855599,0.0364599717267886,-0.052376216300853505,-0.028515597538990585,0.14296206908715614,-2.2395885307554088e-05,-5.9567859095007786e-05,7.035425853807625e-12,-2.081152126682759e-11,2.6548894427069483e-15,6.58269859724492e-10,9.665618540642847e-11,-6.06091681274091e-19],"joint_position_rad":[0.2957982401849344,1.5046020473697141,-1.2781284438821063,-0.1617249743598305,0.9755826660262191,0.2953554450400812],"joint_velocity_rad_s":[0.020000362629634907,-0.01835708566855599,0.0364599717267886,-0.052376216300853505,-0.028515597538990585,0.14296206908715614],"gripper_joint_position_m":[0.03499818735327375,-0.035000238555334934],"tcp_position_m":[0.34689253321185,0.07775696844882476,0.20740103436805662],"tcp_quaternion_wxyz":[0.2374745779091347,-0.02921213211811781,0.9709326799981336,-0.006496698825843087],"object_position_m":[0.35512819567939474,0.07869801654994707,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7374517191498826e-11,-4.176247246955856e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.035425853807625e-12,-2.081152126682759e-11,2.6548894427069483e-15],"object_angular_velocity_rad_s":[6.302869066433442e-10,2.1307285541097806e-10,-6.060917424184166e-19],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000129994},{"geom_ids":[1,90],"normal_force_n":0.0981000000017474},{"geom_ids":[1,90],"normal_force_n":0.09809999999870007},{"geom_ids":[1,90],"normal_force_n":0.09809999999825263}],"native_actuator_controls":[0.30064085124706463,1.4996739049892545,-1.2724826925353165,-0.17571836762773546,0.9487216546661118,0.3461271330911069,0.035],"actuator_force_native":[0.2874070718222441,-0.30246596209399,0.2693602491092548,-0.2978546492119314,-0.22583671729258725,0.29327377687952216,0.0001844852955878995],"issued_joint_targets_rad":[0.301012914182738,1.499202537947435,-1.2716520722809554,-0.17663042430909065,0.9477062558490477,0.34866361785519084],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.879999999996638,"joint_targets_rad":[0.301012914182738,1.499202537947435,-1.2716520722809554,-0.17663042430909065,0.9477062558490477,0.34866361785519084],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.899999999996627,"qpos":[0.29621374298205094,1.504196299949032,-1.2773583311870231,-0.162823597133866,0.9749988991025121,0.2982820215843876,0.03499821774712495,-0.03500022577182618,0.355128195679593,0.0786980165493605,0.0798922445797837,0.9959435657946976,-1.836224071569805e-11,-4.413627810484677e-12,0.0899800741950223],"qvel":[0.019194263918418473,-0.020036664276529153,0.037283173105792725,-0.050871874223756657,-0.028977312031001148,0.14027858075872024,-2.0755551611570416e-05,-5.7411635199608295e-05,7.646535667113416e-12,-2.2619387332825642e-11,2.650726106364604e-15,5.2093512578022e-10,7.648988190887151e-11,-1.1065681810535369e-18],"joint_position_rad":[0.29621374298205094,1.504196299949032,-1.2773583311870231,-0.162823597133866,0.9749988991025121,0.2982820215843876],"joint_velocity_rad_s":[0.019194263918418473,-0.020036664276529153,0.037283173105792725,-0.050871874223756657,-0.028977312031001148,0.14027858075872024],"gripper_joint_position_m":[0.03499821774712495,-0.03500022577182618],"tcp_position_m":[0.3468414619834467,0.07770875207554548,0.20736201439658292],"tcp_quaternion_wxyz":[0.23772292329944436,-0.02822568307073727,0.9709007466301404,-0.006546964654932289],"object_position_m":[0.355128195679593,0.0786980165493605,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.836224071569805e-11,-4.413627810484677e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.646535667113416e-12,-2.2619387332825642e-11,2.650726106364604e-15],"object_angular_velocity_rad_s":[4.987904199950757e-10,1.6861857616295418e-10,-1.106568232743887e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000002818},{"geom_ids":[1,90],"normal_force_n":0.09810000000378785},{"geom_ids":[1,90],"normal_force_n":0.09809999999718205},{"geom_ids":[1,90],"normal_force_n":0.0980999999962121}],"native_actuator_controls":[0.301012914182738,1.499202537947435,-1.2716520722809554,-0.17663042430909065,0.9477062558490477,0.34866361785519084,0.035],"actuator_force_native":[0.28796237646287537,-0.29931763874512285,0.2700848469564505,-0.29791371589020255,-0.2294604644881435,0.2933980915699519,0.0001750678730600974],"issued_joint_targets_rad":[0.30136909815206675,1.4987140929269944,-1.2707957056335368,-0.17751475524071728,0.9466526664375823,0.35114277222121487],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.899999999996627,"joint_targets_rad":[0.30136909815206675,1.4987140929269944,-1.2707957056335368,-0.17751475524071728,0.9466526664375823,0.35114277222121487],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.919999999996616,"qpos":[0.2966125229876848,1.5037582726522303,-1.2765701700775727,-0.1638904799834403,0.9744051963445475,0.3011531773209358,0.03499825341317386,-0.03500021378148366,0.3551281956797861,0.07869801654878929,0.0798922445797837,0.9959435657946976,-1.898355244135063e-11,-4.562950371250057e-12,0.0899800741950223],"qvel":[0.01840487996794968,-0.021530293491488106,0.03817916635185525,-0.04940055233234803,-0.029475415197873694,0.13758497946629739,-1.9215871830339796e-05,-5.5410799674162954e-05,8.441998658562887e-12,-2.4972552717773425e-11,2.6521138851453852e-15,2.873666960413646e-10,4.2194443496644375e-11,-2.0203061151963115e-18],"joint_position_rad":[0.2966125229876848,1.5037582726522303,-1.2765701700775727,-0.1638904799834403,0.9744051963445475,0.3011531773209358],"joint_velocity_rad_s":[0.01840487996794968,-0.021530293491488106,0.03817916635185525,-0.04940055233234803,-0.029475415197873694,0.13758497946629739],"gripper_joint_position_m":[0.03499825341317386,-0.03500021378148366],"tcp_position_m":[0.346785701805399,0.07765897351794178,0.20732841069486668],"tcp_quaternion_wxyz":[0.237978882864046,-0.027252761726285175,0.9708655657430223,-0.00658722578574321],"object_position_m":[0.3551281956797861,0.07869801654878929,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.898355244135063e-11,-4.562950371250057e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.441998658562887e-12,-2.4972552717773425e-11,2.6521138851453852e-15],"object_angular_velocity_rad_s":[2.751509001851352e-10,9.301597273066098e-11,-2.020306149487942e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000437366},{"geom_ids":[1,90],"normal_force_n":0.0981000000058789},{"geom_ids":[1,90],"normal_force_n":0.09809999999562635},{"geom_ids":[1,90],"normal_force_n":0.09809999999412111}],"native_actuator_controls":[0.30136909815206675,1.4987140929269944,-1.2707957056335368,-0.17751475524071728,0.9466526664375823,0.35114277222121487,0.035],"actuator_force_native":[0.2885016133108067,-0.29588291056141713,0.2710613237635897,-0.29796824862933846,-0.2333121762728414,0.2935184798033439,0.00016594283219739658],"issued_joint_targets_rad":[0.3017093174356193,1.4982102249063958,-1.2699163531894564,-0.1783708318077694,0.9455645120011387,0.35356156152665447],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.919999999996616,"joint_targets_rad":[0.3017093174356193,1.4982102249063958,-1.2699163531894564,-0.1783708318077694,0.9455645120011387,0.35356156152665447],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.939999999996605,"qpos":[0.2969948477544991,1.503292019179351,-1.2757627347461349,-0.16492613902471698,0.9738009590573865,0.30396837592396525,0.034998292323070765,-0.035000206694377166,0.355128195679973,0.07869801654823641,0.0798922445797837,0.9959435657946976,-1.9040449924487226e-11,-4.576626786478422e-12,0.0899800741950223],"qvel":[0.017627126901929416,-0.022815189379804812,0.03913334040288056,-0.047952881607833724,-0.030000771340602347,0.13486101869266856,-1.7881690442152857e-05,-5.369176360229786e-05,9.611236066408338e-12,-2.843129737915695e-11,2.6604405578300734e-15,-8.021629517348806e-11,-1.1778392327783663e-11,-3.6885571255415046e-18],"joint_position_rad":[0.2969948477544991,1.503292019179351,-1.2757627347461349,-0.16492613902471698,0.9738009590573865,0.30396837592396525],"joint_velocity_rad_s":[0.017627126901929416,-0.022815189379804812,0.03913334040288056,-0.047952881607833724,-0.030000771340602347,0.13486101869266856],"gripper_joint_position_m":[0.034998292323070765,-0.035000206694377166],"tcp_position_m":[0.34672544770614,0.07760770363927633,0.20729840747086148],"tcp_quaternion_wxyz":[0.23824023932908564,-0.02629405678390608,0.9708276925363336,-0.006618334144092105],"object_position_m":[0.355128195679973,0.07869801654823641,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9040449924487226e-11,-4.576626786478422e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.611236066408338e-12,-2.843129737915695e-11,2.6604405578300734e-15],"object_angular_velocity_rad_s":[-7.680632349679968e-11,-2.5964845620421004e-11,-3.688557111173767e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000558732},{"geom_ids":[1,90],"normal_force_n":0.09810000000751036},{"geom_ids":[1,90],"normal_force_n":0.09809999999441274},{"geom_ids":[1,90],"normal_force_n":0.09809999999248957}],"native_actuator_controls":[0.3017093174356193,1.4982102249063958,-1.2699163531894564,-0.1783708318077694,0.9455645120011387,0.35356156152665447,0.035],"actuator_force_native":[0.28902193997997117,-0.29246759493740626,0.27204382251986203,-0.29802330328292737,-0.23736331355157603,0.2936403279878892,0.00015771552938015354],"issued_joint_targets_rad":[0.3020333844606524,1.497692873425369,-1.2690172713829184,-0.17919781656085426,0.9444460659172972,0.35591606922605157],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.939999999996605,"joint_targets_rad":[0.3020333844606524,1.497692873425369,-1.2690172713829184,-0.17919781656085426,0.9444460659172972,0.35591606922605157],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.959999999996594,"qpos":[0.2973608690190086,1.5028019131296049,-1.27493528621443,-0.16593087565469192,0.9731857673757317,0.3067266253614543,0.03499833387541806,-0.035000207534230186,0.3551281956801518,0.07869801654770756,0.0798922445797837,0.9959435657946976,-1.8248836681592397e-11,-4.386366947906197e-12,0.0899800741950223],"qvel":[0.01685541925539788,-0.023882405871395906,0.04011551423036105,-0.046519071713283656,-0.03054514294503397,0.13208469272841517,-1.644747172431036e-05,-5.1846604954755504e-05,1.1482805131120862e-11,-3.3967485363167013e-11,2.6576650002685107e-15,-6.340649892366018e-10,-9.310279372031235e-11,-6.734393185409313e-18],"joint_position_rad":[0.2973608690190086,1.5028019131296049,-1.27493528621443,-0.16593087565469192,0.9731857673757317,0.3067266253614543],"joint_velocity_rad_s":[0.01685541925539788,-0.023882405871395906,0.04011551423036105,-0.046519071713283656,-0.03054514294503397,0.13208469272841517],"gripper_joint_position_m":[0.03499833387541806,-0.035000207534230186],"tcp_position_m":[0.34666097926694855,0.07755503244016436,0.20727022286748342],"tcp_quaternion_wxyz":[0.23850474945162747,-0.02535037297290835,0.970787689677864,-0.006641133116118876],"object_position_m":[0.3551281956801518,0.07869801654770756,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8248836681592397e-11,-4.386366947906197e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1482805131120862e-11,-3.3967485363167013e-11,2.6576650002685107e-15],"object_angular_velocity_rad_s":[-6.071108563796499e-10,-2.0523876056950376e-10,-6.734393051271366e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000574212},{"geom_ids":[1,90],"normal_force_n":0.09810000000771851},{"geom_ids":[1,90],"normal_force_n":0.0980999999942579},{"geom_ids":[1,90],"normal_force_n":0.09809999999228153}],"native_actuator_controls":[0.3020333844606524,1.497692873425369,-1.2690172713829184,-0.17919781656085426,0.9444460659172972,0.35591606922605157,0.035],"actuator_force_native":[0.28952413905451735,-0.28931114698188765,0.2728636153691184,-0.2980822776800762,-0.2415793001667943,0.2937673995533503,0.000148882341899359],"issued_joint_targets_rad":[0.3023410641029824,1.4971640371087636,-1.2681018255844643,-0.1799947336332824,0.9433017376481349,0.35820191841034255],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.959999999996594,"joint_targets_rad":[0.3023410641029824,1.4971640371087636,-1.2681018255844643,-0.1799947336332824,0.9433017376481349,0.35820191841034255],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.979999999996583,"qpos":[0.2977106498006655,1.5022923585475687,-1.2740877571200258,-0.16690488480588833,0.9725593514492606,0.30942651091139894,0.034998378903661156,-0.035000213167180126,0.3551281956803286,0.07869801654718468,0.0798922445797837,0.9959435657946976,-1.7376425637150562e-11,-4.17667878967755e-12,0.0899800741950223],"qvel":[0.016101029531853783,-0.024737139062278386,0.04109157305453506,-0.04515408331339073,-0.03110192503466783,0.12925000712486812,-1.456833039364893e-05,-4.8624874296752265e-05,1.4653409535428943e-11,-4.334670154040747e-11,2.6673794517339806e-15,-1.4384745604621735e-09,-2.1120652111629494e-10,-1.2295292351951282e-17],"joint_position_rad":[0.2977106498006655,1.5022923585475687,-1.2740877571200258,-0.16690488480588833,0.9725593514492606,0.30942651091139894],"joint_velocity_rad_s":[0.016101029531853783,-0.024737139062278386,0.04109157305453506,-0.04515408331339073,-0.03110192503466783,0.12925000712486812],"gripper_joint_position_m":[0.034998378903661156,-0.035000213167180126],"tcp_position_m":[0.34659268165339613,0.07750106656072879,0.20724228097468309],"tcp_quaternion_wxyz":[0.23877039252100013,-0.024422629677915267,0.970746067065959,-0.006656432299329126],"object_position_m":[0.3551281956803286,0.07869801654718468,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7376425637150562e-11,-4.17667878967755e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.4653409535428943e-11,-4.334670154040747e-11,2.6673794517339806e-15],"object_angular_velocity_rad_s":[-1.3773270131757875e-09,-4.6560450431149175e-10,-1.229529249478547e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000052102},{"geom_ids":[1,90],"normal_force_n":0.09810000000700349},{"geom_ids":[1,90],"normal_force_n":0.09809999999478977},{"geom_ids":[1,90],"normal_force_n":0.0980999999929965}],"native_actuator_controls":[0.3023410641029824,1.4971640371087636,-1.2681018255844643,-0.1799947336332824,0.9433017376481349,0.35820191841034255,0.035],"actuator_force_native":[0.28992799652607815,-0.2865800197930213,0.2734166575722412,-0.2978235365288082,-0.24592325045925634,0.29387906430213384,0.00013768550552217818],"issued_joint_targets_rad":[0.30263213346350404,1.4966256241764928,-1.26717322728252,-0.1807606356248081,0.9421357315152087,0.3604146490090874],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.979999999996583,"joint_targets_rad":[0.30263213346350404,1.4966256241764928,-1.26717322728252,-0.1807606356248081,0.9421357315152087,0.3604146490090874],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.999999999996572,"qpos":[0.29804433146846415,1.5017675237621981,-1.2732207598914833,-0.16784899596598937,0.9719215570606475,0.3120663323404802,0.03499843134417896,-0.035000213740255685,0.3551281956805142,0.07869801654663539,0.0798922445797837,0.9959435657946976,-1.7068088556423263e-11,-4.102551778748113e-12,0.0899800741950223],"qvel":[0.015394201238271395,-0.025396356242220842,0.042030138547925325,-0.04400385419311163,-0.03166627655858,0.12635826799115957,-1.1402553865837895e-05,-4.282053042359262e-05,6.8594473786986835e-12,-2.02911231625649e-11,2.657665000268511e-15,6.605593267066466e-10,9.69894941907523e-11,-1.3320953153712223e-18],"joint_position_rad":[0.29804433146846415,1.5017675237621981,-1.2732207598914833,-0.16784899596598937,0.9719215570606475,0.3120663323404802],"joint_velocity_rad_s":[0.015394201238271395,-0.025396356242220842,0.042030138547925325,-0.04400385419311163,-0.03166627655858,0.12635826799115957],"gripper_joint_position_m":[0.03499843134417896,-0.035000213740255685],"tcp_position_m":[0.3465210591485835,0.07744586261976588,0.20721333259727565],"tcp_quaternion_wxyz":[0.2390356111395569,-0.02351199906986336,0.9707032176909999,-0.006665258525873301],"object_position_m":[0.3551281956805142,0.07869801654663539,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7068088556423263e-11,-4.102551778748113e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.8594473786986835e-12,-2.02911231625649e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[6.324795616975397e-10,2.13811108498607e-10,-1.3320953286435376e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000125467},{"geom_ids":[1,90],"normal_force_n":0.09810000000168655},{"geom_ids":[1,90],"normal_force_n":0.09809999999874536},{"geom_ids":[1,90],"normal_force_n":0.09809999999831344}],"native_actuator_controls":[0.30263213346350404,1.4966256241764928,-1.26717322728252,-0.1807606356248081,0.9421357315152087,0.3604146490090874,0.035],"actuator_force_native":[0.2900531534118329,-0.28437018564532934,0.2736519159774389,-0.29644631538719146,-0.2503588406165207,0.2939457646993322,0.00011975900217087165],"issued_joint_targets_rad":[0.30290648682083177,1.4960794402129962,-1.2662344846546207,-0.1814948456442861,0.9409520091694787,0.3625499325726263],"issued_gripper_position_m":0.035,"command":{"t_seconds":15.999999999996572,"joint_targets_rad":[0.30290648682083177,1.4960794402129962,-1.2662344846546207,-0.1814948456442861,0.9409520091694787,0.3625499325726263],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.019999999996596,"qpos":[0.2983620404965217,1.5012311501137523,-1.2723355298598238,-0.1687647392514223,0.9712723206092924,0.31464396768217767,0.03499849652025159,-0.0350002142823498,0.3551281956807167,0.07869801654603607,0.0798922445797837,0.9959435657946976,-1.849946151384312e-11,-4.4465751008639056e-12,0.0899800741950223],"qvel":[0.014703383290424182,-0.025884102649285756,0.042899573770586584,-0.042991818836024806,-0.03223366461338991,0.12336218103736926,-7.832906332773992e-06,-3.669234173832237e-05,7.606381028485701e-12,-2.2500749172253828e-11,2.652113885145385e-15,5.598968804415259e-10,8.22092386509236e-11,-2.4320787945009436e-18],"joint_position_rad":[0.2983620404965217,1.5012311501137523,-1.2723355298598238,-0.1687647392514223,0.9712723206092924,0.31464396768217767],"joint_velocity_rad_s":[0.014703383290424182,-0.025884102649285756,0.042899573770586584,-0.042991818836024806,-0.03223366461338991,0.12336218103736926],"gripper_joint_position_m":[0.03499849652025159,-0.0350002142823498],"tcp_position_m":[0.3464467243522782,0.07738937831398492,0.20718250808554048],"tcp_quaternion_wxyz":[0.2392993942800726,-0.022619934793144104,0.9706593966924814,-0.006668887443390652],"object_position_m":[0.3551281956807167,0.07869801654603607,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.849946151384312e-11,-4.4465751008639056e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.606381028485701e-12,-2.2500749172253828e-11,2.652113885145385e-15],"object_angular_velocity_rad_s":[5.360961925063041e-10,1.8122844155363602e-10,-2.4320788343800587e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000269414},{"geom_ids":[1,90],"normal_force_n":0.09810000000362135},{"geom_ids":[1,90],"normal_force_n":0.09809999999730587},{"geom_ids":[1,90],"normal_force_n":0.0980999999963787}],"native_actuator_controls":[0.30290648682083177,1.4960794402129962,-1.2662344846546207,-0.1814948456442861,0.9409520091694787,0.3625499325726263,0.035],"actuator_force_native":[0.2900387894926837,-0.2827162788140498,0.27358574756330256,-0.2942451615344286,-0.2548526174780523,0.2940163773484321,9.930372160060763e-05],"issued_joint_targets_rad":[0.30316412040007,1.4955271969260524,-1.2652884142696745,-0.18219692797376003,0.9397543016177431,0.3646036768755298],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.019999999996596,"joint_targets_rad":[0.30316412040007,1.4955271969260524,-1.2652884142696745,-0.18219692797376003,0.9397543016177431,0.3646036768755298],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.03999999999662,"qpos":[0.2986637011866784,1.5006864385249874,-1.2714338286209619,-0.1696534656492013,0.9706116547788598,0.31715695800360155,0.034998577479114036,-0.03500022811973565,0.35512819568091625,0.07869801654544564,0.0798922445797837,0.9959435657946976,-1.943003560616555e-11,-4.670223864096618e-12,0.0899800741950223],"qvel":[0.014007037917131447,-0.026228513585826868,0.04367513910124109,-0.0420544341965944,-0.03280030291608264,0.12024060464065893,-4.604000141769375e-06,-3.1143633188269466e-05,8.450208315801545e-12,-2.4997025889292192e-11,2.652113885145385e-15,3.578044214578953e-10,5.253620870011318e-11,-4.440387426043671e-18],"joint_position_rad":[0.2986637011866784,1.5006864385249874,-1.2714338286209619,-0.1696534656492013,0.9706116547788598,0.31715695800360155],"joint_velocity_rad_s":[0.014007037917131447,-0.026228513585826868,0.04367513910124109,-0.0420544341965944,-0.03280030291608264,0.12024060464065893],"gripper_joint_position_m":[0.034998577479114036,-0.03500022811973565],"tcp_position_m":[0.34637033996715516,0.07733154405196727,0.20714930155750527],"tcp_quaternion_wxyz":[0.2395611764273514,-0.021747880846221115,0.9706147557742664,-0.006668455646038493],"object_position_m":[0.35512819568091625,0.07869801654544564,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.943003560616555e-11,-4.670223864096618e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.450208315801545e-12,-2.4997025889292192e-11,2.652113885145385e-15],"object_angular_velocity_rad_s":[3.4259448351598874e-10,1.1581483973918715e-10,-4.440387473420963e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000424943},{"geom_ids":[1,90],"normal_force_n":0.09810000000571191},{"geom_ids":[1,90],"normal_force_n":0.09809999999575059},{"geom_ids":[1,90],"normal_force_n":0.0980999999942881}],"native_actuator_controls":[0.30316412040007,1.4955271969260524,-1.2652884142696745,-0.18219692797376003,0.9397543016177431,0.3646036768755298,0.035],"actuator_force_native":[0.28999834748567466,-0.2815967599856606,0.2732574525967806,-0.29146632199937805,-0.2593730772370435,0.29410628175829423,7.992083614749568e-05],"issued_joint_targets_rad":[0.3034050385919,1.4949703982983689,-1.2643374770233329,-0.1828665032727865,0.938545860537248,0.3665723902977474],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.03999999999662,"joint_targets_rad":[0.3034050385919,1.4949703982983689,-1.2643374770233329,-0.1828665032727865,0.938545860537248,0.3665723902977474],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.059999999996645,"qpos":[0.2989490866819799,1.5001359993097376,-1.2705178022862285,-0.17051608774259372,0.9699396306231602,0.319602694565593,0.034998674190121926,-0.03500026597362731,0.355128195681111,0.07869801654486981,0.0798922445797837,0.9959435657946976,-1.974601197137602e-11,-4.746136602673589e-12,0.0899800741950223],"qvel":[0.013296033898483202,-0.026459078097025836,0.044340477990643716,-0.04115038332078683,-0.03336346409982321,0.11698798446739897,-1.6952111159553889e-06,-2.5975946338541687e-05,9.58405533790269e-12,-2.8351296789806986e-11,2.6521138851453844e-15,2.170398355190029e-11,3.189810829393539e-12,-8.107037946774461e-18],"joint_position_rad":[0.2989490866819799,1.5001359993097376,-1.2705178022862285,-0.17051608774259372,0.9699396306231602,0.319602694565593],"joint_velocity_rad_s":[0.013296033898483202,-0.026459078097025836,0.044340477990643716,-0.04115038332078683,-0.03336346409982321,0.11698798446739897],"gripper_joint_position_m":[0.034998674190121926,-0.03500026597362731],"tcp_position_m":[0.3462925726737463,0.07727231453818957,0.20711353391936438],"tcp_quaternion_wxyz":[0.2398207679160624,-0.020897161954365202,0.9705693628098123,-0.00666482358044575],"object_position_m":[0.355128195681111,0.07869801654486981,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.974601197137602e-11,-4.746136602673589e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.58405533790269e-12,-2.8351296789806986e-11,2.6521138851453844e-15],"object_angular_velocity_rad_s":[2.0780824410640673e-11,7.028167041454984e-12,-8.107038072897293e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000560443},{"geom_ids":[1,90],"normal_force_n":0.09810000000753334},{"geom_ids":[1,90],"normal_force_n":0.09809999999439549},{"geom_ids":[1,90],"normal_force_n":0.09809999999246675}],"native_actuator_controls":[0.3034050385919,1.4949703982983689,-1.2643374770233329,-0.1828665032727865,0.938545860537248,0.3665723902977474,0.035],"actuator_force_native":[0.2899959833011927,-0.2809526904243711,0.2727236310784207,-0.28826470460377696,-0.2638925047093874,0.2942149806204455,6.150845070296285e-05],"issued_joint_targets_rad":[0.3036292435768812,1.494410317131538,-1.2633837440445308,-0.18350322914471118,0.9373294089003581,0.3684533678886099],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.059999999996645,"joint_targets_rad":[0.3036292435768812,1.494410317131538,-1.2633837440445308,-0.18350322914471118,0.9373294089003581,0.3684533678886099],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.07999999999667,"qpos":[0.29921798781153347,1.4995818534219285,-1.2695898181904952,-0.1713534054162639,0.9692563582325834,0.3219785823397597,0.03499878648592888,-0.035000327457581214,0.3551281956812985,0.07869801654431531,0.0798922445797837,0.9959435657946976,-1.9219843678969033e-11,-4.619641761454533e-12,0.0899800741950223],"qvel":[0.012569800912614969,-0.026604042720202392,0.04488728252649727,-0.04026447129587923,-0.03392131889814447,0.11360446960396701,7.963692460274138e-07,-2.0912110444078117e-05,1.1322983415481337e-11,-3.349548716969342e-11,2.6535016639261658e-15,-4.957887123708511e-10,-7.27905111896178e-11,-1.4801378173226814e-17],"joint_position_rad":[0.29921798781153347,1.4995818534219285,-1.2695898181904952,-0.1713534054162639,0.9692563582325834,0.3219785823397597],"joint_velocity_rad_s":[0.012569800912614969,-0.026604042720202392,0.04488728252649727,-0.04026447129587923,-0.03392131889814447,0.11360446960396701],"gripper_joint_position_m":[0.03499878648592888,-0.035000327457581214],"tcp_position_m":[0.34621406998026527,0.07721166573440609,0.20707530647086414],"tcp_quaternion_wxyz":[0.24007832910197785,-0.020069051419084962,0.9705232046776591,-0.006658697541359783],"object_position_m":[0.3551281956812985,0.07869801654431531,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9219843678969033e-11,-4.619641761454533e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1322983415481337e-11,-3.349548716969342e-11,2.6535016639261658e-15],"object_angular_velocity_rad_s":[-4.747142368962999e-10,-1.6047211322081895e-10,-1.480137827843028e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000061115},{"geom_ids":[1,90],"normal_force_n":0.09810000000821473},{"geom_ids":[1,90],"normal_force_n":0.09809999999388852},{"geom_ids":[1,90],"normal_force_n":0.09809999999178527}],"native_actuator_controls":[0.3036292435768812,1.494410317131538,-1.2633837440445308,-0.18350322914471118,0.9373294089003581,0.3684533678886099,0.035],"actuator_force_native":[0.2900514566647452,-0.2807026896302318,0.272049519044657,-0.2846705926584949,-0.26838751497503566,0.29434115108255154,4.45587166149064e-05],"issued_joint_targets_rad":[0.30383676691129363,1.4938480741937856,-1.2624290188466858,-0.18410685608732041,0.936107315956169,0.3702446662222534],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.07999999999667,"joint_targets_rad":[0.30383676691129363,1.4938480741937856,-1.2624290188466858,-0.18410685608732041,0.936107315956169,0.3702446662222534],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.099999999996694,"qpos":[0.29947023550931223,1.4990254882449319,-1.2686523344992513,-0.1721661030622982,0.9685619768455694,0.32428209969030564,0.034998912023186834,-0.035000407968339795,0.35512819568147536,0.07869801654379217,0.0798922445797837,0.9959435657946976,-1.7493892116705614e-11,-4.204784297096024e-12,0.0899800741950223],"qvel":[0.01182966775463508,-0.026687870859432868,0.04531315975423688,-0.0393851103941277,-0.03447241374247591,0.11009519254554917,2.7819855188010467e-06,-1.589201933198293e-05,1.4186798565206115e-11,-4.196727335777016e-11,2.656277221487729e-15,-1.2620448753372629e-09,-1.8529413802562263e-10,-2.702361024725411e-17],"joint_position_rad":[0.29947023550931223,1.4990254882449319,-1.2686523344992513,-0.1721661030622982,0.9685619768455694,0.32428209969030564],"joint_velocity_rad_s":[0.01182966775463508,-0.026687870859432868,0.04531315975423688,-0.0393851103941277,-0.03447241374247591,0.11009519254554917],"gripper_joint_position_m":[0.034998912023186834,-0.035000407968339795],"tcp_position_m":[0.3461354396673856,0.07714959731488018,0.20703493668301573],"tcp_quaternion_wxyz":[0.24033428683533384,-0.01926475968628389,0.9704762071236139,-0.00665064001019908],"object_position_m":[0.35512819568147536,0.07869801654379217,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7493892116705614e-11,-4.204784297096024e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.4186798565206115e-11,-4.196727335777016e-11,2.656277221487729e-15],"object_angular_velocity_rad_s":[-1.2083985038658745e-09,-4.0849019670784946e-10,-2.7023610330025152e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000460566},{"geom_ids":[1,90],"normal_force_n":0.09810000000619093},{"geom_ids":[1,90],"normal_force_n":0.09809999999539427},{"geom_ids":[1,90],"normal_force_n":0.09809999999380914}],"native_actuator_controls":[0.30383676691129363,1.4938480741937856,-1.2624290188466858,-0.18410685608732041,0.936107315956169,0.3702446662222534,0.035],"actuator_force_native":[0.2901741733853349,-0.2807537697945435,0.2712994534340396,-0.28070456903025054,-0.2728379882802887,0.2944828765011538,2.9609144932774e-05],"issued_joint_targets_rad":[0.3040276691018341,1.4932846883222959,-1.261474921164234,-0.1846772145185414,0.9348817107329357,0.3719450949255788],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.099999999996694,"joint_targets_rad":[0.3040276691018341,1.4932846883222959,-1.261474921164234,-0.1846772145185414,0.9348817107329357,0.3719450949255788],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.11999999999672,"qpos":[0.2997057290632659,1.4984678649822631,-1.2677074539721003,-0.17295510935509056,0.9678547320529638,0.32651083509057865,0.03499903516970076,-0.035000482465071724,0.3551281956816565,0.07869801654325592,0.0798922445797837,0.9959435657946976,-1.6593999709940607e-11,-3.988482171969354e-12,0.0899800741950223],"qvel":[0.011078029180298415,-0.026720864839077776,0.04560883571945309,-0.03851109902200719,-0.03504767548311098,0.1064683263858786,3.59618164531683e-06,-1.0400384715604272e-05,6.704137215911122e-12,-1.983212699448952e-11,2.6548894427069475e-15,6.634387133620806e-10,9.74074098753265e-11,-2.9277862241754505e-18],"joint_position_rad":[0.2997057290632659,1.4984678649822631,-1.2677074539721003,-0.17295510935509056,0.9678547320529638,0.32651083509057865],"joint_velocity_rad_s":[0.011078029180298415,-0.026720864839077776,0.04560883571945309,-0.03851109902200719,-0.03504767548311098,0.1064683263858786],"gripper_joint_position_m":[0.03499903516970076,-0.035000482465071724],"tcp_position_m":[0.3460575176258333,0.0770862025194487,0.20699298788258075],"tcp_quaternion_wxyz":[0.24059004826953645,-0.01848559323002401,0.9704280545699213,-0.0066409653089000474],"object_position_m":[0.3551281956816565,0.07869801654325592,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6593999709940607e-11,-3.988482171969354e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.704137215911122e-12,-1.983212699448952e-11,2.6548894427069475e-15],"object_angular_velocity_rad_s":[6.352374198499214e-10,2.147383298541888e-10,-2.9277862238843184e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000088341},{"geom_ids":[1,90],"normal_force_n":0.0981000000011874},{"geom_ids":[1,90],"normal_force_n":0.09809999999911653},{"geom_ids":[1,90],"normal_force_n":0.09809999999881272}],"native_actuator_controls":[0.3040276691018341,1.4932846883222959,-1.261474921164234,-0.1846772145185414,0.9348817107329357,0.3719450949255788,0.035],"actuator_force_native":[0.290365057183962,-0.2810498086019919,0.27055844603204093,-0.27632871142799775,-0.27715869997561526,0.2946401087711834,2.061230374317269e-05],"issued_joint_targets_rad":[0.30420212399474716,1.4927206744825514,-1.2605221676116196,-0.18521455321935743,0.9336535320801711,0.3735551407100404],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.11999999999672,"joint_targets_rad":[0.30420212399474716,1.4927206744825514,-1.2605221676116196,-0.18521455321935743,0.9336535320801711,0.3735551407100404],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.139999999996743,"qpos":[0.2999246301813039,1.4979096433957995,-1.266757127436127,-0.1737226787855642,0.9671315394237818,0.3286627250658661,0.03499913357532647,-0.03500051518202757,0.3551281956818499,0.07869801654268373,0.0798922445797837,0.9959435657946976,-1.7585568425643392e-11,-4.2267867438457126e-12,0.0899800741950223],"qvel":[0.010314416890093455,-0.026711695519048884,0.04577069554932664,-0.03765767174231735,-0.0356742198953168,0.10273752242292775,3.2246711626164905e-06,-5.6027042086209876e-06,7.254154596696044e-12,-2.1459284212773788e-11,2.656277221487729e-15,5.470609049619536e-10,8.032055135608237e-11,-5.3454366116726504e-18],"joint_position_rad":[0.2999246301813039,1.4979096433957995,-1.266757127436127,-0.1737226787855642,0.9671315394237818,0.3286627250658661],"joint_velocity_rad_s":[0.010314416890093455,-0.026711695519048884,0.04577069554932664,-0.03765767174231735,-0.0356742198953168,0.10273752242292775],"gripper_joint_position_m":[0.03499913357532647,-0.03500051518202757],"tcp_position_m":[0.3459813701193186,0.07702153580688696,0.20695023916163136],"tcp_quaternion_wxyz":[0.2408478779252498,-0.017733110778705027,0.9703782129512702,-0.006630257198120406],"object_position_m":[0.3551281956818499,0.07869801654268373,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7585568425643392e-11,-4.2267867438457126e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.254154596696044e-12,-2.1459284212773788e-11,2.656277221487729e-15],"object_angular_velocity_rad_s":[5.238065774742462e-10,1.7706974361152858e-10,-5.3454366379442854e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000232864},{"geom_ids":[1,90],"normal_force_n":0.09810000000313017},{"geom_ids":[1,90],"normal_force_n":0.09809999999767136},{"geom_ids":[1,90],"normal_force_n":0.09809999999686984}],"native_actuator_controls":[0.30420212399474716,1.4927206744825514,-1.2605221676116196,-0.18521455321935743,0.9336535320801711,0.3735551407100404,0.035],"actuator_force_native":[0.2906274206249968,-0.28155903546459626,0.2699433082139393,-0.27138661864014324,-0.2812687435931327,0.29481787280735183,1.8533631128248018e-05],"issued_joint_targets_rad":[0.30436040303074274,1.4921563343096178,-1.25957104928778,-0.18571945259241113,0.9324231743986306,0.3750766064336861],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.139999999996743,"joint_targets_rad":[0.30436040303074274,1.4921563343096178,-1.25957104928778,-0.18571945259241113,0.9324231743986306,0.3750766064336861],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.159999999996767,"qpos":[0.3001273360653152,1.4973512653538348,-1.2658032523261928,-0.17447278780909772,0.9663892322612702,0.33073618569659513,0.034999205547449126,-0.03500050927532674,0.35512819568203846,0.07869801654212641,0.0798922445797837,0.9959435657946976,-1.827587059557983e-11,-4.3926744915496455e-12,0.0899800741950223],"qvel":[0.009543995296048206,-0.02667308968175721,0.045807627979343894,-0.036839353074424645,-0.03636041857733176,0.09892603139155325,2.7288128913263494e-06,-3.070854535181031e-06,7.958528714287215e-12,-2.3543093103754032e-11,2.6576650002685107e-15,3.461430595409306e-10,5.0822033708118254e-11,-9.759352955420084e-18],"joint_position_rad":[0.3001273360653152,1.4973512653538348,-1.2658032523261928,-0.17447278780909772,0.9663892322612702,0.33073618569659513],"joint_velocity_rad_s":[0.009543995296048206,-0.02667308968175721,0.045807627979343894,-0.036839353074424645,-0.03636041857733176,0.09892603139155325],"gripper_joint_position_m":[0.034999205547449126,-0.03500050927532674],"tcp_position_m":[0.3459081254900813,0.07695545405034589,0.20690758736080783],"tcp_quaternion_wxyz":[0.2411103901442899,-0.01700906916127707,0.9703260537015976,-0.006619731008075143],"object_position_m":[0.35512819568203846,0.07869801654212641,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.827587059557983e-11,-4.3926744915496455e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.958528714287215e-12,-2.3543093103754032e-11,2.6576650002685107e-15],"object_angular_velocity_rad_s":[3.3142918386518926e-10,1.1203835441954512e-10,-9.759353016737578e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000385959},{"geom_ids":[1,90],"normal_force_n":0.09810000000518784},{"geom_ids":[1,90],"normal_force_n":0.09809999999614036},{"geom_ids":[1,90],"normal_force_n":0.09809999999481221}],"native_actuator_controls":[0.30436040303074274,1.4921563343096178,-1.25957104928778,-0.18571945259241113,0.9324231743986306,0.3750766064336861,0.035],"actuator_force_native":[0.29092538075396135,-0.2822290351285801,0.269538103176302,-0.2656698259604129,-0.2851199507603983,0.29501516028358,1.813403757844334e-05],"issued_joint_targets_rad":[0.3045027331446468,1.4915921496320066,-1.2586221285711865,-0.18619240628244524,0.9311913965388301,0.3765118204772214],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.159999999996767,"joint_targets_rad":[0.3045027331446468,1.4915921496320066,-1.2586221285711865,-0.18619240628244524,0.9311913965388301,0.3765118204772214],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.17999999999679,"qpos":[0.3003144030629212,1.4967929701606955,-1.2648476666812725,-0.17520606917830045,0.9656252308948137,0.33272984527746846,0.034999272231936565,-0.03500048192804914,0.3551281956822319,0.07869801654155376,0.0798922445797837,0.9959435657946976,-1.952994441543955e-11,-4.6940635488048665e-12,0.0899800741950223],"qvel":[0.008961176275714014,-0.026618456515799173,0.04573667427280927,-0.03603386422069655,-0.037093699097831126,0.09511838653713428,5.408088308552516e-06,2.2726738871372893e-06,9.205037951902995e-12,-2.723069964207874e-11,2.6604405578300738e-15,6.315542789717415e-11,9.274625772269601e-12,-1.781807106332586e-17],"joint_position_rad":[0.3003144030629212,1.4967929701606955,-1.2648476666812725,-0.17520606917830045,0.9656252308948137,0.33272984527746846],"joint_velocity_rad_s":[0.008961176275714014,-0.026618456515799173,0.04573667427280927,-0.03603386422069655,-0.037093699097831126,0.09511838653713428],"gripper_joint_position_m":[0.034999272231936565,-0.03500048192804914],"tcp_position_m":[0.34583858721172167,0.07688836214025419,0.20686583423518695],"tcp_quaternion_wxyz":[0.24137955319273594,-0.016314563488157158,0.9702711299346516,-0.006609140186174839],"object_position_m":[0.3551281956822319,0.07869801654155376,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.952994441543955e-11,-4.6940635488048665e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.205037951902995e-12,-2.723069964207874e-11,2.6604405578300738e-15],"object_angular_velocity_rad_s":[6.047047036140282e-11,2.044380029156769e-11,-1.7818071155084488e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000578868},{"geom_ids":[1,90],"normal_force_n":0.098100000007781},{"geom_ids":[1,90],"normal_force_n":0.09809999999421122},{"geom_ids":[1,90],"normal_force_n":0.09809999999221908}],"native_actuator_controls":[0.3045027331446468,1.4915921496320066,-1.2586221285711865,-0.18619240628244524,0.9311913965388301,0.3765118204772214,0.035],"actuator_force_native":[0.2902605251594821,-0.2829733597161095,0.26935967744283573,-0.2592841630623095,-0.2886977949130891,0.29514217219182814,2.070280994859175e-06],"issued_joint_targets_rad":[0.30462918790460064,1.4910284133856984,-1.2576757170402906,-0.18663355105721546,0.929958562268151,0.3778639704229331],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.17999999999679,"joint_targets_rad":[0.30462918790460064,1.4910284133856984,-1.2576757170402906,-0.18663355105721546,0.929958562268151,0.3778639704229331],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.199999999996816,"qpos":[0.300490047438499,1.4962347814398436,-1.2638918806533572,-0.17592218599462273,0.9648372712584301,0.3346433963068109,0.0349993609828673,-0.035000406662449385,0.35512819568242243,0.07869801654099012,0.0798922445797837,0.9959435657946976,-1.9695952993998915e-11,-4.733954274809588e-12,0.0899800741950223],"qvel":[0.008607420342600336,-0.026555776805314357,0.045575845510561964,-0.03518908195353652,-0.03788139806619417,0.09128490376140791,7.441081744395678e-06,7.5133676704481674e-06,1.0988023283572542e-11,-3.2505218557527085e-11,2.653501663926167e-15,-3.9450083987901874e-10,-5.791896446729669e-11,-3.2531474122168645e-17],"joint_position_rad":[0.300490047438499,1.4962347814398436,-1.2638918806533572,-0.17592218599462273,0.9648372712584301,0.3346433963068109],"joint_velocity_rad_s":[0.008607420342600336,-0.026555776805314357,0.045575845510561964,-0.03518908195353652,-0.03788139806619417,0.09128490376140791],"gripper_joint_position_m":[0.0349993609828673,-0.035000406662449385],"tcp_position_m":[0.3457730891166444,0.07682204018887476,0.20682568935081114],"tcp_quaternion_wxyz":[0.24165702291358804,-0.015651763016045657,0.9702130597147457,-0.006597298688286657],"object_position_m":[0.35512819568242243,0.07869801654099012,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9695952993998915e-11,-4.733954274809588e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0988023283572542e-11,-3.2505218557527085e-11,2.653501663926167e-15],"object_angular_velocity_rad_s":[-3.7773193102986273e-10,-1.2768753811811773e-10,-3.253147413991729e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000658607},{"geom_ids":[1,90],"normal_force_n":0.0981000000088527},{"geom_ids":[1,90],"normal_force_n":0.0980999999934139},{"geom_ids":[1,90],"normal_force_n":0.0980999999911474}],"native_actuator_controls":[0.30462918790460064,1.4910284133856984,-1.2576757170402906,-0.18663355105721546,0.929958562268151,0.3778639704229331,0.035],"actuator_force_native":[0.288094135575129,-0.2837305603050453,0.26941386149252367,-0.252509192736027,-0.29196499280349997,0.29527838551911056,-1.1644723413750668e-05],"issued_joint_targets_rad":[0.30468748186557176,1.4908972918843697,-1.2574379804200466,-0.1868167905562016,0.9296590523338505,0.3782707484906314],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.199999999996816,"joint_targets_rad":[0.30468748186557176,1.4908972918843697,-1.2574379804200466,-0.1868167905562016,0.9296590523338505,0.3782707484906314],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.21999999999684,"qpos":[0.3006594541892969,1.4957478217769182,-1.2630473432611022,-0.17661206258013723,0.9640970821126496,0.3363819230291034,0.034999542519266014,-0.0350001044212416,0.35512819568260595,0.0786980165404475,0.0798922445797837,0.9959435657946976,-1.8509346291267034e-11,-4.4487502656781815e-12,0.0899800741950223],"qvel":[0.008328309536977984,-0.021624375286761522,0.038116991123316825,-0.03367023500518452,-0.0362243980929872,0.08170512834011669,8.75585026114738e-06,2.2107344054684326e-05,1.3713773928547683e-11,-4.0568633948670866e-11,2.657665000268511e-15,-1.1008372601948758e-09,-1.616219534117502e-10,-5.939451493969293e-17],"joint_position_rad":[0.3006594541892969,1.4957478217769182,-1.2630473432611022,-0.17661206258013723,0.9640970821126496,0.3363819230291034],"joint_velocity_rad_s":[0.008328309536977984,-0.021624375286761522,0.038116991123316825,-0.03367023500518452,-0.0362243980929872,0.08170512834011669],"gripper_joint_position_m":[0.034999542519266014,-0.0350001044212416],"tcp_position_m":[0.3457253525887818,0.07676270248028465,0.20679369726298027],"tcp_quaternion_wxyz":[0.24192734594316953,-0.015062895331248289,0.9701550086970593,-0.006597542659410888],"object_position_m":[0.35512819568260595,0.0786980165404475,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8509346291267034e-11,-4.4487502656781815e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.3713773928547683e-11,-4.0568633948670866e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[-1.0540440650717428e-09,-3.563080663485223e-10,-5.93945149224006e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000560921},{"geom_ids":[1,90],"normal_force_n":0.09810000000753985},{"geom_ids":[1,90],"normal_force_n":0.09809999999439081},{"geom_ids":[1,90],"normal_force_n":0.0980999999924602}],"native_actuator_controls":[0.30468748186557176,1.4908972918843697,-1.2574379804200466,-0.1868167905562016,0.9296590523338505,0.3782707484906314,0.035],"actuator_force_native":[0.2806006664171008,-0.27992051497007253,0.2581640716678635,-0.23983794401665115,-0.2900437006485106,0.2963305621051049,-2.5480021946133746e-05],"issued_joint_targets_rad":[0.30472285378695774,1.490906496905952,-1.257430718509646,-0.18691344918289146,0.929662599667008,0.3783755665926618],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.21999999999684,"joint_targets_rad":[0.30472285378695774,1.490906496905952,-1.257430718509646,-0.18691344918289146,0.929662599667008,0.3783755665926618],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.239999999996865,"qpos":[0.30082326732918957,1.495385387869853,-1.2623908273799294,-0.17726770302890882,0.9633855742426629,0.3379111047131594,0.03499967396063665,-0.03499955921186067,0.35512819568278625,0.07869801653991455,0.0798922445797837,0.9959435657946976,-1.682154662420763e-11,-4.043086399116675e-12,0.0899800741950223],"qvel":[0.008051999712660796,-0.015017647907491116,0.02806601176913017,-0.031884386702034494,-0.03509050532915024,0.07165027590629562,2.8770516727506728e-06,2.743455051780111e-05,6.7729549036057434e-12,-2.0036032068831918e-11,2.6548894427069483e-15,6.995151722301854e-10,1.0270066363522863e-10,-6.4349091836410816e-18],"joint_position_rad":[0.30082326732918957,1.495385387869853,-1.2623908273799294,-0.17726770302890882,0.9633855742426629,0.3379111047131594],"joint_velocity_rad_s":[0.008051999712660796,-0.015017647907491116,0.02806601176913017,-0.031884386702034494,-0.03509050532915024,0.07165027590629562],"gripper_joint_position_m":[0.03499967396063665,-0.03499955921186067],"tcp_position_m":[0.34571723507994817,0.07671920958932604,0.20677913475483706],"tcp_quaternion_wxyz":[0.24220892777426137,-0.014563280622257093,0.9700923315788712,-0.006604118096258563],"object_position_m":[0.35512819568278625,0.07869801653991455,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.682154662420763e-11,-4.043086399116675e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.7729549036057434e-12,-2.0036032068831918e-11,2.6548894427069483e-15],"object_angular_velocity_rad_s":[6.697809881672377e-10,2.264118600715509e-10,-6.434909182616597e-18],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000064724},{"geom_ids":[1,90],"normal_force_n":0.09810000000086992},{"geom_ids":[1,90],"normal_force_n":0.09809999999935273},{"geom_ids":[1,90],"normal_force_n":0.09809999999913015}],"native_actuator_controls":[0.30472285378695774,1.490906496905952,-1.257430718509646,-0.18691344918289146,0.929662599667008,0.3783755665926618,0.035],"actuator_force_native":[0.2717069180581504,-0.2832230375746434,0.2564786507770265,-0.22640791264913318,-0.28459398776282363,0.29716920493558074,-1.3436838295355358e-06],"issued_joint_targets_rad":[0.304753735466948,1.4909159316755196,-1.2574231443032018,-0.18700088113616167,0.9296634903669231,0.3784695769136679],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.239999999996865,"joint_targets_rad":[0.304753735466948,1.4909159316755196,-1.2574231443032018,-0.18700088113616167,0.9296634903669231,0.3784695769136679],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.25999999999689,"qpos":[0.30098165976163266,1.4951434729206396,-1.2619231397455102,-0.17788767090261792,0.9626910216219521,0.3392556276105128,0.034999674337205654,-0.0349991112397409,0.3551281956829874,0.0786980165393192,0.0798922445797837,0.9959435657946976,-1.79694655441447e-11,-4.3189821790277975e-12,0.0899800741950223],"qvel":[0.0077890294377862615,-0.010008752843906461,0.019643770383434053,-0.030125448362597344,-0.034465904160621605,0.06317297108305224,-3.5260531365617944e-06,1.353715506447049e-05,7.35027589196344e-12,-2.1743923229346107e-11,2.657665000268511e-15,6.009452168832028e-10,8.822908566390896e-11,-1.1748581626672059e-17],"joint_position_rad":[0.30098165976163266,1.4951434729206396,-1.2619231397455102,-0.17788767090261792,0.9626910216219521,0.3392556276105128],"joint_velocity_rad_s":[0.0077890294377862615,-0.010008752843906461,0.019643770383434053,-0.030125448362597344,-0.034465904160621605,0.06317297108305224],"gripper_joint_position_m":[0.034999674337205654,-0.0349991112397409],"tcp_position_m":[0.34575051883014646,0.0766926997954345,0.20678477262016756],"tcp_quaternion_wxyz":[0.24250919009769056,-0.014141009976863584,0.9700235159014035,-0.006610836049729702],"object_position_m":[0.3551281956829874,0.0786980165393192,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.79694655441447e-11,-4.3189821790277975e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.35027589196344e-12,-2.1743923229346107e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[5.754009022221601e-10,1.945079097975509e-10,-1.174858164150543e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000206318},{"geom_ids":[1,90],"normal_force_n":0.09810000000277322},{"geom_ids":[1,90],"normal_force_n":0.0980999999979369},{"geom_ids":[1,90],"normal_force_n":0.09809999999722674}],"native_actuator_controls":[0.304753735466948,1.4909159316755196,-1.2574231443032018,-0.18700088113616167,0.9296634903669231,0.3784695769136679,0.035],"actuator_force_native":[0.26282090923629653,-0.288159535390065,0.26178078346751477,-0.2139011675287632,-0.27857645630935757,0.2973800364069725,3.0656777456838924e-05],"issued_joint_targets_rad":[0.30478086852699365,1.4909259279514422,-1.2574153027570178,-0.18708069277002565,0.9296617686923672,0.37855453747979606],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.25999999999689,"joint_targets_rad":[0.30478086852699365,1.4909259279514422,-1.2574153027570178,-0.18708069277002565,0.9296617686923672,0.37855453747979606],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.279999999996914,"qpos":[0.30113492828112337,1.4949635260334646,-1.2615916257262048,-0.17847310342799835,0.9620065890735117,0.3404429284852837,0.034999595126851885,-0.03499906814367455,0.355128195683184,0.07869801653873768,0.0798922445797837,0.9959435657946976,-1.8809880027733084e-11,-4.520982337575608e-12,0.0899800741950223],"qvel":[0.007538008496343261,-0.008387855771471628,0.014026508007522713,-0.028440225910151207,-0.033977301733612436,0.055764593817005534,-3.5255718255053372e-06,-7.590391351490532e-06,8.045130588276218e-12,-2.3799454735662005e-11,2.6590527790492924e-15,4.1946378390492374e-10,6.158407019540147e-11,-2.1449864940967987e-17],"joint_position_rad":[0.30113492828112337,1.4949635260334646,-1.2615916257262048,-0.17847310342799835,0.9620065890735117,0.3404429284852837],"joint_velocity_rad_s":[0.007538008496343261,-0.008387855771471628,0.014026508007522713,-0.028440225910151207,-0.033977301733612436,0.055764593817005534],"gripper_joint_position_m":[0.034999595126851885,-0.03499906814367455],"tcp_position_m":[0.34581162568261403,0.07667902171432732,0.2068137630730405],"tcp_quaternion_wxyz":[0.24283418648864963,-0.013783131020470844,0.9699473450450591,-0.00661294274202555],"object_position_m":[0.355128195683184,0.07869801653873768,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8809880027733084e-11,-4.520982337575608e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.045130588276218e-12,-2.3799454735662005e-11,2.6590527790492924e-15],"object_angular_velocity_rad_s":[4.0163375695282145e-10,1.3576740767073002e-10,-2.1449864931070125e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000363346},{"geom_ids":[1,90],"normal_force_n":0.0981000000048839},{"geom_ids":[1,90],"normal_force_n":0.09809999999636657},{"geom_ids":[1,90],"normal_force_n":0.09809999999511607}],"native_actuator_controls":[0.30478086852699365,1.4909259279514422,-1.2574153027570178,-0.18708069277002565,0.9296617686923672,0.37855453747979606,0.035],"actuator_force_native":[0.25398517718790714,-0.28106856770442334,0.2639732974973299,-0.20210244413033607,-0.2724822512110272,0.29746919921961545,3.3822785052262105e-05],"issued_joint_targets_rad":[0.3048051936779624,1.4909364376781857,-1.257406994058346,-0.18715453097505313,0.929657480972403,0.37863240328375586],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.279999999996914,"joint_targets_rad":[0.3048051936779624,1.4909364376781857,-1.257406994058346,-0.18715453097505313,0.929657480972403,0.37863240328375586],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.29999999999694,"qpos":[0.3012831689595586,1.494802654559067,-1.261359873064782,-0.17902577112228862,0.9613329699874331,0.341489856063973,0.034999578729518255,-0.03499931587476572,0.35512819568337495,0.07869801653817261,0.0798922445797837,0.9959435657946976,-1.9186017706336988e-11,-4.611381936467319e-12,0.0899800741950223],"qvel":[0.007287275765273527,-0.007806582211327088,0.009499358561446384,-0.02685006544950657,-0.03340433351263189,0.04913894179532371,7.454248205186288e-07,-1.566962884394498e-05,9.004226749319184e-12,-2.663672073784264e-11,2.6548894427069483e-15,1.2340837366273253e-10,1.811890091828872e-11,-3.9162150877475554e-17],"joint_position_rad":[0.3012831689595586,1.494802654559067,-1.261359873064782,-0.17902577112228862,0.9613329699874331,0.341489856063973],"joint_velocity_rad_s":[0.007287275765273527,-0.007806582211327088,0.009499358561446384,-0.02685006544950657,-0.03340433351263189,0.04913894179532371],"gripper_joint_position_m":[0.034999578729518255,-0.03499931587476572],"tcp_position_m":[0.345890088669893,0.07667462709378164,0.20686866145085553],"tcp_quaternion_wxyz":[0.24318686934901332,-0.013481502153664103,0.9698632502382465,-0.006608442570793323],"object_position_m":[0.35512819568337495,0.07869801653817261,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9186017706336988e-11,-4.611381936467319e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.004226749319184e-12,-2.663672073784264e-11,2.6548894427069483e-15],"object_angular_velocity_rad_s":[1.1816258979178958e-10,3.994400623703891e-11,-3.916215089754443e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000508613},{"geom_ids":[1,90],"normal_force_n":0.09810000000683652},{"geom_ids":[1,90],"normal_force_n":0.09809999999491388},{"geom_ids":[1,90],"normal_force_n":0.09809999999316353}],"native_actuator_controls":[0.3048051936779624,1.4909364376781857,-1.257406994058346,-0.18715453097505313,0.929657480972403,0.37863240328375586,0.035],"actuator_force_native":[0.2453255986459375,-0.27026443941385025,0.2687335277076244,-0.19090006686304672,-0.26664838988135386,0.2977170595048433,1.3123695167260863e-05],"issued_joint_targets_rad":[0.30482730335711034,1.4909473905389539,-1.2573981597808654,-0.18722335017866523,0.9296508127917941,0.3787043630975248],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.29999999999694,"joint_targets_rad":[0.30482730335711034,1.4909473905389539,-1.2573981597808654,-0.18722335017866523,0.9296508127917941,0.3787043630975248],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.319999999996963,"qpos":[0.3014263702027891,1.494650034004062,-1.2612089392561967,-0.17954743638468076,0.9606708181412795,0.3424280369342943,0.034999633727692235,-0.03499961649997136,0.3551281956835589,0.0786980165376283,0.0798922445797837,0.9959435657946976,-1.8861588153448985e-11,-4.533403014206272e-12,0.0899800741950223],"qvel":[0.007034672718119879,-0.007510693487916947,0.006009270856712964,-0.025337159283889823,-0.032858031366668226,0.04553517292626167,3.365768218023939e-06,-1.4532791869509191e-05,1.0480212718617044e-11,-3.1003029505150347e-11,2.661828336610855e-15,-3.316915045270726e-10,-4.869801173834179e-11,-7.15002794506514e-17],"joint_position_rad":[0.3014263702027891,1.494650034004062,-1.2612089392561967,-0.17954743638468076,0.9606708181412795,0.3424280369342943],"joint_velocity_rad_s":[0.007034672718119879,-0.007510693487916947,0.006009270856712964,-0.025337159283889823,-0.032858031366668226,0.04553517292626167],"gripper_joint_position_m":[0.034999633727692235,-0.03499961649997136],"tcp_position_m":[0.34598137496512293,0.07667776829741564,0.20694674516238903],"tcp_quaternion_wxyz":[0.24356347273220136,-0.013221340912801353,0.9697724112774151,-0.006595545488090256],"object_position_m":[0.3551281956835589,0.0786980165376283,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8861588153448985e-11,-4.533403014206272e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0480212718617044e-11,-3.1003029505150347e-11,2.661828336610855e-15],"object_angular_velocity_rad_s":[-3.1759232916909695e-10,-1.0735857197098143e-10,-7.150027944088992e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000589082},{"geom_ids":[1,90],"normal_force_n":0.09810000000791815},{"geom_ids":[1,90],"normal_force_n":0.09809999999410919},{"geom_ids":[1,90],"normal_force_n":0.09809999999208188}],"native_actuator_controls":[0.30482730335711034,1.4909473905389539,-1.2573981597808654,-0.18722335017866523,0.9296508127917941,0.3787043630975248,0.035],"actuator_force_native":[0.23690128875509942,-0.2586580097690643,0.27481600374292725,-0.18035075533992995,-0.26091300644485216,0.294460502242913,-2.177948779547023e-06],"issued_joint_targets_rad":[0.3048477891067043,1.4909586688402199,-1.2573889328380066,-0.18728815250936934,0.9296422733926163,0.3787716668000394],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.319999999996963,"joint_targets_rad":[0.3048477891067043,1.4909586688402199,-1.2573889328380066,-0.18728815250936934,0.9296422733926163,0.3787716668000394],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.339999999996987,"qpos":[0.3015645972445348,1.4945007865884126,-1.261103769119701,-0.1800398738010299,0.9600171089776113,0.34332333890049066,0.034999696419864126,-0.03499990139529415,0.3551281956837332,0.0786980165371124,0.0798922445797837,0.9959435657946976,-1.7499679490227265e-11,-4.20607231482393e-12,0.0899800741950223],"qvel":[0.006791767268763708,-0.007419176429779856,0.004842351544425944,-0.02392676090168033,-0.0325103023510433,0.04416274625015791,2.6102632111028517e-06,-1.4686713554257436e-05,1.2905789721657202e-11,-3.817835259057914e-11,2.657665000268511e-15,-1.0073249230280702e-09,-1.478948559490664e-10,-1.3054169706565322e-16],"joint_position_rad":[0.3015645972445348,1.4945007865884126,-1.261103769119701,-0.1800398738010299,0.9600171089776113,0.34332333890049066],"joint_velocity_rad_s":[0.006791767268763708,-0.007419176429779856,0.004842351544425944,-0.02392676090168033,-0.0325103023510433,0.04416274625015791],"gripper_joint_position_m":[0.034999696419864126,-0.03499990139529415],"tcp_position_m":[0.34607896950554085,0.0766861882176296,0.2070379506705214],"tcp_quaternion_wxyz":[0.24395176990862252,-0.012972343677841345,0.9696783375546023,-0.006570687581771581],"object_position_m":[0.3551281956837332,0.0786980165371124,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7499679490227265e-11,-4.20607231482393e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.2905789721657202e-11,-3.817835259057914e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[-9.64506266813427e-10,-3.2604301901332884e-10,-1.3054169696892768e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000507826},{"geom_ids":[1,90],"normal_force_n":0.0981000000068259},{"geom_ids":[1,90],"normal_force_n":0.09809999999492174},{"geom_ids":[1,90],"normal_force_n":0.09809999999317409}],"native_actuator_controls":[0.3048477891067043,1.4909586688402199,-1.2573889328380066,-0.18728815250936934,0.9296422733926163,0.3787716668000394,0.035],"actuator_force_native":[0.2286965126297389,-0.2462735377065144,0.2729751448134152,-0.17029734382517603,-0.25498290232338583,0.28823915962025026,-9.081106202568634e-07],"issued_joint_targets_rad":[0.3048676396333768,1.4909699084349268,-1.2573794532905282,-0.18735061410276727,0.9296326773575989,0.3788363870498547],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.339999999996987,"joint_targets_rad":[0.3048676396333768,1.4909699084349268,-1.2573794532905282,-0.18735061410276727,0.9296326773575989,0.3788363870498547],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.35999999999701,"qpos":[0.3016980731338287,1.4943543272784436,-1.2610107277641331,-0.18050498084672917,0.9593720414105054,0.3441956784254205,0.03499975460296391,-0.03500016498602249,0.35512819568390286,0.07869801653661058,0.0798922445797837,0.9959435657946976,-1.5797501874523304e-11,-3.796960893636162e-12,0.0899800741950223],"qvel":[0.006558626413638699,-0.007222408234102296,0.004528778879208391,-0.022599607018724627,-0.03199206905579748,0.04312081970301006,2.4111145551499355e-06,-1.1690211308321316e-05,6.372013219344373e-12,-1.884993184411987e-11,2.6548894427069483e-15,6.611031854429341e-10,9.706110944802321e-11,-1.4143110472439633e-17],"joint_position_rad":[0.3016980731338287,1.4943543272784436,-1.2610107277641331,-0.18050498084672917,0.9593720414105054,0.3441956784254205],"joint_velocity_rad_s":[0.006558626413638699,-0.007222408234102296,0.004528778879208391,-0.022599607018724627,-0.03199206905579748,0.04312081970301006],"gripper_joint_position_m":[0.03499975460296391,-0.03500016498602249],"tcp_position_m":[0.3461764184465075,0.07669760954495629,0.2071308807479941],"tcp_quaternion_wxyz":[0.24433661284543975,-0.012726577800105415,0.9695849231715585,-0.006536864624447853],"object_position_m":[0.35512819568390286,0.07869801653661058,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.5797501874523304e-11,-3.796960893636162e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.372013219344373e-12,-1.884993184411987e-11,2.6548894427069483e-15],"object_angular_velocity_rad_s":[6.330017782096856e-10,2.1397903998628093e-10,-1.4143110463809097e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997965362},{"geom_ids":[1,90],"normal_force_n":0.09809999997265116},{"geom_ids":[1,90],"normal_force_n":0.09810000002034633},{"geom_ids":[1,90],"normal_force_n":0.09810000002734881}],"native_actuator_controls":[0.3048676396333768,1.4909699084349268,-1.2573794532905282,-0.18735061410276727,0.9296326773575989,0.3788363870498547,0.035],"actuator_force_native":[0.22077218789565478,-0.23464146631083338,0.26785806349235486,-0.16082729514790017,-0.2494055369453676,0.2817258566898264,-2.2396913319511214e-06],"issued_joint_targets_rad":[0.3048869156807634,1.4909806362312765,-1.2573699302434638,-0.18741065147530767,0.929622714849284,0.37889860932992125],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.35999999999701,"joint_targets_rad":[0.3048869156807634,1.4909806362312765,-1.2573699302434638,-0.18741065147530767,0.929622714849284,0.37889860932992125],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.379999999997036,"qpos":[0.30182696238378015,1.4942127428861944,-1.2609217543569675,-0.1809443146186781,0.9587385681563714,0.3450478729309969,0.03499979298148843,-0.0350003314764594,0.3551281956841046,0.07869801653601369,0.0798922445797837,0.9959435657946976,-1.7666887637656226e-11,-4.246267601293195e-12,0.0899800741950223],"qvel":[0.006332931811324762,-0.006947432241547853,0.004384875450559086,-0.021347548689848617,-0.03137383489488137,0.04213403147118526,1.2764686023153038e-06,-6.488225811363235e-06,7.1552101636679934e-12,-2.1166828535691778e-11,2.6590527790492924e-15,6.07537692355596e-10,8.919708229230019e-11,-2.5821711071911726e-17],"joint_position_rad":[0.30182696238378015,1.4942127428861944,-1.2609217543569675,-0.1809443146186781,0.9587385681563714,0.3450478729309969],"joint_velocity_rad_s":[0.006332931811324762,-0.006947432241547853,0.004384875450559086,-0.021347548689848617,-0.03137383489488137,0.04213403147118526],"gripper_joint_position_m":[0.03499979298148843,-0.0350003314764594],"tcp_position_m":[0.34627190536841057,0.07671117189359643,0.2072217720880373],"tcp_quaternion_wxyz":[0.24471215728125376,-0.012483294792963846,0.969493643668904,-0.006496330922819533],"object_position_m":[0.3551281956841046,0.07869801653601369,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7666887637656226e-11,-4.246267601293195e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.1552101636679934e-12,-2.1166828535691778e-11,2.6590527790492924e-15],"object_angular_velocity_rad_s":[5.817131326936685e-10,1.966418022037523e-10,-2.582171107814362e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000202525},{"geom_ids":[1,90],"normal_force_n":0.09810000000272237},{"geom_ids":[1,90],"normal_force_n":0.09809999999797474},{"geom_ids":[1,90],"normal_force_n":0.09809999999727768}],"native_actuator_controls":[0.3048869156807634,1.4909806362312765,-1.2573699302434638,-0.18741065147530767,0.929622714849284,0.37889860932992125,0.035],"actuator_force_native":[0.2131316047020384,-0.22383137118569607,0.2622215518275084,-0.15191573081593912,-0.24409778072855026,0.2753063167824652,1.8983974514608093e-06],"issued_joint_targets_rad":[0.30490555353306065,1.4909907204328086,-1.2573605001125547,-0.1874680998094036,0.9296126897473844,0.378958203554336],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.379999999997036,"joint_targets_rad":[0.30490555353306065,1.4909907204328086,-1.2573605001125547,-0.1874680998094036,0.9296126897473844,0.378958203554336],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.39999999999706,"qpos":[0.3019514104838712,1.49407694966184,-1.2608351723884892,-0.1813593331416973,0.9581177932814678,0.3458805812251942,0.03499981311842187,-0.03500041107782336,0.3551281956843052,0.07869801653542022,0.0798922445797837,0.9959435657946976,-1.8986740399849556e-11,-4.563477579995095e-12,0.0899800741950223],"qvel":[0.006114500386683754,-0.00665032370726867,0.0042791321170609535,-0.020166530704384147,-0.030730934592597087,0.041170585974969316,5.884129149418245e-07,-2.9858606900893836e-06,7.981700064044309e-12,-2.3611848497990873e-11,2.6535016639261666e-15,4.659349945456871e-10,6.840763809533187e-11,-4.714377998931781e-17],"joint_position_rad":[0.3019514104838712,1.49407694966184,-1.2608351723884892,-0.1813593331416973,0.9581177932814678,0.3458805812251942],"joint_velocity_rad_s":[0.006114500386683754,-0.00665032370726867,0.0042791321170609535,-0.020166530704384147,-0.030730934592597087,0.041170585974969316],"gripper_joint_position_m":[0.03499981311842187,-0.03500041107782336],"tcp_position_m":[0.34636506362746267,0.07672651838409722,0.2073096513389904],"tcp_quaternion_wxyz":[0.24507689437840285,-0.012242551106163535,0.96940488474514,-0.00645021057887896],"object_position_m":[0.3551281956843052,0.07869801653542022,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8986740399849556e-11,-4.563477579995095e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.981700064044309e-12,-2.3611848497990873e-11,2.6535016639261666e-15],"object_angular_velocity_rad_s":[4.4612947818463737e-10,1.5080952485428068e-10,-4.714378002304587e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000354763},{"geom_ids":[1,90],"normal_force_n":0.09810000000476855},{"geom_ids":[1,90],"normal_force_n":0.09809999999645237},{"geom_ids":[1,90],"normal_force_n":0.09809999999523147}],"native_actuator_controls":[0.30490555353306065,1.4909907204328086,-1.2573605001125547,-0.1874680998094036,0.9296126897473844,0.378958203554336,0.035],"actuator_force_native":[0.2057589420017365,-0.21364671978618333,0.25657812148946846,-0.1435180131863314,-0.23895463345193946,0.2690203443289638,4.533198550760176e-06],"issued_joint_targets_rad":[0.3049235385404328,1.4910001581220569,-1.2573512143412522,-0.18752297855744646,0.9296027100921814,0.3790151960232842],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.39999999999706,"joint_targets_rad":[0.3049235385404328,1.4910001581220569,-1.2573512143412522,-0.18752297855744646,0.9296027100921814,0.3790151960232842],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.419999999997085,"qpos":[0.3020715631574316,1.4939470966825437,-1.2607505754310135,-0.18175141610849202,0.9575098738541129,0.34669422707945047,0.03499982331503174,-0.03500043857730246,0.3551281956845027,0.07869801653483628,0.0798922445797837,0.9959435657946976,-1.970312319941745e-11,-4.735656027169899e-12,0.0899800741950223],"qvel":[0.005903355680688254,-0.006355217725228064,0.004183932606993326,-0.019052589738213666,-0.030090504496754957,0.04022745755830937,2.4243104672616046e-07,-1.0517383651414282e-06,8.974672902931586e-12,-2.6549337614433656e-11,2.652113885145385e-15,2.0502839772950717e-10,3.0101435436272645e-11,-8.607226157081698e-17],"joint_position_rad":[0.3020715631574316,1.4939470966825437,-1.2607505754310135,-0.18175141610849202,0.9575098738541129,0.34669422707945047],"joint_velocity_rad_s":[0.005903355680688254,-0.006355217725228064,0.004183932606993326,-0.019052589738213666,-0.030090504496754957,0.04022745755830937],"gripper_joint_position_m":[0.03499982331503174,-0.03500043857730246],"tcp_position_m":[0.34645586881400886,0.07674343493993471,0.20739434166579046],"tcp_quaternion_wxyz":[0.24543068261469378,-0.012004465691692268,0.969318690287186,-0.006399179218990044],"object_position_m":[0.3551281956845027,0.07869801653483628,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.970312319941745e-11,-4.735656027169899e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.974672902931586e-12,-2.6549337614433656e-11,2.652113885145385e-15],"object_angular_velocity_rad_s":[1.9631332340628762e-10,6.636127895114198e-11,-8.60722615712236e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000504501},{"geom_ids":[1,90],"normal_force_n":0.09810000000678123},{"geom_ids":[1,90],"normal_force_n":0.09809999999495501},{"geom_ids":[1,90],"normal_force_n":0.09809999999321876}],"native_actuator_controls":[0.3049235385404328,1.4910001581220569,-1.2573512143412522,-0.18752297855744646,0.9296027100921814,0.3790151960232842,0.035],"actuator_force_native":[0.19864125223665496,-0.2039789962127827,0.2510292241459382,-0.13559954926710915,-0.23393588087418316,0.2628685031008735,5.855243496943885e-06],"issued_joint_targets_rad":[0.3049408799823543,1.4910089802206026,-1.2573420906564834,-0.18757537919001743,0.9295928178535129,0.37906967947117204],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.419999999997085,"joint_targets_rad":[0.3049408799823543,1.4910089802206026,-1.2573420906564834,-0.18757537919001743,0.9295928178535129,0.37906967947117204],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.43999999999711,"qpos":[0.3021875651674442,1.493823044586992,-1.2606678341364281,-0.18212186551997925,0.9569146605034323,0.3474892134507755,0.0349998286343023,-0.03500043882799087,0.35512819568469456,0.07869801653426882,0.0798922445797837,0.9959435657946976,-1.9669071782651853e-11,-4.727465606283086e-12,0.0899800741950223],"qvel":[0.005699378442485107,-0.006070097468287991,0.004092897978703111,-0.018001888622017407,-0.02946048565208609,0.0393043554811124,7.934543762872025e-08,-7.623456670976581e-08,1.0384678534136683e-11,-3.072052895256412e-11,2.6576650002685107e-15,-2.1424097455015052e-10,-3.145306556994436e-11,-1.5714650271125304e-16],"joint_position_rad":[0.3021875651674442,1.493823044586992,-1.2606678341364281,-0.18212186551997925,0.9569146605034323,0.3474892134507755],"joint_velocity_rad_s":[0.005699378442485107,-0.006070097468287991,0.004092897978703111,-0.018001888622017407,-0.02946048565208609,0.0393043554811124],"gripper_joint_position_m":[0.0349998286343023,-0.03500043882799087],"tcp_position_m":[0.34654437528529425,0.07676175335153364,0.20747589096933167],"tcp_quaternion_wxyz":[0.24577377270374942,-0.011769145292123688,0.9692350059303853,-0.006343748827369251],"object_position_m":[0.35512819568469456,0.07869801653426882,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9669071782651853e-11,-4.727465606283086e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.0384678534136683e-11,-3.072052895256412e-11,2.6576650002685107e-15],"object_angular_velocity_rad_s":[-2.0513446968544925e-10,-6.934219391405816e-11,-1.571465027451851e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000607151},{"geom_ids":[1,90],"normal_force_n":0.09810000000816103},{"geom_ids":[1,90],"normal_force_n":0.09809999999392853},{"geom_ids":[1,90],"normal_force_n":0.09809999999183902}],"native_actuator_controls":[0.3049408799823543,1.4910089802206026,-1.2573420906564834,-0.18757537919001743,0.9295928178535129,0.37906967947117204,0.035],"actuator_force_native":[0.191768292980381,-0.19477466196971704,0.24559498850206296,-0.12813110369144098,-0.22902769802106526,0.2568481269822973,6.457900719958332e-06],"issued_joint_targets_rad":[0.30495759505491704,1.4910172246977222,-1.2573331358688846,-0.18762541181414297,0.9295830342901183,0.37912176414965937],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.43999999999711,"joint_targets_rad":[0.30495759505491704,1.4910172246977222,-1.2573331358688846,-0.18762541181414297,0.9295830342901183,0.37912176414965937],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.459999999997134,"qpos":[0.3022995579209932,1.4937045664370643,-1.2605868857395732,-0.18247190871830957,0.9563319189107378,0.3482659389283235,0.03499983167050982,-0.0350004259697224,0.35512819568487775,0.0786980165337265,0.0798922445797837,0.9959435657946976,-1.8608994428592418e-11,-4.472664847948689e-12,0.0899800741950223],"qvel":[0.005502366994512175,-0.005797076350234649,0.00400440414179619,-0.017010784464436504,-0.02884290858669629,0.03840104788608662,7.058715694186866e-09,3.8383789945230927e-07,1.2622964070181781e-11,-3.734207408945658e-11,2.661828336610855e-15,-8.479935475168724e-10,-1.2449514341909913e-10,-2.869105436464467e-16],"joint_position_rad":[0.3022995579209932,1.4937045664370643,-1.2605868857395732,-0.18247190871830957,0.9563319189107378,0.3482659389283235],"joint_velocity_rad_s":[0.005502366994512175,-0.005797076350234649,0.00400440414179619,-0.017010784464436504,-0.02884290858669629,0.03840104788608662],"gripper_joint_position_m":[0.03499983167050982,-0.0350004259697224],"tcp_position_m":[0.34663065378887076,0.07678132536638364,0.20755440761653735],"tcp_quaternion_wxyz":[0.24610651601769365,-0.011536682199020694,0.9691537517530507,-0.006284361579148408],"object_position_m":[0.35512819568487775,0.0786980165337265,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8608994428592418e-11,-4.472664847948689e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.2622964070181781e-11,-3.734207408945658e-11,2.661828336610855e-15],"object_angular_velocity_rad_s":[-8.119488508127966e-10,-2.7446522735852975e-10,-2.869105437616111e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000574957},{"geom_ids":[1,90],"normal_force_n":0.09810000000772826},{"geom_ids":[1,90],"normal_force_n":0.0980999999942504},{"geom_ids":[1,90],"normal_force_n":0.09809999999227176}],"native_actuator_controls":[0.30495759505491704,1.4910172246977222,-1.2573331358688846,-0.18762541181414297,0.9295830342901183,0.37912176414965937,0.035],"actuator_force_native":[0.18513113574134366,-0.18600195739620062,0.24027796894610276,-0.12108620151115357,-0.2242244833261502,0.25095668038422847,6.6978860286948105e-06],"issued_joint_targets_rad":[0.3049737031521844,1.4910249293770494,-1.257324353305232,-0.18767318780027167,0.9295733736855142,0.37917156140658587],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.459999999997134,"joint_targets_rad":[0.3049737031521844,1.4910249293770494,-1.257324353305232,-0.18767318780027167,0.9295733736855142,0.37917156140658587],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.47999999999716,"qpos":[0.30240767847058925,1.4935914165483624,-1.2605076852203367,-0.18280270231830173,0.9557613952309854,0.34902479660184144,0.03499983369625905,-0.03500040736354165,0.35512819568504816,0.07869801653322266,0.0798922445797837,0.9959435657946976,-1.6097083213788333e-11,-3.868917842416233e-12,0.0899800741950223],"qvel":[0.005312094463305411,-0.005536371067424483,0.0039179860244785685,-0.0160758383485605,-0.02823812581237805,0.03751722797454795,-2.1240354869972956e-08,5.826121852703628e-07,6.4861939522198015e-12,-1.9187874888639564e-11,2.657665000268511e-15,7.00794220481387e-10,1.0288714478403813e-10,-3.108434959659211e-17],"joint_position_rad":[0.30240767847058925,1.4935914165483624,-1.2605076852203367,-0.18280270231830173,0.9557613952309854,0.34902479660184144],"joint_velocity_rad_s":[0.005312094463305411,-0.005536371067424483,0.0039179860244785685,-0.0160758383485605,-0.02823812581237805,0.03751722797454795],"gripper_joint_position_m":[0.03499983369625905,-0.03500040736354165],"tcp_position_m":[0.34671477657498456,0.07680201543004771,0.20763001319496785],"tcp_quaternion_wxyz":[0.24642928061057642,-0.011307156701443702,0.9690748432434405,-0.006221419274094855],"object_position_m":[0.35512819568504816,0.07869801653322266,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6097083213788333e-11,-3.868917842416233e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.4861939522198015e-12,-1.9187874888639564e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[6.710059019661124e-10,2.2682456557562055e-10,-3.1084349611520884e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998053627},{"geom_ids":[1,90],"normal_force_n":0.09809999997383786},{"geom_ids":[1,90],"normal_force_n":0.09810000001946366},{"geom_ids":[1,90],"normal_force_n":0.09810000002616205}],"native_actuator_controls":[0.3049737031521844,1.4910249293770494,-1.257324353305232,-0.18767318780027167,0.9295733736855142,0.37917156140658587,0.035],"actuator_force_native":[0.17872150221108996,-0.17763711836791174,0.23507662308598753,-0.11444022753599459,-0.21952302673614454,0.2451918060856224,6.7583514122837585e-06],"issued_joint_targets_rad":[0.3049892240687953,1.4910321301237288,-1.257315745012031,-0.18771881484073835,0.9295638473467559,0.37921917894515983],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.47999999999716,"joint_targets_rad":[0.3049892240687953,1.4910321301237288,-1.257315745012031,-0.18771881484073835,0.9295638473467559,0.37921917894515983],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.499999999997183,"qpos":[0.30251205929353825,1.4934833520123554,-1.2604301930344226,-0.1831153362019311,0.9552028343767345,0.3497661730232448,0.0349998353241604,-0.03500038666802624,0.35512819568524495,0.07869801653264079,0.0798922445797837,0.9959435657946976,-1.7197974629685564e-11,-4.133498100463307e-12,0.0899800741950223],"qvel":[0.005128332377687193,-0.005287629982287238,0.003833481447393485,-0.015193808958128604,-0.027646028811433406,0.036652557512305145,-2.862065069626355e-08,6.533868222073051e-07,6.9982070196131355e-12,-2.070260974430558e-11,2.663216115391636e-15,6.167788238605242e-10,9.055218433512011e-11,-5.675239511040633e-17],"joint_position_rad":[0.30251205929353825,1.4934833520123554,-1.2604301930344226,-0.1831153362019311,0.9552028343767345,0.3497661730232448],"joint_velocity_rad_s":[0.005128332377687193,-0.005287629982287238,0.003833481447393485,-0.015193808958128604,-0.027646028811433406,0.036652557512305145],"gripper_joint_position_m":[0.0349998353241604,-0.03500038666802624],"tcp_position_m":[0.34679681385135674,0.0768236983066348,0.20770282901001497],"tcp_quaternion_wxyz":[0.246742427677841,-0.011080638662993875,0.9689981972102227,-0.006155293153354081],"object_position_m":[0.35512819568524495,0.07869801653264079,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7197974629685564e-11,-4.133498100463307e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.9982070196131355e-12,-2.070260974430558e-11,2.663216115391636e-15],"object_angular_velocity_rad_s":[5.90561749005234e-10,1.9963125071619223e-10,-5.675239513790723e-17],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000159394},{"geom_ids":[1,90],"normal_force_n":0.09810000000214245},{"geom_ids":[1,90],"normal_force_n":0.09809999999840607},{"geom_ids":[1,90],"normal_force_n":0.09809999999785757}],"native_actuator_controls":[0.3049892240687953,1.4910321301237288,-1.257315745012031,-0.18771881484073835,0.9295638473467559,0.37921917894515983,0.035],"actuator_force_native":[0.1725315201321287,-0.1696596011786795,0.22998843455437168,-0.10817010076164735,-0.21492082708263638,0.2395512229506922,6.730136837607148e-06],"issued_joint_targets_rad":[0.3050041774454605,1.4910388604865557,-1.2573073123889027,-0.18776239574508938,0.9295544647966474,0.3792647196520979],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.499999999997183,"joint_targets_rad":[0.3050041774454605,1.4910388604865557,-1.2573073123889027,-0.18776239574508938,0.9295544647966474,0.3792647196520979],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.519999999997207,"qpos":[0.3026128283515114,1.4933801388844132,-1.260354371828231,-0.18341083736525018,0.9546559849820174,0.3504904478530241,0.03499983684335554,-0.03500036564304471,0.35512819568543685,0.07869801653207319,0.0798922445797837,0.9959435657946976,-1.8063938418225428e-11,-4.341622620466379e-12,0.0899800741950223],"qvel":[0.004950858080524936,-0.005050350070812596,0.003750811984498656,-0.014361642961329002,-0.027066386570393546,0.035806689706185266,-2.6331874253420234e-08,6.631821340379448e-07,7.615250903530559e-12,-2.2528042263693776e-11,2.6576650002685107e-15,4.6115582602729023e-10,6.770386855703603e-11,-1.0361581869634114e-16],"joint_position_rad":[0.3026128283515114,1.4933801388844132,-1.260354371828231,-0.18341083736525018,0.9546559849820174,0.3504904478530241],"joint_velocity_rad_s":[0.004950858080524936,-0.005050350070812596,0.003750811984498656,-0.014361642961329002,-0.027066386570393546,0.035806689706185266],"gripper_joint_position_m":[0.03499983684335554,-0.03500036564304471],"tcp_position_m":[0.3468768330089429,0.0768462580002241,0.20777297234869319],"tcp_quaternion_wxyz":[0.2470463053604071,-0.010857188512288923,0.9689237333649747,-0.0060863279126529566],"object_position_m":[0.35512819568543685,0.07869801653207319,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8063938418225428e-11,-4.341622620466379e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.615250903530559e-12,-2.2528042263693776e-11,2.6576650002685107e-15],"object_angular_velocity_rad_s":[4.4155383463891613e-10,1.4926058023526811e-10,-1.0361581870413207e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000311368},{"geom_ids":[1,90],"normal_force_n":0.09810000000418524},{"geom_ids":[1,90],"normal_force_n":0.0980999999968863},{"geom_ids":[1,90],"normal_force_n":0.09809999999581477}],"native_actuator_controls":[0.3050041774454605,1.4910388604865557,-1.2573073123889027,-0.18776239574508938,0.9295544647966474,0.3792647196520979,0.035],"actuator_force_native":[0.16655363711330295,-0.1620505214745549,0.22501069522375872,-0.10225412038692205,-0.21041562199811104,0.23403268343146033,6.657925149866628e-06],"issued_joint_targets_rad":[0.30501858258741016,1.4910451517276229,-1.2572990563733637,-0.1878040282996084,0.9295452341743606,0.37930828145301015],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.519999999997207,"joint_targets_rad":[0.30501858258741016,1.4910451517276229,-1.2572990563733637,-0.1878040282996084,0.9295452341743606,0.37930828145301015],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.53999999999723,"qpos":[0.3027101092298818,1.4932815536387871,-1.260280185508171,-0.18369017357172618,0.9541206006765451,0.3511979937874841,0.0349998383857563,-0.03500034510543997,0.3551281956856233,0.07869801653152143,0.0798922445797837,0.9959435657946976,-1.8542520575643925e-11,-4.45664084234362e-12,0.0899800741950223],"qvel":[0.004779456526330991,-0.004824003097447932,0.003669923840527045,-0.01357646484930633,-0.02649893909150025,0.03497927717877154,-1.9821065510367374e-08,6.449335333933221e-07,8.453494665630741e-12,-2.500783066461742e-11,2.657665000268511e-15,2.0465625356761787e-10,3.004670249795362e-11,-1.8917562378133092e-16],"joint_position_rad":[0.3027101092298818,1.4932815536387871,-1.260280185508171,-0.18369017357172618,0.9541206006765451,0.3511979937874841],"joint_velocity_rad_s":[0.004779456526330991,-0.004824003097447932,0.003669923840527045,-0.01357646484930633,-0.02649893909150025,0.03497927717877154],"gripper_joint_position_m":[0.0349998383857563,-0.03500034510543997],"tcp_position_m":[0.34695489854071543,0.07686958704538846,0.20784055557509798],"tcp_quaternion_wxyz":[0.24734124749921568,-0.010636857989510473,0.9688513746646753,-0.006014843972295697],"object_position_m":[0.3551281956856233,0.07869801653152143,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8542520575643925e-11,-4.45664084234362e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.453494665630741e-12,-2.500783066461742e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[1.9595701510346678e-10,6.62407328391921e-11,-1.8917562380371726e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000459385},{"geom_ids":[1,90],"normal_force_n":0.09810000000617478},{"geom_ids":[1,90],"normal_force_n":0.09809999999540617},{"geom_ids":[1,90],"normal_force_n":0.09809999999382528}],"native_actuator_controls":[0.30501858258741016,1.4910451517276229,-1.2572990563733637,-0.1878040282996084,0.9295452341743606,0.37930828145301015,0.035],"actuator_force_native":[0.1607805859706133,-0.1547921374058916,0.2201407115819336,-0.09667186486875678,-0.20600525638459466,0.22863396088710308,6.563675075677011e-06],"issued_joint_targets_rad":[0.305032458394949,1.4910510329492748,-1.257290977501514,-0.18784380541776463,0.929536162412536,0.379349957451976],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.53999999999723,"joint_targets_rad":[0.305032458394949,1.4910510329492748,-1.257290977501514,-0.18784380541776463,0.929536162412536,0.379349957451976],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.559999999997256,"qpos":[0.3028040212925625,1.4931873832116886,-1.2602075989555284,-0.18395425680462746,0.9535964403406623,0.3518891765796011,0.03499984000740855,-0.03500032541236812,0.355128195685814,0.07869801653095772,0.0798922445797837,0.9959435657946976,-1.9496967942361375e-11,-4.686021900420297e-12,0.0899800741950223],"qvel":[0.004613920431081075,-0.0046080724375973025,0.0035907713212415733,-0.012835566887745242,-0.025943423228320245,0.034169974565496,-1.1703674887117907e-08,6.145947758828402e-07,9.927994170121826e-12,-2.93699227625379e-11,2.6562772214877297e-15,-1.6019339031143283e-10,-2.351654976346493e-11,-3.4538650573470005e-16],"joint_position_rad":[0.3028040212925625,1.4931873832116886,-1.2602075989555284,-0.18395425680462746,0.9535964403406623,0.3518891765796011],"joint_velocity_rad_s":[0.004613920431081075,-0.0046080724375973025,0.0035907713212415733,-0.012835566887745242,-0.025943423228320245,0.034169974565496],"gripper_joint_position_m":[0.03499984000740855,-0.03500032541236812],"tcp_position_m":[0.34703107213440193,0.07689358592143644,0.20790568604338858],"tcp_quaternion_wxyz":[0.24762757378722663,-0.01041969078685698,0.9687810473008908,-0.005941139179240374],"object_position_m":[0.355128195685814,0.07869801653095772,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9496967942361375e-11,-4.686021900420297e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.927994170121826e-12,-2.93699227625379e-11,2.6562772214877297e-15],"object_angular_velocity_rad_s":[-1.533845315887934e-10,-5.184723600670493e-11,-3.453865058026697e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000638616},{"geom_ids":[1,90],"normal_force_n":0.09810000000858385},{"geom_ids":[1,90],"normal_force_n":0.09809999999361385},{"geom_ids":[1,90],"normal_force_n":0.09809999999141615}],"native_actuator_controls":[0.305032458394949,1.4910510329492748,-1.257290977501514,-0.18784380541776463,0.929536162412536,0.379349957451976,0.035],"actuator_force_native":[0.15520536603551705,-0.14786765880512576,0.2153758597149391,-0.09140411008676086,-0.20168764443878473,0.2233528468755055,6.458222032490468e-06],"issued_joint_targets_rad":[0.30504582332990304,1.49105653123933,-1.2572830759361633,-0.18788181536272835,0.9295272553493965,0.3793898361433131],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.559999999997256,"joint_targets_rad":[0.30504582332990304,1.49105653123933,-1.2572830759361633,-0.18788181536272835,0.9295272553493965,0.3793898361433131],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.57999999999728,"qpos":[0.3028946798346262,1.4930974246430428,-1.260136577923918,-0.18420394652230954,0.9530832680793012,0.3525643550909427,0.03499984172811029,-0.0350003066999878,0.3551281956860004,0.07869801653040645,0.0798922445797837,0.9959435657946976,-1.9187637654472687e-11,-4.611664182059938e-12,0.0899800741950223],"qvel":[0.004454050009679347,-0.004402063013606548,0.003513312088235518,-0.01213639942476281,-0.025399579759366846,0.03337843942363596,-3.2194422739607697e-09,5.798006298303634e-07,1.2163628335468164e-11,-3.5983658385375305e-11,2.6562772214877297e-15,-7.282914970072368e-10,-1.0691994904528093e-10,-6.305869925348023e-16],"joint_position_rad":[0.3028946798346262,1.4930974246430428,-1.260136577923918,-0.18420394652230954,0.9530832680793012,0.3525643550909427],"joint_velocity_rad_s":[0.004454050009679347,-0.004402063013606548,0.003513312088235518,-0.01213639942476281,-0.025399579759366846,0.03337843942363596],"gripper_joint_position_m":[0.03499984172811029,-0.0350003066999878],"tcp_position_m":[0.3471054128054296,0.07691816252419047,0.20796846624158227],"tcp_quaternion_wxyz":[0.24790559029871498,-0.010205723130381109,0.9687126805909887,-0.005865490282366263],"object_position_m":[0.3551281956860004,0.07869801653040645,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9187637654472687e-11,-4.611664182059938e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.2163628335468164e-11,-3.5983658385375305e-11,2.6562772214877297e-15],"object_angular_velocity_rad_s":[-6.973351197160624e-10,-2.357204083813513e-10,-6.305869925871953e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000650348},{"geom_ids":[1,90],"normal_force_n":0.09810000000874172},{"geom_ids":[1,90],"normal_force_n":0.09809999999349651},{"geom_ids":[1,90],"normal_force_n":0.0980999999912583}],"native_actuator_controls":[0.30504582332990304,1.49105653123933,-1.2572830759361633,-0.18788181536272835,0.9295272553493965,0.3793898361433131,0.035],"actuator_force_native":[0.1498212295737531,-0.14126115722899613,0.21071359857918992,-0.0864327564929388,-0.1974607576599947,0.21818715138824984,6.346972799775585e-06],"issued_joint_targets_rad":[0.3050586953956361,1.4910616718133407,-1.257275351487664,-0.18791814198071646,0.9295185178200004,0.37942800163565177],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.57999999999728,"joint_targets_rad":[0.3050586953956361,1.4910616718133407,-1.257275351487664,-0.18791814198071646,0.9295185178200004,0.37942800163565177],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.599999999997305,"qpos":[0.30298219622871003,1.493011484618949,-1.2600670889897894,-0.18444005272440583,0.9525808531202411,0.3532238813553727,0.034999843550623064,-0.03500028899979552,0.35512819568617776,0.0786980165298822,0.0798922445797837,0.9959435657946976,-1.7274521396442672e-11,-4.151845456717406e-12,0.0899800741950223],"qvel":[0.004299652641256333,-0.004205503266976483,0.00343750575286962,-0.011476561658811817,-0.024867155221148983,0.03260433262584559,5.057710970341732e-09,5.4414956323047e-07,1.5689729770368043e-11,-4.641526287476254e-11,2.657665000268511e-15,-1.5882631846473037e-09,-2.3316505842255116e-10,-1.151285080200855e-15],"joint_position_rad":[0.30298219622871003,1.493011484618949,-1.2600670889897894,-0.18444005272440583,0.9525808531202411,0.3532238813553727],"joint_velocity_rad_s":[0.004299652641256333,-0.004205503266976483,0.00343750575286962,-0.011476561658811817,-0.024867155221148983,0.03260433262584559],"gripper_joint_position_m":[0.034999843550623064,-0.03500028899979552],"tcp_position_m":[0.34717797703479075,0.07694323167632976,0.20802899399505037],"tcp_quaternion_wxyz":[0.2481755901027326,-0.009994984319714448,0.9686462068452087,-0.005788154282487237],"object_position_m":[0.35512819568617776,0.0786980165298822,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7274521396442672e-11,-4.151845456717406e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.5689729770368043e-11,-4.641526287476254e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[-1.5207545040307336e-09,-5.140541086747753e-10,-1.1512850805095816e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000402724},{"geom_ids":[1,90],"normal_force_n":0.0981000000054132},{"geom_ids":[1,90],"normal_force_n":0.09809999999597281},{"geom_ids":[1,90],"normal_force_n":0.09809999999458681}],"native_actuator_controls":[0.3050586953956361,1.4910616718133407,-1.257275351487664,-0.18791814198071646,0.9295185178200004,0.37942800163565177,0.035],"actuator_force_native":[0.14462167014780292,-0.1349575081137715,0.20615147140567558,-0.08174076195836566,-0.19332262017068302,0.21313470386402233,6.2326865226669526e-06],"issued_joint_targets_rad":[0.30507109212382105,1.4910664781485325,-1.2572678036340326,-0.18795286492833266,0.9295099537388342,0.37946453387157814],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.599999999997305,"joint_targets_rad":[0.30507109212382105,1.4910664781485325,-1.2572678036340326,-0.18795286492833266,0.9295099537388342,0.37946453387157814],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.61999999999733,"qpos":[0.30306667806479853,1.4929293790035876,-1.2599990995190484,-0.18466333883846991,0.9520889696941629,0.35386810064859103,0.03499984546995132,-0.03500027229487604,0.35512819568637194,0.07869801652930718,0.0798922445797837,0.9959435657946976,-1.746157842469522e-11,-4.196774576982991e-12,0.0899800741950223],"qvel":[0.004150542543713127,-0.004017944824241177,0.0033633134294219647,-0.010853792901167171,-0.02434590227028493,0.03184731858984942,1.2874847800954403e-08,5.092938647187595e-07,7.063119928195227e-12,-2.0894941730006437e-11,2.657665000268511e-15,6.585118463274928e-10,9.667632509350764e-11,-1.2473223677406056e-16],"joint_position_rad":[0.30306667806479853,1.4929293790035876,-1.2599990995190484,-0.18466333883846991,0.9520889696941629,0.35386810064859103],"joint_velocity_rad_s":[0.004150542543713127,-0.004017944824241177,0.0033633134294219647,-0.010853792901167171,-0.02434590227028493,0.03184731858984942],"gripper_joint_position_m":[0.03499984546995132,-0.03500027229487604],"tcp_position_m":[0.3472488189025152,0.07696871466989154,0.20808736267994338],"tcp_quaternion_wxyz":[0.2484378538771162,-0.009787497232260817,0.9685815612309613,-0.005709369689793401],"object_position_m":[0.35512819568637194,0.07869801652930718,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.746157842469522e-11,-4.196774576982991e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.063119928195227e-12,-2.0894941730006437e-11,2.657665000268511e-15],"object_angular_velocity_rad_s":[6.3052136515985e-10,2.1313604027518918e-10,-1.2473223680529107e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000136015},{"geom_ids":[1,90],"normal_force_n":0.09810000000182824},{"geom_ids":[1,90],"normal_force_n":0.09809999999863984},{"geom_ids":[1,90],"normal_force_n":0.09809999999817179}],"native_actuator_controls":[0.30507109212382105,1.4910664781485325,-1.2572678036340326,-0.18795286492833266,0.9295099537388342,0.37946453387157814,0.035],"actuator_force_native":[0.13960041200323658,-0.12894234428320317,0.20168710365416587,-0.07731207908867344,-0.1892713061478588,0.2081933543450969,6.116827708124717e-06],"issued_joint_targets_rad":[0.30508303056566083,1.4910709721084985,-1.257260431541787,-0.18798605988964665,0.9295015661770931,0.3794995088384104],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.61999999999733,"joint_targets_rad":[0.30508303056566083,1.4910709721084985,-1.257260431541787,-0.18798605988964665,0.9295015661770931,0.3794995088384104],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.639999999997354,"qpos":[0.3031482292837595,1.4928509323857573,-1.2599325776391443,-0.1848745244369753,0.9516073969126183,0.3544973515615246,0.03499984747780444,-0.0350002565469374,0.35512819568657156,0.07869801652871662,0.0798922445797837,0.9959435657946976,-1.850160195721766e-11,-4.446715076082611e-12,0.0899800741950223],"qvel":[0.004006540471696824,-0.0038389615336030334,0.0032906975658819823,-0.010265964333012726,-0.02383557963517792,0.031107065448509864,2.0132971698548485e-08,4.7595245621201445e-07,7.700650409835687e-12,-2.278104419637988e-11,2.6521138851453852e-15,5.229853758406284e-10,7.677932526874585e-11,-2.277302683593448e-16],"joint_position_rad":[0.3031482292837595,1.4928509323857573,-1.2599325776391443,-0.1848745244369753,0.9516073969126183,0.3544973515615246],"joint_velocity_rad_s":[0.004006540471696824,-0.0038389615336030334,0.0032906975658819823,-0.010265964333012726,-0.02383557963517792,0.031107065448509864],"gripper_joint_position_m":[0.03499984747780444,-0.0350002565469374],"tcp_position_m":[0.34731799021448095,0.07699453883791935,0.2081436614322764],"tcp_quaternion_wxyz":[0.248692650500038,-0.00958327879526895,0.9685186816405076,-0.005629357701482291],"object_position_m":[0.35512819568657156,0.07869801652871662,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.850160195721766e-11,-4.446715076082611e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.700650409835687e-12,-2.278104419637988e-11,2.6521138851453852e-15],"object_angular_velocity_rad_s":[5.00755593732562e-10,1.6927079924616627e-10,-2.277302683965574e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000287017},{"geom_ids":[1,90],"normal_force_n":0.09810000000385799},{"geom_ids":[1,90],"normal_force_n":0.09809999999712983},{"geom_ids":[1,90],"normal_force_n":0.09809999999614201}],"native_actuator_controls":[0.30508303056566083,1.4910709721084985,-1.257260431541787,-0.18798605988964665,0.9295015661770931,0.3794995088384104,0.035],"actuator_force_native":[0.13475140019362186,-0.12320201451268531,0.19731819995918443,-0.07313159644179024,-0.18530493790248492,0.2033609745960927,6.000222964042123e-06],"issued_joint_targets_rad":[0.30509452728656716,1.4910751740588757,-1.2572532340875213,-0.18801779878222255,0.9294933574355368,0.37953299876912044],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.639999999997354,"joint_targets_rad":[0.30509452728656716,1.4910751740588757,-1.2572532340875213,-0.18801779878222255,0.9294933574355368,0.37953299876912044],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.65999999999738,"qpos":[0.3032269503050953,1.4927759776464786,-1.2598674922135225,-0.1850742877944086,0.9511359186483563,0.35511196607676354,0.0349998495647273,-0.03500024170921974,0.3551281956867661,0.07869801652814067,0.0798922445797837,0.9959435657946976,-1.9149805495066767e-11,-4.602494557072873e-12,0.0899800741950223],"qvel":[0.0038674734371460895,-0.003668148365350428,0.003219621855655407,-0.009711071241070842,-0.023335951957543184,0.03038324519156344,2.6806256894891325e-08,4.443996428684768e-07,8.514118049821231e-12,-2.518760703836605e-11,2.653501663926166e-15,2.887045401950083e-10,4.238445001153004e-11,-4.1577997122324606e-16],"joint_position_rad":[0.3032269503050953,1.4927759776464786,-1.2598674922135225,-0.1850742877944086,0.9511359186483563,0.35511196607676354],"joint_velocity_rad_s":[0.0038674734371460895,-0.003668148365350428,0.003219621855655407,-0.009711071241070842,-0.023335951957543184,0.03038324519156344],"gripper_joint_position_m":[0.0349998495647273,-0.03500024170921974],"tcp_position_m":[0.3473855406222287,0.07702063715321737,0.20819797534879164],"tcp_quaternion_wxyz":[0.2489402376136188,-0.009382340428139001,0.9684575085637226,-0.005548323306421127],"object_position_m":[0.3551281956867661,0.07869801652814067,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9149805495066767e-11,-4.602494557072873e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.514118049821231e-12,-2.518760703836605e-11,2.653501663926166e-15],"object_angular_velocity_rad_s":[2.7643302596264863e-10,9.344268451368715e-11,-4.1577997124396445e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000442884},{"geom_ids":[1,90],"normal_force_n":0.09810000000595293},{"geom_ids":[1,90],"normal_force_n":0.09809999999557129},{"geom_ids":[1,90],"normal_force_n":0.09809999999404703}],"native_actuator_controls":[0.30509452728656716,1.4910751740588757,-1.2572532340875213,-0.18801779878222255,0.9294933574355368,0.37953299876912044,0.035],"actuator_force_native":[0.13006879133202176,-0.11772354518147665,0.19304254080181238,-0.06918508330720385,-0.18142168419188032,0.19863545913622405,5.883379623705665e-06],"issued_joint_targets_rad":[0.3051055983637201,1.4910791029745514,-1.257246209879913,-0.18804814995233995,0.9294853291131687,0.3795650723334496],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.65999999999738,"joint_targets_rad":[0.3051055983637201,1.4910791029745514,-1.257246209879913,-0.18804814995233995,0.9294853291131687,0.3795650723334496],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.679999999997403,"qpos":[0.3033029381493297,1.4927043555485968,-1.2598038128175453,-0.18526326829380377,0.9506743234191425,0.3557122696476005,0.0349998517211048,-0.035000227732597665,0.3551281956869548,0.07869801652758279,0.0798922445797837,0.9959435657946976,-1.921724649931496e-11,-4.618683595823854e-12,0.0899800741950223],"qvel":[0.0037331744493377,-0.003505120318623498,0.003150051173365353,-0.00918722570939017,-0.022846789608945445,0.02967553378893269,3.2903044495264076e-08,4.1470033022109657e-07,9.699669295714908e-12,-2.8694967382589045e-11,2.654889442706948e-15,-8.169707150857155e-11,-1.1991587953078163e-11,-7.591087270750893e-16],"joint_position_rad":[0.3033029381493297,1.4927043555485968,-1.2598038128175453,-0.18526326829380377,0.9506743234191425,0.3557122696476005],"joint_velocity_rad_s":[0.0037331744493377,-0.003505120318623498,0.003150051173365353,-0.00918722570939017,-0.022846789608945445,0.02967553378893269],"gripper_joint_position_m":[0.0349998517211048,-0.035000227732597665],"tcp_position_m":[0.3474515177359773,0.0770469478524808,0.20825038567876425],"tcp_quaternion_wxyz":[0.24918086215917581,-0.009184688456899678,0.9683979849663261,-0.005466456321828728],"object_position_m":[0.3551281956869548,0.07869801652758279,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.921724649931496e-11,-4.618683595823854e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.699669295714908e-12,-2.8694967382589045e-11,2.654889442706948e-15],"object_angular_velocity_rad_s":[-7.822491079181323e-11,-2.6439988773180418e-11,-7.591087271553669e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000564803},{"geom_ids":[1,90],"normal_force_n":0.09810000000759177},{"geom_ids":[1,90],"normal_force_n":0.098099999994352},{"geom_ids":[1,90],"normal_force_n":0.09809999999240825}],"native_actuator_controls":[0.3051055983637201,1.4910791029745514,-1.257246209879913,-0.18804814995233995,0.9294853291131687,0.3795650723334496,0.035],"actuator_force_native":[0.1255469449045421,-0.11249460433050729,0.18885797914376212,-0.06545913779449641,-0.17761975864631907,0.1940147261750922,5.7666405854917e-06],"issued_joint_targets_rad":[0.30511625938607945,1.4910827765389956,-1.257239357281834,-0.1880771783598528,0.9294774821718282,0.37959579481951],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.679999999997403,"joint_targets_rad":[0.30511625938607945,1.4910827765389956,-1.257239357281834,-0.1880771783598528,0.9294774821718282,0.37959579481951],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.699999999997427,"qpos":[0.3033762865553866,1.4926359143477632,-1.2597415097155966,-0.18544206869158567,0.9502224042752675,0.3562985812793462,0.03499985393762302,-0.03500021456841117,0.3551281956871352,0.07869801652704898,0.0798922445797837,0.9959435657946976,-1.8422655507429094e-11,-4.427709295364546e-12,0.0899800741950223],"qvel":[0.0036034822717494423,-0.003349511373715158,0.0030819515184799377,-0.008692649742755692,-0.022367868506310774,0.028983611299141895,3.8447032476094684e-08,3.8682295442768143e-07,1.1591770137214283e-11,-3.429238563185278e-11,2.6562772214877297e-15,-6.405819153449453e-10,-9.404316146281963e-11,-1.3859353621756944e-15],"joint_position_rad":[0.3033762865553866,1.4926359143477632,-1.2597415097155966,-0.18544206869158567,0.9502224042752675,0.3562985812793462],"joint_velocity_rad_s":[0.0036034822717494423,-0.003349511373715158,0.0030819515184799377,-0.008692649742755692,-0.022367868506310774,0.028983611299141895],"gripper_joint_position_m":[0.03499985393762302,-0.03500021456841117],"tcp_position_m":[0.34751596723117606,0.07707341408422243,0.20830097000679706],"tcp_quaternion_wxyz":[0.24941476088507866,-0.008990324502584253,0.9683400561735804,-0.0053839323662375335],"object_position_m":[0.3551281956871352,0.07869801652704898,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8422655507429094e-11,-4.427709295364546e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1591770137214283e-11,-3.429238563185278e-11,2.6562772214877297e-15],"object_angular_velocity_rad_s":[-6.133537127743421e-10,-2.0733193075561076e-10,-1.3859353621083535e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000580124},{"geom_ids":[1,90],"normal_force_n":0.0981000000077977},{"geom_ids":[1,90],"normal_force_n":0.09809999999419869},{"geom_ids":[1,90],"normal_force_n":0.09809999999220236}],"native_actuator_controls":[0.30511625938607945,1.4910827765389956,-1.257239357281834,-0.1880771783598528,0.9294774821718282,0.37959579481951,0.035],"actuator_force_native":[0.12118041509667776,-0.10750346783284215,0.18476243710863116,-0.06194113801690726,-0.17389741827492422,0.18949671845292482,5.650259917056033e-06],"issued_joint_targets_rad":[0.30512652545651153,1.4910862112362924,-1.2572326744322713,-0.18810494575323278,0.929469816996782,0.37962522830627154],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.699999999997427,"joint_targets_rad":[0.30512652545651153,1.4910862112362924,-1.2572326744322713,-0.18810494575323278,0.929469816996782,0.37962522830627154],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.71999999999745,"qpos":[0.3034470860932749,1.4925705094237727,-1.2596805538392701,-0.185611257249105,0.9497799586906854,0.35687121361264446,0.03499985620546891,-0.03500020216972894,0.35512819568731363,0.07869801652652107,0.0798922445797837,0.9959435657946976,-1.7543992642110708e-11,-4.216542874501034e-12,0.0899800741950223],"qvel":[0.0034782411937220583,-0.0032009734988308826,0.00301528996227406,-0.008225668797254943,-0.02189896993294693,0.028307161964472038,4.346822669898805e-08,3.606935371049327e-07,1.479440363937268e-11,-4.376671574541747e-11,2.6521138851453852e-15,-1.4526758164363709e-09,-2.132669604735809e-10,-2.53036951671942e-15],"joint_position_rad":[0.3034470860932749,1.4925705094237727,-1.2596805538392701,-0.185611257249105,0.9497799586906854,0.35687121361264446],"joint_velocity_rad_s":[0.0034782411937220583,-0.0032009734988308826,0.00301528996227406,-0.008225668797254943,-0.02189896993294693,0.028307161964472038],"gripper_joint_position_m":[0.03499985620546891,-0.03500020216972894],"tcp_position_m":[0.34757893294894815,0.07709998357902349,0.2083498024269007],"tcp_quaternion_wxyz":[0.24964216082852733,-0.008799245845111865,0.9682836697593303,-0.005300913772644865],"object_position_m":[0.35512819568731363,0.07869801652652107,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7543992642110708e-11,-4.216542874501034e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.479440363937268e-11,-4.376671574541747e-11,2.6521138851453852e-15],"object_angular_velocity_rad_s":[-1.390929017802687e-09,-4.701768725949454e-10,-2.5303695165669213e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000526262},{"geom_ids":[1,90],"normal_force_n":0.09810000000707368},{"geom_ids":[1,90],"normal_force_n":0.09809999999473738},{"geom_ids":[1,90],"normal_force_n":0.0980999999929263}],"native_actuator_controls":[0.30512652545651153,1.4910862112362924,-1.2572326744322713,-0.18810494575323278,0.929469816996782,0.37962522830627154,0.035],"actuator_force_native":[0.11696394309031888,-0.10273898750426724,0.18075390274853476,-0.05861919617883693,-0.17025296203961382,0.18507940398956313,5.5344401101997676e-06],"issued_joint_targets_rad":[0.30513641119570584,1.4910894224364077,-1.257226159267808,-0.18813151083529847,0.9294623334533911,0.3796534318273251],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.71999999999745,"joint_targets_rad":[0.30513641119570584,1.4910894224364077,-1.257226159267808,-0.18813151083529847,0.9294623334533911,0.3796534318273251],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.739999999997476,"qpos":[0.30351542427235473,1.4925080029311568,-1.2596209167665895,-0.18577136973875977,0.9493467884576476,0.3574304730085325,0.0349998585164045,-0.035000190491863946,0.35512819568750115,0.07869801652596649,0.0798922445797837,0.9959435657946976,-1.723373681923025e-11,-4.1419893707440106e-12,0.0899800741950223],"qvel":[0.0033573008153235015,-0.003059175711452448,0.0029500345969987623,-0.007784705694214749,-0.021439880366685725,0.027645874293877465,4.799861090350331e-08,3.362214286203733e-07,6.9254512514419374e-12,-2.048778271258168e-11,2.654889442706948e-15,6.669302372163525e-10,9.791005311890212e-11,-2.741450552511898e-16],"joint_position_rad":[0.30351542427235473,1.4925080029311568,-1.2596209167665895,-0.18577136973875977,0.9493467884576476,0.3574304730085325],"joint_velocity_rad_s":[0.0033573008153235015,-0.003059175711452448,0.0029500345969987623,-0.007784705694214749,-0.021439880366685725,0.027645874293877465],"gripper_joint_position_m":[0.0349998585164045,-0.035000190491863946],"tcp_position_m":[0.3476404569907764,0.07712660834072249,0.20839695370822042],"tcp_quaternion_wxyz":[0.24986327977262246,-0.008611445764157353,0.9682287754402201,-0.005217550445482435],"object_position_m":[0.35512819568750115,0.07869801652596649,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.723373681923025e-11,-4.1419893707440106e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.9254512514419374e-12,-2.048778271258168e-11,2.654889442706948e-15],"object_angular_velocity_rad_s":[6.385823172358021e-10,2.1585862023314853e-10,-2.7414505523875376e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000126758},{"geom_ids":[1,90],"normal_force_n":0.09810000000170385},{"geom_ids":[1,90],"normal_force_n":0.09809999999873247},{"geom_ids":[1,90],"normal_force_n":0.09809999999829615}],"native_actuator_controls":[0.30513641119570584,1.4910894224364077,-1.257226159267808,-0.18813151083529847,0.9294623334533911,0.3796534318273251,0.035],"actuator_force_native":[0.11289244979147028,-0.09819056102264767,0.17683042691753315,-0.05548211539047454,-0.16668472949253754,0.18076077674710955,5.41935076570077e-06],"issued_joint_targets_rad":[0.3051459307476225,1.4910924244742005,-1.2572198095434917,-0.1881569294201353,0.929455030939991,0.3796804615263148],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.739999999997476,"joint_targets_rad":[0.3051459307476225,1.4910924244742005,-1.2572198095434917,-0.1881569294201353,0.929455030939991,0.3796804615263148],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.7599999999975,"qpos":[0.3035813856454357,1.4924482634679659,-1.25956257070222,-0.1859229113321362,0.9489226995846886,0.3579766596350152,0.03499986086278163,-0.035000179492534894,0.3551281956877056,0.07869801652536135,0.0798922445797837,0.9959435657946976,-1.86795661802205e-11,-4.489480236080746e-12,0.0899800741950223],"qvel":[0.0032405158441639395,-0.0029238031919903906,0.002886154487047755,-0.007368274894899697,-0.020990391315347585,0.02699944113447502,5.207009999266476e-08,3.133114484198083e-07,7.679906643416651e-12,-2.2719715598349365e-11,2.6590527790492924e-15,5.653261627406131e-10,8.299410533322112e-11,-5.005209458865286e-16],"joint_position_rad":[0.3035813856454357,1.4924482634679659,-1.25956257070222,-0.1859229113321362,0.9489226995846886,0.3579766596350152],"joint_velocity_rad_s":[0.0032405158441639395,-0.0029238031919903906,0.002886154487047755,-0.007368274894899697,-0.020990391315347585,0.02699944113447502],"gripper_joint_position_m":[0.03499986086278163,-0.035000179492534894],"tcp_position_m":[0.3477005798077647,0.0771532443572388,0.20844249145278476],"tcp_quaternion_wxyz":[0.250078326680045,-0.008426913858405693,0.9681753249749063,-0.0051339806648176105],"object_position_m":[0.3551281956877056,0.07869801652536135,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.86795661802205e-11,-4.489480236080746e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.679906643416651e-12,-2.2719715598349365e-11,2.6590527790492924e-15],"object_angular_velocity_rad_s":[5.412968875989697e-10,1.8297369011624427e-10,-5.005209458872546e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000272066},{"geom_ids":[1,90],"normal_force_n":0.09810000000365703},{"geom_ids":[1,90],"normal_force_n":0.09809999999727932},{"geom_ids":[1,90],"normal_force_n":0.09809999999634307}],"native_actuator_controls":[0.3051459307476225,1.4910924244742005,-1.2572198095434917,-0.1881569294201353,0.929455030939991,0.3796804615263148,0.035],"actuator_force_native":[0.1089610289541234,-0.09384810354127637,0.17299012026303728,-0.052519349045464736,-0.16319109947395383,0.1765388572112836,5.305138234934503e-06],"issued_joint_targets_rad":[0.3051550977862377,1.4910952307226373,-1.2572136228529225,-0.1881812545816795,0.9294479084370907,0.3797063708044394],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.7599999999975,"joint_targets_rad":[0.3051550977862377,1.4910952307226373,-1.2572136228529225,-0.1881812545816795,0.9294479084370907,0.3797063708044394],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.779999999997525,"qpos":[0.30364505190893404,1.492391165761732,-1.2595054884586254,-0.18606635837716162,0.9485075021978177,0.35851006755492854,0.0349998632375291,-0.035000169131862914,0.3551281956879072,0.07869801652476517,0.0798922445797837,0.9959435657946976,-1.961944366180241e-11,-4.71538501684418e-12,0.0899800741950223],"qvel":[0.003127745903113523,-0.002794556446890571,0.002823619622170109,-0.0069749771145592955,-0.020550299159379858,0.02636755973235745,5.5713596420233766e-08,2.9186949984123613e-07,8.532088209912826e-12,-2.5240694880340336e-11,2.6576650002685107e-15,3.612799013139782e-10,5.3038170682187136e-11,-9.138279189503228e-16],"joint_position_rad":[0.30364505190893404,1.492391165761732,-1.2595054884586254,-0.18606635837716162,0.9485075021978177,0.35851006755492854],"joint_velocity_rad_s":[0.003127745903113523,-0.002794556446890571,0.002823619622170109,-0.0069749771145592955,-0.020550299159379858,0.02636755973235745],"gripper_joint_position_m":[0.0349998632375291,-0.035000169131862914],"tcp_position_m":[0.347759340284788,0.07717985132981427,0.2084864802456331],"tcp_quaternion_wxyz":[0.2502875021045977,-0.00824563634450398,0.9681232720680829,-0.005050331840987177],"object_position_m":[0.3551281956879072,0.07869801652476517,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.961944366180241e-11,-4.71538501684418e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.532088209912826e-12,-2.5240694880340336e-11,2.6576650002685107e-15],"object_angular_velocity_rad_s":[3.459237188039781e-10,1.1693158431996288e-10,-9.138279189248969e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000429109},{"geom_ids":[1,90],"normal_force_n":0.09810000000576778},{"geom_ids":[1,90],"normal_force_n":0.09809999999570894},{"geom_ids":[1,90],"normal_force_n":0.09809999999423225}],"native_actuator_controls":[0.3051550977862377,1.4910952307226373,-1.2572136228529225,-0.1881812545816795,0.9294479084370907,0.3797063708044394,0.035],"actuator_force_native":[0.10516494066872184,-0.08970202089312806,0.16923115034538228,-0.04972096260791847,-0.15977048886819922,0.17241169289657243,5.191930854131499e-06],"issued_joint_targets_rad":[0.3051639255233642,1.4910978536606496,-1.2572075966474794,-0.1882045367944119,0.9294409645530572,0.3797312104603828],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.779999999997525,"joint_targets_rad":[0.3051639255233642,1.4910978536606496,-1.2572075966474794,-0.1882045367944119,0.9294409645530572,0.3797312104603828],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.79999999999755,"qpos":[0.3037065019992937,1.4923365903716446,-1.2594496434381384,-0.1862021600708464,0.9481010104447767,0.35903098481489265,0.034999865634127277,-0.03500015937229405,0.3551281956881037,0.07869801652418373,0.0798922445797837,0.9959435657946976,-1.9938590982991068e-11,-4.792098361934049e-12,0.0899800741950223],"qvel":[0.0030188553479937926,-0.0026711505182808177,0.0027624008727761863,-0.006603494255618598,-0.02011940500138468,0.0257499317834004,5.8958582090979304e-08,2.718050600642224e-07,9.677048714464678e-12,-2.8627824737605864e-11,2.661828336610855e-15,2.191003001892071e-11,3.215836461125392e-12,-1.6684136485143343e-15],"joint_position_rad":[0.3037065019992937,1.4923365903716446,-1.2594496434381384,-0.1862021600708464,0.9481010104447767,0.35903098481489265],"joint_velocity_rad_s":[0.0030188553479937926,-0.0026711505182808177,0.0027624008727761863,-0.006603494255618598,-0.02011940500138468,0.0257499317834004],"gripper_joint_position_m":[0.034999865634127277,-0.03500015937229405],"tcp_position_m":[0.3478167758198325,0.07720639241952139,0.2085289817976846],"tcp_quaternion_wxyz":[0.2504909985818056,-0.008067596336931477,0.9680725722791295,-0.004966721222674667],"object_position_m":[0.3551281956881037,0.07869801652418373,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9938590982991068e-11,-4.792098361934049e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.677048714464678e-12,-2.8627824737605864e-11,2.661828336610855e-15],"object_angular_velocity_rad_s":[2.0978869824834494e-11,7.090700984201612e-12,-1.668413648484218e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000056592},{"geom_ids":[1,90],"normal_force_n":0.0981000000076069},{"geom_ids":[1,90],"normal_force_n":0.09809999999434078},{"geom_ids":[1,90],"normal_force_n":0.0980999999923931}],"native_actuator_controls":[0.3051639255233642,1.4910978536606496,-1.2572075966474794,-0.1882045367944119,0.9294409645530572,0.3797312104603828,0.035],"actuator_force_native":[0.10149960518566914,-0.08574318428819083,0.165551738888837,-0.04707759766452746,-0.15642135141511737,0.16837735877980053,5.079841998600898e-06],"issued_joint_targets_rad":[0.30517242671737227,1.491100304936023,-1.257201728254586,-0.1882268240665814,0.9294341975664219,0.37975502882304085],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.79999999999755,"joint_targets_rad":[0.30517242671737227,1.491100304936023,-1.257201728254586,-0.1882268240665814,0.9294341975664219,0.37975502882304085],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.819999999997574,"qpos":[0.3037658121858645,1.4922844234060506,-1.2593950096158937,-0.18633074003380007,0.9477030424022284,0.3595396935351582,0.03499986804657796,-0.03500015017849081,0.35512819568829296,0.07869801652362383,0.0798922445797837,0.9959435657946976,-1.9407325338441398e-11,-4.66442130984727e-12,0.0899800741950223],"qvel":[0.0029137130944547696,-0.0025533142374142104,0.0027024699474010624,-0.006252584640984907,-0.019697514522261594,0.025146263474718475,6.183296958474949e-08,2.5303218525174975e-07,1.143294225468065e-11,-3.3822271077652024e-11,2.6576650002685115e-15,-5.00627912933683e-10,-7.349777446423472e-11,-3.0460927530705457e-15],"joint_position_rad":[0.3037658121858645,1.4922844234060506,-1.2593950096158937,-0.18633074003380007,0.9477030424022284,0.3595396935351582],"joint_velocity_rad_s":[0.0029137130944547696,-0.0025533142374142104,0.0027024699474010624,-0.006252584640984907,-0.019697514522261594,0.025146263474718475],"gripper_joint_position_m":[0.03499986804657796,-0.03500015017849081],"tcp_position_m":[0.3478729223988048,0.07723283400996767,0.20857005508168325],"tcp_quaternion_wxyz":[0.2506890009996925,-0.007892774109947874,0.9680231829351932,-0.0048832565612511895],"object_position_m":[0.35512819568829296,0.07869801652362383,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9407325338441398e-11,-4.66442130984727e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.143294225468065e-11,-3.3822271077652024e-11,2.6576650002685115e-15],"object_angular_velocity_rad_s":[-4.793483142150245e-10,-1.6203525455512538e-10,-3.0460927530262373e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000617106},{"geom_ids":[1,90],"normal_force_n":0.09810000000829498},{"geom_ids":[1,90],"normal_force_n":0.09809999999382893},{"geom_ids":[1,90],"normal_force_n":0.09809999999170507}],"native_actuator_controls":[0.30517242671737227,1.491100304936023,-1.257201728254586,-0.1882268240665814,0.9294341975664219,0.37975502882304085,0.035],"actuator_force_native":[0.09796059704834548,-0.08196290641514281,0.1619501591676169,-0.044580438106327946,-0.1531421765746721,0.16443395766674884,4.968972033836394e-06],"issued_joint_targets_rad":[0.3051806136826434,1.4911025954236974,-1.257196014894974,-0.18824816206637804,0.9294276054649827,0.3797778718774038],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.819999999997574,"joint_targets_rad":[0.3051806136826434,1.4911025954236974,-1.257196014894974,-0.18824816206637804,0.9294276054649827,0.3797778718774038],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.839999999997598,"qpos":[0.3038230561604093,1.4922345562544252,-1.2593415615235848,-0.1864524977923384,0.9473134199857473,0.3600364700001686,0.034999870469372855,-0.03500014151721312,0.3551281956884714,0.07869801652309559,0.0798922445797837,0.9959435657946976,-1.7664564817945046e-11,-4.245560746797795e-12,0.0899800741950223],"qvel":[0.002812192453320147,-0.002440789519278734,0.0026437993523360168,-0.005921078529630052,-0.019284437843653402,0.024556265517396605,6.436307552453139e-08,2.3546980778533506e-07,1.4324623003642303e-11,-4.237689391819572e-11,2.657665000268512e-15,-1.274369477065053e-09,-1.870854326281596e-10,-5.5614000019783e-15],"joint_position_rad":[0.3038230561604093,1.4922345562544252,-1.2593415615235848,-0.1864524977923384,0.9473134199857473,0.3600364700001686],"joint_velocity_rad_s":[0.002812192453320147,-0.002440789519278734,0.0026437993523360168,-0.005921078529630052,-0.019284437843653402,0.024556265517396605],"gripper_joint_position_m":[0.034999870469372855,-0.03500014151721312],"tcp_position_m":[0.3479278146660744,0.0772591454851805,0.2086097564615465],"tcp_quaternion_wxyz":[0.25088168695079394,-0.00772114734269873,0.9679750630485209,-0.004800036734047911],"object_position_m":[0.3551281956884714,0.07869801652309559,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7664564817945046e-11,-4.245560746797795e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.4324623003642303e-11,-4.237689391819572e-11,2.657665000268512e-15],"object_angular_velocity_rad_s":[-1.2202024814401376e-09,-4.124614254255158e-10,-5.561400002101243e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000465079},{"geom_ids":[1,90],"normal_force_n":0.09810000000625117},{"geom_ids":[1,90],"normal_force_n":0.09809999999534927},{"geom_ids":[1,90],"normal_force_n":0.09809999999374884}],"native_actuator_controls":[0.3051806136826434,1.4911025954236974,-1.257196014894974,-0.18824816206637804,0.9294276054649827,0.3797778718774038,0.035],"actuator_force_native":[0.09454363951212841,-0.07835291886183882,0.1584247335271982,-0.04222117831343475,-0.14993148844216542,0.1605796204962573,4.859409708179996e-06],"issued_joint_targets_rad":[0.30518849829961336,1.4911047352798164,-1.2571904536989222,-0.1882685942414116,0.9294211859818574,0.37979978338391646],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.839999999997598,"joint_targets_rad":[0.30518849829961336,1.4911047352798164,-1.2571904536989222,-0.1882685942414116,0.9294211859818574,0.37979978338391646],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.859999999997623,"qpos":[0.30387830512340575,1.4921868853330227,-1.2592892742339956,-0.18656781017365162,0.9469319688624903,0.360521584749671,0.03499987289746246,-0.03500013335719855,0.3551281956886545,0.07869801652255407,0.0798922445797837,0.9959435657946976,-1.6755937307340326e-11,-4.027167265518137e-12,0.0899800741950223],"qvel":[0.0027141709737604986,-0.0023333306959333606,0.0025863623534121928,-0.005607873897562925,-0.018879989396410272,0.023979653171074675,6.657365357465903e-08,2.1904171229236184e-07,6.769268548027317e-12,-2.0025681334240488e-11,2.661828336610856e-15,6.6991051096745e-10,9.834875567157345e-11,-6.025317757917672e-16],"joint_position_rad":[0.30387830512340575,1.4921868853330227,-1.2592892742339956,-0.18656781017365162,0.9469319688624903,0.360521584749671],"joint_velocity_rad_s":[0.0027141709737604986,-0.0023333306959333606,0.0025863623534121928,-0.005607873897562925,-0.018879989396410272,0.023979653171074675],"gripper_joint_position_m":[0.03499987289746246,-0.03500013335719855],"tcp_position_m":[0.34798148599100087,0.07728529902173317,0.20864813981542973],"tcp_quaternion_wxyz":[0.2510692270664084,-0.00755269134849782,0.9679281732378571,-0.004717152329044104],"object_position_m":[0.3551281956886545,0.07869801652255407,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6755937307340326e-11,-4.027167265518137e-12,0.0899800741950223],"object_linear_velocity_m_s":[6.769268548027317e-12,-2.0025681334240488e-11,2.661828336610856e-15],"object_angular_velocity_rad_s":[6.414357032029834e-10,2.1682437386813731e-10,-6.025317758024619e-16],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000000892},{"geom_ids":[1,90],"normal_force_n":0.09810000000119898},{"geom_ids":[1,90],"normal_force_n":0.098099999999108},{"geom_ids":[1,90],"normal_force_n":0.09809999999880104}],"native_actuator_controls":[0.30518849829961336,1.4911047352798164,-1.2571904536989222,-0.1882685942414116,0.9294211859818574,0.37979978338391646,0.035],"actuator_force_native":[0.09124459922780659,-0.07490535077684513,0.15497383103880225,-0.03999199322258473,-0.1467878447117137,0.15681250658584256,4.751233233957208e-06],"issued_joint_targets_rad":[0.3051960920252762,1.491106733991839,-1.2571850417214498,-0.18828816193187914,0.9294149366286583,0.37982080499164755],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.859999999997623,"joint_targets_rad":[0.3051960920252762,1.491106733991839,-1.2571850417214498,-0.18828816193187914,0.9294149366286583,0.37982080499164755],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.879999999997647,"qpos":[0.3039316278672883,1.4921413118434501,-1.2592381233462724,-0.18667703261917748,0.9465585183664301,0.36099530267021845,0.034999875326225866,-0.03500012566904586,0.3551281956888499,0.07869801652197628,0.0798922445797837,0.9959435657946976,-1.77571256615617e-11,-4.267785103634615e-12,0.0899800741950223],"qvel":[0.0026195302937180726,-0.0022307038862782336,0.0025301329399178454,-0.005311932468435369,-0.018483987794774576,0.023416146260949747,6.84879549448308e-08,2.0367636176321492e-07,7.324625109431366e-12,-2.1668655416481067e-11,2.660440557830075e-15,5.523994353792497e-10,8.109689935475355e-11,-1.100064791397667e-15],"joint_position_rad":[0.3039316278672883,1.4921413118434501,-1.2592381233462724,-0.18667703261917748,0.9465585183664301,0.36099530267021845],"joint_velocity_rad_s":[0.0026195302937180726,-0.0022307038862782336,0.0025301329399178454,-0.005311932468435369,-0.018483987794774576,0.023416146260949747],"gripper_joint_position_m":[0.034999875326225866,-0.03500012566904586],"tcp_position_m":[0.34803396853067964,0.07731126939421581,0.20868525665281196],"tcp_quaternion_wxyz":[0.2512517853340359,-0.007387379289238777,0.967882475653726,-0.0046346861933230276],"object_position_m":[0.3551281956888499,0.07869801652197628,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.77571256615617e-11,-4.267785103634615e-12,0.0899800741950223],"object_linear_velocity_m_s":[7.324625109431366e-12,-2.1668655416481067e-11,2.660440557830075e-15],"object_angular_velocity_rad_s":[5.289195170196485e-10,1.7879034595852745e-10,-1.1000647914112764e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000235145},{"geom_ids":[1,90],"normal_force_n":0.09810000000316059},{"geom_ids":[1,90],"normal_force_n":0.09809999999764858},{"geom_ids":[1,90],"normal_force_n":0.09809999999683944}],"native_actuator_controls":[0.3051960920252762,1.491106733991839,-1.2571850417214498,-0.18828816193187914,0.9294149366286583,0.37982080499164755,0.035],"actuator_force_native":[0.08805948117044338,-0.0716127086975007,0.15159586528621105,-0.037885510165890146,-0.14370983568555573,0.15313080382286648,4.644511190754486e-06],"issued_joint_targets_rad":[0.3052034059040451,1.4911086004250118,-1.257179775956473,-0.18830690447774964,0.9294088547259486,0.37984097634557784],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.879999999997647,"joint_targets_rad":[0.3052034059040451,1.4911086004250118,-1.257179775956473,-0.18830690447774964,0.9294088547259486,0.37984097634557784],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.89999999999767,"qpos":[0.3039830908567734,1.492097741543469,-1.2591880849718906,-0.18678050042101796,0.94619290141604,0.3614578830869212,0.03499987775144239,-0.035000118425103845,0.3551281956890402,0.07869801652141353,0.0798922445797837,0.9959435657946976,-1.845407019638326e-11,-4.435295129528752e-12,0.0899800741950223],"qvel":[0.0025281559970729344,-0.0021326864001039963,0.002475085790596463,-0.005032275978883769,-0.018096255716010944,0.02286546918772727,7.012779813052472e-08,1.8930666562112822e-07,8.035852771315799e-12,-2.3772674200563147e-11,2.660440557830075e-15,3.4952271011639566e-10,5.1312552814740606e-11,-2.0084260147757254e-15],"joint_position_rad":[0.3039830908567734,1.492097741543469,-1.2591880849718906,-0.18678050042101796,0.94619290141604,0.3614578830869212],"joint_velocity_rad_s":[0.0025281559970729344,-0.0021326864001039963,0.002475085790596463,-0.005032275978883769,-0.018096255716010944,0.02286546918772727],"gripper_joint_position_m":[0.03499987775144239,-0.035000118425103845],"tcp_position_m":[0.3480852932891307,0.07733703379322406,0.20872115622588877],"tcp_quaternion_wxyz":[0.2514295193988992,-0.007225182375840475,0.9678379339074217,-0.004552713947496326],"object_position_m":[0.3551281956890402,0.07869801652141353,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.845407019638326e-11,-4.435295129528752e-12,0.0899800741950223],"object_linear_velocity_m_s":[8.035852771315799e-12,-2.3772674200563147e-11,2.660440557830075e-15],"object_angular_velocity_rad_s":[3.346661925278769e-10,1.1312666592085705e-10,-2.0084260147688733e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000389721},{"geom_ids":[1,90],"normal_force_n":0.09810000000523827},{"geom_ids":[1,90],"normal_force_n":0.09809999999610289},{"geom_ids":[1,90],"normal_force_n":0.09809999999476166}],"native_actuator_controls":[0.3052034059040451,1.4911086004250118,-1.257179775956473,-0.18830690447774964,0.9294088547259486,0.37984097634557784,0.035],"actuator_force_native":[0.08498442379637439,-0.06846785747606532,0.1482892922804382,-0.03589478237484922,-0.14069608332689754,0.14953272880497614,4.5393033136775784e-06],"issued_joint_targets_rad":[0.30521045057886514,1.4911103428654728,-1.2571746533499337,-0.18832485932028886,0.9294029374311462,0.3798603351883045],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.89999999999767,"joint_targets_rad":[0.30521045057886514,1.4911103428654728,-1.2571746533499337,-0.18832485932028886,0.9294029374311462,0.3798603351883045],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.919999999997696,"qpos":[0.3040327583063945,1.4920560845293596,-1.2591391357212713,-0.18687852988594778,0.9458349544343232,0.361909579855308,0.03499988016926436,-0.03500011159936623,0.3551281956892356,0.07869801652083529,0.0798922445797837,0.9959435657946976,-1.972033986770602e-11,-4.73963569613618e-12,0.0899800741950223],"qvel":[0.0024399374770717325,-0.0020390661744054727,0.0024211962416662196,-0.004767982664628079,-0.017716619785197524,0.02232735093103034,7.151364301340313e-08,1.7586972816285727e-07,9.29451616211918e-12,-2.7496202605607865e-11,2.659052779049294e-15,6.377211414236098e-11,9.362113488135707e-12,-3.666873483170658e-15],"joint_position_rad":[0.3040327583063945,1.4920560845293596,-1.2591391357212713,-0.18687852988594778,0.9458349544343232,0.361909579855308],"joint_velocity_rad_s":[0.0024399374770717325,-0.0020390661744054727,0.0024211962416662196,-0.004767982664628079,-0.017716619785197524,0.02232735093103034],"gripper_joint_position_m":[0.03499988016926436,-0.03500011159936623],"tcp_position_m":[0.3481354901731348,0.07736257165507984,0.20875588563554132],"tcp_quaternion_wxyz":[0.25160258085037823,-0.00706607005556346,0.967794513003536,-0.004471304468166901],"object_position_m":[0.3551281956892356,0.07869801652083529,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.972033986770602e-11,-4.73963569613618e-12,0.0899800741950223],"object_linear_velocity_m_s":[9.29451616211918e-12,-2.7496202605607865e-11,2.659052779049294e-15],"object_angular_velocity_rad_s":[6.106149027599406e-11,2.0640400103334288e-11,-3.666873483164586e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000584526},{"geom_ids":[1,90],"normal_force_n":0.09810000000785675},{"geom_ids":[1,90],"normal_force_n":0.09809999999415485},{"geom_ids":[1,90],"normal_force_n":0.09809999999214321}],"native_actuator_controls":[0.30521045057886514,1.4911103428654728,-1.2571746533499337,-0.18832485932028886,0.9294029374311462,0.3798603351883045,0.035],"actuator_force_native":[0.08201569441229495,-0.06546400223891169,0.14505260849868762,-0.03401326405050309,-0.13774524035397384,0.1460165269334195,4.435661210777653e-06],"issued_joint_targets_rad":[0.30521723630250125,1.4911119690602328,-1.2571696708119386,-0.18834206209823953,0.9293971817640262,0.37987891745644087],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.919999999997696,"joint_targets_rad":[0.30521723630250125,1.4911119690602328,-1.2571696708119386,-0.18834206209823953,0.9293971817640262,0.37987891745644087],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.93999999999772,"qpos":[0.3040806922553681,1.492016255029217,-1.2590912526910152,-0.18697141943129506,0.9454845172710916,0.3623506414531765,0.03499988257619176,-0.035000105167372515,0.35512819568942805,0.07869801652026613,0.0798922445797837,0.9959435657946976,-1.9887956506946125e-11,-4.779905783054663e-12,0.0899800741950223],"qvel":[0.0023547678056042324,-0.001949641240079789,0.0023684402567780535,-0.004518183954214752,-0.017344910464916787,0.021801525046734247,7.266466564271723e-08,1.633065978771454e-07,1.1094784407894487e-11,-3.282211570212656e-11,2.649338327583824e-15,-3.983444383619242e-10,-5.84774180397781e-11,-6.694780159692512e-15],"joint_position_rad":[0.3040806922553681,1.492016255029217,-1.2590912526910152,-0.18697141943129506,0.9454845172710916,0.3623506414531765],"joint_velocity_rad_s":[0.0023547678056042324,-0.001949641240079789,0.0023684402567780535,-0.004518183954214752,-0.017344910464916787,0.021801525046734247],"gripper_joint_position_m":[0.03499988257619176,-0.035000105167372515],"tcp_position_m":[0.34818458804491975,0.07738786450255314,0.20878948993215485],"tcp_quaternion_wxyz":[0.2517711154941775,-0.006910010186998243,0.9677521792758589,-0.004390520340375616],"object_position_m":[0.35512819568942805,0.07869801652026613,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9887956506946125e-11,-4.779905783054663e-12,0.0899800741950223],"object_linear_velocity_m_s":[1.1094784407894487e-11,-3.282211570212656e-11,2.649338327583824e-15],"object_angular_velocity_rad_s":[-3.814131990669202e-10,-1.289258374881207e-10,-6.694780159793157e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000665033},{"geom_ids":[1,90],"normal_force_n":0.09810000000893894},{"geom_ids":[1,90],"normal_force_n":0.09809999999334977},{"geom_ids":[1,90],"normal_force_n":0.09809999999106102}],"native_actuator_controls":[0.30521723630250125,1.4911119690602328,-1.2571696708119386,-0.18834206209823953,0.9293971817640262,0.37987891745644087,0.035],"actuator_force_native":[0.07914968474263162,-0.06259467131833674,0.14188434904224323,-0.03223478690670589,-0.13485598937327836,0.14258047246254169,4.333629001651573e-06],"issued_joint_targets_rad":[0.3052237729489207,1.4911134862542668,-1.2571648252279168,-0.1883585467389314,0.9293915846299883,0.3798967573719895],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.93999999999772,"joint_targets_rad":[0.3052237729489207,1.4911134862542668,-1.2571648252279168,-0.1883585467389314,0.9293915846299883,0.3798967573719895],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.959999999997745,"qpos":[0.3041269526399046,1.491978171206599,-1.2590444134517105,-0.1870594506167176,0.9451414331273913,0.3627813110723158,0.03499988496904827,-0.03500009910611478,0.3551281956896133,0.0786980165197182,0.0798922445797837,0.9959435657946976,-1.8689772703389657e-11,-4.491915972536432e-12,0.08998007419502228],"qvel":[0.002272543607934271,-0.001864219217233956,0.00231679439885211,-0.0042820613580136025,-0.016980961949583567,0.021287729658690274,7.359882932063809e-08,1.5156202395331768e-07,1.384695643858619e-11,-4.0964125424874875e-11,2.6521138851453868e-15,-1.1115647227742268e-09,-1.63180500497787e-10,-1.2223005990288858e-14],"joint_position_rad":[0.3041269526399046,1.491978171206599,-1.2590444134517105,-0.1870594506167176,0.9451414331273913,0.3627813110723158],"joint_velocity_rad_s":[0.002272543607934271,-0.001864219217233956,0.00231679439885211,-0.0042820613580136025,-0.016980961949583567,0.021287729658690274],"gripper_joint_position_m":[0.03499988496904827,-0.03500009910611478],"tcp_position_m":[0.3482326147718759,0.07741289579589469,0.2088220122115315],"tcp_quaternion_wxyz":[0.25193526361096297,-0.006756969203465273,0.9677109003264835,-0.004310418281856275],"object_position_m":[0.3551281956896133,0.0786980165197182,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8689772703389657e-11,-4.491915972536432e-12,0.08998007419502228],"object_linear_velocity_m_s":[1.384695643858619e-11,-4.0964125424874875e-11,2.6521138851453868e-15],"object_angular_velocity_rad_s":[-1.0643184810690318e-09,-3.597640608979136e-10,-1.2223005990459062e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000566409},{"geom_ids":[1,90],"normal_force_n":0.09810000000761304},{"geom_ids":[1,90],"normal_force_n":0.098099999994336},{"geom_ids":[1,90],"normal_force_n":0.09809999999238689}],"native_actuator_controls":[0.3052237729489207,1.4911134862542668,-1.2571648252279168,-0.1883585467389314,0.9293915846299883,0.3798967573719895,0.035],"actuator_force_native":[0.07638290668161929,-0.059853700100404694,0.13878308590923893,-0.03055353809848338,-0.1320270420496552,0.13922286850870158,4.233243922735497e-06],"issued_joint_targets_rad":[0.305230070024715,1.4911149012249414,-1.2571601134688573,-0.18837434554461058,0.929386142841224,0.37991388752894584],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.959999999997745,"joint_targets_rad":[0.305230070024715,1.4911149012249414,-1.2571601134688573,-0.18837434554461058,0.929386142841224,0.37991388752894584],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.97999999999777,"qpos":[0.30417159736306615,1.491941754973969,-1.2589985960362813,-0.18714288911565988,0.944805548481993,0.36320182670999235,0.034999887344958805,-0.035000093393950125,0.35512819568979526,0.07869801651918003,0.0798922445797837,0.9959435657946976,-1.6985513674033646e-11,-4.082298353570372e-12,0.08998007419502228],"qvel":[0.0021931649425467477,-0.0017826168374353967,0.0022662358036822884,-0.004058843540898054,-0.016624612064163994,0.020785707445260045,7.433295356368772e-08,1.405842256285503e-07,6.838736588629138e-12,-2.0231355791982243e-11,2.656277221487731e-15,7.063331687179812e-10,1.036942796843172e-10,-1.3242625402942316e-15],"joint_position_rad":[0.30417159736306615,1.491941754973969,-1.2589985960362813,-0.18714288911565988,0.944805548481993,0.36320182670999235],"joint_velocity_rad_s":[0.0021931649425467477,-0.0017826168374353967,0.0022662358036822884,-0.004058843540898054,-0.016624612064163994,0.020785707445260045],"gripper_joint_position_m":[0.034999887344958805,-0.035000093393950125],"tcp_position_m":[0.3482795972734813,0.07743765079353557,0.20885349370613598],"tcp_quaternion_wxyz":[0.25209516020218614,-0.006606912265532501,0.967670644967973,-0.004231049540820796],"object_position_m":[0.35512819568979526,0.07869801651918003,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6985513674033646e-11,-4.082298353570372e-12,0.08998007419502228],"object_linear_velocity_m_s":[6.838736588629138e-12,-2.0231355791982243e-11,2.656277221487731e-15],"object_angular_velocity_rad_s":[6.763104960585849e-10,2.286113772134341e-10,-1.3242625403126274e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000065348},{"geom_ids":[1,90],"normal_force_n":0.09810000000087842},{"geom_ids":[1,90],"normal_force_n":0.09809999999934649},{"geom_ids":[1,90],"normal_force_n":0.0980999999991217}],"native_actuator_controls":[0.305230070024715,1.4911149012249414,-1.2571601134688573,-0.18837434554461058,0.929386142841224,0.37991388752894584,0.035],"actuator_force_native":[0.07371198821917346,-0.05723521573504797,0.1357474263755165,-0.02896403945353665,-0.12925713831144314,0.1359420470216448,4.134536880195938e-06],"issued_joint_targets_rad":[0.3052361366804985,1.4911162203139532,-1.2571555324006414,-0.1883894892742314,0.9293808531359352,0.37993033897537537],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.97999999999777,"joint_targets_rad":[0.3052361366804985,1.4911162203139532,-1.2571555324006414,-0.1883894892742314,0.9293808531359352,0.37993033897537537],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.999999999997794,"qpos":[0.30421468236227334,1.4919069318154137,-1.2589537789288439,-0.1872219856300508,0.9444767130198569,0.36361242126010246,0.034999889701328446,-0.035000088010518376,0.3551281956899985,0.07869801651857886,0.0798922445797837,0.9959435657946976,-1.8144557086799237e-11,-4.3608422519804294e-12,0.08998007419502224],"qvel":[0.002116535185786174,-0.0017046594913813244,0.0022167421552500063,-0.0038478035676512714,-0.016275702167051802,0.020295205621067423,7.488278088448941e-08,1.3032467454999486e-07,7.421625173759344e-12,-2.1955822713189395e-11,2.589663840010221e-15,6.068025787286664e-10,8.908221669097845e-11,-2.4177682520074472e-15],"joint_position_rad":[0.30421468236227334,1.4919069318154137,-1.2589537789288439,-0.1872219856300508,0.9444767130198569,0.36361242126010246],"joint_velocity_rad_s":[0.002116535185786174,-0.0017046594913813244,0.0022167421552500063,-0.0038478035676512714,-0.016275702167051802,0.020295205621067423],"gripper_joint_position_m":[0.034999889701328446,-0.035000088010518376],"tcp_position_m":[0.3483255615655973,0.07746211642184639,0.20888397387191004],"tcp_quaternion_wxyz":[0.2522509352237748,-0.006459803403307608,0.9676313831684237,-0.004152460268882205],"object_position_m":[0.3551281956899985,0.07869801651857886,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8144557086799237e-11,-4.3608422519804294e-12,0.08998007419502224],"object_linear_velocity_m_s":[7.421625173759344e-12,-2.1955822713189395e-11,2.589663840010221e-15],"object_angular_velocity_rad_s":[5.810105100140676e-10,1.9639704207428888e-10,-2.417768252036766e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000208326},{"geom_ids":[1,90],"normal_force_n":0.09810000000280014},{"geom_ids":[1,90],"normal_force_n":0.09809999999791671},{"geom_ids":[1,90],"normal_force_n":0.09809999999719986}],"native_actuator_controls":[0.3052361366804985,1.4911162203139532,-1.2571555324006414,-0.1883894892742314,0.9293808531359352,0.37993033897537537,0.035],"actuator_force_native":[0.07113366952908251,-0.05473362265992421,0.13277601147994744,-0.027461127928968487,-0.12654504558864055,0.13273636872112826,4.0375329579678265e-06],"issued_joint_targets_rad":[0.30524198172224426,1.4911174494569883,-1.2571510788925333,-0.18840400722096448,0.9293757121957361,0.3799461412912052],"issued_gripper_position_m":0.035,"command":{"t_seconds":16.999999999997794,"joint_targets_rad":[0.30524198172224426,1.4911174494569883,-1.2571510788925333,-0.18840400722096448,0.9293757121957361,0.3799461412912052],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.019999999997818,"qpos":[0.304256261674551,1.4918736306181395,-1.25890994105403,-0.18729697675159074,0.9441547795624928,0.36401332260390057,0.03499989203582272,-0.0350000829366649,0.355128195690197,0.07869801651799166,0.0798922445797837,0.9959435657946976,-1.8993152985138335e-11,-4.564786333522335e-12,0.08998007419502219],"qvel":[0.002042560921004434,-0.0016301808004915693,0.002168291662630882,-0.0036482563108543088,-0.015934077056868647,0.019815975914346914,7.526303847264431e-08,1.2073788879697923e-07,8.12320865173947e-12,-2.403138040092287e-11,2.5757860522024073e-15,4.2355060724488775e-10,6.217945795939937e-11,-4.414227292449938e-15],"joint_position_rad":[0.304256261674551,1.4918736306181395,-1.25890994105403,-0.18729697675159074,0.9441547795624928,0.36401332260390057],"joint_velocity_rad_s":[0.002042560921004434,-0.0016301808004915693,0.002168291662630882,-0.0036482563108543088,-0.015934077056868647,0.019815975914346914],"gripper_joint_position_m":[0.03499989203582272,-0.0350000829366649],"tcp_position_m":[0.34837053280229047,0.0774862811533903,0.2089134904708641],"tcp_quaternion_wxyz":[0.25240271380831897,-0.006315605649127538,0.9675930859992954,-0.004074691870632122],"object_position_m":[0.355128195690197,0.07869801651799166,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8993152985138335e-11,-4.564786333522335e-12,0.08998007419502219],"object_linear_velocity_m_s":[8.12320865173947e-12,-2.403138040092287e-11,2.5757860522024073e-15],"object_angular_velocity_rad_s":[4.055476916280271e-10,1.3708563639133044e-10,-4.4142272924658345e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000366896},{"geom_ids":[1,90],"normal_force_n":0.09810000000493137},{"geom_ids":[1,90],"normal_force_n":0.098099999996331},{"geom_ids":[1,90],"normal_force_n":0.09809999999506872}],"native_actuator_controls":[0.30524198172224426,1.4911174494569883,-1.2571510788925333,-0.18840400722096448,0.9293757121957361,0.3799461412912052,0.035],"actuator_force_native":[0.06864479921043909,-0.05234358888962731,0.12986751460658752,-0.026039937220678766,-0.12388955808226321,0.12960422300152574,3.942251899147209e-06],"issued_joint_targets_rad":[0.30524761362251096,1.4911185942112521,-1.2571467498248619,-0.1884179272856518,0.9293707166613759,0.3799613226619532],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.019999999997818,"joint_targets_rad":[0.30524761362251096,1.4911185942112521,-1.2571467498248619,-0.1884179272856518,0.9293707166613759,0.3799613226619532],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.039999999997843,"qpos":[0.3042963874996018,1.4918417835122915,-1.25886706176676,-0.1873680857727764,0.943839604000143,0.3644047537002184,0.03499989434634903,-0.03500007815436809,0.35512819569038984,0.07869801651742109,0.0798922445797837,0.9959435657946976,-1.937295104671841e-11,-4.656070461684371e-12,0.0899800741950221],"qvel":[0.001971151831950429,-0.0015590222110811393,0.0021208630384185146,-0.0034595560116079597,-0.015599584882975663,0.019347774540252823,7.548749767724994e-08,1.1178124146230219e-07,9.091615692965165e-12,-2.6896282477738995e-11,2.5716227158600628e-15,1.246106635747449e-10,1.8292966793941127e-11,-8.059304731227543e-15],"joint_position_rad":[0.3042963874996018,1.4918417835122915,-1.25886706176676,-0.1873680857727764,0.943839604000143,0.3644047537002184],"joint_velocity_rad_s":[0.001971151831950429,-0.0015590222110811393,0.0021208630384185146,-0.0034595560116079597,-0.015599584882975663,0.019347774540252823],"gripper_joint_position_m":[0.03499989434634903,-0.03500007815436809],"tcp_position_m":[0.3484145353153265,0.07751013489313495,0.20894207964966194],"tcp_quaternion_wxyz":[0.2525506164763593,-0.006174281161225881,0.9675557255858601,-0.003997781331297863],"object_position_m":[0.35512819569038984,0.07869801651742109,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.937295104671841e-11,-4.656070461684371e-12,0.0899800741950221],"object_linear_velocity_m_s":[9.091615692965165e-12,-2.6896282477738995e-11,2.5716227158600628e-15],"object_angular_velocity_rad_s":[1.1931421337731492e-10,4.033074009753616e-11,-8.059304731210251e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000513562},{"geom_ids":[1,90],"normal_force_n":0.09810000000690322},{"geom_ids":[1,90],"normal_force_n":0.09809999999486439},{"geom_ids":[1,90],"normal_force_n":0.0980999999930968}],"native_actuator_controls":[0.30524761362251096,1.4911185942112521,-1.2571467498248619,-0.1884179272856518,0.9293707166613759,0.3799613226619532,0.035],"actuator_force_native":[0.06624233067298135,-0.05006003302774786,0.12702064015975623,-0.024695880456976127,-0.12128949606320916,0.12654402780696872,3.848708550524549e-06],"issued_joint_targets_rad":[0.3052530405315288,1.4911196597810392,-1.2571425420959434,-0.18843127604642032,0.9293658631468965,0.37997590994860114],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.039999999997843,"joint_targets_rad":[0.3052530405315288,1.4911196597810392,-1.2571425420959434,-0.18843127604642032,0.9293658631468965,0.37997590994860114],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.059999999997867,"qpos":[0.30433511026078847,1.491811325718651,-1.2588251208424237,-0.18743552345062725,0.943531045225711,0.3647869326750997,0.03499989663103939,-0.03500007364667135,0.35512819569057563,0.07869801651687146,0.0798922445797837,0.9959435657946976,-1.904534845193531e-11,-4.577345627344447e-12,0.089980074195022],"qvel":[0.0019022206001625536,-0.0014910326098220774,0.002074435478574777,-0.0032810939839930525,-0.015272077059495046,0.018890362170459262,7.55690303820854e-08,1.0341478129478487e-07,1.058194190083674e-11,-3.130510600744743e-11,2.574398273421626e-15,-3.3492089787255376e-10,-4.916976364779405e-11,-1.4714275990346685e-14],"joint_position_rad":[0.30433511026078847,1.491811325718651,-1.2588251208424237,-0.18743552345062725,0.943531045225711,0.3647869326750997],"joint_velocity_rad_s":[0.0019022206001625536,-0.0014910326098220774,0.002074435478574777,-0.0032810939839930525,-0.015272077059495046,0.018890362170459262],"gripper_joint_position_m":[0.03499989663103939,-0.03500007364667135],"tcp_position_m":[0.34845759265147436,0.07753366887212261,0.20896977601439282],"tcp_quaternion_wxyz":[0.25269475933734586,-0.0060357913389272,0.9675192750601428,-0.0039217615238144425],"object_position_m":[0.35512819569057563,0.07869801651687146,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.904534845193531e-11,-4.577345627344447e-12,0.089980074195022],"object_linear_velocity_m_s":[1.058194190083674e-11,-3.130510600744743e-11,2.574398273421626e-15],"object_angular_velocity_rad_s":[-3.2068487733880627e-10,-1.0840148954295785e-10,-1.4714275990281207e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000594819},{"geom_ids":[1,90],"normal_force_n":0.0981000000079953},{"geom_ids":[1,90],"normal_force_n":0.09809999999405182},{"geom_ids":[1,90],"normal_force_n":0.09809999999200474}],"native_actuator_controls":[0.3052530405315288,1.4911196597810392,-1.2571425420959434,-0.18843127604642032,0.9293658631468965,0.37997590994860114,0.035],"actuator_force_native":[0.06392331865841427,-0.04787811195981817,0.12423412232556075,-0.023424633911757198,-0.1187437051989022,0.12355422947932526,3.7569132727011123e-06],"issued_joint_targets_rad":[0.30525827028812247,1.491120651041479,-1.2571384526282818,-0.18844407882467196,0.9293611482523435,0.379989928753828],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.059999999997867,"joint_targets_rad":[0.30525827028812247,1.491120651041479,-1.2571384526282818,-0.18844407882467196,0.9293611482523435,0.379989928753828],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.07999999999789,"qpos":[0.3043724786641039,1.491782195403803,-1.2587840984674439,-0.18749948872589894,0.943228965070371,0.36516007291077945,0.034999898888234134,-0.03500006939761909,0.3551281956907518,0.07869801651635053,0.0798922445797837,0.9959435657946976,-1.7670179596903616e-11,-4.246846142157841e-12,0.08998007419502196],"qvel":[0.0018356828061562832,-0.0014260679592928828,0.0020289886436174196,-0.0031122964547655534,-0.01495140818264574,0.018443503899382548,7.55196621723511e-08,9.56010635597008e-08,1.3031071779720296e-11,-3.855044746791746e-11,2.5688471582985004e-15,-1.0171459109505274e-09,-1.4932353644059476e-10,-2.6864556880953006e-14],"joint_position_rad":[0.3043724786641039,1.491782195403803,-1.2587840984674439,-0.18749948872589894,0.943228965070371,0.36516007291077945],"joint_velocity_rad_s":[0.0018356828061562832,-0.0014260679592928828,0.0020289886436174196,-0.0031122964547655534,-0.01495140818264574,0.018443503899382548],"gripper_joint_position_m":[0.034999898888234134,-0.03500006939761909],"tcp_position_m":[0.34849972760774695,0.07755687554813354,0.2089966127017166],"tcp_quaternion_wxyz":[0.25283525428080633,-0.005900096929889082,0.9674837085162253,-0.003846661496568756],"object_position_m":[0.3551281956907518,0.07869801651635053,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7670179596903616e-11,-4.246846142157841e-12,0.08998007419502196],"object_linear_velocity_m_s":[1.3031071779720296e-11,-3.855044746791746e-11,2.5688471582985004e-15],"object_angular_velocity_rad_s":[-9.739121625510375e-10,-3.292087822851368e-10,-2.6864556880918113e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000512778},{"geom_ids":[1,90],"normal_force_n":0.09810000000689242},{"geom_ids":[1,90],"normal_force_n":0.09809999999487222},{"geom_ids":[1,90],"normal_force_n":0.09809999999310755}],"native_actuator_controls":[0.30525827028812247,1.491120651041479,-1.2571384526282818,-0.18844407882467196,0.9293611482523435,0.379989928753828,0.035],"actuator_force_native":[0.06168491589070513,-0.04579320918946905,0.12150672391489081,-0.022222121677092588,-0.11625105590630724,0.12063330258141125,3.666872324004089e-06],"issued_joint_targets_rad":[0.3052633104304318,1.4911215725606,-1.2571344783741105,-0.18845635974763214,0.9293565685751591,0.3800034034847799],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.07999999999789,"joint_targets_rad":[0.3052633104304318,1.4911215725606,-1.2571344783741105,-0.18845635974763214,0.9293565685751591,0.3800034034847799],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.099999999997916,"qpos":[0.3044085397552003,1.4917543335423844,-1.258743975230208,-0.18756016940040524,0.9429332282407957,0.36552438313394453,0.034999901116466704,-0.03500006539219685,0.35512819569092313,0.07869801651584381,0.0798922445797837,0.9959435657946976,-1.5951439973125533e-11,-3.83376825135413e-12,0.0899800741950219],"qvel":[0.0017714568341836165,-0.00136399095247851,0.0019845026410544287,-0.0029526225302308555,-0.014637435951200489,0.018006969207311433,7.5350623156954e-08,8.83049928008754e-08,6.4338707794753355e-12,-1.9033636727243475e-11,2.567459379517719e-15,6.675437934770357e-10,9.799899519527186e-11,-2.9105568984778766e-15],"joint_position_rad":[0.3044085397552003,1.4917543335423844,-1.258743975230208,-0.18756016940040524,0.9429332282407957,0.36552438313394453],"joint_velocity_rad_s":[0.0017714568341836165,-0.00136399095247851,0.0019845026410544287,-0.0029526225302308555,-0.014637435951200489,0.018006969207311433],"gripper_joint_position_m":[0.034999901116466704,-0.03500006539219685],"tcp_position_m":[0.34854096226470405,0.07757974851289659,0.20902262144656736],"tcp_quaternion_wxyz":[0.2529722091582311,-0.00576715812986731,0.9674490009677942,-0.003772506742996799],"object_position_m":[0.35512819569092313,0.07869801651584381,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.5951439973125533e-11,-3.83376825135413e-12,0.0899800741950219],"object_linear_velocity_m_s":[6.4338707794753355e-12,-1.9033636727243475e-11,2.567459379517719e-15],"object_angular_velocity_rad_s":[6.39169997183935e-10,2.1605608986761156e-10,-2.9105568984708376e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997945504},{"geom_ids":[1,90],"normal_force_n":0.0980999999723849},{"geom_ids":[1,90],"normal_force_n":0.09810000002054492},{"geom_ids":[1,90],"normal_force_n":0.09810000002761506}],"native_actuator_controls":[0.3052633104304318,1.4911215725606,-1.2571344783741105,-0.18845635974763214,0.9293565685751591,0.3800034034847799,0.035],"actuator_force_native":[0.05952436984760112,-0.04380092378036693,0.11883723528254109,-0.021084501237921494,-0.11381044272956409,0.11777974969738647,3.57858821620205e-06],"issued_joint_targets_rad":[0.3052681682064297,1.491122428619827,-1.257130616320295,-0.18846814180765395,0.9293521207203287,0.38001635741257267],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.099999999997916,"joint_targets_rad":[0.3052681682064297,1.491122428619827,-1.257130616320295,-0.18846814180765395,0.9293521207203287,0.38001635741257267],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.11999999999794,"qpos":[0.30444333897455006,1.4917276837860445,-1.2587047321123292,-0.18761774277491475,0.9426437022579385,0.3658800675032166,0.03499990331444947,-0.03500006161627484,0.35512819569112686,0.0786980165152411,0.0798922445797837,0.9959435657946976,-1.783906619766704e-11,-4.287433256222028e-12,0.08998007419502173],"qvel":[0.0017094637804062945,-0.0013046706851719654,0.0019409580089951646,-0.0028015622827826806,-0.014330021089911209,0.017580531920737708,7.507239434460888e-08,8.149367484444469e-08,7.2246755520362276e-12,-2.1373136291047457e-11,2.5646838219561563e-15,6.134573541540111e-10,9.005917508721923e-11,-5.313923382217985e-15],"joint_position_rad":[0.30444333897455006,1.4917276837860445,-1.2587047321123292,-0.18761774277491475,0.9426437022579385,0.3658800675032166],"joint_velocity_rad_s":[0.0017094637804062945,-0.0013046706851719654,0.0019409580089951646,-0.0028015622827826806,-0.014330021089911209,0.017580531920737708],"gripper_joint_position_m":[0.03499990331444947,-0.03500006161627484],"tcp_position_m":[0.3485813180179273,0.07760228240543889,0.20904783264658153],"tcp_quaternion_wxyz":[0.25310572795616026,-0.005636934675471449,0.9674151283078133,-0.0036993194541424836],"object_position_m":[0.35512819569112686,0.0786980165152411,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.783906619766704e-11,-4.287433256222028e-12,0.08998007419502173],"object_linear_velocity_m_s":[7.2246755520362276e-12,-2.1373136291047457e-11,2.5646838219561563e-15],"object_angular_velocity_rad_s":[5.873824254071231e-10,1.9855091716200827e-10,-5.313923382232171e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000204501},{"geom_ids":[1,90],"normal_force_n":0.09810000000274882},{"geom_ids":[1,90],"normal_force_n":0.09809999999795496},{"geom_ids":[1,90],"normal_force_n":0.09809999999725129}],"native_actuator_controls":[0.3052681682064297,1.491122428619827,-1.257130616320295,-0.18846814180765395,0.9293521207203287,0.38001635741257267,0.035],"actuator_force_native":[0.05743901964834208,-0.041897059871544684,0.11622447331775732,-0.020008149895654803,-0.11142078374123088,0.1149921012124544,3.492060049570256e-06],"issued_joint_targets_rad":[0.30527285058420695,1.4911232232330411,-1.2571268634926613,-0.18847944691844298,0.9293478013094091,0.38002881272869393],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.11999999999794,"joint_targets_rad":[0.30527285058420695,1.4911232232330411,-1.2571268634926613,-0.18847944691844298,0.9293478013094091,0.38002881272869393],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.139999999997965,"qpos":[0.3044769202108017,1.4917021923387697,-1.2586663504802211,-0.18767237624994074,0.9423602573973143,0.3662273256958065,0.03499990548106039,-0.03500005805655505,0.35512819569132936,0.07869801651464182,0.0798922445797837,0.9959435657946976,-1.9171831889845813e-11,-4.6077460212625946e-12,0.08998007419502153],"qvel":[0.0016496273642972081,-0.001247982345256075,0.0018983357008449254,-0.0026586349499902353,-0.014029027275721159,0.01716397017014615,7.469475361717947e-08,7.513627857430723e-08,8.059231400721398e-12,-2.384205375207154e-11,2.567459379517719e-15,4.704740485180303e-10,6.90682820563602e-11,-9.701913125136947e-15],"joint_position_rad":[0.3044769202108017,1.4917021923387697,-1.2586663504802211,-0.18767237624994074,0.9423602573973143,0.3662273256958065],"joint_velocity_rad_s":[0.0016496273642972081,-0.001247982345256075,0.0018983357008449254,-0.0026586349499902353,-0.014029027275721159,0.01716397017014615],"gripper_joint_position_m":[0.03499990548106039,-0.03500005805655505],"tcp_position_m":[0.34862081560777786,0.07762447283118648,0.20907227542341225],"tcp_quaternion_wxyz":[0.2532359109609257,-0.005509385930332711,0.9673820672702158,-0.0036271187552189364],"object_position_m":[0.35512819569132936,0.07869801651464182,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9171831889845813e-11,-4.6077460212625946e-12,0.08998007419502153],"object_linear_velocity_m_s":[8.059231400721398e-12,-2.384205375207154e-11,2.567459379517719e-15],"object_angular_velocity_rad_s":[4.504766247214948e-10,1.5227300645449855e-10,-9.701913125148152e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000358234},{"geom_ids":[1,90],"normal_force_n":0.09810000000481493},{"geom_ids":[1,90],"normal_force_n":0.09809999999641765},{"geom_ids":[1,90],"normal_force_n":0.0980999999951851}],"native_actuator_controls":[0.30527285058420695,1.4911232232330411,-1.2571268634926613,-0.18847944691844298,0.9293478013094091,0.38002881272869393,0.035],"actuator_force_native":[0.05542629305093527,-0.04007761673200605,0.1136672805005503,-0.01898965199013869,-0.10908101996547082,0.11226891507365488,3.4072838164256325e-06],"issued_joint_targets_rad":[0.3052773642620139,1.4911239601642894,-1.257123216959784,-0.18849029596837125,0.9293436069885195,0.380040790598466],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.139999999997965,"joint_targets_rad":[0.3052773642620139,1.4911239601642894,-1.257123216959784,-0.18849029596837125,0.9293436069885195,0.380040790598466],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.15999999999799,"qpos":[0.3045093258523956,1.491677807838251,-1.2586288120769697,-0.18772422789160703,0.9420827666307279,0.366566352993289,0.034999907615330526,-0.03500005470052158,0.3551281956915286,0.07869801651405217,0.0798922445797837,0.9959435657946976,-1.9895247995423734e-11,-4.781596373258461e-12,0.08998007419502131],"qvel":[0.0015918738431137775,-0.0011938069179584549,0.0018566170710113575,-0.002523387239568321,-0.013734321066613101,0.016757066345508564,7.422681787514124e-08,6.920390658847232e-08,9.061858699511993e-12,-2.680825234820936e-11,2.5743982734216263e-15,2.0702404675198813e-10,3.0393181656882606e-11,-1.7713147747578267e-14],"joint_position_rad":[0.3045093258523956,1.491677807838251,-1.2586288120769697,-0.18772422789160703,0.9420827666307279,0.366566352993289],"joint_velocity_rad_s":[0.0015918738431137775,-0.0011938069179584549,0.0018566170710113575,-0.002523387239568321,-0.013734321066613101,0.016757066345508564],"gripper_joint_position_m":[0.034999907615330526,-0.03500005470052158],"tcp_position_m":[0.3486594751475377,0.07764631628645065,0.20909597768108917],"tcp_quaternion_wxyz":[0.25336285491547833,-0.005384470965091764,0.9673497953935093,-0.003555920927153102],"object_position_m":[0.3551281956915286,0.07869801651405217,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9895247995423734e-11,-4.781596373258461e-12,0.08998007419502131],"object_linear_velocity_m_s":[9.061858699511993e-12,-2.680825234820936e-11,2.5743982734216263e-15],"object_angular_velocity_rad_s":[1.98224367508956e-10,6.700598145294094e-11,-1.7713147747624586e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000509424},{"geom_ids":[1,90],"normal_force_n":0.09810000000684736},{"geom_ids":[1,90],"normal_force_n":0.09809999999490573},{"geom_ids":[1,90],"normal_force_n":0.0980999999931527}],"native_actuator_controls":[0.3052773642620139,1.4911239601642894,-1.257123216959784,-0.18849029596837125,0.9293436069885195,0.380040790598466,0.035],"actuator_force_native":[0.0534837035538942,-0.03833877932713392,0.11116452401982713,-0.018025786872726712,-0.10679011482216438,0.10960877653350742,3.3242526895627122e-06],"issued_joint_targets_rad":[0.30528171567805784,1.4911246429442566,-1.2571196738362587,-0.18850070887104162,0.9293395344353667,0.3800523112117406],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.15999999999799,"joint_targets_rad":[0.30528171567805784,1.4911246429442566,-1.2571196738362587,-0.18850070887104162,0.9293395344353667,0.3800523112117406],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.179999999998014,"qpos":[0.3045405968374988,1.4916544812429762,-1.2585920990144752,-0.1877734469646427,0.9418111055693914,0.36689734036645877,0.034999909716432485,-0.03500005153639391,0.35512819569172227,0.07869801651347913,0.0798922445797837,0.9959435657946976,-1.986090085951489e-11,-4.773332400458516e-12,0.08998007419502109],"qvel":[0.001536131929314796,-0.001142030906177012,0.0018157838615647447,-0.0023953917339742366,-0.013445771832967246,0.016359607049726815,7.367708273149536e-08,6.36694742306863e-08,1.0485582577799107e-11,-3.102018256347668e-11,2.575786052202408e-15,-2.163339214588824e-10,-3.175798251001036e-11,-3.2339778309790953e-14],"joint_position_rad":[0.3045405968374988,1.4916544812429762,-1.2585920990144752,-0.1877734469646427,0.9418111055693914,0.36689734036645877],"joint_velocity_rad_s":[0.001536131929314796,-0.001142030906177012,0.0018157838615647447,-0.0023953917339742366,-0.013445771832967246,0.016359607049726815],"gripper_joint_position_m":[0.034999909716432485,-0.03500005153639391],"tcp_position_m":[0.348697316150028,0.07766781008796131,0.209118966161564],"tcp_quaternion_wxyz":[0.25348665316871505,-0.005262148631584365,0.9673182909861916,-0.003485739614030258],"object_position_m":[0.35512819569172227,0.07869801651347913,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.986090085951489e-11,-4.773332400458516e-12,0.08998007419502109],"object_linear_velocity_m_s":[1.0485582577799107e-11,-3.102018256347668e-11,2.575786052202408e-15],"object_angular_velocity_rad_s":[-2.071388755564307e-10,-7.001729257905791e-11,-3.23397783098188e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000613082},{"geom_ids":[1,90],"normal_force_n":0.0981000000082406},{"geom_ids":[1,90],"normal_force_n":0.09809999999386924},{"geom_ids":[1,90],"normal_force_n":0.09809999999175932}],"native_actuator_controls":[0.30528171567805784,1.4911246429442566,-1.2571196738362587,-0.18850070887104162,0.9293395344353667,0.3800523112117406,0.035],"actuator_force_native":[0.051608847598149765,-0.036676909366676114,0.10871509494948839,-0.01711351758608526,-0.10454705359079597,0.10701029787822813,3.242957286930803e-06],"issued_joint_targets_rad":[0.30528591102003727,1.4911252748855885,-1.2571162312855364,-0.18851070461323974,0.9293355803654184,0.38006339383095267],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.179999999998014,"joint_targets_rad":[0.30528591102003727,1.4911252748855885,-1.2571162312855364,-0.18851070461323974,0.9293355803654184,0.38006339383095267],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.199999999998038,"qpos":[0.3045707727023162,1.4916321657247618,-1.2585561937658476,-0.1878201744344354,0.9415451524083924,0.36722047455922774,0.0349999117836694,-0.035000048553083064,0.35512819569190746,0.07869801651293151,0.0798922445797837,0.9959435657946976,-1.8790523224562552e-11,-4.5160768412483504e-12,0.08998007419502085],"qvel":[0.0014823327107728887,-0.0010925460650486917,0.001775818189749974,-0.0022742453887038333,-0.013163251691260015,0.01597138305022434,7.305346084705432e-08,5.8507595641031123e-08,1.2745680564514689e-11,-3.770643410196983e-11,2.51056044950568e-15,-8.562734724394426e-10,-1.257037307921795e-10,-5.904441569996832e-14],"joint_position_rad":[0.3045707727023162,1.4916321657247618,-1.2585561937658476,-0.1878201744344354,0.9415451524083924,0.36722047455922774],"joint_velocity_rad_s":[0.0014823327107728887,-0.0010925460650486917,0.001775818189749974,-0.0022742453887038333,-0.013163251691260015,0.01597138305022434],"gripper_joint_position_m":[0.0349999117836694,-0.035000048553083064],"tcp_position_m":[0.348734357552796,0.07768895230712726,0.2091412664975848],"tcp_quaternion_wxyz":[0.2536073958176802,-0.0051423776315832285,0.9672875330938858,-0.0034165860173060235],"object_position_m":[0.35512819569190746,0.07869801651293151,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8790523224562552e-11,-4.5160768412483504e-12,0.08998007419502085],"object_linear_velocity_m_s":[1.2745680564514689e-11,-3.770643410196983e-11,2.51056044950568e-15],"object_angular_velocity_rad_s":[-8.198780850408992e-10,-2.771382564862515e-10,-5.904441569998582e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000580585},{"geom_ids":[1,90],"normal_force_n":0.09810000000780353},{"geom_ids":[1,90],"normal_force_n":0.09809999999419422},{"geom_ids":[1,90],"normal_force_n":0.09809999999219635}],"native_actuator_controls":[0.30528591102003727,1.4911252748855885,-1.2571162312855364,-0.18851070461323974,0.9293355803654184,0.38006339383095267,0.035],"actuator_force_native":[0.04979940186382237,-0.035088536808615345,0.10631790747613934,-0.016249980208653092,-0.10235084289285012,0.1044721181419126,3.1633859198798575e-06],"issued_joint_targets_rad":[0.30528995623441374,1.4911258590971432,-1.2571128865223091,-0.18852030130041914,0.9293317415372644,0.38007405683668793],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.199999999998038,"joint_targets_rad":[0.30528995623441374,1.4911258590971432,-1.2571128865223091,-0.18852030130041914,0.9293317415372644,0.38007405683668793],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.219999999998063,"qpos":[0.3045998916278329,1.4916108165664437,-1.2585210791580477,-0.18786454343996223,0.9412847878724602,0.3675359381715273,0.03499991381646494,-0.03500004574015036,0.3551281956920795,0.07869801651242277,0.0798922445797837,0.9959435657946976,-1.6254134960160663e-11,-3.906484434060127e-12,0.08998007419502065],"qvel":[0.0014304095736641337,-0.0010452491499936126,0.00173670253632301,-0.0021595681187520574,-0.012886635440011621,0.015592189228902797,7.236331711243908e-08,5.369447662639328e-08,6.549251662819222e-12,-1.9375097997252018e-11,2.492519325355522e-15,7.076298616326213e-10,1.0388289889138892e-10,-6.396975146549034e-15],"joint_position_rad":[0.3045998916278329,1.4916108165664437,-1.2585210791580477,-0.18786454343996223,0.9412847878724602,0.3675359381715273],"joint_velocity_rad_s":[0.0014304095736641337,-0.0010452491499936126,0.00173670253632301,-0.0021595681187520574,-0.012886635440011621,0.015592189228902797],"gripper_joint_position_m":[0.03499991381646494,-0.03500004574015036],"tcp_position_m":[0.34877061774195345,0.0777097417087231,0.20916290326303316],"tcp_quaternion_wxyz":[0.25372516984301907,-0.005025116580433745,0.9672575014681049,-0.0033484690775937432],"object_position_m":[0.3551281956920795,0.07869801651242277,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.6254134960160663e-11,-3.906484434060127e-12,0.08998007419502065],"object_linear_velocity_m_s":[6.549251662819222e-12,-1.9375097997252018e-11,2.492519325355522e-15],"object_angular_velocity_rad_s":[6.775523855994003e-10,2.2902934861026299e-10,-6.396975146556769e-15],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998034619},{"geom_ids":[1,90],"normal_force_n":0.0980999999735827},{"geom_ids":[1,90],"normal_force_n":0.09810000001965383},{"geom_ids":[1,90],"normal_force_n":0.09810000002641717}],"native_actuator_controls":[0.30528995623441374,1.4911258590971432,-1.2571128865223091,-0.18852030130041914,0.9293317415372644,0.38007405683668793,0.035],"actuator_force_native":[0.04805312065814604,-0.03357035179406864,0.10397189817746266,-0.01543247382451618,-0.10020051019193943,0.1019929028082518,3.085524816981433e-06],"issued_joint_targets_rad":[0.3052938570354176,1.4911263984972545,-1.2571096368145165,-0.18852951619985278,0.9293280147572546,0.3800843177708952],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.219999999998063,"joint_targets_rad":[0.3052938570354176,1.4911263984972545,-1.2571096368145165,-0.18852951619985278,0.9293280147572546,0.3800843177708952],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.239999999998087,"qpos":[0.30462799048504025,1.4915903910644703,-1.2584867383647458,-0.18790667973930522,0.9410298951629865,0.3678439097411888,0.03499991581435363,-0.03500004308776879,0.355128195692278,0.07869801651183525,0.0798922445797837,0.9959435657946976,-1.7365806561899347e-11,-4.173664342982881e-12,0.08998007419502024],"qvel":[0.0013802981279234252,-0.0010000416774952057,0.001698419734627175,-0.0020510014680280514,-0.01261580049784108,0.015221824530650937,7.161350214068279e-08,4.920781648121038e-08,7.066283939012597e-12,-2.09046565109604e-11,2.4328448377819198e-15,6.227958596218011e-10,9.1428878477185e-11,-1.1679351781148836e-14],"joint_position_rad":[0.30462799048504025,1.4915903910644703,-1.2584867383647458,-0.18790667973930522,0.9410298951629865,0.3678439097411888],"joint_velocity_rad_s":[0.0013802981279234252,-0.0010000416774952057,0.001698419734627175,-0.0020510014680280514,-0.01261580049784108,0.015221824530650937],"gripper_joint_position_m":[0.03499991581435363,-0.03500004308776879],"tcp_position_m":[0.3488061145747466,0.07773017769372272,0.20918390002084458],"tcp_quaternion_wxyz":[0.2538400592380191,-0.0049103240658972995,0.9672281765365549,-0.0032813956447910026],"object_position_m":[0.355128195692278,0.07869801651183525,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.7365806561899347e-11,-4.173664342982881e-12,0.08998007419502024],"object_linear_velocity_m_s":[7.066283939012597e-12,-2.09046565109604e-11,2.4328448377819198e-15],"object_angular_velocity_rad_s":[5.963242219201001e-10,2.0157218293465005e-10,-1.1679351781150565e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000160944},{"geom_ids":[1,90],"normal_force_n":0.09810000000216333},{"geom_ids":[1,90],"normal_force_n":0.09809999999839047},{"geom_ids":[1,90],"normal_force_n":0.09809999999783657}],"native_actuator_controls":[0.3052938570354176,1.4911263984972545,-1.2571096368145165,-0.18852951619985278,0.9293280147572546,0.3800843177708952,0.035],"actuator_force_native":[0.0463678333905726,-0.032119196989796706,0.10167602534521336,-0.014658451081762891,-0.09809510331055904,0.09957134350108765,3.0093583440748972e-06],"issued_joint_targets_rad":[0.30529761891378443,1.4911268958260797,-1.2571064794849913,-0.18853836578157196,0.9293243968834765,0.38009419337786365],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.239999999998087,"joint_targets_rad":[0.30529761891378443,1.4911268958260797,-1.2571064794849913,-0.18853836578157196,0.9293243968834765,0.38009419337786365],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.25999999999811,"qpos":[0.3046551048786953,1.4915708484361443,-1.2584531548993905,-0.18794670212936107,0.9407803599062661,0.3681445638247735,0.034999917776972124,-0.03500004058668659,0.3551281956924716,0.0786980165112621,0.0798922445797837,0.9959435657946976,-1.8240224661970116e-11,-4.3838433272385995e-12,0.0899800741950198],"qvel":[0.0013319361351561063,-0.000956829697921974,0.0016609529603552166,-0.0019482073568067644,-0.012350626843522351,0.014860091910580072,7.081038455528145e-08,4.50267140850973e-08,7.689375073700868e-12,-2.2747903561944975e-11,2.406477040947073e-15,4.6565606565709736e-10,6.835969103494628e-11,-2.1323484473447855e-14],"joint_position_rad":[0.3046551048786953,1.4915708484361443,-1.2584531548993905,-0.18794670212936107,0.9407803599062661,0.3681445638247735],"joint_velocity_rad_s":[0.0013319361351561063,-0.000956829697921974,0.0016609529603552166,-0.0019482073568067644,-0.012350626843522351,0.014860091910580072],"gripper_joint_position_m":[0.034999917776972124,-0.03500004058668659],"tcp_position_m":[0.34884086540093184,0.07775026024601356,0.20920427936863617],"tcp_quaternion_wxyz":[0.25395214513157255,-0.004797958702501392,0.9671995393749041,-0.003215370637263339],"object_position_m":[0.3551281956924716,0.0786980165112621,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8240224661970116e-11,-4.3838433272385995e-12,0.0899800741950198],"object_linear_velocity_m_s":[7.689375073700868e-12,-2.2747903561944975e-11,2.406477040947073e-15],"object_angular_velocity_rad_s":[4.458636595023429e-10,1.5071236172530218e-10,-2.1323484473411467e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000314406},{"geom_ids":[1,90],"normal_force_n":0.09810000000422606},{"geom_ids":[1,90],"normal_force_n":0.09809999999685591},{"geom_ids":[1,90],"normal_force_n":0.09809999999577397}],"native_actuator_controls":[0.30529761891378443,1.4911268958260797,-1.2571064794849913,-0.18853836578157196,0.9293243968834765,0.38009419337786365,0.035],"actuator_force_native":[0.04474144213134679,-0.03073206031555742,0.09942926835014987,-0.013925509304402617,-0.09603368996261352,0.09720615766503116,2.9348691925612513e-06],"issued_joint_targets_rad":[0.30530124714522416,1.491127353657092,-1.2571034119127793,-0.1885468657572088,0.9293208848291299,0.38010369964308854],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.25999999999811,"joint_targets_rad":[0.30530124714522416,1.491127353657092,-1.2571034119127793,-0.1885468657572088,0.9293208848291299,0.38010369964308854],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.279999999998136,"qpos":[0.3046812691896619,1.491552149731286,-1.2584203126084772,-0.18798472284125747,0.9405360701029108,0.3684380710773287,0.03499991970405076,-0.03500003822819306,0.3551281956926599,0.07869801651070502,0.0798922445797837,0.9959435657946976,-1.8723450557147433e-11,-4.500005028274269e-12,0.0899800741950193],"qvel":[0.0012852634389096064,-0.0009155235797516203,0.001624285721949471,-0.0018508669025978925,-0.012090996957939484,0.014506798280154064,6.9959880797067e-08,4.1131580009597074e-08,8.535810748190989e-12,-2.5251857357275113e-11,2.400925925823947e-15,2.0665504046933584e-10,3.033668518831365e-11,-3.893127593332465e-14],"joint_position_rad":[0.3046812691896619,1.491552149731286,-1.2584203126084772,-0.18798472284125747,0.9405360701029108,0.3684380710773287],"joint_velocity_rad_s":[0.0012852634389096064,-0.0009155235797516203,0.001624285721949471,-0.0018508669025978925,-0.012090996957939484,0.014506798280154064],"gripper_joint_position_m":[0.03499991970405076,-0.03500003822819306],"tcp_position_m":[0.3488748870830271,0.0777699898827468,0.20922406298215454],"tcp_quaternion_wxyz":[0.2540615059053675,-0.004687979181675019,0.967171571679932,-0.003150397190753688],"object_position_m":[0.3551281956926599,0.07869801651070502,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.8723450557147433e-11,-4.500005028274269e-12,0.0899800741950193],"object_linear_velocity_m_s":[8.535810748190989e-12,-2.5251857357275113e-11,2.400925925823947e-15],"object_angular_velocity_rad_s":[1.978714623520299e-10,6.688426276985297e-11,-3.8931275933264654e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000463866},{"geom_ids":[1,90],"normal_force_n":0.09810000000623499},{"geom_ids":[1,90],"normal_force_n":0.09809999999536137},{"geom_ids":[1,90],"normal_force_n":0.09809999999376501}],"native_actuator_controls":[0.30530124714522416,1.491127353657092,-1.2571034119127793,-0.1885468657572088,0.9293208848291299,0.38010369964308854,0.035],"actuator_force_native":[0.04317191925043318,-0.0294060680367636,0.09723062704608765,-0.01323138212506425,-0.0940153573009006,0.09489608823736706,2.8620385659205994e-06],"issued_joint_targets_rad":[0.3053047467986204,1.4911277744077884,-1.2571004315341605,-0.18855503111685937,0.9293174755653537,0.38011285183013477],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.279999999998136,"joint_targets_rad":[0.3053047467986204,1.4911277744077884,-1.2571004315341605,-0.18855503111685937,0.9293174755653537,0.38011285183013477],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.29999999999816,"qpos":[0.3047065166158798,1.4915342577480917,-1.2583881956649985,-0.18802084791289944,0.9402969160784082,0.36872459833105,0.03499992159540604,-0.03500003600408646,0.3551281956928524,0.07869801651013578,0.0798922445797837,0.9959435657946976,-1.9687173281465227e-11,-4.7316456528197394e-12,0.08998007419501865],"qvel":[0.0012402218972082332,-0.0008760378045741797,0.0015884018515823978,-0.0017586793101060328,-0.011836795767842821,0.014161754452366674,6.906748255381875e-08,3.750405459714448e-08,1.0024713737235114e-11,-2.965644805954575e-11,2.3509658897158148e-15,-1.6175319260184686e-10,-2.3747916238146572e-11,-7.107851722438859e-14],"joint_position_rad":[0.3047065166158798,1.4915342577480917,-1.2583881956649985,-0.18802084791289944,0.9402969160784082,0.36872459833105],"joint_velocity_rad_s":[0.0012402218972082332,-0.0008760378045741797,0.0015884018515823978,-0.0017586793101060328,-0.011836795767842821,0.014161754452366674],"gripper_joint_position_m":[0.03499992159540604,-0.03500003600408646],"tcp_position_m":[0.3489081960155044,0.07778936760808987,0.20924327165665163],"tcp_quaternion_wxyz":[0.25416821730560124,-0.004580344317936913,0.9671442557439915,-0.0030864767976533044],"object_position_m":[0.3551281956928524,0.07869801651013578,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.9687173281465227e-11,-4.7316456528197394e-12,0.08998007419501865],"object_linear_velocity_m_s":[1.0024713737235114e-11,-2.965644805954575e-11,2.3509658897158148e-15],"object_angular_velocity_rad_s":[-1.548776084213782e-10,-5.2354419605400304e-11,-7.107851722433312e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000064483},{"geom_ids":[1,90],"normal_force_n":0.09810000000866757},{"geom_ids":[1,90],"normal_force_n":0.0980999999935516},{"geom_ids":[1,90],"normal_force_n":0.09809999999133241}],"native_actuator_controls":[0.3053047467986204,1.4911277744077884,-1.2571004315341605,-0.18855503111685937,0.9293174755653537,0.38011285183013477,0.035],"actuator_force_native":[0.041657305133206535,-0.028138478201398698,0.09507912120912465,-0.012573931607867017,-0.09203921147878091,0.09263990331229843,2.790846345801512e-06],"issued_joint_targets_rad":[0.30530812274396535,1.491128160349663,-1.2570975358433971,-0.18856287616406966,0.9293141661235548,0.3801216645156143],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.29999999999816,"joint_targets_rad":[0.30530812274396535,1.491128160349663,-1.2570975358433971,-0.18856287616406966,0.9293141661235548,0.3801216645156143],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.319999999998185,"qpos":[0.30473087921200626,1.4915171369529816,-1.258356788562068,-0.188055177539986,0.9400627904347798,0.3690043086728339,0.034999923450933244,-0.03500003390664385,0.3551281956930405,0.07869801650957917,0.0798922445797837,0.9959435657946976,-1.937482124510124e-11,-4.656593004905076e-12,0.089980074195018],"qvel":[0.0011967553172683107,-0.0008382907723065643,0.0015532854966810656,-0.0016713608261933574,-0.011587910591315408,0.013824775086116977,6.813828383040004e-08,3.412693133432336e-08,1.228222034025128e-11,-3.6334727824928795e-11,2.264923605307365e-15,-7.353987124222654e-10,-1.0796621771039858e-10,-1.297720567438268e-13],"joint_position_rad":[0.30473087921200626,1.4915171369529816,-1.258356788562068,-0.188055177539986,0.9400627904347798,0.3690043086728339],"joint_velocity_rad_s":[0.0011967553172683107,-0.0008382907723065643,0.0015532854966810656,-0.0016713608261933574,-0.011587910591315408,0.013824775086116977],"gripper_joint_position_m":[0.034999923450933244,-0.03500003390664385],"tcp_position_m":[0.3489408081429866,0.0778083948701644,0.20926192534628824],"tcp_quaternion_wxyz":[0.25427235254949343,-0.004475013091377775,0.9671175744307148,-0.0030236094372252122],"object_position_m":[0.3551281956930405,0.07869801650957917,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946976,-1.937482124510124e-11,-4.656593004905076e-12,0.089980074195018],"object_linear_velocity_m_s":[1.228222034025128e-11,-3.6334727824928795e-11,2.264923605307365e-15],"object_angular_velocity_rad_s":[-7.041397263260742e-10,-2.380235622967903e-10,-1.2977205674368045e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000656693},{"geom_ids":[1,90],"normal_force_n":0.09810000000882695},{"geom_ids":[1,90],"normal_force_n":0.09809999999343298},{"geom_ids":[1,90],"normal_force_n":0.098099999991173}],"native_actuator_controls":[0.30530812274396535,1.491128160349663,-1.2570975358433971,-0.18856287616406966,0.9293141661235548,0.3801216645156143,0.035],"actuator_force_native":[0.0401957059703868,-0.02692667440395269,0.09297379001026229,-0.011951140832379359,-0.09010437722527698,0.0904363957986285,2.7212712512270087e-06],"issued_joint_targets_rad":[0.3053113796600309,1.4911285136174983,-1.257094722393245,-0.18857041454904286,0.9293109535972961,0.38013015162236247],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.319999999998185,"joint_targets_rad":[0.3053113796600309,1.4911285136174983,-1.257094722393245,-0.18857041454904286,0.9293109535972961,0.38013015162236247],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.33999999999821,"qpos":[0.30475438792777243,1.4915007534042393,-1.2583260761067077,-0.18808780640675588,0.9398335880033173,0.36927736152070345,0.03499992527059979,-0.035000031928592676,0.35512819569321935,0.0786980165090498,0.0798922445797837,0.9959435657946987,-1.7443050559661184e-11,-4.192321936956099e-12,0.08998007419501747],"qvel":[0.001154809392308883,-0.0008022046160765027,0.0015189211119338698,-0.0015886437560020243,-0.011344231084856266,0.013495678629905332,6.717700617230023e-08,3.098408481811071e-08,1.5842861279024956e-11,-4.6868115388124135e-11,3.1281220069534244e-15,-1.603762161423682e-09,-2.354510493268967e-10,-2.3693152529840945e-13],"joint_position_rad":[0.30475438792777243,1.4915007534042393,-1.2583260761067077,-0.18808780640675588,0.9398335880033173,0.36927736152070345],"joint_velocity_rad_s":[0.001154809392308883,-0.0008022046160765027,0.0015189211119338698,-0.0015886437560020243,-0.011344231084856266,0.013495678629905332],"gripper_joint_position_m":[0.03499992527059979,-0.035000031928592676],"tcp_position_m":[0.3489727389775063,0.07782707352096527,0.20928004320166646],"tcp_quaternion_wxyz":[0.2543739824268621,-0.004371944686676153,0.9670915111518916,-0.002961793697340557],"object_position_m":[0.35512819569321935,0.0786980165090498,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.7443050559661184e-11,-4.192321936956099e-12,0.08998007419501747],"object_linear_velocity_m_s":[1.5842861279024956e-11,-4.6868115388124135e-11,3.1281220069534244e-15],"object_angular_velocity_rad_s":[-1.535592790052682e-09,-5.190809668844711e-10,-2.3693152529825536e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000406663},{"geom_ids":[1,90],"normal_force_n":0.09810000000546606},{"geom_ids":[1,90],"normal_force_n":0.09809999999593368},{"geom_ids":[1,90],"normal_force_n":0.09809999999453416}],"native_actuator_controls":[0.3053113796600309,1.4911285136174983,-1.257094722393245,-0.18857041454904286,0.9293109535972961,0.38013015162236247,0.035],"actuator_force_native":[0.03878529161913136,-0.025768159858884587,0.09091369151734341,-0.011361106911468966,-0.08820999743292646,0.08828438307173236,2.6532909778165248e-06],"issued_joint_targets_rad":[0.3053145220417806,1.4911288362180295,-1.257091988795237,-0.18857765930016104,0.9293078351437769,0.380138326450923],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.33999999999821,"joint_targets_rad":[0.3053145220417806,1.4911288362180295,-1.257091988795237,-0.18857765930016104,0.9293078351437769,0.380138326450923],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.359999999998234,"qpos":[0.30477707264509607,1.4914850746792487,-1.2582960434137889,-0.18811882399765006,0.9396092057983563,0.36954391269909836,0.0349999270544389,-0.03500003006308419,0.3551281956934156,0.07869801650846914,0.0798922445797837,0.9959435657946987,-1.7631944789116316e-11,-4.237735245897518e-12,0.08998007419501658],"qvel":[0.0011143316403837901,-0.0007677050262555922,0.00148529345175733,-0.0015102755366219937,-0.011105649192012023,0.013174287264983433,6.618802227789859e-08,2.8060403732546502e-08,7.132042299218057e-12,-2.1098803973386822e-11,3.194735388430934e-15,6.649358647762882e-10,9.76187920753642e-11,-2.566958665437555e-14],"joint_position_rad":[0.30477707264509607,1.4914850746792487,-1.2582960434137889,-0.18811882399765006,0.9396092057983563,0.36954391269909836],"joint_velocity_rad_s":[0.0011143316403837901,-0.0007677050262555922,0.00148529345175733,-0.0015102755366219937,-0.011105649192012023,0.013174287264983433],"gripper_joint_position_m":[0.0349999270544389,-0.03500003006308419],"tcp_position_m":[0.3490040036148797,0.07784540577906895,0.20929764360558337],"tcp_quaternion_wxyz":[0.25447317539701164,-0.0042710985288619335,0.9670660498454654,-0.0029010268882491193],"object_position_m":[0.3551281956934156,0.07869801650846914,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.7631944789116316e-11,-4.237735245897518e-12,0.08998007419501658],"object_linear_velocity_m_s":[7.132042299218057e-12,-2.1098803973386822e-11,3.194735388430934e-15],"object_angular_velocity_rad_s":[6.366724420857153e-10,2.152146238540843e-10,-2.5669586654365625e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000137332},{"geom_ids":[1,90],"normal_force_n":0.09810000000184609},{"geom_ids":[1,90],"normal_force_n":0.09809999999862658},{"geom_ids":[1,90],"normal_force_n":0.09809999999815393}],"native_actuator_controls":[0.3053145220417806,1.4911288362180295,-1.257091988795237,-0.18857765930016104,0.9293078351437769,0.380138326450923,0.035],"actuator_force_native":[0.03742429353284393,-0.02466055176626014,0.08889790222536931,-0.010802034417328521,-0.08635523275777501,0.08618270662077165,2.5868823330110757e-06],"issued_joint_targets_rad":[0.3053175542075269,1.4911291300380216,-1.2570893327197667,-0.18858462285391495,0.9293048079849443,0.3801462017094256],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.359999999998234,"joint_targets_rad":[0.3053175542075269,1.4911291300380216,-1.2570893327197667,-0.18858462285391495,0.9293048079849443,0.3801462017094256],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.379999999998258,"qpos":[0.30479896221399017,1.4914700698051626,-1.2582666759001198,-0.18814831489100542,0.939389542972063,0.3698041145130175,0.034999928802543885,-0.0350000283036683,0.3551281956936173,0.07869801650787285,0.0798922445797837,0.9959435657946987,-1.86820591849576e-11,-4.490152485818431e-12,0.08998007419501541],"qvel":[0.0010752713451610684,-0.0007347210831698174,0.0014523875631785674,-0.0014360178649189062,-0.01087205909348152,0.012860426848071357,6.517537765138085e-08,2.5341726846117356e-08,7.775837241975762e-12,-2.3003237191894592e-11,3.1586531401306172e-15,5.280887706353645e-10,7.752821008649619e-11,-4.686622771352609e-14],"joint_position_rad":[0.30479896221399017,1.4914700698051626,-1.2582666759001198,-0.18814831489100542,0.939389542972063,0.3698041145130175],"joint_velocity_rad_s":[0.0010752713451610684,-0.0007347210831698174,0.0014523875631785674,-0.0014360178649189062,-0.01087205909348152,0.012860426848071357],"gripper_joint_position_m":[0.034999928802543885,-0.0350000283036683],"tcp_position_m":[0.3490346167502509,0.07786339419495426,0.20931474420708843],"tcp_quaternion_wxyz":[0.25456999768116734,-0.004172434316038249,0.9670411749545826,-0.0028413051488769296],"object_position_m":[0.3551281956936173,0.07869801650787285,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.86820591849576e-11,-4.490152485818431e-12,0.08998007419501541],"object_linear_velocity_m_s":[7.775837241975762e-12,-2.3003237191894592e-11,3.1586531401306172e-15],"object_angular_velocity_rad_s":[5.056421273960718e-10,1.709222397254413e-10,-4.686622771348254e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000289801},{"geom_ids":[1,90],"normal_force_n":0.09810000000389545},{"geom_ids":[1,90],"normal_force_n":0.09809999999710182},{"geom_ids":[1,90],"normal_force_n":0.09809999999610437}],"native_actuator_controls":[0.3053175542075269,1.4911291300380216,-1.2570893327197667,-0.18858462285391495,0.9293048079849443,0.3801462017094256,0.035],"actuator_force_native":[0.036111002757131416,-0.02360157595541068,0.08692551661233949,-0.010272229191786053,-0.08453926123096345,0.08413023169197364,2.5220213564214333e-06],"issued_joint_targets_rad":[0.30532048030583553,1.4911293968517985,-1.2570867518960014,-0.1885913170833212,0.9293018694082906,0.380153789541941],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.379999999998258,"joint_targets_rad":[0.30532048030583553,1.4911293968517985,-1.2570867518960014,-0.1885913170833212,0.9293018694082906,0.380153789541941],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.399999999998283,"qpos":[0.30482008448730535,1.4914557091928198,-1.2582379592786677,-0.18817635903583005,0.9391745007702005,0.3700581158210083,0.03499993051506265,-0.03500002664427005,0.355128195693814,0.07869801650729126,0.0798922445797837,0.9959435657946987,-1.9336535997377455e-11,-4.6474730071775955e-12,0.08998007419501415],"qvel":[0.0010375794985781831,-0.0007031850980275064,0.001420188779094143,-0.001365645876317412,-0.010643357158609887,0.012553926853747064,6.414281100282011e-08,2.2814783663355017e-08,8.597275861077062e-12,-2.5433202787837085e-11,3.0406919437641935e-15,2.9152260063038276e-10,4.279796015968275e-11,-8.556599284846408e-14],"joint_position_rad":[0.30482008448730535,1.4914557091928198,-1.2582379592786677,-0.18817635903583005,0.9391745007702005,0.3700581158210083],"joint_velocity_rad_s":[0.0010375794985781831,-0.0007031850980275064,0.001420188779094143,-0.001365645876317412,-0.010643357158609887,0.012553926853747064],"gripper_joint_position_m":[0.03499993051506265,-0.03500002664427005],"tcp_position_m":[0.3490645926928498,0.07788104161876269,0.2093313619539357],"tcp_quaternion_wxyz":[0.25466451335068285,-0.004075912049251378,0.9670168714076437,-0.0027826235461133877],"object_position_m":[0.355128195693814,0.07869801650729126,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.9336535997377455e-11,-4.6474730071775955e-12,0.08998007419501415],"object_linear_velocity_m_s":[8.597275861077062e-12,-2.5433202787837085e-11,3.0406919437641935e-15],"object_angular_velocity_rad_s":[2.7913134054483845e-10,9.435458016319503e-11,-8.556599284842009e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000447182},{"geom_ids":[1,90],"normal_force_n":0.09810000000601092},{"geom_ids":[1,90],"normal_force_n":0.09809999999552806},{"geom_ids":[1,90],"normal_force_n":0.09809999999398905}],"native_actuator_controls":[0.30532048030583553,1.4911293968517985,-1.2570867518960014,-0.1885913170833212,0.9293018694082906,0.380153789541941,0.035],"actuator_force_native":[0.03484376798952127,-0.022589061791578047,0.08499564671782878,-0.009770092518058604,-0.0827612778811826,0.08212584692870672,2.4586834390660783e-06],"issued_joint_targets_rad":[0.3053233043221895,1.4911296383282753,-1.2570842441116306,-0.18859775332490936,0.9292990167673469,0.38016110155539934],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.399999999998283,"joint_targets_rad":[0.3053233043221895,1.4911296383282753,-1.2570842441116306,-0.18859775332490936,0.9292990167673469,0.38016110155539934],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.419999999998307,"qpos":[0.3048404663543434,1.4914419645737644,-1.2582098795529129,-0.18820303201264885,0.9389639824888534,0.3703060621069968,0.03499993219219256,-0.03500002507916748,0.35512819569400433,0.07869801650672799,0.0798922445797837,0.9959435657946987,-1.940460872830754e-11,-4.663834455249243e-12,0.08998007419501275],"qvel":[0.001001208745319271,-0.0006730324616286202,0.0013886827118755663,-0.0012989473715400263,-0.010419441898225149,0.012254620316611717,6.309377560223128e-08,2.046713949812888e-08,9.794420989742691e-12,-2.8974720960082218e-11,2.961588553259651e-15,-8.24917866227599e-11,-1.2110404212257613e-11,-1.5622174358083458e-13],"joint_position_rad":[0.3048404663543434,1.4914419645737644,-1.2582098795529129,-0.18820303201264885,0.9389639824888534,0.3703060621069968],"joint_velocity_rad_s":[0.001001208745319271,-0.0006730324616286202,0.0013886827118755663,-0.0012989473715400263,-0.010419441898225149,0.012254620316611717],"gripper_joint_position_m":[0.03499993219219256,-0.03500002507916748],"tcp_position_m":[0.34909394538001387,0.07789835117034577,0.20934751312350358],"tcp_quaternion_wxyz":[0.2547567844112272,-0.003981492059695336,0.9669931245992998,-0.002724976167522469],"object_position_m":[0.35512819569400433,0.07869801650672799,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.940460872830754e-11,-4.663834455249243e-12,0.08998007419501275],"object_linear_velocity_m_s":[9.794420989742691e-12,-2.8974720960082218e-11,2.961588553259651e-15],"object_angular_velocity_rad_s":[-7.898546176506151e-11,-2.6699317971798727e-11,-1.562217435808502e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000570314},{"geom_ids":[1,90],"normal_force_n":0.0981000000076657},{"geom_ids":[1,90],"normal_force_n":0.09809999999429687},{"geom_ids":[1,90],"normal_force_n":0.09809999999233418}],"native_actuator_controls":[0.3053233043221895,1.4911296383282753,-1.2570842441116306,-0.18859775332490936,0.9292990167673469,0.38016110155539934,0.035],"actuator_force_native":[0.03362099370109206,-0.021620937330993684,0.08310742174320751,-0.00929411563271998,-0.08102049436772596,0.08016846400910804,2.3968434199606037e-06],"issued_joint_targets_rad":[0.30532603008540693,1.491129856037514,-1.2570818072124739,-0.18860394240435133,0.9292962474819212,0.3801681488451413],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.419999999998307,"joint_targets_rad":[0.30532603008540693,1.491129856037514,-1.2570818072124739,-0.18860394240435133,0.9292962474819212,0.3801681488451413],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.43999999999833,"qpos":[0.3048601337733789,1.4914288089402072,-1.2581824230113294,-0.18822840527934856,0.9387578934320792,0.37054809555095547,0.03499993383417587,-0.03500002360297082,0.3551281956941865,0.07869801650618893,0.0798922445797837,0.9959435657946987,-1.8602259406568452e-11,-4.470999741228567e-12,0.08998007419501133],"qvel":[0.0009661133290340463,-0.0006442015004661212,0.0013578552472981857,-0.0012357220884666705,-0.01020021391874716,0.011962343773318835,6.203145622971892e-08,1.8287142874444752e-08,1.170500507951505e-11,-3.462667542710837e-11,2.853341808358698e-15,-6.468259695644489e-10,-9.496454869499258e-11,-2.852211840202731e-13],"joint_position_rad":[0.3048601337733789,1.4914288089402072,-1.2581824230113294,-0.18822840527934856,0.9387578934320792,0.37054809555095547],"joint_velocity_rad_s":[0.0009661133290340463,-0.0006442015004661212,0.0013578552472981857,-0.0012357220884666705,-0.01020021391874716,0.011962343773318835],"gripper_joint_position_m":[0.03499993383417587,-0.03500002360297082],"tcp_position_m":[0.3491226883905142,0.07791532621144798,0.20936321335226174],"tcp_quaternion_wxyz":[0.2548468708831589,-0.0038891350334195754,0.9669699203723465,-0.002668356207883459],"object_position_m":[0.3551281956941865,0.07869801650618893,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.8602259406568452e-11,-4.470999741228567e-12,0.08998007419501133],"object_linear_velocity_m_s":[1.170500507951505e-11,-3.462667542710837e-11,2.853341808358698e-15],"object_angular_velocity_rad_s":[-6.193315177273727e-10,-2.0935752090942698e-10,-2.852211840201842e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000585764},{"geom_ids":[1,90],"normal_force_n":0.09810000000787364},{"geom_ids":[1,90],"normal_force_n":0.09809999999414216},{"geom_ids":[1,90],"normal_force_n":0.09809999999212617}],"native_actuator_controls":[0.30532603008540693,1.491129856037514,-1.2570818072124739,-0.18860394240435133,0.9292962474819212,0.3801681488451413,0.035],"actuator_force_native":[0.03244113831707196,-0.020695224713136895,0.08125998767195597,-0.00884287455777688,-0.07931613862345799,0.07825701728188017,2.3364756840393852e-06],"issued_joint_targets_rad":[0.305328661273831,1.4911300514568469,-1.257079439101968,-0.18860989466080721,0.9292935590381072,0.3801749420191807],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.43999999999833,"joint_targets_rad":[0.305328661273831,1.4911300514568469,-1.257079439101968,-0.18860989466080721,0.9292935590381072,0.3801749420191807],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.459999999998356,"qpos":[0.3048791118031184,1.4914162164877929,-1.2581555762219767,-0.18825254640289718,0.9385561408704644,0.3707843550984066,0.034999935441295295,-0.035000022210602874,0.35512819569435694,0.07869801650568466,0.0798922445797837,0.9959435657946987,-1.652655473753612e-11,-3.972116155511864e-12,0.08998007419501002],"qvel":[0.0009322490402605265,-0.0006166333398241087,0.0013276925387556465,-0.0011757810164673068,-0.009985575877507365,0.01167693720455557,6.095878675388147e-08,1.626387710071287e-08,1.4900834880520238e-11,-4.4080921668602244e-11,2.720115045403679e-15,-1.4745605202234214e-09,-2.1648204522566696e-10,-5.207400945221198e-13],"joint_position_rad":[0.3048791118031184,1.4914162164877929,-1.2581555762219767,-0.18825254640289718,0.9385561408704644,0.3707843550984066],"joint_velocity_rad_s":[0.0009322490402605265,-0.0006166333398241087,0.0013276925387556465,-0.0011757810164673068,-0.009985575877507365,0.01167693720455557],"gripper_joint_position_m":[0.034999935441295295,-0.035000022210602874],"tcp_position_m":[0.3491508349572263,0.07793197031988848,0.20937847766385193],"tcp_quaternion_wxyz":[0.25493483087826696,-0.0037988020337030868,0.9669472450004715,-0.0026127560499476154],"object_position_m":[0.35512819569435694,0.07869801650568466,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.652655473753612e-11,-3.972116155511864e-12,0.08998007419501002],"object_linear_velocity_m_s":[1.4900834880520238e-11,-4.4080921668602244e-11,2.720115045403679e-15],"object_angular_velocity_rad_s":[-1.4118831062278867e-09,-4.772622948179995e-10,-5.20740094522205e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000362776},{"geom_ids":[1,90],"normal_force_n":0.09810000000487623},{"geom_ids":[1,90],"normal_force_n":0.09809999999637212},{"geom_ids":[1,90],"normal_force_n":0.09809999999512367}],"native_actuator_controls":[0.305328661273831,1.4911300514568469,-1.257079439101968,-0.18860989466080721,0.9292935590381072,0.3801749420191807,0.035],"actuator_force_native":[0.031302712455708814,-0.019810035776558266,0.07945250690693229,-0.008415025234064899,-0.07764745450730892,0.07639046340090694,2.2775542545261374e-06],"issued_joint_targets_rad":[0.3053312014212869,1.49113022597659,-1.2570771377405334,-0.1886156199700541,0.9292909489880797,0.38018149122124373],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.459999999998356,"joint_targets_rad":[0.3053312014212869,1.49113022597659,-1.2570771377405334,-0.1886156199700541,0.9292909489880797,0.38018149122124373],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.47999999999838,"qpos":[0.30489742463313874,1.4914041625610255,-1.2581293260272104,-0.18827551927776198,0.9383586340005632,0.3710149765287625,0.03499993701386991,-0.035000020897280645,0.3551281956945418,0.07869801650513791,0.0798922445797837,0.9959435657946987,-1.65629180596592e-11,-3.98084790960137e-12,0.08998007419500802],"qvel":[0.0008995731659785767,-0.0005902717735226465,0.0012981810017485636,-0.0011189457507000203,-0.009775432439242396,0.011398243977054244,5.987846693908831e-08,1.4387113745349967e-08,6.711762034896632e-12,-1.9855294475746865e-11,2.532764909998184e-15,6.296361926527346e-10,9.243883148072208e-11,-5.6417914464587707e-14],"joint_position_rad":[0.30489742463313874,1.4914041625610255,-1.2581293260272104,-0.18827551927776198,0.9383586340005632,0.3710149765287625],"joint_velocity_rad_s":[0.0008995731659785767,-0.0005902717735226465,0.0012981810017485636,-0.0011189457507000203,-0.009775432439242396,0.011398243977054244],"gripper_joint_position_m":[0.03499993701386991,-0.035000020897280645],"tcp_position_m":[0.34917839797918243,0.07794828726560989,0.20939332049585718],"tcp_quaternion_wxyz":[0.2550207206730711,-0.003710454521245141,0.9669250851718013,-0.0025581673397676585],"object_position_m":[0.3551281956945418,0.07869801650513791,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946987,-1.65629180596592e-11,-3.98084790960137e-12,0.08998007419500802],"object_linear_velocity_m_s":[6.711762034896632e-12,-1.9855294475746865e-11,2.532764909998184e-15],"object_angular_velocity_rad_s":[6.028727765879731e-10,2.037917758714995e-10,-5.6417914464600183e-14],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000120073},{"geom_ids":[1,90],"normal_force_n":0.0981000000016139},{"geom_ids":[1,90],"normal_force_n":0.0980999999987991},{"geom_ids":[1,90],"normal_force_n":0.09809999999838576}],"native_actuator_controls":[0.3053312014212869,1.49113022597659,-1.2570771377405334,-0.1886156199700541,0.9292909489880797,0.38018149122124373,0.035],"actuator_force_native":[0.03020427722195862,-0.018963567887212207,0.07768415792541816,-0.008009298938184806,-0.0760137014659712,0.07456778095923111,2.2200528690952126e-06],"issued_joint_targets_rad":[0.30533365392282114,1.4911303809053884,-1.2570749011448608,-0.18862112776645695,0.9292884149497166,0.38018780615264763],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.47999999999838,"joint_targets_rad":[0.30533365392282114,1.4911303809053884,-1.2570749011448608,-0.18862112776645695,0.9292884149497166,0.38018780615264763],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.499999999998405,"qpos":[0.304915095613328,1.4913926236012387,-1.2581036595384951,-0.1882973843318004,0.9381652839051922,0.37124009252250345,0.03499993855225144,-0.03500001965849801,0.35512819569474335,0.07869801650454124,0.0798922445797837,0.9959435657946998,-1.8385038467396698e-11,-4.418782619645844e-12,0.08998007419500526],"qvel":[0.0008680444407530196,-0.0005650631399489317,0.0012693073086033307,-0.0010650478840131211,-0.009569690233692396,0.011126110785701821,5.879297791935329e-08,1.2647269919066216e-08,7.55430283092148e-12,-2.2347796165250094e-11,2.8255862327430683e-15,5.400784096774524e-10,7.929027468318944e-11,-1.0300507287218182e-13],"joint_position_rad":[0.304915095613328,1.4913926236012387,-1.2581036595384951,-0.1882973843318004,0.9381652839051922,0.37124009252250345],"joint_velocity_rad_s":[0.0008680444407530196,-0.0005650631399489317,0.0012693073086033307,-0.0010650478840131211,-0.009569690233692396,0.011126110785701821],"gripper_joint_position_m":[0.03499993855225144,-0.03500001965849801],"tcp_position_m":[0.3492053900330433,0.07796428098847433,0.20940775572531595],"tcp_quaternion_wxyz":[0.2551045947788384,-0.0036240543723175746,0.9669034279732183,-0.0025045810569402716],"object_position_m":[0.35512819569474335,0.07869801650454124,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946998,-1.8385038467396698e-11,-4.418782619645844e-12,0.08998007419500526],"object_linear_velocity_m_s":[7.55430283092148e-12,-2.2347796165250094e-11,2.8255862327430683e-15],"object_angular_velocity_rad_s":[5.171218051760142e-10,1.7480467634065822e-10,-1.0300507287218937e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000287758},{"geom_ids":[1,90],"normal_force_n":0.09810000000386764},{"geom_ids":[1,90],"normal_force_n":0.09809999999712331},{"geom_ids":[1,90],"normal_force_n":0.09809999999613331}],"native_actuator_controls":[0.30533365392282114,1.4911303809053884,-1.2570749011448608,-0.18862112776645695,0.9292884149497166,0.38018780615264763,0.035],"actuator_force_native":[0.02914444255568327,-0.01815409996828521,0.07595413494772174,-0.007624497966195243,-0.07441415420421826,0.07278797012288907,2.1639450529242765e-06],"issued_joint_targets_rad":[0.3053360220402223,1.4911305174752012,-1.2570727273870972,-0.18862642706384883,0.9292859546060521,0.38019389609308685],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.499999999998405,"joint_targets_rad":[0.3053360220402223,1.4911305174752012,-1.2570727273870972,-0.18862642706384883,0.9292859546060521,0.38019389609308685],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.51999999999843,"qpos":[0.30493214728236734,1.4913815770969758,-1.2580785641313235,-0.1883181987203532,0.9379760035145612,0.3714598327271956,0.0349999400568207,-0.03500001849000948,0.3551281956949437,0.07869801650394836,0.0798922445797837,0.9959435657946998,-1.956291511522771e-11,-4.701892612035707e-12,0.08998007419500205],"qvel":[0.0008376229994074317,-0.0005409562040797908,0.0012410583834271804,-0.001013928434253844,-0.009368257814276415,0.010860387595824477,5.7704596174182575e-08,1.103536861631051e-08,8.500480676735228e-12,-2.514681262867743e-11,3.0393041649834106e-15,3.473578300852036e-10,5.099600535813694e-11,-1.8806097614291278e-13],"joint_position_rad":[0.30493214728236734,1.4913815770969758,-1.2580785641313235,-0.1883181987203532,0.9379760035145612,0.3714598327271956],"joint_velocity_rad_s":[0.0008376229994074317,-0.0005409562040797908,0.0012410583834271804,-0.001013928434253844,-0.009368257814276415,0.010860387595824477],"gripper_joint_position_m":[0.0349999400568207,-0.03500001849000948],"tcp_position_m":[0.34923182338402126,0.07797995557769218,0.20942179669304847],"tcp_quaternion_wxyz":[0.25518650600849097,-0.0035395638950104173,0.9668822608753967,-0.0024519875800744387],"object_position_m":[0.3551281956949437,0.07869801650394836,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946998,-1.956291511522771e-11,-4.701892612035707e-12,0.08998007419500205],"object_linear_velocity_m_s":[8.500480676735228e-12,-2.514681262867743e-11,3.0393041649834106e-15],"object_angular_velocity_rad_s":[3.325931028743317e-10,1.1242723248578354e-10,-1.8806097614289127e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000444503},{"geom_ids":[1,90],"normal_force_n":0.09810000000597482},{"geom_ids":[1,90],"normal_force_n":0.0980999999955549},{"geom_ids":[1,90],"normal_force_n":0.09809999999402509}],"native_actuator_controls":[0.3053360220402223,1.4911305174752012,-1.2570727273870972,-0.18862642706384883,0.9292859546060521,0.38019389609308685,0.035],"actuator_force_native":[0.0281218656313591,-0.017379988721572204,0.07426164762095766,-0.007259491568555099,-0.07284810236367534,0.07105005226517536,2.1092041913028936e-06],"issued_joint_targets_rad":[0.30533830890733493,1.4911306368459665,-1.2570706145939725,-0.1886315264753745,0.929283565704602,0.38019976992037574],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.51999999999843,"joint_targets_rad":[0.30533830890733493,1.4911306368459665,-1.2570706145939725,-0.1886315264753745,0.929283565704602,0.38019976992037574],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.539999999998454,"qpos":[0.30494860139527863,1.491371001536668,-1.2580540274402312,-0.18833801650922757,0.9377907075682215,0.3716743238223542,0.034999941527984434,-0.035000017387814844,0.3551281956951406,0.07869801650336626,0.0798922445797837,0.9959435657946998,-2.0009665150405686e-11,-4.809273767961897e-12,0.0899800741949986],"qvel":[0.0008082703311851334,-0.000517902045171873,0.001213421397255363,-0.0009654373048950922,-0.009171045617780867,0.010600927585697162,5.6615407322566645e-08,9.543000044733001e-09,9.711142295645975e-12,-2.8728276632646503e-11,2.8769340476319824e-15,1.3044166428843254e-11,1.9146344251027328e-12,-3.4335300865408404e-13],"joint_position_rad":[0.30494860139527863,1.491371001536668,-1.2580540274402312,-0.18833801650922757,0.9377907075682215,0.3716743238223542],"joint_velocity_rad_s":[0.0008082703311851334,-0.000517902045171873,0.001213421397255363,-0.0009654373048950922,-0.009171045617780867,0.010600927585697162],"gripper_joint_position_m":[0.034999941527984434,-0.035000017387814844],"tcp_position_m":[0.3492577099962844,0.07799531525277445,0.209435456226851],"tcp_quaternion_wxyz":[0.25526650554054614,-0.0034569458436993807,0.966861571718527,-0.002400376747791505],"object_position_m":[0.3551281956951406,0.07869801650336626,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946998,-2.0009665150405686e-11,-4.809273767961897e-12,0.0899800741949986],"object_linear_velocity_m_s":[9.711142295645975e-12,-2.8728276632646503e-11,2.8769340476319824e-15],"object_angular_velocity_rad_s":[1.2489784273106384e-11,4.221539010410058e-12,-3.433530086540666e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000578317},{"geom_ids":[1,90],"normal_force_n":0.09810000000777341},{"geom_ids":[1,90],"normal_force_n":0.09809999999421665},{"geom_ids":[1,90],"normal_force_n":0.09809999999222625}],"native_actuator_controls":[0.30533830890733493,1.4911306368459665,-1.2570706145939725,-0.1886315264753745,0.929283565704602,0.38019976992037574,0.035],"actuator_force_native":[0.02713524930857858,-0.01663966503025449,0.07260592071440897,-0.006913212121402168,-0.07131485020952333,0.06935306960166887,2.055803586031857e-06],"issued_joint_targets_rad":[0.30534051753516733,1.4911307401099636,-1.2570685609458583,-0.188636434232346,0.9292812460565526,0.380205436129208],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.539999999998454,"joint_targets_rad":[0.30534051753516733,1.4911307401099636,-1.2570685609458583,-0.188636434232346,0.9292812460565526,0.380205436129208],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.559999999998478,"qpos":[0.3049644789500711,1.4913608763635016,-1.258030037353907,-0.18835688884721394,0.9376093125778074,0.3718836895831571,0.03499994296617224,-0.03500001634814487,0.35512819569533094,0.07869801650280346,0.0798922445797837,0.9959435657946998,-1.953660589675727e-11,-4.695577624198759e-12,0.08998007419499493],"qvel":[0.0007799492353447833,-0.0004958539498319278,0.0011863837633872556,-0.0009194327770070813,-0.008977965925045605,0.010347587089341225,5.552731869605178e-08,8.162287383100796e-09,1.1514097344555576e-11,-3.40619066440388e-11,2.6326849822144492e-15,-5.100319340734714e-10,-7.487956866683597e-11,-6.268743619742444e-13],"joint_position_rad":[0.3049644789500711,1.4913608763635016,-1.258030037353907,-0.18835688884721394,0.9376093125778074,0.3718836895831571],"joint_velocity_rad_s":[0.0007799492353447833,-0.0004958539498319278,0.0011863837633872556,-0.0009194327770070813,-0.008977965925045605,0.010347587089341225],"gripper_joint_position_m":[0.03499994296617224,-0.03500001634814487],"tcp_position_m":[0.34928306154287614,0.07801036434591169,0.20944874666361094],"tcp_quaternion_wxyz":[0.25534464298024256,-0.0033761634318517655,0.96684134869869,-0.002349737915528009],"object_position_m":[0.35512819569533094,0.07869801650280346,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657946998,-1.953660589675727e-11,-4.695577624198759e-12,0.08998007419499493],"object_linear_velocity_m_s":[1.1514097344555576e-11,-3.40619066440388e-11,2.6326849822144492e-15],"object_angular_velocity_rad_s":[-4.883523984778395e-10,-1.650801577398015e-10,-6.268743619742358e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000626869},{"geom_ids":[1,90],"normal_force_n":0.09810000000842617},{"geom_ids":[1,90],"normal_force_n":0.09809999999373085},{"geom_ids":[1,90],"normal_force_n":0.09809999999157337}],"native_actuator_controls":[0.30534051753516733,1.4911307401099636,-1.2570685609458583,-0.188636434232346,0.9292812460565526,0.380205436129208,0.035],"actuator_force_native":[0.02618334063097194,-0.01593163053387059,0.07098619382696825,-0.006584651520246787,-0.06981371632497968,0.0676960848264967,2.003716517151588e-06],"issued_joint_targets_rad":[0.30534265081680684,1.4911308282958855,-1.2570665646757742,-0.18864115820217026,0.9292789935358602,0.3802109028489843],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.559999999998478,"joint_targets_rad":[0.30534265081680684,1.4911308282958855,-1.2570665646757742,-0.18864115820217026,0.9292789935358602,0.3802109028489843],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.579999999998503,"qpos":[0.3049798002135124,1.4913511819323673,-1.2580065820103976,-0.18837486412874682,0.9374317367905558,0.372088050943015,0.03499994437183379,-0.03500001536744761,0.35512819569551074,0.07869801650227132,0.0798922445797837,0.995943565794701,-1.7808021987785085e-11,-4.280110934228154e-12,0.08998007419499154],"qvel":[0.0007526237781535482,-0.00047476731021566356,0.0011599331328964722,-0.0008757810307554096,-0.008788932822583582,0.010100225539660666,5.4442071185544246e-08,6.8858521043378696e-09,1.4449283674023019e-11,-4.274524030480932e-11,2.8588929234818254e-15,-1.288970515067158e-09,-1.8923156402330468e-10,-1.144509951703427e-12],"joint_position_rad":[0.3049798002135124,1.4913511819323673,-1.2580065820103976,-0.18837486412874682,0.9374317367905558,0.372088050943015],"joint_velocity_rad_s":[0.0007526237781535482,-0.00047476731021566356,0.0011599331328964722,-0.0008757810307554096,-0.008788932822583582,0.010100225539660666],"gripper_joint_position_m":[0.03499994437183379,-0.03500001536744761],"tcp_position_m":[0.349307889415171,0.07802510728568263,0.20946167987040254],"tcp_quaternion_wxyz":[0.2554209664179877,-0.0032971803432825103,0.9668215803548466,-0.002300060008408164],"object_position_m":[0.35512819569551074,0.07869801650227132,0.0798922445797837],"object_quaternion_wxyz":[0.995943565794701,-1.7808021987785085e-11,-4.280110934228154e-12,0.08998007419499154],"object_linear_velocity_m_s":[1.4449283674023019e-11,-4.274524030480932e-11,2.8588929234818254e-15],"object_angular_velocity_rad_s":[-1.2341824358965806e-09,-4.1718975114398883e-10,-1.1445099517036382e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000471603},{"geom_ids":[1,90],"normal_force_n":0.0981000000063388},{"geom_ids":[1,90],"normal_force_n":0.09809999999528483},{"geom_ids":[1,90],"normal_force_n":0.09809999999366197}],"native_actuator_controls":[0.30534265081680684,1.4911308282958855,-1.2570665646757742,-0.18864115820217026,0.9292789935358602,0.3802109028489843,0.035],"actuator_force_native":[0.02526492937278846,-0.015254454367479298,0.06940172110537901,-0.006272857783161001,-0.06834403331308003,0.06607818075020244,1.9529162924580845e-06],"issued_joint_targets_rad":[0.30534471153214315,1.4911309023726624,-1.2570646240683565,-0.18864570590539428,0.9292768060782468,0.38021617786075607],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.579999999998503,"joint_targets_rad":[0.30534471153214315,1.4911309023726624,-1.2570646240683565,-0.18864570590539428,0.9292768060782468,0.38021617786075607],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.599999999998527,"qpos":[0.30499458474605406,1.4913418994687933,-1.2579836497923929,-0.18839198814728114,0.9372579001535816,0.37228752605500487,0.03499994574543632,-0.03500001444237585,0.3551281956956954,0.0786980165017251,0.0798922445797837,0.995943565794701,-1.6905534182722472e-11,-4.063180886204732e-12,0.0899800741949872],"qvel":[0.0007262592512293143,-0.0004545995270589089,0.0011340573902874612,-0.0008343556946839607,-0.008603862165119106,0.009858705411964094,5.336125073868398e-08,5.706783564093498e-09,6.828381840772062e-12,-2.020033520120566e-11,2.964364110821216e-15,6.753835788711342e-10,9.915501005923209e-11,-1.2399827725089856e-13],"joint_position_rad":[0.30499458474605406,1.4913418994687933,-1.2579836497923929,-0.18839198814728114,0.9372579001535816,0.37228752605500487],"joint_velocity_rad_s":[0.0007262592512293143,-0.0004545995270589089,0.0011340573902874612,-0.0008343556946839607,-0.008603862165119106,0.009858705411964094],"gripper_joint_position_m":[0.03499994574543632,-0.03500001444237585],"tcp_position_m":[0.3493322047318985,0.07803954858200661,0.20947426726460072],"tcp_quaternion_wxyz":[0.2554955224852511,-0.0032199607419694035,0.9668022555564134,-0.0022513315704371225],"object_position_m":[0.3551281956956954,0.0786980165017251,0.0798922445797837],"object_quaternion_wxyz":[0.995943565794701,-1.6905534182722472e-11,-4.063180886204732e-12,0.0899800741949872],"object_linear_velocity_m_s":[6.828381840772062e-12,-2.020033520120566e-11,2.964364110821216e-15],"object_angular_velocity_rad_s":[6.466756415658403e-10,2.18598511509196e-10,-1.2399827725092585e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000090946},{"geom_ids":[1,90],"normal_force_n":0.09810000000122236},{"geom_ids":[1,90],"normal_force_n":0.09809999999909047},{"geom_ids":[1,90],"normal_force_n":0.09809999999877753}],"native_actuator_controls":[0.30534471153214315,1.4911309023726624,-1.2570646240683565,-0.18864570590539428,0.9292768060782468,0.38021617786075607,0.035],"actuator_force_native":[0.02437884663098444,-0.014606770055181073,0.06785177097145834,-0.005976931851106926,-0.06690514750566834,0.06449845993956549,1.9033762934661524e-06],"issued_joint_targets_rad":[0.30534670235240496,1.491130963253026,-1.2570627374587875,-0.18865008453190263,0.9292746816801272,0.38022126861332795],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.599999999998527,"joint_targets_rad":[0.30534670235240496,1.491130963253026,-1.2570627374587875,-0.18865008453190263,0.9292746816801272,0.38022126861332795],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.61999999999855,"qpos":[0.30500885142593487,1.4913330110297678,-1.257961229322603,-0.18840830423992264,0.937087724278894,0.3724822303521765,0.034999947087462124,-0.03500001356977495,0.3551281956958926,0.07869801650114194,0.0798922445797837,0.9959435657947012,-1.7923665288281194e-11,-4.307869259731678e-12,0.08998007419498096],"qvel":[0.000700822131185693,-0.0004353099173434298,0.0011087446492970548,-0.0007950374211230148,-0.008422671538999347,0.009622892167912523,5.2286299232398784e-08,4.618609605643978e-09,7.39275782045003e-12,-2.186998657119757e-11,2.7256661605268067e-15,5.57279203863853e-10,8.181510265582792e-11,-2.2638952683382618e-13],"joint_position_rad":[0.30500885142593487,1.4913330110297678,-1.257961229322603,-0.18840830423992264,0.937087724278894,0.3724822303521765],"joint_velocity_rad_s":[0.000700822131185693,-0.0004353099173434298,0.0011087446492970548,-0.0007950374211230148,-0.008422671538999347,0.009622892167912523],"gripper_joint_position_m":[0.034999947087462124,-0.03500001356977495],"tcp_position_m":[0.349356018347759,0.07805369281225566,0.20948651983307418],"tcp_quaternion_wxyz":[0.2555683564080405,-0.003144469280518044,0.9667833634913947,-0.0022035408102365497],"object_position_m":[0.3551281956958926,0.07869801650114194,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947012,-1.7923665288281194e-11,-4.307869259731678e-12,0.08998007419498096],"object_linear_velocity_m_s":[7.39275782045003e-12,-2.186998657119757e-11,2.7256661605268067e-15],"object_angular_velocity_rad_s":[5.335915445681989e-10,1.8037152116405857e-10,-2.2638952683384267e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000237842},{"geom_ids":[1,90],"normal_force_n":0.09810000000319702},{"geom_ids":[1,90],"normal_force_n":0.09809999999762124},{"geom_ids":[1,90],"normal_force_n":0.09809999999680265}],"native_actuator_controls":[0.30534670235240496,1.491130963253026,-1.2570627374587875,-0.18865008453190263,0.9292746816801272,0.38022126861332795,0.035],"actuator_force_native":[0.023523963461681063,-0.013987272552625996,0.06633562585875552,-0.005696024573584424,-0.06549641867916911,0.06295604435964597,1.8550700189301494e-06],"issued_joint_targets_rad":[0.3053486258445249,1.4911310117968528,-1.2570609032316917,-0.18865430095632998,0.929272618397471,0.3802261822385715],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.61999999999855,"joint_targets_rad":[0.3053486258445249,1.4911310117968528,-1.2570609032316917,-0.18865430095632998,0.929272618397471,0.3802261822385715],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.639999999998576,"qpos":[0.3050226184724916,1.4913244994663615,-1.2579393094592155,-0.18842385342381965,0.9369211324091361,0.3726722766067413,0.03499994839840646,-0.0350000127466718,0.3551281956960846,0.07869801650057388,0.0798922445797837,0.9959435657947017,-1.8630846910911775e-11,-4.477849622271035e-12,0.08998007419497393],"qvel":[0.0006762800405554219,-0.0004168596263402236,0.001083983248832475,-0.0007577134862396291,-0.008245280226452087,0.009392654199936757,5.121852415513127e-08,3.6152698595189108e-09,8.112676584952563e-12,-2.3999668546736258e-11,2.5549693704906895e-15,3.526889388871902e-10,5.177807821106823e-11,-4.133317381619468e-13],"joint_position_rad":[0.3050226184724916,1.4913244994663615,-1.2579393094592155,-0.18842385342381965,0.9369211324091361,0.3726722766067413],"joint_velocity_rad_s":[0.0006762800405554219,-0.0004168596263402236,0.001083983248832475,-0.0007577134862396291,-0.008245280226452087,0.009392654199936757],"gripper_joint_position_m":[0.03499994839840646,-0.0350000127466718],"tcp_position_m":[0.34937934086164857,0.07806754460845028,0.2094984481504903],"tcp_quaternion_wxyz":[0.2556395120580612,-0.003070671107376244,0.9667648936550371,-0.0021566756435497225],"object_position_m":[0.3551281956960846,0.07869801650057388,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947017,-1.8630846910911775e-11,-4.477849622271035e-12,0.08998007419497393],"object_linear_velocity_m_s":[8.112676584952563e-12,-2.3999668546736258e-11,2.5549693704906895e-15],"object_angular_velocity_rad_s":[3.3769771491487106e-10,1.1415213680819862e-10,-4.133317381619188e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000039371},{"geom_ids":[1,90],"normal_force_n":0.09810000000529209},{"geom_ids":[1,90],"normal_force_n":0.09809999999606263},{"geom_ids":[1,90],"normal_force_n":0.09809999999470763}],"native_actuator_controls":[0.3053486258445249,1.4911310117968528,-1.2570609032316917,-0.18865430095632998,0.929272618397471,0.3802261822385715,0.035],"actuator_force_native":[0.022699189559883592,-0.01339471542898707,0.06485258195775145,-0.0054293338692152915,-0.06411721977697482,0.0614500750183975,1.8079711212592997e-06],"issued_joint_targets_rad":[0.30535048447532687,1.4911310488142973,-1.2570591198200252,-0.18865836175271272,0.9292706143446097,0.38023092556598104],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.639999999998576,"joint_targets_rad":[0.30535048447532687,1.4911310488142973,-1.2570591198200252,-0.18865836175271272,0.9292706143446097,0.38023092556598104],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.6599999999986,"qpos":[0.30503590346869885,1.4913163483880607,-1.2579178792914307,-0.18843867452479396,0.936758049384029,0.37285777498815026,0.034999949678775504,-0.035000011970264006,0.3551281956962707,0.07869801650002324,0.0798922445797837,0.9959435657947022,-1.884315948912366e-11,-4.528892250086093e-12,0.08998007419496622],"qvel":[0.0006526017099341494,-0.00039921154380391093,0.0010597617490136224,-0.0007222774132426,-0.008071609170658545,0.009167862776155073,5.015910724515253e-08,2.691089280459697e-09,9.14743256146861e-12,-2.7060715149062965e-11,2.3912114743584784e-15,2.684831578260062e-11,3.9405280530281265e-12,-7.546330058355753e-13],"joint_position_rad":[0.30503590346869885,1.4913163483880607,-1.2579178792914307,-0.18843867452479396,0.936758049384029,0.37285777498815026],"joint_velocity_rad_s":[0.0006526017099341494,-0.00039921154380391093,0.0010597617490136224,-0.0007222774132426,-0.008071609170658545,0.009167862776155073],"gripper_joint_position_m":[0.034999949678775504,-0.035000011970264006],"tcp_position_m":[0.34940218262452344,0.07808110864546512,0.20951006239678455],"tcp_quaternion_wxyz":[0.2557090320016863,-0.002998531872882306,0.9667468358389866,-0.002110723732714991],"object_position_m":[0.3551281956962707,0.07869801650002324,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947022,-1.884315948912366e-11,-4.528892250086093e-12,0.08998007419496622],"object_linear_velocity_m_s":[9.14743256146861e-12,-2.7060715149062965e-11,2.3912114743584784e-15],"object_angular_velocity_rad_s":[2.570730419489751e-11,8.688747477625602e-12,-7.546330058355304e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000052727},{"geom_ids":[1,90],"normal_force_n":0.09810000000708738},{"geom_ids":[1,90],"normal_force_n":0.09809999999472699},{"geom_ids":[1,90],"normal_force_n":0.09809999999291229}],"native_actuator_controls":[0.30535048447532687,1.4911310488142973,-1.2570591198200252,-0.18865836175271272,0.9292706143446097,0.38023092556598104,0.035],"actuator_force_native":[0.021903471980568412,-0.012827908182046599,0.06340194896738183,-0.005176102050537423,-0.0627669366382051,0.059979711614075004,1.7620534438211877e-06],"issued_joint_targets_rad":[0.3053522806155525,1.4911310750687212,-1.2570573857039324,-0.1886622732084271,0.9292686676930008,0.38023550513652105],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.6599999999986,"joint_targets_rad":[0.3053522806155525,1.4911310750687212,-1.2570573857039324,-0.1886622732084271,0.9292686676930008,0.38023550513652105],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.679999999998625,"qpos":[0.3050487233829639,1.4913085421287389,-1.257896928135078,-0.18845280429866,0.9365984016075076,0.37303883312007574,0.034999950929084464,-0.035000011237910064,0.35512819569645965,0.07869801649946451,0.0798922445797837,0.9959435657947041,-1.9420122977119298e-11,-4.667580173817423e-12,0.08998007419495703],"qvel":[0.000629756941323476,-0.0003823302241425553,0.0010360689273399607,-0.0006886286174049711,-0.007901580941618018,0.00894839198582964,4.910911398876281e-08,1.840754283091166e-09,1.0951378353549536e-11,-3.239721994368051e-11,3.0337530498602875e-15,-4.401885636339392e-10,-6.462743902290827e-11,-1.3777698375470956e-12],"joint_position_rad":[0.3050487233829639,1.4913085421287389,-1.257896928135078,-0.18845280429866,0.9365984016075076,0.37303883312007574],"joint_velocity_rad_s":[0.000629756941323476,-0.0003823302241425553,0.0010360689273399607,-0.0006886286174049711,-0.007901580941618018,0.00894839198582964],"gripper_joint_position_m":[0.034999950929084464,-0.035000011237910064],"tcp_position_m":[0.3494245537469165,0.07809438963017828,0.20952137237382745],"tcp_quaternion_wxyz":[0.25577695754683105,-0.0029280177342278745,0.9667291801209177,-0.0020656725233022615],"object_position_m":[0.35512819569645965,0.07869801649946451,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947041,-1.9420122977119298e-11,-4.667580173817423e-12,0.08998007419495703],"object_linear_velocity_m_s":[1.0951378353549536e-11,-3.239721994368051e-11,3.0337530498602875e-15],"object_angular_velocity_rad_s":[-4.2147748044141544e-10,-1.4247600117046576e-10,-1.3777698375470164e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000677084},{"geom_ids":[1,90],"normal_force_n":0.09810000000910091},{"geom_ids":[1,90],"normal_force_n":0.0980999999932297},{"geom_ids":[1,90],"normal_force_n":0.09809999999089952}],"native_actuator_controls":[0.3053522806155525,1.4911310750687212,-1.2570573857039324,-0.1886622732084271,0.9292686676930008,0.38023550513652105,0.035],"actuator_force_native":[0.021135793900466382,-0.012285713680697086,0.06198304985494474,-0.004935613303659991,-0.0614449677326423,0.058544132185708087,1.7172910515839135e-06],"issued_joint_targets_rad":[0.3053540165437229,1.491131091279446,-1.2570556994096052,-0.1886660413374451,0.9292667766699587,0.3802399272157906],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.679999999998625,"joint_targets_rad":[0.3053540165437229,1.491131091279446,-1.2570556994096052,-0.1886660413374451,0.9292667766699587,0.3802399272157906],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.69999999999865,"qpos":[0.3050610945902001,1.4913010657141808,-1.257876445528304,-0.1884662775456548,0.9364421170155312,0.37321555613630486,0.03499995214985584,-0.03500001054711993,0.3551281956966426,0.07869801649892327,0.0798922445797837,0.9959435657947044,-1.8514515842508988e-11,-4.449929295907056e-12,0.08998007419494788],"qvel":[0.000607716572623919,-0.0003661818103342302,0.0010128937749456443,-0.00065667207161324,-0.007735119702771758,0.008734118685381072,4.806950146673385e-08,1.0592903663609014e-09,1.3820644487737189e-11,-4.0885233644952577e-11,2.9588129956980897e-15,-1.1462292150336574e-09,-1.6828311888837131e-10,-2.5154497783177043e-12],"joint_position_rad":[0.3050610945902001,1.4913010657141808,-1.257876445528304,-0.1884662775456548,0.9364421170155312,0.37321555613630486],"joint_velocity_rad_s":[0.000607716572623919,-0.0003661818103342302,0.0010128937749456443,-0.00065667207161324,-0.007735119702771758,0.008734118685381072],"gripper_joint_position_m":[0.03499995214985584,-0.03500001054711993],"tcp_position_m":[0.3494464641061302,0.0781073922914994,0.2095323875213307],"tcp_quaternion_wxyz":[0.25584332878783633,-0.0028590953594138414,0.9667119168546149,-0.0020215092780901016],"object_position_m":[0.3551281956966426,0.07869801649892327,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947044,-1.8514515842508988e-11,-4.449929295907056e-12,0.08998007419494788],"object_linear_velocity_m_s":[1.3820644487737189e-11,-4.0885233644952577e-11,2.9588129956980897e-15],"object_angular_velocity_rad_s":[-1.0975071141156336e-09,-3.709969756818017e-10,-2.51544977831766e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000585473},{"geom_ids":[1,90],"normal_force_n":0.0981000000078697},{"geom_ids":[1,90],"normal_force_n":0.09809999999414508},{"geom_ids":[1,90],"normal_force_n":0.09809999999212998}],"native_actuator_controls":[0.3053540165437229,1.491131091279446,-1.2570556994096052,-0.1886660413374451,0.9292667766699587,0.3802399272157906,0.035],"actuator_force_native":[0.02039517341870578,-0.011767045727111736,0.060595220621181056,-0.004707191313547021,-0.06015072390156817,0.0571425327667856,1.6736582593157578e-06],"issued_joint_targets_rad":[0.3053556944498517,1.4911310981243244,-1.2570540595081277,-0.18866967189295095,0.9292649395573596,0.38024419780655283],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.69999999999865,"joint_targets_rad":[0.3053556944498517,1.4911310981243244,-1.2570540595081277,-0.18866967189295095,0.9292649395573596,0.38024419780655283],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.719999999998674,"qpos":[0.3050730328922011,1.491293904831088,-1.2578564212273384,-0.18847912721837803,0.9362891250445509,0.3733880467355591,0.03499995334161785,-0.03500000989554616,0.355128195696824,0.07869801649838692,0.0798922445797837,0.9959435657947051,-1.696940013373898e-11,-4.078567267947135e-12,0.08998007419493838],"qvel":[0.0005864524432547845,-0.0003507339614297707,0.0009902254929537785,-0.0006263179912615602,-0.007572151178365802,0.00852492244499701,4.7041126574517756e-08,3.4203997748745347e-10,6.8197511764740994e-12,-2.0174680289173127e-11,2.789503984442753e-15,7.000691683403677e-10,1.027797009994524e-10,-2.7252819293400785e-13],"joint_position_rad":[0.3050730328922011,1.491293904831088,-1.2578564212273384,-0.18847912721837803,0.9362891250445509,0.3733880467355591],"joint_velocity_rad_s":[0.0005864524432547845,-0.0003507339614297707,0.0009902254929537785,-0.0006263179912615602,-0.007572151178365802,0.00852492244499701],"gripper_joint_position_m":[0.03499995334161785,-0.03500000989554616],"tcp_position_m":[0.3494679233531216,0.07812012137121804,0.20954311693203137],"tcp_quaternion_wxyz":[0.25590818464846155,-0.002791731930269988,0.9666950366604788,-0.0019782211085541605],"object_position_m":[0.355128195696824,0.07869801649838692,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947051,-1.696940013373898e-11,-4.078567267947135e-12,0.08998007419493838],"object_linear_velocity_m_s":[6.8197511764740994e-12,-2.0174680289173127e-11,2.789503984442753e-15],"object_angular_velocity_rad_s":[6.703118476352164e-10,2.2658891040422106e-10,-2.725281929340041e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000075032},{"geom_ids":[1,90],"normal_force_n":0.09810000000100849},{"geom_ids":[1,90],"normal_force_n":0.0980999999992495},{"geom_ids":[1,90],"normal_force_n":0.09809999999899119}],"native_actuator_controls":[0.3053556944498517,1.4911310981243244,-1.2570540595081277,-0.18866967189295095,0.9292649395573596,0.38024419780655283,0.035],"actuator_force_native":[0.019680662395774817,-0.011270866733951834,0.059237810072104935,-0.004490197026608911,-0.05888362810436476,0.05577412704244189,1.6311296531235087e-06],"issued_joint_targets_rad":[0.3053573164390059,1.491131096242158,-1.257052464614324,-0.18867317037933937,0.9292631546903283,0.38024832266065],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.719999999998674,"joint_targets_rad":[0.3053573164390059,1.491131096242158,-1.257052464614324,-0.18867317037933937,0.9292631546903283,0.38024832266065],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.739999999998698,"qpos":[0.3050845535373377,1.4912870457975034,-1.2578368452023272,-0.18849138452361636,0.936139356600627,0.3735564052352483,0.03499995450490302,-0.035000009280975665,0.35512819569702797,0.0786980164977836,0.0798922445797837,0.9959435657947062,-1.8231949473620282e-11,-4.382006513844311e-12,0.08998007419492292],"qvel":[0.0005659373608590047,-0.0003359557834560286,0.000968053488913979,-0.0005974815373293522,-0.007412602621526732,0.008320685495850688,4.6024751987386214e-08,-3.153561220607147e-10,7.450313440116028e-12,-2.204009468974194e-11,2.495294882917087e-15,6.06036845025123e-10,8.897464974914669e-11,-4.975670913291367e-13],"joint_position_rad":[0.3050845535373377,1.4912870457975034,-1.2578368452023272,-0.18849138452361636,0.936139356600627,0.3735564052352483],"joint_velocity_rad_s":[0.0005659373608590047,-0.0003359557834560286,0.000968053488913979,-0.0005974815373293522,-0.007412602621526732,0.008320685495850688],"gripper_joint_position_m":[0.03499995450490302,-0.035000009280975665],"tcp_position_m":[0.34948894091909477,0.0781325816156151,0.20955356936618136],"tcp_quaternion_wxyz":[0.2559715629230612,-0.002725895144608286,0.96667853041644,-0.0019357950040277037],"object_position_m":[0.35512819569702797,0.0786980164977836,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947062,-1.8231949473620282e-11,-4.382006513844311e-12,0.08998007419492292],"object_linear_velocity_m_s":[7.450313440116028e-12,-2.204009468974194e-11,2.495294882917087e-15],"object_angular_velocity_rad_s":[5.802764549436674e-10,1.9615397437726567e-10,-4.97567091329154e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000215453},{"geom_ids":[1,90],"normal_force_n":0.0981000000028961},{"geom_ids":[1,90],"normal_force_n":0.09809999999784529},{"geom_ids":[1,90],"normal_force_n":0.0980999999971037}],"native_actuator_controls":[0.3053573164390059,1.491131096242158,-1.257052464614324,-0.18867317037933937,0.9292631546903283,0.38024832266065,0.035],"actuator_force_native":[0.018991345329162357,-0.010796185510344003,0.057910179595694444,-0.004284026542273445,-0.05764311517069487,0.05443814601024144,1.5896801193182597e-06],"issued_joint_targets_rad":[0.30535888453472443,1.4911310862349634,-1.2570509133856098,-0.1886765420636368,0.92926142045591,0.380252307290345],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.739999999998698,"joint_targets_rad":[0.30535888453472443,1.4911310862349634,-1.2570509133856098,-0.1886765420636368,0.92926142045591,0.380252307290345],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.759999999998723,"qpos":[0.30509567123959935,1.4912804755345752,-1.257817707633242,-0.18850307901840507,0.9359927440291731,0.37372072962417613,0.03499995564024678,-0.035000008701321916,0.35512819569722764,0.07869801649719255,0.0798922445797837,0.9959435657947078,-1.9135007118797396e-11,-4.599038050384521e-12,0.0899800741949055],"qvel":[0.0005461450690625501,-0.0003218177635489425,0.000946367373314484,-0.0005700825366019326,-0.007256402783033825,0.008121292677953732,4.50210543268729e-08,-9.169780154068651e-10,8.180850072836475e-12,-2.42012896208848e-11,2.381497022893008e-15,4.243931445900912e-10,6.23070771552224e-11,-9.084334603241058e-13],"joint_position_rad":[0.30509567123959935,1.4912804755345752,-1.257817707633242,-0.18850307901840507,0.9359927440291731,0.37372072962417613],"joint_velocity_rad_s":[0.0005461450690625501,-0.0003218177635489425,0.000946367373314484,-0.0005700825366019326,-0.007256402783033825,0.008121292677953732],"gripper_joint_position_m":[0.03499995564024678,-0.035000008701321916],"tcp_position_m":[0.34950952602182195,0.07814477776778778,0.20956375326538673],"tcp_quaternion_wxyz":[0.2560335003160536,-0.00266155321756949,0.9666623892492577,-0.0018942178586757556],"object_position_m":[0.35512819569722764,0.07869801649719255,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947078,-1.9135007118797396e-11,-4.599038050384521e-12,0.0899800741949055],"object_linear_velocity_m_s":[8.180850072836475e-12,-2.42012896208848e-11,2.381497022893008e-15],"object_angular_velocity_rad_s":[4.0635371270352577e-10,1.3736219716775282e-10,-9.084334603241409e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000373136},{"geom_ids":[1,90],"normal_force_n":0.0981000000050154},{"geom_ids":[1,90],"normal_force_n":0.0980999999962685},{"geom_ids":[1,90],"normal_force_n":0.0980999999949845}],"native_actuator_controls":[0.30535888453472443,1.4911310862349634,-1.2570509133856098,-0.1886765420636368,0.92926142045591,0.380252307290345,0.035],"actuator_force_native":[0.018326338264692765,-0.010342055151198792,0.056611702943996534,-0.004088109126259454,-0.05642863155807909,0.053133837644757875,1.5492848575160423e-06],"issued_joint_targets_rad":[0.3053604006823021,1.4911310686700963,-1.25704940452084,-0.18867979198637372,0.9292597352917384,0.3802561569791147],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.759999999998723,"joint_targets_rad":[0.3053604006823021,1.4911310686700963,-1.25704940452084,-0.18867979198637372,0.9292597352917384,0.3802561569791147],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.779999999998747,"qpos":[0.30510640019700175,1.4912741815396127,-1.257798998905852,-0.18851423870065992,0.9358492210853199,0.37388111561420656,0.03499995674818628,-0.03500000815461752,0.355128195697422,0.07869801649661733,0.0798922445797837,0.9959435657947104,-1.9541009656259522e-11,-4.696617465332611e-12,0.08998007419488631],"qvel":[0.0005270502162611181,-0.0003082917071692637,0.0009251569561776965,-0.0005440452180323674,-0.007103481880760129,0.007926631388661372,4.403062949394554e-08,-1.466644477484363e-09,9.169823804178832e-12,-2.7126954877755347e-11,2.97824189862903e-15,1.2424068415378098e-10,1.8240136182878713e-11,-1.6585687764097346e-12],"joint_position_rad":[0.30510640019700175,1.4912741815396127,-1.257798998905852,-0.18851423870065992,0.9358492210853199,0.37388111561420656],"joint_velocity_rad_s":[0.0005270502162611181,-0.0003082917071692637,0.0009251569561776965,-0.0005440452180323674,-0.007103481880760129,0.007926631388661372],"gripper_joint_position_m":[0.03499995674818628,-0.03500000815461752],"tcp_position_m":[0.34952968767170045,0.07815671456063629,0.20957367676581468],"tcp_quaternion_wxyz":[0.25609403247973866,-0.002598674882228365,0.9666466045261837,-0.0018534764964347312],"object_position_m":[0.355128195697422,0.07869801649661733,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947104,-1.9541009656259522e-11,-4.696617465332611e-12,0.08998007419488631],"object_linear_velocity_m_s":[9.169823804178832e-12,-2.7126954877755347e-11,2.97824189862903e-15],"object_angular_velocity_rad_s":[1.1895969380777226e-10,4.021245349553538e-11,-1.658568776409738e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000519949},{"geom_ids":[1,90],"normal_force_n":0.09810000000698875},{"geom_ids":[1,90],"normal_force_n":0.09809999999480108},{"geom_ids":[1,90],"normal_force_n":0.09809999999301182}],"native_actuator_controls":[0.3053604006823021,1.4911310686700963,-1.25704940452084,-0.18867979198637372,0.9292597352917384,0.3802561569791147,0.035],"actuator_force_native":[0.01768478774272353,-0.009907571025465245,0.05534176602006369,-0.003901905338389966,-0.055239635114672225,0.051860466566089336,1.5099194012879735e-06],"issued_joint_targets_rad":[0.3053618667519355,1.4911310440822498,-1.2570479367591785,-0.18868292497192457,0.9292580976847,0.38025987679192047],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.779999999998747,"joint_targets_rad":[0.3053618667519355,1.4911310440822498,-1.2570479367591785,-0.18868292497192457,0.9292580976847,0.38025987679192047],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.79999999999877,"qpos":[0.3051167541093789,1.4912681518603592,-1.2577807096077667,-0.18852489009469164,0.9357087229048834,0.3740376566909063,0.03499995782925931,-0.03500000763900736,0.35512819569760956,0.07869801649606277,0.0798922445797837,0.995943565794712,-1.9221046525837603e-11,-4.61972257793253e-12,0.08998007419486583],"qvel":[0.0005086283253914555,-0.00029535067823905384,0.0009044122437079985,-0.0005192979642685943,-0.006953771569767742,0.007736591531841105,4.305399871299015e-08,-1.9679284536430537e-09,1.0680155773713719e-11,-3.1594889829709274e-11,3.025426377175599e-15,-3.3894252958746204e-10,-4.9762455016219745e-11,-3.0281343354203266e-12],"joint_position_rad":[0.3051167541093789,1.4912681518603592,-1.2577807096077667,-0.18852489009469164,0.9357087229048834,0.3740376566909063],"joint_velocity_rad_s":[0.0005086283253914555,-0.00029535067823905384,0.0009044122437079985,-0.0005192979642685943,-0.006953771569767742,0.007736591531841105],"gripper_joint_position_m":[0.03499995782925931,-0.03500000763900736],"tcp_position_m":[0.34954943467756633,0.07816839671046832,0.2095833477108098],"tcp_quaternion_wxyz":[0.2561531940505617,-0.002537229389507473,0.9666311678469773,-0.0018135576940367128],"object_position_m":[0.35512819569760956,0.07869801649606277,0.0798922445797837],"object_quaternion_wxyz":[0.995943565794712,-1.9221046525837603e-11,-4.61972257793253e-12,0.08998007419486583],"object_linear_velocity_m_s":[1.0680155773713719e-11,-3.1594889829709274e-11,3.025426377175599e-15],"object_angular_velocity_rad_s":[-3.245351593010798e-10,-1.097053812254052e-10,-3.0281343354202684e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000601272},{"geom_ids":[1,90],"normal_force_n":0.09810000000808203},{"geom_ids":[1,90],"normal_force_n":0.09809999999398705},{"geom_ids":[1,90],"normal_force_n":0.09809999999191776}],"native_actuator_controls":[0.3053618667519355,1.4911310440822498,-1.2570479367591785,-0.18868292497192457,0.9292580976847,0.38025987679192047,0.035],"actuator_force_native":[0.017065869777571407,-0.009491868857537611,0.05409976666851435,-0.003724905267974421,-0.0540755948471805,0.05061731371238043,1.471559634147468e-06],"issued_joint_targets_rad":[0.3053632845417473,1.4911310129753284,-1.2570465088789693,-0.18868594563835978,0.9292565061696045,0.3802634715849893],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.79999999999877,"joint_targets_rad":[0.3053632845417473,1.4911310129753284,-1.2570465088789693,-0.18868594563835978,0.9292565061696045,0.3802634715849893],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.819999999998796,"qpos":[0.30512674619558044,1.4912623750704372,-1.257762830524546,-0.1885350583318976,0.9355711859759239,0.3741904441631762,0.03499995888400321,-0.03500000715274206,0.35512819569778736,0.07869801649553698,0.0798922445797837,0.9959435657947138,-1.7837633308101902e-11,-4.287240261966741e-12,0.08998007419484565],"qvel":[0.0004908557646738226,-0.00028296894206701373,0.0008841234350135888,-0.0004957730775071834,-0.00680720491303539,0.0075510654677256464,4.209161420792736e-08,-2.424173399064122e-09,1.3155862102126667e-11,-3.891849420911034e-11,2.7256661605268067e-15,-1.027403909981736e-09,-1.5084289080522387e-10,-5.528612342480775e-12],"joint_position_rad":[0.30512674619558044,1.4912623750704372,-1.257762830524546,-0.1885350583318976,0.9355711859759239,0.3741904441631762],"joint_velocity_rad_s":[0.0004908557646738226,-0.00028296894206701373,0.0008841234350135888,-0.0004957730775071834,-0.00680720491303539,0.0075510654677256464],"gripper_joint_position_m":[0.03499995888400321,-0.03500000715274206],"tcp_position_m":[0.34956877565227473,0.07817982891117913,0.20959277366294154],"tcp_quaternion_wxyz":[0.25621101868388346,-0.002477186507457183,0.9666160710362474,-0.0017744482022486515],"object_position_m":[0.35512819569778736,0.07869801649553698,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947138,-1.7837633308101902e-11,-4.287240261966741e-12,0.08998007419484565],"object_linear_velocity_m_s":[1.3155862102126667e-11,-3.891849420911034e-11,2.7256661605268067e-15],"object_angular_velocity_rad_s":[-9.837317414599034e-10,-3.3254207673090047e-10,-5.528612342480548e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000518107},{"geom_ids":[1,90],"normal_force_n":0.09810000000696427},{"geom_ids":[1,90],"normal_force_n":0.0980999999948193},{"geom_ids":[1,90],"normal_force_n":0.0980999999930361}],"native_actuator_controls":[0.3053632845417473,1.4911310129753284,-1.2570465088789693,-0.18868594563835978,0.9292565061696045,0.3802634715849893,0.035],"actuator_force_native":[0.016468788869982376,-0.00909412289837519,0.05288511447108135,-0.0035566268709512627,-0.05293599069364063,0.049403676016542164,1.4341818008745122e-06],"issued_joint_targets_rad":[0.30536465578068406,1.4911309758242048,-1.257045119696621,-0.18868885840682306,0.9292549593278567,0.38026694601512684],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.819999999998796,"joint_targets_rad":[0.30536465578068406,1.4911309758242048,-1.257045119696621,-0.18868885840682306,0.9292549593278567,0.38026694601512684],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.83999999999882,"qpos":[0.3051363892100932,1.4912568402459045,-1.257745352635873,-0.18854476722690933,0.9354365481108848,0.37433956721188566,0.03499995991295397,-0.03500000669417185,0.3551281956979602,0.07869801649502542,0.0798922445797837,0.9959435657947155,-1.610457362511293e-11,-3.870723298960377e-12,0.08998007419482476],"qvel":[0.00047370971928338486,-0.00027112191092876475,0.0008642809188883414,-0.00047340655880844163,-0.006663716352807187,0.007369947963459481,4.11438644950551e-08,-2.838507540026629e-09,6.495582960422795e-12,-1.9215655562069415e-11,2.88248516275511e-15,6.738749523685569e-10,9.893395721438998e-11,-5.989801919133937e-13],"joint_position_rad":[0.3051363892100932,1.4912568402459045,-1.257745352635873,-0.18854476722690933,0.9354365481108848,0.37433956721188566],"joint_velocity_rad_s":[0.00047370971928338486,-0.00027112191092876475,0.0008642809188883414,-0.00047340655880844163,-0.006663716352807187,0.007369947963459481],"gripper_joint_position_m":[0.03499995991295397,-0.03500000669417185],"tcp_position_m":[0.34958771901806046,0.0781910158289644,0.20960196191551056],"tcp_quaternion_wxyz":[0.25626753908733396,-0.002418516519947625,0.9666013061361135,-0.0017361347654427587],"object_position_m":[0.3551281956979602,0.07869801649502542,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947155,-1.610457362511293e-11,-3.870723298960377e-12,0.08998007419482476],"object_linear_velocity_m_s":[6.495582960422795e-12,-1.9215655562069415e-11,2.88248516275511e-15],"object_angular_velocity_rad_s":[6.4523106332702e-10,2.1811064677751465e-10,-5.989801919133668e-13],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000054166},{"geom_ids":[1,90],"normal_force_n":0.09810000000072815},{"geom_ids":[1,90],"normal_force_n":0.09809999999945807},{"geom_ids":[1,90],"normal_force_n":0.09809999999927155}],"native_actuator_controls":[0.30536465578068406,1.4911309758242048,-1.257045119696621,-0.18868885840682306,0.9292549593278567,0.38026694601512684,0.035],"actuator_force_native":[0.015892777050851237,-0.008713544181333077,0.05169723054572728,-0.0033966144025061595,-0.05182031330107151,0.0482188660872227,1.39776251883994e-06],"issued_joint_targets_rad":[0.30536598213129834,1.4911309330763733,-1.2570437680655093,-0.18869166751045485,0.9292534557861465,0.3802703045485817],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.83999999999882,"joint_targets_rad":[0.30536598213129834,1.4911309330763733,-1.2570437680655093,-0.18869166751045485,0.9292534557861465,0.3802703045485817],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.859999999998845,"qpos":[0.3051456954591052,1.4912515369428703,-1.257728267111789,-0.18855403934945486,0.9353047484192973,0.3744851129375237,0.03499996091664539,-0.03500000626174085,0.3551281956981523,0.07869801649445719,0.0798922445797837,0.9959435657947187,-1.713181142373968e-11,-4.1176456104805656e-12,0.08998007419479088],"qvel":[0.0004571681639296646,-0.0002597860921685125,0.0008448752706433225,-0.0004521379000796668,-0.006523241682533711,0.007193136144343977,4.021107921726431e-08,-3.2138566107098404e-09,7.013193823733345e-12,-2.07467832216639e-11,2.8436273568932292e-15,5.754600395141123e-10,8.448590544693436e-11,-1.0935873499329902e-12],"joint_position_rad":[0.3051456954591052,1.4912515369428703,-1.257728267111789,-0.18855403934945486,0.9353047484192973,0.3744851129375237],"joint_velocity_rad_s":[0.0004571681639296646,-0.0002597860921685125,0.0008448752706433225,-0.0004521379000796668,-0.006523241682533711,0.007193136144343977],"gripper_joint_position_m":[0.03499996091664539,-0.03500000626174085],"tcp_position_m":[0.3496062730116867,0.07820196209753164,0.20961091950354033],"tcp_quaternion_wxyz":[0.25632278705280814,-0.0023611902248209886,0.9665868653991634,-0.0016986041396008357],"object_position_m":[0.3551281956981523,0.07869801649445719,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947187,-1.713181142373968e-11,-4.1176456104805656e-12,0.08998007419479088],"object_linear_velocity_m_s":[7.013193823733345e-12,-2.07467832216639e-11,2.8436273568932292e-15],"object_angular_velocity_rad_s":[5.509992926930571e-10,1.8625763004108668e-10,-1.0935873499329558e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000019233},{"geom_ids":[1,90],"normal_force_n":0.09810000000258531},{"geom_ids":[1,90],"normal_force_n":0.09809999999807661},{"geom_ids":[1,90],"normal_force_n":0.09809999999741477}],"native_actuator_controls":[0.30536598213129834,1.4911309330763733,-1.2570437680655093,-0.18869166751045485,0.9292534557861465,0.3802703045485817,0.035],"actuator_force_native":[0.015337092955803655,-0.008349378858909517,0.05053554734915622,-0.0032444369396005257,-0.05072806380770878,0.04706221189406401,1.3622787884415288e-06],"issued_joint_targets_rad":[0.3053672651924172,1.4911308851535077,-1.2570424528749005,-0.18869437700289876,0.9292519942151463,0.3802735514694928],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.859999999998845,"joint_targets_rad":[0.3053672651924172,1.4911308851535077,-1.2570424528749005,-0.18869437700289876,0.9292519942151463,0.3802735514694928],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.87999999999887,"qpos":[0.3051546768160297,1.4912464551761253,-1.2577115653089987,-0.18856289609218435,0.93517572728104,0.37462716640688143,0.03499996189560829,-0.035000005853981525,0.35512819569835186,0.07869801649386694,0.0798922445797837,0.9959435657947223,-1.8852005716715927e-11,-4.5311094474694834e-12,0.08998007419474763],"qvel":[0.000441209836313473,-0.00024893903869336475,0.0008258972489886768,-0.0004319098880223114,-0.0063857180194026916,0.007020529445797197,3.929353377838685e-08,-3.5529576757968717e-09,7.92786862789604e-12,-2.3452561392626072e-11,2.6521138851453895e-15,4.4288877208294626e-10,6.502307680718487e-11,-1.9966067414977845e-12],"joint_position_rad":[0.3051546768160297,1.4912464551761253,-1.2577115653089987,-0.18856289609218435,0.93517572728104,0.37462716640688143],"joint_velocity_rad_s":[0.000441209836313473,-0.00024893903869336475,0.0008258972489886768,-0.0004319098880223114,-0.0063857180194026916,0.007020529445797197],"gripper_joint_position_m":[0.03499996189560829,-0.035000005853981525],"tcp_position_m":[0.34962444568940027,0.07821267231377335,0.20961965321428216],"tcp_quaternion_wxyz":[0.2563767934871774,-0.0023051789315471655,0.9665727412816939,-0.001661843108860337],"object_position_m":[0.35512819569835186,0.07869801649386694,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947223,-1.8852005716715927e-11,-4.5311094474694834e-12,0.08998007419474763],"object_linear_velocity_m_s":[7.92786862789604e-12,-2.3452561392626072e-11,2.6521138851453895e-15],"object_angular_velocity_rad_s":[4.2406305466071563e-10,1.4334919123048933e-10,-1.9966067414977635e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000374111},{"geom_ids":[1,90],"normal_force_n":0.09810000000502864},{"geom_ids":[1,90],"normal_force_n":0.09809999999625875},{"geom_ids":[1,90],"normal_force_n":0.0980999999949712}],"native_actuator_controls":[0.3053672651924172,1.4911308851535077,-1.2570424528749005,-0.18869437700289876,0.9292519942151463,0.3802735514694928,0.035],"actuator_force_native":[0.014801020929432696,-0.008000906615947656,0.04939950848290664,-0.003099686988464967,-0.049658753629833186,0.045933056457418076,1.3277079997653374e-06],"issued_joint_targets_rad":[0.30536850650170094,1.4911308324529196,-1.2570411730488817,-0.18869699076639493,0.9292505733282249,0.3802766908879344],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.87999999999887,"joint_targets_rad":[0.30536850650170094,1.4911308324529196,-1.2570411730488817,-0.18869699076639493,0.9292505733282249,0.3802766908879344],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.899999999998894,"qpos":[0.305163344736507,1.4912415853987377,-1.2576952387672269,-0.18857135773468875,0.9350494263201438,0.3747658106987807,0.034999962850369895,-0.03500000546950975,0.35512819569855003,0.07869801649328119,0.0798922445797837,0.9959435657947266,-1.9824223771967293e-11,-4.764788426100044e-12,0.0899800741946995],"qvel":[0.0004258142114357764,-0.0002385593017637531,0.000807337792974425,-0.0004126684193071116,-0.006251083777438116,0.0068520295660313,3.839145295877379e-08,-3.858370427319524e-09,9.02822830105041e-12,-2.670766489032996e-11,2.506397113163338e-15,1.9053911997417974e-10,2.7974209412872867e-11,-3.645276946831382e-12],"joint_position_rad":[0.305163344736507,1.4912415853987377,-1.2576952387672269,-0.18857135773468875,0.9350494263201438,0.3747658106987807],"joint_velocity_rad_s":[0.0004258142114357764,-0.0002385593017637531,0.000807337792974425,-0.0004126684193071116,-0.006251083777438116,0.0068520295660313],"gripper_joint_position_m":[0.034999962850369895,-0.03500000546950975],"tcp_position_m":[0.3496422449316961,0.07822315103386918,0.20962816959724606],"tcp_quaternion_wxyz":[0.25642958844176084,-0.0022504544584214864,0.9665589264372292,-0.00162583850069443],"object_position_m":[0.35512819569855003,0.07869801649328119,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947266,-1.9824223771967293e-11,-4.764788426100044e-12,0.0899800741946995],"object_linear_velocity_m_s":[9.02822830105041e-12,-2.670766489032996e-11,2.506397113163338e-15],"object_angular_velocity_rad_s":[1.8243993106967664e-10,6.167158327870032e-11,-3.645276946831369e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000526078},{"geom_ids":[1,90],"normal_force_n":0.09810000000707128},{"geom_ids":[1,90],"normal_force_n":0.09809999999473935},{"geom_ids":[1,90],"normal_force_n":0.09809999999292887}],"native_actuator_controls":[0.30536850650170094,1.4911308324529196,-1.2570411730488817,-0.18869699076639493,0.9292505733282249,0.3802766908879344,0.035],"actuator_force_native":[0.014283870158333656,-0.00766743915664847,0.048288568502727,-0.0029619791717108157,-0.04861190425303086,0.04483075754249066,1.2940279396911336e-06],"issued_joint_targets_rad":[0.30536970753810017,1.4911307753489318,-1.257039927545322,-0.18869951251949713,0.9292491918801838,0.38027972674758087],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.899999999998894,"joint_targets_rad":[0.30536970753810017,1.4911307753489318,-1.257039927545322,-0.18869951251949713,0.9292491918801838,0.38027972674758087],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.919999999998918,"qpos":[0.30517171027290035,1.4912369184825662,-1.2576792792056428,-0.18857944350393174,0.9349257883791265,0.37490112694886085,0.034999963781453126,-0.035000005107019845,0.3551281956987438,0.07869801649270793,0.0798922445797837,0.9959435657947313,-1.9922127105107182e-11,-4.7883113420180825e-12,0.08998007419464774],"qvel":[0.00041096147673688553,-0.00022862638596003263,0.0007891880189668965,-0.00039436232635905294,-0.0061192786411500425,0.006687540419452942,3.750501510603306e-08,-4.132487966025865e-09,1.0523328502534767e-11,-3.1130581486062294e-11,2.5646838219561583e-15,-2.281247132805414e-10,-3.349106776784605e-11,-6.6553113272874894e-12],"joint_position_rad":[0.30517171027290035,1.4912369184825662,-1.2576792792056428,-0.18857944350393174,0.9349257883791265,0.37490112694886085],"joint_velocity_rad_s":[0.00041096147673688553,-0.00022862638596003263,0.0007891880189668965,-0.00039436232635905294,-0.0061192786411500425,0.006687540419452942],"gripper_joint_position_m":[0.034999963781453126,-0.035000005107019845],"tcp_position_m":[0.34965967844790524,0.07823340276978714,0.2096364749737918],"tcp_quaternion_wxyz":[0.256481201140629,-0.00219698912934734,0.9665454137102908,-0.0015905771998184974],"object_position_m":[0.3551281956987438,0.07869801649270793,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947313,-1.9922127105107182e-11,-4.7883113420180825e-12,0.08998007419464774],"object_linear_velocity_m_s":[1.0523328502534767e-11,-3.1130581486062294e-11,2.5646838219561583e-15],"object_angular_velocity_rad_s":[-2.1842811998595345e-10,-7.383557969543848e-11,-6.655311327287539e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000062639},{"geom_ids":[1,90],"normal_force_n":0.09810000000841954},{"geom_ids":[1,90],"normal_force_n":0.09809999999373623},{"geom_ids":[1,90],"normal_force_n":0.09809999999158042}],"native_actuator_controls":[0.30536970753810017,1.4911307753489318,-1.257039927545322,-0.18869951251949713,0.9292491918801838,0.38027972674758087,0.035],"actuator_force_native":[0.013784973832301262,-0.007348318760961092,0.047202192730836146,-0.002830948990820481,-0.04758704702770267,0.04375468735802057,1.2612167996639556e-06],"issued_joint_targets_rad":[0.30537086972420735,1.4911307141941703,-1.2570387153548468,-0.18870194582441424,0.9292478486660114,0.3802826628330078],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.919999999998918,"joint_targets_rad":[0.30537086972420735,1.4911307141941703,-1.2570387153548468,-0.18870194582441424,0.9292478486660114,0.3802826628330078],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.939999999998943,"qpos":[0.30517978408830276,1.4912324456996573,-1.257663678519344,-0.18858717163129748,0.9348047574938516,0.3750331943934426,0.03499996468937605,-0.035000004765280125,0.35512819569892984,0.0786980164921577,0.0798922445797837,0.9959435657947362,-1.8909112875303835e-11,-4.544826370400951e-12,0.08998007419459549],"qvel":[0.0003966325080291857,-0.0002191207062246513,0.000771439217678288,-0.0003769432130932827,-0.005990243539727526,0.006526968090788966,3.6634356568002166e-08,-4.377548366508011e-09,1.2837458511269287e-11,-3.797632978470234e-11,2.3717825714275365e-15,-8.694509744508145e-10,-1.2764993236206236e-10,-1.2151008510922247e-11],"joint_position_rad":[0.30517978408830276,1.4912324456996573,-1.257663678519344,-0.18858717163129748,0.9348047574938516,0.3750331943934426],"joint_velocity_rad_s":[0.0003966325080291857,-0.0002191207062246513,0.000771439217678288,-0.0003769432130932827,-0.005990243539727526,0.006526968090788966],"gripper_joint_position_m":[0.03499996468937605,-0.035000004765280125],"tcp_position_m":[0.34967675378061386,0.07824343198615456,0.2096445754462939],"tcp_quaternion_wxyz":[0.25653166000778155,-0.002144755770232765,0.9665321961304151,-0.0015560461609023973],"object_position_m":[0.35512819569892984,0.0786980164921577,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947362,-1.8909112875303835e-11,-4.544826370400951e-12,0.08998007419459549],"object_linear_velocity_m_s":[1.2837458511269287e-11,-3.797632978470234e-11,2.3717825714275365e-15],"object_angular_velocity_rad_s":[-8.324933880323779e-10,-2.8141474923656873e-10,-1.2151008510922226e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000590316},{"geom_ids":[1,90],"normal_force_n":0.09810000000793473},{"geom_ids":[1,90],"normal_force_n":0.09809999999409758},{"geom_ids":[1,90],"normal_force_n":0.09809999999206603}],"native_actuator_controls":[0.30537086972420735,1.4911307141941703,-1.2570387153548468,-0.18870194582441424,0.9292478486660114,0.3802826628330078,0.035],"actuator_force_native":[0.0133036883322184,-0.007042916907820995,0.04613985707138113,-0.0027062516592044616,-0.04658372296881019,0.04270423225946862,1.2292531752500224e-06],"issued_joint_targets_rad":[0.3053719944285186,1.4911306493207828,-1.2570375354998393,-0.18870429409401565,0.9292465425196589,0.38028550277665557],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.939999999998943,"joint_targets_rad":[0.3053719944285186,1.4911306493207828,-1.2570375354998393,-0.18870429409401565,0.9292465425196589,0.38028550277665557],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.959999999998967,"qpos":[0.3051875764700705,1.491228158704474,-1.2576484287758956,-0.188594559406451,0.9346862788688954,0.3751620904124788,0.03499996557465143,-0.03500000444312866,0.3551281956991029,0.07869801649164536,0.0798922445797837,0.9959435657947405,-1.6381479162711525e-11,-3.9373084118147404e-12,0.08998007419454959],"qvel":[0.00038280884621718367,-0.00021002354687119995,0.000754082851231102,-0.0003603653000741529,-0.00586392062175826,0.006370220789946754,3.5779574230259445e-08,-4.595642978252522e-09,6.5978120215650765e-12,-1.9517943815796555e-11,2.720115045403679e-15,7.121529352846098e-10,1.0455572399286071e-10,-1.316462085992517e-12],"joint_position_rad":[0.3051875764700705,1.491228158704474,-1.2576484287758956,-0.188594559406451,0.9346862788688954,0.3751620904124788],"joint_velocity_rad_s":[0.00038280884621718367,-0.00021002354687119995,0.000754082851231102,-0.0003603653000741529,-0.00586392062175826,0.006370220789946754],"gripper_joint_position_m":[0.03499996557465143,-0.03500000444312866],"tcp_position_m":[0.34969347830992165,0.0782532430974722,0.20965247690690245],"tcp_quaternion_wxyz":[0.25658099269325696,-0.0020937277050406935,0.9665192669064073,-0.0015222324201737449],"object_position_m":[0.3551281956991029,0.07869801649164536,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947405,-1.6381479162711525e-11,-3.9373084118147404e-12,0.08998007419454959],"object_linear_velocity_m_s":[6.5978120215650765e-12,-1.9517943815796555e-11,2.720115045403679e-15],"object_angular_velocity_rad_s":[6.818816273550545e-10,2.3050194994788825e-10,-1.3164620859925124e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999998015834},{"geom_ids":[1,90],"normal_force_n":0.0980999999733286},{"geom_ids":[1,90],"normal_force_n":0.09810000001984734},{"geom_ids":[1,90],"normal_force_n":0.09810000002667706}],"native_actuator_controls":[0.3053719944285186,1.4911306493207828,-1.2570375354998393,-0.18870429409401565,0.9292465425196589,0.38028550277665557,0.035],"actuator_force_native":[0.012839392444764286,-0.006750632960944358,0.04510104782833935,-0.002587561002215466,-0.04560148255972685,0.0416787924568478,1.1981160716878492e-06],"issued_joint_targets_rad":[0.30537308296759763,1.491130581041582,-1.2570363870334558,-0.18870656059849758,0.9292452723128385,0.38028825006546035],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.959999999998967,"joint_targets_rad":[0.30537308296759763,1.491130581041582,-1.2570363870334558,-0.18870656059849758,0.9292452723128385,0.38028825006546035],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.97999999999899,"qpos":[0.30519509734289796,1.4912240495169293,-1.2576335222119328,-0.18860162322819113,0.9345702988534155,0.3752878905716101,0.03499996643778622,-0.03500000413946918,0.3551281956993033,0.07869801649105276,0.0798922445797837,0.9959435657947481,-1.7520103270159278e-11,-4.210970555282422e-12,0.0899800741944658],"qvel":[0.00036947267476275503,-0.00020131702248037516,0.0007371105502731966,-0.00034458527850088664,-0.005740253230465154,0.006217208807602289,3.494072924198145e-08,-4.78872675978491e-09,7.127871558768004e-12,-2.108602205347461e-11,2.9268940837401148e-15,6.27723406743192e-10,9.216016084136842e-11,-2.4035218427889533e-12],"joint_position_rad":[0.30519509734289796,1.4912240495169293,-1.2576335222119328,-0.18860162322819113,0.9345702988534155,0.3752878905716101],"joint_velocity_rad_s":[0.00036947267476275503,-0.00020131702248037516,0.0007371105502731966,-0.00034458527850088664,-0.005740253230465154,0.006217208807602289],"gripper_joint_position_m":[0.03499996643778622,-0.03500000413946918],"tcp_position_m":[0.34970985925754927,0.07826284046564705,0.20966018504591788],"tcp_quaternion_wxyz":[0.25662922609821937,-0.00204387875152059,0.9665066194208155,-0.0014891231059806077],"object_position_m":[0.3551281956993033,0.07869801649105276,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947481,-1.7520103270159278e-11,-4.210970555282422e-12,0.0899800741944658],"object_linear_velocity_m_s":[7.127871558768004e-12,-2.108602205347461e-11,2.9268940837401148e-15],"object_angular_velocity_rad_s":[6.010409102719833e-10,2.0317478878790732e-10,-2.4035218427889602e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000016346},{"geom_ids":[1,90],"normal_force_n":0.09810000000219707},{"geom_ids":[1,90],"normal_force_n":0.09809999999836545},{"geom_ids":[1,90],"normal_force_n":0.09809999999780285}],"native_actuator_controls":[0.30537308296759763,1.491130581041582,-1.2570363870334558,-0.18870656059849758,0.9292452723128385,0.38028825006546035,0.035],"actuator_force_native":[0.012391486602158608,-0.006470892915373838,0.04408526152680281,-0.0024745684197542417,-0.04463988556007337,0.04067778172709868,1.1677849052205147e-06],"issued_joint_targets_rad":[0.30537413660815366,1.4911305096511225,-1.2570352690386732,-0.18870874847174168,0.9292440369538498,0.38029090804718046],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.97999999999899,"joint_targets_rad":[0.30537413660815366,1.4911305096511225,-1.2570352690386732,-0.18870874847174168,0.9292440369538498,0.38029090804718046],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.999999999999016,"qpos":[0.3052023562814487,1.49122011050618,-1.2576189512298162,-0.18860837865246893,0.9344567649175091,0.37541066866334,0.034999967279281216,-0.03500000385326738,0.3551281956994989,0.07869801649047437,0.0798922445797837,0.9959435657947566,-1.841076707899747e-11,-4.425032213555455e-12,0.08998007419437071],"qvel":[0.0003566067978877701,-0.00019298404059100153,0.000720514111121427,-0.0003295621725435358,-0.005619185879440261,0.006067844471522646,3.4117849307720263e-08,-4.958626324111428e-09,7.760895394016557e-12,-2.2958698269226644e-11,2.8991385081244862e-15,4.696472325418124e-10,6.89521355684723e-11,-4.388211904816139e-12],"joint_position_rad":[0.3052023562814487,1.49122011050618,-1.2576189512298162,-0.18860837865246893,0.9344567649175091,0.37541066866334],"joint_velocity_rad_s":[0.0003566067978877701,-0.00019298404059100153,0.000720514111121427,-0.0003295621725435358,-0.005619185879440261,0.006067844471522646],"gripper_joint_position_m":[0.034999967279281216,-0.03500000385326738],"tcp_position_m":[0.3497259036908008,0.07827222839781876,0.20966770535979867],"tcp_quaternion_wxyz":[0.25667638639907053,-0.0019951832166505627,0.9664942472246194,-0.0014567054483876451],"object_position_m":[0.3551281956994989,0.07869801649047437,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947566,-1.841076707899747e-11,-4.425032213555455e-12,0.08998007419437071],"object_linear_velocity_m_s":[7.760895394016557e-12,-2.2958698269226644e-11,2.8991385081244862e-15],"object_angular_velocity_rad_s":[4.4968401418667507e-10,1.5201055035290815e-10,-4.388211904816158e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000317923},{"geom_ids":[1,90],"normal_force_n":0.09810000000427335},{"geom_ids":[1,90],"normal_force_n":0.09809999999682062},{"geom_ids":[1,90],"normal_force_n":0.09809999999572652}],"native_actuator_controls":[0.30537413660815366,1.4911305096511225,-1.2570352690386732,-0.18870874847174168,0.9292440369538498,0.38029090804718046,0.035],"actuator_force_native":[0.01195939214695585,-0.0062031482016493555,0.04309200473581143,-0.0023669819081924004,-0.043698500817431096,0.03970062713112066,1.1382395048720184e-06],"issued_joint_targets_rad":[0.3053751565690336,1.4911304354267159,-1.2570341806273508,-0.18871086071736973,0.9292428353864304,0.3802934799364229],"issued_gripper_position_m":0.035,"command":{"t_seconds":17.999999999999016,"joint_targets_rad":[0.3053751565690336,1.4911304354267159,-1.2570341806273508,-0.18871086071736973,0.9292428353864304,0.3802934799364229],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.01999999999904,"qpos":[0.30520936252255937,1.4912163343751483,-1.2576047083943447,-0.1886148404377326,0.9343456256290524,0.3755304967473412,0.034999968099630636,-0.03500000358354728,0.355128195699689,0.07869801648991201,0.0798922445797837,0.9959435657947663,-1.8902400952158275e-11,-4.543182996841979e-12,0.08998007419426493],"qvel":[0.00034419461948148784,-0.0001850082660951408,0.0007042854929517016,-0.00031525720951581094,-0.005500664228872844,0.005922042103617827,3.331093289603778e-08,-5.10704916551915e-09,8.617426533128413e-12,-2.5492580482297037e-11,3.0129363681485642e-15,2.0840827968734211e-10,3.0598298914396083e-11,-8.011806392246273e-12],"joint_position_rad":[0.30520936252255937,1.4912163343751483,-1.2576047083943447,-0.1886148404377326,0.9343456256290524,0.3755304967473412],"joint_velocity_rad_s":[0.00034419461948148784,-0.0001850082660951408,0.0007042854929517016,-0.00031525720951581094,-0.005500664228872844,0.005922042103617827],"gripper_joint_position_m":[0.034999968099630636,-0.03500000358354728],"tcp_position_m":[0.34974161852638685,0.07828141114446,0.20967504315881808],"tcp_quaternion_wxyz":[0.25672249907062605,-0.0019476158918225503,0.9664821440321203,-0.0014249667878678401],"object_position_m":[0.355128195699689,0.07869801648991201,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947663,-1.8902400952158275e-11,-4.543182996841979e-12,0.08998007419426493],"object_linear_velocity_m_s":[8.617426533128413e-12,-2.5492580482297037e-11,3.0129363681485642e-15],"object_angular_velocity_rad_s":[1.9954942260214506e-10,6.745587356074045e-11,-8.0118063922463e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000468594},{"geom_ids":[1,90],"normal_force_n":0.09810000000629861},{"geom_ids":[1,90],"normal_force_n":0.09809999999531388},{"geom_ids":[1,90],"normal_force_n":0.09809999999370123}],"native_actuator_controls":[0.3053751565690336,1.4911304354267159,-1.2570341806273508,-0.18871086071736973,0.9292428353864304,0.3802934799364229,0.035],"actuator_force_native":[0.011542550620529113,-0.005946874544122238,0.042120793894753206,-0.0022645251379058706,-0.042776906082911736,0.03874676873539018,1.1094601102268342e-06],"issued_joint_targets_rad":[0.30537614402313196,1.4911303586293894,-1.257033120939322,-0.18871290021452064,0.9292416665886274,0.38029596882039823],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.01999999999904,"joint_targets_rad":[0.30537614402313196,1.4911303586293894,-1.257033120939322,-0.18871290021452064,0.9292416665886274,0.38029596882039823],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.039999999999065,"qpos":[0.30521612497702644,1.4912127141457396,-1.2575907864295284,-0.18862102258775162,0.9342368306310089,0.37564744518991167,0.034999968899321894,-0.035000003329387935,0.3551281956998725,0.07869801648936907,0.0798922445797837,0.9959435657947765,-1.8775968117896793e-11,-4.512791278473348e-12,0.0899800741941511],"qvel":[0.0003322201226965045,-0.00017737408725868937,0.0006884168150199111,-0.00030163369745998965,-0.005384635062259789,0.0057797179777296604,3.2519950510441714e-08,-5.235589998775596e-09,9.911629451089904e-12,-2.932119404169883e-11,2.935220756424803e-15,-1.9689515063616307e-10,-2.8907069829781318e-11,-1.4627532897835442e-11],"joint_position_rad":[0.30521612497702644,1.4912127141457396,-1.2575907864295284,-0.18862102258775162,0.9342368306310089,0.37564744518991167],"joint_velocity_rad_s":[0.0003322201226965045,-0.00017737408725868937,0.0006884168150199111,-0.00030163369745998965,-0.005384635062259789,0.0057797179777296604],"gripper_joint_position_m":[0.034999968899321894,-0.035000003329387935],"tcp_position_m":[0.34975701053412095,0.07829039289772916,0.2096822035743886],"tcp_quaternion_wxyz":[0.2567675889084083,-0.001901152047786304,0.9664703037160247,-0.0013938945831499135],"object_position_m":[0.3551281956998725,0.07869801648936907,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947765,-1.8775968117896793e-11,-4.512791278473348e-12,0.0899800741941511],"object_linear_velocity_m_s":[9.911629451089904e-12,-2.932119404169883e-11,2.935220756424803e-15],"object_angular_velocity_rad_s":[-1.8852584290916834e-10,-6.372853038921205e-11,-1.4627532897835433e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000571248},{"geom_ids":[1,90],"normal_force_n":0.09810000000767843},{"geom_ids":[1,90],"normal_force_n":0.09809999999428752},{"geom_ids":[1,90],"normal_force_n":0.09809999999232145}],"native_actuator_controls":[0.30537614402313196,1.4911303586293894,-1.257033120939322,-0.18871290021452064,0.9292416665886274,0.38029596882039823,0.035],"actuator_force_native":[0.011140423074959216,-0.005701570871735839,0.041171155141398685,-0.002166936583461343,-0.04187468783042547,0.037815659338271246,1.0814273718739997e-06],"issued_joint_targets_rad":[0.30537710009922314,1.4911302795047852,-1.257032089141504,-0.18871486972335433,0.9292405295717059,0.38029837766439867],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.039999999999065,"joint_targets_rad":[0.30537710009922314,1.4911302795047852,-1.257032089141504,-0.18871486972335433,0.9292405295717059,0.38029837766439867],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.05999999999909,"qpos":[0.30522265224099254,1.4912092431447193,-1.2575771782154122,-0.1886269383920638,0.9341303306192001,0.37576158270259236,0.03499996967883526,-0.0350000030899203,0.35512819570005705,0.07869801648882278,0.0798922445797837,0.9959435657947886,-1.8865965097699665e-11,-4.5344252567548164e-12,0.08998007419401675],"qvel":[0.00032066785021077034,-0.00017006658329480023,0.0006729003539240796,-0.0002886569096907544,-0.005271046263578087,0.0056407902781395606,3.174484784425029e-08,-5.345737952197736e-09,1.2143426016162765e-11,-3.592339920367068e-11,2.8519540295779162e-15,-7.813771965175759e-10,-1.1471887585465435e-10,-2.6706214223943243e-11],"joint_position_rad":[0.30522265224099254,1.4912092431447193,-1.2575771782154122,-0.1886269383920638,0.9341303306192001,0.37576158270259236],"joint_velocity_rad_s":[0.00032066785021077034,-0.00017006658329480023,0.0006729003539240796,-0.0002886569096907544,-0.005271046263578087,0.0056407902781395606],"gripper_joint_position_m":[0.03499996967883526,-0.0350000030899203],"tcp_position_m":[0.34977208634048873,0.07829917779005498,0.20968919156606627],"tcp_quaternion_wxyz":[0.25681168005008254,-0.0018557674293869723,0.9664587203027136,-0.00136347641828431],"object_position_m":[0.35512819570005705,0.07869801648882278,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947886,-1.8865965097699665e-11,-4.5344252567548164e-12,0.08998007419401675],"object_linear_velocity_m_s":[1.2143426016162765e-11,-3.592339920367068e-11,2.8519540295779162e-15],"object_angular_velocity_rad_s":[-7.481634088148539e-10,-2.5290760649999975e-10,-2.6706214223943182e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000665792},{"geom_ids":[1,90],"normal_force_n":0.0981000000089492},{"geom_ids":[1,90],"normal_force_n":0.09809999999334222},{"geom_ids":[1,90],"normal_force_n":0.09809999999105094}],"native_actuator_controls":[0.30537710009922314,1.4911302795047852,-1.257032089141504,-0.18871486972335433,0.9292405295717059,0.38029837766439867,0.035],"actuator_force_native":[0.010752489407394705,-0.00546675827824572,0.04024262414301916,-0.002073968703166784,-0.04099144107957642,0.036906764200853814,1.0541223505189379e-06],"issued_joint_targets_rad":[0.3053780258837199,1.491130198284009,-1.2570310844270345,-0.18871677189029942,0.9292394233790755,0.38030070931703375],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.05999999999909,"joint_targets_rad":[0.3053780258837199,1.491130198284009,-1.2570310844270345,-0.18871677189029942,0.9292394233790755,0.38030070931703375],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.079999999999114,"qpos":[0.3052289526069449,1.491205914990229,-1.2575638767849537,-0.18863260046417984,0.934026077320527,0.3758729763799625,0.034999970438643654,-0.035000002864324184,0.35512819570023363,0.07869801648830081,0.0798922445797837,0.9959435657947999,-1.7232813389906077e-11,-4.1418974751008875e-12,0.08998007419389302],"qvel":[0.00030952288513862413,-0.00016307149341980806,0.000657728540898778,-0.0002762939759044203,-0.005159846794921269,0.00550517905881119,3.0985547765411755e-08,-5.438883974046968e-09,1.582636788225882e-11,-4.681880074854546e-11,2.6132560792835077e-15,-1.6444468658664978e-09,-2.414221961757868e-10,-4.875878997401844e-11],"joint_position_rad":[0.3052289526069449,1.491205914990229,-1.2575638767849537,-0.18863260046417984,0.934026077320527,0.3758729763799625],"joint_velocity_rad_s":[0.00030952288513862413,-0.00016307149341980806,0.000657728540898778,-0.0002762939759044203,-0.005159846794921269,0.00550517905881119],"gripper_joint_position_m":[0.034999970438643654,-0.035000002864324184],"tcp_position_m":[0.34978685243209895,0.0783077698929394,0.20969601192825016],"tcp_quaternion_wxyz":[0.25685479599608013,-0.001811438250112921,0.9664473879676865,-0.001333700008975914],"object_position_m":[0.35512819570023363,0.07869801648830081,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657947999,-1.7232813389906077e-11,-4.1418974751008875e-12,0.08998007419389302],"object_linear_velocity_m_s":[1.582636788225882e-11,-4.681880074854546e-11,2.6132560792835077e-15],"object_angular_velocity_rad_s":[-1.5745484845383675e-09,-5.322473497373331e-10,-4.875878997401866e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000424526},{"geom_ids":[1,90],"normal_force_n":0.09810000000570604},{"geom_ids":[1,90],"normal_force_n":0.0980999999957556},{"geom_ids":[1,90],"normal_force_n":0.09809999999429467}],"native_actuator_controls":[0.3053780258837199,1.491130198284009,-1.2570310844270345,-0.18871677189029942,0.9292394233790755,0.38030070931703375,0.035],"actuator_force_native":[0.01037824771630369,-0.005241979030500943,0.03933474592903963,-0.0019853871652610877,-0.0401267692221321,0.03601956078249602,1.0275265149850554e-06],"issued_joint_targets_rad":[0.30537892242235304,1.4911301151844327,-1.2570301060144293,-0.1887186092530555,0.9292383470852461,0.3803029665152156],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.079999999999114,"joint_targets_rad":[0.30537892242235304,1.4911301151844327,-1.2570301060144293,-0.1887186092530555,0.9292383470852461,0.3803029665152156],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.099999999999138,"qpos":[0.3052350340743371,1.4912027235788998,-1.2575508753209577,-0.18863802077767364,0.9339240234716351,0.37598169173662593,0.03499997117921248,-0.03500000265182551,0.35512819570042925,0.07869801648772194,0.0798922445797837,0.9959435657948166,-1.7609562850565135e-11,-4.232426874624856e-12,0.08998007419370878],"qvel":[0.0002987708325570201,-0.00015637518731035353,0.0006428939591422043,-0.00026451377946594054,-0.005050986674585003,0.0053728062033470345,3.024195279982385e-08,-5.516326260193118e-09,7.1102386599681514e-12,-2.1034021505305196e-11,2.954649659355743e-15,6.574273970108497e-10,9.651994476564751e-11,-5.2826236014698725e-12],"joint_position_rad":[0.3052350340743371,1.4912027235788998,-1.2575508753209577,-0.18863802077767364,0.9339240234716351,0.37598169173662593],"joint_velocity_rad_s":[0.0002987708325570201,-0.00015637518731035353,0.0006428939591422043,-0.00026451377946594054,-0.005050986674585003,0.0053728062033470345],"gripper_joint_position_m":[0.03499997117921248,-0.03500000265182551],"tcp_position_m":[0.3498013151590235,0.07831617321595613,0.20970266929659465],"tcp_quaternion_wxyz":[0.2568969596294495,-0.0017681411864735297,0.9664363010311734,-0.0013045532082345448],"object_position_m":[0.35512819570042925,0.07869801648772194,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657948166,-1.7609562850565135e-11,-4.232426874624856e-12,0.08998007419370878],"object_linear_velocity_m_s":[7.1102386599681514e-12,-2.1034021505305196e-11,2.954649659355743e-15],"object_angular_velocity_rad_s":[6.294825042144663e-10,2.1278782616942421e-10,-5.282623601469892e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000148195},{"geom_ids":[1,90],"normal_force_n":0.098100000001992},{"geom_ids":[1,90],"normal_force_n":0.09809999999851812},{"geom_ids":[1,90],"normal_force_n":0.0980999999980081}],"native_actuator_controls":[0.30537892242235304,1.4911301151844327,-1.2570301060144293,-0.1887186092530555,0.9292383470852461,0.3803029665152156,0.035],"actuator_force_native":[0.010017213678491288,-0.005026795620807434,0.03844707472654818,-0.0019009701179451,-0.03928028385201188,0.0351535384808761,1.0016217366626279e-06],"issued_joint_targets_rad":[0.30537979072179344,1.4911300304104491,-1.2570291531467659,-0.18872038424536808,0.92923729979482,0.38030515188892416],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.099999999999138,"joint_targets_rad":[0.30537979072179344,1.4911300304104491,-1.2570291531467659,-0.18872038424536808,0.92923729979482,0.38030515188892416],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.119999999999163,"qpos":[0.3052409043598487,1.4911996630735447,-1.2575381671530637,-0.18864321070027734,0.9338241227980131,0.37608779274340404,0.034999971900999446,-0.0350000024516937,0.35512819570063137,0.07869801648712378,0.0798922445797837,0.9959435657948382,-1.876837791302091e-11,-4.510935331795938e-12,0.08998007419347305],"qvel":[0.0002883978016542827,-0.00014996463690905551,0.0006283893411805476,-0.0002532868605385637,-0.004944416955583188,0.005243595385669628,2.9513946013600062e-08,-5.57927691717003e-09,7.804751174111209e-12,-2.308861662168437e-11,3.2849410091817267e-15,5.26098099189354e-10,7.723834824195021e-11,-9.644744821135446e-12],"joint_position_rad":[0.3052409043598487,1.4911996630735447,-1.2575381671530637,-0.18864321070027734,0.9338241227980131,0.37608779274340404],"joint_velocity_rad_s":[0.0002883978016542827,-0.00014996463690905551,0.0006283893411805476,-0.0002532868605385637,-0.004944416955583188,0.005243595385669628],"gripper_joint_position_m":[0.034999971900999446,-0.0350000024516937],"tcp_position_m":[0.3498154807380276,0.0783243917059349,0.2097091681541453],"tcp_quaternion_wxyz":[0.25693819323495837,-0.0017258533722317988,0.966425453953907,-0.0012760240113946358],"object_position_m":[0.35512819570063137,0.07869801648712378,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657948382,-1.876837791302091e-11,-4.510935331795938e-12,0.08998007419347305],"object_linear_velocity_m_s":[7.804751174111209e-12,-2.308861662168437e-11,3.2849410091817267e-15],"object_angular_velocity_rad_s":[5.037356425324749e-10,1.7028028321620433e-10,-9.644744821135457e-12],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000298102},{"geom_ids":[1,90],"normal_force_n":0.09810000000400683},{"geom_ids":[1,90],"normal_force_n":0.09809999999701906},{"geom_ids":[1,90],"normal_force_n":0.09809999999599331}],"native_actuator_controls":[0.30537979072179344,1.4911300304104491,-1.2570291531467659,-0.18872038424536808,0.92923729979482,0.38030515188892416,0.035],"actuator_force_native":[0.009668919947309007,-0.004820789863089203,0.03757917379790854,-0.0018205075009367633,-0.038451604598556344,0.03430819837669663,9.763902921733347e-07],"issued_joint_targets_rad":[0.3053806317511957,1.4911299441541863,-1.2570282250908862,-0.188722099201576,0.9292362806414927,0.38030726796574843],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.119999999999163,"joint_targets_rad":[0.3053806317511957,1.4911299441541863,-1.2570282250908862,-0.188722099201576,0.9292362806414927,0.38030726796574843],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.139999999999187,"qpos":[0.3052465709072923,1.4911967278914027,-1.2575257457547817,-0.1886481810260952,0.933726329993516,0.376191341862749,0.034999972604454345,-0.03500000226323908,0.35512819570082926,0.0786980164865385,0.0798922445797837,0.995943565794862,-1.9478670803335598e-11,-4.681647321583612e-12,0.0899800741932092],"qvel":[0.0002783903884522502,-0.00014382738950421818,0.0006142075662649077,-0.00024258532468462277,-0.004840089704608839,0.005117472031410944,2.8801394433934235e-08,-5.628866936801776e-09,8.657763923281132e-12,-2.5612083118225018e-11,3.2738387789354758e-15,2.9084721005882326e-10,4.2700406418519e-11,-1.760888195289916e-11],"joint_position_rad":[0.3052465709072923,1.4911967278914027,-1.2575257457547817,-0.1886481810260952,0.933726329993516,0.376191341862749],"joint_velocity_rad_s":[0.0002783903884522502,-0.00014382738950421818,0.0006142075662649077,-0.00024258532468462277,-0.004840089704608839,0.005117472031410944],"gripper_joint_position_m":[0.034999972604454345,-0.03500000226323908],"tcp_position_m":[0.3498293552557,0.07833242924631384,0.20971551283720696],"tcp_quaternion_wxyz":[0.25697851851748776,-0.0016845523925047175,0.9664148413330502,-0.0012481005605428919],"object_position_m":[0.35512819570082926,0.0786980164865385,0.0798922445797837],"object_quaternion_wxyz":[0.995943565794862,-1.9478670803335598e-11,-4.681647321583612e-12,0.0899800741932092],"object_linear_velocity_m_s":[8.657763923281132e-12,-2.5612083118225018e-11,3.2738387789354758e-15],"object_angular_velocity_rad_s":[2.7848437102871446e-10,9.413755573653514e-11,-1.760888195289917e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000454423},{"geom_ids":[1,90],"normal_force_n":0.09810000000610827},{"geom_ids":[1,90],"normal_force_n":0.09809999999545568},{"geom_ids":[1,90],"normal_force_n":0.09809999999389173}],"native_actuator_controls":[0.3053806317511957,1.4911299441541863,-1.2570282250908862,-0.188722099201576,0.9292362806414927,0.38030726796574843,0.035],"actuator_force_native":[0.009332915570013256,-0.004623562029777872,0.03673061528031951,-0.0017438003958094583,-0.03764035896331919,0.033483052982878014,9.518148542664306e-07],"issued_joint_targets_rad":[0.305381446443686,1.4911298565961766,-1.2570273211366259,-0.1887237563609538,0.9292352887871035,0.38030931717522254],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.139999999999187,"joint_targets_rad":[0.305381446443686,1.4911298565961766,-1.2570273211366259,-0.1887237563609538,0.9292352887871035,0.38030931717522254],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.15999999999921,"qpos":[0.305252040897182,1.4911939126929048,-1.257513604740587,-0.18865294200604193,0.9336306007003056,0.37629240008339165,0.034999973290019075,-0.03500000208581069,0.3551281957010211,0.07869801648597068,0.0798922445797837,0.9959435657948879,-1.957151801167749e-11,-4.703963774213242e-12,0.08998007419292249],"qvel":[0.0002687356591061905,-0.00013795154204268388,0.0006003416578005713,-0.00023238275665147235,-0.004737957981398027,0.00499436328000986,2.8104149837905998e-08,-5.666151816461013e-09,9.878479605827961e-12,-2.922330794880126e-11,3.234980973073596e-15,-8.499174880683979e-11,-1.2477959930860988e-11,-3.2149277196677626e-11],"joint_position_rad":[0.305252040897182,1.4911939126929048,-1.257513604740587,-0.18865294200604193,0.9336306007003056,0.37629240008339165],"joint_velocity_rad_s":[0.0002687356591061905,-0.00013795154204268388,0.0006003416578005713,-0.00023238275665147235,-0.004737957981398027,0.00499436328000986],"gripper_joint_position_m":[0.034999973290019075,-0.03500000208581069],"tcp_position_m":[0.34984294467148425,0.07834028965664705,0.20972170754096586],"tcp_quaternion_wxyz":[0.25701795661974736,-0.001644216277751166,0.9664044578982679,-0.0012207711483976703],"object_position_m":[0.3551281957010211,0.07869801648597068,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657948879,-1.957151801167749e-11,-4.703963774213242e-12,0.08998007419292249],"object_linear_velocity_m_s":[9.878479605827961e-12,-2.922330794880126e-11,3.234980973073596e-15],"object_angular_velocity_rad_s":[-8.137906542515764e-11,-2.7508990526899318e-11,-3.2149277196677626e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000057732},{"geom_ids":[1,90],"normal_force_n":0.09810000000776004},{"geom_ids":[1,90],"normal_force_n":0.09809999999422682},{"geom_ids":[1,90],"normal_force_n":0.09809999999223999}],"native_actuator_controls":[0.305381446443686,1.4911298565961766,-1.2570273211366259,-0.1887237563609538,0.9292352887871035,0.38030931717522254,0.035],"actuator_force_native":[0.009008765424788123,-0.0044347300280520585,0.03590098002788977,-0.0016706604132172842,-0.03684618215992508,0.03267762599829416,9.278784878219426e-07],"issued_joint_targets_rad":[0.3053822356977875,1.4911297679059934,-1.257026440596066,-0.1887253578718544,0.9292343234206988,0.38031130185296735],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.15999999999921,"joint_targets_rad":[0.3053822356977875,1.4911297679059934,-1.257026440596066,-0.1887253578718544,0.9292343234206988,0.38031130185296735],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.179999999999236,"qpos":[0.30525732125597244,1.4911912123709463,-1.2575017378630575,-0.18865750337660675,0.9335368914891984,0.37639102695423793,0.03499997395812748,-0.035000001918793974,0.35512819570120485,0.07869801648542686,0.0798922445797837,0.9959435657949144,-1.877295702055601e-11,-4.51204541713002e-12,0.08998007419262721],"qvel":[0.00025942113375702463,-0.00013232571659662127,0.0005867847808059055,-0.00022265413903563766,-0.004637975818515108,0.004874197947514344,2.7422050014153542e-08,-5.692115454521596e-09,1.1813582078110433e-11,-3.494770112212023e-11,2.879709605193546e-15,-6.539407167925189e-10,-9.601114898086302e-11,-5.869698703736105e-11],"joint_position_rad":[0.30525732125597244,1.4911912123709463,-1.2575017378630575,-0.18865750337660675,0.9335368914891984,0.37639102695423793],"joint_velocity_rad_s":[0.00025942113375702463,-0.00013232571659662127,0.0005867847808059055,-0.00022265413903563766,-0.004637975818515108,0.004874197947514344],"gripper_joint_position_m":[0.03499997395812748,-0.035000001918793974],"tcp_position_m":[0.34985625482061633,0.07834797669225481,0.20972775632486754],"tcp_quaternion_wxyz":[0.25705652813933655,-0.0016048234976639352,0.9663942985079381,-0.0011940242216824698],"object_position_m":[0.35512819570120485,0.07869801648542686,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657949144,-1.877295702055601e-11,-4.51204541713002e-12,0.08998007419262721],"object_linear_velocity_m_s":[1.1813582078110433e-11,-3.494770112212023e-11,2.879709605193546e-15],"object_angular_velocity_rad_s":[-6.261434747529304e-10,-2.1166235100287692e-10,-5.869698703736088e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000592227},{"geom_ids":[1,90],"normal_force_n":0.09810000000796053},{"geom_ids":[1,90],"normal_force_n":0.09809999999407817},{"geom_ids":[1,90],"normal_force_n":0.09809999999203992}],"native_actuator_controls":[0.3053822356977875,1.4911297679059934,-1.257026440596066,-0.1887253578718544,0.9292343234206988,0.38031130185296735,0.035],"actuator_force_native":[0.008696049676419904,-0.004253928613238145,0.03508985745529003,-0.0016009091147282106,-0.03606871695722269,0.03189145206602273,9.045646509608929e-07],"issued_joint_targets_rad":[0.30538300037878485,1.4911296782428514,-1.2570255828028016,-0.18872690579565565,0.9292333837576243,0.38031322424464065],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.179999999999236,"joint_targets_rad":[0.30538300037878485,1.4911296782428514,-1.2570255828028016,-0.18872690579565565,0.9292333837576243,0.38031322424464065],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.19999999999926,"qpos":[0.3052624186649809,1.4911886220406305,-1.2574901390100683,-0.18866187438703697,0.9334451598404158,0.3764872806175286,0.034999974609205266,-0.03500000176160879,0.355128195701377,0.0786980164849179,0.0798922445797837,0.9959435657949389,-1.6682572274951613e-11,-4.009639150730526e-12,0.08998007419235529],"qvel":[0.0002504347709134371,-0.00012693903694205403,0.0005735302394096414,-0.00021337577552328022,-0.004540098201543138,0.0047569064900756745,2.6754920933989308e-08,-5.707675759698382e-09,1.504347224429689e-11,-4.450250346518339e-11,3.0115485893677833e-15,-1.4893163002922738e-09,-2.1865501939982025e-10,-1.0716566852268007e-10],"joint_position_rad":[0.3052624186649809,1.4911886220406305,-1.2574901390100683,-0.18866187438703697,0.9334451598404158,0.3764872806175286],"joint_velocity_rad_s":[0.0002504347709134371,-0.00012693903694205403,0.0005735302394096414,-0.00021337577552328022,-0.004540098201543138,0.0047569064900756745],"gripper_joint_position_m":[0.034999974609205266,-0.03500000176160879],"tcp_position_m":[0.3498692914169731,0.07835549404400546,0.20973366311776764],"tcp_quaternion_wxyz":[0.2570942531451868,-0.001566352954977189,0.9663843581455005,-0.0011678483840222948],"object_position_m":[0.355128195701377,0.0786980164849179,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657949389,-1.6682572274951613e-11,-4.009639150730526e-12,0.08998007419235529],"object_linear_velocity_m_s":[1.504347224429689e-11,-4.450250346518339e-11,3.0115485893677833e-15],"object_angular_velocity_rad_s":[-1.4260104860055087e-09,-4.820447630950184e-10,-1.0716566852267997e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000366678},{"geom_ids":[1,90],"normal_force_n":0.09810000000492876},{"geom_ids":[1,90],"normal_force_n":0.09809999999633337},{"geom_ids":[1,90],"normal_force_n":0.09809999999507141}],"native_actuator_controls":[0.30538300037878485,1.4911296782428514,-1.2570255828028016,-0.18872690579565565,0.9292333837576243,0.38031322424464065,0.035],"actuator_force_native":[0.008394363249752956,-0.0040808086376245,0.0342968453842758,-0.0015343774671308097,-0.035307613525599635,0.031124076536007017,8.818571848312473e-07],"issued_joint_targets_rad":[0.3053837413200342,1.4911295877561717,-1.2570247471112421,-0.18872840211053224,0.9292324690386495,0.380315086509709],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.19999999999926,"joint_targets_rad":[0.3053837413200342,1.4911295877561717,-1.2570247471112421,-0.18872840211053224,0.9292324690386495,0.380315086509709],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.219999999999285,"qpos":[0.30526733956900165,1.4911861370294752,-1.2574788022020338,-0.1886660638250309,0.9333553641247242,0.3765812178412745,0.03499997524367001,-0.03500000161370736,0.3551281957015636,0.07869801648436595,0.0798922445797837,0.9959435657949754,-1.6721929360330658e-11,-4.019105691991844e-12,0.08998007419195043],"qvel":[0.00024176495235460696,-0.00012178110619547753,0.0005605714743741356,-0.00020452521847758205,-0.004444281049662449,0.004642420968130736,2.610257807083058e-08,-5.713688245111894e-09,6.7759964965164215e-12,-2.0045174545603806e-11,3.0184874832716897e-15,6.35587202830018e-10,9.33132630530022e-11,-1.1610528691638746e-11],"joint_position_rad":[0.30526733956900165,1.4911861370294752,-1.2574788022020338,-0.1886660638250309,0.9333553641247242,0.3765812178412745],"joint_velocity_rad_s":[0.00024176495235460696,-0.00012178110619547753,0.0005605714743741356,-0.00020452521847758205,-0.004444281049662449,0.004642420968130736],"gripper_joint_position_m":[0.03499997524367001,-0.03500000161370736],"tcp_position_m":[0.34988206005583694,0.07836284533821646,0.20973943172286427],"tcp_quaternion_wxyz":[0.25713115119340635,-0.0015287839792078241,0.9663746319159284,-0.0011422323984042412],"object_position_m":[0.3551281957015636,0.07869801648436595,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657949754,-1.6721929360330658e-11,-4.019105691991844e-12,0.08998007419195043],"object_linear_velocity_m_s":[6.7759964965164215e-12,-2.0045174545603806e-11,3.0184874832716897e-15],"object_angular_velocity_rad_s":[6.085706985818548e-10,2.0571864837801684e-10,-1.1610528691638728e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000121416},{"geom_ids":[1,90],"normal_force_n":0.09810000000163188},{"geom_ids":[1,90],"normal_force_n":0.09809999999878587},{"geom_ids":[1,90],"normal_force_n":0.09809999999836799}],"native_actuator_controls":[0.3053837413200342,1.4911295877561717,-1.2570247471112421,-0.18872840211053224,0.9292324690386495,0.380315086509709,0.035],"actuator_force_native":[0.008103315320834525,-0.003915036333296484,0.03352154989146072,-0.0014709053276655837,-0.03456252928625325,0.030375055232148895,8.597403093890676e-07],"issued_joint_targets_rad":[0.30538445932422126,1.4911294965861148,-1.2570239328959234,-0.18872984871505208,0.9292315785291139,0.3803168907250545],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.219999999999285,"joint_targets_rad":[0.30538445932422126,1.4911294965861148,-1.2570239328959234,-0.18872984871505208,0.9292315785291139,0.3803168907250545],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.23999999999931,"qpos":[0.30527209018462437,1.491183752868056,-1.2574677215891974,-0.1886700800410241,0.9332674635849602,0.37667289405098403,0.034999975861931126,-0.0350000014745725,0.35512819570175413,0.07869801648380208,0.0798922445797837,0.9959435657950223,-1.7642040228405003e-11,-4.2402745576189464e-12,0.08998007419143231],"qvel":[0.0002334004685376686,-0.00011684198546830711,0.0005479020606518033,-0.00019608120059797396,-0.004350481196618529,0.004530675011270388,2.5464826810356607e-08,-5.710950605714435e-09,7.348642598977069e-12,-2.1739138068680135e-11,2.9532618805749623e-15,5.017247998213325e-10,7.366038311223657e-11,-2.1197946127197374e-11],"joint_position_rad":[0.30527209018462437,1.491183752868056,-1.2574677215891974,-0.1886700800410241,0.9332674635849602,0.37667289405098403],"joint_velocity_rad_s":[0.0002334004685376686,-0.00011684198546830711,0.0005479020606518033,-0.00019608120059797396,-0.004350481196618529,0.004530675011270388],"gripper_joint_position_m":[0.034999975861931126,-0.0350000014745725],"tcp_position_m":[0.34989456621657783,0.07837003413666682,0.20974506582241922],"tcp_quaternion_wxyz":[0.2571672413425536,-0.0014920963203401394,0.9663651150423279,-0.0011171651892303304],"object_position_m":[0.35512819570175413,0.07869801648380208,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657950223,-1.7642040228405003e-11,-4.2402745576189464e-12,0.08998007419143231],"object_linear_velocity_m_s":[7.348642598977069e-12,-2.1739138068680135e-11,2.9532618805749623e-15],"object_angular_velocity_rad_s":[4.803982950312483e-10,1.6239182530862533e-10,-2.1197946127197335e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000268733},{"geom_ids":[1,90],"normal_force_n":0.09810000000361233},{"geom_ids":[1,90],"normal_force_n":0.0980999999973127},{"geom_ids":[1,90],"normal_force_n":0.09809999999638784}],"native_actuator_controls":[0.30538445932422126,1.4911294965861148,-1.2570239328959234,-0.18872984871505208,0.9292315785291139,0.3803168907250545,0.035],"actuator_force_native":[0.007822528825062847,-0.003756292627954849,0.03276358515866207,-0.001410340958129197,-0.033833128763534503,0.02964395422379873,8.38198620956021e-07],"issued_joint_targets_rad":[0.305385155164563,1.4911294048640868,-1.2570231395508469,-0.18873124743160824,0.9292307115181018,0.3803186388884131],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.23999999999931,"joint_targets_rad":[0.305385155164563,1.4911294048640868,-1.2570231395508469,-0.18873124743160824,0.9292307115181018,0.3803186388884131],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.259999999999334,"qpos":[0.3052766765082638,1.4911814652810618,-1.2574568914489723,-0.18867393097114712,0.9331814183179328,0.3767623633606921,0.034999976464389806,-0.035000001343715885,0.35512819570195137,0.07869801648321866,0.0798922445797837,0.9959435657950819,-1.9216228325997146e-11,-4.618650447449497e-12,0.0899800741907756],"qvel":[0.00022533050448442804,-0.00011211217347902024,0.0005355157049764371,-0.00018802357042498576,-0.004258656372069957,0.004421603783776928,2.4841465061330803e-08,-5.700205345499138e-09,8.364042294079656e-12,-2.474287149499007e-11,3.169755370376869e-15,3.1723364419252645e-10,4.6574314731244214e-11,-3.870203946218682e-11],"joint_position_rad":[0.3052766765082638,1.4911814652810618,-1.2574568914489723,-0.18867393097114712,0.9331814183179328,0.3767623633606921],"joint_velocity_rad_s":[0.00022533050448442804,-0.00011211217347902024,0.0005355157049764371,-0.00018802357042498576,-0.004258656372069957,0.004421603783776928],"gripper_joint_position_m":[0.034999976464389806,-0.035000001343715885],"tcp_position_m":[0.34990681526525713,0.0783770639367068,0.2097505689822841],"tcp_quaternion_wxyz":[0.25720254216836647,-0.0014562701424645985,0.9663558028626487,-0.0010926358439936512],"object_position_m":[0.35512819570195137,0.07869801648321866,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657950819,-1.9216228325997146e-11,-4.618650447449497e-12,0.0899800741907756],"object_linear_velocity_m_s":[8.364042294079656e-12,-2.474287149499007e-11,3.169755370376869e-15],"object_angular_velocity_rad_s":[3.0374921301154236e-10,1.0267797911540791e-10,-3.870203946218678e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000460366},{"geom_ids":[1,90],"normal_force_n":0.09810000000618804},{"geom_ids":[1,90],"normal_force_n":0.09809999999539656},{"geom_ids":[1,90],"normal_force_n":0.0980999999938121}],"native_actuator_controls":[0.305385155164563,1.4911294048640868,-1.2570231395508469,-0.18873124743160824,0.9292307115181018,0.3803186388884131,0.035],"actuator_force_native":[0.007551639981514313,-0.0036042724905911427,0.03202257332516467,-0.0013525405663195045,-0.03311908344020509,0.02893034960154539,8.17217082671462e-07],"issued_joint_targets_rad":[0.30538582958596805,1.4911293127132186,-1.2570223664888385,-0.18873260000969533,0.9292298673176403,0.3803203329216639],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.259999999999334,"joint_targets_rad":[0.30538582958596805,1.4911293127132186,-1.2570223664888385,-0.18873260000969533,0.9292298673176403,0.3803203329216639],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.279999999999358,"qpos":[0.3052811043239139,1.4911792701787523,-1.2574463061833303,-0.18867762415893097,0.9330971892566956,0.3768496786033087,0.034999977051439105,-0.03500000122067637,0.3551281957021465,0.07869801648264098,0.0798922445797837,0.9959435657951471,-1.992198652365187e-11,-4.788289975262534e-12,0.08998007419005544],"qvel":[0.00021754462615005248,-0.00010758258707993779,0.0005234062434810173,-0.00018033323147171023,-0.004168765183307122,0.004315143950831007,2.4232282680906607e-08,-5.682144417441281e-09,9.676004298389145e-12,-2.8623913661919517e-11,3.2891043455240736e-15,-6.4036403554721695e-12,-9.408918024868594e-13,-7.065983546738445e-11],"joint_position_rad":[0.3052811043239139,1.4911792701787523,-1.2574463061833303,-0.18867762415893097,0.9330971892566956,0.3768496786033087],"joint_velocity_rad_s":[0.00021754462615005248,-0.00010758258707993779,0.0005234062434810173,-0.00018033323147171023,-0.004168765183307122,0.004315143950831007],"gripper_joint_position_m":[0.034999977051439105,-0.03500000122067637],"tcp_position_m":[0.3499188124571576,0.07838393817146386,0.2097559446562322],"tcp_quaternion_wxyz":[0.25723707177796495,-0.0014212860173887126,0.9663466908265129,-0.0010686336146049408],"object_position_m":[0.3551281957021465,0.07869801648264098,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657951471,-1.992198652365187e-11,-4.788289975262534e-12,0.08998007419005544],"object_linear_velocity_m_s":[9.676004298389145e-12,-2.8623913661919517e-11,3.2891043455240736e-15],"object_angular_velocity_rad_s":[-6.131311130219574e-12,-2.0733815400616607e-12,-7.065983546738445e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000596093},{"geom_ids":[1,90],"normal_force_n":0.09810000000801253},{"geom_ids":[1,90],"normal_force_n":0.09809999999403943},{"geom_ids":[1,90],"normal_force_n":0.09809999999198803}],"native_actuator_controls":[0.30538582958596805,1.4911293127132186,-1.2570223664888385,-0.18873260000969533,0.9292298673176403,0.3803203329216639,0.035],"actuator_force_native":[0.00729029783358115,-0.0034586843072901274,0.03129814434193179,-0.0012973678732164373,-0.03242007161559002,0.0282338272573055,7.967810227160754e-07],"issued_joint_targets_rad":[0.3053864833061393,1.4911292202488138,-1.2570216131409264,-0.18873390812903826,0.929229045261925,0.3803219746739699],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.279999999999358,"joint_targets_rad":[0.3053864833061393,1.4911292202488138,-1.2570216131409264,-0.18873390812903826,0.929229045261925,0.3803219746739699],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.299999999999383,"qpos":[0.3052853792106327,1.4911771636487925,-1.257435960316234,-0.18868116677583002,0.9330147381531788,0.37693489136029673,0.034999977623463865,-0.03500000110501845,0.35512819570233667,0.07869801648207829,0.0798922445797837,0.9959435657952153,-1.9585373517981816e-11,-4.707397286607342e-12,0.08998007418930111],"qvel":[0.0002100327672333003,-0.00010324454266893013,0.000511567639349012,-0.0001729920847737243,-0.0040807670973347305,0.004211233645377366,2.3637064224726443e-08,-5.657412605434834e-09,1.1557025570919141e-11,-3.418830690865214e-11,3.493107826298946e-15,-5.25327392674758e-10,-7.712958002128049e-11,-1.2900672057606664e-10],"joint_position_rad":[0.3052853792106327,1.4911771636487925,-1.257435960316234,-0.18868116677583002,0.9330147381531788,0.37693489136029673],"joint_velocity_rad_s":[0.0002100327672333003,-0.00010324454266893013,0.000511567639349012,-0.0001729920847737243,-0.0040807670973347305,0.004211233645377366],"gripper_joint_position_m":[0.034999977623463865,-0.03500000110501845],"tcp_position_m":[0.3499305629392419,0.07839066021012739,0.2097611961901116],"tcp_quaternion_wxyz":[0.2572708478235563,-0.001387124918220085,0.9663377744921486,-0.001045147918397604],"object_position_m":[0.35512819570233667,0.07869801648207829,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657952153,-1.9585373517981816e-11,-4.707397286607342e-12,0.08998007418930111],"object_linear_velocity_m_s":[1.1557025570919141e-11,-3.418830690865214e-11,3.493107826298946e-15],"object_angular_velocity_rad_s":[-5.029969104798779e-10,-1.700351424159619e-10,-1.2900672057606662e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000640823},{"geom_ids":[1,90],"normal_force_n":0.09810000000861367},{"geom_ids":[1,90],"normal_force_n":0.0980999999935918},{"geom_ids":[1,90],"normal_force_n":0.09809999999138634}],"native_actuator_controls":[0.3053864833061393,1.4911292202488138,-1.2570216131409264,-0.18873390812903826,0.929229045261925,0.3803219746739699,0.035],"actuator_force_native":[0.007038163804363506,-0.003319249284956527,0.03058993582784808,-0.0012446937044607864,-0.031735778266535064,0.027553982668665267,7.768761245419142e-07],"issued_joint_targets_rad":[0.3053871170166409,1.4911291275787755,-1.257020878955738,-0.18873517340257673,0.929228244706569,0.3803235659247777],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.299999999999383,"joint_targets_rad":[0.3053871170166409,1.4911291275787755,-1.257020878955738,-0.18873517340257673,0.929228244706569,0.3803235659247777],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.319999999999407,"qpos":[0.3052895065497674,1.4911751419484531,-1.2574258484911205,-0.1886845656406273,0.9329340275611786,0.3770180519906944,0.034999978180840906,-0.03500000099633091,0.35512819570251725,0.07869801648154388,0.0798922445797837,0.9959435657952803,-1.791244922748199e-11,-4.30531431526837e-12,0.0899800741885801],"qvel":[0.0002027852164414714,-9.908973843753626e-05,0.0004999939804986479,-0.0001659829746567192,-0.003994622423310199,0.00410981243563793,2.305558802631915e-08,-5.6266092771980725e-09,1.4555014322537192e-11,-4.3056958224598516e-11,3.4306577811637805e-15,-1.306719669540024e-09,-1.9185282920349443e-10,-2.3553462759551403e-10],"joint_position_rad":[0.3052895065497674,1.4911751419484531,-1.2574258484911205,-0.1886845656406273,0.9329340275611786,0.3770180519906944],"joint_velocity_rad_s":[0.0002027852164414714,-9.908973843753626e-05,0.0004999939804986479,-0.0001659829746567192,-0.003994622423310199,0.00410981243563793],"gripper_joint_position_m":[0.034999978180840906,-0.03500000099633091],"tcp_position_m":[0.34994207175254044,0.07839723335831081,0.20976632682582308],"tcp_quaternion_wxyz":[0.25730388751565486,-0.0013537682129394126,0.966329049523424,-0.001022168338835037],"object_position_m":[0.35512819570251725,0.07869801648154388,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657952803,-1.791244922748199e-11,-4.30531431526837e-12,0.0899800741885801],"object_linear_velocity_m_s":[1.4555014322537192e-11,-4.3056958224598516e-11,3.4306577811637805e-15],"object_angular_velocity_rad_s":[-1.2511743716190158e-09,-4.22949754273409e-10,-2.35534627595514e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000048052},{"geom_ids":[1,90],"normal_force_n":0.09810000000645917},{"geom_ids":[1,90],"normal_force_n":0.09809999999519456},{"geom_ids":[1,90],"normal_force_n":0.09809999999354067}],"native_actuator_controls":[0.3053871170166409,1.4911291275787755,-1.257020878955738,-0.18873517340257673,0.929228244706569,0.3803235659247777,0.035],"actuator_force_native":[0.006794911267672177,-0.0031857008820281862,0.029897592928108452,-0.0011943956046938098,-0.031065894911131764,0.026890420687375904,7.574884237637747e-07],"issued_joint_targets_rad":[0.30538773138391573,1.4911290348040147,-1.2570201633989238,-0.18873639737931366,0.9292274650278758,0.3803251083866851],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.319999999999407,"joint_targets_rad":[0.30538773138391573,1.4911290348040147,-1.2570201633989238,-0.18873639737931366,0.9292274650278758,0.3803251083866851],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.33999999999943,"qpos":[0.3052934915319311,1.4911732014971544,-1.2574159654684294,-0.18868782723778776,0.9328550208196904,0.3770992096594929,0.034999978723938896,-0.035000000894225315,0.3551281957027034,0.07869801648099381,0.0798922445797837,0.9959435657953605,-1.7037052406224177e-11,-4.0949162808933104e-12,0.08998007418769027],"qvel":[0.0001957926051745544,-9.511023740409171e-05,0.0004886794772900353,-0.00015928963753372228,-0.003910292295332225,0.0040108212932697136,2.2487628592312607e-08,-5.590291993507732e-09,6.878435041861835e-12,-2.0347948018786804e-11,3.203062061115623e-15,6.794239844992987e-10,9.975219349267572e-11,-2.5518243217328823e-11],"joint_position_rad":[0.3052934915319311,1.4911732014971544,-1.2574159654684294,-0.18868782723778776,0.9328550208196904,0.3770992096594929],"joint_velocity_rad_s":[0.0001957926051745544,-9.511023740409171e-05,0.0004886794772900353,-0.00015928963753372228,-0.003910292295332225,0.0040108212932697136],"gripper_joint_position_m":[0.034999978723938896,-0.035000000894225315],"tcp_position_m":[0.34995334383447807,0.07840366085848442,0.20977133970513387],"tcp_quaternion_wxyz":[0.2573362076358469,-0.001321197657970617,0.9663205116869857,-0.0009996846259396294],"object_position_m":[0.3551281957027034,0.07869801648099381,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657953605,-1.7037052406224177e-11,-4.0949162808933104e-12,0.08998007418769027],"object_linear_velocity_m_s":[6.878435041861835e-12,-2.0347948018786804e-11,3.203062061115623e-15],"object_angular_velocity_rad_s":[6.50543588328647e-10,2.1991018735836473e-10,-2.5518243217328817e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000093896},{"geom_ids":[1,90],"normal_force_n":0.09810000000126211},{"geom_ids":[1,90],"normal_force_n":0.09809999999906091},{"geom_ids":[1,90],"normal_force_n":0.09809999999873789}],"native_actuator_controls":[0.30538773138391573,1.4911290348040147,-1.2570201633989238,-0.18873639737931366,0.9292274650278758,0.3803251083866851,0.035],"actuator_force_native":[0.00656022513290111,-0.0030577842641577035,0.029220768174013756,-0.0011463574733676651,-0.0304101194751496,0.026242755332017254,7.386043012758137e-07],"issued_joint_targets_rad":[0.3053883270502632,1.4911289420188225,-1.2570194659525866,-0.1887375815470418,0.9292267056221393,0.38032660370818455],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.33999999999943,"joint_targets_rad":[0.3053883270502632,1.4911289420188225,-1.2570194659525866,-0.1887375815470418,0.9292267056221393,0.38032660370818455],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.359999999999456,"qpos":[0.30529733916373436,1.4911713388693422,-1.2574063061231753,-0.1886909577348154,0.9327776820365885,0.3771784123653855,0.034999979253118506,-0.035000000798334825,0.35512819570290216,0.0786980164804057,0.0798922445797837,0.9959435657954763,-1.8082462000131522e-11,-4.346174303175755e-12,0.08998007418640724],"qvel":[0.00018904589562670286,-9.129845123267902e-05,0.0004776184602755944,-0.00015289665358504296,-0.003827738655571189,0.003914202562157536,2.1932956572326247e-08,-5.548979748084098e-09,7.456919065200692e-12,-2.205926957870033e-11,3.055957510352789e-15,5.614882689189322e-10,8.243713053464622e-11,-4.658969642315897e-11],"joint_position_rad":[0.30529733916373436,1.4911713388693422,-1.2574063061231753,-0.1886909577348154,0.9327776820365885,0.3771784123653855],"joint_velocity_rad_s":[0.00018904589562670286,-9.129845123267902e-05,0.0004776184602755944,-0.00015289665358504296,-0.003827738655571189,0.003914202562157536],"gripper_joint_position_m":[0.034999979253118506,-0.035000000798334825],"tcp_position_m":[0.34996438402113195,0.07840994589046558,0.20977623787333288],"tcp_quaternion_wxyz":[0.25736782454910834,-0.0012893953917499877,0.9663121568494867,-0.000977686696472263],"object_position_m":[0.35512819570290216,0.0786980164804057,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657954763,-1.8082462000131522e-11,-4.346174303175755e-12,0.08998007418640724],"object_linear_velocity_m_s":[7.456919065200692e-12,-2.205926957870033e-11,3.055957510352789e-15],"object_angular_velocity_rad_s":[5.376209668113693e-10,1.8173786801097255e-10,-4.6589696423158967e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000241195},{"geom_ids":[1,90],"normal_force_n":0.09810000000324202},{"geom_ids":[1,90],"normal_force_n":0.09809999999758794},{"geom_ids":[1,90],"normal_force_n":0.09809999999675785}],"native_actuator_controls":[0.3053883270502632,1.4911289420188225,-1.2570194659525866,-0.1887375815470418,0.9292267056221393,0.38032660370818455,0.035],"actuator_force_native":[0.006333801444171172,-0.0029352557854025463,0.02855912134572236,-0.0011004692211304956,-0.02976815616113626,0.025610609584753696,7.202104770342999e-07],"issued_joint_targets_rad":[0.3053889046347783,1.4911288493112393,-1.2570187861147422,-0.18873872733493954,0.9292259659049598,0.3803280534762801],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.359999999999456,"joint_targets_rad":[0.3053889046347783,1.4911288493112393,-1.2570187861147422,-0.18873872733493954,0.9292259659049598,0.3803280534762801],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.37999999999948,"qpos":[0.30530105427428617,1.4911695507876823,-1.2573968654425667,-0.18869396299867147,0.9327019760726336,0.3772557069678969,0.034999979768732474,-0.03500000070831291,0.35512819570309595,0.07869801647983242,0.0798922445797837,0.9959435657956068,-1.8804844182548357e-11,-4.519819544900585e-12,0.08998007418496383],"qvel":[0.00018253636928876075,-8.764712475360855e-05,0.0004668053779712481,-0.0001467894011170482,-0.0037469242377385927,0.003819899927827271,2.1391339895773048e-08,-5.503154660242377e-09,8.188050619573364e-12,-2.422204646768507e-11,3.1253464493918605e-15,3.555437853357867e-10,5.219962760518696e-11,-8.506110839649294e-11],"joint_position_rad":[0.30530105427428617,1.4911695507876823,-1.2573968654425667,-0.18869396299867147,0.9327019760726336,0.3772557069678969],"joint_velocity_rad_s":[0.00018253636928876075,-8.764712475360855e-05,0.0004668053779712481,-0.0001467894011170482,-0.0037469242377385927,0.003819899927827271],"gripper_joint_position_m":[0.034999979768732474,-0.03500000070831291],"tcp_position_m":[0.3499751970494336,0.07841609157196867,0.2097810242827342],"tcp_quaternion_wxyz":[0.25739875421570213,-0.0012583439283131042,0.9663039809749081,-0.0009561646338759199],"object_position_m":[0.35512819570309595,0.07869801647983242,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657956068,-1.8804844182548357e-11,-4.519819544900585e-12,0.08998007418496383],"object_linear_velocity_m_s":[8.188050619573364e-12,-2.422204646768507e-11,3.1253464493918605e-15],"object_angular_velocity_rad_s":[3.4043077896880035e-10,1.1507853467834887e-10,-8.506110839649288e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000398054},{"geom_ids":[1,90],"normal_force_n":0.09810000000535057},{"geom_ids":[1,90],"normal_force_n":0.09809999999601958},{"geom_ids":[1,90],"normal_force_n":0.09809999999464951}],"native_actuator_controls":[0.3053889046347783,1.4911288493112393,-1.2570187861147422,-0.18873872733493954,0.9292259659049598,0.3803280534762801,0.035],"actuator_force_native":[0.006115346992928039,-0.0028178824916693657,0.02791231933611016,-0.0010566264451377094,-0.029139715320130932,0.024993615192090868,7.022940016199186e-07],"issued_joint_targets_rad":[0.3053894647342512,1.4911287567633913,-1.2570181233987883,-0.1887398361160548,0.9292252453105878,0.3803294592189959],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.37999999999948,"joint_targets_rad":[0.3053894647342512,1.4911287567633913,-1.2570181233987883,-0.1887398361160548,0.9292252453105878,0.3803294592189959],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.399999999999505,"qpos":[0.30530464152146564,1.4911678341165524,-1.2573876385236675,-0.1886968486113058,0.9326278685258113,0.3773311392139086,0.03499998027112568,-0.035000000623832246,0.35512819570328386,0.0786980164792766,0.0798922445797837,0.99594356579575,-1.9023253500902373e-11,-4.572349814751333e-12,0.08998007418338101],"qvel":[0.00017625561583815944,-8.414932119753009e-05,0.00045623479466382386,-0.00014095401347548255,-0.003667812550883796,0.0037278583874809897,2.086254388199667e-08,-5.453265358201882e-09,9.235005739992647e-12,-2.7318995412965992e-11,3.1614286976921784e-15,2.6826180464557322e-11,3.935592471986508e-12,-1.5530021144569853e-10],"joint_position_rad":[0.30530464152146564,1.4911678341165524,-1.2573876385236675,-0.1886968486113058,0.9326278685258113,0.3773311392139086],"joint_velocity_rad_s":[0.00017625561583815944,-8.414932119753009e-05,0.00045623479466382386,-0.00014095401347548255,-0.003667812550883796,0.0037278583874809897],"gripper_joint_position_m":[0.03499998027112568,-0.035000000623832246],"tcp_position_m":[0.3499857875593097,0.07842210095920323,0.20978570179603673],"tcp_quaternion_wxyz":[0.2574290122026692,-0.0012280261508951962,0.9662959801219667,-0.0009351086880046817],"object_position_m":[0.35512819570328386,0.0786980164792766,0.0798922445797837],"object_quaternion_wxyz":[0.99594356579575,-1.9023253500902373e-11,-4.572349814751333e-12,0.08998007418338101],"object_linear_velocity_m_s":[9.235005739992647e-12,-2.7318995412965992e-11,3.1614286976921784e-15],"object_angular_velocity_rad_s":[2.5686411917319486e-11,8.679924494854684e-12,-1.5530021144569845e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000532687},{"geom_ids":[1,90],"normal_force_n":0.09810000000716021},{"geom_ids":[1,90],"normal_force_n":0.0980999999946735},{"geom_ids":[1,90],"normal_force_n":0.09809999999284015}],"native_actuator_controls":[0.3053894647342512,1.4911287567633913,-1.2570181233987883,-0.1887398361160548,0.9292252453105878,0.3803294592189959,0.035],"actuator_force_native":[0.005904578943653149,-0.0027054416469098896,0.027280036017018006,-0.0010147301225815752,-0.028524513325908885,0.024391412469651375,6.848422537952814e-07],"issued_joint_targets_rad":[0.3053900079240287,1.4911286644518147,-1.2570174773329996,-0.18874090920967418,0.9292245432912921,0.3803308224077669],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.399999999999505,"joint_targets_rad":[0.3053900079240287,1.4911286644518147,-1.2570174773329996,-0.18874090920967418,0.9292245432912921,0.3803308224077669],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.41999999999953,"qpos":[0.3053081053979777,1.4911661858558272,-1.257378620571103,-0.18869961988435052,0.9325553257159903,0.37740475376358923,0.0349999807606352,-0.03500000054458363,0.3551281957034643,0.07869801647874296,0.0798922445797837,0.9959435657958996,-1.84773137813818e-11,-4.44116782858101e-12,0.08998007418172316],"qvel":[0.00017019552240183129,-8.079840807858681e-05,0.000445901388244238,-0.00013537733835115992,-0.0035903678635098467,0.003638024220632562,2.0346332338934502e-08,-5.399728207691239e-09,1.0882992441895287e-11,-3.219378500862766e-11,3.225266521608125e-15,-4.727823648969747e-10,-6.942104158086542e-11,-2.835391638335996e-10],"joint_position_rad":[0.3053081053979777,1.4911661858558272,-1.257378620571103,-0.18869961988435052,0.9325553257159903,0.37740475376358923],"joint_velocity_rad_s":[0.00017019552240183129,-8.079840807858681e-05,0.000445901388244238,-0.00013537733835115992,-0.0035903678635098467,0.003638024220632562],"gripper_joint_position_m":[0.0349999807606352,-0.03500000054458363],"tcp_position_m":[0.34999616009576756,0.07842797704751743,0.20979027318954518],"tcp_quaternion_wxyz":[0.2574586136949261,-0.0011984253055586204,0.9662881504416063,-0.0009145092746553373],"object_position_m":[0.3551281957034643,0.07869801647874296,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657958996,-1.84773137813818e-11,-4.44116782858101e-12,0.08998007418172316],"object_linear_velocity_m_s":[1.0882992441895287e-11,-3.219378500862766e-11,3.225266521608125e-15],"object_angular_velocity_rad_s":[-4.526843377889686e-10,-1.5303377369819843e-10,-2.8353916383359933e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000583785},{"geom_ids":[1,90],"normal_force_n":0.09810000000784724},{"geom_ids":[1,90],"normal_force_n":0.09809999999416194},{"geom_ids":[1,90],"normal_force_n":0.09809999999215273}],"native_actuator_controls":[0.3053900079240287,1.4911286644518147,-1.2570174773329996,-0.18874090920967418,0.9292245432912921,0.3803308224077669,0.035],"actuator_force_native":[0.005701224472069555,-0.002597720280618887,0.026661952107062348,-0.0009746863211903545,-0.0279222724517183,0.023803650110827856,6.678429302908739e-07],"issued_joint_targets_rad":[0.3053905347588434,1.491128572447763,-1.257016847460034,-0.1887419478835916,0.9292238593167411,0.38033214445973096],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.41999999999953,"joint_targets_rad":[0.3053905347588434,1.491128572447763,-1.257016847460034,-0.1887419478835916,0.9292238593167411,0.38033214445973096],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.439999999999554,"qpos":[0.3053114502371963,1.491164603134934,-1.2573698068948103,-0.18870228187302324,0.9324843146698948,0.3774765942157451,0.0349999812375904,-0.03500000047027496,0.3551281957036439,0.07869801647821185,0.0798922445797837,0.99594356579607,-1.796089375218124e-11,-4.31707027076899e-12,0.08998007417983571],"qvel":[0.000164348263186146,-7.758804371460346e-05,0.00043579994807260405,-0.00013004689936304433,-0.003514555188013391,0.0035503449603457907,1.9842468017508568e-08,-5.342929380209171e-09,1.3691457777978521e-11,-4.050158653907304e-11,3.15310202500749e-15,-1.1968466945511206e-09,-1.757302935781627e-10,-5.176708378183004e-10],"joint_position_rad":[0.3053114502371963,1.491164603134934,-1.2573698068948103,-0.18870228187302324,0.9324843146698948,0.3774765942157451],"joint_velocity_rad_s":[0.000164348263186146,-7.758804371460346e-05,0.00043579994807260405,-0.00013004689936304433,-0.003514555188013391,0.0035503449603457907],"gripper_joint_position_m":[0.0349999812375904,-0.03500000047027496],"tcp_position_m":[0.35000631911092767,0.07843372277208116,0.20979474115626118],"tcp_quaternion_wxyz":[0.2574875735059937,-0.001169524994852123,0.9662804881745689,-0.000894356974918776],"object_position_m":[0.3551281957036439,0.07869801647821185,0.0798922445797837],"object_quaternion_wxyz":[0.99594356579607,-1.796089375218124e-11,-4.31707027076899e-12,0.08998007417983571],"object_linear_velocity_m_s":[1.3691457777978521e-11,-4.050158653907304e-11,3.15310202500749e-15],"object_angular_velocity_rad_s":[-1.1459701952734426e-09,-3.873957380818191e-10,-5.176708378183e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000590327},{"geom_ids":[1,90],"normal_force_n":0.09810000000793515},{"geom_ids":[1,90],"normal_force_n":0.09809999999409647},{"geom_ids":[1,90],"normal_force_n":0.09809999999206445}],"native_actuator_controls":[0.3053905347588434,1.491128572447763,-1.257016847460034,-0.1887419478835916,0.9292238593167411,0.38033214445973096,0.035],"actuator_force_native":[0.0055050204158391125,-0.0024945147550994307,0.0260577550417338,-0.0009364059259198143,-0.027332720749516426,0.023229984999339592,6.512840440286993e-07],"issued_joint_targets_rad":[0.30539104577360826,1.491128480817494,-1.2570162333364572,-0.18874295335627087,0.9292231928734123,0.38033342673992243],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.439999999999554,"joint_targets_rad":[0.30539104577360826,1.491128480817494,-1.2570162333364572,-0.18874295335627087,0.9292231928734123,0.38033342673992243],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.459999999999578,"qpos":[0.30531468021880503,1.4911630832071758,-1.2573611929078266,-0.1887048393892831,0.9324148031063852,0.37754670313260114,0.034999981702313075,-0.035000000400630296,0.3551281957038225,0.07869801647768333,0.0798922445797837,0.9959435657962464,-1.673049523073273e-11,-4.021344671557855e-12,0.08998007417788002],"qvel":[0.00015870628945614508,-7.451216435290911e-05,0.0004259253728769588,-0.0001249508597612908,-0.0034403402654304095,0.003464769365064555,1.935071338420949e-08,-5.283227032629385e-09,6.710896676846135e-12,-1.985193595319277e-11,2.8991385081244847e-15,6.798789140843343e-10,9.982294861303113e-11,-5.608543287911194e-11],"joint_position_rad":[0.30531468021880503,1.4911630832071758,-1.2573611929078266,-0.1887048393892831,0.9324148031063852,0.37754670313260114],"joint_velocity_rad_s":[0.00015870628945614508,-7.451216435290911e-05,0.0004259253728769588,-0.0001249508597612908,-0.0034403402654304095,0.003464769365064555],"gripper_joint_position_m":[0.034999981702313075,-0.035000000400630296],"tcp_position_m":[0.35001626896600335,0.07843934100860467,0.20979910830884704],"tcp_quaternion_wxyz":[0.2575159060883639,-0.0011413091715028196,0.9662729896490436,-0.000874642534365613],"object_position_m":[0.3551281957038225,0.07869801647768333,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657962464,-1.673049523073273e-11,-4.021344671557855e-12,0.08998007417788002],"object_linear_velocity_m_s":[6.710896676846135e-12,-1.985193595319277e-11,2.8991385081244847e-15],"object_angular_velocity_rad_s":[6.509784698710861e-10,2.2006133383807332e-10,-5.608543287911187e-11],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000089261},{"geom_ids":[1,90],"normal_force_n":0.09810000000119977},{"geom_ids":[1,90],"normal_force_n":0.0980999999991071},{"geom_ids":[1,90],"normal_force_n":0.0980999999987999}],"native_actuator_controls":[0.30539104577360826,1.491128480817494,-1.2570162333364572,-0.18874295335627087,0.9292231928734123,0.38033342673992243,0.035],"actuator_force_native":[0.005315712936976524,-0.0023956303527796763,0.025467138845158388,-0.000899804380704694,-0.026755591931586054,0.022670082025615823,6.35153910133468e-07],"issued_joint_targets_rad":[0.3053915414841778,1.4911283896225451,-1.2570156345322796,-0.18874392679891136,0.9292225434640186,0.3803346705633608],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.459999999999578,"joint_targets_rad":[0.3053915414841778,1.4911283896225451,-1.2570156345322796,-0.18874392679891136,0.9292225434640186,0.3803346705633608],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.479999999999603,"qpos":[0.3053177993742389,1.491161623444304,-1.257352774124126,-0.18870729701428104,0.932346759422041,0.3776151220640232,0.034999982155117494,-0.035000000335388894,0.35512819570402565,0.07869801647708209,0.0798922445797837,0.9959435657965332,-1.8202242864612546e-11,-4.375111677365484e-12,0.08998007417470559],"qvel":[0.00015326231985653298,-7.156497186821025e-05,0.00041627266868083637,-0.0001200779881435166,-0.0033676895504869873,0.003381247391013542,1.8870830286953814e-08,-5.220954143054054e-09,7.425983986229327e-12,-2.1967212002292323e-11,2.838076241770101e-15,5.970800602469704e-10,8.766638628804947e-11,-1.023976103886699e-10],"joint_position_rad":[0.3053177993742389,1.491161623444304,-1.257352774124126,-0.18870729701428104,0.932346759422041,0.3776151220640232],"joint_velocity_rad_s":[0.00015326231985653298,-7.156497186821025e-05,0.00041627266868083637,-0.0001200779881435166,-0.0033676895504869873,0.003381247391013542],"gripper_joint_position_m":[0.034999982155117494,-0.035000000335388894],"tcp_position_m":[0.3500260139332307,0.07844483457408832,0.20980337718246883],"tcp_quaternion_wxyz":[0.25754362554351984,-0.0011137621321537319,0.9662656512783897,-0.0008553568620804431],"object_position_m":[0.35512819570402565,0.07869801647708209,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657965332,-1.8202242864612546e-11,-4.375111677365484e-12,0.08998007417470559],"object_linear_velocity_m_s":[7.425983986229327e-12,-2.1967212002292323e-11,2.838076241770101e-15],"object_angular_velocity_rad_s":[5.71699186104331e-10,1.9326156947767993e-10,-1.0239761038866976e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000227527},{"geom_ids":[1,90],"normal_force_n":0.09810000000305845},{"geom_ids":[1,90],"normal_force_n":0.09809999999772455},{"geom_ids":[1,90],"normal_force_n":0.09809999999694137}],"native_actuator_controls":[0.3053915414841778,1.4911283896225451,-1.2570156345322796,-0.18874392679891136,0.9292225434640186,0.3803346705633608,0.035],"actuator_force_native":[0.005133057195827462,-0.0023008808813642645,0.024889804004288862,-0.0008648014444956331,-0.026190625254495004,0.022123613906855688,6.194411490412222e-07],"issued_joint_targets_rad":[0.30539202238807955,1.4911282989199914,-1.2570150506305162,-0.18874486933742737,0.9292219106069528,0.38033587719706197],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.479999999999603,"joint_targets_rad":[0.30539202238807955,1.4911282989199914,-1.2570150506305162,-0.18874486933742737,0.9292219106069528,0.38033587719706197],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.499999999999627,"qpos":[0.3053208115919377,1.49116022133133,-1.257344546156492,-0.18870965911014417,0.9322801526770397,0.3776818915711959,0.03499998259631056,-0.035000000274304395,0.355128195704226,0.0786980164764895,0.0798922445797837,0.9959435657968574,-1.921916387807988e-11,-4.619541635016503e-12,0.08998007417111821],"qvel":[0.0001480093310600952,-6.874092201310666e-05,0.00040683694676018093,-0.00011541762608140534,-0.0032965701969524547,0.0032997301651809564,1.840258143105642e-08,-5.156418667216169e-09,8.210794949476034e-12,-2.428879005904873e-11,2.8228106751815055e-15,4.209099230065667e-10,6.180074209514611e-11,-1.86952774105222e-10],"joint_position_rad":[0.3053208115919377,1.49116022133133,-1.257344546156492,-0.18870965911014417,0.9322801526770397,0.3776818915711959],"joint_velocity_rad_s":[0.0001480093310600952,-6.874092201310666e-05,0.00040683694676018093,-0.00011541762608140534,-0.0032965701969524547,0.0032997301651809564],"gripper_joint_position_m":[0.03499998259631056,-0.035000000274304395],"tcp_position_m":[0.35003555819775,0.07845020622759914,0.20980755023752584],"tcp_quaternion_wxyz":[0.25757074563162885,-0.001086868511142658,0.9662584695589291,-0.0008364910295578752],"object_position_m":[0.355128195704226,0.0786980164764895,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657968574,-1.921916387807988e-11,-4.619541635016503e-12,0.08998007417111821],"object_linear_velocity_m_s":[8.210794949476034e-12,-2.428879005904873e-11,2.8228106751815055e-15],"object_angular_velocity_rad_s":[4.0301764484485e-10,1.362397627442689e-10,-1.8695277410522187e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000382599},{"geom_ids":[1,90],"normal_force_n":0.09810000000514281},{"geom_ids":[1,90],"normal_force_n":0.09809999999617428},{"geom_ids":[1,90],"normal_force_n":0.09809999999485729}],"native_actuator_controls":[0.30539202238807955,1.4911282989199914,-1.2570150506305162,-0.18874486933742737,0.9292219106069528,0.38033587719706197,0.035],"actuator_force_native":[0.004956817036045891,-0.002210088297019297,0.024325457344275492,-0.0008313209609216443,-0.02563756540543949,0.021590261010889122,6.041346705121242e-07],"issued_joint_targets_rad":[0.30539248896521676,1.4911282087626938,-1.2570144812267574,-0.18874578205433484,0.9292212938357571,0.3803370478619521],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.499999999999627,"joint_targets_rad":[0.30539248896521676,1.4911282087626938,-1.2570144812267574,-0.18874578205433484,0.9292212938357571,0.3803370478619521],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.51999999999965,"qpos":[0.3053237206224143,1.491158874461568,-1.2573365047144334,-0.18871192983113028,0.9322149525813227,0.37774705124976404,0.034999983026191894,-0.03500000021714403,0.35512819570442167,0.07869801647591082,0.0798922445797837,0.9959435657972155,-1.9682072423325683e-11,-4.7308219510913264e-12,0.0899800741671536],"qvel":[0.00014294054873818308,-6.603471318784111e-05,0.0003976134216261762,-0.00011095965752679312,-0.0032269500432766094,0.0032201699588552952,1.7945729799127222e-08,-5.089906307972965e-09,9.234690741819845e-12,-2.7317555052642478e-11,2.82697401152385e-15,1.216851612145016e-10,1.7865224797729672e-11,-3.413290011587073e-10],"joint_position_rad":[0.3053237206224143,1.491158874461568,-1.2573365047144334,-0.18871192983113028,0.9322149525813227,0.37774705124976404],"joint_velocity_rad_s":[0.00014294054873818308,-6.603471318784111e-05,0.0003976134216261762,-0.00011095965752679312,-0.0032269500432766094,0.0032201699588552952],"gripper_joint_position_m":[0.034999983026191894,-0.03500000021714403],"tcp_position_m":[0.3500449058594415,0.07845545867107162,0.20981162986226987],"tcp_quaternion_wxyz":[0.25759727978091573,-0.0010606132743345787,0.9662514410678084,-0.000818036269474099],"object_position_m":[0.35512819570442167,0.07869801647591082,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657972155,-1.9682072423325683e-11,-4.7308219510913264e-12,0.0899800741671536],"object_linear_velocity_m_s":[9.234690741819845e-12,-2.7317555052642478e-11,2.82697401152385e-15],"object_angular_velocity_rad_s":[1.1651274744173402e-10,3.9385586201697824e-11,-3.413290011587069e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000528069},{"geom_ids":[1,90],"normal_force_n":0.0981000000070984},{"geom_ids":[1,90],"normal_force_n":0.0980999999947192},{"geom_ids":[1,90],"normal_force_n":0.09809999999290141}],"native_actuator_controls":[0.30539248896521676,1.4911282087626938,-1.2570144812267574,-0.18874578205433484,0.9292212938357571,0.3803370478619521,0.035],"actuator_force_native":[0.00478676468050665,-0.002123082343999272,0.02377381190594008,-0.000799290640547845,-0.025096162390740417,0.021069711183597573,5.892236754068136e-07],"issued_joint_targets_rad":[0.30539294167853975,1.491128119199531,-1.2570139259287527,-0.18874666599055484,0.9292206926986033,0.3803381837347039],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.51999999999965,"joint_targets_rad":[0.30539294167853975,1.491128119199531,-1.2570139259287527,-0.18874666599055484,0.9292206926986033,0.3803381837347039],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.539999999999676,"qpos":[0.3053265300831462,1.491157580531898,-1.2573286456021378,-0.18871411313418754,0.9321511294810519,0.3778106397524515,0.034999983445053943,-0.035000000163687865,0.3551281957046107,0.07869801647535188,0.0798922445797837,0.9959435657975962,-1.9384876367831834e-11,-4.659397715649189e-12,0.08998007416294129],"qvel":[0.00013804943883455906,-6.34412757160169e-05,0.00038859740904754797,-0.00010669447990673385,-0.0031587975985254563,0.003142520161717574,1.7500039600541043e-08,-5.021680853953348e-09,1.0772605759435674e-11,-3.1866892342510474e-11,3.0920397586531065e-15,-3.44073331303239e-10,-5.052033089969111e-11,-6.231822711571626e-10],"joint_position_rad":[0.3053265300831462,1.491157580531898,-1.2573286456021378,-0.18871411313418754,0.9321511294810519,0.3778106397524515],"joint_velocity_rad_s":[0.00013804943883455906,-6.34412757160169e-05,0.00038859740904754797,-0.00010669447990673385,-0.0031587975985254563,0.003142520161717574],"gripper_joint_position_m":[0.034999983445053943,-0.035000000163687865],"tcp_position_m":[0.35005406093471614,0.07846059455012877,0.20981561837531623],"tcp_quaternion_wxyz":[0.2576232410967269,-0.0010349817130051039,0.9662445624609289,-0.0007999839743445663],"object_position_m":[0.3551281957046107,0.07869801647535188,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657975962,-1.9384876367831834e-11,-4.659397715649189e-12,0.08998007416294129],"object_linear_velocity_m_s":[1.0772605759435674e-11,-3.1866892342510474e-11,3.0920397586531065e-15],"object_angular_velocity_rad_s":[-3.2944704461922824e-10,-1.11370579328559e-10,-6.231822711571622e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000608705},{"geom_ids":[1,90],"normal_force_n":0.09810000000818211},{"geom_ids":[1,90],"normal_force_n":0.09809999999391261},{"geom_ids":[1,90],"normal_force_n":0.0980999999918175}],"native_actuator_controls":[0.30539294167853975,1.491128119199531,-1.2570139259287527,-0.18874666599055484,0.9292206926986033,0.3803381837347039,0.035],"actuator_force_native":[0.004622680437311288,-0.0020397002107728213,0.02323458682556634,-0.0007686418551582364,-0.024566171426698702,0.020561659579947822,5.746976443621321e-07],"issued_joint_targets_rad":[0.30539338097469293,1.491128030275614,-1.2570133843560094,-0.1887475221471403,0.9292201067577985,0.38033928594949257],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.539999999999676,"joint_targets_rad":[0.30539338097469293,1.491128030275614,-1.2570133843560094,-0.1887475221471403,0.9292201067577985,0.38033928594949257],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.5599999999997,"qpos":[0.3053292434632952,1.4911563373382342,-1.2573209647164658,-0.18871621278895268,0.9320886543453384,0.3778726948111669,0.034999983853182086,-0.035000000113728065,0.35512819570479,0.0786980164748215,0.0798922445797837,0.9959435657979712,-1.800043334153371e-11,-4.326634846368186e-12,0.08998007415879283],"qvel":[0.0001333296991401607,-6.095576160827755e-05,0.0003797843240949628,-0.00010261297681829278,-0.0030920820285877276,0.0030667352564760658,1.7065276490906448e-08,-4.951986472335983e-09,1.327887530234702e-11,-3.9280715091363964e-11,2.9990585803407486e-15,-1.0383102878506075e-09,-1.5245447028512467e-10,-1.1377793408281225e-09],"joint_position_rad":[0.3053292434632952,1.4911563373382342,-1.2573209647164658,-0.18871621278895268,0.9320886543453384,0.3778726948111669],"joint_velocity_rad_s":[0.0001333296991401607,-6.095576160827755e-05,0.0003797843240949628,-0.00010261297681829278,-0.0030920820285877276,0.0030667352564760658],"gripper_joint_position_m":[0.034999983853182086,-0.035000000113728065],"tcp_position_m":[0.3500630273582606,0.07846561645491941,0.20981951802805948],"tcp_quaternion_wxyz":[0.2576486423703048,-0.0010099594377820013,0.9662378304709353,-0.0007823256950777178],"object_position_m":[0.35512819570479,0.0786980164748215,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657979712,-1.800043334153371e-11,-4.326634846368186e-12,0.08998007415879283],"object_linear_velocity_m_s":[1.327887530234702e-11,-3.9280715091363964e-11,2.9990585803407486e-15],"object_angular_velocity_rad_s":[-9.941726706091918e-10,-3.3608231191200104e-10,-1.1377793408281219e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000052393},{"geom_ids":[1,90],"normal_force_n":0.09810000000704273},{"geom_ids":[1,90],"normal_force_n":0.0980999999947607},{"geom_ids":[1,90],"normal_force_n":0.09809999999295729}],"native_actuator_controls":[0.30539338097469293,1.491128030275614,-1.2570133843560094,-0.1887475221471403,0.9292201067577985,0.38033928594949257,0.035],"actuator_force_native":[0.0044643524161145365,-0.0019597862015672263,0.022707507216040312,-0.0007393094434133829,-0.024047352832516466,0.02006580849854256,5.605463342384098e-07],"issued_joint_targets_rad":[0.3053938072846353,1.4911279420325054,-1.2570128561394092,-0.18874835148692656,0.9292195355892985,0.3803403555996787],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.5599999999997,"joint_targets_rad":[0.3053938072846353,1.4911279420325054,-1.2570128561394092,-0.18874835148692656,0.9292195355892985,0.3803403555996787],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.579999999999725,"qpos":[0.305331864128262,1.491155142771196,-1.2573134580449858,-0.18871823238721747,0.9320274987532465,0.37793325325860766,0.034999984250854786,-0.0350000000670682,0.35512819570496434,0.07869801647430522,0.0798922445797837,0.9959435657983599,-1.6256422808194216e-11,-3.907444371005547e-12,0.08998007415449445],"qvel":[0.00012877525115703554,-5.85735347557789e-05,0.0003711696792166737,-9.870649222897808e-05,-0.0030267731426688645,0.002992770794037612,1.66412079212513e-08,-4.8810490618190775e-09,6.556541952709175e-12,-1.9395141884251747e-11,3.2516343184429715e-15,6.800374184635691e-10,9.984855049241023e-11,-1.2326890660240393e-10],"joint_position_rad":[0.305331864128262,1.491155142771196,-1.2573134580449858,-0.18871823238721747,0.9320274987532465,0.37793325325860766],"joint_velocity_rad_s":[0.00012877525115703554,-5.85735347557789e-05,0.0003711696792166737,-9.870649222897808e-05,-0.0030267731426688645,0.002992770794037612],"gripper_joint_position_m":[0.034999984250854786,-0.0350000000670682],"tcp_position_m":[0.3500718089847443,0.07847052692097105,0.20982333100699002],"tcp_quaternion_wxyz":[0.2576734960872807,-0.0009855323726468835,0.9662312419052669,-0.000765053139437192],"object_position_m":[0.35512819570496434,0.07869801647430522,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657983599,-1.6256422808194216e-11,-3.907444371005547e-12,0.08998007415449445],"object_linear_velocity_m_s":[6.556541952709175e-12,-1.9395141884251747e-11,3.2516343184429715e-15],"object_angular_velocity_rad_s":[6.511298189985612e-10,2.2011492988194157e-10,-1.2326890660240396e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000055068},{"geom_ids":[1,90],"normal_force_n":0.0981000000007402},{"geom_ids":[1,90],"normal_force_n":0.09809999999944953},{"geom_ids":[1,90],"normal_force_n":0.09809999999925997}],"native_actuator_controls":[0.3053938072846353,1.4911279420325054,-1.2570128561394092,-0.18874835148692656,0.9292195355892985,0.3803403555996787,0.035],"actuator_force_native":[0.004311576254071525,-0.0018831914214558765,0.022192304050037137,-0.0007112315272195247,-0.023539471925477784,0.019581867219653937,5.467597690156367e-07],"issued_joint_targets_rad":[0.30539422102423464,1.4911278545084108,-1.2570123409208336,-0.18874915493610483,0.9292189787822491,0.38034139373941556],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.579999999999725,"joint_targets_rad":[0.30539422102423464,1.4911278545084108,-1.2570123409208336,-0.18874915493610483,0.9292189787822491,0.38034139373941556],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.59999999999975,"qpos":[0.30533439532407963,1.4911539948119732,-1.2573061216640462,-0.18872017535189414,0.9319676348810672,0.3779923510493723,0.03499998463834371,-0.03500000002352263,0.35512819570515824,0.07869801647373158,0.0798922445797837,0.9959435657989903,-1.7296487329448905e-11,-4.157431805577098e-12,0.08998007414751748],"qvel":[0.00012438023223904567,-5.629016158629586e-05,0.0003627490823466114,-9.496680608115643e-05,-0.002962841380046345,0.0029205833692006636,1.622760312416804e-08,-4.809077429160029e-09,7.080605403327154e-12,-2.0945413640581204e-11,3.4847811536142546e-15,5.80881275608842e-10,8.528962486466616e-11,-2.250572241850719e-10],"joint_position_rad":[0.30533439532407963,1.4911539948119732,-1.2573061216640462,-0.18872017535189414,0.9319676348810672,0.3779923510493723],"joint_velocity_rad_s":[0.00012438023223904567,-5.629016158629586e-05,0.0003627490823466114,-9.496680608115643e-05,-0.002962841380046345,0.0029205833692006636],"gripper_joint_position_m":[0.03499998463834371,-0.03500000002352263],"tcp_position_m":[0.3500804095904846,0.07847532843005432,0.20982705943591767],"tcp_quaternion_wxyz":[0.2576978144358911,-0.0009616867490002025,0.9662247936442708,-0.0007481581704207128],"object_position_m":[0.35512819570515824,0.07869801647373158,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657989903,-1.7296487329448905e-11,-4.157431805577098e-12,0.08998007414751748],"object_linear_velocity_m_s":[7.080605403327154e-12,-2.0945413640581204e-11,3.4847811536142546e-15],"object_angular_velocity_rad_s":[5.561886929139317e-10,1.8801998387725604e-10,-2.2505722418507204e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000019438},{"geom_ids":[1,90],"normal_force_n":0.09810000000261296},{"geom_ids":[1,90],"normal_force_n":0.09809999999805641},{"geom_ids":[1,90],"normal_force_n":0.09809999999738729}],"native_actuator_controls":[0.30539422102423464,1.4911278545084108,-1.2570123409208336,-0.18874915493610483,0.9292189787822491,0.38034139373941556,0.035],"actuator_force_native":[0.00416415485120325,-0.001809773477049248,0.021688714045268398,-0.0006843493380221943,-0.023042298918111825,0.019109551846631767,5.333282362407488e-07],"issued_joint_targets_rad":[0.3053946225948382,1.4911277677383643,-1.2570118383528022,-0.18874993338573184,0.9292184359385373,0.3803424013851917],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.59999999999975,"joint_targets_rad":[0.3053946225948382,1.4911277677383643,-1.2570118383528022,-0.18874993338573184,0.9292184359385373,0.3803424013851917],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.619999999999774,"qpos":[0.305336840181246,1.4911528915283232,-1.2572989517368796,-0.18872204494635236,0.931909035490392,0.37805002328070186,0.03499998510197527,-0.035000000100246266,0.3551281957053474,0.0786980164731725,0.0798922445797837,0.9959435657997026,-1.8073264410529915e-11,-4.344134633104783e-12,0.08998007413963297],"qvel":[0.00012013900230906976,-5.410140062346618e-05,0.00035451823508426055,-9.138608123507973e-05,-0.002900257812621559,0.0028501305984605474,1.8979655393966486e-08,-8.554916555117452e-09,7.732571429003805e-12,-2.28740378200817e-11,3.4153922145751827e-15,4.0451117687575637e-10,5.939345142477035e-11,-4.1089665229372486e-10],"joint_position_rad":[0.305336840181246,1.4911528915283232,-1.2572989517368796,-0.18872204494635236,0.931909035490392,0.37805002328070186],"joint_velocity_rad_s":[0.00012013900230906976,-5.410140062346618e-05,0.00035451823508426055,-9.138608123507973e-05,-0.002900257812621559,0.0028501305984605474],"gripper_joint_position_m":[0.03499998510197527,-0.035000000100246266],"tcp_position_m":[0.35008883287505227,0.07848002341073568,0.2098307053780978],"tcp_quaternion_wxyz":[0.2577216093148345,-0.0009384090996742427,0.9662184826393936,-0.0007316328050624202],"object_position_m":[0.3551281957053474,0.0786980164731725,0.0798922445797837],"object_quaternion_wxyz":[0.9959435657997026,-1.8073264410529915e-11,-4.344134633104783e-12,0.08998007413963297],"object_linear_velocity_m_s":[7.732571429003805e-12,-2.28740378200817e-11,3.4153922145751827e-15],"object_angular_velocity_rad_s":[3.8731589986446294e-10,1.3093230312546034e-10,-4.1089665229372496e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000346834},{"geom_ids":[1,90],"normal_force_n":0.09810000000466199},{"geom_ids":[1,90],"normal_force_n":0.09809999999653156},{"geom_ids":[1,90],"normal_force_n":0.09809999999533783}],"native_actuator_controls":[0.3053946225948382,1.4911277677383643,-1.2570118383528022,-0.18874993338573184,0.9292184359385373,0.3803424013851917,0.035],"actuator_force_native":[0.0040218980758268685,-0.0017393961935852076,0.021196479550766867,-0.0006586071690044548,-0.022555608799613935,0.018648585147207797,5.010227122070887e-07],"issued_joint_targets_rad":[0.3053950123838258,1.4911276817544128,-1.2570113480981306,-0.18875068769317674,0.9292179066723631,0.3803433795173111],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.619999999999774,"joint_targets_rad":[0.3053950123838258,1.4911276817544128,-1.2570113480981306,-0.18875068769317674,0.9292179066723631,0.3803433795173111],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.639999999999798,"qpos":[0.3053392017208932,1.4911518310710117,-1.257291944511759,-0.1887238442781702,0.9318516739131885,0.37810630421213215,0.03499998547599242,-0.035000000059256776,0.35512819570554205,0.07869801647259653,0.0798922445797837,0.9959435658005975,-1.94483390807529e-11,-4.674644192334333e-12,0.08998007412972636],"qvel":[0.00011604608136556399,-5.200319972192047e-05,0.00034647293039231756,-8.795695897969658e-05,-0.0028389940756404415,0.0027813710838992005,1.4359551489557515e-08,-2.730060940484756e-09,8.888222376261316e-12,-2.6292647658349104e-11,3.2211031852657803e-15,1.5760788109245814e-10,2.3141638891430305e-11,-7.501915593629609e-10],"joint_position_rad":[0.3053392017208932,1.4911518310710117,-1.257291944511759,-0.1887238442781702,0.9318516739131885,0.37810630421213215],"joint_velocity_rad_s":[0.00011604608136556399,-5.200319972192047e-05,0.00034647293039231756,-8.795695897969658e-05,-0.0028389940756404415,0.0027813710838992005],"gripper_joint_position_m":[0.03499998547599242,-0.035000000059256776],"tcp_position_m":[0.3500970824629459,0.07848461424088175,0.20983427083834438],"tcp_quaternion_wxyz":[0.2577448923414846,-0.0009156862536967414,0.9662123059112683,-0.0007154692101380587],"object_position_m":[0.35512819570554205,0.07869801647259653,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658005975,-1.94483390807529e-11,-4.674644192334333e-12,0.08998007412972636],"object_linear_velocity_m_s":[8.888222376261316e-12,-2.6292647658349104e-11,3.2211031852657803e-15],"object_angular_velocity_rad_s":[1.5090808442345216e-10,5.101499474350654e-11,-7.501915593629609e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000541517},{"geom_ids":[1,90],"normal_force_n":0.09810000000727892},{"geom_ids":[1,90],"normal_force_n":0.09809999999458495},{"geom_ids":[1,90],"normal_force_n":0.09809999999272105}],"native_actuator_controls":[0.3053950123838258,1.4911276817544128,-1.2570113480981306,-0.18875068769317674,0.9292179066723631,0.3803433795173111,0.035],"actuator_force_native":[0.0038846226277833296,-0.0016719293293050441,0.020715348438315573,-0.0006339518053621873,-0.02207918129479225,0.018198696425940852,5.091625456810078e-07],"issued_joint_targets_rad":[0.3053953907651198,1.4911275965857766,-1.257010869829574,-0.18875141868347514,0.9292173906097949,0.380344329081276],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.639999999999798,"joint_targets_rad":[0.3053953907651198,1.4911275965857766,-1.257010869829574,-0.18875141868347514,0.9292173906097949,0.380344329081276],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.659999999999823,"qpos":[0.3053414828544316,1.4911508116697438,-1.257285096320158,-0.18872557631559717,0.9317955240453488,0.37816122728612017,0.03499998584357055,-0.03500000003168482,0.3551281957057342,0.07869801647202822,0.0798922445797837,0.9959435658015601,-1.9815085567200895e-11,-4.762785647773227e-12,0.08998007411907173],"qvel":[0.00011209620530126102,-4.99916814386261e-05,0.0003386090525598477,-8.46723976415515e-05,-0.002779022407489198,0.002714264430918127,1.5741339383677828e-08,-5.280962300086495e-09,1.0488477576669309e-11,-3.102650780914232e-11,3.2738387789354746e-15,-2.5104867694735327e-10,-3.685948586331815e-11,-1.3696570374271007e-09],"joint_position_rad":[0.3053414828544316,1.4911508116697438,-1.257285096320158,-0.18872557631559717,0.9317955240453488,0.37816122728612017],"joint_velocity_rad_s":[0.00011209620530126102,-4.99916814386261e-05,0.0003386090525598477,-8.46723976415515e-05,-0.002779022407489198,0.002714264430918127],"gripper_joint_position_m":[0.03499998584357055,-0.03500000003168482],"tcp_position_m":[0.35010516190498325,0.07848910324520084,0.20983775776488456],"tcp_quaternion_wxyz":[0.2577676748583487,-0.0008935053294496139,0.9662062605482555,-0.0006996597055659479],"object_position_m":[0.3551281957057342,0.07869801647202822,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658015601,-1.9815085567200895e-11,-4.762785647773227e-12,0.08998007411907173],"object_linear_velocity_m_s":[1.0488477576669309e-11,-3.102650780914232e-11,3.2738387789354746e-15],"object_angular_velocity_rad_s":[-2.403771577710663e-10,-8.125811908374732e-11,-1.3696570374271007e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000645022},{"geom_ids":[1,90],"normal_force_n":0.0981000000086704},{"geom_ids":[1,90],"normal_force_n":0.09809999999354965},{"geom_ids":[1,90],"normal_force_n":0.09809999999132962}],"native_actuator_controls":[0.3053953907651198,1.4911275965857766,-1.257010869829574,-0.18875141868347514,0.9292173906097949,0.380344329081276,0.035],"actuator_force_native":[0.0037521518285466016,-0.0016072483101794433,0.020245073983929274,-0.0006103327269109116,-0.021612800744305716,0.017759621305181383,4.875504810986087e-07],"issued_joint_targets_rad":[0.3053957580997195,1.4911275122590157,-1.2570104032295404,-0.1887521271506979,0.9292168873884276,0.38034525098920496],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.659999999999823,"joint_targets_rad":[0.3053957580997195,1.4911275122590157,-1.2570104032295404,-0.1887521271506979,0.9292168873884276,0.38034525098920496],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.679999999999847,"qpos":[0.30534368639169,1.491149831630168,-1.257278403574995,-0.18872724388588738,0.9317405603295792,0.37821482514655486,0.034999986251286065,-0.035000000074760076,0.3551281957059201,0.07869801647147857,0.0798922445797837,0.9959435658025314,-1.8942150969484912e-11,-4.552949033675596e-12,0.08998007410831925],"qvel":[0.00010828434174992134,-4.806313248163134e-05,0.00033092257212946597,-8.152562550395385e-05,-0.00272031569292355,0.0026487711612833333,1.7137314148109634e-08,-7.392132700143388e-09,1.288863991144642e-11,-3.812674932964311e-11,3.4764544809295668e-15,-8.889376974886171e-10,-1.3051453310182107e-10,-2.5006463385093745e-09],"joint_position_rad":[0.30534368639169,1.491149831630168,-1.257278403574995,-0.18872724388588738,0.9317405603295792,0.37821482514655486],"joint_velocity_rad_s":[0.00010828434174992134,-4.806313248163134e-05,0.00033092257212946597,-8.152562550395385e-05,-0.00272031569292355,0.0026487711612833333],"gripper_joint_position_m":[0.034999986251286065,-0.035000000074760076],"tcp_position_m":[0.35011307467995334,0.07849349269948387,0.20984116805136077],"tcp_quaternion_wxyz":[0.2577899679412526,-0.0008718537300259451,0.9662003437045127,-0.000684196757286826],"object_position_m":[0.3551281957059201,0.07869801647147857,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658025314,-1.8942150969484912e-11,-4.552949033675596e-12,0.08998007410831925],"object_linear_velocity_m_s":[1.288863991144642e-11,-3.812674932964311e-11,3.4764544809295668e-15],"object_angular_velocity_rad_s":[-8.511511431185237e-10,-2.8772557226492693e-10,-2.500646338509374e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000060435},{"geom_ids":[1,90],"normal_force_n":0.09810000000812373},{"geom_ids":[1,90],"normal_force_n":0.09809999999395586},{"geom_ids":[1,90],"normal_force_n":0.09809999999187563}],"native_actuator_controls":[0.3053957580997195,1.4911275122590157,-1.2570104032295404,-0.1887521271506979,0.9292168873884276,0.38034525098920496,0.035],"actuator_force_native":[0.003624314933610151,-0.001545234029748599,0.019785414775725485,-0.0005877024649008078,-0.02115625587213188,0.017331101684575856,4.6426198685445286e-07],"issued_joint_targets_rad":[0.30539611473615863,1.491127428798179,-1.2570099479897432,-0.18875281385916054,0.9292163966569333,0.38034614612106304],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.679999999999847,"joint_targets_rad":[0.30539611473615863,1.491127428798179,-1.2570099479897432,-0.18875281385916054,0.9292163966569333,0.38034614612106304],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.69999999999987,"qpos":[0.3053458150434102,1.4911488893304476,-1.2572718627688793,-0.18872884968457082,0.9316867577452526,0.37826712965753706,0.03499998657769453,-0.035000000014804064,0.35512819570609394,0.07869801647096432,0.0798922445797837,0.995943565803385,-1.646729802621593e-11,-3.9580777846703565e-12,0.08998007409887218],"qvel":[0.00010460557132800517,-4.621400851471244e-05,0.00032340954711713294,-7.851033680192368e-05,-0.0026628473034392445,0.0025848527391876238,1.2167056041883566e-08,-1.157713580477837e-09,6.625996280526048e-12,-1.9600785075882034e-11,3.2183276277042187e-15,7.135316698287849e-10,1.047648857585045e-10,-2.7092455703018893e-10],"joint_position_rad":[0.3053458150434102,1.4911488893304476,-1.2572718627688793,-0.18872884968457082,0.9316867577452526,0.37826712965753706],"joint_velocity_rad_s":[0.00010460557132800517,-4.621400851471244e-05,0.00032340954711713294,-7.851033680192368e-05,-0.0026628473034392445,0.0025848527391876238],"gripper_joint_position_m":[0.03499998657769453,-0.035000000014804064],"tcp_position_m":[0.3501208241960877,0.07849778483059325,0.20984450353863804],"tcp_quaternion_wxyz":[0.2578117824061571,-0.0008507191374854383,0.96619455259842,-0.0006690729767811722],"object_position_m":[0.35512819570609394,0.07869801647096432,0.0798922445797837],"object_quaternion_wxyz":[0.995943565803385,-1.646729802621593e-11,-3.9580777846703565e-12,0.08998007409887218],"object_linear_velocity_m_s":[6.625996280526048e-12,-1.9600785075882034e-11,3.2183276277042187e-15],"object_angular_velocity_rad_s":[6.832005482408558e-10,2.3095483545498803e-10,-2.7092455703018893e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999997996532},{"geom_ids":[1,90],"normal_force_n":0.09809999997306959},{"geom_ids":[1,90],"normal_force_n":0.09810000002003516},{"geom_ids":[1,90],"normal_force_n":0.09810000002693077}],"native_actuator_controls":[0.30539611473615863,1.491127428798179,-1.2570099479897432,-0.18875281385916054,0.9292163966569333,0.38034614612106304,0.035],"actuator_force_native":[0.0035009475632357123,-0.0014857725389134657,0.019336134595306476,-0.0005660152995794476,-0.020709339928032477,0.016912885526478405,4.7605693875851784e-07],"issued_joint_targets_rad":[0.3053964610109775,1.491127346224942,-1.2570095038109028,-0.18875347954464833,0.9292159180747047,0.3803470153259237],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.69999999999987,"joint_targets_rad":[0.3053964610109775,1.491127346224942,-1.2570095038109028,-0.18875347954464833,0.9292159180747047,0.3803470153259237],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.719999999999896,"qpos":[0.305347871422092,1.4911479832178187,-1.257265470472383,-0.18873039628744542,0.9316340918007006,0.3783181719224736,0.034999986950258175,-0.035000000038585166,0.35512819570629567,0.07869801647036749,0.0798922445797837,0.9959435658049433,-1.7655439762168996e-11,-4.243652768714672e-12,0.08998007408162424],"qvel":[0.00010105517856549052,-4.444091660024521e-05,0.00031606612098784696,-7.562047539086991e-05,-0.0026065911902254926,0.002522471557113288,1.3601746178982269e-08,-3.442803221544552e-09,7.1797588394052e-12,-2.1238929521673407e-11,3.2544098760045366e-15,6.311258624058185e-10,9.266492234251427e-11,-4.946390096366213e-10],"joint_position_rad":[0.305347871422092,1.4911479832178187,-1.257265470472383,-0.18873039628744542,0.9316340918007006,0.3783181719224736],"joint_velocity_rad_s":[0.00010105517856549052,-4.444091660024521e-05,0.00031606612098784696,-7.562047539086991e-05,-0.0026065911902254926,0.002522471557113288],"gripper_joint_position_m":[0.034999986950258175,-0.035000000038585166],"tcp_position_m":[0.3501284137923911,0.07850198181525488,0.2098477660164725],"tcp_quaternion_wxyz":[0.2578331288152813,-0.0008300895065696308,0.966188884511174,-0.0006542811223690186],"object_position_m":[0.35512819570629567,0.07869801647036749,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658049433,-1.7655439762168996e-11,-4.243652768714672e-12,0.08998007408162424],"object_linear_velocity_m_s":[7.1797588394052e-12,-2.1238929521673407e-11,3.2544098760045366e-15],"object_angular_velocity_rad_s":[6.042978021284733e-10,2.0428119926446651e-10,-4.946390096366213e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000167261},{"geom_ids":[1,90],"normal_force_n":0.09810000000224836},{"geom_ids":[1,90],"normal_force_n":0.09809999999832736},{"geom_ids":[1,90],"normal_force_n":0.09809999999775164}],"native_actuator_controls":[0.3053964610109775,1.491127346224942,-1.2570095038109028,-0.18875347954464833,0.9292159180747047,0.3803470153259237,0.035],"actuator_force_native":[0.0033818912180088034,-0.0014287548471543232,0.018897002313480016,-0.0005452279111626268,-0.020271850474619768,0.016504726698831185,4.539809421721941e-07],"issued_joint_targets_rad":[0.30539679724918795,1.4911272645587546,-1.2570090704024874,-0.18875412491559834,0.9292154513115323,0.3803478594231963],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.719999999999896,"joint_targets_rad":[0.30539679724918795,1.4911272645587546,-1.2570090704024874,-0.18875412491559834,0.9292154513115323,0.3803478594231963],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.73999999999992,"qpos":[0.3053498580497282,1.491147111806028,-1.257259223332387,-0.18873188614787276,0.9315825385167361,0.3783679823011574,0.034999987305615134,-0.03500000005074061,0.35512819570649284,0.07869801646978418,0.0798922445797837,0.9959435658067115,-1.857344030437928e-11,-4.464293969555043e-12,0.0899800740620552],"qvel":[9.762860806666489e-05,-4.274061221163036e-05,0.0003088885188318363,-7.285030860718664e-05,-0.0025515218523353513,0.002461590867964391,1.4137766747965397e-08,-4.552469099356189e-09,7.828192440020845e-12,-2.315714626104849e-11,3.370983293590178e-15,4.72920304799482e-10,6.943671691630274e-11,-9.030859523851499e-10],"joint_position_rad":[0.3053498580497282,1.491147111806028,-1.257259223332387,-0.18873188614787276,0.9315825385167361,0.3783679823011574],"joint_velocity_rad_s":[9.762860806666489e-05,-4.274061221163036e-05,0.0003088885188318363,-7.285030860718664e-05,-0.0025515218523353513,0.002461590867964391],"gripper_joint_position_m":[0.034999987305615134,-0.03500000005074061],"tcp_position_m":[0.3501358467402128,0.07850608578429448,0.2098509572253106],"tcp_quaternion_wxyz":[0.2578540174846789,-0.000809953060350288,0.9661833367849908,-0.0006398140919936027],"object_position_m":[0.35512819570649284,0.07869801646978418,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658067115,-1.857344030437928e-11,-4.464293969555043e-12,0.0899800740620552],"object_linear_velocity_m_s":[7.828192440020845e-12,-2.315714626104849e-11,3.370983293590178e-15],"object_angular_velocity_rad_s":[4.528172346129642e-10,1.5307391804359632e-10,-9.030859523851504e-10],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000322146},{"geom_ids":[1,90],"normal_force_n":0.09810000000433004},{"geom_ids":[1,90],"normal_force_n":0.09809999999677893},{"geom_ids":[1,90],"normal_force_n":0.09809999999567018}],"native_actuator_controls":[0.30539679724918795,1.4911272645587546,-1.2570090704024874,-0.18875412491559834,0.9292154513115323,0.3803478594231963,0.035],"actuator_force_native":[0.0032669929164477196,-0.001374076720821904,0.018467791797803557,-0.0005252991659885353,-0.019843589273536466,0.01610638491844263,4.370865611669217e-07],"issued_joint_targets_rad":[0.3053971237646755,1.4911271838169562,-1.2570086474823818,-0.18875475065415617,0.9292149960471925,0.3803486792037059],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.73999999999992,"joint_targets_rad":[0.3053971237646755,1.4911271838169562,-1.2570086474823818,-0.18875475065415617,0.9292149960471925,0.3803486792037059],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.759999999999945,"qpos":[0.3053517773580469,1.4911462736721257,-1.2572531180704203,-0.1887333216088704,0.9315320744197143,0.3784165904278608,0.034999987644311746,-0.035000000052530976,0.3551281957066847,0.07869801646921669,0.0798922445797837,0.9959435658086784,-1.90787636584657e-11,-4.5857641174523885e-12,0.08998007404028198],"qvel":[9.43214753820846e-05,-4.1109991215846993e-05,0.0003018730479703568,-7.019436309180211e-05,-0.002497614327969551,0.0024021748042361134,1.4229417302336074e-08,-5.108782838576365e-09,8.697610535978285e-12,-2.5728974757502996e-11,3.0712230769413856e-15,2.098199060497858e-10,3.080587762501287e-11,-1.6488055311512443e-09],"joint_position_rad":[0.3053517773580469,1.4911462736721257,-1.2572531180704203,-0.1887333216088704,0.9315320744197143,0.3784165904278608],"joint_velocity_rad_s":[9.43214753820846e-05,-4.1109991215846993e-05,0.0003018730479703568,-7.019436309180211e-05,-0.002497614327969551,0.0024021748042361134],"gripper_joint_position_m":[0.034999987644311746,-0.035000000052530976],"tcp_position_m":[0.35014312624452726,0.07851009882115685,0.20985407885782953],"tcp_quaternion_wxyz":[0.2578744584899396,-0.0007902982841341181,0.9661779068217945,-0.0006256649249068038],"object_position_m":[0.3551281957066847,0.07869801646921669,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658086784,-1.90787636584657e-11,-4.5857641174523885e-12,0.08998007404028198],"object_linear_velocity_m_s":[8.697610535978285e-12,-2.5728974757502996e-11,3.0712230769413856e-15],"object_angular_velocity_rad_s":[2.0090098642019145e-10,6.791309686932526e-11,-1.648805531151244e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000473708},{"geom_ids":[1,90],"normal_force_n":0.09810000000636761},{"geom_ids":[1,90],"normal_force_n":0.09809999999526306},{"geom_ids":[1,90],"normal_force_n":0.0980999999936327}],"native_actuator_controls":[0.3053971237646755,1.4911271838169562,-1.2570086474823818,-0.18875475065415617,0.9292149960471925,0.3803486792037059,0.035],"actuator_force_native":[0.0031561051533763873,-0.0013216384574832318,0.018048281803231703,-0.0005061899959706295,-0.019424362233264603,0.01571762555209677,4.2308044378991383e-07],"issued_joint_targets_rad":[0.30539744086063014,1.4911271040149088,-1.2570082347766542,-0.18875535741726815,0.9292145519711595,0.38034947543082814],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.759999999999945,"joint_targets_rad":[0.30539744086063014,1.4911271040149088,-1.2570082347766542,-0.18875535741726815,0.9292145519711595,0.38034947543082814],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.77999999999997,"qpos":[0.30535363169265195,1.4911454674538063,-1.2572471514810555,-0.18873470490666075,0.9314826765297936,0.378464025228326,0.0349999879680924,-0.03500000004705898,0.35512819570686993,0.07869801646866863,0.0798922445797837,0.995943565810794,-1.8955326159104696e-11,-4.55608891661403e-12,0.08998007401686478],"qvel":[9.112955259354959e-05,-3.9546084425439015e-05,0.0002950160952659774,-6.764743479264115e-05,-0.0024448441780375893,0.0023441883441149085,1.4010605315631322e-08,-5.254884666696921e-09,1.0006618895922104e-11,-2.960131985388905e-11,3.172530927938431e-15,-1.9911095831710237e-10,-2.923301412272953e-11,-3.0103040219139933e-09],"joint_position_rad":[0.30535363169265195,1.4911454674538063,-1.2572471514810555,-0.18873470490666075,0.9314826765297936,0.378464025228326],"joint_velocity_rad_s":[9.112955259354959e-05,-3.9546084425439015e-05,0.0002950160952659774,-6.764743479264115e-05,-0.0024448441780375893,0.0023441883441149085],"gripper_joint_position_m":[0.0349999879680924,-0.03500000004705898],"tcp_position_m":[0.35015025544531825,0.07851402296353023,0.2098571325605195],"tcp_quaternion_wxyz":[0.2578944616725899,-0.0007711139203937555,0.9661725920817127,-0.0006118267984637117],"object_position_m":[0.35512819570686993,0.07869801646866863,0.0798922445797837],"object_quaternion_wxyz":[0.995943565810794,-1.8955326159104696e-11,-4.55608891661403e-12,0.08998007401686478],"object_linear_velocity_m_s":[1.0006618895922104e-11,-2.960131985388905e-11,3.172530927938431e-15],"object_angular_velocity_rad_s":[-1.9064735133895355e-10,-6.4446336312438e-11,-3.010304021913993e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000577086},{"geom_ids":[1,90],"normal_force_n":0.09810000000775693},{"geom_ids":[1,90],"normal_force_n":0.09809999999422915},{"geom_ids":[1,90],"normal_force_n":0.09809999999224307}],"native_actuator_controls":[0.30539744086063014,1.4911271040149088,-1.2570082347766542,-0.18875535741726815,0.9292145519711595,0.38034947543082814,0.035],"actuator_force_native":[0.0030490856752862783,-0.0012713446896697178,0.01763825587578083,-0.0004878632503322322,-0.019013979319282726,0.015338219508848727,4.112232776520841e-07],"issued_joint_targets_rad":[0.305397748829937,1.4911270251661055,-1.257007832019276,-0.1887559458376812,0.9292141187822661,0.3803502488415241],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.77999999999997,"joint_targets_rad":[0.305397748829937,1.4911270251661055,-1.257007832019276,-0.1887559458376812,0.9292141187822661,0.3803502488415241],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.799999999999994,"qpos":[0.30535542331608284,1.4911446918467728,-1.2572413204303277,-0.18873603817592954,0.9314343223506151,0.3785103149365043,0.0349999882842986,-0.03500000004421681,0.3551281957070464,0.07869801646814656,0.0798922445797837,0.995943565812929,-1.789412931650574e-11,-4.3010062500362375e-12,0.08998007399323249],"qvel":[8.80487678508602e-05,-3.80460511751253e-05,0.00028831412567548474,-6.520456331014852e-05,-0.0023931874819202916,0.002287597292099523,1.2876920070351039e-08,-4.052800155962811e-09,1.2132114094011515e-11,-3.588904874177795e-11,3.1586531401306164e-15,-8.104848627225497e-10,-1.1899478802624584e-10,-5.496056261521073e-09],"joint_position_rad":[0.30535542331608284,1.4911446918467728,-1.2572413204303277,-0.18873603817592954,0.9314343223506151,0.3785103149365043],"joint_velocity_rad_s":[8.80487678508602e-05,-3.80460511751253e-05,0.00028831412567548474,-6.520456331014852e-05,-0.0023931874819202916,0.002287597292099523],"gripper_joint_position_m":[0.0349999882842986,-0.03500000004421681],"tcp_position_m":[0.35015723741890026,0.0785178602042154,0.20986011993517908],"tcp_quaternion_wxyz":[0.25791403664609214,-0.0007523889635625576,0.9661673900816673,-0.0005982930260774276],"object_position_m":[0.3551281957070464,0.07869801646814656,0.0798922445797837],"object_quaternion_wxyz":[0.995943565812929,-1.789412931650574e-11,-4.3010062500362375e-12,0.08998007399323249],"object_linear_velocity_m_s":[1.2132114094011515e-11,-3.588904874177795e-11,3.1586531401306164e-15],"object_angular_velocity_rad_s":[-7.760333672552824e-10,-2.6233125087611563e-10,-5.496056261521071e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000548853},{"geom_ids":[1,90],"normal_force_n":0.09810000000737752},{"geom_ids":[1,90],"normal_force_n":0.09809999999451115},{"geom_ids":[1,90],"normal_force_n":0.09809999999262216}],"native_actuator_controls":[0.305397748829937,1.4911270251661055,-1.257007832019276,-0.1887559458376812,0.9292141187822661,0.3803502488415241,0.035],"actuator_force_native":[0.0029457972690742906,-0.0012231041975070411,0.017237502255767367,-0.0004702836535157573,-0.01861225446060999,0.01496794311204841,4.042434558204633e-07],"issued_joint_targets_rad":[0.3053980479555572,1.491126947282286,-1.2570074389518742,-0.1887565165249158,0.9292136961883881,0.38035100014734624],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.799999999999994,"joint_targets_rad":[0.3053980479555572,1.491126947282286,-1.2570074389518742,-0.1887565165249158,0.9292136961883881,0.38035100014734624],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.820000000000018,"qpos":[0.3053571544107911,1.4911439456022169,-1.2572356218541907,-0.18873732345475558,0.9313869898591486,0.3785554871108872,0.03499998858546998,-0.03500000003341804,0.3551281957072196,0.07869801646763427,0.0798922445797837,0.9959435658152295,-1.6629518485472526e-11,-3.997033500548274e-12,0.08998007396776889],"qvel":[8.507517195925094e-05,-3.66071766000143e-05,0.00028176368078634205,-6.286107653865719e-05,-0.00234262079153837,0.0022323682648481046,1.17566970141598e-08,-2.9029889167843447e-09,1.571217395699128e-11,-4.6479510975156134e-11,3.035140828641068e-15,-1.7002111967821684e-09,-2.496292702858548e-10,-1.0034413227658681e-08],"joint_position_rad":[0.3053571544107911,1.4911439456022169,-1.2572356218541907,-0.18873732345475558,0.9313869898591486,0.3785554871108872],"joint_velocity_rad_s":[8.507517195925094e-05,-3.66071766000143e-05,0.00028176368078634205,-6.286107653865719e-05,-0.00234262079153837,0.0022323682648481046],"gripper_joint_position_m":[0.03499998858546998,-0.03500000003341804],"tcp_position_m":[0.3501640751792188,0.07852161249201084,0.20986304254035998],"tcp_quaternion_wxyz":[0.257933192801686,-0.0007341126549222675,0.966162298394002,-0.0005850570551271377],"object_position_m":[0.3551281957072196,0.07869801646763427,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658152295,-1.6629518485472526e-11,-3.997033500548274e-12,0.08998007396776889],"object_linear_velocity_m_s":[1.571217395699128e-11,-4.6479510975156134e-11,3.035140828641068e-15],"object_angular_velocity_rad_s":[-1.6279388782638888e-09,-5.503161771961733e-10,-1.0034413227658676e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000423438},{"geom_ids":[1,90],"normal_force_n":0.0981000000056917},{"geom_ids":[1,90],"normal_force_n":0.0980999999957656},{"geom_ids":[1,90],"normal_force_n":0.09809999999430816}],"native_actuator_controls":[0.3053980479555572,1.491126947282286,-1.2570074389518742,-0.1887565165249158,0.9292136961883881,0.38035100014734624,0.035],"actuator_force_native":[0.002846107721492075,-0.0011768297114826964,0.016845813781401375,-0.00045341742371451943,-0.018219005520299092,0.014606577967318124,3.977977158786672e-07],"issued_joint_targets_rad":[0.30539833851089104,1.4911268703735348,-1.2570070553234833,-0.18875707006618506,0.9292132839061484,0.3803517300353979],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.820000000000018,"joint_targets_rad":[0.30539833851089104,1.4911268703735348,-1.2570070553234833,-0.18875707006618506,0.9292132839061484,0.3803517300353979],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.840000000000042,"qpos":[0.30535882708189444,1.4911432275243977,-1.2572300527570008,-0.18873856268951503,0.9313406574959243,0.37859956865053196,0.034999988875974705,-0.03500000002047702,0.3551281957074126,0.07869801646706329,0.0798922445797837,0.9959435658186546,-1.7350850809014152e-11,-4.170409899425536e-12,0.08998007392986039],"qvel":[8.220497385566568e-05,-3.5226861925532796e-05,0.00027536137713284075,-6.061249439315531e-05,-0.002293121171561077,0.002178468666283851,1.0451733900944928e-08,-1.4783511032446434e-09,6.99502777508072e-12,-2.069258905296485e-11,3.1586531401306156e-15,6.354486583522994e-10,9.329827763006497e-11,-1.0871465041652482e-09],"joint_position_rad":[0.30535882708189444,1.4911432275243977,-1.2572300527570008,-0.18873856268951503,0.9313406574959243,0.37859956865053196],"joint_velocity_rad_s":[8.220497385566568e-05,-3.5226861925532796e-05,0.00027536137713284075,-6.061249439315531e-05,-0.002293121171561077,0.002178468666283851],"gripper_joint_position_m":[0.034999988875974705,-0.03500000002047702],"tcp_position_m":[0.3501707716791095,0.07852528173249895,0.2098659018927491],"tcp_quaternion_wxyz":[0.2579519393140086,-0.0007162744775112032,0.9661573146451579,-0.0005721124649885578],"object_position_m":[0.3551281957074126,0.07869801646706329,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658186546,-1.7350850809014152e-11,-4.170409899425536e-12,0.08998007392986039],"object_linear_velocity_m_s":[6.99502777508072e-12,-2.069258905296485e-11,3.1586531401306156e-15],"object_angular_velocity_rad_s":[6.084370834911443e-10,2.0567907390705623e-10,-1.0871465041652482e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000163026},{"geom_ids":[1,90],"normal_force_n":0.09810000000219128},{"geom_ids":[1,90],"normal_force_n":0.09809999999836992},{"geom_ids":[1,90],"normal_force_n":0.09809999999780894}],"native_actuator_controls":[0.30539833851089104,1.4911268703735348,-1.2570070553234833,-0.18875707006618506,0.9292132839061484,0.3803517300353979,0.035],"actuator_force_native":[0.0027498894504489613,-0.0011324377594092994,0.016462987795733852,-0.00043723259483474664,-0.017834054140417166,0.014253910849233886,3.927023422001241e-07],"issued_joint_targets_rad":[0.3053986207601325,1.4911267944483853,-1.257006680890313,-0.18875760702729216,0.9292128816606257,0.3803524391692614],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.840000000000042,"joint_targets_rad":[0.3053986207601325,1.4911267944483853,-1.257006680890313,-0.18875760702729216,0.9292128816606257,0.3803524391692614],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.860000000000067,"qpos":[0.305360443359842,1.4911425364683266,-1.257224610210028,-0.18873975773953827,0.9312953041554443,0.3786425858106818,0.03499998919018878,-0.03500000005177671,0.355128195707614,0.07869801646646764,0.0798922445797837,0.9959435658230378,-1.872943589853396e-11,-4.5017545356794474e-12,0.08998007388134832],"qvel":[7.943451517721855e-05,-3.390262144706747e-05,0.000269103904770346,-5.845455898182326e-05,-0.0022446661629469127,0.002125866673904528,1.0542247604954872e-08,-1.770270499263136e-09,7.777460057489646e-12,-2.300720530780106e-11,3.343227717974548e-15,5.15429631738621e-10,7.567707526476379e-11,-1.9848541444312538e-09],"joint_position_rad":[0.305360443359842,1.4911425364683266,-1.257224610210028,-0.18873975773953827,0.9312953041554443,0.3786425858106818],"joint_velocity_rad_s":[7.943451517721855e-05,-3.390262144706747e-05,0.000269103904770346,-5.845455898182326e-05,-0.0022446661629469127,0.002125866673904528],"gripper_joint_position_m":[0.03499998919018878,-0.03500000005177671],"tcp_position_m":[0.35017732981153415,0.0785288697888318,0.20986869946850073],"tcp_quaternion_wxyz":[0.2579702851465616,-0.0006988641511374034,0.9661524365143833,-0.0005594529650579698],"object_position_m":[0.355128195707614,0.07869801646646764,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658230378,-1.872943589853396e-11,-4.5017545356794474e-12,0.08998007388134832],"object_linear_velocity_m_s":[7.777460057489646e-12,-2.300720530780106e-11,3.343227717974548e-15],"object_angular_velocity_rad_s":[4.935197550566748e-10,1.6683218024002147e-10,-1.9848541444312546e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000311446},{"geom_ids":[1,90],"normal_force_n":0.0981000000041863},{"geom_ids":[1,90],"normal_force_n":0.09809999999688589},{"geom_ids":[1,90],"normal_force_n":0.09809999999581405}],"native_actuator_controls":[0.3053986207601325,1.4911267944483853,-1.257006680890313,-0.18875760702729216,0.9292128816606257,0.3803524391692614,0.035],"actuator_force_native":[0.0026570194473514164,-0.001089848488064149,0.01608882605333406,-0.0004216987152467766,-0.01745722570376529,0.013909733574939409,3.7968121113785003e-07],"issued_joint_targets_rad":[0.3053988949586049,1.4911267195139108,-1.2570063154155178,-0.1887581279534768,0.9292124891850744,0.3803531281898839],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.860000000000067,"joint_targets_rad":[0.3053988949586049,1.4911267195139108,-1.2570063154155178,-0.1887581279534768,0.9292124891850744,0.3803531281898839],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.88000000000009,"qpos":[0.30536200520362733,1.491141871337625,-1.2572192913500089,-0.1887409103801922,0.9312509091759337,0.3786845642178537,0.03499998947267026,-0.035000000050058246,0.3551281957078124,0.07869801646588116,0.0798922445797837,0.9959435658279431,-1.955867030711608e-11,-4.701048273212284e-12,0.08998007382705321],"qvel":[7.676023757163138e-05,-3.263208053597615e-05,0.0002629880258300805,-5.63832810527573e-05,-0.0021972337412849673,0.002074531220694534,1.1788921608126884e-08,-3.944762715552941e-09,8.688576353286487e-12,-2.5702535696301358e-11,3.3779221874940834e-15,2.855387763943036e-10,4.192424506564088e-11,-3.623842149334781e-09],"joint_position_rad":[0.30536200520362733,1.491141871337625,-1.2572192913500089,-0.1887409103801922,0.9312509091759337,0.3786845642178537],"joint_velocity_rad_s":[7.676023757163138e-05,-3.263208053597615e-05,0.0002629880258300805,-5.63832810527573e-05,-0.0021972337412849673,0.002074531220694534],"gripper_joint_position_m":[0.03499998947267026,-0.035000000050058246],"tcp_position_m":[0.35018375241082095,0.0785323784830161,0.20987143670453956],"tcp_quaternion_wxyz":[0.2579882390571799,-0.0006818716276482076,0.9661476617324376,-0.0005470723919769876],"object_position_m":[0.3551281957078124,0.07869801646588116,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658279431,-1.955867030711608e-11,-4.701048273212284e-12,0.08998007382705321],"object_linear_velocity_m_s":[8.688576353286487e-12,-2.5702535696301358e-11,3.3779221874940834e-15],"object_angular_velocity_rad_s":[2.7340100754642303e-10,9.242253092011999e-11,-3.623842149334782e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000046505},{"geom_ids":[1,90],"normal_force_n":0.098100000006251},{"geom_ids":[1,90],"normal_force_n":0.09809999999534942},{"geom_ids":[1,90],"normal_force_n":0.09809999999374891}],"native_actuator_controls":[0.3053988949586049,1.4911267195139108,-1.2570063154155178,-0.1887581279534768,0.9292124891850744,0.3803531281898839,0.035],"actuator_force_native":[0.0025673792103440007,-0.0010489854944495391,0.01572313463013586,-0.0004067865261196957,-0.017088349296665584,0.013573842889261112,3.6214858178951204e-07],"issued_joint_targets_rad":[0.305399161353081,1.4911266455758103,-1.257005958668973,-0.1887586333702225,0.9292121062206478,0.3803537977164158],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.88000000000009,"joint_targets_rad":[0.305399161353081,1.4911266455758103,-1.257005958668973,-0.1887586333702225,0.9292121062206478,0.3803537977164158],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.900000000000116,"qpos":[0.3053635145025616,1.4911412310823335,-1.2572140933777136,-0.1887420223084979,0.9312074523310967,0.37872552888499833,0.03499998975067471,-0.03500000005323174,0.35512819570800547,0.07869801646531006,0.0798922445797837,0.9959435658332741,-1.9709121826609227e-11,-4.7372173256851e-12,0.08998007376804625],"qvel":[7.417877431875733e-05,-3.1412960670000306e-05,0.00025701057257595633,-5.4394732351498084e-05,-0.002150802423259378,0.0020244319666577457,1.1967840449179074e-08,-4.541307729351551e-09,9.948170105480348e-12,-2.9428597429462015e-11,3.4611889143409713e-15,-8.986209457689749e-11,-1.3194861818695814e-11,-6.616220861998626e-09],"joint_position_rad":[0.3053635145025616,1.4911412310823335,-1.2572140933777136,-0.1887420223084979,0.9312074523310967,0.37872552888499833],"joint_velocity_rad_s":[7.417877431875733e-05,-3.1412960670000306e-05,0.00025701057257595633,-5.4394732351498084e-05,-0.002150802423259378,0.0020244319666577457],"gripper_joint_position_m":[0.03499998975067471,-0.03500000005323174],"tcp_position_m":[0.3501900422538108,0.07853580959613797,0.20987411499977038],"tcp_quaternion_wxyz":[0.2580058096029914,-0.0006652870858634431,0.966142988080418,-0.0005349647084823463],"object_position_m":[0.35512819570800547,0.07869801646531006,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658332741,-1.9709121826609227e-11,-4.7372173256851e-12,0.08998007376804625],"object_linear_velocity_m_s":[9.948170105480348e-12,-2.9428597429462015e-11,3.4611889143409713e-15],"object_angular_velocity_rad_s":[-8.604205603137007e-11,-2.9087196737687506e-11,-6.616220861998628e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000586289},{"geom_ids":[1,90],"normal_force_n":0.09810000000788069},{"geom_ids":[1,90],"normal_force_n":0.0980999999941372},{"geom_ids":[1,90],"normal_force_n":0.0980999999921194}],"native_actuator_controls":[0.305399161353081,1.4911266455758103,-1.257005958668973,-0.1887586333702225,0.9292121062206478,0.3803537977164158,0.035],"actuator_force_native":[0.002480854169956359,-0.0010097757185150158,0.015365723836367806,-0.00039246880722654254,-0.016727257469600687,0.013246040364188083,3.5013380950132955e-07],"issued_joint_targets_rad":[0.305399420182101,1.4911265726384983,-1.25700561042707,-0.1887591237840465,0.9292117325161485,0.3803544483470415],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.900000000000116,"joint_targets_rad":[0.305399420182101,1.4911265726384983,-1.25700561042707,-0.1887591237840465,0.9292117325161485,0.3803544483470415],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.92000000000014,"qpos":[0.3053649730792674,1.4911406146969548,-1.2572090135565575,-0.1887430951459114,0.9311649138202972,0.3787655042258344,0.03499999001516578,-0.03500000004845172,0.3551281957081906,0.07869801646476206,0.0798922445797837,0.995943565838764,-1.8930559282980968e-11,-4.550095012382542e-12,0.08998007370728052],"qvel":[7.168682739429368e-05,-3.0243087526426233e-05,0.00025116844663662354,-5.248527754494684e-05,-0.0021053511113740524,0.0019755392998000404,1.2082448984234298e-08,-5.086921524094898e-09,1.1915861665146892e-11,-3.524936624210991e-11,3.1336731220765495e-15,-6.622758484009628e-10,-9.723830000522748e-11,-1.2079548406538333e-08],"joint_position_rad":[0.3053649730792674,1.4911406146969548,-1.2572090135565575,-0.1887430951459114,0.9311649138202972,0.3787655042258344],"joint_velocity_rad_s":[7.168682739429368e-05,-3.0243087526426233e-05,0.00025116844663662354,-5.248527754494684e-05,-0.0021053511113740524,0.0019755392998000404],"gripper_joint_position_m":[0.03499999001516578,-0.03500000004845172],"tcp_position_m":[0.35019620206104823,0.07853916486959504,0.20987673571628762],"tcp_quaternion_wxyz":[0.25802300514558196,-0.0006491009270343088,0.9661384133885318,-0.0005231240007031795],"object_position_m":[0.3551281957081906,0.07869801646476206,0.0798922445797837],"object_quaternion_wxyz":[0.995943565838764,-1.8930559282980968e-11,-4.550095012382542e-12,0.08998007370728052],"object_linear_velocity_m_s":[1.1915861665146892e-11,-3.524936624210991e-11,3.1336731220765495e-15],"object_angular_velocity_rad_s":[-6.341236946075617e-10,-2.1436353771194095e-10,-1.2079548406538333e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000005997},{"geom_ids":[1,90],"normal_force_n":0.09810000000806106},{"geom_ids":[1,90],"normal_force_n":0.09809999999400319},{"geom_ids":[1,90],"normal_force_n":0.09809999999193922}],"native_actuator_controls":[0.305399420182101,1.4911265726384983,-1.25700561042707,-0.1887591237840465,0.9292117325161485,0.3803544483470415,0.035],"actuator_force_native":[0.002397334089717873,-0.0009721492388905517,0.015016408125816838,-0.0003787191376796173,-0.016373786374426658,0.012926132262371492,3.3898112383745627e-07],"issued_joint_targets_rad":[0.3053996716762683,1.491126500705181,-1.2570052704725083,-0.18875959968324085,0.9292113678277708,0.3803550806597513],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.92000000000014,"joint_targets_rad":[0.3053996716762683,1.491126500705181,-1.2570052704725083,-0.18875959968324085,0.9292113678277708,0.3803550806597513],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.940000000000165,"qpos":[0.3053663826918251,1.4911400212184989,-1.2572040492112313,-0.18874413044239358,0.9311232742599522,0.3788045140691651,0.034999990272991915,-0.035000000045202685,0.35512819570836424,0.07869801646424865,0.0798922445797837,0.99594356584382,-1.6833160163816526e-11,-4.0459768421650905e-12,0.08998007365131509],"qvel":[6.928124170870581e-05,-2.912037829743211e-05,0.00024545861719227157,-5.065140389282716e-05,-0.0020608591819486015,0.0019278243068750857,1.1595094424078423e-08,-4.737973872086571e-09,1.51841106235179e-11,-4.491738161360606e-11,3.1850209369654636e-15,-1.5047733818011216e-09,-2.2093647802980183e-10,-2.2054203661185675e-08],"joint_position_rad":[0.3053663826918251,1.4911400212184989,-1.2572040492112313,-0.18874413044239358,0.9311232742599522,0.3788045140691651],"joint_velocity_rad_s":[6.928124170870581e-05,-2.912037829743211e-05,0.00024545861719227157,-5.065140389282716e-05,-0.0020608591819486015,0.0019278243068750857],"gripper_joint_position_m":[0.034999990272991915,-0.035000000045202685],"tcp_position_m":[0.3502022344979059,0.07854244600573694,0.2098793001805169],"tcp_quaternion_wxyz":[0.25803983385580753,-0.0006333037700956305,0.96613393553495,-0.0005115444763402027],"object_position_m":[0.35512819570836424,0.07869801646424865,0.0798922445797837],"object_quaternion_wxyz":[0.99594356584382,-1.6833160163816526e-11,-4.0459768421650905e-12,0.08998007365131509],"object_linear_velocity_m_s":[1.51841106235179e-11,-4.491738161360606e-11,3.1850209369654636e-15],"object_angular_velocity_rad_s":[-1.4408083677688276e-09,-4.87059652679961e-10,-2.205420366118567e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000371093},{"geom_ids":[1,90],"normal_force_n":0.09810000000498827},{"geom_ids":[1,90],"normal_force_n":0.09809999999628878},{"geom_ids":[1,90],"normal_force_n":0.09809999999501158}],"native_actuator_controls":[0.3053996716762683,1.491126500705181,-1.2570052704725083,-0.18875959968324085,0.9292113678277708,0.3803550806597513,0.035],"actuator_force_native":[0.0023167125469143457,-0.0009360391739363649,0.014675006011884761,-0.000365512614426855,-0.016027775548890233,0.012613929445549399,3.3110485131437883e-07],"issued_joint_targets_rad":[0.305399916058535,1.4911264297779327,-1.2570049385940945,-0.18876006153858726,0.9292110119188592,0.38035569521309337],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.940000000000165,"joint_targets_rad":[0.305399916058535,1.4911264297779327,-1.2570049385940945,-0.18876006153858726,0.9292110119188592,0.38035569521309337],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.96000000000019,"qpos":[0.3053677450362176,1.4911394497246633,-1.2571991977263646,-0.18874512967955506,0.9310825146746032,0.3788425816727092,0.034999990525190344,-0.03500000004422707,0.3551281957085526,0.07869801646369157,0.0798922445797837,0.9959435658513472,-1.6879264165504497e-11,-4.057063420119777e-12,0.08998007356799757],"qvel":[6.695896395326247e-05,-2.8042841467799665e-05,0.00023987811964033446,-4.8889788927861874e-05,-0.0020173064302190526,0.0018812587617768903,1.042251304502776e-08,-3.379813220567064e-09,6.8393267935011754e-12,-2.023198900064154e-11,2.9490985442326174e-15,6.413406377449558e-10,9.416341051652425e-11,-2.389392348350598e-09],"joint_position_rad":[0.3053677450362176,1.4911394497246633,-1.2571991977263646,-0.18874512967955506,0.9310825146746032,0.3788425816727092],"joint_velocity_rad_s":[6.695896395326247e-05,-2.8042841467799665e-05,0.00023987811964033446,-4.8889788927861874e-05,-0.0020173064302190526,0.0018812587617768903],"gripper_joint_position_m":[0.034999990525190344,-0.03500000004422707],"tcp_position_m":[0.35020814217570495,0.07854565466878476,0.20988180968432102],"tcp_quaternion_wxyz":[0.2580563037185632,-0.0006178864471374144,0.9661295524446709,-0.0005002204624151105],"object_position_m":[0.3551281957085526,0.07869801646369157,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658513472,-1.6879264165504497e-11,-4.057063420119777e-12,0.08998007356799757],"object_linear_velocity_m_s":[6.8393267935011754e-12,-2.023198900064154e-11,2.9490985442326174e-15],"object_angular_velocity_rad_s":[6.140785973451968e-10,2.075862177163142e-10,-2.3893923483505957e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000122965},{"geom_ids":[1,90],"normal_force_n":0.09810000000165277},{"geom_ids":[1,90],"normal_force_n":0.09809999999877013},{"geom_ids":[1,90],"normal_force_n":0.09809999999834704}],"native_actuator_controls":[0.305399916058535,1.4911264297779327,-1.2570049385940945,-0.18876006153858726,0.9292110119188592,0.38035569521309337,0.035],"actuator_force_native":[0.002238886965624687,-0.0009013815311078588,0.014341339983417356,-0.00035282541664916067,-0.015689067912111554,0.012309247261176548,3.268798212108237e-07],"issued_joint_targets_rad":[0.30540015354448247,1.4911263598577655,-1.2570046145865525,-0.18876050980404316,0.9292106645596735,0.3803562925468937],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.96000000000019,"joint_targets_rad":[0.30540015354448247,1.4911263598577655,-1.2570046145865525,-0.18876050980404316,0.9292106645596735,0.3803562925468937],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.980000000000214,"qpos":[0.30536906174848605,1.4911388993320602,-1.2571944565452124,-0.18874609427403485,0.9310426164884317,0.3788797297366656,0.03499999076568653,-0.03500000003691255,0.35512819570874493,0.07869801646312234,0.0798922445797837,0.9959435658609801,-1.781135334963457e-11,-4.281114104299834e-12,0.08998007346137499],"qvel":[6.471704024954247e-05,-2.700857269632613e-05,0.00023442405428582391,-4.719728814120653e-05,-0.0019746730630639266,0.0018358151102845775,9.286852692599852e-09,-2.1048421424380883e-09,7.419090120663216e-12,-2.1946975960880637e-11,2.7339928332114937e-15,5.064070220032166e-10,7.435186196601881e-11,-4.362427022840714e-09],"joint_position_rad":[0.30536906174848605,1.4911388993320602,-1.2571944565452124,-0.18874609427403485,0.9310426164884317,0.3788797297366656],"joint_velocity_rad_s":[6.471704024954247e-05,-2.700857269632613e-05,0.00023442405428582391,-4.719728814120653e-05,-0.0019746730630639266,0.0018358151102845775],"gripper_joint_position_m":[0.03499999076568653,-0.03500000003691255],"tcp_position_m":[0.3502139276528028,0.07854879248558394,0.20988426548606567],"tcp_quaternion_wxyz":[0.2580724225373752,-0.0006028399988956091,0.9661252620884222,-0.0004891464032682265],"object_position_m":[0.35512819570874493,0.07869801646312234,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658609801,-1.781135334963457e-11,-4.281114104299834e-12,0.08998007346137499],"object_linear_velocity_m_s":[7.419090120663216e-12,-2.1946975960880637e-11,2.7339928332114937e-15],"object_angular_velocity_rad_s":[4.848807652282653e-10,1.6391130169586143e-10,-4.362427022840709e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000271533},{"geom_ids":[1,90],"normal_force_n":0.09810000000364988},{"geom_ids":[1,90],"normal_force_n":0.09809999999728468},{"geom_ids":[1,90],"normal_force_n":0.09809999999635019}],"native_actuator_controls":[0.30540015354448247,1.4911263598577655,-1.2570046145865525,-0.18876050980404316,0.9292106645596735,0.3803562925468937,0.035],"actuator_force_native":[0.0021637584784670594,-0.0008681150801095328,0.014015236421357713,-0.0003406347596257575,-0.015357509692986326,0.01201190543685371,3.2293827545437637e-07],"issued_joint_targets_rad":[0.3054003843425837,1.4911262909446998,-1.2570042982503415,-0.18876094491739823,0.9292103255271676,0.3803568731829473],"issued_gripper_position_m":0.035,"command":{"t_seconds":18.980000000000214,"joint_targets_rad":[0.3054003843425837,1.4911262909446998,-1.2570042982503415,-0.18876094491739823,0.9292103255271676,0.3803568731829473],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.000000000000238,"qpos":[0.305370334406833,1.4911383691945326,-1.2571898231683727,-0.18874702558066073,0.9310035615169324,0.37891598041697955,0.03499999099952562,-0.03500000002990162,0.3551281957089321,0.07869801646256848,0.0798922445797837,0.9959435658717617,-1.8401438967274595e-11,-4.4229552159133645e-12,0.08998007334204204],"qvel":[6.255263752956689e-05,-2.601574836526996e-05,0.00022909358488453654,-4.55708749818239e-05,-0.001932939721871328,0.0017914664501900393,7.837942582332615e-09,-3.6737245195361123e-10,8.183781860054576e-12,-2.4209034996968226e-11,2.7187272666228983e-15,2.7921927285499574e-10,4.09956624543141e-11,-7.964690507384939e-09],"joint_position_rad":[0.305370334406833,1.4911383691945326,-1.2571898231683727,-0.18874702558066073,0.9310035615169324,0.37891598041697955],"joint_velocity_rad_s":[6.255263752956689e-05,-2.601574836526996e-05,0.00022909358488453654,-4.55708749818239e-05,-0.001932939721871328,0.0017914664501900393],"gripper_joint_position_m":[0.03499999099952562,-0.03500000002990162],"tcp_position_m":[0.35021959343565773,0.07855186104636366,0.20988666881164403],"tcp_quaternion_wxyz":[0.2580881979388573,-0.0005881556703130662,0.9661210624815938,-0.0004783168585384244],"object_position_m":[0.3551281957089321,0.07869801646256848,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658717617,-1.8401438967274595e-11,-4.4229552159133645e-12,0.08998007334204204],"object_linear_velocity_m_s":[8.183781860054576e-12,-2.4209034996968226e-11,2.7187272666228983e-15],"object_angular_velocity_rad_s":[2.673502647766767e-10,9.037633870423007e-11,-7.964690507384934e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000423004},{"geom_ids":[1,90],"normal_force_n":0.09810000000568603},{"geom_ids":[1,90],"normal_force_n":0.09809999999577042},{"geom_ids":[1,90],"normal_force_n":0.09809999999431435}],"native_actuator_controls":[0.3054003843425837,1.4911262909446998,-1.2570042982503415,-0.18876094491739823,0.9292103255271676,0.3803568731829473,0.035],"actuator_force_native":[0.0020912316724093216,-0.0008361812447787997,0.013696525518071212,-0.00032891909459120683,-0.015032950314839866,0.011721727984392416,3.208292627121523e-07],"issued_joint_targets_rad":[0.30540060865445945,1.491126223037829,-1.2570039893914728,-0.18876136730090262,0.9292099946047645,0.38035743762568],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.000000000000238,"joint_targets_rad":[0.30540060865445945,1.491126223037829,-1.2570039893914728,-0.18876136730090262,0.9292099946047645,0.38035743762568],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.020000000000262,"qpos":[0.30537156453358255,1.4911378585015345,-1.2571852951525309,-0.18874792489560566,0.930965331958835,0.3789513553382759,0.03499999124791148,-0.03500000005253033,0.3551281957091133,0.07869801646203266,0.0798922445797837,0.9959435658834785,-1.845091598846661e-11,-4.43484534038281e-12,0.08998007321235307],"qvel":[6.046301077216653e-05,-2.506262505650434e-05,0.00022388393753391338,-4.400769239704974e-05,-0.001892087436721464,0.0017481865227136752,8.341348233425705e-09,-1.2272199912594253e-09,9.313598661624848e-12,-2.7551246064310323e-11,2.889424056659016e-15,-7.731651437874938e-11,-1.1351430666341509e-11,-1.4541514118867637e-08],"joint_position_rad":[0.30537156453358255,1.4911378585015345,-1.2571852951525309,-0.18874792489560566,0.930965331958835,0.3789513553382759],"joint_velocity_rad_s":[6.046301077216653e-05,-2.506262505650434e-05,0.00022388393753391338,-4.400769239704974e-05,-0.001892087436721464,0.0017481865227136752],"gripper_joint_position_m":[0.03499999124791148,-0.03500000005253033],"tcp_position_m":[0.35022514197987337,0.07855486190543227,0.20988902085546154],"tcp_quaternion_wxyz":[0.25810363737703584,-0.0005738249061858973,0.9661169516832009,-0.0004677265012449578],"object_position_m":[0.3551281957091133,0.07869801646203266,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658834785,-1.845091598846661e-11,-4.43484534038281e-12,0.08998007321235307],"object_linear_velocity_m_s":[9.313598661624848e-12,-2.7551246064310323e-11,2.889424056659016e-15],"object_angular_velocity_rad_s":[-7.403002262834477e-11,-2.5025069899968736e-11,-1.4541514118867625e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000054093},{"geom_ids":[1,90],"normal_force_n":0.09810000000727119},{"geom_ids":[1,90],"normal_force_n":0.09809999999459071},{"geom_ids":[1,90],"normal_force_n":0.09809999999272899}],"native_actuator_controls":[0.30540060865445945,1.491126223037829,-1.2570039893914728,-0.18876136730090262,0.9292099946047645,0.38035743762568,0.035],"actuator_force_native":[0.002021214616288347,-0.0008055239711524109,0.013385041196968928,-0.0003176577498935629,-0.014715242385621607,0.011438543089969944,3.0837679987349986e-07],"issued_joint_targets_rad":[0.3054008266751246,1.4911261561353766,-1.2570036878213446,-0.18876177736186986,0.9292096715821585,0.38035798636278734],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.020000000000262,"joint_targets_rad":[0.3054008266751246,1.4911261561353766,-1.2570036878213446,-0.18876177736186986,0.9292096715821585,0.38035798636278734],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.040000000000287,"qpos":[0.3053727535976923,1.4911373664766463,-1.257180870109227,-0.1887487934580871,0.9309279103873885,0.3789858756063797,0.034999991472932666,-0.03500000005120177,0.3551281957092865,0.0786980164615202,0.0798922445797837,0.9959435658955448,-1.7681360670135524e-11,-4.249866068497527e-12,0.08998007307879864],"qvel":[5.844550501377355e-05,-2.4147535483453455e-05,0.00021879239909727412,-4.250503557691649e-05,-0.0018520976282003286,0.001705949690281216,9.709974170220334e-09,-3.4937562684313556e-09,1.112526923833387e-11,-3.291055261685177e-11,3.0739986345029475e-15,-6.14081147350892e-10,-9.015958494821047e-11,-2.6549131872521754e-08],"joint_position_rad":[0.3053727535976923,1.4911373664766463,-1.257180870109227,-0.1887487934580871,0.9309279103873885,0.3789858756063797],"joint_velocity_rad_s":[5.844550501377355e-05,-2.4147535483453455e-05,0.00021879239909727412,-4.250503557691649e-05,-0.0018520976282003286,0.001705949690281216],"gripper_joint_position_m":[0.034999991472932666,-0.03500000005120177],"tcp_position_m":[0.35023057569124083,0.07855779658235029,0.209891322781406],"tcp_quaternion_wxyz":[0.25811874813769625,-0.0005598393470295003,0.966112927794837,-0.0004573701151102354],"object_position_m":[0.3551281957092865,0.0786980164615202,0.0798922445797837],"object_quaternion_wxyz":[0.9959435658955448,-1.7681360670135524e-11,-4.249866068497527e-12,0.08998007307879864],"object_linear_velocity_m_s":[1.112526923833387e-11,-3.291055261685177e-11,3.0739986345029475e-15],"object_angular_velocity_rad_s":[-5.879781212900412e-10,-1.9876150324962544e-10,-2.6549131872521734e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000556102},{"geom_ids":[1,90],"normal_force_n":0.09810000000747493},{"geom_ids":[1,90],"normal_force_n":0.09809999999443872},{"geom_ids":[1,90],"normal_force_n":0.09809999999252472}],"native_actuator_controls":[0.3054008266751246,1.4911261561353766,-1.2570036878213446,-0.18876177736186986,0.9292096715821585,0.38035798636278734,0.035],"actuator_force_native":[0.0019536186695141566,-0.0007760896241677528,0.013080621035115314,-0.0003068309734253205,-0.014404241609998536,0.011162183028654571,2.925328226321966e-07],"issued_joint_targets_rad":[0.3054010385932205,1.4911260902347565,-1.2570033933565634,-0.18876217549325194,0.9292093562550956,0.3803585198658392],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.040000000000287,"joint_targets_rad":[0.3054010385932205,1.4911260902347565,-1.2570033933565634,-0.18876217549325194,0.9292093562550956,0.3803585198658392],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.06000000000031,"qpos":[0.30537390301609013,1.4911368923760393,-1.25717654570365,-0.188749632454196,0.9308912797432564,0.3790195618208137,0.03499999167476491,-0.0350000000261129,0.3551281957094485,0.07869801646104095,0.0798922445797837,0.9959435659066579,-1.5705732688916257e-11,-3.775005497508655e-12,0.08998007295579465],"qvel":[5.6497611696285954e-05,-2.3268878869835382e-05,0.00021381631588436286,-4.10602210076876e-05,-0.0018129521710010304,0.0016647309176412615,8.045656524603665e-09,-1.5537645999104462e-09,1.4160252443319906e-11,-4.1888282995257794e-11,2.944935207890273e-15,-1.4008232702430482e-09,-2.056813432076287e-10,-4.84720111311708e-08],"joint_position_rad":[0.30537390301609013,1.4911368923760393,-1.25717654570365,-0.188749632454196,0.9308912797432564,0.3790195618208137],"joint_velocity_rad_s":[5.6497611696285954e-05,-2.3268878869835382e-05,0.00021381631588436286,-4.10602210076876e-05,-0.0018129521710010304,0.0016647309176412615],"gripper_joint_position_m":[0.03499999167476491,-0.0350000000261129],"tcp_position_m":[0.35023589692671636,0.07856066656223089,0.20989357572374812],"tcp_quaternion_wxyz":[0.2581335373423438,-0.0005461908247207477,0.9661089889597213,-0.0004472425932410441],"object_position_m":[0.3551281957094485,0.07869801646104095,0.0798922445797837],"object_quaternion_wxyz":[0.9959435659066579,-1.5705732688916257e-11,-3.775005497508655e-12,0.08998007295579465],"object_linear_velocity_m_s":[1.4160252443319906e-11,-4.1888282995257794e-11,2.944935207890273e-15],"object_angular_velocity_rad_s":[-1.3412756829071551e-09,-4.534205463364982e-10,-4.847201113117078e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000034448},{"geom_ids":[1,90],"normal_force_n":0.09810000000463032},{"geom_ids":[1,90],"normal_force_n":0.0980999999965553},{"geom_ids":[1,90],"normal_force_n":0.09809999999536981}],"native_actuator_controls":[0.3054010385932205,1.4911260902347565,-1.2570033933565634,-0.18876217549325194,0.9292093562550956,0.3803585198658392,0.035],"actuator_force_native":[0.0018883581119446546,-0.000747826908281013,0.01278310618749856,-0.00029642045720024157,-0.014099806625106126,0.010892484073793174,2.9278112090302955e-07],"issued_joint_targets_rad":[0.3054012445912469,1.4911260253326286,-1.2570031058187963,-0.18876256207419648,0.9292090484251927,0.38035903859087394],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.06000000000031,"joint_targets_rad":[0.3054012445912469,1.4911260253326286,-1.2570031058187963,-0.18876256207419648,0.9292090484251927,0.38035903859087394],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.080000000000336,"qpos":[0.30537501415546475,1.4911364354870686,-1.257172319653461,-0.188750443019567,0.930855423326875,0.37905243408679956,0.034999991876909116,-0.035000000011107625,0.35512819570962406,0.07869801646052145,0.0798922445797837,0.9959435659232019,-1.5738692324540455e-11,-3.782951513187001e-12,0.0899800727726746],"qvel":[5.461687056557412e-05,-2.2425127848784256e-05,0.00020895309291020533,-3.967077403067652e-05,-0.0017746332660308988,0.0016245057759256705,5.955040684489477e-09,1.1065317545077921e-09,6.378161704839879e-12,-1.8867658869888843e-11,2.8713829325088565e-15,5.983608210547887e-10,8.78535534026123e-11,-5.251545454745267e-09],"joint_position_rad":[0.30537501415546475,1.4911364354870686,-1.257172319653461,-0.188750443019567,0.930855423326875,0.37905243408679956],"joint_velocity_rad_s":[5.461687056557412e-05,-2.2425127848784256e-05,0.00020895309291020533,-3.967077403067652e-05,-0.0017746332660308988,0.0016245057759256705],"gripper_joint_position_m":[0.034999991876909116,-0.035000000011107625],"tcp_position_m":[0.35024110799540664,0.07856347329643071,0.20989578078802879],"tcp_quaternion_wxyz":[0.2581480119521915,-0.0005328713584076382,0.9661051333617378,-0.00043733893622069245],"object_position_m":[0.35512819570962406,0.07869801646052145,0.0798922445797837],"object_quaternion_wxyz":[0.9959435659232019,-1.5738692324540455e-11,-3.782951513187001e-12,0.0899800727726746],"object_linear_velocity_m_s":[6.378161704839879e-12,-1.8867658869888843e-11,2.8713829325088565e-15],"object_angular_velocity_rad_s":[5.729256623814664e-10,1.936752550110207e-10,-5.251545454745262e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000011399},{"geom_ids":[1,90],"normal_force_n":0.09810000000153228},{"geom_ids":[1,90],"normal_force_n":0.09809999999885986},{"geom_ids":[1,90],"normal_force_n":0.09809999999846747}],"native_actuator_controls":[0.3054012445912469,1.4911260253326286,-1.2570031058187963,-0.18876256207419648,0.9292090484251927,0.38035903859087394,0.035],"actuator_force_native":[0.0018253505097440836,-0.0007206867159510466,0.012492341308615096,-0.0002864083150253549,-0.01380179911777546,0.01062928637685534,2.951484321389586e-07],"issued_joint_targets_rad":[0.3054014448457772,1.49112596142495,-1.2570028250346108,-0.18876293747057746,0.9292087478997471,0.3803595429789616],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.080000000000336,"joint_targets_rad":[0.3054014448457772,1.49112596142495,-1.2570028250346108,-0.18876293747057746,0.9292087478997471,0.3803595429789616],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.10000000000036,"qpos":[0.3053760883344668,1.4911359951269634,-1.2571681897276374,-0.18875122624089913,0.930820324790377,0.37908451202694904,0.03499999208513211,-0.03500000001343897,0.3551281957098035,0.0786980164599908,0.0798922445797837,0.9959435659443738,-1.6602547961513464e-11,-3.990616315820008e-12,0.08998007253833334],"qvel":[5.280084042057926e-05,-2.161482807137949e-05,0.0002042001922295768,-3.8334480023031804e-05,-0.0017371234018553313,0.0015852504258091922,1.0926681116596904e-08,-6.246058437221661e-09,6.9160539938674765e-12,-2.0458716350624486e-11,2.856117365920261e-15,4.722493735876646e-10,6.933773165265135e-11,-9.58799598242193e-09],"joint_position_rad":[0.3053760883344668,1.4911359951269634,-1.2571681897276374,-0.18875122624089913,0.930820324790377,0.37908451202694904],"joint_velocity_rad_s":[5.280084042057926e-05,-2.161482807137949e-05,0.0002042001922295768,-3.8334480023031804e-05,-0.0017371234018553313,0.0015852504258091922],"gripper_joint_position_m":[0.03499999208513211,-0.03500000001343897],"tcp_position_m":[0.3502462111595443,0.07856621820360188,0.2098979390519264],"tcp_quaternion_wxyz":[0.25816217877213865,-0.0005198731505694598,0.966101359224472,-0.0004276542496140629],"object_position_m":[0.3551281957098035,0.0786980164599908,0.0798922445797837],"object_quaternion_wxyz":[0.9959435659443738,-1.6602547961513464e-11,-3.990616315820008e-12,0.08998007253833334],"object_linear_velocity_m_s":[6.9160539938674765e-12,-2.0458716350624486e-11,2.856117365920261e-15],"object_angular_velocity_rad_s":[4.5217490937983685e-10,1.5285628286731721e-10,-9.58799598242192e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000252746},{"geom_ids":[1,90],"normal_force_n":0.09810000000339743},{"geom_ids":[1,90],"normal_force_n":0.09809999999747242},{"geom_ids":[1,90],"normal_force_n":0.09809999999660228}],"native_actuator_controls":[0.3054014448457772,1.49112596142495,-1.2570028250346108,-0.18876293747057746,0.9292087478997471,0.3803595429789616,0.035],"actuator_force_native":[0.001764516702731811,-0.0006946220207311171,0.012208174480974776,-0.00027677678701820696,-0.013510083803517148,0.010372433881411958,2.6196131019950997e-07],"issued_joint_targets_rad":[0.3054016395276696,1.4911258985070213,-1.2570025508353224,-0.1887633020355012,0.9292084544915493,0.380360033456741],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.10000000000036,"joint_targets_rad":[0.3054016395276696,1.4911258985070213,-1.2570025508353224,-0.1887633020355012,0.9292084544915493,0.380360033456741],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.120000000000385,"qpos":[0.305377126825526,1.4911355706415568,-1.25716415374534,-0.1887519831579867,0.9307859681300823,0.3791158147927754,0.03499999228107208,-0.035000000005638306,0.35512819570996834,0.07869801645950328,0.0798922445797837,0.9959435659652587,-1.629735173587382e-11,-3.9172471665473686e-12,0.08998007230716837],"qvel":[5.104737444243195e-05,-2.0836566281803593e-05,0.00019955513187958562,-3.7048795939587014e-05,-0.001700405700301684,0.0015469415623758623,7.707763713800722e-09,-1.9070525654706584e-09,7.415264147583925e-12,-2.1935513396606445e-11,2.7659117451694675e-15,2.2705702470280776e-10,3.3338982264916106e-11,-1.750525922952144e-08],"joint_position_rad":[0.305377126825526,1.4911355706415568,-1.25716415374534,-0.1887519831579867,0.9307859681300823,0.3791158147927754],"joint_velocity_rad_s":[5.104737444243195e-05,-2.0836566281803593e-05,0.00019955513187958562,-3.7048795939587014e-05,-0.001700405700301684,0.0015469415623758623],"gripper_joint_position_m":[0.03499999228107208,-0.035000000005638306],"tcp_position_m":[0.350251208635431,0.07856890267048942,0.2099000515660797],"tcp_quaternion_wxyz":[0.25817604445455744,-0.0005071885830534872,0.9660976648102912,-0.0004181837418677444],"object_position_m":[0.35512819570996834,0.07869801645950328,0.0798922445797837],"object_quaternion_wxyz":[0.9959435659652587,-1.629735173587382e-11,-3.9172471665473686e-12,0.08998007230716837],"object_linear_velocity_m_s":[7.415264147583925e-12,-2.1935513396606445e-11,2.7659117451694675e-15],"object_angular_velocity_rad_s":[2.1740497907956297e-10,7.349459352064755e-11,-1.750525922952142e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000035366},{"geom_ids":[1,90],"normal_force_n":0.09810000000475383},{"geom_ids":[1,90],"normal_force_n":0.0980999999964633},{"geom_ids":[1,90],"normal_force_n":0.09809999999524617}],"native_actuator_controls":[0.3054016395276696,1.4911258985070213,-1.2570025508353224,-0.1887633020355012,0.9292084544915493,0.380360033456741,0.035],"actuator_force_native":[0.0017057792992716259,-0.0006695879314406739,0.01193045714200025,-0.00026751112088252427,-0.013224527834877264,0.0101217742960924,2.702182981817458e-07],"issued_joint_targets_rad":[0.30540182880226546,1.4911258365735356,-1.2570022830568512,-0.18876365610979107,0.9292081680187088,0.3803605104369369],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.120000000000385,"joint_targets_rad":[0.30540182880226546,1.4911258365735356,-1.2570022830568512,-0.18876365610979107,0.9292081680187088,0.3803605104369369],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.14000000000041,"qpos":[0.30537813085586396,1.491135161403985,-1.2571602095748078,-0.18875271476724662,0.9307523376800803,0.3791463610759852,0.034999992476299056,-0.03500000000474852,0.35512819571012394,0.07869801645904305,0.0798922445797837,0.9959435659877207,-1.5776458066126437e-11,-3.792050185955073e-12,0.08998007205854937],"qvel":[4.935416467402145e-05,-2.0089014719184212e-05,0.00019501548450296508,-3.5811791903536025e-05,-0.00166446333124661,0.0015095564738770203,8.027145439633872e-09,-2.5970139390868506e-09,8.306383160338583e-12,-2.457150843788352e-11,2.785340648100408e-15,-1.297163195486277e-10,-1.9047209604281538e-11,-3.196018275686235e-08],"joint_position_rad":[0.30537813085586396,1.491135161403985,-1.2571602095748078,-0.18875271476724662,0.9307523376800803,0.3791463610759852],"joint_velocity_rad_s":[4.935416467402145e-05,-2.0089014719184212e-05,0.00019501548450296508,-3.5811791903536025e-05,-0.00166446333124661,0.0015095564738770203],"gripper_joint_position_m":[0.034999992476299056,-0.03500000000474852],"tcp_position_m":[0.3502561025943419,0.07857152805212654,0.20990211935487235],"tcp_quaternion_wxyz":[0.2581896155028301,-0.0004948102130625921,0.9660940484194903,-0.00040892272317704054],"object_position_m":[0.35512819571012394,0.07869801645904305,0.0798922445797837],"object_quaternion_wxyz":[0.9959435659877207,-1.5776458066126437e-11,-3.792050185955073e-12,0.08998007205854937],"object_linear_velocity_m_s":[8.306383160338583e-12,-2.457150843788352e-11,2.785340648100408e-15],"object_angular_velocity_rad_s":[-1.2420201113925555e-10,-4.198785752950839e-11,-3.196018275686232e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000444921},{"geom_ids":[1,90],"normal_force_n":0.09810000000598058},{"geom_ids":[1,90],"normal_force_n":0.09809999999555086},{"geom_ids":[1,90],"normal_force_n":0.09809999999401954}],"native_actuator_controls":[0.30540182880226546,1.4911258365735356,-1.2570022830568512,-0.18876365610979107,0.9292081680187088,0.3803605104369369,0.035],"actuator_force_native":[0.0016490648887490522,-0.0006455413623456252,0.011659044014024289,-0.0002585947422604207,-0.012945001616843754,0.00987715889870211,2.6081231063734833e-07],"issued_joint_targets_rad":[0.30540201282958823,1.4911257756186245,-1.257002021539583,-0.18876400002246513,0.9292078883044896,0.38036097431887],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.14000000000041,"joint_targets_rad":[0.30540201282958823,1.4911257756186245,-1.257002021539583,-0.18876400002246513,0.9292078883044896,0.38036097431887],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.160000000000434,"qpos":[0.30537910160962084,1.4911347668135653,-1.257156355132273,-0.18875342202266251,0.9307194181044878,0.3791761691193705,0.03499999267753855,-0.03500000001933811,0.3551281957102697,0.07869801645861174,0.0798922445797837,0.9959435660103889,-1.46952113390717e-11,-3.5321651379745718e-12,0.08998007180764689],"qvel":[4.771914222767886e-05,-1.9370886552881684e-05,0.00019057887658728307,-3.4621300518140056e-05,-0.0016292800197378666,0.0014730729665156383,6.84108706601591e-09,-1.0218721333398301e-09,9.925465994729299e-12,-2.936103833402237e-11,3.064284183037478e-15,-6.397326825478815e-10,-9.392969630978255e-11,-5.8351222100285083e-08],"joint_position_rad":[0.30537910160962084,1.4911347668135653,-1.257156355132273,-0.18875342202266251,0.9307194181044878,0.3791761691193705],"joint_velocity_rad_s":[4.771914222767886e-05,-1.9370886552881684e-05,0.00019057887658728307,-3.4621300518140056e-05,-0.0016292800197378666,0.0014730729665156383],"gripper_joint_position_m":[0.03499999267753855,-0.03500000001933811],"tcp_position_m":[0.3502608951634448,0.07857409567293573,0.20990414341721075],"tcp_quaternion_wxyz":[0.2582028982750311,-0.00048273076944788725,0.9660905083893941,-0.00039986660291711535],"object_position_m":[0.3551281957102697,0.07869801645861174,0.0798922445797837],"object_quaternion_wxyz":[0.9959435660103889,-1.46952113390717e-11,-3.5321651379745718e-12,0.08998007180764689],"object_linear_velocity_m_s":[9.925465994729299e-12,-2.936103833402237e-11,3.064284183037478e-15],"object_angular_velocity_rad_s":[-6.125385682619576e-10,-2.0706809353530636e-10,-5.835122210028504e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.098100000004311},{"geom_ids":[1,90],"normal_force_n":0.0981000000057951},{"geom_ids":[1,90],"normal_force_n":0.09809999999568866},{"geom_ids":[1,90],"normal_force_n":0.09809999999420459}],"native_actuator_controls":[0.30540201282958823,1.4911257756186245,-1.257002021539583,-0.18876400002246513,0.9292078883044896,0.38036097431887,0.035],"actuator_force_native":[0.0015943018862536462,-0.0006224411624913273,0.011393793032283384,-0.00025001348951292357,-0.012671377970374209,0.009638442545221615,2.5869302278103135e-07],"issued_joint_targets_rad":[0.30540219176452704,1.4911257156358952,-1.2570017661282338,-0.18876433409117419,0.9292076151771413,0.38036142548892676],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.160000000000434,"joint_targets_rad":[0.30540219176452704,1.4911257156358952,-1.2570017661282338,-0.18876433409117419,0.9292076151771413,0.38036142548892676],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.180000000000458,"qpos":[0.3053800402295017,1.4911343862946826,-1.2571525883809047,-0.18875410583751465,0.9306871943903656,0.37920525672746613,0.034999992849915305,-0.03500000000023683,0.35512819571040366,0.07869801645821548,0.0798922445797837,0.9959435660303051,-1.261631735878796e-11,-3.032477720803834e-12,0.08998007158720464],"qvel":[4.6140199468756896e-05,-1.8680961890239108e-05,0.00018624298666070015,-3.347549140735871e-05,-0.0015948396902452668,0.0014374693872430356,7.45724438542227e-09,-2.2754178517199113e-09,5.0952778194915515e-12,-1.5072596533719807e-11,2.906077402028393e-15,5.531869468597105e-10,8.122260232950569e-11,-6.321877061343904e-09],"joint_position_rad":[0.3053800402295017,1.4911343862946826,-1.2571525883809047,-0.18875410583751465,0.9306871943903656,0.37920525672746613],"joint_velocity_rad_s":[4.6140199468756896e-05,-1.8680961890239108e-05,0.00018624298666070015,-3.347549140735871e-05,-0.0015948396902452668,0.0014374693872430356],"gripper_joint_position_m":[0.034999992849915305,-0.03500000000023683],"tcp_position_m":[0.35026558842669353,0.07857660682749082,0.20990612472727094],"tcp_quaternion_wxyz":[0.2582158989874362,-0.0004709431490040593,0.9660870430935021,-0.00039101088761571266],"object_position_m":[0.35512819571040366,0.07869801645821548,0.0798922445797837],"object_quaternion_wxyz":[0.9959435660303051,-1.261631735878796e-11,-3.032477720803834e-12,0.08998007158720464],"object_linear_velocity_m_s":[5.0952778194915515e-12,-1.5072596533719807e-11,2.906077402028393e-15],"object_angular_velocity_rad_s":[5.29671747689521e-10,1.7905515631970261e-10,-6.321877061343899e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000011797},{"geom_ids":[1,90],"normal_force_n":0.09810000000015856},{"geom_ids":[1,90],"normal_force_n":0.09809999999988203},{"geom_ids":[1,90],"normal_force_n":0.09809999999984147}],"native_actuator_controls":[0.30540219176452704,1.4911257156358952,-1.2570017661282338,-0.18876433409117419,0.9292076151771413,0.38036142548892676,0.035],"actuator_force_native":[0.0015414218046849726,-0.0006002478935300815,0.011134565280372044,-0.00024175268934545358,-0.012403532596875877,0.009405483533741599,2.4871716597374416e-07],"issued_joint_targets_rad":[0.3054023657570155,1.4911256566184719,-1.2570015166717168,-0.18876465862263514,0.9292073484697444,0.3803618643210217],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.180000000000458,"joint_targets_rad":[0.3054023657570155,1.4911256566184719,-1.2570015166717168,-0.18876465862263514,0.9292073484697444,0.3803618643210217],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.200000000000482,"qpos":[0.3053809478173924,1.4911340192956208,-1.2571489073297624,-0.18875476708803626,0.9306556518420582,0.37923364127718373,0.03499999304157163,-0.035000000015663606,0.3551281957105475,0.07869801645778987,0.0798922445797837,0.9959435660626326,-1.2782106164524719e-11,-3.0723321843493035e-12,0.08998007122938749],"qvel":[4.461544517044243e-05,-1.8018058715970853e-05,0.0001820055453653945,-3.237231959106329e-05,-0.0015611267816815222,0.0014027245887651735,5.730122500807343e-09,9.337843481563247e-11,5.2616919338946964e-12,-1.5564856954062e-11,2.747870621019309e-15,4.520385276808998e-10,6.637124740722588e-11,-1.1542151022601668e-08],"joint_position_rad":[0.3053809478173924,1.4911340192956208,-1.2571489073297624,-0.18875476708803626,0.9306556518420582,0.37923364127718373],"joint_velocity_rad_s":[4.461544517044243e-05,-1.8018058715970853e-05,0.0001820055453653945,-3.237231959106329e-05,-0.0015611267816815222,0.0014027245887651735],"gripper_joint_position_m":[0.03499999304157163,-0.035000000015663606],"tcp_position_m":[0.3502701844256611,0.0785790627805003,0.2099080642351901],"tcp_quaternion_wxyz":[0.25822862371769495,-0.00045944041257720903,0.9660836509407182,-0.0003823511801493958],"object_position_m":[0.3551281957105475,0.07869801645778987,0.0798922445797837],"object_quaternion_wxyz":[0.9959435660626326,-1.2782106164524719e-11,-3.0723321843493035e-12,0.08998007122938749],"object_linear_velocity_m_s":[5.2616919338946964e-12,-1.5564856954062e-11,2.747870621019309e-15],"object_angular_velocity_rad_s":[4.328230179916004e-10,1.4631544035729536e-10,-1.1542151022601657e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000109871},{"geom_ids":[1,90],"normal_force_n":0.09810000000147705},{"geom_ids":[1,90],"normal_force_n":0.09809999999890122},{"geom_ids":[1,90],"normal_force_n":0.09809999999852304}],"native_actuator_controls":[0.3054023657570155,1.4911256566184719,-1.2570015166717168,-0.18876465862263514,0.9292073484697444,0.3803618643210217,0.035],"actuator_force_native":[0.001490357944000209,-0.0005789238783364681,0.010881224916815313,-0.00023379978599979978,-0.012141343550615247,0.00917814355523161,2.4968652234669264e-07],"issued_joint_targets_rad":[0.3054025349522106,1.491125598559035,-1.2570012730230198,-0.18876497391305008,0.9292070880200595,0.3803622911770515],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.200000000000482,"joint_targets_rad":[0.3054025349522106,1.491125598559035,-1.2570012730230198,-0.18876497391305008,0.9292070880200595,0.3803622911770515],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.220000000000507,"qpos":[0.3053818254371282,1.4911336652876757,-1.2571453100327894,-0.18875540661241355,0.9306247760728233,0.37926133972773796,0.0349999932084806,-0.03500000000316074,0.35512819571067694,0.07869801645740716,0.0798922445797837,0.9959435660949393,-1.2393850238365435e-11,-2.9790156982467502e-12,0.0899800708718002],"qvel":[4.3142900222527146e-05,-1.7381061752721814e-05,0.00017786433276510488,-3.131016223950569e-05,-0.0015281258653759278,0.00136881793953382,5.466276666442436e-09,1.707354099876908e-10,5.416180039259768e-12,-1.6021836688079623e-11,2.5841127248870986e-15,2.809707600023134e-10,4.125398351677951e-11,-2.107305298677637e-08],"joint_position_rad":[0.3053818254371282,1.4911336652876757,-1.2571453100327894,-0.18875540661241355,0.9306247760728233,0.37926133972773796],"joint_velocity_rad_s":[4.3142900222527146e-05,-1.7381061752721814e-05,0.00017786433276510488,-3.131016223950569e-05,-0.0015281258653759278,0.00136881793953382],"gripper_joint_position_m":[0.0349999932084806,-0.03500000000316074],"tcp_position_m":[0.3502746851604415,0.07858146476850286,0.20990996286779323],"tcp_quaternion_wxyz":[0.25824107840843785,-0.0004482157818016001,0.9660803303744625,-0.0003738831762609081],"object_position_m":[0.35512819571067694,0.07869801645740716,0.0798922445797837],"object_quaternion_wxyz":[0.9959435660949393,-1.2393850238365435e-11,-2.9790156982467502e-12,0.0899800708718002],"object_linear_velocity_m_s":[5.416180039259768e-12,-1.6021836688079623e-11,2.5841127248870986e-15],"object_angular_velocity_rad_s":[2.690270919990939e-10,9.094439456498376e-11,-2.1073052986776346e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000203797},{"geom_ids":[1,90],"normal_force_n":0.09810000000273943},{"geom_ids":[1,90],"normal_force_n":0.09809999999796237},{"geom_ids":[1,90],"normal_force_n":0.09809999999726092}],"native_actuator_controls":[0.3054025349522106,1.491125598559035,-1.2570012730230198,-0.18876497391305008,0.9292070880200595,0.3803622911770515,0.035],"actuator_force_native":[0.001441046705476623,-0.0005584329824728229,0.010633639117742177,-0.00022614121426478562,-0.01188469172957518,0.008956287583834488,2.4432939271790133e-07],"issued_joint_targets_rad":[0.30540269949064874,1.4911255414498534,-1.2570010350390797,-0.18876528024848965,0.9292068336703757,0.380362706407302],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.220000000000507,"joint_targets_rad":[0.30540269949064874,1.4911255414498534,-1.2570010350390797,-0.18876528024848965,0.9292068336703757,0.380362706407302],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.24000000000053,"qpos":[0.3053826741145692,1.4911333237640307,-1.2571417945878118,-0.18875602521515716,0.9305945530000074,0.37928836863088217,0.03499999338685099,-0.03500000001347387,0.3551281957107916,0.07869801645706774,0.0798922445797837,0.9959435661259399,-1.146570009956622e-11,-2.755911123148743e-12,0.0899800705286679],"qvel":[4.172075107500383e-05,-1.676889382070728e-05,0.00017381717868474874,-3.0287270168195297e-05,-0.0014958219552958056,0.0013357292949750285,7.133388417370849e-09,-2.363829681083048e-09,5.733596844605354e-12,-1.6960859621542343e-11,2.628521645872105e-15,3.066963925181418e-11,4.504746070537692e-12,-3.8474073168146976e-08],"joint_position_rad":[0.3053826741145692,1.4911333237640307,-1.2571417945878118,-0.18875602521515716,0.9305945530000074,0.37928836863088217],"joint_velocity_rad_s":[4.172075107500383e-05,-1.676889382070728e-05,0.00017381717868474874,-3.0287270168195297e-05,-0.0014958219552958056,0.0013357292949750285],"gripper_joint_position_m":[0.03499999338685099,-0.03500000001347387],"tcp_position_m":[0.35027909259043394,0.07858381399948786,0.2099118215292266],"tcp_quaternion_wxyz":[0.25825326887017275,-0.0004372626352387007,0.9660770798719687,-0.0003656026643313821],"object_position_m":[0.3551281957107916,0.07869801645706774,0.0798922445797837],"object_quaternion_wxyz":[0.9959435661259399,-1.146570009956622e-11,-2.755911123148743e-12,0.0899800705286679],"object_linear_velocity_m_s":[5.733596844605354e-12,-1.6960859621542343e-11,2.628521645872105e-15],"object_angular_velocity_rad_s":[2.936562511503843e-11,9.92872452012501e-12,-3.8474073168146923e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000260265},{"geom_ids":[1,90],"normal_force_n":0.09810000000349818},{"geom_ids":[1,90],"normal_force_n":0.09809999999739734},{"geom_ids":[1,90],"normal_force_n":0.0980999999965016}],"native_actuator_controls":[0.30540269949064874,1.4911255414498534,-1.2570010350390797,-0.18876528024848965,0.9292068336703757,0.380362706407302,0.035],"actuator_force_native":[0.001393426330984937,-0.0005387406650783078,0.010391678005134963,-0.00021876498245809728,-0.011633460363372095,0.008739783821736236,2.2885901840297151e-07],"issued_joint_targets_rad":[0.3054028595084165,1.491125485282819,-1.2570008025806663,-0.1887655779052843,0.9292065852673749,0.380363110350877],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.24000000000053,"joint_targets_rad":[0.3054028595084165,1.491125485282819,-1.2570008025806663,-0.1887655779052843,0.9292065852673749,0.380363110350877],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.260000000000556,"qpos":[0.3053834948400406,1.4911329942389329,-1.2571383591355685,-0.1887566236664047,0.9305649688372409,0.3793147441404048,0.0349999935434399,-0.034999999999319686,0.3551281957108915,0.07869801645677237,0.0798922445797837,0.9959435661532281,-9.928981104383126e-12,-2.3865390869734688e-12,0.08998007022662831],"qvel":[4.03472451984436e-05,-1.618052424682786e-05,0.0001698619607833502,-2.9301982956816433e-05,-0.0014642003783623427,0.0013034389853457083,6.3396310451548895e-09,-1.531763220846068e-09,6.463490779724496e-12,-1.9119976252192373e-11,2.491131546574742e-15,-3.161890937639324e-10,-4.642549179459037e-11,-7.0243941876992e-08],"joint_position_rad":[0.3053834948400406,1.4911329942389329,-1.2571383591355685,-0.1887566236664047,0.9305649688372409,0.3793147441404048],"joint_velocity_rad_s":[4.03472451984436e-05,-1.618052424682786e-05,0.0001698619607833502,-2.9301982956816433e-05,-0.0014642003783623427,0.0013034389853457083],"gripper_joint_position_m":[0.0349999935434399,-0.034999999999319686],"tcp_position_m":[0.3502834086352004,0.07858611165438768,0.20991364110163252],"tcp_quaternion_wxyz":[0.258265200784666,-0.00042657450519557503,0.9660738979434489,-0.0003575055222252742],"object_position_m":[0.3551281957108915,0.07869801645677237,0.0798922445797837],"object_quaternion_wxyz":[0.9959435661532281,-9.928981104383126e-12,-2.3865390869734688e-12,0.08998007022662831],"object_linear_velocity_m_s":[6.463490779724496e-12,-1.9119976252192373e-11,2.491131546574742e-15],"object_angular_velocity_rad_s":[-3.027482507201937e-10,-1.0234435006140263e-10,-7.024394187699188e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000222441},{"geom_ids":[1,90],"normal_force_n":0.09810000000299011},{"geom_ids":[1,90],"normal_force_n":0.09809999999777541},{"geom_ids":[1,90],"normal_force_n":0.0980999999970098}],"native_actuator_controls":[0.3054028595084165,1.491125485282819,-1.2570008025806663,-0.1887655779052843,0.9292065852673749,0.380363110350877,0.035],"actuator_force_native":[0.0013474372440747118,-0.0005198138678821351,0.010155214588266404,-0.0002116596404011517,-0.011387535131115456,0.008528503626703543,2.2656424891742688e-07],"issued_joint_targets_rad":[0.3054030151372957,1.4911254300494798,-1.2570005755122673,-0.18876586715037863,0.9292063426619886,0.38036350333607416],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.260000000000556,"joint_targets_rad":[0.3054030151372957,1.4911254300494798,-1.2570005755122673,-0.18876586715037863,0.9292063426619886,0.38036350333607416],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.28000000000058,"qpos":[0.3053842885685667,1.4911326762466834,-1.2571350018587573,-0.1887572027056148,0.9305360100895499,0.3793404820218308,0.034999993707130486,-0.035000000002070576,0.3551281957109793,0.07869801645651249,0.0798922445797837,0.9959435661772034,-8.155588040621806e-12,-1.960287130668214e-12,0.08998006996125717],"qvel":[3.9020687047671883e-05,-1.561496715410534e-05,0.00016599660428282692,-2.8352723723091736e-05,-0.0014332467595559075,0.0012719278191798756,4.624996187858732e-09,7.625089390633445e-10,3.3295004294919205e-12,-9.849170999571089e-12,2.452273740712862e-15,3.72859581631256e-10,5.474558427838937e-11,-7.610355862039032e-09],"joint_position_rad":[0.3053842885685667,1.4911326762466834,-1.2571350018587573,-0.1887572027056148,0.9305360100895499,0.3793404820218308],"joint_velocity_rad_s":[3.9020687047671883e-05,-1.561496715410534e-05,0.00016599660428282692,-2.8352723723091736e-05,-0.0014332467595559075,0.0012719278191798756],"gripper_joint_position_m":[0.034999993707130486,-0.035000000002070576],"tcp_position_m":[0.35028763517522926,0.078588358886873,0.20991542244574407],"tcp_quaternion_wxyz":[0.2582768797077333,-0.0004161450740778287,0.9660707831314136,-0.00034958771680623725],"object_position_m":[0.3551281957109793,0.07869801645651249,0.0798922445797837],"object_quaternion_wxyz":[0.9959435661772034,-8.155588040621806e-12,-1.960287130668214e-12,0.08998006996125717],"object_linear_velocity_m_s":[3.3295004294919205e-12,-9.849170999571089e-12,2.452273740712862e-15],"object_angular_velocity_rad_s":[3.5700987242410607e-10,1.2068677476815958e-10,-7.610355862039018e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999980704},{"geom_ids":[1,90],"normal_force_n":0.0980999999997406},{"geom_ids":[1,90],"normal_force_n":0.09810000000019285},{"geom_ids":[1,90],"normal_force_n":0.09810000000025933}],"native_actuator_controls":[0.3054030151372957,1.4911254300494798,-1.2570005755122673,-0.18876586715037863,0.9292063426619886,0.38036350333607416,0.035],"actuator_force_native":[0.0013030220630803058,-0.0005016209405255267,0.009924124697789694,-0.00020481417193796148,-0.011146804136277666,0.008322321413663847,2.2858979975559635e-07],"issued_joint_targets_rad":[0.30540316650491967,1.4911253757410665,-1.2570003537019772,-0.1887661482416923,0.9292061057092712,0.3803638856807818],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.28000000000058,"joint_targets_rad":[0.30540316650491967,1.4911253757410665,-1.2570003537019772,-0.1887661482416923,0.9292061057092712,0.3803638856807818],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.300000000000605,"qpos":[0.30538505622208634,1.4911323693408773,-1.2571317209811028,-0.18875776304097797,0.9305076635459999,0.37936559766152905,0.03499999386348598,-0.03500000000040964,0.3551281957110698,0.07869801645624463,0.0798922445797837,0.9959435662161199,-7.981485483571089e-12,-1.918438557070524e-12,0.08998006953051238],"qvel":[3.7739368852156025e-05,-1.5071286303652405e-05,0.00016221907983334473,-2.7438143155377998e-05,-0.0014029469359284367,0.0012411770656705935,6.269154786278303e-09,-1.8024175358912558e-09,3.3061411258790173e-12,-9.780078838557238e-12,2.546642697806e-15,2.927230262564092e-10,4.297947809176059e-11,-1.3894587934618861e-08],"joint_position_rad":[0.30538505622208634,1.4911323693408773,-1.2571317209811028,-0.18875776304097797,0.9305076635459999,0.37936559766152905],"joint_velocity_rad_s":[3.7739368852156025e-05,-1.5071286303652405e-05,0.00016221907983334473,-2.7438143155377998e-05,-0.0014029469359284367,0.0012411770656705935],"gripper_joint_position_m":[0.03499999386348598,-0.03500000000040964],"tcp_position_m":[0.35029177405275147,0.07859055682471815,0.20991716640151165],"tcp_quaternion_wxyz":[0.25828831107241984,-0.0004059681712888786,0.9660677340098835,-0.0003418453009868686],"object_position_m":[0.3551281957110698,0.07869801645624463,0.0798922445797837],"object_quaternion_wxyz":[0.9959435662161199,-7.981485483571089e-12,-1.918438557070524e-12,0.08998006953051238],"object_linear_velocity_m_s":[3.3061411258790173e-12,-9.780078838557238e-12,2.546642697806e-15],"object_angular_velocity_rad_s":[2.8027979535979333e-10,9.474830843251346e-11,-1.3894587934618841e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000051189},{"geom_ids":[1,90],"normal_force_n":0.09810000000068822},{"geom_ids":[1,90],"normal_force_n":0.09809999999948815},{"geom_ids":[1,90],"normal_force_n":0.09809999999931186}],"native_actuator_controls":[0.30540316650491967,1.4911253757410665,-1.2570003537019772,-0.1887661482416923,0.9292061057092712,0.3803638856807818,0.035],"actuator_force_native":[0.001260125782405197,-0.0004841315533354873,0.009698286930870381,-0.00019821731279545673,-0.010911157963395368,0.008121114594021428,2.1411478701161002e-07],"issued_joint_targets_rad":[0.30540331373490864,1.4911253223485235,-1.257000137021394,-0.18876642142844435,0.9292058742682705,0.38036425769282595],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.300000000000605,"joint_targets_rad":[0.30540331373490864,1.4911253223485235,-1.257000137021394,-0.18876642142844435,0.9292058742682705,0.38036425769282595],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.32000000000063,"qpos":[0.3053857986899675,1.4911320730935087,-1.257128514766445,-0.18875830535220098,0.9304799162745754,0.3793901060758755,0.03499999401991398,-0.035000000004668304,0.3551281957111498,0.07869801645600814,0.0798922445797837,0.9959435662550111,-7.609014131320646e-12,-1.828910503605977e-12,0.08998006910004426],"qvel":[3.65017860677069e-05,-1.454857086022501e-05,0.00015852740389577522,-2.6556651664833598e-05,-0.0013732872229884837,0.0012111684271438774,3.927473347129886e-09,1.4065970007631655e-09,3.333603852232608e-12,-9.861309770558991e-12,2.559132706833033e-15,1.7939807563635853e-10,2.6340327681746555e-11,-2.5368008743026902e-08],"joint_position_rad":[0.3053857986899675,1.4911320730935087,-1.257128514766445,-0.18875830535220098,0.9304799162745754,0.3793901060758755],"joint_velocity_rad_s":[3.65017860677069e-05,-1.454857086022501e-05,0.00015852740389577522,-2.6556651664833598e-05,-0.0013732872229884837,0.0012111684271438774],"gripper_joint_position_m":[0.03499999401991398,-0.035000000004668304],"tcp_position_m":[0.3502958270724878,0.07859270656986177,0.2099188737886699],"tcp_quaternion_wxyz":[0.2582995001917284,-0.0003960377698184659,0.9660647491837207,-0.0003342744128436095],"object_position_m":[0.3551281957111498,0.07869801645600814,0.0798922445797837],"object_quaternion_wxyz":[0.9959435662550111,-7.609014131320646e-12,-1.828910503605977e-12,0.08998006910004426],"object_linear_velocity_m_s":[3.333603852232608e-12,-9.861309770558991e-12,2.559132706833033e-15],"object_angular_velocity_rad_s":[1.717721333330512e-10,5.806734551038785e-11,-2.5368008743026862e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000114977},{"geom_ids":[1,90],"normal_force_n":0.09810000000154542},{"geom_ids":[1,90],"normal_force_n":0.09809999999885011},{"geom_ids":[1,90],"normal_force_n":0.09809999999845442}],"native_actuator_controls":[0.30540331373490864,1.4911253223485235,-1.257000137021394,-0.18876642142844435,0.9292058742682705,0.38036425769282595,0.035],"actuator_force_native":[0.0012186946649492825,-0.0004673167445190529,0.009477582584622724,-0.00019185979141145282,-0.010680489228565904,0.00792476352878868,2.1956607398898598e-07],"issued_joint_targets_rad":[0.3054034569470114,1.4911252698625337,-1.2569999253455097,-0.18876668695148033,0.9292056482019014,0.3803646196703303],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.32000000000063,"joint_targets_rad":[0.3054034569470114,1.4911252698625337,-1.2569999253455097,-0.18876668695148033,0.9292056482019014,0.3803646196703303],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.340000000000654,"qpos":[0.30538651683049506,1.4911317870942187,-1.2571253815178478,-0.18875883029111257,0.9304527556158942,0.37941402192004026,0.03499999416982597,-0.03500000000568513,0.35512819571122006,0.0786980164558006,0.0798922445797837,0.9959435662923305,-6.981249630050152e-12,-1.6780270579553883e-12,0.08998006868697721],"qvel":[3.5306329183583716e-05,-1.4045965275918331e-05,0.0001549196365681573,-2.570706439730737e-05,-0.0013442540215528498,0.0011818840625622705,4.814024541829868e-09,-3.933824480137802e-11,3.4919243301768832e-12,-1.0329600541326776e-11,2.5646838219561583e-15,2.3276457779450042e-11,3.4168556729730205e-12,-4.631557771673177e-08],"joint_position_rad":[0.30538651683049506,1.4911317870942187,-1.2571253815178478,-0.18875883029111257,0.9304527556158942,0.37941402192004026],"joint_velocity_rad_s":[3.5306329183583716e-05,-1.4045965275918331e-05,0.0001549196365681573,-2.570706439730737e-05,-0.0013442540215528498,0.0011818840625622705],"gripper_joint_position_m":[0.03499999416982597,-0.03500000000568513],"tcp_position_m":[0.3502997960024129,0.07859480919924826,0.20992054540730784],"tcp_quaternion_wxyz":[0.25831045226150107,-0.00038634798312393734,0.966061827287915,-0.00032687127350397214],"object_position_m":[0.35512819571122006,0.0786980164558006,0.0798922445797837],"object_quaternion_wxyz":[0.9959435662923305,-6.981249630050152e-12,-1.6780270579553883e-12,0.08998006868697721],"object_linear_velocity_m_s":[3.4919243301768832e-12,-1.0329600541326776e-11,2.5646838219561583e-15],"object_angular_velocity_rad_s":[2.2287142848790298e-11,7.533369305102309e-12,-4.631557771673171e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000152982},{"geom_ids":[1,90],"normal_force_n":0.09810000000205643},{"geom_ids":[1,90],"normal_force_n":0.09809999999847041},{"geom_ids":[1,90],"normal_force_n":0.09809999999794379}],"native_actuator_controls":[0.3054034569470114,1.4911252698625337,-1.2569999253455097,-0.18876668695148033,0.9292056482019014,0.3803646196703303,0.035],"actuator_force_native":[0.0011786776753908157,-0.00045114870842155597,0.009261895604197434,-0.0001857310927242395,-0.010454693107600832,0.007733151409057282,2.0913683851375708e-07],"issued_joint_targets_rad":[0.3054035962572377,1.4911252182735466,-1.2569997185526187,-0.1887669450435825,0.929205427376833,0.3803649719020503],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.340000000000654,"joint_targets_rad":[0.3054035962572377,1.4911252182735466,-1.2569997185526187,-0.1887669450435825,0.929205427376833,0.3803649719020503],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.360000000000678,"qpos":[0.30538721147194064,1.4911315109495362,-1.257122319576723,-0.18875933848298304,0.9304261691775337,0.37943735949664936,0.0349999943142547,-0.03500000000357102,0.355128195711278,0.07869801645562875,0.0798922445797837,0.9959435663201859,-5.712855285607283e-12,-1.3731613393982704e-12,0.08998006837866032],"qvel":[3.4151581270636806e-05,-1.3562636529166906e-05,0.0001513938812753819,-2.4887967524893052e-05,-0.001315834191814415,0.0011533065375686005,2.4879883752936827e-09,3.0916825167696946e-09,3.888996134646244e-12,-1.1504057594899673e-11,2.6840327971033626e-15,-1.9287462901642722e-10,-2.832290144720508e-11,-8.456054872205325e-08],"joint_position_rad":[0.30538721147194064,1.4911315109495362,-1.257122319576723,-0.18875933848298304,0.9304261691775337,0.37943735949664936],"joint_velocity_rad_s":[3.4151581270636806e-05,-1.3562636529166906e-05,0.0001513938812753819,-2.4887967524893052e-05,-0.001315834191814415,0.0011533065375686005],"gripper_joint_position_m":[0.0349999943142547,-0.03500000000357102],"tcp_position_m":[0.35030368257448985,0.07859686576536419,0.20992218203840995],"tcp_quaternion_wxyz":[0.25832117236313484,-0.00037689306198090906,0.966058966986913,-0.0003196321855240778],"object_position_m":[0.355128195711278,0.07869801645562875,0.0798922445797837],"object_quaternion_wxyz":[0.9959435663201859,-5.712855285607283e-12,-1.3731613393982704e-12,0.08998006837866032],"object_linear_velocity_m_s":[3.888996134646244e-12,-1.1504057594899673e-11,2.6840327971033626e-15],"object_angular_velocity_rad_s":[-1.846751259015075e-10,-6.243322142803106e-11,-8.456054872205316e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000095662},{"geom_ids":[1,90],"normal_force_n":0.09810000000128573},{"geom_ids":[1,90],"normal_force_n":0.09809999999904351},{"geom_ids":[1,90],"normal_force_n":0.09809999999871444}],"native_actuator_controls":[0.3054035962572377,1.4911252182735466,-1.2569997185526187,-0.1887669450435825,0.929205427376833,0.3803649719020503,0.035],"actuator_force_native":[0.0011400249174080557,-0.00043560089652316947,0.009051112521959226,-0.00017982258635296233,-0.010233666719287271,0.007546164247656861,2.1498987012869009e-07],"issued_joint_targets_rad":[0.3054037317779826,1.4911251675717974,-1.2569995165242156,-0.18876719592976313,0.9292052116633679,0.38036531466769596],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.360000000000678,"joint_targets_rad":[0.3054037317779826,1.4911251675717974,-1.2569995165242156,-0.18876719592976313,0.9292052116633679,0.38036531466769596],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.380000000000702,"qpos":[0.305387883413326,1.4911312442821285,-1.257119327321979,-0.18875983052836,0.9304001448287824,0.3794601327642131,0.03499999445303295,-0.03500000000013406,0.3551281957113301,0.07869801645547514,0.0798922445797837,0.9959435663490478,-4.72557712442987e-12,-1.135867516244495e-12,0.08998006805920314],"qvel":[3.303606623955473e-05,-1.3097798608164541e-05,0.00014794828405641182,-2.409823582124237e-05,-0.0012880147288873238,0.0011254188557349495,3.3665358050773005e-09,1.640116396887402e-09,1.9431212442416305e-12,-5.74797421328846e-12,2.7117883727189915e-15,2.1472850838735225e-10,3.152817775373417e-11,-9.161442973684103e-09],"joint_position_rad":[0.305387883413326,1.4911312442821285,-1.257119327321979,-0.18875983052836,0.9304001448287824,0.3794601327642131],"joint_velocity_rad_s":[3.303606623955473e-05,-1.3097798608164541e-05,0.00014794828405641182,-2.409823582124237e-05,-0.0012880147288873238,0.0011254188557349495],"gripper_joint_position_m":[0.03499999445303295,-0.03500000000013406],"tcp_position_m":[0.35030748848538973,0.0785988772965533,0.20992378444437956],"tcp_quaternion_wxyz":[0.2583316654661907,-0.0003676673913739221,0.9660561669739722,-0.000312553531629733],"object_position_m":[0.3551281957113301,0.07869801645547514,0.0798922445797837],"object_quaternion_wxyz":[0.9959435663490478,-4.72557712442987e-12,-1.135867516244495e-12,0.08998006805920314],"object_linear_velocity_m_s":[1.9431212442416305e-12,-5.74797421328846e-12,2.7117883727189915e-15],"object_angular_velocity_rad_s":[2.0560064748812774e-10,6.950346796520951e-11,-9.161442973684093e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0980999999998666},{"geom_ids":[1,90],"normal_force_n":0.09809999999982087},{"geom_ids":[1,90],"normal_force_n":0.09810000000013341},{"geom_ids":[1,90],"normal_force_n":0.0981000000001793}],"native_actuator_controls":[0.3054037317779826,1.4911251675717974,-1.2569995165242156,-0.18876719592976313,0.9292052116633679,0.38036531466769596,0.035],"actuator_force_native":[0.001102688841324806,-0.00042064783343676027,0.008845122400785499,-0.00017412487701840007,-0.010017309560813814,0.007363690751226226,2.0504600306558984e-07],"issued_joint_targets_rad":[0.3054038636181535,1.4911251177473333,-1.2569993191449005,-0.18876743982755387,0.9292050009353361,0.3803656482382479],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.380000000000702,"joint_targets_rad":[0.3054038636181535,1.4911251177473333,-1.2569993191449005,-0.18876743982755387,0.9292050009353361,0.3803656482382479],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.400000000000727,"qpos":[0.3053885334259599,1.491130986730161,-1.2571164031691817,-0.18876030700312058,0.9303746706945388,0.3794823553453546,0.034999994593464666,-0.035000000004108904,0.3551281957113805,0.07869801645532602,0.0798922445797837,0.9959435663906641,-4.495131777924107e-12,-1.0804738561334099e-12,0.08998006759857329],"qvel":[3.1958445451556156e-05,-1.2650690083244492e-05,0.00014458103175854189,-2.3336621455407573e-05,-0.0012607830111665782,0.0010982044085357003,3.523486456274117e-09,1.2779684876214907e-09,1.882831428401058e-12,-5.569631954382467e-12,2.770075081511812e-15,1.5930920470947669e-10,2.33915096352002e-11,-1.6726481325559262e-08],"joint_position_rad":[0.3053885334259599,1.491130986730161,-1.2571164031691817,-0.18876030700312058,0.9303746706945388,0.3794823553453546],"joint_velocity_rad_s":[3.1958445451556156e-05,-1.2650690083244492e-05,0.00014458103175854189,-2.3336621455407573e-05,-0.0012607830111665782,0.0010982044085357003],"gripper_joint_position_m":[0.034999994593464666,-0.035000000004108904],"tcp_position_m":[0.350311215397207,0.07860084479795477,0.2099253533695531],"tcp_quaternion_wxyz":[0.25834193643107634,-0.000358665487562357,0.9660534259704944,-0.00030563177246426806],"object_position_m":[0.3551281957113805,0.07869801645532602,0.0798922445797837],"object_quaternion_wxyz":[0.9959435663906641,-4.495131777924107e-12,-1.0804738561334099e-12,0.08998006759857329],"object_linear_velocity_m_s":[1.882831428401058e-12,-5.569631954382467e-12,2.770075081511812e-15],"object_angular_velocity_rad_s":[1.525370751455543e-10,5.1565745744816386e-11,-1.6726481325559242e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000029699},{"geom_ids":[1,90],"normal_force_n":0.0981000000003992},{"geom_ids":[1,90],"normal_force_n":0.09809999999970292},{"geom_ids":[1,90],"normal_force_n":0.09809999999960083}],"native_actuator_controls":[0.3054038636181535,1.4911251177473333,-1.2569993191449005,-0.18876743982755387,0.9292050009353361,0.3803656482382479,0.035],"actuator_force_native":[0.0010666231482332478,-0.00040626517579767096,0.008643816783703073,-0.00016862987005517027,-0.009805523075277378,0.00718562231612907,1.9864398126401284e-07],"issued_joint_targets_rad":[0.3054039918832842,1.4911250687900337,-1.2569991263022955,-0.188767676947275,0.9292047950699834,0.3803659728762513],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.400000000000727,"joint_targets_rad":[0.3054039918832842,1.4911250687900337,-1.2569991263022955,-0.188767676947275,0.9292047950699834,0.3803659728762513],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.42000000000075,"qpos":[0.3053891622541162,1.4911307379466068,-1.257113545569739,-0.18876076846022657,0.9303497351502966,0.3795040405348181,0.03499999472829761,-0.03500000000536071,0.3551281957114245,0.0786980164551962,0.0798922445797837,0.9959435664320021,-4.205543567502146e-12,-1.0108709035490071e-12,0.08998006714102502],"qvel":[3.0917385823474524e-05,-1.2220586409794323e-05,0.0001412903520414062,-2.260201664925626e-05,-0.0012341266284730012,0.0010716469941209684,3.5153518825234348e-09,1.1395756501650062e-09,1.8807784061339456e-12,-5.5635437520191706e-12,2.863056259824169e-15,8.818694662263856e-11,1.2948251250823754e-11,-3.053833092604274e-08],"joint_position_rad":[0.3053891622541162,1.4911307379466068,-1.257113545569739,-0.18876076846022657,0.9303497351502966,0.3795040405348181],"joint_velocity_rad_s":[3.0917385823474524e-05,-1.2220586409794323e-05,0.0001412903520414062,-2.260201664925626e-05,-0.0012341266284730012,0.0010716469941209684],"gripper_joint_position_m":[0.03499999472829761,-0.03500000000536071],"tcp_position_m":[0.35031486493815367,0.07860276925178768,0.20992688954069053],"tcp_quaternion_wxyz":[0.2583519900115244,-0.00034988199510958953,0.9660507427254096,-0.0002988634454012041],"object_position_m":[0.3551281957114245,0.0786980164551962,0.0798922445797837],"object_quaternion_wxyz":[0.9959435664320021,-4.205543567502146e-12,-1.0108709035490071e-12,0.08998006714102502],"object_linear_velocity_m_s":[1.8807784061339456e-12,-5.5635437520191706e-12,2.863056259824169e-15],"object_angular_velocity_rad_s":[8.443823405841885e-11,2.8544340843228427e-11,-3.0538330926042716e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000066012},{"geom_ids":[1,90],"normal_force_n":0.09810000000088734},{"geom_ids":[1,90],"normal_force_n":0.09809999999933988},{"geom_ids":[1,90],"normal_force_n":0.09809999999911251}],"native_actuator_controls":[0.3054039918832842,1.4911250687900337,-1.2569991263022955,-0.188767676947275,0.9292047950699834,0.3803659728762513,0.035],"actuator_force_native":[0.0010317834043220842,-0.000392429593802035,0.008447089635282623,-0.0001633293986911255,-0.009598210860422896,0.007011852923150652,1.932913362701072e-07],"issued_joint_targets_rad":[0.30540411667565037,1.4911250206896287,-1.2569989378869508,-0.18876790749229966,0.9292045939478708,0.3803662888361063],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.42000000000075,"joint_targets_rad":[0.30540411667565037,1.4911250206896287,-1.2569989378869508,-0.18876790749229966,0.9292045939478708,0.3803662888361063],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.440000000000776,"qpos":[0.3053897706160426,1.4911304975986202,-1.257110753010101,-0.18876121543062407,0.9303253268168291,0.3795252013073532,0.03499999485915181,-0.03500000000578566,0.355128195711461,0.0786980164550884,0.0798922445797837,0.9959435664660511,-3.6162554667319986e-12,-8.69221905063955e-13,0.08998006676415524],"qvel":[2.9911610078433795e-05,-1.1806792985630961e-05,0.00013807451203369007,-2.189334605492275e-05,-0.00120803344225708,0.001045730796492131,3.333242455948234e-09,1.2446965727205175e-09,1.945194034801885e-12,-5.7541195989668356e-12,2.885260720316672e-15,-1.0705338191987368e-11,-1.5708986204328742e-12,-5.575528036411115e-08],"joint_position_rad":[0.3053897706160426,1.4911304975986202,-1.257110753010101,-0.18876121543062407,0.9303253268168291,0.3795252013073532],"joint_velocity_rad_s":[2.9911610078433795e-05,-1.1806792985630961e-05,0.00013807451203369007,-2.189334605492275e-05,-0.00120803344225708,0.001045730796492131],"gripper_joint_position_m":[0.03499999485915181,-0.03500000000578566],"tcp_position_m":[0.35031843870323737,0.07860465161791168,0.20992839366745128],"tcp_quaternion_wxyz":[0.25836183085705666,-0.0003413116839858836,0.9660481160145642,-0.00029224516290793346],"object_position_m":[0.355128195711461,0.0786980164550884,0.0798922445797837],"object_quaternion_wxyz":[0.9959435664660511,-3.6162554667319986e-12,-8.69221905063955e-13,0.08998006676415524],"object_linear_velocity_m_s":[1.945194034801885e-12,-5.7541195989668356e-12,2.885260720316672e-15],"object_angular_velocity_rad_s":[-1.0250436017802492e-11,-3.4641809601470513e-12,-5.575528036411111e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000069306},{"geom_ids":[1,90],"normal_force_n":0.09810000000093182},{"geom_ids":[1,90],"normal_force_n":0.09809999999930692},{"geom_ids":[1,90],"normal_force_n":0.0980999999990683}],"native_actuator_controls":[0.30540411667565037,1.4911250206896287,-1.2569989378869508,-0.18876790749229966,0.9292045939478708,0.3803662888361063,0.035],"actuator_force_native":[0.0009981267182261888,-0.00037911875438112475,0.008254837291843842,-0.0001582157367483461,-0.00939527852619726,0.006842279092793113,1.889677154753855e-07],"issued_joint_targets_rad":[0.3054042380943793,1.4911249734357186,-1.2569987537922616,-0.18876813165930467,0.9292043974527732,0.3803665963643483],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.440000000000776,"joint_targets_rad":[0.3054042380943793,1.4911249734357186,-1.2569987537922616,-0.18876813165930467,0.9292043974527732,0.3803665963643483],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.4600000000008,"qpos":[0.3053903592048913,1.4911302653669332,-1.2571080240109729,-0.1887616484242096,0.9303014345550161,0.37954585032535787,0.034999994984773346,-0.035000000003763944,0.3551281957114915,0.07869801645499834,0.0798922445797837,0.9959435664942037,-2.92608624808403e-12,-7.033204586239131e-13,0.08998006645254977],"qvel":[2.8939885165073775e-05,-1.1408644883822022e-05,0.0001349318176342951,-2.1209583821680693e-05,-0.001182491567792077,0.0010204403788924925,3.1514043765229403e-09,1.338598300832633e-09,2.1932379612025354e-12,-6.488046884006583e-12,2.9907319076560616e-15,-1.3908661415976896e-10,-2.0417508860116293e-11,-1.0179506200344158e-07],"joint_position_rad":[0.3053903592048913,1.4911302653669332,-1.2571080240109729,-0.1887616484242096,0.9303014345550161,0.37954585032535787],"joint_velocity_rad_s":[2.8939885165073775e-05,-1.1408644883822022e-05,0.0001349318176342951,-2.1209583821680693e-05,-0.001182491567792077,0.0010204403788924925],"gripper_joint_position_m":[0.034999994984773346,-0.035000000003763944],"tcp_position_m":[0.3503219382549284,0.07860649283434135,0.20992986644285447],"tcp_quaternion_wxyz":[0.25837146351538565,-0.00033294944675420473,0.9660455446401204,-0.000285773611001527],"object_position_m":[0.3551281957114915,0.07869801645499834,0.0798922445797837],"object_quaternion_wxyz":[0.9959435664942037,-2.92608624808403e-12,-7.033204586239131e-13,0.08998006645254977],"object_linear_velocity_m_s":[2.1932379612025354e-12,-6.488046884006583e-12,2.9907319076560616e-15],"object_angular_velocity_rad_s":[-1.331749758980298e-10,-4.50154051524083e-11,-1.0179506200344154e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000041998},{"geom_ids":[1,90],"normal_force_n":0.09810000000056451},{"geom_ids":[1,90],"normal_force_n":0.0980999999995802},{"geom_ids":[1,90],"normal_force_n":0.09809999999943568}],"native_actuator_controls":[0.3054042380943793,1.4911249734357186,-1.2569987537922616,-0.18876813165930467,0.9292043974527732,0.3803665963643483,0.035],"actuator_force_native":[0.0009656117332141889,-0.00036631127274233677,0.008066958408733171,-0.00015328148469428982,-0.009196633670743637,0.006676799821565105,1.8485204433815738e-07],"issued_joint_targets_rad":[0.30540435623555534,1.4911249270177946,-1.256998573914389,-0.1887683496385186,0.9292042054715808,0.3803668956999136],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.4600000000008,"joint_targets_rad":[0.30540435623555534,1.4911249270177946,-1.256998573914389,-0.1887683496385186,0.9292042054715808,0.3803668956999136],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.480000000000825,"qpos":[0.3053909286896282,1.4911300409452823,-1.2571053571265556,-0.18876206793071862,0.930278047460776,0.3795659999463622,0.03499999510822109,-0.035000000003203864,0.35512819571152004,0.07869801645491424,0.0798922445797837,0.9959435665289477,-2.5470988986008435e-12,-6.122125831910734e-13,0.0899800660679832],"qvel":[2.800099802428258e-05,-1.1025507889332626e-05,0.0001318606125205607,-2.0549799661485184e-05,-0.0011574893401633034,0.0009957606769605087,5.443033385471516e-09,-2.1140812226052184e-09,1.047834997307743e-12,-3.0996903444147177e-12,2.906077402028394e-15,1.1038498025495222e-10,1.6207484371368885e-11,-1.102866135206534e-08],"joint_position_rad":[0.3053909286896282,1.4911300409452823,-1.2571053571265556,-0.18876206793071862,0.930278047460776,0.3795659999463622],"joint_velocity_rad_s":[2.800099802428258e-05,-1.1025507889332626e-05,0.0001318606125205607,-2.0549799661485184e-05,-0.0011574893401633034,0.0009957606769605087],"gripper_joint_position_m":[0.03499999510822109,-0.035000000003203864],"tcp_position_m":[0.35032536512381757,0.0786082938177584,0.2099313085437259],"tcp_quaternion_wxyz":[0.2583808924347605,-0.0003247902958062673,0.9660430274299726,-0.00027944554771570484],"object_position_m":[0.35512819571152004,0.07869801645491424,0.0798922445797837],"object_quaternion_wxyz":[0.9959435665289477,-2.5470988986008435e-12,-6.122125831910734e-13,0.0899800660679832],"object_linear_velocity_m_s":[1.047834997307743e-12,-3.0996903444147177e-12,2.906077402028394e-15],"object_angular_velocity_rad_s":[1.0569266602662597e-10,3.572935437029858e-11,-1.102866135206533e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999998799},{"geom_ids":[1,90],"normal_force_n":0.09809999999998392},{"geom_ids":[1,90],"normal_force_n":0.09810000000001178},{"geom_ids":[1,90],"normal_force_n":0.09810000000001597}],"native_actuator_controls":[0.30540435623555534,1.4911249270177946,-1.256998573914389,-0.1887683496385186,0.9292042054715808,0.3803668956999136,0.035],"actuator_force_native":[0.0009341986840496475,-0.0003539866595758667,0.007883353910713709,-0.00014851931369186389,-0.009002185881707092,0.006515316520073533,1.6845598937997863e-07],"issued_joint_targets_rad":[0.30540447119232256,1.4911248814252487,-1.2569983981521782,-0.18876856161394784,0.9292040178942129,0.3803671870743967],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.480000000000825,"joint_targets_rad":[0.30540447119232256,1.4911248814252487,-1.2569983981521782,-0.18876856161394784,0.9292040178942129,0.3803671870743967],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.50000000000085,"qpos":[0.3053914797159025,1.491129824039855,-1.2571027509437895,-0.1887624744205835,0.9302551548601004,0.3795856622303236,0.03499999522631372,-0.03499999999981924,0.35512819571154547,0.07869801645483913,0.0798922445797837,0.9959435665683676,-2.329889321222865e-12,-5.599963605406609e-13,0.08998006563166465],"qvel":[2.7093884029316753e-05,-1.0656763815855638e-05,0.00012885927769075122,-1.991288244285049e-05,-0.001133015474264121,0.000971676973220968,2.2667852425092905e-09,2.2829796402436328e-09,9.967340342595632e-13,-2.948562700408412e-12,2.7589728512655607e-15,7.469686432248974e-11,1.0967150532588158e-11,-2.0135550548748165e-08],"joint_position_rad":[0.3053914797159025,1.491129824039855,-1.2571027509437895,-0.1887624744205835,0.9302551548601004,0.3795856622303236],"joint_velocity_rad_s":[2.7093884029316753e-05,-1.0656763815855638e-05,0.00012885927769075122,-1.991288244285049e-05,-0.001133015474264121,0.000971676973220968],"gripper_joint_position_m":[0.03499999522631372,-0.03499999999981924],"tcp_position_m":[0.3503287208092539,0.07861005546400834,0.20993272063113105],"tcp_quaternion_wxyz":[0.2583901219662484,-0.00031682936065908547,0.9660405632371746,-0.00027325780159975245],"object_position_m":[0.35512819571154547,0.07869801645483913,0.0798922445797837],"object_quaternion_wxyz":[0.9959435665683676,-2.329889321222865e-12,-5.599963605406609e-13,0.08998006563166465],"object_linear_velocity_m_s":[9.967340342595632e-13,-2.948562700408412e-12,2.7589728512655607e-15],"object_angular_velocity_rad_s":[7.152166727433496e-11,2.4177490372579017e-11,-2.013555054874815e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000001891},{"geom_ids":[1,90],"normal_force_n":0.09810000000025419},{"geom_ids":[1,90],"normal_force_n":0.09809999999981106},{"geom_ids":[1,90],"normal_force_n":0.09809999999974597}],"native_actuator_controls":[0.30540447119232256,1.4911248814252487,-1.2569983981521782,-0.18876856161394784,0.9292040178942129,0.3803671870743967,0.035],"actuator_force_native":[0.0009038486934542789,-0.0003421253494195753,0.007703926940450856,-0.0001439233223594627,-0.0088118464474789,0.006357732980899922,1.796135251641573e-07],"issued_joint_targets_rad":[0.3054045830549801,1.491124836647398,-1.2569982264070836,-0.1887687677636021,0.9292038346135169,0.38036747071229654],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.50000000000085,"joint_targets_rad":[0.3054045830549801,1.491124836647398,-1.2569982264070836,-0.1887687677636021,0.9292038346135169,0.38036747071229654],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.520000000000874,"qpos":[0.30539201290676043,1.4911296143687518,-1.2571002040816273,-0.1887628683460241,0.930232746304365,0.37960484894677055,0.03499999534934946,-0.035000000008111785,0.3551281957115672,0.07869801645477481,0.0798922445797837,0.9959435666069452,-2.110105346539274e-12,-5.071887531913951e-13,0.0899800652046659],"qvel":[2.621734272358774e-05,-1.0301838657994976e-05,0.00012592623009883628,-1.929813295970394e-05,-0.0011090586998753875,0.0009481749274783784,3.6978359714798164e-09,1.477457927677927e-10,9.903321960901272e-13,-2.929532607599052e-12,2.5688471582985028e-15,3.112266783530143e-11,4.567883963325499e-12,-3.676243046205242e-08],"joint_position_rad":[0.30539201290676043,1.4911296143687518,-1.2571002040816273,-0.1887628683460241,0.930232746304365,0.37960484894677055],"joint_velocity_rad_s":[2.621734272358774e-05,-1.0301838657994976e-05,0.00012592623009883628,-1.929813295970394e-05,-0.0011090586998753875,0.0009481749274783784],"gripper_joint_position_m":[0.03499999534934946,-0.035000000008111785],"tcp_position_m":[0.35033200677997306,0.07861177864848647,0.20993410335078994],"tcp_quaternion_wxyz":[0.258399156365934,-0.0003090618852817856,0.966038150939392,-0.0002672072704043715],"object_position_m":[0.3551281957115672,0.07869801645477481,0.0798922445797837],"object_quaternion_wxyz":[0.9959435666069452,-2.110105346539274e-12,-5.071887531913951e-13,0.0899800652046659],"object_linear_velocity_m_s":[9.903321960901272e-13,-2.929532607599052e-12,2.5688471582985028e-15],"object_angular_velocity_rad_s":[2.980000153995498e-11,1.0072036800376852e-11,-3.676243046205237e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000035833},{"geom_ids":[1,90],"normal_force_n":0.09810000000048183},{"geom_ids":[1,90],"normal_force_n":0.09809999999964168},{"geom_ids":[1,90],"normal_force_n":0.09809999999951821}],"native_actuator_controls":[0.3054045830549801,1.491124836647398,-1.2569982264070836,-0.1887687677636021,0.9292038346135169,0.38036747071229654,0.035],"actuator_force_native":[0.000874525143952809,-0.0003307085150368039,0.007528582813009166,-0.0001394860383214791,-0.008625528858667408,0.006203955264042715,1.675368419551404e-07],"issued_joint_targets_rad":[0.3054046919110811,1.4911247926734916,-1.2569980585830918,-0.18876896825971387,0.9292036555251901,0.3803677468312616],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.520000000000874,"joint_targets_rad":[0.3054046919110811,1.4911247926734916,-1.2569980585830918,-0.18876896825971387,0.9292036555251901,0.3803677468312616],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.540000000000898,"qpos":[0.3053925288638153,1.4911294116615175,-1.2570977151903133,-0.18876325014106216,0.9302108115651125,0.3796235715817102,0.03499999545838843,-0.035000000000847666,0.35512819571158577,0.07869801645471984,0.0798922445797837,0.9959435666424008,-1.8432205761093908e-12,-4.430494825480679e-13,0.08998006481222637],"qvel":[2.5370358382757867e-05,-9.960168011469357e-06,0.00012305992220082833,-1.8704586662455332e-05,-0.0010856081677161767,0.0009252405199057072,3.1591900904817888e-09,7.362682328354288e-10,1.0555473857994138e-12,-3.1223863654549173e-12,2.7950550995658782e-15,-2.419856136704982e-11,-3.554006700906663e-12,-6.711891433101093e-08],"joint_position_rad":[0.3053925288638153,1.4911294116615175,-1.2570977151903133,-0.18876325014106216,0.9302108115651125,0.3796235715817102],"joint_velocity_rad_s":[2.5370358382757867e-05,-9.960168011469357e-06,0.00012305992220082833,-1.8704586662455332e-05,-0.0010856081677161767,0.0009252405199057072],"gripper_joint_position_m":[0.03499999545838843,-0.035000000000847666],"tcp_position_m":[0.35033522447472265,0.07861346422689698,0.20993545733349164],"tcp_quaternion_wxyz":[0.2584079997971699,-0.0003014832255773527,0.9660357894383345,-0.0002612909191831961],"object_position_m":[0.35512819571158577,0.07869801645471984,0.0798922445797837],"object_quaternion_wxyz":[0.9959435666424008,-1.8432205761093908e-12,-4.430494825480679e-13,0.08998006481222637],"object_linear_velocity_m_s":[1.0555473857994138e-12,-3.1223863654549173e-12,2.7950550995658782e-15],"object_angular_velocity_rad_s":[-2.316973314226878e-11,-7.833568917260034e-12,-6.711891433101084e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000003986},{"geom_ids":[1,90],"normal_force_n":0.098100000000536},{"geom_ids":[1,90],"normal_force_n":0.09809999999960094},{"geom_ids":[1,90],"normal_force_n":0.09809999999946364}],"native_actuator_controls":[0.3054046919110811,1.4911247926734916,-1.2569980585830918,-0.18876896825971387,0.9292036555251901,0.3803677468312616,0.035],"actuator_force_native":[0.0008461919893498759,-0.00031971820200737966,0.007357228966725415,-0.00013520181275694654,-0.008443148147650348,0.006053891715655624,1.6586851225852683e-07],"issued_joint_targets_rad":[0.3054047978455174,1.4911247494927296,-1.256997894586652,-0.18876916326893553,0.9292034805276892,0.3803680156423078],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.540000000000898,"joint_targets_rad":[0.3054047978455174,1.4911247494927296,-1.256997894586652,-0.18876916326893553,0.9292034805276892,0.3803680156423078],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.560000000000922,"qpos":[0.3053930281673997,1.4911292156585954,-1.2570952829506854,-0.18876362022357923,0.9301893406302,0.37964184134452017,0.03499999557438253,-0.035000000007587115,0.3551281957116007,0.0786980164546756,0.0798922445797837,0.9959435666653098,-1.405223398744818e-12,-3.377713376625661e-13,0.08998006455866107],"qvel":[2.455188396911928e-05,-9.631218365985414e-06,0.00012025884131455809,-1.8131459547632224e-05,-0.0010626531684286233,0.0009028600809898445,4.204981198627206e-09,-8.517986869284491e-10,5.76254547880037e-13,-1.704610101289435e-12,2.8172595600583813e-15,6.889450357717925e-11,1.0116132491197032e-11,-7.271784719707939e-09],"joint_position_rad":[0.3053930281673997,1.4911292156585954,-1.2570952829506854,-0.18876362022357923,0.9301893406302,0.37964184134452017],"joint_velocity_rad_s":[2.455188396911928e-05,-9.631218365985414e-06,0.00012025884131455809,-1.8131459547632224e-05,-0.0010626531684286233,0.0009028600809898445],"gripper_joint_position_m":[0.03499999557438253,-0.035000000007587115],"tcp_position_m":[0.3503383753028475,0.0786151130352256,0.209936783195472],"tcp_quaternion_wxyz":[0.25841665633255206,-0.00029408884670485366,0.9660334776592634,-0.0002555057796477258],"object_position_m":[0.3551281957116007,0.0786980164546756,0.0798922445797837],"object_quaternion_wxyz":[0.9959435666653098,-1.405223398744818e-12,-3.377713376625661e-13,0.08998006455866107],"object_linear_velocity_m_s":[5.76254547880037e-13,-1.704610101289435e-12,2.8172595600583813e-15],"object_angular_velocity_rad_s":[6.59657912401083e-11,2.230029474674835e-11,-7.2717847197079335e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999862588},{"geom_ids":[1,90],"normal_force_n":0.0980999999981515},{"geom_ids":[1,90],"normal_force_n":0.09810000000138065},{"geom_ids":[1,90],"normal_force_n":0.09810000000185486}],"native_actuator_controls":[0.3054047978455174,1.4911247494927296,-1.256997894586652,-0.18876916326893553,0.9292034805276892,0.3803680156423078,0.035],"actuator_force_native":[0.0008188148295680264,-0.00030913717743885627,0.007189774916099623,-0.00013106451651445639,-0.008264621272465078,0.005907452856391604,1.55999793083339e-07],"issued_joint_targets_rad":[0.3054049009406151,1.4911247070942732,-1.2569977343266059,-0.18876935295254965,0.9292033095221521,0.3803682773500544],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.560000000000922,"joint_targets_rad":[0.3054049009406151,1.4911247070942732,-1.2569977343266059,-0.18876935295254965,0.9292033095221521,0.3803682773500544],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.580000000000947,"qpos":[0.30539351137801524,1.491129026110936,-1.2570929060734861,-0.1887639789945718,0.9301683236983527,0.3796596691744603,0.034999995676742966,-0.03499999999872992,0.35512819571161597,0.07869801645463037,0.0798922445797837,0.9959435667071352,-1.31633929885172e-12,-3.164311828697758e-13,0.08998006409571492],"qvel":[2.376094426501978e-05,-9.314475138664821e-06,0.00011752150845404365,-1.757793074215477e-05,-0.0010401832645071888,0.00088102025910524,3.435599126770706e-09,5.320554273333641e-11,5.461480955278575e-13,-1.615467406662403e-12,2.8144840024968185e-15,5.3334762777940716e-11,7.831273103493675e-12,-1.3276442545583369e-08],"joint_position_rad":[0.30539351137801524,1.491129026110936,-1.2570929060734861,-0.1887639789945718,0.9301683236983527,0.3796596691744603],"joint_velocity_rad_s":[2.376094426501978e-05,-9.314475138664821e-06,0.00011752150845404365,-1.757793074215477e-05,-0.0010401832645071888,0.00088102025910524],"gripper_joint_position_m":[0.034999995676742966,-0.03499999999872992],"tcp_position_m":[0.3503414606449037,0.07861672589073879,0.20993808153881063],"tcp_quaternion_wxyz":[0.25842512995614225,-0.0002868743207562832,0.9660312145504298,-0.0002498489479138192],"object_position_m":[0.35512819571161597,0.07869801645463037,0.0798922445797837],"object_quaternion_wxyz":[0.9959435667071352,-1.31633929885172e-12,-3.164311828697758e-13,0.08998006409571492],"object_linear_velocity_m_s":[5.461480955278575e-13,-1.615467406662403e-12,2.8144840024968185e-15],"object_angular_velocity_rad_s":[5.106752225811128e-11,1.726365921286934e-11,-1.3276442545583354e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002418},{"geom_ids":[1,90],"normal_force_n":0.0981000000000326},{"geom_ids":[1,90],"normal_force_n":0.09809999999997566},{"geom_ids":[1,90],"normal_force_n":0.09809999999996724}],"native_actuator_controls":[0.3054049009406151,1.4911247070942732,-1.2569977343266059,-0.18876935295254965,0.9292033095221521,0.3803682773500544,0.035],"actuator_force_native":[0.0007923602866668489,-0.00029894895733661997,0.007026132208153513,-0.00012706866540224127,-0.008089866865244488,0.005764551367283044,1.557522857353888e-07],"issued_joint_targets_rad":[0.3054050012762108,1.491124665467259,-1.256997577714121,-0.1887695374666475,0.9292031424123178,0.3803685321529227],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.580000000000947,"joint_targets_rad":[0.3054050012762108,1.491124665467259,-1.256997577714121,-0.1887695374666475,0.9292031424123178,0.3803685321529227],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.60000000000097,"qpos":[0.3053939790362878,1.4911288427794782,-1.2570905832986936,-0.18876432684042901,0.9301477511756828,0.3796770657472732,0.03499999578363164,-0.035000000000928184,0.35512819571162924,0.07869801645459135,0.0798922445797837,0.9959435667491572,-1.2289172288260001e-12,-2.9543063892242587e-13,0.08998006363059509],"qvel":[2.2996567041014676e-05,-9.009448827136054e-06,0.00011484647819660793,-1.7043277843706334e-05,-0.00101818819553329,0.0008597080336413093,4.487616682445938e-09,-1.5624949766457784e-09,5.319471588798382e-13,-1.5734096206606879e-12,2.7339928332114945e-15,3.4434668928691956e-11,5.056589153818438e-12,-2.4239431370220345e-08],"joint_position_rad":[0.3053939790362878,1.4911288427794782,-1.2570905832986936,-0.18876432684042901,0.9301477511756828,0.3796770657472732],"joint_velocity_rad_s":[2.2996567041014676e-05,-9.009448827136054e-06,0.00011484647819660793,-1.7043277843706334e-05,-0.00101818819553329,0.0008597080336413093],"gripper_joint_position_m":[0.03499999578363164,-0.035000000000928184],"tcp_position_m":[0.35034448185321465,0.07861830359182612,0.20993935295178195],"tcp_quaternion_wxyz":[0.2584334245653079,-0.0002798353241489381,0.966028999082614,-0.0002443175840784646],"object_position_m":[0.35512819571162924,0.07869801645459135,0.0798922445797837],"object_quaternion_wxyz":[0.9959435667491572,-1.2289172288260001e-12,-2.9543063892242587e-13,0.08998006363059509],"object_linear_velocity_m_s":[5.319471588798382e-13,-1.5734096206606879e-12,2.7339928332114945e-15],"object_angular_velocity_rad_s":[3.297078128858122e-11,1.1146438862692782e-11,-2.4239431370220318e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000014028},{"geom_ids":[1,90],"normal_force_n":0.09810000000018876},{"geom_ids":[1,90],"normal_force_n":0.09809999999985966},{"geom_ids":[1,90],"normal_force_n":0.09809999999981135}],"native_actuator_controls":[0.3054050012762108,1.491124665467259,-1.256997577714121,-0.1887695374666475,0.9292031424123178,0.3803685321529227,0.035],"actuator_force_native":[0.0007667963586364124,-0.000289137733403777,0.006866214374824153,-0.00012320865952109017,-0.007918805340350943,0.005625102006032723,1.462166512311569e-07],"issued_joint_targets_rad":[0.30540509892974255,1.4911246246008105,-1.2569974246626245,-0.18876971696232586,0.9292029791044518,0.38036878024335735],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.60000000000097,"joint_targets_rad":[0.30540509892974255,1.4911246246008105,-1.2569974246626245,-0.18876971696232586,0.9292029791044518,0.38036878024335735],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.620000000000996,"qpos":[0.30539443166440156,1.4911286654348013,-1.2570883133948638,-0.1887646641320419,0.9301276136703954,0.3796940414814024,0.03499999588956797,-0.035000000005478996,0.3551281957116401,0.07869801645455914,0.0798922445797837,0.9959435667848161,-1.0702581052988829e-12,-2.572980564583737e-13,0.08998006323590464],"qvel":[2.2257842656887282e-05,-8.715667580950293e-06,0.00011223233713824098,-1.6526753800214625e-05,-0.000996657954871517,0.0008389106861566079,5.086767190988184e-09,-2.510959462215948e-09,5.316667589145806e-13,-1.5725351281574816e-12,2.7270539393075873e-15,8.71853360758058e-12,1.2795530677797429e-12,-4.4255080467788186e-08],"joint_position_rad":[0.30539443166440156,1.4911286654348013,-1.2570883133948638,-0.1887646641320419,0.9301276136703954,0.3796940414814024],"joint_velocity_rad_s":[2.2257842656887282e-05,-8.715667580950293e-06,0.00011223233713824098,-1.6526753800214625e-05,-0.000996657954871517,0.0008389106861566079],"gripper_joint_position_m":[0.03499999588956797,-0.035000000005478996],"tcp_position_m":[0.35034744025246223,0.07861984691900846,0.20994059800922865],"tcp_quaternion_wxyz":[0.25844154397284635,-0.00027296763540135804,0.9660268302485878,-0.00023890890996874383],"object_position_m":[0.3551281957116401,0.07869801645455914,0.0798922445797837],"object_quaternion_wxyz":[0.9959435667848161,-1.0702581052988829e-12,-2.572980564583737e-13,0.08998006323590464],"object_linear_velocity_m_s":[5.316667589145806e-13,-1.5725351281574816e-12,2.7270539393075873e-15],"object_angular_velocity_rad_s":[8.348021499393186e-12,2.8214573123880362e-12,-4.4255080467788134e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000001853},{"geom_ids":[1,90],"normal_force_n":0.09810000000024925},{"geom_ids":[1,90],"normal_force_n":0.09809999999981456},{"geom_ids":[1,90],"normal_force_n":0.09809999999975064}],"native_actuator_controls":[0.30540509892974255,1.4911246246008105,-1.2569974246626245,-0.18876971696232586,0.9292029791044518,0.38036878024335735,0.035],"actuator_force_native":[0.0007420920139971088,-0.0002796883813545037,0.006709936893443569,-0.00011947944235757291,-0.007751358727128732,0.00548902159031428,1.3898344541907193e-07],"issued_joint_targets_rad":[0.30540519397631954,1.4911245844840464,-1.2569972750877392,-0.18876989158585097,0.929202819507268,0.38036902180800775],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.620000000000996,"joint_targets_rad":[0.30540519397631954,1.4911245844840464,-1.2569972750877392,-0.18876989158585097,0.929202819507268,0.38036902180800775],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.64000000000102,"qpos":[0.3053948697663941,1.491128493856682,-1.2570860951584906,-0.1887649912262109,0.9301079019889871,0.37971060654420125,0.03499999598731027,-0.03500000000154371,0.3551281957116492,0.07869801645453209,0.0798922445797837,0.9959435668162047,-8.946113395805876e-13,-2.1508057897662605e-13,0.08998006288848144],"qvel":[2.154391326503934e-05,-8.432677430957797e-06,0.0001096777038033273,-1.6027601062609618e-05,-0.0009755827711491184,0.0008186158019469162,1.3645817647571627e-09,2.6807607633503357e-09,5.754512223830073e-13,-1.7019139102794284e-12,2.5202749009711514e-15,-2.385112617074128e-11,-3.505024383814487e-12,-8.079860114597368e-08],"joint_position_rad":[0.3053948697663941,1.491128493856682,-1.2570860951584906,-0.1887649912262109,0.9301079019889871,0.37971060654420125],"joint_velocity_rad_s":[2.154391326503934e-05,-8.432677430957797e-06,0.0001096777038033273,-1.6027601062609618e-05,-0.0009755827711491184,0.0008186158019469162],"gripper_joint_position_m":[0.03499999598731027,-0.03500000000154371],"tcp_position_m":[0.35035033714023406,0.0786213566350655,0.20994181727290023],"tcp_quaternion_wxyz":[0.2584494919088204,-0.00026626713273182774,0.9660247070626534,-0.00023362020829289907],"object_position_m":[0.3551281957116492,0.07869801645453209,0.0798922445797837],"object_quaternion_wxyz":[0.9959435668162047,-8.946113395805876e-13,-2.1508057897662605e-13,0.08998006288848144],"object_linear_velocity_m_s":[5.754512223830073e-13,-1.7019139102794284e-12,2.5202749009711514e-15],"object_angular_velocity_rad_s":[-2.2836703073922545e-11,-7.723108717204717e-12,-8.07986011459736e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000016607},{"geom_ids":[1,90],"normal_force_n":0.09810000000022322},{"geom_ids":[1,90],"normal_force_n":0.09809999999983443},{"geom_ids":[1,90],"normal_force_n":0.09809999999977718}],"native_actuator_controls":[0.30540519397631954,1.4911245844840464,-1.2569972750877392,-0.18876989158585097,0.929202819507268,0.38036902180800775,0.035],"actuator_force_native":[0.0007182172277104826,-0.00027058642369581776,0.0065572171410792635,-0.0001158763802893148,-0.007587450660466288,0.005356228935144536,1.5368468053722495e-07],"issued_joint_targets_rad":[0.3054052864888029,1.4911245451060908,-1.2569971289072221,-0.18877006147883366,0.9292026635318605,0.38036925702792995],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.64000000000102,"joint_targets_rad":[0.3054052864888029,1.4911245451060908,-1.2569971289072221,-0.18877006147883366,0.9292026635318605,0.38036925702792995],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.660000000001045,"qpos":[0.3053952938285821,1.4911283278336849,-1.2570839274133767,-0.1887653084666989,0.930088607132341,0.3797267708579868,0.03499999608476794,-0.03500000000148663,0.35512819571165705,0.07869801645450891,0.0798922445797837,0.9959435668437824,-7.200589678819605e-13,-1.7311922799597523e-13,0.08998006258323635],"qvel":[2.0853844218212347e-05,-8.160054687448563e-06,0.00010718122790243433,-1.554531686361719e-05,-0.0009549529406971593,0.0007988112832082645,2.191502459000083e-09,1.3775747929337882e-09,2.9582758963718245e-13,-8.749327190758151e-13,2.688196133445706e-15,3.3561038457906213e-11,4.929573590147155e-12,-8.753866760799374e-09],"joint_position_rad":[0.3053952938285821,1.4911283278336849,-1.2570839274133767,-0.1887653084666989,0.930088607132341,0.3797267708579868],"joint_velocity_rad_s":[2.0853844218212347e-05,-8.160054687448563e-06,0.00010718122790243433,-1.554531686361719e-05,-0.0009549529406971593,0.0007988112832082645],"gripper_joint_position_m":[0.03499999608476794,-0.03500000000148663],"tcp_position_m":[0.35035317378756203,0.0786228334852755,0.2099430112917849],"tcp_quaternion_wxyz":[0.25845727202237917,-0.0002597297917297414,0.9660226285601808,-0.00022844882162102552],"object_position_m":[0.35512819571165705,0.07869801645450891,0.0798922445797837],"object_quaternion_wxyz":[0.9959435668437824,-7.200589678819605e-13,-1.7311922799597523e-13,0.08998006258323635],"object_linear_velocity_m_s":[2.9582758963718245e-13,-8.749327190758151e-13,2.688196133445706e-15],"object_angular_velocity_rad_s":[3.2134062385487383e-11,1.0864899114089388e-11,-8.753866760799362e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999997075},{"geom_ids":[1,90],"normal_force_n":0.09809999999996068},{"geom_ids":[1,90],"normal_force_n":0.09810000000002905},{"geom_ids":[1,90],"normal_force_n":0.098100000000039}],"native_actuator_controls":[0.3054052864888029,1.4911245451060908,-1.2569971289072221,-0.18877006147883366,0.9292026635318605,0.38036925702792995,0.035],"actuator_force_native":[0.0006951435965696362,-0.00026181793408852627,0.006407974352853785,-0.00011239390107231628,-0.0074270065937582785,0.005226644774619427,1.4565177020031683e-07],"issued_joint_targets_rad":[0.3054053765378787,1.49112450645609,-1.2569969860409111,-0.18877022677839542,0.9292025110916364,0.3803694860787687],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.660000000001045,"joint_targets_rad":[0.3054053765378787,1.49112450645609,-1.2569969860409111,-0.18877022677839542,0.9292025110916364,0.3803694860787687],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.68000000000107,"qpos":[0.305395704320656,1.49112816716284,-1.2570818090100184,-0.18876561618380155,0.9300697202910532,0.3797425441058851,0.034999996184476474,-0.03500000000803907,0.35512819571166493,0.07869801645448553,0.0798922445797837,0.995943566888546,-6.939070385110076e-13,-1.6682418098416893e-13,0.08998006208776904],"qvel":[2.018685734629489e-05,-7.897380621850421e-06,0.00010474158927267112,-1.5079164569484172e-05,-0.0009347591233704066,0.0007794853006218758,2.3654111512620278e-09,1.0602061905086242e-09,2.8839449567290984e-13,-8.529788956892963e-13,2.5577449280522507e-15,2.586407058733836e-11,3.799014212343251e-12,-1.5982350077406043e-08],"joint_position_rad":[0.305395704320656,1.49112816716284,-1.2570818090100184,-0.18876561618380155,0.9300697202910532,0.3797425441058851],"joint_velocity_rad_s":[2.018685734629489e-05,-7.897380621850421e-06,0.00010474158927267112,-1.5079164569484172e-05,-0.0009347591233704066,0.0007794853006218758],"gripper_joint_position_m":[0.034999996184476474,-0.03500000000803907],"tcp_position_m":[0.35035595143947174,0.07862427819818586,0.2099441806024422],"tcp_quaternion_wxyz":[0.2584648878836745,-0.0002533516832082385,0.9660205937971259,-0.00022339215053363443],"object_position_m":[0.35512819571166493,0.07869801645448553,0.0798922445797837],"object_quaternion_wxyz":[0.995943566888546,-6.939070385110076e-13,-1.6682418098416893e-13,0.08998006208776904],"object_linear_velocity_m_s":[2.8839449567290984e-13,-8.529788956892963e-13,2.5577449280522507e-15],"object_angular_velocity_rad_s":[2.4764360470337384e-11,8.373118106630726e-12,-1.5982350077406016e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000003723},{"geom_ids":[1,90],"normal_force_n":0.09810000000005017},{"geom_ids":[1,90],"normal_force_n":0.09809999999996254},{"geom_ids":[1,90],"normal_force_n":0.09809999999994974}],"native_actuator_controls":[0.3054053765378787,1.49112450645609,-1.2569969860409111,-0.18877022677839542,0.9292025110916364,0.3803694860787687,0.035],"actuator_force_native":[0.0006728430910847294,-0.000253369636880052,0.006262129582225384,-0.00010902796090661582,-0.007269953309112509,0.00510019177790344,1.4079388543919436e-07],"issued_joint_targets_rad":[0.3054054641921274,1.4911244685232077,-1.2569968464106571,-0.18877038761731815,0.9292023621022448,0.3803697091309313],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.68000000000107,"joint_targets_rad":[0.3054054641921274,1.4911244685232077,-1.2569968464106571,-0.18877038761731815,0.9292023621022448,0.3803697091309313],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.700000000001094,"qpos":[0.30539610169606285,1.4911280116492673,-1.2570797388250088,-0.18876591469535875,0.9300512328416818,0.37975793573755484,0.03499999627372989,-0.03500000000339867,0.35512819571167153,0.07869801645446607,0.0798922445797837,0.9959435669280448,-6.272056114717633e-13,-1.5078846282303155e-13,0.0899800616505763],"qvel":[1.9542134771186138e-05,-7.64426111052414e-06,0.00010235749756308269,-1.4628577566995806e-05,-0.0009149920897415232,0.0007606263194482595,3.0061915714540624e-09,-1.0319943916415389e-12,2.803949582766495e-13,-8.293089036097868e-13,2.3537414472773783e-15,1.4555539156196695e-11,2.137882713305724e-12,-2.9179735193992795e-08],"joint_position_rad":[0.30539610169606285,1.4911280116492673,-1.2570797388250088,-0.18876591469535875,0.9300512328416818,0.37975793573755484],"joint_velocity_rad_s":[1.9542134771186138e-05,-7.64426111052414e-06,0.00010235749756308269,-1.4628577566995806e-05,-0.0009149920897415232,0.0007606263194482595],"gripper_joint_position_m":[0.03499999627372989,-0.03500000000339867],"tcp_position_m":[0.35035867131550275,0.07862569148583541,0.20994532572931923],"tcp_quaternion_wxyz":[0.2584723429856043,-0.00024712897100136026,0.9660186018495848,-0.0002184476526569802],"object_position_m":[0.35512819571167153,0.07869801645446607,0.0798922445797837],"object_quaternion_wxyz":[0.9959435669280448,-6.272056114717633e-13,-1.5078846282303155e-13,0.0899800616505763],"object_linear_velocity_m_s":[2.803949582766495e-13,-8.293089036097868e-13,2.3537414472773783e-15],"object_angular_velocity_rad_s":[1.3936670908742475e-11,4.7120554543464115e-12,-2.9179735193992742e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000008273},{"geom_ids":[1,90],"normal_force_n":0.09810000000011135},{"geom_ids":[1,90],"normal_force_n":0.09809999999991734},{"geom_ids":[1,90],"normal_force_n":0.09809999999988886}],"native_actuator_controls":[0.3054054641921274,1.4911244685232077,-1.2569968464106571,-0.18877038761731815,0.9292023621022448,0.3803697091309313,0.035],"actuator_force_native":[0.0006512890113050673,-0.0002452287792067409,0.0061196056603307625,-0.00010577399054056968,-0.007116219259758694,0.004976794454591982,1.3401984655381227e-07],"issued_joint_targets_rad":[0.3054055495180909,1.4911244312966472,-1.256996709940277,-0.18877054412420016,0.9292022164815136,0.3803699263497604],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.700000000001094,"joint_targets_rad":[0.3054055495180909,1.4911244312966472,-1.256996709940277,-0.18877054412420016,0.9292022164815136,0.3803699263497604],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.720000000001118,"qpos":[0.30539648639241174,1.491127861105818,-1.2570777157604467,-0.18876620430761212,0.9300331363430606,0.37977295497486246,0.03499999636633037,-0.03500000000687993,0.3551281957116772,0.07869801645444949,0.0798922445797837,0.9959435669654868,-5.542390545984685e-13,-1.3324837253860348e-13,0.08998006123615022],"qvel":[1.891892764796893e-05,-7.400314385189841e-06,0.00010002769151231996,-1.4192929251958448e-05,-0.0008956428550257879,0.0007422230776860432,3.0264861814787693e-09,-1.0894977386320066e-10,2.879125435856028e-13,-8.515498489397571e-13,2.3925992531392594e-15,2.9080287914602903e-13,4.2669195425132385e-14,-5.327482766949311e-08],"joint_position_rad":[0.30539648639241174,1.491127861105818,-1.2570777157604467,-0.18876620430761212,0.9300331363430606,0.37977295497486246],"joint_velocity_rad_s":[1.891892764796893e-05,-7.400314385189841e-06,0.00010002769151231996,-1.4192929251958448e-05,-0.0008956428550257879,0.0007422230776860432],"gripper_joint_position_m":[0.03499999636633037,-0.03500000000687993],"tcp_position_m":[0.3503613346102148,0.07862707404400403,0.2099464471850481],"tcp_quaternion_wxyz":[0.25847964074549723,-0.00024105790976266462,0.9660166518133716,-0.00021361284165010658],"object_position_m":[0.3551281957116772,0.07869801645444949,0.0798922445797837],"object_quaternion_wxyz":[0.9959435669654868,-5.542390545984685e-13,-1.3324837253860348e-13,0.08998006123615022],"object_linear_velocity_m_s":[2.879125435856028e-13,-8.515498489397571e-13,2.3925992531392594e-15],"object_angular_velocity_rad_s":[2.784463738116823e-13,9.409883991980111e-14,-5.327482766949302e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000011124},{"geom_ids":[1,90],"normal_force_n":0.09810000000014955},{"geom_ids":[1,90],"normal_force_n":0.09809999999988904},{"geom_ids":[1,90],"normal_force_n":0.09809999999985058}],"native_actuator_controls":[0.3054055495180909,1.4911244312966472,-1.256996709940277,-0.18877054412420016,0.9292022164815136,0.3803699263497604,0.035],"actuator_force_native":[0.0006304554160934117,-0.00023738316174615193,0.005980327156009935,-0.00010262801726135251,-0.006965734332933238,0.004856379132450517,1.3021435463222986e-07],"issued_joint_targets_rad":[0.3054056325803415,1.4911243947656496,-1.2569965765554962,-0.18877069642360184,0.9292020741493888,0.38037013789570007],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.720000000001118,"joint_targets_rad":[0.3054056325803415,1.4911243947656496,-1.2569965765554962,-0.18877069642360184,0.9292020741493888,0.38037013789570007],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.740000000001142,"qpos":[0.30539685883239553,1.4911277153527902,-1.257075738743366,-0.18876648531495382,0.9300154225319857,0.3797876108172624,0.034999996448587756,-0.03499999999881328,0.3551281957116817,0.07869801645443604,0.0798922445797837,0.9959435669923868,-4.3919995028716537e-13,-1.055932916047028e-13,0.08998006093840753],"qvel":[1.831648947923452e-05,-7.165177167562972e-06,9.775093813060127e-05,-1.3771670158753594e-05,-0.0008767025939529484,0.0007242645846650752,1.6135518879181692e-09,1.760493248137e-09,3.2115259281139965e-13,-9.497777107541987e-13,2.51749934340959e-15,-1.8270846580953058e-11,-2.685409485405525e-12,-9.726638175518231e-08],"joint_position_rad":[0.30539685883239553,1.4911277153527902,-1.257075738743366,-0.18876648531495382,0.9300154225319857,0.3797876108172624],"joint_velocity_rad_s":[1.831648947923452e-05,-7.165177167562972e-06,9.775093813060127e-05,-1.3771670158753594e-05,-0.0008767025939529484,0.0007242645846650752],"gripper_joint_position_m":[0.034999996448587756,-0.03499999999881328],"tcp_position_m":[0.35036394249370706,0.07862842655287015,0.20994754547075534],"tcp_quaternion_wxyz":[0.25848678450689594,-0.00023513484297731056,0.96601474280356,-0.00020888528557248462],"object_position_m":[0.3551281957116817,0.07869801645443604,0.0798922445797837],"object_quaternion_wxyz":[0.9959435669923868,-4.3919995028716537e-13,-1.055932916047028e-13,0.08998006093840753],"object_linear_velocity_m_s":[3.2115259281139965e-13,-9.497777107541987e-13,2.51749934340959e-15],"object_angular_velocity_rad_s":[-1.7493683693319896e-11,-5.916611338206864e-12,-9.726638175518216e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005453},{"geom_ids":[1,90],"normal_force_n":0.09810000000007343},{"geom_ids":[1,90],"normal_force_n":0.09809999999994534},{"geom_ids":[1,90],"normal_force_n":0.09809999999992655}],"native_actuator_controls":[0.3054056325803415,1.4911243947656496,-1.2569965765554962,-0.18877069642360184,0.9292020741493888,0.38037013789570007,0.035],"actuator_force_native":[0.0006103173882792134,-0.00022982108541214075,0.0058442203389290626,-9.95859951267164e-05,-0.0068184299350395605,0.004738873907379038,1.339887305551457e-07],"issued_joint_targets_rad":[0.30540571344154094,1.491124358919505,-1.2569964461838956,-0.18877084463617844,0.9292019350278709,0.38037034392445085],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.740000000001142,"joint_targets_rad":[0.30540571344154094,1.491124358919505,-1.2569964461838956,-0.18877084463617844,0.9292019350278709,0.38037034392445085],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.760000000001167,"qpos":[0.30539721942385273,1.4911275742175656,-1.2570738067251706,-0.18876675800137788,0.9299980833200676,0.3798019120472307,0.0349999965355335,-0.035000000000798476,0.35512819571168586,0.07869801645442366,0.0798922445797837,0.9959435670255853,-3.7406555377337354e-13,-8.993909576425922e-14,0.08998006057094962],"qvel":[1.7734067302313973e-05,-6.938504818973319e-06,9.552603235148943e-05,-1.33643414546862e-05,-0.0008581626239766425,0.0007067401218531252,3.7390674180174425e-09,-1.3778046186217068e-09,1.5446835262302297e-13,-4.568347663247876e-13,2.517499343409589e-15,1.6546002311916483e-11,2.4304311516165593e-12,-1.0538015932374018e-08],"joint_position_rad":[0.30539721942385273,1.4911275742175656,-1.2570738067251706,-0.18876675800137788,0.9299980833200676,0.3798019120472307],"joint_velocity_rad_s":[1.7734067302313973e-05,-6.938504818973319e-06,9.552603235148943e-05,-1.33643414546862e-05,-0.0008581626239766425,0.0007067401218531252],"gripper_joint_position_m":[0.0349999965355335,-0.035000000000798476],"tcp_position_m":[0.3503664961120944,0.07862974967700662,0.20994862107633716],"tcp_quaternion_wxyz":[0.258493777541098,-0.00022935620079835264,0.9660128739540971,-0.00020426260629276285],"object_position_m":[0.35512819571168586,0.07869801645442366,0.0798922445797837],"object_quaternion_wxyz":[0.9959435670255853,-3.7406555377337354e-13,-8.993909576425922e-14,0.08998006057094962],"object_linear_velocity_m_s":[1.5446835262302297e-13,-4.568347663247876e-13,2.517499343409589e-15],"object_angular_velocity_rad_s":[1.5842469355284918e-11,5.356617665612664e-12,-1.0538015932374e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999279},{"geom_ids":[1,90],"normal_force_n":0.09809999999999047},{"geom_ids":[1,90],"normal_force_n":0.09810000000000699},{"geom_ids":[1,90],"normal_force_n":0.0981000000000093}],"native_actuator_controls":[0.30540571344154094,1.491124358919505,-1.2569964461838956,-0.18877084463617844,0.9292019350278709,0.38037034392445085,0.035],"actuator_force_native":[0.000590851078541732,-0.0002225313207588897,0.005711213140230598,-9.664368474915364e-05,-0.006674238986002834,0.004624208589421919,1.1988332326851037e-07],"issued_joint_targets_rad":[0.3054057921625072,1.491124323747558,-1.2569963187548623,-0.1887709888788255,0.9292017990409593,0.3803705445871293],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.760000000001167,"joint_targets_rad":[0.3054057921625072,1.491124323747558,-1.2569963187548623,-0.1887709888788255,0.9292017990409593,0.3803705445871293],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.78000000000119,"qpos":[0.30539756856079736,1.4911274375343695,-1.2570719186810861,-0.18876702263986495,0.9299811107894008,0.37981586723539656,0.03499999662082465,-0.03500000000317453,0.3551281957116898,0.07869801645441211,0.0798922445797837,0.99594356706807,-3.519324928958312e-13,-8.463802355312375e-14,0.08998006010070865],"qvel":[1.717104216411502e-05,-6.719955950243754e-06,9.335179622315262e-05,-1.2970279580218763e-05,-0.0008400145840077852,0.000689639209912008,1.5481399479740926e-09,1.686569921974405e-09,1.4892873742890375e-13,-4.4037403196105203e-13,2.4869682102323974e-15,1.1748750641420597e-11,1.7256783771513752e-12,-1.9239755912467983e-08],"joint_position_rad":[0.30539756856079736,1.4911274375343695,-1.2570719186810861,-0.18876702263986495,0.9299811107894008,0.37981586723539656],"joint_velocity_rad_s":[1.717104216411502e-05,-6.719955950243754e-06,9.335179622315262e-05,-1.2970279580218763e-05,-0.0008400145840077852,0.000689639209912008],"gripper_joint_position_m":[0.03499999662082465,-0.03500000000317453],"tcp_position_m":[0.35036899658800885,0.07863104406613732,0.2099496744807512],"tcp_quaternion_wxyz":[0.25850062304888227,-0.00022371849816337497,0.9660110444173586,-0.000199742477714446],"object_position_m":[0.3551281957116898,0.07869801645441211,0.0798922445797837],"object_quaternion_wxyz":[0.99594356706807,-3.519324928958312e-13,-8.463802355312375e-14,0.08998006010070865],"object_linear_velocity_m_s":[1.4892873742890375e-13,-4.4037403196105203e-13,2.4869682102323974e-15],"object_angular_velocity_rad_s":[1.1249211663358914e-11,3.80346479523892e-12,-1.923975591246795e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.0981000000000276},{"geom_ids":[1,90],"normal_force_n":0.09810000000003712},{"geom_ids":[1,90],"normal_force_n":0.09809999999997228},{"geom_ids":[1,90],"normal_force_n":0.09809999999996272}],"native_actuator_controls":[0.3054057921625072,1.491124323747558,-1.2569963187548623,-0.1887709888788255,0.9292017990409593,0.3803705445871293,0.035],"actuator_force_native":[0.0005720329259659707,-0.00021550316516538714,0.005581235116792982,-9.379816052135226e-05,-0.006533095608402206,0.004512314702459275,1.274263146111565e-07],"issued_joint_targets_rad":[0.3054058688022672,1.491124289239215,-1.2569961941995407,-0.18877112926479775,0.929201666114593,0.38037074003040877],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.78000000000119,"joint_targets_rad":[0.3054058688022672,1.491124289239215,-1.2569961941995407,-0.18877112926479775,0.929201666114593,0.38037074003040877],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.800000000001216,"qpos":[0.3053979066235739,1.4911273051439473,-1.2570700736096265,-0.18876727949353544,0.9299644971893943,0.37982948474566847,0.03499999670006045,-0.034999999999908264,0.35512819571169313,0.07869801645440214,0.0798922445797837,0.9959435671099789,-3.259293543657584e-13,-7.840930913601578e-14,0.08998005963684133],"qvel":[1.6626657381402975e-05,-6.509219953570812e-06,9.122707819398563e-05,-1.2589182091813193e-05,-0.0008222500845895025,0.000672951644559886,3.610574558962711e-09,-1.4040358859294698e-09,1.4916180077081149e-13,-4.409474972823644e-13,2.4730904224245826e-15,5.7319423551667495e-12,8.409405111341543e-13,-3.512693565355376e-08],"joint_position_rad":[0.3053979066235739,1.4911273051439473,-1.2570700736096265,-0.18876727949353544,0.9299644971893943,0.37982948474566847],"joint_velocity_rad_s":[1.6626657381402975e-05,-6.509219953570812e-06,9.122707819398563e-05,-1.2589182091813193e-05,-0.0008222500845895025,0.000672951644559886],"gripper_joint_position_m":[0.03499999670006045,-0.034999999999908264],"tcp_position_m":[0.35037144502106576,0.07863231035521681,0.20995070615228367],"tcp_quaternion_wxyz":[0.25850732416201405,-0.00021821833276967377,0.9660092533637691,-0.00019532262507906763],"object_position_m":[0.35512819571169313,0.07869801645440214,0.0798922445797837],"object_quaternion_wxyz":[0.9959435671099789,-3.259293543657584e-13,-7.840930913601578e-14,0.08998005963684133],"object_linear_velocity_m_s":[1.4916180077081149e-13,-4.409474972823644e-13,2.4730904224245826e-15],"object_angular_velocity_rad_s":[5.488404167572698e-12,1.854660022666309e-12,-3.5126935653553705e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005513},{"geom_ids":[1,90],"normal_force_n":0.0981000000000741},{"geom_ids":[1,90],"normal_force_n":0.09809999999994508},{"geom_ids":[1,90],"normal_force_n":0.09809999999992611}],"native_actuator_controls":[0.3054058688022672,1.491124289239215,-1.2569961941995407,-0.18877112926479775,0.929201666114593,0.38037074003040877,0.035],"actuator_force_native":[0.0005538410085570433,-0.00020872627881374228,0.005454217415888252,-9.104494003331354e-05,-0.006394935621131026,0.0044031253805632,1.1394470922354571e-07],"issued_joint_targets_rad":[0.3054059434181181,1.4911242553839485,-1.2569960724507816,-0.18877126590383764,0.929201536176597,0.3803709303966657],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.800000000001216,"joint_targets_rad":[0.3054059434181181,1.4911242553839485,-1.2569960724507816,-0.18877126590383764,0.929201536176597,0.3803709303966657],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.82000000000124,"qpos":[0.30539823397934807,1.4911271768932952,-1.2570682705320622,-0.18876752881602754,0.9299482349332391,0.37984277274022255,0.03499999678095032,-0.03500000000224672,0.3551281957116959,0.0786980164543939,0.0798922445797837,0.9959435671438572,-2.765759481174932e-13,-6.653755007072485e-14,0.08998005926186077],"qvel":[1.6100347544604615e-05,-6.305982170781572e-06,8.915075307208962e-05,-1.2220413530883712e-05,-0.000804861123303737,0.0006566674458387006,3.2418306411084726e-09,-9.486709128380731e-10,1.561868948801235e-13,-4.617469658303485e-13,2.8241984539622877e-15,-2.4743865338509795e-12,-3.6290810333965926e-13,-6.413291385031777e-08],"joint_position_rad":[0.30539823397934807,1.4911271768932952,-1.2570682705320622,-0.18876752881602754,0.9299482349332391,0.37984277274022255],"joint_velocity_rad_s":[1.6100347544604615e-05,-6.305982170781572e-06,8.915075307208962e-05,-1.2220413530883712e-05,-0.000804861123303737,0.0006566674458387006],"gripper_joint_position_m":[0.03499999678095032,-0.03500000000224672],"tcp_position_m":[0.3503738424883258,0.0786335491647803,0.20995171654880784],"tcp_quaternion_wxyz":[0.2585138839447731,-0.00021285238314970595,0.9660074999814114,-0.00019100082384662184],"object_position_m":[0.3551281957116959,0.0786980164543939,0.0798922445797837],"object_quaternion_wxyz":[0.9959435671438572,-2.765759481174932e-13,-6.653755007072485e-14,0.08998005926186077],"object_linear_velocity_m_s":[1.561868948801235e-13,-4.617469658303485e-13,2.8241984539622877e-15],"object_angular_velocity_rad_s":[-2.3692751573601786e-12,-8.005162328290622e-13,-6.41329138503177e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000005267},{"geom_ids":[1,90],"normal_force_n":0.09810000000007059},{"geom_ids":[1,90],"normal_force_n":0.09809999999994727},{"geom_ids":[1,90],"normal_force_n":0.09809999999992912}],"native_actuator_controls":[0.3054059434181181,1.4911242553839485,-1.2569960724507816,-0.18877126590383764,0.929201536176597,0.3803709303966657,0.035],"actuator_force_native":[0.0005362533638795242,-0.00020219083687322836,0.005330092737082737,-8.838144474943022e-05,-0.0062596958814644665,0.004296575395673408,1.1255283438593722e-07],"issued_joint_targets_rad":[0.30540601606568013,1.4911242221713028,-1.2569959534431023,-0.1887713989022966,0.9292014091566302,0.38037111582411615],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.82000000000124,"joint_targets_rad":[0.30540601606568013,1.4911242221713028,-1.2569959534431023,-0.1887713989022966,0.9292014091566302,0.38037111582411615],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.840000000001265,"qpos":[0.3053985509828367,1.4911270526354254,-1.257066508491912,-0.18876777085134266,0.929932316594118,0.37985573918430093,0.03499999685601627,-0.03499999999916114,0.3551281957116983,0.07869801645438707,0.0798922445797837,0.9959435671707023,-2.1870047094003386e-13,-5.261237438148716e-14,0.08998005896472845],"qvel":[1.5591473635258777e-05,-6.109950640406496e-06,8.712172059290686e-05,-1.1863562227558465e-05,-0.0007878397470547319,0.00064077688272169,1.2832843284953318e-09,1.7563065042879765e-09,1.793694028581265e-13,-5.301824041501106e-13,3.12395867061108e-15,-1.3125193332153255e-11,-1.9321818481737595e-12,-1.1709050511523116e-07],"joint_position_rad":[0.3053985509828367,1.4911270526354254,-1.257066508491912,-0.18876777085134266,0.929932316594118,0.37985573918430093],"joint_velocity_rad_s":[1.5591473635258777e-05,-6.109950640406496e-06,8.712172059290686e-05,-1.1863562227558465e-05,-0.0007878397470547319,0.00064077688272169],"gripper_joint_position_m":[0.03499999685601627,-0.03499999999916114],"tcp_position_m":[0.3503761900447618,0.0786347611014823,0.2099527061180516],"tcp_quaternion_wxyz":[0.2585203053955195,-0.0002076174068639201,0.9660057834756256,-0.00018677489829140603],"object_position_m":[0.3551281957116983,0.07869801645438707,0.0798922445797837],"object_quaternion_wxyz":[0.9959435671707023,-2.1870047094003386e-13,-5.261237438148716e-14,0.08998005896472845],"object_linear_velocity_m_s":[1.793694028581265e-13,-5.301824041501106e-13,3.12395867061108e-15],"object_angular_velocity_rad_s":[-1.2566354207648124e-11,-4.253324420848987e-12,-1.1709050511523107e-07],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002206},{"geom_ids":[1,90],"normal_force_n":0.09810000000002966},{"geom_ids":[1,90],"normal_force_n":0.09809999999997751},{"geom_ids":[1,90],"normal_force_n":0.09809999999996992}],"native_actuator_controls":[0.30540601606568013,1.4911242221713028,-1.2569959534431023,-0.1887713989022966,0.9292014091566302,0.38037111582411615,0.035],"actuator_force_native":[0.0005192492592982489,-0.00019588737660569677,0.005208795301797409,-8.580422701953694e-05,-0.00612731475429662,0.00419260107406938,1.193429277623892e-07],"issued_joint_targets_rad":[0.30540608679895176,1.4911241895909002,-1.2569958371126349,-0.18877152836324904,0.9292012849861304,0.3803712964469493],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.840000000001265,"joint_targets_rad":[0.30540608679895176,1.4911241895909002,-1.2569958371126349,-0.18877152836324904,0.9292012849861304,0.3803712964469493],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.86000000000129,"qpos":[0.30539885797635635,1.4911269322290777,-1.25706478655444,-0.18876800583505493,0.9299167349023306,0.37986839185099774,0.03499999693707527,-0.035000000007325685,0.3551281957117007,0.07869801645438038,0.0798922445797837,0.995943567210667,-1.989347353075837e-13,-4.786614459609109e-14,0.08998005852237793],"qvel":[1.5099400514941595e-05,-5.920847554182485e-06,8.513890563589136e-05,-1.1518270393140926e-05,-0.0007711781459583971,0.0006252704647745805,2.3452640908039985e-09,2.0036207774356663e-10,8.212977678141108e-14,-2.427687926765163e-13,2.8075451085929097e-15,8.279060767905375e-12,1.2170845800101622e-12,-1.268579735548324e-08],"joint_position_rad":[0.30539885797635635,1.4911269322290777,-1.25706478655444,-0.18876800583505493,0.9299167349023306,0.37986839185099774],"joint_velocity_rad_s":[1.5099400514941595e-05,-5.920847554182485e-06,8.513890563589136e-05,-1.1518270393140926e-05,-0.0007711781459583971,0.0006252704647745805],"gripper_joint_position_m":[0.03499999693707527,-0.035000000007325685],"tcp_position_m":[0.350378488723693,0.07863594675811135,0.20995367529783482],"tcp_quaternion_wxyz":[0.2585265914480691,-0.00020251023858867118,0.9660041030686582,-0.00018264272093991546],"object_position_m":[0.3551281957117007,0.07869801645438038,0.0798922445797837],"object_quaternion_wxyz":[0.995943567210667,-1.989347353075837e-13,-4.786614459609109e-14,0.08998005852237793],"object_linear_velocity_m_s":[8.212977678141108e-14,-2.427687926765163e-13,2.8075451085929097e-15],"object_angular_velocity_rad_s":[7.926861196906816e-12,2.6812336038746335e-12,-1.2685797355483227e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000232},{"geom_ids":[1,90],"normal_force_n":0.09810000000000321},{"geom_ids":[1,90],"normal_force_n":0.0980999999999975},{"geom_ids":[1,90],"normal_force_n":0.09809999999999675}],"native_actuator_controls":[0.30540608679895176,1.4911241895909002,-1.2569958371126349,-0.18877152836324904,0.9292012849861304,0.3803712964469493,0.035],"actuator_force_native":[0.000502808805055821,-0.0001898068164223332,0.005090260816231762,-8.330977579884546e-05,-0.005997731943065077,0.004091140262353576,1.1079066886132694e-07],"issued_joint_targets_rad":[0.3054061556703577,1.4911241576324439,-1.2569957233970868,-0.18877165438660248,0.9292011635982678,0.38037147239545477],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.86000000000129,"joint_targets_rad":[0.3054061556703577,1.4911241576324439,-1.2569957233970868,-0.18877165438660248,0.9292011635982678,0.38037147239545477],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.880000000001314,"qpos":[0.3053991552907618,1.4911268155385324,-1.2570631038061628,-0.18876823399359988,0.9299014827413382,0.3798807383258112,0.03499999700473882,-0.034999999998904095,0.3551281957117025,0.07869801645437463,0.0798922445797837,0.9959435672508196,-1.8090743682822743e-13,-4.353271202846524e-14,0.08998005807795047],"qvel":[1.4623592356080603e-05,-5.738398612806452e-06,8.320125715422667e-05,-1.1184035814183667e-05,-0.0007548687747378676,0.000610138914410043,6.317532354674479e-10,2.5119737006229968e-09,7.842127214131719e-14,-2.317819165218758e-13,2.672930566857109e-15,5.33238985153067e-12,7.843249292513332e-13,-2.3161062408915907e-08],"joint_position_rad":[0.3053991552907618,1.4911268155385324,-1.2570631038061628,-0.18876823399359988,0.9299014827413382,0.3798807383258112],"joint_velocity_rad_s":[1.4623592356080603e-05,-5.738398612806452e-06,8.320125715422667e-05,-1.1184035814183667e-05,-0.0007548687747378676,0.000610138914410043],"gripper_joint_position_m":[0.03499999700473882,-0.034999999998904095],"tcp_position_m":[0.35038073953724,0.07863710671430384,0.20995462451632305],"tcp_quaternion_wxyz":[0.25853274497323636,-0.0001975277884293686,0.9660024579992674,-0.00017860221090121339],"object_position_m":[0.3551281957117025,0.07869801645437463,0.0798922445797837],"object_quaternion_wxyz":[0.9959435672508196,-1.8090743682822743e-13,-4.353271202846524e-14,0.08998005807795047],"object_linear_velocity_m_s":[7.842127214131719e-14,-2.317819165218758e-13,2.672930566857109e-15],"object_angular_velocity_rad_s":[5.1054687649483594e-12,1.7273493605780448e-12,-2.3161062408915887e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001766},{"geom_ids":[1,90],"normal_force_n":0.09810000000002368},{"geom_ids":[1,90],"normal_force_n":0.09809999999998267},{"geom_ids":[1,90],"normal_force_n":0.09809999999997668}],"native_actuator_controls":[0.3054061556703577,1.4911241576324439,-1.2569957233970868,-0.18877165438660248,0.9292011635982678,0.38037147239545477,0.035],"actuator_force_native":[0.0004869124058970442,-0.0001839404940113809,0.004974426440298885,-8.089554103296592e-05,-0.005870888268596275,0.003992132324820652,1.1665168120345015e-07],"issued_joint_targets_rad":[0.3054062227308017,1.4911241262857229,-1.2569956122356978,-0.18877177706920278,0.9292010449278956,0.3803716437961434],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.880000000001314,"joint_targets_rad":[0.3054062227308017,1.4911241262857229,-1.2569956122356978,-0.18877177706920278,0.9292010449278956,0.3803716437961434],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.900000000001338,"qpos":[0.3053994432451721,1.4911267024333108,-1.2570614593543707,-0.18876845554606403,0.9298865531454047,0.37989278601125265,0.03499999707759535,-0.035000000000932584,0.35512819571170406,0.07869801645436972,0.0798922445797837,0.9959435672897573,-1.6242752519921457e-13,-3.910130068546232e-14,0.0899800576469701],"qvel":[1.4163453035240164e-05,-5.562349159233004e-06,8.130774815303652e-05,-1.086053950365974e-05,-0.0007389041437061347,0.0005953731944046361,1.9288993329235524e-09,5.82845933599865e-10,7.858315680598279e-14,-2.321710364347424e-13,2.8533418083586968e-15,1.7184219536714656e-12,2.5123426788718375e-13,-4.2286251063026315e-08],"joint_position_rad":[0.3053994432451721,1.4911267024333108,-1.2570614593543707,-0.18876845554606403,0.9298865531454047,0.37989278601125265],"joint_velocity_rad_s":[1.4163453035240164e-05,-5.562349159233004e-06,8.130774815303652e-05,-1.086053950365974e-05,-0.0007389041437061347,0.0005953731944046361],"gripper_joint_position_m":[0.03499999707759535,-0.035000000000932584],"tcp_position_m":[0.35038294347673127,0.07863824153631607,0.2099555541922462],"tcp_quaternion_wxyz":[0.25853876878007587,-0.00019266704002508824,0.9660008475224054,-0.0001746513337072163],"object_position_m":[0.35512819571170406,0.07869801645436972,0.0798922445797837],"object_quaternion_wxyz":[0.9959435672897573,-1.6242752519921457e-13,-3.910130068546232e-14,0.0899800576469701],"object_linear_velocity_m_s":[7.858315680598279e-14,-2.321710364347424e-13,2.8533418083586968e-15],"object_angular_velocity_rad_s":[1.6455671103810322e-12,5.551590344219264e-13,-4.228625106302629e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002947},{"geom_ids":[1,90],"normal_force_n":0.09810000000003953},{"geom_ids":[1,90],"normal_force_n":0.09809999999997074},{"geom_ids":[1,90],"normal_force_n":0.09809999999996055}],"native_actuator_controls":[0.3054062227308017,1.4911241262857229,-1.2569956122356978,-0.18877177706920278,0.9292010449278956,0.3803716437961434,0.035],"actuator_force_native":[0.0004715415851919147,-0.00017828006124886997,0.004861230753078871,-7.855822803204404e-05,-0.005746725959532739,0.0038955180573005954,1.0725168930747486e-07],"issued_joint_targets_rad":[0.3054062880297123,1.4911240955406153,-1.2569955035691989,-0.1887718965049443,0.9292009289115041,0.3803718107718742],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.900000000001338,"joint_targets_rad":[0.3054062880297123,1.4911240955406153,-1.2569955035691989,-0.1887718965049443,0.9292009289115041,0.3803718107718742],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.920000000001362,"qpos":[0.3053997221481096,1.491126592788033,-1.2570598523266583,-0.18876867070296366,0.9298719392954911,0.37990454213114966,0.03499999714609665,-0.03499999999927682,0.3551281957117054,0.07869801645436571,0.0798922445797837,0.9959435673197493,-1.3305413621809337e-13,-3.204283074064249e-14,0.08998005731500318],"qvel":[1.3718480958882514e-05,-5.392447380235702e-06,7.945737450599456e-05,-1.054732439553676e-05,-0.0007232770170240239,0.0005809644686608982,1.5478395177253865e-09,1.041335184476393e-09,8.426145980353751e-14,-2.488414458560105e-13,2.9296696413016767e-15,-3.0007651160952516e-12,-4.448339314000525e-13,-7.720401583217704e-08],"joint_position_rad":[0.3053997221481096,1.491126592788033,-1.2570598523266583,-0.18876867070296366,0.9298719392954911,0.37990454213114966],"joint_velocity_rad_s":[1.3718480958882514e-05,-5.392447380235702e-06,7.945737450599456e-05,-1.054732439553676e-05,-0.0007232770170240239,0.0005809644686608982],"gripper_joint_position_m":[0.03499999714609665,-0.03499999999927682],"tcp_position_m":[0.35038510151314767,0.07863935177790272,0.20995646473514468],"tcp_quaternion_wxyz":[0.2585446656174095,-0.00018792504898894254,0.9659992709088258,-0.00017078809940271314],"object_position_m":[0.3551281957117054,0.07869801645436571,0.0798922445797837],"object_quaternion_wxyz":[0.9959435673197493,-1.3305413621809337e-13,-3.204283074064249e-14,0.08998005731500318],"object_linear_velocity_m_s":[8.426145980353751e-14,-2.488414458560105e-13,2.9296696413016767e-15],"object_angular_velocity_rad_s":[-2.87244661738888e-12,-9.754583224675952e-13,-7.720401583217699e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000002222},{"geom_ids":[1,90],"normal_force_n":0.09810000000002991},{"geom_ids":[1,90],"normal_force_n":0.09809999999997783},{"geom_ids":[1,90],"normal_force_n":0.09809999999997002}],"native_actuator_controls":[0.3054062880297123,1.4911240955406153,-1.2569955035691989,-0.1887718965049443,0.9292009289115041,0.3803718107718742,0.035],"actuator_force_native":[0.00045667812342031766,-0.00017281755651765707,0.004750613724226582,-7.629545724796571e-05,-0.005625188314333229,0.003801239704254389,1.0641693681812114e-07],"issued_joint_targets_rad":[0.30540635161509005,1.4911240653870925,-1.2569953973397703,-0.18877201278485997,0.9292008154871718,0.38037197344196033],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.920000000001362,"joint_targets_rad":[0.30540635161509005,1.4911240653870925,-1.2569953973397703,-0.18877201278485997,0.9292008154871718,0.38037197344196033],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.940000000001387,"qpos":[0.30539999229736114,1.4911264864821538,-1.2570582818704643,-0.18876887966766173,0.9298576345168115,0.3799160137350019,0.034999997214469517,-0.034999999999838625,0.3551281957117065,0.07869801645436232,0.0798922445797837,0.9959435673461002,-1.0535983639802175e-13,-2.5383241264445788e-14,0.08998005702333786],"qvel":[1.3288128891133175e-05,-5.228458476349706e-06,7.764915496813468e-05,-1.0244082395289754e-05,-0.0007079802294941347,0.000566904125742755,2.674951292213677e-09,-6.5281814066896e-10,4.349210490440685e-14,-1.2844359660847867e-13,2.8394640205508843e-15,4.9870303408026064e-12,7.3443483928734e-13,-8.364422878807714e-09],"joint_position_rad":[0.30539999229736114,1.4911264864821538,-1.2570582818704643,-0.18876887966766173,0.9298576345168115,0.3799160137350019],"joint_velocity_rad_s":[1.3288128891133175e-05,-5.228458476349706e-06,7.764915496813468e-05,-1.0244082395289754e-05,-0.0007079802294941347,0.000566904125742755],"gripper_joint_position_m":[0.034999997214469517,-0.034999999999838625],"tcp_position_m":[0.350387214597519,0.07864043798020283,0.2099573565455782],"tcp_quaternion_wxyz":[0.2585504381750445,-0.00018329894113314568,0.9659977274447714,-0.00016701056222397288],"object_position_m":[0.3551281957117065,0.07869801645436232,0.0798922445797837],"object_quaternion_wxyz":[0.9959435673461002,-1.0535983639802175e-13,-2.5383241264445788e-14,0.08998005702333786],"object_linear_velocity_m_s":[4.349210490440685e-14,-1.2844359660847867e-13,2.8394640205508843e-15],"object_angular_velocity_rad_s":[4.7746434072568e-12,1.6163683017139505e-12,-8.364422878807708e-09],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09809999999999452},{"geom_ids":[1,90],"normal_force_n":0.09809999999999273},{"geom_ids":[1,90],"normal_force_n":0.09810000000000561},{"geom_ids":[1,90],"normal_force_n":0.09810000000000743}],"native_actuator_controls":[0.30540635161509005,1.4911240653870925,-1.2569953973397703,-0.18877201278485997,0.9292008154871718,0.38037197344196033,0.035],"actuator_force_native":[0.0004423047738555397,-0.00016754531252161087,0.004642516680689823,-7.410427595289093e-05,-0.005506219952156499,0.0037092408809704658,9.804646317057575e-08],"issued_joint_targets_rad":[0.3054064135335509,1.4911240358152227,-1.256995293491009,-0.18877212599722165,0.9292007045945266,0.3803721319222858],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.940000000001387,"joint_targets_rad":[0.3054064135335509,1.4911240358152227,-1.256995293491009,-0.18877212599722165,0.9292007045945266,0.3803721319222858],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.96000000000141,"qpos":[0.3054002539805502,1.491126383399783,-1.2570567471526242,-0.18876908263624317,0.9298436322755456,0.37992720770215904,0.034999997285261965,-0.03500000000617806,0.3551281957117077,0.07869801645435895,0.0798922445797837,0.9959435673888725,-1.0001824667177008e-13,-2.4086025249117652e-14,0.08998005654991298],"qvel":[1.2871920426762825e-05,-5.070151990124818e-06,7.58821305332445e-05,-9.950409848481995e-06,-0.000693006833156929,0.0005531837539752394,3.2441356381817486e-09,-1.5034940791231426e-09,4.1727530424573256e-14,-1.2325596193030698e-13,2.8491784720163547e-15,3.787535195816898e-12,5.582868994016277e-13,-1.5271323896816414e-08],"joint_position_rad":[0.3054002539805502,1.491126383399783,-1.2570567471526242,-0.18876908263624317,0.9298436322755456,0.37992720770215904],"joint_velocity_rad_s":[1.2871920426762825e-05,-5.070151990124818e-06,7.58821305332445e-05,-9.950409848481995e-06,-0.000693006833156929,0.0005531837539752394],"gripper_joint_position_m":[0.034999997285261965,-0.03500000000617806],"tcp_position_m":[0.3503892836613344,0.07864150067218523,0.20995823001534714],"tcp_quaternion_wxyz":[0.25855608908511574,-0.00017878591086702128,0.9659962164316298,-0.00016331681939236886],"object_position_m":[0.3551281957117077,0.07869801645435895,0.0798922445797837],"object_quaternion_wxyz":[0.9959435673888725,-1.0001824667177008e-13,-2.4086025249117652e-14,0.08998005654991298],"object_linear_velocity_m_s":[4.1727530424573256e-14,-1.2325596193030698e-13,2.8491784720163547e-15],"object_angular_velocity_rad_s":[3.6261424904710243e-12,1.2280870329063062e-12,-1.5271323896816397e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000000438},{"geom_ids":[1,90],"normal_force_n":0.09810000000000581},{"geom_ids":[1,90],"normal_force_n":0.09809999999999547},{"geom_ids":[1,90],"normal_force_n":0.09809999999999391}],"native_actuator_controls":[0.3054064135335509,1.4911240358152227,-1.256995293491009,-0.18877212599722165,0.9292007045945266,0.3803721319222858,0.035],"actuator_force_native":[0.000428404637922597,-0.00016245600485831346,0.004536882276553911,-7.198238989758465e-05,-0.005389766560451648,0.0036194665703050966,9.236884346286445e-08],"issued_joint_targets_rad":[0.3054064738303706,1.4911240068151725,-1.256995191967883,-0.18877223622763348,0.9292005961746985,0.38037228632541237],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.96000000000141,"joint_targets_rad":[0.3054064738303706,1.4911240068151725,-1.256995191967883,-0.18877223622763348,0.9292005961746985,0.38037228632541237],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.980000000001436,"qpos":[0.30540050747560393,1.4911262834295063,-1.2570552473589316,-0.1887692797975776,0.9298299261757245,0.37993813074589267,0.0349999973463894,-0.03500000000102705,0.3551281957117088,0.07869801645435602,0.0798922445797837,0.9959435674316175,-9.388986425913577e-14,-2.2618310722961113e-14,0.0899800560767922],"qvel":[1.2469367912510826e-05,-4.917309819952209e-06,7.415536368557052e-05,-9.665978875163593e-06,-0.000678349991273947,0.0005397951456171629,2.6749226171336936e-09,-8.007457523052027e-10,4.130331930637504e-14,-1.2196832922243676e-13,2.949098544232619e-15,2.29230766687674e-12,3.3705489536305416e-13,-2.7881580946013372e-08],"joint_position_rad":[0.30540050747560393,1.4911262834295063,-1.2570552473589316,-0.1887692797975776,0.9298299261757245,0.37993813074589267],"joint_velocity_rad_s":[1.2469367912510826e-05,-4.917309819952209e-06,7.415536368557052e-05,-9.665978875163593e-06,-0.000678349991273947,0.0005397951456171629],"gripper_joint_position_m":[0.0349999973463894,-0.03500000000102705],"tcp_position_m":[0.35039130961694315,0.07864254037101445,0.20995908552770315],"tcp_quaternion_wxyz":[0.2585616209233816,-0.00017438321962474427,0.9659947371856,-0.0001597050100490886],"object_position_m":[0.3551281957117088,0.07869801645435602,0.0798922445797837],"object_quaternion_wxyz":[0.9959435674316175,-9.388986425913577e-14,-2.2618310722961113e-14,0.0899800560767922],"object_linear_velocity_m_s":[4.130331930637504e-14,-1.2196832922243676e-13,2.949098544232619e-15],"object_angular_velocity_rad_s":[2.1947783528900696e-12,7.42447589936719e-13,-2.788158094601336e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001302},{"geom_ids":[1,90],"normal_force_n":0.0981000000000177},{"geom_ids":[1,90],"normal_force_n":0.09809999999998703},{"geom_ids":[1,90],"normal_force_n":0.09809999999998245}],"native_actuator_controls":[0.3054064738303706,1.4911240068151725,-1.256995191967883,-0.18877223622763348,0.9292005961746985,0.38037228632541237,0.035],"actuator_force_native":[0.00041496154177167455,-0.0001575425975914868,0.004433654465458403,-6.992730785970735e-05,-0.005275775023347862,0.0035318630767715575,9.276981094430425e-08],"issued_joint_targets_rad":[0.3054065325495242,1.4911239783772097,-1.2569950927167035,-0.18877234355911438,0.9292004901702823,0.38037243676067856],"issued_gripper_position_m":0.035,"command":{"t_seconds":19.980000000001436,"joint_targets_rad":[0.3054065325495242,1.4911239783772097,-1.2569950927167035,-0.18877234355911438,0.9292004901702823,0.38037243676067856],"gripper_position_m":0.035,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":20.00000000000146,"qpos":[0.3054007530507437,1.4911261864641638,-1.2570537816937075,-0.1887694713343345,0.9298165099567737,0.3799487894174499,0.03499999740976619,-0.03500000000154551,0.3551281957117099,0.07869801645435358,0.0798922445797837,0.9959435674673934,-8.147668401862464e-14,-1.9639843562661136e-14,0.08998005568080321],"qvel":[1.2080008555080578e-05,-4.769722084768325e-06,7.246793838360754e-05,-9.390456677631657e-06,-0.0006640030199911195,0.0005267302930851823,1.8368168029501732e-09,3.356572062636238e-10,4.210226069872546e-14,-1.2424428294118526e-13,2.8394640205508843e-15,2.1843623028022716e-13,3.0785452288271035e-14,-5.09047258315279e-08],"joint_position_rad":[0.3054007530507437,1.4911261864641638,-1.2570537816937075,-0.1887694713343345,0.9298165099567737,0.3799487894174499],"joint_velocity_rad_s":[1.2080008555080578e-05,-4.769722084768325e-06,7.246793838360754e-05,-9.390456677631657e-06,-0.0006640030199911195,0.0005267302930851823],"gripper_joint_position_m":[0.03499999740976619,-0.03500000000154551],"tcp_position_m":[0.3503932933579296,0.0786435575820483,0.20995992345754597],"tcp_quaternion_wxyz":[0.2585670362103835,-0.00017008819422099529,0.965993289037393,-0.0001561733147766795],"object_position_m":[0.3551281957117099,0.07869801645435358,0.0798922445797837],"object_quaternion_wxyz":[0.9959435674673934,-8.147668401862464e-14,-1.9639843562661136e-14,0.08998005568080321],"object_linear_velocity_m_s":[4.210226069872546e-14,-1.2424428294118526e-13,2.8394640205508843e-15],"object_angular_velocity_rad_s":[2.0938145411246066e-13,6.943729163463046e-14,-5.090472583152785e-08],"target_position_m":[0.3504861930454179,0.07869005025227688,0.08],"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"active_contact_pairs":[{"geom_ids":[1,90],"normal_force_n":0.09810000000001505},{"geom_ids":[1,90],"normal_force_n":0.09810000000002031},{"geom_ids":[1,90],"normal_force_n":0.09809999999998478},{"geom_ids":[1,90],"normal_force_n":0.09809999999997944}],"native_actuator_controls":[0.3054065325495242,1.4911239783772097,-1.2569950927167035,-0.18877234355911438,0.9292004901702823,0.38037243676067856,0.035],"actuator_force_native":[0.00040195985966207104,-0.00015279834590842256,0.004332778468409515,-6.793670780691485e-05,-0.005164193334927347,0.003446377992659233,9.442526849312571e-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":[-0.0032225383951653974,1.5379477743301546,-1.312697610169742,-0.0002013559372516494,0.046133687260650556,-0.00022964299217863895],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.02000000000000001,"joint_targets_rad":[-0.0032911536439814014,1.5368883699923779,-1.3112938316713023,-0.00016246792718440945,0.046258016778752284,-0.0002649432036534702],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.04000000000000003,"joint_targets_rad":[-0.0034427030857386346,1.5318662450144371,-1.3047354761847227,7.506399782289892e-05,0.04695087488550965,-0.0004889084823938521],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.060000000000000046,"joint_targets_rad":[-0.003608173131030272,1.5252872690548724,-1.2965664805679573,0.0007122200236167778,0.04866382261535046,-0.0011417544192522066],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.08000000000000006,"joint_targets_rad":[-0.0037757373723611583,1.5183937675030632,-1.2883496825775533,0.0016196485399883609,0.05096250894318423,-0.0020626818617353456],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.10000000000000007,"joint_targets_rad":[-0.003946648183355772,1.5114263315763772,-1.280218844230977,0.002620342941816456,0.05334364074334193,-0.0030518244905690765],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.12000000000000009,"joint_targets_rad":[-0.004122074542493312,1.5044545635649358,-1.2722071259600618,0.0036830781570615966,0.055711708805866435,-0.004070925100865065],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.1400000000000001,"joint_targets_rad":[-0.004302597477710414,1.497502717432372,-1.2643152999531158,0.004800262028035592,0.05804865282690373,-0.0051111805382658216],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.16000000000000011,"joint_targets_rad":[-0.0044885427399441544,1.490582808819236,-1.2565377201461891,0.005969994367585433,0.06035509226998102,-0.006170858692213806],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.18000000000000013,"joint_targets_rad":[-0.004680148958593232,1.483702753527218,-1.2488679535385152,0.007191563836830552,0.06263525107163406,-0.007249698787598205],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.20000000000000015,"joint_targets_rad":[-0.004877627085943908,1.476868550836081,-1.2413000537932846,0.008464420961220668,0.06489349636839696,-0.008347636470951384],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.22000000000000017,"joint_targets_rad":[-0.0050811780226642095,1.4700849769940025,-1.2338287660746885,0.00978794341585402,0.06713361023896772,-0.009464521242801463],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.24000000000000019,"joint_targets_rad":[-0.005290993793155987,1.4633559898887096,-1.2264496644552199,0.011161342512781069,0.06935858853610388,-0.010600024213883492],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.2600000000000002,"joint_targets_rad":[-0.005507254590013253,1.4566849448360835,-1.2191591596894495,0.01258360862653288,0.07157055818461686,-0.011753589319728497],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.2800000000000002,"joint_targets_rad":[-0.005730137141239667,1.4500743510159264,-1.2119538272957353,0.014053679459358004,0.07377122839498491,-0.012924593581247576],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.3000000000000002,"joint_targets_rad":[-0.005959813277017625,1.4435261510820225,-1.2048305610134349,0.015570496254065851,0.07596209030958256,-0.014112425527813402],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.32000000000000023,"joint_targets_rad":[-0.006196447101091232,1.4370418780945386,-1.1977865670770997,0.017132924249677883,0.07814434867519648,-0.015316452848594361],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.34000000000000025,"joint_targets_rad":[-0.006440749237790868,1.4306228750268493,-1.1908191254986966,0.01876339794350846,0.08031957523924932,-0.01653571028445219],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.36000000000000026,"joint_targets_rad":[-0.006693393875053683,1.4242702609135671,-1.1839259312861763,0.020481871758531008,0.08248891929830135,-0.01777008163675863],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.3800000000000003,"joint_targets_rad":[-0.006954861803482898,1.417984864366361,-1.1771049887368321,0.022299152456574673,0.0846530885250546,-0.01901948556349465],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.4000000000000003,"joint_targets_rad":[-0.007226670098140054,1.411767263238997,-1.1703544765037701,0.024223771924048294,0.08681279827185576,-0.020283749270630504],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.4200000000000003,"joint_targets_rad":[-0.007512517521167569,1.4056178337359226,-1.1636727922579835,0.02625631567113925,0.08896839774843729,-0.021563484522601054],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.44000000000000034,"joint_targets_rad":[-0.00781706469355187,1.3995367863000485,-1.1570583407206374,0.02839468221082616,0.09111999265655604,-0.02285856255017916],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.46000000000000035,"joint_targets_rad":[-0.008147033665881891,1.393524216836159,-1.1505096499158145,0.03063678044979607,0.09326803253203221,-0.02416899864512795],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.48000000000000037,"joint_targets_rad":[-0.008507738573628156,1.3875802036681981,-1.1440252202007328,0.03298036468445593,0.09541246679278,-0.02549460047324532],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5000000000000003,"joint_targets_rad":[-0.008902671632567255,1.3817051095697006,-1.137603785572939,0.03542310037953249,0.0975529372551362,-0.026835036607239935],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5200000000000004,"joint_targets_rad":[-0.009334259245398508,1.3758991776367167,-1.1312440169056774,0.037962679154549775,0.09968909936321221,-0.028189992603970596],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5400000000000004,"joint_targets_rad":[-0.009804309869017383,1.370162504188597,-1.1249445552325894,0.040596842685298284,0.1018206914222145,-0.02955920728837462],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5600000000000004,"joint_targets_rad":[-0.010314248098816484,1.3644951073742866,-1.1187040596135507,0.043323367190635884,0.10394746839982248,-0.030942453690882367],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.5800000000000004,"joint_targets_rad":[-0.01086525114857249,1.358896958599037,-1.1125212154991018,0.046140056501203966,0.10606916924357498,-0.03233953004510187],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6000000000000004,"joint_targets_rad":[-0.011458353593651882,1.353367996468632,-1.106394732241633,0.04904474090421995,0.10818550906550817,-0.033750258100925995],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6200000000000004,"joint_targets_rad":[-0.012094465033611508,1.3479081354900737,-1.1003233404051886,0.0520352777138323,0.11029617883754853,-0.03517448080933671],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6400000000000005,"joint_targets_rad":[-0.012774426608154824,1.342517270784512,-1.094305786098548,0.05510955114791265,0.11240084662506016,-0.0366120614048612],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6600000000000005,"joint_targets_rad":[-0.013498973639053443,1.3371952792580803,-1.0883408321439534,0.05826495537908845,0.1144991445744506,-0.03806287138567201],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.6800000000000005,"joint_targets_rad":[-0.014268806215695632,1.3319421455530907,-1.0824274537518215,0.06149933951819578,0.11659055607284526,-0.03952675028745354],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7000000000000005,"joint_targets_rad":[-0.01508454363179905,1.3267577943416806,-1.0765645979154643,0.06481061839483646,0.11867447816526475,-0.04100353849400624],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7200000000000005,"joint_targets_rad":[-0.015946775403771644,1.3216420546356984,-1.070751107845967,0.06819675483234279,0.12075037359179944,-0.04249311635536512],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7400000000000005,"joint_targets_rad":[-0.01685601242837796,1.3165947276056698,-1.064985794694642,0.07165575119162822,0.12281775887548704,-0.04399539310212655],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7600000000000006,"joint_targets_rad":[-0.017812733845235802,1.3116156080653971,-1.0592674515592049,0.07518563749238948,0.12487616218913627,-0.04551028976716382],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.7800000000000006,"joint_targets_rad":[-0.018817335175710076,1.3067044912242805,-1.0535948618865165,0.07878447002264186,0.12692511140271934,-0.04703772668080432],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8000000000000006,"joint_targets_rad":[-0.019870184013776743,1.3018611720177313,-1.0479667974034066,0.08245032426648932,0.1289641278237759,-0.0485776355060927],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8200000000000006,"joint_targets_rad":[-0.0209715615836774,1.2970854457218361,-1.0423820222363789,0.08618129579809382,0.1309927253696986,-0.05012994857275951],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8400000000000006,"joint_targets_rad":[-0.02212173600013894,1.292377090953464,-1.0368393849405246,0.08997486303105046,0.13301034796173902,-0.051699569263353395],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8600000000000007,"joint_targets_rad":[-0.023320872772154763,1.2877358700127493,-1.0313377205688592,0.09382821986398981,0.13501646086952404,-0.0532922874523345],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.8800000000000007,"joint_targets_rad":[-0.02456910478943713,1.2831615411783697,-1.0258758436749544,0.09773861020242375,0.13701073789922216,-0.05491242982321575],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9000000000000007,"joint_targets_rad":[-0.025866456100070823,1.2786538789194353,-1.0204525242292153,0.10170330562152716,0.13899274280783364,-0.05656355633512129],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9200000000000007,"joint_targets_rad":[-0.027212913479998654,1.2742126728583494,-1.0150664857599885,0.10571973258766151,0.14096202189874854,-0.058247084062758414],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9400000000000007,"joint_targets_rad":[-0.02860835148764517,1.2698380575819015,-1.0097166604026186,0.10978514272598384,0.14291797884642027,-0.059965537758258275],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9600000000000007,"joint_targets_rad":[-0.030052622361857035,1.2655300204636757,-1.0044018627835345,0.11389653487214799,0.14486003813481618,-0.06172278514915226],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":0.9800000000000008,"joint_targets_rad":[-0.03154557045071664,1.261288447007581,-0.9991211948451034,0.11804997095528101,0.14678762464877404,-0.06353578100427502],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0000000000000007,"joint_targets_rad":[-0.03308680024031474,1.257113081640795,-0.9938734261467761,0.12223998501888259,0.14870031596752786,-0.06541327031399422],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0199999999999985,"joint_targets_rad":[-0.03467556859602432,1.2530037460669574,-0.9886571895370404,0.1264635494294073,0.15059788554341386,-0.06735368130263679],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0399999999999963,"joint_targets_rad":[-0.03631121392844801,1.2489602855017101,-0.9834711887395046,0.1307177909471796,0.15248006142271503,-0.06935487929319235],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.059999999999994,"joint_targets_rad":[-0.037993087456056694,1.2449825335792402,-0.9783141638059741,0.13499985774569492,0.15434651012077302,-0.07141472468318627],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0799999999999919,"joint_targets_rad":[-0.03972053434048749,1.2410703046136837,-0.9731848752292509,0.13930691578662835,0.15619685389317334,-0.0735310782942793],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.0999999999999897,"joint_targets_rad":[-0.04149284050497743,1.2372233940511215,-0.968082102004342,0.14363615283491876,0.15803068501526288,-0.07570180335501173],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1199999999999875,"joint_targets_rad":[-0.04330923490535933,1.233441578925658,-0.9630046364571193,0.1479847761627932,0.1598475723314513,-0.07792476417961483],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1399999999999852,"joint_targets_rad":[-0.045168878473821006,1.2297246196506948,-0.957951282659661,0.15235001213698876,0.16164706590556982,-0.08019782517194027],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.159999999999983,"joint_targets_rad":[-0.047070858215761686,1.2260722612568717,-0.9529208551565743,0.15672910521350797,0.16342870040443772,-0.08251884940277013],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1799999999999808,"joint_targets_rad":[-0.04901419038731967,1.2224842343191777,-0.9479121773174798,0.16111931589853973,0.16519199698749526,-0.08488569663170933],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.1999999999999786,"joint_targets_rad":[-0.05099782489149246,1.2189602558628316,-0.9429240799862094,0.16551791844559138,0.1669364642888274,-0.08729622111251487],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2199999999999764,"joint_targets_rad":[-0.05302063046987459,1.2155000301392629,-0.9379554029200434,0.16992220149170167,0.16866160099011707,-0.08974827073467906],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2399999999999742,"joint_targets_rad":[-0.05508141552517115,1.212103248458997,-0.9330049917014123,0.17432946330000332,0.170366895005173,-0.09223968365219332],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.259999999999972,"joint_targets_rad":[-0.0571789299112268,1.2087695842065929,-0.9280717555402602,0.17873704711127342,0.17205210707780247,-0.09476832095429732],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2799999999999698,"joint_targets_rad":[-0.05931184288820027,1.205498697165675,-0.9231545348071214,0.18314227540612044,0.17371674473669968,-0.097332007352779],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.2999999999999676,"joint_targets_rad":[-0.06147874261515873,1.2022902455265672,-0.9182521900587928,0.18754247795033016,0.17536029390755753,-0.09992855180280105],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3199999999999654,"joint_targets_rad":[-0.06367816674048685,1.199143876419334,-0.9133635946785422,0.19193498809412318,0.17698224341434915,-0.10255574572841028],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3399999999999632,"joint_targets_rad":[-0.06590858766642534,1.1960592214984813,-0.9084876683540359,0.1963171643244902,0.178582253000297,-0.10521138218957606],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.359999999999961,"joint_targets_rad":[-0.06816840524908782,1.1930358969251595,-0.90362328816312,0.2006863507550421,0.18015981572916434,-0.10789322101743207],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3799999999999588,"joint_targets_rad":[-0.07045594978675387,1.1900735126641835,-0.898769349145508,0.20503989314833723,0.18171441136246336,-0.11059899991064435],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.3999999999999566,"joint_targets_rad":[-0.07276948226620646,1.187171900501714,-0.8939248619446707,0.20937512577843326,0.183245476365611,-0.11332641482860872],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4199999999999544,"joint_targets_rad":[-0.07510719687483716,1.1843308823843983,-0.8890887989127191,0.21368938290804634,0.18475242992619206,-0.11607313885203097],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4399999999999522,"joint_targets_rad":[-0.07746724608397891,1.1815501257097287,-0.8842600577034337,0.2179800014656469,0.18623473277965702,-0.11883683459651398],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.45999999999995,"joint_targets_rad":[-0.07984770579679712,1.1788292302628138,-0.8794375232337651,0.22224431203297274,0.1876917804886602,-0.12161513709528111],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4799999999999478,"joint_targets_rad":[-0.08224659922035127,1.176167755409801,-0.874620112380605,0.22647964440431256,0.18912301437030576,-0.1244056547539516],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.4999999999999456,"joint_targets_rad":[-0.08466189024981798,1.1735652275284292,-0.8698067664865569,0.23068332718546766,0.19052790524267763,-0.1272059677074972],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5199999999999434,"joint_targets_rad":[-0.08709148414618552,1.1710211456715967,-0.8649964424606732,0.23485268326875025,0.19190591913553764,-0.13001362378919062],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5399999999999412,"joint_targets_rad":[-0.0895332248212049,1.1685349855072769,-0.8601881148464615,0.23898503031373727,0.19325651807166352,-0.13282613764934997],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.559999999999939,"joint_targets_rad":[-0.09198489974965646,1.1661062005721625,-0.8553807752545936,0.2430776788806001,0.19457916062914304,-0.13564098896902416],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5799999999999368,"joint_targets_rad":[-0.09444424287876549,1.1637342230238694,-0.8505734325956219,0.2471279313179295,0.19587330492577276,-0.1384556212916923],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.5999999999999346,"joint_targets_rad":[-0.09690899000915808,1.1614184609649547,-0.8457652246585936,0.2511331205907696,0.19713894626872347,-0.14126748339259895],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6199999999999324,"joint_targets_rad":[-0.09937676721500056,1.159158290119465,-0.8409551568435094,0.2550905455275836,0.19837562684902565,-0.14407396659360272],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6399999999999302,"joint_targets_rad":[-0.10184515589440929,1.1569530859559851,-0.8361422731245126,0.2589974903993626,0.19958286396337455,-0.14687241782239427],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.659999999999928,"joint_targets_rad":[-0.10431169244265744,1.1548022070080264,-0.8313256427335483,0.26285122619572726,0.20076016469340704,-0.14966013942119444],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6799999999999258,"joint_targets_rad":[-0.10677386824038744,1.1527049899730648,-0.8265043572096356,0.2666490109937366,0.20190703517889624,-0.15243438959058703],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.6999999999999236,"joint_targets_rad":[-0.10922913035140468,1.1506607478722068,-0.8216775295645312,0.2703880890112891,0.20302298529581095,-0.15519238189346118],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7199999999999214,"joint_targets_rad":[-0.11167493948354164,1.1486687697085347,-0.8168444034338864,0.27406572292993814,0.20410804178990888,-0.15793132226342105],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7399999999999192,"joint_targets_rad":[-0.11410867690543684,1.1467283050452082,-0.8120041420594882,0.2776791567596738,0.20516201766571102,-0.16064837245454183],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.759999999999917,"joint_targets_rad":[-0.11652766600344362,1.1448385922357964,-0.8071558907179909,0.28122560580087574,0.2061845326054799,-0.16334063593897152],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7799999999999148,"joint_targets_rad":[-0.1189291992259605,1.1429988560354023,-0.8022988318084138,0.28470226302118606,0.20717519194532097,-0.16600516013333566],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.7999999999999126,"joint_targets_rad":[-0.12131057234557772,1.1412082976558091,-0.7974322443129431,0.28810631888579313,0.20813390751232716,-0.16863895970856874],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8199999999999104,"joint_targets_rad":[-0.12366907406018215,1.1394660815227122,-0.7925554614798266,0.29143496631640853,0.20906087768013595,-0.17123902799780497],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8399999999999082,"joint_targets_rad":[-0.12600190313738935,1.1377713342471085,-0.7876677076670812,0.29468536324507777,0.20995590078832974,-0.17380229368171904],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.859999999999906,"joint_targets_rad":[-0.12830632371773837,1.1361231706778736,-0.7827684002290283,0.2978546877869957,0.21081951799562143,-0.1763256855945508],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8799999999999037,"joint_targets_rad":[-0.13057959315791895,1.1345206777466506,-0.7778569875223798,0.30094011616532634,0.2116524685571832,-0.17880611238831123],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.8999999999999015,"joint_targets_rad":[-0.13281884042290243,1.1329628958335807,-0.7729327097802686,0.3039387724766431,0.2124547389001032,-0.18124039975404926],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9199999999998993,"joint_targets_rad":[-0.13502122759252005,1.1314488754290846,-0.7679949427546924,0.30684773830511697,0.21322651609458623,-0.18362531007856545],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9399999999998971,"joint_targets_rad":[-0.1371839274130112,1.1299776301708002,-0.7630432079860191,0.3096634594467598,0.2139684424574344,-0.18595751059243296],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.959999999999895,"joint_targets_rad":[-0.13930404552620687,1.128548302992256,-0.7580769198227417,0.312382941204359,0.2146806233769793,-0.18823363228320156],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9799999999998927,"joint_targets_rad":[-0.1413788058159201,1.127160000328319,-0.7530957179038793,0.31500317739636546,0.2153640100767393,-0.1904502838185371],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":1.9999999999998905,"joint_targets_rad":[-0.14340531003140086,1.1258116282805826,-0.7480989658558591,0.3175211217520868,0.21601891918314364,-0.19260400490327756],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0199999999998886,"joint_targets_rad":[-0.145380764791101,1.124502059206882,-0.7430862676365602,0.3199337063449247,0.21664633557462348,-0.1946913030549792],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0399999999998863,"joint_targets_rad":[-0.1473022874848192,1.1232300545448444,-0.7380570760149497,0.3222378219238656,0.21724681492456346,-0.19670860922339098],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.059999999999884,"joint_targets_rad":[-0.1491670988299649,1.1219943553063991,-0.7330110702530481,0.32443032951384787,0.21782152870217864,-0.19865231373678563],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.079999999999882,"joint_targets_rad":[-0.15097233641701865,1.1207935896749792,-0.7279477748827998,0.32650804675115436,0.21837124552370232,-0.20051872912872315],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.0999999999998797,"joint_targets_rad":[-0.15271523349605648,1.1196263605847954,-0.7228669109121472,0.32846774452074046,0.21889722959386715,-0.20230411182771432],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1199999999998775,"joint_targets_rad":[-0.15439298570815913,1.1184911585551374,-0.7177681149675285,0.3303061540469052,0.21940059997247485,-0.20400464981859717],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1399999999998753,"joint_targets_rad":[-0.15600281833639895,1.1173864084068845,-0.7126510790772206,0.3320199384026441,0.21988255563339063,-0.20561644655964065],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.159999999999873,"joint_targets_rad":[-0.1575420081496006,1.116310448425963,-0.7075155734350396,0.33360570787126526,0.22034456235641844,-0.20713553683844926],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.179999999999871,"joint_targets_rad":[-0.1590079383247382,1.1152614996431292,-0.7023614972465716,0.3350601083947201,0.22078894985922812,-0.2085579930123516],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.1999999999998687,"joint_targets_rad":[-0.16039769615993663,1.1142376742557403,-0.6971886300814224,0.33637963350545763,0.22121762119937807,-0.20987960815187898],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2199999999998665,"joint_targets_rad":[-0.1617082902437423,1.1132369723082063,-0.6919967880085915,0.3375605164139612,0.22163249347105402,-0.211096491235445],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2399999999998643,"joint_targets_rad":[-0.16293705719321855,1.1122572391076682,-0.6867857400311196,0.33859939329501043,0.22203543109207788,-0.2122046742832062],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.259999999999862,"joint_targets_rad":[-0.16408147178514665,1.1112961684697555,-0.6815552986816301,0.33949272524348006,0.22242829622589355,-0.21319999606107898],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.27999999999986,"joint_targets_rad":[-0.16513911840997558,1.1103512517892389,-0.6763053319736771,0.3402368844755257,0.22281324231963553,-0.21407818983878973],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.2999999999998577,"joint_targets_rad":[-0.16610763080955845,1.1094197479755006,-0.6710356868983162,0.3408281164215921,0.22319238789112922,-0.21483485013830883],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3199999999998555,"joint_targets_rad":[-0.16698469201961472,1.1084986595258006,-0.6657462051388774,0.3412624869203292,0.22356774524341422,-0.21546537560318887],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3399999999998533,"joint_targets_rad":[-0.16776814799718445,1.1075846912367626,-0.6604368774586566,0.34153598968279664,0.22394209014137414,-0.21596509653275203],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.359999999999851,"joint_targets_rad":[-0.16845574302687036,1.1066741607702495,-0.6551074331533582,0.34164428301799216,0.2243171261904156,-0.21632896881432154],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.379999999999849,"joint_targets_rad":[-0.1690460450035164,1.105762955234411,-0.6497572640656093,0.34159081040066164,0.22469449009955508,-0.21655426816389037],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.3999999999998467,"joint_targets_rad":[-0.1695391859544729,1.1048464155842277,-0.6443849249274997,0.3413987713541046,0.22507571044090496,-0.21664236067535486],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4199999999998445,"joint_targets_rad":[-0.1699376536474146,1.1039195509237782,-0.6389897933984812,0.34111259850043585,0.22546379836366193,-0.21662928022487027],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4399999999998423,"joint_targets_rad":[-0.1702412062843767,1.1029765976269383,-0.633573495120165,0.3407358813568203,0.22586310305171214,-0.21654499363738755],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.45999999999984,"joint_targets_rad":[-0.17045009662940194,1.102010668442386,-0.6281366427762107,0.3402673743066374,0.2262776729639234,-0.21640253586926322],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.479999999999838,"joint_targets_rad":[-0.17056533688152503,1.1010138982663056,-0.6226793175829752,0.33970591649902504,0.22671153891353932,-0.2162035514666114],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.4999999999998357,"joint_targets_rad":[-0.17058865575318802,1.0999772722516772,-0.6172016533806551,0.3390497890514705,0.22716935074738995,-0.21594765280996603],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5199999999998335,"joint_targets_rad":[-0.17052247686647273,1.0988902619666563,-0.6117038497564055,0.33829680311770965,0.22765666237642845,-0.21563385235225974],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5399999999998313,"joint_targets_rad":[-0.17037294273052106,1.0977399940646513,-0.6061855985211667,0.33740341398287566,0.22817613482072382,-0.2152133623046729],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.559999999999829,"joint_targets_rad":[-0.17014161766059815,1.0965111203582318,-0.6006465080586539,0.33623409735695675,0.22872223747895287,-0.21453212192760288],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.579999999999827,"joint_targets_rad":[-0.16980835064595237,1.0951863580599699,-0.5950888938858687,0.33467482729606074,0.22929526323366503,-0.21346474929108605],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.5999999999998247,"joint_targets_rad":[-0.16933705334203916,1.093744326897352,-0.5895171140576617,0.33259109122711583,0.22989952645118278,-0.21186584633032243],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6199999999998225,"joint_targets_rad":[-0.16867045240295442,1.0921580577499732,-0.5839386219310206,0.32978318711400606,0.23054088750175963,-0.2095174486851858],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6399999999998203,"joint_targets_rad":[-0.16928344137494444,1.0930989723557012,-0.5862341784556006,0.32407980949958787,0.23654315851042057,-0.20480401871619006],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.659999999999818,"joint_targets_rad":[-0.17042280838353213,1.0947676636195778,-0.5907186257871372,0.31835685273244585,0.24456617800939473,-0.20050383971381686],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.679999999999816,"joint_targets_rad":[-0.17176188221269173,1.0965636067920175,-0.5955884196762316,0.31361533888447607,0.2533824445538749,-0.19787286412358449],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.6999999999998137,"joint_targets_rad":[-0.1731002289909848,1.0982883691644467,-0.6002564803405847,0.31027041915578324,0.2618825810406669,-0.19709920487407762],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7199999999998115,"joint_targets_rad":[-0.17410960183728008,1.0996991342882645,-0.6040423114917455,0.3075190129171957,0.2687302398598761,-0.1968423873894872],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7399999999998093,"joint_targets_rad":[-0.1748586153886073,1.100931967417907,-0.6073117656791875,0.3046436941871501,0.274561935684489,-0.19632101671133517],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.759999999999807,"joint_targets_rad":[-0.17541772592794094,1.102001784534848,-0.6101113545108026,0.3020425653943354,0.2794984850752374,-0.19601447736121547],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.779999999999805,"joint_targets_rad":[-0.17579511380014945,1.1028676006746856,-0.6123511791695839,0.2999166027235576,0.2834030872863319,-0.19611611618829833],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.7999999999998026,"joint_targets_rad":[-0.17601083676343088,1.1035172805874207,-0.6140194990341085,0.2982876226869622,0.2862741228386292,-0.19661187791345927],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8199999999998004,"joint_targets_rad":[-0.17609752093364966,1.1039672672035072,-0.6151746375275287,0.2970960917166007,0.28823087961162597,-0.1974137060899508],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8399999999997982,"joint_targets_rad":[-0.17609525589072553,1.1042557522144925,-0.6159236561560927,0.2962505173350823,0.28947454563931835,-0.1984158041142614],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.859999999999796,"joint_targets_rad":[-0.17604790382659682,1.1044388062079242,-0.616412070353661,0.2956354136689022,0.29026897230668874,-0.19950669956581246],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.879999999999794,"joint_targets_rad":[-0.17599463054243009,1.1045780101909877,-0.6167939098667841,0.2951220562134179,0.290887283617726,-0.2005731624234],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.8999999999997916,"joint_targets_rad":[-0.17595465134463747,1.104728031726221,-0.617203393458844,0.29452181571541614,0.2915579662521686,-0.20143293556929123],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9199999999997894,"joint_targets_rad":[-0.1759371477295186,1.1049265605365188,-0.6177322754587735,0.2937060272048963,0.2924351453050409,-0.20198915170298729],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9399999999997872,"joint_targets_rad":[-0.17595557574936185,1.1051962352271523,-0.6184349449764759,0.29267554314690497,0.2936148954924541,-0.20229568977710657],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.959999999999785,"joint_targets_rad":[-0.176018834621008,1.1055452231532585,-0.6193302019559465,0.2914816462685517,0.29513279141785775,-0.2024466053850138],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.979999999999783,"joint_targets_rad":[-0.17612939336791475,1.1059706533604738,-0.6204097532087455,0.2901879855750847,0.296976520581759,-0.2025309472567655],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":2.9999999999997806,"joint_targets_rad":[-0.17628536071265608,1.1064660625681588,-0.6216566072704578,0.28884016601980667,0.2991169219263897,-0.2026038682380781],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.0199999999997784,"joint_targets_rad":[-0.1764785562774497,1.1070195833403658,-0.6230406933511546,0.28746538766771385,0.3015000190092597,-0.20269065970757114],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.039999999999776,"joint_targets_rad":[-0.17669906866145585,1.107615533947472,-0.6245226780864033,0.28609547655391915,0.30405584041876,-0.20281665093120754],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.059999999999774,"joint_targets_rad":[-0.17693722063577547,1.1082370207820373,-0.6260604199186399,0.2847643324814836,0.30671000216428246,-0.20300564567736176],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.079999999999772,"joint_targets_rad":[-0.17718437884763688,1.1088681620345529,-0.6276145585176841,0.28350045580176814,0.3093932825076368,-0.20327309691374534],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.0999999999997696,"joint_targets_rad":[-0.17743362151762807,1.1094956600014494,-0.6291524450078181,0.2823236790104196,0.3120484370957433,-0.2036245578518858],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.1199999999997674,"joint_targets_rad":[-0.17767989775250073,1.1101095671270134,-0.6306500107829628,0.2812438889395998,0.31463336716877555,-0.20405597719348745],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.139999999999765,"joint_targets_rad":[-0.17792007869320917,1.1107036562470411,-0.6320925665649475,0.28026168336159046,0.3171224472482424,-0.20455579218930167],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.159999999999763,"joint_targets_rad":[-0.17815270597129826,1.1112753565477491,-0.6334744868829051,0.2793693665340158,0.31950584129386117,-0.20510678453448708],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.179999999999761,"joint_targets_rad":[-0.17837755120456572,1.1118254888891481,-0.6347983954215408,0.27855155776035334,0.32178788137802455,-0.20568696179489443],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.1999999999997586,"joint_targets_rad":[-0.1785953045392757,1.1123573963747597,-0.6360729143390884,0.2777890098560643,0.3239831862790129,-0.20627402368718653],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.2199999999997564,"joint_targets_rad":[-0.17880764731709026,1.112876100258631,-0.6373105013763318,0.2770637606144945,0.3261131204489888,-0.20685087107069408],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.239999999999754,"joint_targets_rad":[-0.17901678746380728,1.1133874561955803,-0.6385253824963247,0.2763601277014103,0.3282021435240443,-0.20740544201302963],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.259999999999752,"joint_targets_rad":[-0.17922494160848962,1.1138973414789592,-0.6397316338595335,0.27566496756493275,0.3302744129797346,-0.20793018168291247],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.27999999999975,"joint_targets_rad":[-0.17943350544975123,1.1144110228152315,-0.6409417823606737,0.27496540140732206,0.33235112050101157,-0.20841974833672963],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.2999999999997476,"joint_targets_rad":[-0.17964320491414149,1.1149326239720527,-0.6421655537551436,0.27425104500357994,0.33444851950778826,-0.2088710892245243],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3199999999997454,"joint_targets_rad":[-0.17985465389264846,1.1154649013499303,-0.6434093404142504,0.27351735310385167,0.3365773367623238,-0.20928624258296338],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.339999999999743,"joint_targets_rad":[-0.18006826335042098,1.116009245209292,-0.6446762601303186,0.2727643880260924,0.33874283461648236,-0.2096704996204194],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.359999999999741,"joint_targets_rad":[-0.18028401756541151,1.1165657767531219,-0.6459664545938186,0.27199470184902597,0.3409452085675215,-0.21003018790419442],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3799999999997388,"joint_targets_rad":[-0.18050147097573,1.1171335629612562,-0.6472776379225067,0.27121215629516526,0.3431804971378719,-0.21037162196971693],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.3999999999997366,"joint_targets_rad":[-0.18071983224913152,1.1177109262879443,-0.6486058485598305,0.27042100397745594,0.34544186081110806,-0.21070048366247182],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4199999999997344,"joint_targets_rad":[-0.18093807552667854,1.118295769493839,-0.6499462200977741,0.2696251736642188,0.34772089901794984,-0.2110214075942844],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.439999999999732,"joint_targets_rad":[-0.18115515990042644,1.1188858846800138,-0.6512936882954671,0.26882824627620944,0.3500089045769707,-0.2113380811007835],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.45999999999973,"joint_targets_rad":[-0.18137015257884986,1.1194792258176194,-0.6526436119562503,0.2680331803523128,0.35229793078442195,-0.21165328795415203],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4799999999997278,"joint_targets_rad":[-0.18158231010827153,1.120074099865143,-0.6539921970813041,0.26724215069218193,0.35458151332226895,-0.21196889803219357],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.4999999999997256,"joint_targets_rad":[-0.18179115124479828,1.1206692896767612,-0.6553367568885454,0.26645663326330693,0.356855118710793,-0.21228609491115796],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5199999999997234,"joint_targets_rad":[-0.18199644382973723,1.1212640990748193,-0.6566757972939632,0.26567733356176754,0.359116268486373,-0.21260539112927476],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.539999999999721,"joint_targets_rad":[-0.18219814154868175,1.1218583313340527,-0.6580089549899578,0.26490409828253486,0.361364402338726,-0.21292660943433664],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.559999999999719,"joint_targets_rad":[-0.18239638808038372,1.1224522068935114,-0.6593367904410197,0.2641363091056726,0.3636005349088202,-0.21324911967553017],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5799999999997167,"joint_targets_rad":[-0.18259144380739195,1.1230462648208481,-0.6606605597050994,0.263372963432507,0.3658268494370341,-0.21357202197102088],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.5999999999997145,"joint_targets_rad":[-0.18278360536295657,1.123641232762097,-0.6619819204420907,0.26261276809829154,0.36804618339204787,-0.21389421065093],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6199999999997123,"joint_targets_rad":[-0.1829731524735135,1.1242379120178578,-0.6633026764619756,0.2618543127636521,0.37026159313270374,-0.21421465490194477],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.63999999999971,"joint_targets_rad":[-0.18316033995190753,1.124837075816821,-0.6646245489554143,0.2610963308092737,0.3724759797504634,-0.21453250329015486],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.659999999999708,"joint_targets_rad":[-0.1833453933690437,1.125439385044941,-0.6659489909643175,0.26033790017033787,0.37469178848971696,-0.21484717935408482],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6799999999997057,"joint_targets_rad":[-0.18352849072073069,1.126045336087188,-0.6672770797735892,0.2595784965646259,0.3769108314678015,-0.21515852049657677],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.6999999999997035,"joint_targets_rad":[-0.18370972805116664,1.1266552450102933,-0.668609491083832,0.2588178197179795,0.37913423325767004,-0.21546652967635146],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7199999999997013,"joint_targets_rad":[-0.1838891311587133,1.127269236408703,-0.6699464800505682,0.25805584386800073,0.3813624092474743,-0.21577144273763596],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.739999999999699,"joint_targets_rad":[-0.18406665870918226,1.1278872773110413,-0.6712879611202892,0.2572926863453968,0.38359519761588956,-0.21607355993253438],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.759999999999697,"joint_targets_rad":[-0.1842422265649648,1.128509202625878,-0.6726335664714262,0.2565286225078552,0.38583196658835794,-0.21637329220084703],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7799999999996947,"joint_targets_rad":[-0.1844156873139235,1.1291347677352597,-0.6739827663896744,0.2557638131643775,0.3880718000561392,-0.21667085675601327],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.7999999999996925,"joint_targets_rad":[-0.1845868924358361,1.1297636796079225,-0.6753349331773633,0.2549985091660741,0.39031362886877624,-0.21696656191844607],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8199999999996903,"joint_targets_rad":[-0.18475567243081834,1.1303956510835813,-0.6766894606346284,0.25423278422731493,0.39255641237175287,-0.21726043167440315],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.839999999999688,"joint_targets_rad":[-0.18492187850744518,1.1310304171610868,-0.6780457955666811,0.25346670964605394,0.39479920812703506,-0.21755250735277842],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.859999999999686,"joint_targets_rad":[-0.18508538083150122,1.131667769258485,-0.6794035102227391,0.25270025791000283,0.39704128587406395,-0.21784273144370683],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8799999999996837,"joint_targets_rad":[-0.18524604670976036,1.1323075631735207,-0.6807623196968883,0.25193319327072927,0.39928214494783304,-0.2181308179560076],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.8999999999996815,"joint_targets_rad":[-0.18540380280713173,1.132949717295479,-0.6821220699814514,0.2511653856299301,0.4015215214584887,-0.21841666636761445],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9199999999996793,"joint_targets_rad":[-0.18555854601955252,1.1335942181400525,-0.6834827563374615,0.25039638751706056,0.4037593774112356,-0.2186998005338419],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.939999999999677,"joint_targets_rad":[-0.18571022421562117,1.1342410941281953,-0.6848444580882191,0.2496258963122436,0.4059958314635683,-0.2189799782156181],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.959999999999675,"joint_targets_rad":[-0.18585880441641148,1.134890415208954,-0.6862073392927408,0.24885360729311234,0.40823114491670853,-0.21925697511945008],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9799999999996727,"joint_targets_rad":[-0.18600422271653003,1.1355422715696883,-0.6875716079949924,0.2480790447416854,0.410465635082683,-0.21953035994338038],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":3.9999999999996705,"joint_targets_rad":[-0.18614646123312464,1.1361967543111557,-0.6889374679375838,0.24730197356611527,0.4126996320872812,-0.21980007110011635],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.019999999999677,"joint_targets_rad":[-0.18628543529420277,1.1368539556436519,-0.6903051300454819,0.24652188051469917,0.41493344850369407,-0.22006570867358444],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.039999999999684,"joint_targets_rad":[-0.1864210901833294,1.1375139451265344,-0.6916747526579139,0.24573845729044935,0.4171673251506103,-0.22032709645978457],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.0599999999996905,"joint_targets_rad":[-0.1865533808648439,1.1381767730902073,-0.6930464510651992,0.2449514897175494,0.4194014373968178,-0.22058411876865922],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.079999999999697,"joint_targets_rad":[-0.1866820773088964,1.138842460538457,-0.6944202964169713,0.24415999779985575,0.42163581068909445,-0.2208354728443548],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.099999999999704,"joint_targets_rad":[-0.1868069425737911,1.139510984792019,-0.6957962722098834,0.24336312941153704,0.42387033270500885,-0.22108016309031944],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.119999999999711,"joint_targets_rad":[-0.18692782062782315,1.1401823036878047,-0.6971743155602621,0.24256047765005148,0.42610485523241076,-0.2213179045830591],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.139999999999717,"joint_targets_rad":[-0.18704459715921895,1.1408563690239706,-0.6985543476833771,0.2417518398249775,0.4283392236580945,-0.22154868169989575],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.159999999999724,"joint_targets_rad":[-0.18715716836154733,1.1415331277781786,-0.6999362794609753,0.24093706593430622,0.43057327218818053,-0.22177252485333246],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.179999999999731,"joint_targets_rad":[-0.18726543584491698,1.1422125265061858,-0.7013200210738262,0.24011602415223393,0.4328068368940644,-0.22198946804229958],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.199999999999737,"joint_targets_rad":[-0.18736927860725258,1.142894517133589,-0.7027054975513362,0.23928848462116553,0.43503976997262195,-0.22219948359904942],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.219999999999744,"joint_targets_rad":[-0.1874685314920651,1.1435790605685134,-0.7040926588031675,0.23845403573408164,0.43727194776398987,-0.22240242942812993],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.239999999999751,"joint_targets_rad":[-0.18756309741182542,1.1442661266978025,-0.7054814645160224,0.23761250396739805,0.43950328809267075,-0.22259828826244815],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.259999999999757,"joint_targets_rad":[-0.18765289276494038,1.1449556973263135,-0.706871897116053,0.23676374329136776,0.44173375031636364,-0.22278705971790957],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.279999999999764,"joint_targets_rad":[-0.1877378418067779,1.1456477639030862,-0.7082639575792555,0.2359076190949757,0.44396332641758424,-0.22296874722627572],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.299999999999771,"joint_targets_rad":[-0.18781779808507362,1.1463423290292407,-0.709657678630085,0.23504372238060678,0.44619203334143026,-0.22314320152991954],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.319999999999777,"joint_targets_rad":[-0.18789265000334804,1.147039400954156,-0.7110530994116203,0.2341717687548313,0.4484199114021041,-0.22331034017233725],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.339999999999784,"joint_targets_rad":[-0.1879623312996097,1.1477389925372399,-0.7124502618944157,0.23329163469027986,0.4506470220434827,-0.22347017445822887],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.359999999999791,"joint_targets_rad":[-0.18802675928628557,1.1484411203743055,-0.713849217193357,0.23240313496438003,0.45287343540445857,-0.223622687149933],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.379999999999797,"joint_targets_rad":[-0.18808578734288955,1.1491458034650543,-0.7152500290757334,0.23150585837601328,0.45509921905872514,-0.22376773532122438],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.399999999999804,"joint_targets_rad":[-0.18813935506631121,1.149853056586133,-0.7166527408824821,0.23059971477393643,0.45732443955787994,-0.22390535120339283],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.419999999999811,"joint_targets_rad":[-0.18818736114984405,1.1505628966590795,-0.71805740508404,0.2296844694100865,0.45954916354177505,-0.22403549549309537],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.439999999999817,"joint_targets_rad":[-0.18822969522855404,1.1512753373652242,-0.7194640683221387,0.2287598662234016,0.4617734456875822,-0.22415811116123432],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.459999999999824,"joint_targets_rad":[-0.18826628235168158,1.1519903895458987,-0.7208727664278151,0.22782578227323477,0.46399733656426984,-0.22427321417550974],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.479999999999831,"joint_targets_rad":[-0.18829699999321825,1.1527080655062967,-0.7222835439037861,0.22688193038599613,0.4662208841386166,-0.22438073329326783],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.4999999999998375,"joint_targets_rad":[-0.18832176106550783,1.1534283739438294,-0.7236964329480076,0.22592815626227042,0.46844412995207213,-0.2244806621559577],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.519999999999844,"joint_targets_rad":[-0.1883404675790634,1.1541513250632778,-0.7251114696750736,0.22496426842800546,0.4706671183577241,-0.2245729742064474],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.539999999999851,"joint_targets_rad":[-0.18835299896072613,1.154876931173431,-0.7265286967597031,0.22398999885602608,0.47288989676280774,-0.22465759927238046],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.5599999999998575,"joint_targets_rad":[-0.1883592543188425,1.1556052045684269,-0.7279481536973654,0.22300515139640234,0.47511251499635254,-0.22473450211499585],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.579999999999864,"joint_targets_rad":[-0.18835912622093792,1.1563361612240686,-0.729369887421423,0.2220095058893191,0.47733503283513445,-0.2248036338204314],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.599999999999871,"joint_targets_rad":[-0.18835250341766457,1.15706981984901,-0.7307939500168881,0.221002829720014,0.47955751740357266,-0.22486493630265983],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.6199999999998775,"joint_targets_rad":[-0.18833927714437532,1.1578062021461755,-0.7322203983358933,0.21998489912612482,0.48178004472225966,-0.22491835492679113],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.639999999999884,"joint_targets_rad":[-0.1883193378051582,1.1585453334222335,-0.7336492955343934,0.2189554872812064,0.4840027009574847,-0.22496383264884526],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.659999999999891,"joint_targets_rad":[-0.1882925886616969,1.1592872409353097,-0.7350807060356385,0.21791441234645847,0.4862255791383911,-0.2250013357313459],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.679999999999898,"joint_targets_rad":[-0.18825895488540817,1.1600319537144317,-0.7365146939785183,0.21686156658593359,0.48844877963996974,-0.22503087188659196],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.699999999999904,"joint_targets_rad":[-0.1882183855295886,1.1607795018844647,-0.7379513216513958,0.21579692190858346,0.4906724082099682,-0.2250524933473676],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.719999999999911,"joint_targets_rad":[-0.18817086043406564,1.1615299147983542,-0.7393906450434338,0.2147205529662541,0.4928965711305635,-0.22506630878569273],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.739999999999918,"joint_targets_rad":[-0.1881164097555546,1.1622832235825642,-0.7408327162025874,0.2136326945688965,0.49512138499914243,-0.22507252197713593],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.759999999999924,"joint_targets_rad":[-0.1880550959560345,1.1630394591439257,-0.7422775818064865,0.21253368202217826,0.4973469682212224,-0.22507139464319026],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.779999999999931,"joint_targets_rad":[-0.18798699797097984,1.163798651559993,-0.7437252840969159,0.21142389829489477,0.49957343707025775,-0.22506321278308947],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.799999999999938,"joint_targets_rad":[-0.18791221184761975,1.164560830479506,-0.7451758615954015,0.21030377419860008,0.5018009068602401,-0.22504828523657625],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.819999999999944,"joint_targets_rad":[-0.18783085112115733,1.1653260255126914,-0.7466293498378944,0.20917378795045444,0.5040294930652487,-0.22502694372794219],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.839999999999951,"joint_targets_rad":[-0.18774304715528553,1.166094266794482,-0.7480857824239245,0.20803446437292764,0.5062593128914998,-0.2249995418563747],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.859999999999958,"joint_targets_rad":[-0.18764894923020223,1.1668655853661878,-0.749545191750597,0.20688637361396903,0.5084904862703012,-0.22496645408540838],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.879999999999964,"joint_targets_rad":[-0.18754872477911302,1.1676400134781493,-0.7510076095781543,0.20573013058727282,0.5107231366354792,-0.2249280758306246],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.899999999999971,"joint_targets_rad":[-0.18744255936642323,1.1684175848257021,-0.752473067494229,0.2045663936250472,0.5129573914443941,-0.22488482219843067],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.919999999999978,"joint_targets_rad":[-0.1873306567324963,1.1691983345284664,-0.7539415968993557,0.20339586383402133,0.5151933819892887,-0.22483712839702538],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.939999999999984,"joint_targets_rad":[-0.18721323852977526,1.1699822991861406,-0.7554132291630428,0.20221928320319857,0.5174312433528458,-0.22478544741906115],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.959999999999991,"joint_targets_rad":[-0.18709054424390034,1.1707695164665868,-0.7568879949155356,0.20103743421377393,0.5196711131241992,-0.22473025182033662],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":4.979999999999998,"joint_targets_rad":[-0.18696283074197229,1.171560025174157,-0.758365924251759,0.19985113725346892,0.5219131313628459,-0.22467202961826505],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.000000000000004,"joint_targets_rad":[-0.18683037195689534,1.172353864522269,-0.7598470454931998,0.19866124997037735,0.5241574384475834,-0.22461128684741835],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.020000000000011,"joint_targets_rad":[-0.18669345837312198,1.1731510742484172,-0.7613313854958996,0.19746866445132685,0.526404175194441,-0.2245485428627989],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.040000000000018,"joint_targets_rad":[-0.1865523964814285,1.1739516938131649,-0.762818968325915,0.19627430598153472,0.5286534805259315,-0.2244843326428792],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.0600000000000245,"joint_targets_rad":[-0.1864075081353335,1.1747557625669203,-0.7643098156887007,0.1950791298322471,0.530905491759165,-0.22441920172883553],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.080000000000031,"joint_targets_rad":[-0.18625912982521128,1.1755633189847623,-0.7658039457096398,0.1938841194907908,0.533160342411979,-0.22435370829011766],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.100000000000038,"joint_targets_rad":[-0.18610761195361672,1.1763744009222605,-0.7673013735427188,0.19269028322849951,0.5354181627718597,-0.22428841804118163],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.1200000000000445,"joint_targets_rad":[-0.18595331787105696,1.177189044932652,-0.7688021103401681,0.19149865158878226,0.5376790779523136,-0.22422390565106265],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.140000000000051,"joint_targets_rad":[-0.18579662230826438,1.178007286046652,-0.7703061630773019,0.19031027175466486,0.5399432070542859,-0.2241607468759168],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.160000000000058,"joint_targets_rad":[-0.18563790977703126,1.1788291585489306,-0.7718135361867979,0.18912620146072798,0.5422106651953722,-0.22409951605084918],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.1800000000000646,"joint_targets_rad":[-0.18547757730443112,1.179654703457105,-0.7733242448692852,0.18794751109312152,0.5444815845682568,-0.2240407939839759],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.200000000000071,"joint_targets_rad":[-0.18531603274285002,1.1804839592643166,-0.7748382985909735,0.1867752873203989,0.5467560886010893,-0.2239851704731231],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.220000000000078,"joint_targets_rad":[-0.18515368748538297,1.1813169591372634,-0.7763556970220747,0.18561061251155284,0.5490342835384064,-0.2239332212778347],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.240000000000085,"joint_targets_rad":[-0.1849909628518798,1.1821537340407864,-0.7778764349819335,0.18445458190893357,0.5513162680063681,-0.22388553155979135],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.260000000000091,"joint_targets_rad":[-0.18482828287311232,1.1829943103554386,-0.7794004991165299,0.1833082831937372,0.5536021258119423,-0.22384267399499705],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.280000000000098,"joint_targets_rad":[-0.1846660746474329,1.1838387107899828,-0.7809278695833742,0.18217279691704147,0.555891928723616,-0.22380521157978955],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.300000000000105,"joint_targets_rad":[-0.18450476576916353,1.184686954107895,-0.7824585199525083,0.18104918907277756,0.5581857356719034,-0.22377369141023584],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.320000000000111,"joint_targets_rad":[-0.18434478725284303,1.1855390575283147,-0.7839924211876901,0.17993851851058879,0.5604835998158071,-0.22374865729229929],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.340000000000118,"joint_targets_rad":[-0.18418656749731055,1.1863950351816874,-0.785529539664427,0.17884182020278916,0.5627855638728569,-0.2237306326104541],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.360000000000125,"joint_targets_rad":[-0.18403052931092814,1.1872548975340689,-0.7870698365636991,0.17776009730573047,0.5650916584987435,-0.22372011285057827],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.380000000000131,"joint_targets_rad":[-0.18387709521575601,1.188118654689419,-0.7886132731082036,0.17669433549454722,0.567401911982975,-0.22371758671948658],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.400000000000138,"joint_targets_rad":[-0.18372667995976472,1.188986314058962,-0.7901598073449037,0.17564548304500435,0.5697163433687045,-0.2237235154925865],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.420000000000145,"joint_targets_rad":[-0.1835796877639459,1.1898578795789447,-0.7917093931292489,0.1746144441475568,0.5720349603392485,-0.22373832665864724],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.440000000000151,"joint_targets_rad":[-0.18343651758674281,1.1907333548527468,-0.7932619850281726,0.17360209347677574,0.5743577684003984,-0.2237624353091954],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.460000000000158,"joint_targets_rad":[-0.18329755433028777,1.1916127399303196,-0.7948175337049909,0.1726092535389527,0.576684761610767,-0.22379621973694702],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.480000000000165,"joint_targets_rad":[-0.18316316893545978,1.1924960316778437,-0.7963759865752644,0.17163669594028647,0.5790159238708187,-0.22384002468119715],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.500000000000171,"joint_targets_rad":[-0.18303372061206163,1.1933832255171455,-0.7979372905709827,0.17068514810954816,0.5813512340078999,-0.22389417294943564],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.520000000000178,"joint_targets_rad":[-0.18290954966139794,1.1942743128134268,-0.799501388421864,0.1697552754069076,0.5836906584172591,-0.2239589463237062],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.540000000000185,"joint_targets_rad":[-0.1827909774199844,1.195169281152489,-0.8010682191545307,0.1688476822097657,0.5860341520994807,-0.22403458831863982],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.5600000000001915,"joint_targets_rad":[-0.18267830868359888,1.196068116284572,-0.8026377211624605,0.16796291919808592,0.588381664266451,-0.22412131627068263],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.580000000000198,"joint_targets_rad":[-0.18257182293462992,1.1969707986258862,-0.8042098271628032,0.16710146176616655,0.5907331286101956,-0.2242192969196192],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.600000000000205,"joint_targets_rad":[-0.18247176592673403,1.1978773085371326,-0.8057844742644847,0.16626368625166008,0.5930884768178177,-0.22432864624409732],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.6200000000002115,"joint_targets_rad":[-0.18237821252791936,1.1987876322897146,-0.8073616299533238,0.1654494956047591,0.5954476436415979,-0.2244491998163127],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.640000000000218,"joint_targets_rad":[-0.1822909930345,1.1997017589936825,-0.8089412949075687,0.16465813448866032,0.5978105540038601,-0.22458039498487403],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.660000000000225,"joint_targets_rad":[-0.18220984542150837,1.200619682020252,-0.8105234875260486,0.163888611664761,0.6001771389009777,-0.22472152945998838],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.6800000000002315,"joint_targets_rad":[-0.18213445805331832,1.2015413973959754,-0.8121082361317434,0.16313981984283638,0.6025473345303705,-0.2248718308698499],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.700000000000238,"joint_targets_rad":[-0.18206451905726212,1.2024669057173218,-0.8136955765285191,0.16241066955911404,0.6049210909411836,-0.22503055275490322],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.720000000000245,"joint_targets_rad":[-0.1819997050598593,1.2033962106956615,-0.815285550777258,0.1617000594884467,0.6072983672084217,-0.2251969567531975],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.740000000000252,"joint_targets_rad":[-0.18193964533485818,1.20432931697716,-0.816878207552835,0.1610067830278002,0.6096791231203533,-0.22537025317074588],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.760000000000258,"joint_targets_rad":[-0.18188398287697224,1.2052662266430183,-0.8184735892231761,0.16032969403751068,0.6120633147108153,-0.22554970137648275],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.780000000000265,"joint_targets_rad":[-0.18183232342783123,1.2062069409286906,-0.8200717406268277,0.15966757024878134,0.6144508949491393,-0.22573452914793665],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.800000000000272,"joint_targets_rad":[-0.18178422236926245,1.2071514587031498,-0.8216727079724829,0.1590190813558808,0.6168418090299516,-0.22592390903959053],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.820000000000278,"joint_targets_rad":[-0.18173923142493784,1.208099776305018,-0.8232765332787616,0.15838291300608012,0.6192359973731665,-0.2261170340777492],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.840000000000285,"joint_targets_rad":[-0.181696883261572,1.2090518887342185,-0.8248832581730788,0.15775772534959884,0.6216333975611317,-0.2263130927274635],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.860000000000292,"joint_targets_rad":[-0.18165668508542063,1.2100077911324576,-0.8264929271137725,0.15714213621704426,0.624033947667969,-0.2265112597100532],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.880000000000298,"joint_targets_rad":[-0.18161769956128995,1.210967495119907,-0.828105661788375,0.15653363321064473,0.6264375987835614,-0.22671003349793475],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.900000000000305,"joint_targets_rad":[-0.18157948383878128,1.2119310021183198,-0.8297215104948711,0.1559310217158661,0.6288443121917912,-0.22690871433192122],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.920000000000312,"joint_targets_rad":[-0.18154196746436624,1.2128983059765135,-0.8313404670499989,0.15533408343741378,0.6312540566402337,-0.2271072224362302],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.940000000000318,"joint_targets_rad":[-0.18150511694187846,1.2138693894621313,-0.8329625029541795,0.15474270330326584,0.6336667764832319,-0.22730555265743546],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.960000000000325,"joint_targets_rad":[-0.18146890432243956,1.2148442233301386,-0.83458756946313,0.1541567883305614,0.6360823874807549,-0.22750371628486746],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":5.980000000000332,"joint_targets_rad":[-0.18143330197327467,1.215822768980295,-0.8362156026846963,0.15357625182689005,0.6385007832729754,-0.22770172611176753],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.000000000000338,"joint_targets_rad":[-0.18139828128860072,1.2168049818265576,-0.8378465293894516,0.15300100767885183,0.6409218438185398,-0.2278995905398432],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.020000000000345,"joint_targets_rad":[-0.18136381522946377,1.2177908159794242,-0.8394802745088336,0.15243097429951455,0.643345447228385,-0.22809731898718155],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.040000000000352,"joint_targets_rad":[-0.18132987691457286,1.2187802265927343,-0.8411167651560456,0.1518660695027742,0.6457714754090875,-0.22829491702988883],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.060000000000358,"joint_targets_rad":[-0.18129644126550132,1.2197731728926917,-0.8427559354057659,0.15130621326844926,0.6481998215349128,-0.2284923901319253],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.080000000000365,"joint_targets_rad":[-0.18126348652869773,1.2207696200550981,-0.8443977291497786,0.15075133082674602,0.6506303945943068,-0.22868974793515887],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.100000000000372,"joint_targets_rad":[-0.18123098886378,1.2217695379900948,-0.8460420986260756,0.1502013393052582,0.6530631158380972,-0.22888698946870276],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.1200000000003785,"joint_targets_rad":[-0.18119892924178532,1.2227729034139094,-0.8476890070045217,0.14965616490530048,0.6554979241905179,-0.22908412257930025],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.140000000000385,"joint_targets_rad":[-0.18116729166489187,1.223779698555299,-0.8493384263871632,0.14911573900860717,0.6579347727750665,-0.22928115995371862],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.160000000000392,"joint_targets_rad":[-0.18113605796634652,1.2247899084949538,-0.8509903339782772,0.14857998622345164,0.6603736219486341,-0.22947810532092974],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.1800000000003985,"joint_targets_rad":[-0.1811052144829727,1.2258035220025065,-0.8526447126967539,0.14804884133928464,0.6628144417374815,-0.22967497223633143],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.200000000000405,"joint_targets_rad":[-0.1810747496083141,1.2268205296671033,-0.8543015483583483,0.1475222439259114,0.6652572070495159,-0.22987177817210286],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.220000000000412,"joint_targets_rad":[-0.1810446510419368,1.2278409215231558,-0.8559608261134934,0.14700013245160026,0.6677018917441351,-0.23006853735978428],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.2400000000004185,"joint_targets_rad":[-0.1810149090947894,1.2288646877076768,-0.857622531155538,0.14648245240020283,0.6701484704465304,-0.2302652697447876],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.260000000000425,"joint_targets_rad":[-0.1809855165077526,1.229891817623134,-0.8592866473816041,0.14596915608013017,0.6725969165238549,-0.23046200081171542],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.280000000000432,"joint_targets_rad":[-0.1809564635933738,1.2309222980947714,-0.8609531549509494,0.14546019112393951,0.6750471973714565,-0.23065874841104275],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.300000000000439,"joint_targets_rad":[-0.18092774447713714,1.2319561152474878,-0.862622032661137,0.1449555153094537,0.6774992793699449,-0.23085553928285138],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.320000000000445,"joint_targets_rad":[-0.18089935423073902,1.232993253732778,-0.8642932570111952,0.1444550895418076,0.6799531258530214,-0.2310524015262379],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.340000000000452,"joint_targets_rad":[-0.18087128903956912,1.2340336969302272,-0.8659668025236215,0.14395887808312108,0.6824086976265873,-0.23124936463831866],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.360000000000459,"joint_targets_rad":[-0.18084354437028805,1.2350774270850988,-0.8676426421604925,0.1434668438745397,0.6848659531784056,-0.23144645452932167],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.380000000000465,"joint_targets_rad":[-0.18081611884953416,1.2361244266673976,-0.8693207490932962,0.1429789575217017,0.6873248521603876,-0.2316437035945165],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.400000000000472,"joint_targets_rad":[-0.18078901151008075,1.2371746777404231,-0.8710010959813056,0.14249519065221342,0.6897853537019726,-0.23184114363612315],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.420000000000479,"joint_targets_rad":[-0.18076222249389742,1.238228162655628,-0.872683656006455,0.14201551733312967,0.692247418081936,-0.23203880733722743],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.440000000000485,"joint_targets_rad":[-0.1807357541511526,1.2392848648320782,-0.8743684039808857,0.14153991639814456,0.6947110085916989,-0.2322367312593296],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.460000000000492,"joint_targets_rad":[-0.18070960831724625,1.2403447674297763,-0.8760553145277089,0.14106836531168282,0.6971760882470005,-0.23243494886395508],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.480000000000499,"joint_targets_rad":[-0.1806837897184418,1.241407855170158,-0.8777443645965627,0.14060084773028028,0.6996426242223726,-0.23263349919533802],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.500000000000505,"joint_targets_rad":[-0.18065830308996852,1.2424741127924077,-0.8794355313137174,0.14013734708832631,0.7021105840502667,-0.23283241978562938],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.520000000000512,"joint_targets_rad":[-0.1806331548932112,1.243543525876203,-0.881128793097807,0.13967785043491937,0.7045799376225599,-0.23303175092567108],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.540000000000519,"joint_targets_rad":[-0.18060835354104302,1.2446160809144948,-0.8828241297338355,0.139222348910248,0.7070506573367411,-0.23323153646948722],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.560000000000525,"joint_targets_rad":[-0.18058390723042428,1.2456917639668386,-0.8845215204818007,0.13877083304582138,0.7095227148466997,-0.2334318184256637],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.580000000000532,"joint_targets_rad":[-0.18055982647273378,1.246770561876012,-0.8862209457184235,0.13832329835370208,0.7119960840076247,-0.23363264332024977],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.600000000000539,"joint_targets_rad":[-0.1805361223428328,1.2478524612037718,-0.8879223854429508,0.13787974150977036,0.7144707383088764,-0.2338340580728929],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.6200000000005454,"joint_targets_rad":[-0.18051280718494872,1.248937448503434,-0.8896258196337935,0.1374401619178458,0.7169466515416812,-0.23403611165045454],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.640000000000552,"joint_targets_rad":[-0.18048989535901888,1.2500255107291176,-0.8913312287991763,0.13700456327867172,0.7194237987600347,-0.23423885713248252],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.660000000000559,"joint_targets_rad":[-0.18046740099696254,1.2511166338547777,-0.8930385920618737,0.13657294876954315,0.7219021530044646,-0.23444234619244994],"gripper_position_m":0.035,"phase":"approach"},{"t_seconds":6.6800000000005655,"joint_targets_rad":[-0.17546427725615374,1.279007142190005,-0.875214244411481,0.12961131633103845,0.6788817407541857,-0.21870639583958604],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.700000000000572,"joint_targets_rad":[-0.1751267951258532,1.2806477670394,-0.8760847197711424,0.1287924561636504,0.6801168807163595,-0.2186630928515837],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.720000000000579,"joint_targets_rad":[-0.1745408085953048,1.2852166654452404,-0.8762192244484266,0.12793318823468935,0.6802527678034437,-0.21843552002994554],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.7400000000005855,"joint_targets_rad":[-0.17391621088080583,1.291772494917763,-0.8761357399132602,0.12700697577293255,0.6801599226109736,-0.21815726671473037],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.760000000000592,"joint_targets_rad":[-0.17330807013790736,1.2992681794008545,-0.8757436303734097,0.12602468859595886,0.6800247010776221,-0.21784972297898633],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.780000000000599,"joint_targets_rad":[-0.1727107449072854,1.3072650186583028,-0.8750696260997691,0.12499495571029046,0.6798797068735379,-0.21752422963590373],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.800000000000606,"joint_targets_rad":[-0.17211502331650413,1.3155802932611507,-0.8742101721181407,0.12392832756145444,0.6797376578959792,-0.21718676433393488],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.820000000000612,"joint_targets_rad":[-0.1715158225474981,1.3241234722847675,-0.8732471148738328,0.12283351709943609,0.6796007303870877,-0.21684015280072994],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.840000000000619,"joint_targets_rad":[-0.1709109542522361,1.3328431270135694,-0.8722373411374559,0.12171595920469656,0.6794681572679341,-0.2164856502726046],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.860000000000626,"joint_targets_rad":[-0.17029972506667504,1.3417075453732648,-0.871218063053167,0.12057877498986118,0.6793388975692539,-0.21612378768608206],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.880000000000632,"joint_targets_rad":[-0.1696821267410271,1.3506962096829642,-0.8702130046516752,0.1194236426651477,0.6792122255469324,-0.2157547632786072],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.900000000000639,"joint_targets_rad":[-0.16905845954510207,1.3597952955212056,-0.8692369925128016,0.11825136220090574,0.6790877498651386,-0.215378621504844],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.920000000000646,"joint_targets_rad":[-0.16842919073445803,1.3689944101222293,-0.8682988008175889,0.11706218335723284,0.6789652993822411,-0.21499533826573763],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.940000000000652,"joint_targets_rad":[-0.1677948704738112,1.3782858682237085,-0.8674036012102392,0.11585603799733851,0.6788449208563794,-0.21460487519262736],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.960000000000659,"joint_targets_rad":[-0.16715613569409543,1.3876636087587426,-0.8665540628570974,0.11463265329268378,0.6787267602252803,-0.21420719465116053],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":6.980000000000666,"joint_targets_rad":[-0.16651372251440105,1.3971223445840488,-0.865751033417169,0.11339161934728675,0.6786110253956276,-0.2138022791046411],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.000000000000672,"joint_targets_rad":[-0.16586848282953212,1.4066570464040007,-0.8649939973303993,0.11213243850555296,0.6784979734373622,-0.21339015150123808],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.020000000000679,"joint_targets_rad":[-0.1652214083198668,1.4162625981271726,-0.8642813458340625,0.1108545605231302,0.6783879034415871,-0.21297089636843394],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.040000000000686,"joint_targets_rad":[-0.16457366308935698,1.425933535930656,-0.8636105072510505,0.10955740806360821,0.6782811555183889,-0.2125446840085052],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.060000000000692,"joint_targets_rad":[-0.16392662577665823,1.4356638227813088,-0.8629779742485243,0.10824039806482766,0.678178116759428,-0.21211180105236943],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.080000000000699,"joint_targets_rad":[-0.1632819448263862,1.4454466247109303,-0.8623792488969759,0.1069029615929004,0.6780792352193541,-0.21167269037784703],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.100000000000706,"joint_targets_rad":[-0.16264161192023702,1.4552740595315563,-0.8618087125358634,0.10554456532131812,0.6779850443313458,-0.2112280049550938],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.120000000000712,"joint_targets_rad":[-0.16200806049765287,1.4651368861658542,-0.8612594146665202,0.1041647389244697,0.6778962021306674,-0.21077868301026623],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.140000000000719,"joint_targets_rad":[-0.1613843020992657,1.4750240931448926,-0.8607227615627616,0.10276311122850434,0.6778135536557544,-0.21032605487808154],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.160000000000726,"joint_targets_rad":[-0.16077411966986319,1.4849223240579081,-0.8601880657552711,0.10133946164740297,0.6777382306102901,-0.209871998978541],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.1800000000007325,"joint_targets_rad":[-0.1601823500027518,1.4948150380985543,-0.8596418868515902,0.09989379674432684,0.6776718142677283,-0.20941917667322327],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.200000000000739,"joint_targets_rad":[-0.15961531232892506,1.5046812267485883,-0.8590670391222334,0.09842646786404126,0.6776166118974863,-0.2089713987311834],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.220000000000746,"joint_targets_rad":[-0.15908148816505313,1.5144933493870152,-0.858441032061947,0.09693836105833242,0.6775761461858285,-0.20853422270332125],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.2400000000007525,"joint_targets_rad":[-0.15859266215140788,1.5242138048469283,-0.8577334801651534,0.09543121804541256,0.6775560751107372,-0.2081159809655853],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.260000000000759,"joint_targets_rad":[-0.1581659975414429,1.5337884225954819,-0.8569014767514352,0.09390826875148195,0.6775660566287695,-0.20772970045993144],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.280000000000766,"joint_targets_rad":[-0.1578281099288962,1.543133200488428,-0.8558805190511714,0.09237533395442557,0.6776239319473761,-0.20739694718073962],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.3000000000007725,"joint_targets_rad":[-0.15710976263647053,1.549814459850908,-0.8645299570581643,0.08897711555402824,0.6898480006346934,-0.20439462687534032],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.320000000000779,"joint_targets_rad":[-0.15620823798150504,1.5559721648812797,-0.8740395964767339,0.0851533032062366,0.70323712435859,-0.2010727023252671],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.340000000000786,"joint_targets_rad":[-0.15519585965028482,1.56164705054158,-0.8829058895685727,0.08126855857534476,0.7158518607146879,-0.19795071562277045],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.360000000000793,"joint_targets_rad":[-0.1541399697383233,1.5669687639231706,-0.8912810966749152,0.07750122051442443,0.727874228605986,-0.1952598128586531],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.380000000000799,"joint_targets_rad":[-0.15309240467119004,1.5717508067301107,-0.8988215655475279,0.07404302753648584,0.7387386202707422,-0.19315868910107292],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.400000000000806,"joint_targets_rad":[-0.1520765695117347,1.575758282954071,-0.9051332734321941,0.0709852154959305,0.7476501864384697,-0.19166317108879324],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.420000000000813,"joint_targets_rad":[-0.15110541880895417,1.5788618283667664,-0.9100110410094162,0.06834151711634129,0.7525094314393135,-0.1906965571160739],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.440000000000819,"joint_targets_rad":[-0.15018250436971953,1.5809852028903255,-0.9133511085260235,0.06607957891818286,0.7571170810570957,-0.1901410212930359],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.460000000000826,"joint_targets_rad":[-0.14930800607420064,1.5821995156306463,-0.9152793771109055,0.06413701702644277,0.7611491160490709,-0.1898656769658334],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.480000000000833,"joint_targets_rad":[-0.14848044727259457,1.5827243530005557,-0.9161434772177005,0.062436443850482595,0.7632885521524609,-0.18974683820543825],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.500000000000839,"joint_targets_rad":[-0.1476936923914654,1.5827928022013442,-0.9163074773536363,0.06090164082336748,0.763410174388566,-0.1896859891401509],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.520000000000846,"joint_targets_rad":[-0.14693972099066394,1.582605927283762,-0.916082138565226,0.05946839543581163,0.7629868071319812,-0.18961464790994487],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.540000000000853,"joint_targets_rad":[-0.14621308144745568,1.582370378333453,-0.9157813560551264,0.05808656856533573,0.7624713055478411,-0.18948794525930318],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.560000000000859,"joint_targets_rad":[-0.14550988251497438,1.5823150661009622,-0.9157493328131258,0.05671052710452973,0.7623566957355118,-0.18926821258679283],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.580000000000866,"joint_targets_rad":[-0.14482277915263853,1.5825343418310756,-0.9161261822177791,0.05531399997649858,0.7628399554911497,-0.18894285487463622],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.600000000000873,"joint_targets_rad":[-0.14414813888304018,1.5830576415901638,-0.9169546066958385,0.05389330634423108,0.7639791987415503,-0.1885270917921169],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.620000000000879,"joint_targets_rad":[-0.1434858065187955,1.583864784689168,-0.9182034568699807,0.05245949925280054,0.7657277254808054,-0.18805032205402378],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.640000000000886,"joint_targets_rad":[-0.14283805216358703,1.5849340688028646,-0.919839755312833,0.05102608616689924,0.7680367626557018,-0.18753794727170478],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.660000000000893,"joint_targets_rad":[-0.1422059246992995,1.5862180458705888,-0.9217923698943414,0.04960444470236357,0.7708024786975969,-0.18700610803156667],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.680000000000899,"joint_targets_rad":[-0.14158923692844835,1.587654346058959,-0.9239682491236996,0.04820360849262228,0.7738896277429029,-0.1864639631839317],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.700000000000906,"joint_targets_rad":[-0.14098747244696405,1.5891789290324188,-0.9262720341804849,0.04683143666441027,0.777160020312239,-0.18591801029791166],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.720000000000913,"joint_targets_rad":[-0.14040031768882122,1.5907346327470968,-0.9286186691474598,0.04549463249945997,0.7804906984902381,-0.18537336518838735],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.7400000000009195,"joint_targets_rad":[-0.13982774296567524,1.592275672155285,-0.930940040622572,0.044198424676878546,0.7837834669231114,-0.184834069275471],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.760000000000926,"joint_targets_rad":[-0.1392699201380222,1.5937694244303595,-0.9331876384834128,0.04294632294789465,0.786968664709799,-0.18430300462981103],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.780000000000933,"joint_targets_rad":[-0.13872709128947056,1.5951964986574259,-0.935332668425232,0.04174006388763234,0.7900052367685428,-0.1837817691917618],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.8000000000009395,"joint_targets_rad":[-0.13819944757990246,1.5965494154423376,-0.9373640783499307,0.04057976047429923,0.7928777773785867,-0.18327069448627217],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.820000000000946,"joint_targets_rad":[-0.13768704772869952,1.5978304989771785,-0.939285404526917,0.03946416841180872,0.7955918712342241,-0.18276897455030064],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.840000000000953,"joint_targets_rad":[-0.13718978194868,1.5990495343160385,-0.9411112471865397,0.038391039281462036,0.79816892128967,-0.18227490730193857],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.8600000000009596,"joint_targets_rad":[-0.13670737095925667,1.6002209587158391,-0.9428630668916956,0.037357516923792175,0.8006400391032485,-0.18178625829349734],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.880000000000966,"joint_targets_rad":[-0.13623939447746364,1.6013611776696728,-0.9445651873751085,0.03636050907645838,0.8030402762886205,-0.18130062291053056],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.900000000000973,"joint_targets_rad":[-0.13578533930507203,1.6024863290707194,-0.9462414834492683,0.035396999809238994,0.8054038787619131,-0.18081574306470968],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.92000000000098,"joint_targets_rad":[-0.1353446472939258,1.6036105914458476,-0.9479128918731314,0.034464269969421216,0.8077607486917858,-0.1803297237120011],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.940000000000986,"joint_targets_rad":[-0.13491675820316415,1.6047450973004542,-0.9495958272187661,0.033560029346582254,0.810134217815796,-0.1798411565674063],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.960000000000993,"joint_targets_rad":[-0.134501145458344,1.6058974324420459,-0.951301465991352,0.03268247474093813,0.8125400674224518,-0.1793491722856471],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":7.980000000001,"joint_targets_rad":[-0.13409733374948843,1.6070716340888012,-0.9530357643971236,0.031830268246046074,0.8149865931255288,-0.17885339175012313],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.000000000001005,"joint_targets_rad":[-0.13370491147739288,1.6082685789811528,-0.9548000444593976,0.03100248268517211,0.8174754743302188,-0.17835385735067863],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.020000000000994,"joint_targets_rad":[-0.13332353028742328,1.609486623473556,-0.9565919440946845,0.030198512077843097,0.8200031538236028,-0.1778509235299945],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.040000000000983,"joint_targets_rad":[-0.1329528919566481,1.6107223683204404,-0.9584065439465939,0.029417960889735084,0.8225624601841813,-0.17734513872068144],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.060000000000972,"joint_targets_rad":[-0.13259256892786922,1.6119714262832139,-0.9602374987524837,0.028660220244836783,0.8251442200773953,-0.17683705284781953],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.080000000000961,"joint_targets_rad":[-0.13224178366750522,1.613229114979451,-0.9620780559030857,0.027923980143224225,0.8277387018415214,-0.17632690171735346],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.10000000000095,"joint_targets_rad":[-0.1318997407882434,1.6144910474100294,-0.9639219010445023,0.027207848163176625,0.8303368363194306,-0.1758147307288846],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.120000000000939,"joint_targets_rad":[-0.13156574181561395,1.6157535401963676,-0.9657637445274728,0.026510560567949495,0.8329310517003533,-0.17530055543130002],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.140000000000928,"joint_targets_rad":[-0.13123917852107594,1.617013843218301,-0.9675996514803824,0.025830965786294426,0.8355157340389394,-0.17478440889315663],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.160000000000917,"joint_targets_rad":[-0.13091953581576488,1.6182702147239996,-0.9694271468132702,0.0251680337263614,0.8380873667764884,-0.1742663526528918],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.180000000000906,"joint_targets_rad":[-0.13060633492575474,1.619521865516767,-0.9712451326238779,0.024520755003379757,0.840644400927223,-0.1737464341779207],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.200000000000895,"joint_targets_rad":[-0.13029909531608252,1.6207688136071858,-0.9730536759926911,0.023888080207266918,0.8431869435964066,-0.17322463981845362],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.220000000000883,"joint_targets_rad":[-0.12999731068735332,1.6220116854324595,-0.9748537200700294,0.023268888601267024,0.8457163405210135,-0.17270086868010187],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.240000000000872,"joint_targets_rad":[-0.1297004149270362,1.6232514963822393,-0.9766467667749156,0.02266193777543074,0.8482347204758859,-0.17217491401182894],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.260000000000861,"joint_targets_rad":[-0.1294076556791473,1.624489434654926,-0.9784345681896841,0.02206563482107145,0.8507445506910004,-0.1716463829529919],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.28000000000085,"joint_targets_rad":[-0.12911804417926,1.625726680732411,-0.980218867719743,0.021477953132966687,0.8532482687659985,-0.17111466058016636],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.30000000000084,"joint_targets_rad":[-0.1288314869543466,1.6269643382473793,-0.9820012684300158,0.020898606266415293,0.8557481446464474,-0.1705797667271892],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.320000000000828,"joint_targets_rad":[-0.1285480103803492,1.628203279921733,-0.9837830364072035,0.020327566934316893,0.8582459696072514,-0.1700420276542415],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.340000000000817,"joint_targets_rad":[-0.1282676628941599,1.629444101920687,-0.9855650398578546,0.019764868260361,0.8607429680612747,-0.16950184602282262],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.360000000000806,"joint_targets_rad":[-0.12799049690436964,1.6306871215967795,-0.9873477477810453,0.019210560467752477,0.8632397973759683,-0.16895959362172444],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.380000000000795,"joint_targets_rad":[-0.127716558654453,1.6319324040951526,-0.9891312693888478,0.018664685894249796,0.8657366055113734,-0.16841556197834556],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.400000000000784,"joint_targets_rad":[-0.12744588889609484,1.6331798114289615,-0.990915424910476,0.018127277143277193,0.8682331329942675,-0.1678699596778754],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.420000000000773,"joint_targets_rad":[-0.12717851924987933,1.6344290593980322,-0.992699827362465,0.01759834814468388,0.8707288296122669,-0.16732291692133483],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.440000000000762,"joint_targets_rad":[-0.12691447660513366,1.635679778761357,-0.9944839697729626,0.017077901617166946,0.8732229784654788,-0.16677450820878786],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.46000000000075,"joint_targets_rad":[-0.12665378255425386,1.6369315690049608,-0.996267301730427,0.01656592741993939,0.8757148041807054,-0.16622476708284586],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.48000000000074,"joint_targets_rad":[-0.1263964543476843,1.6381840432216843,-0.9980492930280018,0.016062404116373663,0.8782035625063976,-0.16567369818244387],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.500000000000728,"joint_targets_rad":[-0.12614250705357044,1.639436860779831,-0.9998294797551937,0.015567303326050455,0.8806886048767059,-0.16512129123264369],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.520000000000717,"joint_targets_rad":[-0.12589195436384354,1.6406897468887012,-1.0016074917690179,0.015080591510528799,0.8831694164910951,-0.16456752718496978],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.540000000000706,"joint_targets_rad":[-0.1256448077109656,1.6419424996140013,-1.003383062402692,0.014602228729736494,0.885645629271801,-0.16401237964646276],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.560000000000695,"joint_targets_rad":[-0.12540107722548968,1.643194987936745,-1.0051560254612861,0.01413217104411267,0.8881170170287861,-0.16345581775743756],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.580000000000684,"joint_targets_rad":[-0.12516077244670346,1.6444471423037421,-1.006926301652258,0.013670372562360466,0.8905834758686805,-0.162897809506046],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.600000000000673,"joint_targets_rad":[-0.12492390287464031,1.6456989408320897,-1.0086938789662343,0.01321678701335085,0.8930449962388681,-0.16233832228736142],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.620000000000662,"joint_targets_rad":[-0.12469047676372721,1.6469503930410045,-1.0104587896911106,0.012771365970860964,0.8955016303628792,-0.16177732117059468],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.64000000000065,"joint_targets_rad":[-0.12446050296963855,1.6482015252032212,-1.0122210896895083,0.012334062825696183,0.8979534630953153,-0.16121477286274194],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.66000000000064,"joint_targets_rad":[-0.12423398968764399,1.6494523662409832,-1.01398083859631,0.011904830667826343,0.9004005841141959,-0.1606506437457547],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.680000000000629,"joint_targets_rad":[-0.1240109449400803,1.650702937574758,-1.0157380855683271,0.011483623411952483,0.9028430680479658,-0.1600849009240801],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.700000000000617,"joint_targets_rad":[-0.12379137687407571,1.6519532459816375,-1.0174928592911707,0.011070396494018713,0.905280960628623,-0.15951751381969986],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.720000000000606,"joint_targets_rad":[-0.12357529443921886,1.6532032799991625,-1.0192451629740413,0.010665108096153135,0.9077142718658235,-0.1589484549372696],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.740000000000595,"joint_targets_rad":[-0.1233627057396601,1.6544530084255937,-1.020994972341467,0.010267715980347111,0.9101429733664118,-0.15837769697800258],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.760000000000584,"joint_targets_rad":[-0.1231536198370129,1.6557023824964014,-1.022742238669244,0.009878180825754623,0.9125670027723298,-0.15780521634209863],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.780000000000573,"joint_targets_rad":[-0.12294804467950939,1.6569513379828695,-1.0244868918049648,0.009496462193466703,0.9149862680557341,-0.15723098890989695],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.800000000000562,"joint_targets_rad":[-0.12274598898555397,1.6581997998331774,-1.0262288466173826,0.009122521981956792,0.9174006566535412,-0.15665499335563832],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.820000000000551,"joint_targets_rad":[-0.1225474603679661,1.6594476854228901,-1.0279680075877802,0.00875632080069981,0.9198100418860317,-0.1560772073808191],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.84000000000054,"joint_targets_rad":[-0.12235246717600984,1.6606949091181384,-1.0297042751202572,0.008397821363153372,0.9222142918146554,-0.15549761091242792],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.860000000000529,"joint_targets_rad":[-0.12216101624219697,1.6619413845042887,-1.0314375486954457,0.00804698420035331,0.9246132735864001,-0.15491618148683975],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.880000000000518,"joint_targets_rad":[-0.12197311499624736,1.6631870275846607,-1.0331677312552885,0.00770377159368779,0.9270068595579941,-0.15433289801034034],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.900000000000507,"joint_targets_rad":[-0.12178876979645481,1.664431757550419,-1.0348947303017677,0.0073681444392346765,0.929394928756786,-0.1537477375314376],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.920000000000496,"joint_targets_rad":[-0.1216079867071487,1.66567549783608,-1.036618459330036,0.007040063713722086,0.9317773688488797,-0.15316067663109656],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.940000000000484,"joint_targets_rad":[-0.12143077101347409,1.666918174610949,-1.0383388356897063,0.0067194903925978456,0.9341540731008672,-0.15257170172590798],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.960000000000473,"joint_targets_rad":[-0.12125713208459307,1.6681597032285567,-1.0400557611697172,0.006406403530229437,0.9365249132426925,-0.15198093874139246],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":8.980000000000462,"joint_targets_rad":[-0.12108708716846645,1.6693999896129073,-1.0417691240147224,0.006100804691234028,0.9388897423412689,-0.15138862537028988],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.000000000000451,"joint_targets_rad":[-0.12092065888811113,1.6706389376991442,-1.0434788097113334,0.005802706147547201,0.9412484098851474,-0.150795013580223],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.02000000000044,"joint_targets_rad":[-0.12075786831878889,1.6718764530282506,-1.0451847063336288,0.005512114234659646,0.9436007692011055,-0.15020030815326982],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.040000000000429,"joint_targets_rad":[-0.12059873236384183,1.6731124405480517,-1.0468867014990983,0.005229025689351042,0.9459466731832625,-0.1496046769412944],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.060000000000418,"joint_targets_rad":[-0.12044326663413601,1.6743468030829267,-1.048584680141212,0.0049534342259914006,0.948285971228946,-0.14900827191467175],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.080000000000407,"joint_targets_rad":[-0.12029148315068952,1.6755794382136189,-1.0502785202378,0.004685327175864407,0.9506185032935945,-0.14841123476183976],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.100000000000396,"joint_targets_rad":[-0.1201433944492208,1.6768102382740546,-1.0519680927285253,0.0044246932847658085,0.9529440998512765,-0.14781370737601765],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.120000000000385,"joint_targets_rad":[-0.11999901120349046,1.6780390886629895,-1.053653259274691,0.004171518295191238,0.955262578804981,-0.1472158262158699],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.140000000000374,"joint_targets_rad":[-0.11985834176791053,1.6792658707314243,-1.0553338763976008,0.003925782187294491,0.9575737513284236,-0.1466176954472078],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.160000000000363,"joint_targets_rad":[-0.11972138760196636,1.6804904768639588,-1.0570098169192421,0.003687442166470309,0.9598774518703076,-0.14601926447564467],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.180000000000351,"joint_targets_rad":[-0.11958814231188686,1.6817128015134482,-1.0586809571924614,0.0034564376648663605,0.9621735202418397,-0.14542041403489084],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.20000000000034,"joint_targets_rad":[-0.11945859526062685,1.6829327361481894,-1.0603471698617581,0.0032327007451910658,0.9644617915052982,-0.14482100999948055],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.22000000000033,"joint_targets_rad":[-0.11933273406418693,1.6841501683009388,-1.0620083224885217,0.0030161613311202352,0.9667420940868454,-0.1442209155707058],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.240000000000318,"joint_targets_rad":[-0.11921054531692869,1.6853649811962965,-1.063664277029288,0.0028067486463644953,0.9690142490741837,-0.14361999397175237],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.260000000000307,"joint_targets_rad":[-0.11909201473343949,1.6865770537237426,-1.0653148898001568,0.0026043914879523324,0.9712780701831412,-0.1430181088872366],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.280000000000296,"joint_targets_rad":[-0.11897712717777505,1.6877862606253204,-1.0669600117360711,0.0024090182738840584,0.973533364128328,-0.14241512444112459],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.300000000000285,"joint_targets_rad":[-0.11886586666554108,1.6889924727910892,-1.0685994887972807,0.002220557036974561,0.9757799311932004,-0.14181090506176378],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.320000000000274,"joint_targets_rad":[-0.11875821635849389,1.690195557582259,-1.0702331624137098,0.0020389354040507377,0.9780175658486614,-0.1412053153166825],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.340000000000263,"joint_targets_rad":[-0.11865415831001676,1.6913953790571807,-1.0718608698013057,0.001864080137293742,0.9802460571908257,-0.14059821933470196],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.360000000000252,"joint_targets_rad":[-0.11855367421174813,1.6925917984429912,-1.0734824445968705,0.0016959184379208465,0.9824651898200143,-0.13998948188444532],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.38000000000024,"joint_targets_rad":[-0.11845674460831748,1.6937846739754447,-1.0750977166605342,0.0015343765462630466,0.984674743563345,-0.13937896697449823],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.40000000000023,"joint_targets_rad":[-0.11836334915020054,1.6949738610813911,-1.076706512326493,0.0013793801815435705,0.986874493819987,-0.1387665381281331],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.420000000000218,"joint_targets_rad":[-0.11827346659431795,1.6961592123543965,-1.0783086543778309,0.0012308545324122263,0.9890642115249523,-0.13815205830138066],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.440000000000207,"joint_targets_rad":[-0.11818707478190087,1.6973405774628891,-1.0799039619311486,0.0010887242082065268,0.9912436629890284,-0.13753538977115992],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.460000000000196,"joint_targets_rad":[-0.11810415061986748,1.69851780301015,-1.0814922502565967,0.0009529131974030059,0.9934126096507114,-0.13691639404674621],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.480000000000185,"joint_targets_rad":[-0.11802467006110273,1.6996907323636172,-1.0830733305569609,0.0008233448249383439,0.995570807772852,-0.1362949317958456],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.500000000000174,"joint_targets_rad":[-0.11794860808151131,1.7008592054693674,-1.0846470097272372,0.0006999417045931615,0.9977180081134915,-0.13567086277912987],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.520000000000163,"joint_targets_rad":[-0.1178759386531332,1.7020230586647127,-1.0862130901121394,0.0005826256851806642,0.9998539555948199,-0.13504404578988272],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.540000000000152,"joint_targets_rad":[-0.11780663471300803,1.703182124498424,-1.0877713692743054,0.00047131778997779473,1.001978388987605,-0.1344143385966439],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.56000000000014,"joint_targets_rad":[-0.11774066812757067,1.7043362315645376,-1.0893216397812027,0.000365938149057817,1.0040910406219066,-0.1337815978875163],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.58000000000013,"joint_targets_rad":[-0.11767800965242105,1.7054852043526432,-1.0908636890145447,0.00026640592424309086,1.006191636129085,-0.13314567921551124],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.600000000000119,"joint_targets_rad":[-0.11761862888731853,1.7066288631150106,-1.0923972990026785,0.00017263922646038867,1.008279894215568,-0.13250643694496497],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.620000000000108,"joint_targets_rad":[-0.11756249422625975,1.7077670237492597,-1.0939222462741365,8.455502529313395e-05,1.010355526465697,-0.1318637241996221],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.640000000000096,"joint_targets_rad":[-0.11750957280249662,1.7088994976942042,-1.0954383017291671,2.069050499848169e-06,1.0124182371691859,-0.1312173928134537],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.660000000000085,"joint_targets_rad":[-0.11745983042854705,1.7100260918363397,-1.0969452305257739,-7.490431435325717e-05,1.0144677231683132,-0.13056729328595515],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.680000000000074,"joint_targets_rad":[-0.11741323153298887,1.7111466084252518,-1.0984427919779554,-0.00014645214312102592,1.0165036737216129,-0.12991327474642114],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.700000000000063,"joint_targets_rad":[-0.1173697390912536,1.7122608445272416,-1.0999307387309807,-0.0002126630702220778,1.018525769482527,-0.12925518490700333],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.720000000000052,"joint_targets_rad":[-0.11732931444008687,1.713368600559969,-1.1014088279371743,-0.00027362757599403917,1.0205336978317494,-0.1285928663229856],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.740000000000041,"joint_targets_rad":[-0.11729191699223743,1.7144696968126052,-1.1028768435770056,-0.000329438534507032,1.022527182756152,-0.12792614963445526],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.76000000000003,"joint_targets_rad":[-0.11725750465396388,1.7155639382357817,-1.1043345496693324,-0.00038019053411013706,1.024505921264723,-0.12725486687036497],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.780000000000019,"joint_targets_rad":[-0.11722603370324314,1.7166511151781036,-1.105781691273396,-0.00042598007477206794,1.0264695848252023,-0.12657885151833373],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.800000000000008,"joint_targets_rad":[-0.11719745864425195,1.7177310043995049,-1.1072179958450243,-0.00046690580168729716,1.0284178212796802,-0.12589793858216622],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.819999999999997,"joint_targets_rad":[-0.11717173204757306,1.7188033709207642,-1.1086431756954758,-0.000503068762894169,1.0303502582460118,-0.1252119642730423],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.839999999999986,"joint_targets_rad":[-0.11714880438580358,1.7198679701700479,-1.1100569308403312,-0.0005345726765869638,1.0322665070310895,-0.12452076549413205],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.859999999999975,"joint_targets_rad":[-0.11712862386917884,1.720924550054858,-1.1114589517478553,-0.0005615242008618594,1.0341661663884825,-0.12382417925225125],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.879999999999963,"joint_targets_rad":[-0.11711113628268792,1.7219728527223923,-1.1128489216744757,-0.000584033203069123,1.036048825698307,-0.12312204210471558],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.899999999999952,"joint_targets_rad":[-0.1170962848238899,1.72301261589338,-1.1142265184364268,-0.0006022130293327722,1.037914067368172,-0.12241418971870376],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.919999999999941,"joint_targets_rad":[-0.1170840099391911,1.7240435737517215,-1.115591415595073,-0.000616180777056737,1.039761468429034,-0.12170045659021692],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.93999999999993,"joint_targets_rad":[-0.11707424915563733,1.7250654574407436,-1.1169432831236372,-0.0006260575745534548,1.0415906014219896,-0.12098067594344528],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.95999999999992,"joint_targets_rad":[-0.11706693690512039,1.7260779952576941,-1.1182817876767317,-0.0006319688723016168,1.0434010347440394,-0.12025467981090632],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.979999999999908,"joint_targets_rad":[-0.1170620043381534,1.7270809126553528,-1.119606592606546,-0.0006340447501842618,1.0451923326503247,-0.11952229928068332],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":9.999999999999897,"joint_targets_rad":[-0.11705937912482928,1.72807393215912,-1.1209173578685965,-0.0006324202444442929,1.0469640551079427,-0.11878336488924784],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.019999999999886,"joint_targets_rad":[-0.11705898524113405,1.7290567732955604,-1.1222137399434131,-0.0006272356973401239,1.0487157576731316,-0.11803770713582616],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.039999999999875,"joint_targets_rad":[-0.11706074273934532,1.7300291526097247,-1.1234953918757546,-0.0006186371316739816,1.0504469915292616,-0.11728515709591629],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.059999999999864,"joint_targets_rad":[-0.11707009882108019,1.7306547357315683,-1.1243024125466934,-0.0005962166713887529,1.0515297893466409,-0.11681740053878772],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.079999999999853,"joint_targets_rad":[-0.1170885023874929,1.7306840232659855,-1.1242976231927218,-0.0005569799870488946,1.0515057124856235,-0.11685694918736467],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.099999999999842,"joint_targets_rad":[-0.11710417040799234,1.730707690940886,-1.1242929601958096,-0.0005231767350134734,1.051485508975763,-0.11689049749472286],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.11999999999983,"joint_targets_rad":[-0.11711779530669103,1.7307271465014888,-1.1242873506844282,-0.0004933588969469488,1.0514669373943755,-0.1169196209810029],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.13999999999982,"joint_targets_rad":[-0.11713010152313968,1.7307439202451498,-1.1242805053719347,-0.0004661339375959559,1.0514486373759393,-0.11694587176732872],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.159999999999808,"joint_targets_rad":[-0.11714144934158384,1.7307588133626832,-1.1242726877235407,-0.000440857368898338,1.0514303842491137,-0.11697000161272303],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.179999999999797,"joint_targets_rad":[-0.11715215356351119,1.7307725573520292,-1.1242642298458931,-0.0004170045094013822,1.051412071454585,-0.11699263075794117],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.199999999999786,"joint_targets_rad":[-0.11716231984552897,1.7307854156873395,-1.1242555019904192,-0.00039442801058467344,1.0513939273255608,-0.11701395695311287],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.219999999999775,"joint_targets_rad":[-0.11717193988717532,1.7307974782277928,-1.1242469498061753,-0.0003731427054492817,1.0513764496039304,-0.11703399319898117],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.239999999999764,"joint_targets_rad":[-0.11718108522152547,1.7308089676943748,-1.124238765889526,-0.000353001292803242,1.0513597652045943,-0.11705290808182023],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.259999999999753,"joint_targets_rad":[-0.11718978182498811,1.7308199365275085,-1.1242309831968176,-0.00033393640203260427,1.0513438900001568,-0.1170707706154142],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.279999999999742,"joint_targets_rad":[-0.1171980459337445,1.7308304047604017,-1.1242236021475642,-0.00031589745502324346,1.051328813935961,-0.11708763021509196],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.29999999999973,"joint_targets_rad":[-0.11720589576322836,1.730840394656327,-1.1242166104224085,-0.00029883093967909526,1.0513145087605482,-0.11710353946271926],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.31999999999972,"joint_targets_rad":[-0.11721335010739728,1.7308499296086677,-1.1242099922788849,-0.00028268372760382034,1.05130094102048,-0.11711855078615052],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.339999999999709,"joint_targets_rad":[-0.11722042739303888,1.730859032500487,-1.1242037314766942,-0.00026740495262919894,1.051288076835166,-0.11713271446220919],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.359999999999697,"joint_targets_rad":[-0.1172271453768598,1.7308677251516378,-1.1241978120836746,-0.000252946502478408,1.0512758832710933,-0.11714607807434452],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.379999999999686,"joint_targets_rad":[-0.11723352107789847,1.730876028211731,-1.1241922186804745,-0.00023926302568927038,1.0512643286785301,-0.11715868648722585],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.399999999999675,"joint_targets_rad":[-0.1172395707792143,1.7308839611860858,-1.1241869364046086,-0.00022631180599299135,1.051253382743099,-0.11717058196446836],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.419999999999664,"joint_targets_rad":[-0.11724531004817168,1.7308915424947027,-1.1241819509524955,-0.0002140526095125685,1.0512430164628987,-0.11718180431683688],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.439999999999653,"joint_targets_rad":[-0.11725075376131869,1.7308987895363785,-1.1241772485702888,-0.00020244753302278815,1.0512332021070212,-0.11719239105055375],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.459999999999642,"joint_targets_rad":[-0.1172559161301171,1.730905718750837,-1.1241728160414985,-0.00019146086002806787,1.0512239131699472,-0.11720237750834198],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.479999999999631,"joint_targets_rad":[-0.11726081072650965,1.7309123456772555,-1.1241686406734512,-0.0001810589258793267,1.0512151243255474,-0.11721179700180145],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.49999999999962,"joint_targets_rad":[-0.1172654505080351,1.7309186850090192,-1.1241647102832226,-0.00017120999170130578,1.0512068113817177,-0.11722068093526142],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.519999999999609,"joint_targets_rad":[-0.11726984784237247,1.7309247506448466,-1.1241610131832402,-0.0001618841266310067,1.0511989512359505,-0.11722905892157535],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.539999999999598,"joint_targets_rad":[-0.11727401453127186,1.7309305557365302,-1.1241575381667008,-0.00015305309779828875,1.0511915218319738,-0.11723695889039312],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.559999999999587,"joint_targets_rad":[-0.11727796183382574,1.7309361127335274,-1.1241542744928614,-0.0001446902675013201,1.0511845021175157,-0.11724440718942862],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.579999999999576,"joint_targets_rad":[-0.11728170048906907,1.7309414334246154,-1.124151211872306,-0.00013677049708895085,1.0511778720032499,-0.11725142867919995],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.599999999999564,"joint_targets_rad":[-0.11728524073788221,1.730946528976833,-1.1241483404522252,-0.0001292700570652255,1.0511716123229369,-0.11725804682168998],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.619999999999553,"joint_targets_rad":[-0.1172885923441955,1.7309514099718806,-1.1241456508017784,-0.00012216654299434173,1.051165704794804,-0.11726428376335395],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.639999999999542,"joint_targets_rad":[-0.11729176461548695,1.7309560864401803,-1.1241431338975933,-0.00011543879679854564,1.0511601319841495,-0.11727016041284624],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.659999999999531,"joint_targets_rad":[-0.11729476642257364,1.7309605678927418,-1.124140781109421,-0.00010906683307969116,1.0511548772671957,-0.11727569651383844],"gripper_position_m":0.035,"phase":"descend"},{"t_seconds":10.67999999999952,"joint_targets_rad":[-0.11729760621869853,1.730964863350999,-1.1241385841860116,-0.00010303177011813006,1.0511499247961769,-0.11728091071324936],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.699999999999509,"joint_targets_rad":[-0.11730029340563888,1.7309689808961812,-1.1241365337111284,-9.731660235819807e-05,1.0511452571784101,-0.11728581924140738],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.719999999999498,"joint_targets_rad":[-0.11730283645722071,1.7309729284217859,-1.1241346210082934,-9.190474442292664e-05,1.0511408582922022,-0.11729043782235965],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.739999999999487,"joint_targets_rad":[-0.11730524071690118,1.7309767143763484,-1.1241328411512344,-8.677896547079291e-05,1.0511367178161453,-0.11729478430900436],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.759999999999476,"joint_targets_rad":[-0.11730751231119488,1.7309803463659177,-1.1241311884263694,-8.19238251594346e-05,1.0511328244295521,-0.11729887456688987],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.779999999999465,"joint_targets_rad":[-0.11730965773709827,1.7309838313685322,-1.1241296565262069,-7.732510716448602e-05,1.0511291660677347,-0.11730272280925248],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.799999999999454,"joint_targets_rad":[-0.11731168339111123,1.7309871759426,-1.1241282391048473,-7.296943389020562e-05,1.0511257307442876,-0.11730634218914913],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.819999999999443,"joint_targets_rad":[-0.11731359540902453,1.7309903863107188,-1.1241269300207175,-6.88441447116057e-05,1.051122506910181,-0.11730974507453575],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.839999999999431,"joint_targets_rad":[-0.1173153996294543,1.730993468394772,-1.1241257234125255,-6.493724681844657e-05,1.0511194835617517,-0.1173129431646354],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.85999999999942,"joint_targets_rad":[-0.11731710159608837,1.730996427835341,-1.124124613710814,-6.123737930878268e-05,1.0511166502511313,-0.11731594754597813],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.87999999999941,"joint_targets_rad":[-0.11731870657059006,1.7309992700062191,-1.124123595628362,-5.7733779583289814e-05,1.0511139970648165,-0.11731876872772097],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.899999999999398,"joint_targets_rad":[-0.11732021954759941,1.7310020000273352,-1.1241226641452715,-5.4416251191766425e-05,1.0511115145945458,-0.11732141667035725],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.919999999999387,"joint_targets_rad":[-0.11732164526939814,1.731004622776992,-1.1241218144938265,-5.1275133360980726e-05,1.05110919390827,-0.11732390081233143],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.939999999999376,"joint_targets_rad":[-0.11732298823964969,1.7310071429036369,-1.1241210421444578,-4.8301272242260816e-05,1.051107026523209,-0.11732623009572392],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.959999999999365,"joint_targets_rad":[-0.11732425273616154,1.7310095648371655,-1.1241203427929451,-4.548599377471615e-05,1.0511050043811792,-0.11732841299116295],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.979999999999354,"joint_targets_rad":[-0.11732544282276869,1.7310118927997482,-1.1241197123486883,-4.282107804121501e-05,1.0511031198258922,-0.11733045752187204],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":10.999999999999343,"joint_targets_rad":[-0.11732656236043165,1.731014130816159,-1.1241191469238705,-4.0298735001990185e-05,1.0511013655819377,-0.11733237128676655],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.019999999999332,"joint_targets_rad":[-0.11732761501763125,1.7310162827236133,-1.124118642823369,-3.791158152939675e-05,1.05109973473519,-0.1173341614825321],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.03999999999932,"joint_targets_rad":[-0.11732860428014379,1.731018352181117,-1.124118196535295,-3.565261966854413e-05,1.05109822071446,-0.11733583492468187],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.05999999999931,"joint_targets_rad":[-0.11732953346024388,1.7310203426783453,-1.1241178047220972,-3.351521606307926e-05,1.0510968172742525,-0.11733739806758577],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.079999999999298,"joint_targets_rad":[-0.11733040570538751,1.7310222575440681,-1.124117464212166,-3.149308248897579e-05,1.051095518478526,-0.11733885702350838],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.099999999999287,"joint_targets_rad":[-0.1173312208302417,1.7310240536662769,-1.1241171816655777,-2.9589276427851703e-05,1.0510943422043921,-0.1173401619800685],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.119999999999276,"joint_targets_rad":[-0.11733194096572092,1.7310254529897713,-1.1241170195540777,-2.7874742912775983e-05,1.0510934396242628,-0.11734099018921183],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.139999999999265,"joint_targets_rad":[-0.11733252312427576,1.7310267053012083,-1.124117010637355,-2.637902460150375e-05,1.0510928164007882,-0.11734171006811765],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.159999999999254,"joint_targets_rad":[-0.1173330172977574,1.7310278743055638,-1.1241171054616943,-2.504974019175103e-05,1.051092380216389,-0.11734238036600102],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.179999999999243,"joint_targets_rad":[-0.11733345253597195,1.7310289737938267,-1.1241172595905613,-2.3838937127821467e-05,1.0510920587540578,-0.11734299262220427],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.199999999999232,"joint_targets_rad":[-0.1173338400519137,1.7310300159920062,-1.1241174529327658,-2.272347363035214e-05,1.0510918183582303,-0.11734355240247413],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.21999999999922,"joint_targets_rad":[-0.11733418778236422,1.731031009795655,-1.1241176724446837,-2.1688515059299288e-05,1.051091636905052,-0.11734406596551407],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.23999999999921,"joint_targets_rad":[-0.11733450150724936,1.7310319617988998,-1.1241179088740365,-2.0723501013559888e-05,1.051091498520351,-0.11734453847451234],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.259999999999199,"joint_targets_rad":[-0.11733477935399647,1.7310328743499708,-1.1241181617682994,-1.982826854920467e-05,1.0510914015823254,-0.11734497439402168],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.279999999999188,"joint_targets_rad":[-0.11733502911836843,1.7310337506531224,-1.1241184244106739,-1.8992674102213967e-05,1.0510913349539237,-0.11734537562164575],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.299999999999176,"joint_targets_rad":[-0.11733525667409637,1.7310345958610136,-1.1241186910485501,-1.820725139438269e-05,1.0510912885496662,-0.11734574557738055],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.319999999999165,"joint_targets_rad":[-0.11733546396160527,1.7310354124324474,-1.1241189599290795,-1.7467693535365466e-05,1.0510912590024115,-0.11734608677950549],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.339999999999154,"joint_targets_rad":[-0.11733564504951524,1.7310362005475342,-1.1241192398565472,-1.6780736047475856e-05,1.0510912598118138,-0.11734640551123318],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.359999999999143,"joint_targets_rad":[-0.11733580657024516,1.7310369707695936,-1.1241195286181318,-1.6140677976798937e-05,1.0510912852080092,-0.11734671444184078],"gripper_position_m":0.0,"phase":"close"},{"t_seconds":11.379999999999132,"joint_targets_rad":[-0.12158290257279171,1.6737376457588287,-1.1132752825421521,0.00703100531507822,1.0371312928125667,-0.1294254608050795],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.399999999999121,"joint_targets_rad":[-0.12170279175779335,1.6729276081231728,-1.112687988426194,0.007239848909496333,1.0370294664947906,-0.12942549324791905],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.41999999999911,"joint_targets_rad":[-0.1219324659210329,1.668507015516649,-1.1103493757539247,0.007643470527688517,1.0369098825575622,-0.1295747901065506],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.439999999999099,"joint_targets_rad":[-0.12219227652247325,1.6599993065076344,-1.1072810582910082,0.008099794486451201,1.037171230347707,-0.12980972144014913],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.459999999999088,"joint_targets_rad":[-0.12245670458364745,1.6495773494910464,-1.1048125506746662,0.00860829831136121,1.037646180514727,-0.13010792939260235],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.479999999999077,"joint_targets_rad":[-0.122734802111856,1.6383208873644672,-1.1031241191536139,0.009167528863596905,1.0381105178846233,-0.13044313284637407],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.499999999999066,"joint_targets_rad":[-0.1230342557331435,1.6266736501292969,-1.1020872725500157,0.009770863289172342,1.0384955037059054,-0.13080357696511835],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.519999999999055,"joint_targets_rad":[-0.12336149071251382,1.614852533381713,-1.1015581678664472,0.010413242297337123,1.0388009735998958,-0.13118490319121803],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.539999999999043,"joint_targets_rad":[-0.12372396869712951,1.6029753935647248,-1.1014229517622478,0.011091599817411212,1.0390426281683842,-0.13158546584331055],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.559999999999032,"joint_targets_rad":[-0.12412709771027275,1.5911107423238007,-1.1015983445512967,0.011804185341967718,1.039235921141079,-0.1320046462255361],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.579999999999021,"joint_targets_rad":[-0.12457400094387783,1.5792939340636125,-1.1020074564906743,0.012550306982092689,1.0393906678229337,-0.13244188839387586],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.59999999999901,"joint_targets_rad":[-0.12506671673687147,1.5675366269547,-1.102545533539467,0.013329448647966606,1.0395141038875326,-0.13289586608317183],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.619999999999,"joint_targets_rad":[-0.1256049003633184,1.555864583881064,-1.1031468543910417,0.014140439948928666,1.0396195011675748,-0.13336583044304245],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.639999999998988,"joint_targets_rad":[-0.12618675938010673,1.5443126272595866,-1.1037907896121717,0.014982350072093892,1.0397188361597005,-0.13385137425684074],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.659999999998977,"joint_targets_rad":[-0.12681021018661626,1.5329096230545234,-1.1044755251645588,0.015855052298807817,1.0398173817227363,-0.13435182190129955],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.679999999998966,"joint_targets_rad":[-0.12747290756980048,1.5216770758176321,-1.10520407862559,0.016758872464386933,1.0399164287071896,-0.13486606681026483],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.699999999998955,"joint_targets_rad":[-0.12817188023578713,1.510632932679213,-1.1059812734374475,0.0176941888641912,1.0400157834414445,-0.13539254158784553],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.719999999998944,"joint_targets_rad":[-0.12890320426859697,1.4997946580540067,-1.1068133304282033,0.01866123819249737,1.0401145643025835,-0.13592906401062982],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.739999999998933,"joint_targets_rad":[-0.1296616893396605,1.4891812584448234,-1.1077079446405058,0.019659963319273742,1.040211223072357,-0.13647265052389457],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.759999999998922,"joint_targets_rad":[-0.130440487244791,1.4788156099359901,-1.1086778423953683,0.02068985440536658,1.040304124779608,-0.13701939807594551],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.77999999999891,"joint_targets_rad":[-0.1312306095967976,1.4687269969882786,-1.1097552990439075,0.021750157817070247,1.0403924335491073,-0.1375647129733313],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.7999999999989,"joint_targets_rad":[-0.13202083410600263,1.4589442133107784,-1.1109897269760336,0.02284029729185342,1.0404742784958518,-0.13810296312582765],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.819999999998888,"joint_targets_rad":[-0.13279800278992915,1.4494871512765832,-1.1124367925763134,0.02396204888066085,1.0405453934245026,-0.13862692864823592],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.839999999998877,"joint_targets_rad":[-0.13354659072322136,1.4403627059658959,-1.1141292079629899,0.025119659196410286,1.0405959655525072,-0.13912622131619995],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.859999999998866,"joint_targets_rad":[-0.1342447060464234,1.4315795572075503,-1.116086962977102,0.026313869812943404,1.0406175702455789,-0.13958581282938035],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.879999999998855,"joint_targets_rad":[-0.13486132529007389,1.4231555638631017,-1.118328171148759,0.027540929987198384,1.0406025558451226,-0.1399833197094899],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.899999999998844,"joint_targets_rad":[-0.135351992211315,1.415120455491666,-1.1208734980165143,0.028791842127246486,1.04054080524108,-0.140284390499903],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.919999999998833,"joint_targets_rad":[-0.13565010242042938,1.407522177031495,-1.1237514818011645,0.03004961121207119,1.040415702249114,-0.14043393915716726],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.939999999998822,"joint_targets_rad":[-0.13628069051419836,1.4006873143654186,-1.1191569431646946,0.03156762513277643,1.0321506231486268,-0.14120267424452776],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.95999999999881,"joint_targets_rad":[-0.13730404274046348,1.39418074362258,-1.1102679514655203,0.0334087959357877,1.0196005475763996,-0.14255163992212758],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.9799999999988,"joint_targets_rad":[-0.13840542656551513,1.3880942364496034,-1.1019986137583058,0.035382379163978406,1.0080823380417425,-0.14398089996592348],"gripper_position_m":0.0,"phase":"lift"},{"t_seconds":11.999999999998789,"joint_targets_rad":[-0.0828336028914832,1.393064940202085,-1.0886195927629798,0.017164648200629826,0.9801201998969239,-0.08182059751876708],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.019999999998777,"joint_targets_rad":[-0.08256585547272981,1.3860992087352946,-1.085769042376746,0.017598305049651115,0.9769029675878199,-0.08204501939405054],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.039999999998766,"joint_targets_rad":[-0.07800385625088913,1.3807790765746135,-1.0818087503982177,0.01628842470660508,0.9720993250667438,-0.08033867967039529],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.059999999998755,"joint_targets_rad":[-0.06834076317708292,1.3770499257588757,-1.077764477017939,0.014242968411037416,0.9673334652258273,-0.07531434677286274],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.079999999998744,"joint_targets_rad":[-0.05647725996321651,1.374423982229442,-1.0737823202640602,0.012117848887020471,0.9630574389425524,-0.069027441880286],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.099999999998733,"joint_targets_rad":[-0.04376369359938659,1.3726657229484895,-1.07003650826521,0.009820714078647453,0.9592833613355909,-0.062084747625809046],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.119999999998722,"joint_targets_rad":[-0.030708857706733164,1.3716570352300117,-1.0666602474333127,0.0073696797419924975,0.9561095899001567,-0.05747054125285443],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.139999999998711,"joint_targets_rad":[-0.01751533135437444,1.3713439712456492,-1.0637696784915773,0.004789551733483402,0.9534440245035025,-0.05375908332556334],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.1599999999987,"joint_targets_rad":[-0.004285503442506139,1.3717007002406354,-1.0614609837746727,0.002094130011821519,0.9512589295814547,-0.050012965914925905],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.179999999998689,"joint_targets_rad":[0.008907426549397905,1.3727050704425496,-1.0597995606067365,-0.000692015459794899,0.9495326958067748,-0.04627917103421897],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.199999999998678,"joint_targets_rad":[0.022002218856792752,1.3742774219836207,-1.058781153699177,-0.0035369113711851783,0.948182755729425,-0.04255187885971033],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.219999999998667,"joint_targets_rad":[0.034952746294197576,1.3761459587933118,-1.0583164403298835,-0.006431479356997937,0.9470933429194314,-0.038823910510035156],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.239999999998656,"joint_targets_rad":[0.04771840876717215,1.3781917817619926,-1.0584483814329781,-0.009359936237324023,0.9463215439283008,-0.035104620303471584],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.259999999998644,"joint_targets_rad":[0.060264160032034386,1.3803776649560626,-1.0592042896811282,-0.012309488692652372,0.9458528298665752,-0.031395949436028484],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.279999999998633,"joint_targets_rad":[0.07254937300227475,1.3828236558069122,-1.0606725449411176,-0.015252633554810276,0.9457354858907694,-0.02770501815311198],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.299999999998622,"joint_targets_rad":[0.08453622403183733,1.3856178645689776,-1.0627871850745396,-0.018170379804764825,0.9458241909257393,-0.024020162113368493],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.319999999998611,"joint_targets_rad":[0.0961842221134401,1.3886873983308625,-1.0651968506212022,-0.021049596280079283,0.9457802784007118,-0.020312687091452952],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.3399999999986,"joint_targets_rad":[0.10742521206292566,1.392050721824843,-1.0677264768365196,-0.023837493493151066,0.9457043210449679,-0.016587794441889334],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.359999999998589,"joint_targets_rad":[0.11820161157378224,1.3958476490930054,-1.0705757465715178,-0.026475077998433922,0.9459829990949041,-0.0128786571774233],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.379999999998578,"joint_targets_rad":[0.128501528657269,1.4000961280261695,-1.0738385425194505,-0.028962228262127746,0.9465570260510746,-0.00919302293985777],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.399999999998567,"joint_targets_rad":[0.13831932209627706,1.4047634808396916,-1.0775517561081054,-0.031312735037646554,0.9473089967820966,-0.005524325213664014],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.419999999998556,"joint_targets_rad":[0.14765076080256737,1.4098002341748501,-1.0817166740512063,-0.03354263869452077,0.9481485950980411,-0.001865684757453405],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.439999999998545,"joint_targets_rad":[0.15649632524670706,1.415159471634285,-1.0863270437285035,-0.03566667041440369,0.9490256140098764,0.0017875655966913956],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.459999999998534,"joint_targets_rad":[0.16486009527768844,1.4207990587328176,-1.0913703114095485,-0.03769677981860353,0.9499113490519867,0.005438434485687524],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.479999999998522,"joint_targets_rad":[0.1727480609910998,1.4266810201354962,-1.0968281477121506,-0.03964265592666864,0.9507890599366032,0.009089020311707871],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.499999999998511,"joint_targets_rad":[0.18017024048272368,1.4327735036439704,-1.1026823268087007,-0.04151341736862561,0.9516502871454726,0.012740646273826706],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.5199999999985,"joint_targets_rad":[0.18713854362211138,1.4390484991194032,-1.1089142699351142,-0.0433163166992297,0.9524920413435801,0.016394216842889074],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.53999999999849,"joint_targets_rad":[0.19366422677336606,1.4454801922260618,-1.115503522135712,-0.045056827134350844,0.953314111929872,0.020050352499512474],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.559999999998478,"joint_targets_rad":[0.1997607851576877,1.4520469617137834,-1.122431092416979,-0.04674057611251509,0.9541182322101746,0.023709466439251453],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.579999999998467,"joint_targets_rad":[0.20544272680808015,1.4587307081704037,-1.1296801542764465,-0.048372130581836884,0.9549070805539195,0.02737165770487813],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.599999999998456,"joint_targets_rad":[0.21072311403366542,1.4655153541336368,-1.1372349706110605,-0.04995487168064161,0.9556834399470622,0.03103684845041393],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.619999999998445,"joint_targets_rad":[0.21561547581877505,1.4723866644605466,-1.1450810677422392,-0.05149236990539452,0.9564505211998617,0.0347051233600653],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.639999999998434,"joint_targets_rad":[0.2201335065322347,1.4793314665263528,-1.153204233818412,-0.05298754156807949,0.9572118976499862,0.038376621879254585],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.659999999998423,"joint_targets_rad":[0.22429056273600462,1.486338672767505,-1.1615929232864264,-0.054442617663754536,0.9579718547783619,0.042051120901835284],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.679999999998412,"joint_targets_rad":[0.22809764941821675,1.4933980169856653,-1.1702369980153913,-0.05585878959329637,0.9587345797262634,0.04572832672394253],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.6999999999984,"joint_targets_rad":[0.2315659918592412,1.500500235138621,-1.1791282065140987,-0.057237896197134305,0.9595048202383969,0.04940815460822147],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.71999999999839,"joint_targets_rad":[0.23470605775600867,1.507636647760994,-1.1882598940741502,-0.05858103085762277,0.960287853218156,0.05309045593592521],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.739999999998378,"joint_targets_rad":[0.23752693770179995,1.5147983882383973,-1.1976260514042816,-0.05988848775729547,0.9610895617466794,0.05677514602370484],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.759999999998367,"joint_targets_rad":[0.24003530949324553,1.521976357218026,-1.2072218104272956,-0.06115967169121264,0.9619167778677074,0.06046197063629519],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.779999999998356,"joint_targets_rad":[0.24223589550204827,1.5291613433471198,-1.2170445836597716,-0.06239354258420009,0.9627778123289185,0.06415062353932165],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.799999999998345,"joint_targets_rad":[0.24413133006555832,1.5363431774808012,-1.227093930015692,-0.06358818189425672,0.963682944987409,0.06784088093105277],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.819999999998334,"joint_targets_rad":[0.24572076522521585,1.5435095979018607,-1.2373714910315716,-0.06473996536303728,0.964645310945585,0.07148271480051659],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.839999999998323,"joint_targets_rad":[0.24699798073352286,1.5506448761935774,-1.2478816576757719,-0.06584250961923849,0.965682874085086,0.07402868846430091],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.859999999998312,"joint_targets_rad":[0.24794448302113054,1.557731660013158,-1.2586396374854252,-0.06687761855409485,0.9668288126042697,0.07644749673776235],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.8799999999983,"joint_targets_rad":[0.2485330576381404,1.5647364503154217,-1.269658046329688,-0.0678282522884898,0.968125720316092,0.0786622646568056],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.89999999999829,"joint_targets_rad":[0.24883463021502925,1.5688101760502524,-1.2763756665748742,-0.06877973194357428,0.9678801808278557,0.08086333341121163],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.919999999998279,"joint_targets_rad":[0.24929210334766988,1.5669307263702783,-1.273463258518115,-0.07001679639818427,0.9638235026388271,0.08380100827940926],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.939999999998268,"joint_targets_rad":[0.24984658003192678,1.564912350754156,-1.270224264091477,-0.0714333257144666,0.9593901453713675,0.08734824047849216],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.959999999998256,"joint_targets_rad":[0.25048345617927653,1.5628877243663968,-1.2669071843537842,-0.07300444340021513,0.9549101281116072,0.09126038424524752],"gripper_position_m":0.0,"phase":"transfer"},{"t_seconds":12.979999999998245,"joint_targets_rad":[0.2447854452504985,1.598332709912013,-1.2564167707855112,-0.056793756960719706,0.973860495640097,0.06503766086661922],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":12.999999999998234,"joint_targets_rad":[0.24497866229715615,1.5990275198029855,-1.2573370517458842,-0.05731528385755715,0.973251550166989,0.06691924153091472],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.019999999998223,"joint_targets_rad":[0.24495282269420737,1.6024816801247552,-1.2580207512447528,-0.05724107350197896,0.9730042607560982,0.06777476032351071],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.039999999998212,"joint_targets_rad":[0.24485742558400034,1.6082714506560336,-1.2583094673469837,-0.05705006619608234,0.9727276371006623,0.06852476932540288],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.059999999998201,"joint_targets_rad":[0.24472998512868582,1.6155648518554027,-1.2583945734860529,-0.05681892284326065,0.9724522867235296,0.06930067036223415],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.07999999999819,"joint_targets_rad":[0.24458266309990812,1.6238183314402421,-1.2584224794339705,-0.05656103999910809,0.9721706064480974,0.07010889432546252],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.099999999998179,"joint_targets_rad":[0.2444201445049955,1.6326594683558007,-1.2584106025675352,-0.056280296983722396,0.9718645197620953,0.07094461343679466],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.119999999998168,"joint_targets_rad":[0.24424430135017416,1.6418598669606166,-1.2583438483567668,-0.055978145577723286,0.9715251584749048,0.07180389298119252],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.139999999998157,"joint_targets_rad":[0.24405595287017764,1.6512935947927951,-1.2582296886070192,-0.055655399877473935,0.9711524549479268,0.07268373728349486],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.159999999998146,"joint_targets_rad":[0.24385537181987607,1.6608898169488577,-1.2580852966872744,-0.05531251558761089,0.9707468158888124,0.07358209065901801],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.179999999998135,"joint_targets_rad":[0.24364245314290384,1.670606417144589,-1.2579267778981966,-0.054949659844496804,0.97030718292893,0.07449759106329931],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.199999999998123,"joint_targets_rad":[0.24341680626296272,1.6804174530482254,-1.2577673447495612,-0.05456680204980174,0.9698318347746085,0.07542923845696412],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.219999999998112,"joint_targets_rad":[0.24317778448016555,1.6903061128110513,-1.257616287717802,-0.054163752525024346,0.9693184900571022,0.07637622027722939],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.239999999998101,"joint_targets_rad":[0.24292449430710056,1.7002616589480006,-1.2574803519456952,-0.05374020009442793,0.9687647983256118,0.0773377398223628],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.25999999999809,"joint_targets_rad":[0.24265576675882794,1.7102773566259073,-1.2573640181887302,-0.05329571648423498,0.9681682361330826,0.07831291962879638],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.27999999999808,"joint_targets_rad":[0.2423701206151364,1.720350049823445,-1.2572715531165042,-0.05282977805034331,0.9675265567640866,0.07930064282344036],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.299999999998068,"joint_targets_rad":[0.24206569403704947,1.7304796811859717,-1.25720830095793,-0.05234177522905097,0.9668378465665409,0.08029940386777348],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.319999999998057,"joint_targets_rad":[0.2417401161880653,1.7406690076684677,-1.2571810248819861,-0.051830986020719894,0.9661005603645395,0.08130714734526226],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.339999999998046,"joint_targets_rad":[0.24139032496385662,1.7509242111302332,-1.2571995655267394,-0.05129655197497172,0.965313989097081,0.08232100258053072],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.359999999998035,"joint_targets_rad":[0.2410122789200078,1.761255829399527,-1.2572787106644765,-0.050737427957102864,0.9644788112570784,0.08333691024934012],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.379999999998024,"joint_targets_rad":[0.240600474214472,1.771680232764967,-1.257440159996153,-0.050152266153137094,0.9635978542765832,0.08434907354807007],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.399999999998013,"joint_targets_rad":[0.24014715551168703,1.782222768244005,-1.2577171332222121,-0.04953923875720778,0.9626778851862198,0.08534901210366615],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.419999999998002,"joint_targets_rad":[0.23964091918787006,1.7929228710512637,-1.2581617832777179,-0.04889569452843077,0.9617327500651346,0.08632393533786534],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.43999999999799,"joint_targets_rad":[0.23906029197471412,1.8038447680554204,-1.2588616611699928,-0.04821707800640755,0.960791331282278,0.08725897418042465],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.45999999999798,"joint_targets_rad":[0.23837198997885095,1.8150978496830437,-1.2599733799670862,-0.04749737919015374,0.9599126074738348,0.08813963401068418],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.479999999997968,"joint_targets_rad":[0.23753611802399494,1.8268749286191737,-1.261794125693933,-0.046729922499927724,0.9592180923398403,0.08894594169552629],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.499999999997957,"joint_targets_rad":[0.23657571380833636,1.838928838903338,-1.2655134450972125,-0.04587111117678098,0.9601672535413245,0.08963510278889941],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.519999999997946,"joint_targets_rad":[0.23622655368937662,1.8453166031947068,-1.2757546016627226,-0.0446747502809514,0.9732893527117682,0.09034951137634739],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.539999999997935,"joint_targets_rad":[0.23587529604467872,1.8513573150978004,-1.2855150038658871,-0.04349217103349556,0.9859689886423701,0.09116699531014628],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.559999999997924,"joint_targets_rad":[0.23553688208800524,1.856623781267592,-1.294093774552445,-0.04238731627766245,0.9972466058191665,0.092064177388368],"gripper_position_m":0.0,"phase":"place"},{"t_seconds":13.579999999997913,"joint_targets_rad":[0.23527249710959258,1.860637106990075,-1.3006786250775322,-0.041523040211363854,1.0059675982511984,0.09323440793963059],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.599999999997902,"joint_targets_rad":[0.23501272889485375,1.863330824332907,-1.3051208309537123,-0.040773064090458846,1.011856487868784,0.09444381281499556],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.61999999999789,"joint_targets_rad":[0.2348198170584047,1.8650211510671324,-1.3079025119383807,-0.04024896182634325,1.0155235270554428,0.09591285321265555],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.63999999999788,"joint_targets_rad":[0.23461842653069825,1.8659090500511364,-1.3093616185513715,-0.03978013140114006,1.0174106420371969,0.09724730190225837],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.659999999997869,"joint_targets_rad":[0.23441265105582132,1.8661266769156115,-1.3097298816565428,-0.03935382121500774,1.0178343199343332,0.09833525982518991],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.679999999997857,"joint_targets_rad":[0.234209219350949,1.8658231510621615,-1.3092601976126519,-0.03896642718829382,1.017144485893496,0.09927052500155649],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.699999999997846,"joint_targets_rad":[0.23401171708875695,1.8651750631910196,-1.3082416927660967,-0.03861163843768263,1.0157341308770338,0.10012770153457815],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.719999999997835,"joint_targets_rad":[0.23380698681909995,1.8644973473696882,-1.3071779529787264,-0.038242394262898216,1.01427681532848,0.10092959679919848],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.739999999997824,"joint_targets_rad":[0.23359198531459685,1.8640194300241786,-1.3064327632040467,-0.037838434872121185,1.0132564947072624,0.10170244409068098],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.759999999997813,"joint_targets_rad":[0.2333640628605231,1.8638318020335622,-1.3061482342214235,-0.037390185193151924,1.012858297210718,0.10245077890310483],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.779999999997802,"joint_targets_rad":[0.23312746831973125,1.8639128436672492,-1.3062889701503138,-0.036908951650531756,1.0130311899929432,0.1031854137036454],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.799999999997791,"joint_targets_rad":[0.23289906325824294,1.864140918546766,-1.3066615203447771,-0.036437225830652946,1.0135153474032785,0.10393398539138173],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.81999999999778,"joint_targets_rad":[0.23267939374243035,1.8643750415819764,-1.3070430432116869,-0.035983740433696246,1.0140121234677426,0.10469681480984673],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.839999999997769,"joint_targets_rad":[0.23246100560601207,1.864620176325921,-1.307441670135189,-0.03553275659517631,1.014531856559692,0.10546481583864756],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.859999999997758,"joint_targets_rad":[0.23224191210619724,1.8648870934796693,-1.3078744385268803,-0.03507951399042432,1.0150971832808675,0.10623179304702923],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.879999999997747,"joint_targets_rad":[0.23202234617289108,1.8651727439557038,-1.3083364983310124,-0.03462465735123553,1.015701577816079,0.1069956116798617],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.899999999997736,"joint_targets_rad":[0.2318027261774485,1.8654677671283544,-1.30881306388239,-0.03416955675150107,1.0163252498961177,0.10775523604017496],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.919999999997724,"joint_targets_rad":[0.23158588652567114,1.8657611639014868,-1.3092867311093825,-0.03372078612493599,1.016945030836833,0.10851932282667442],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.939999999997713,"joint_targets_rad":[0.23137236777940812,1.8660455681432044,-1.3097459298949796,-0.033279976858730104,1.0175454996035092,0.10929644574787548],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.959999999997702,"joint_targets_rad":[0.231161456340869,1.866321411804522,-1.3101914001172192,-0.03284561406315356,1.0181276618947952,0.11008809536671169],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.979999999997691,"joint_targets_rad":[0.23095244487060948,1.8665912111837595,-1.3106271335917252,-0.03241594230976382,1.018696867998816,0.11088908311843901],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":13.99999999999768,"joint_targets_rad":[0.2307450719424982,1.8668572046892677,-1.311056658578805,-0.031990132038357426,1.0192578515226265,0.11169387980414783],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.019999999997669,"joint_targets_rad":[0.2305386270388817,1.8671200937076677,-1.311481099042072,-0.03156655217237134,1.0198121116989969,0.11249774011193239],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.039999999997658,"joint_targets_rad":[0.23032750640295088,1.86736670457195,-1.31187986471429,-0.031133432361390764,1.0203320291791897,0.11326810009635985],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.059999999997647,"joint_targets_rad":[0.23011559431668335,1.8676024105833164,-1.312261340736892,-0.03069900748768411,1.0208289888128672,0.11402472554413254],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.079999999997636,"joint_targets_rad":[0.2299047212426648,1.8678367303797117,-1.3126404517668748,-0.03026692429978072,1.0213229809437143,0.11477915957344109],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.099999999997625,"joint_targets_rad":[0.22969520936568114,1.8680761799739858,-1.3130274163916515,-0.029837655818439418,1.0218276283385144,0.1155342405125269],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.119999999997614,"joint_targets_rad":[0.22948709305432524,1.868324002328833,-1.3134273128600462,-0.029411174535873295,1.0223496684752935,0.11629066590313189],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.139999999997602,"joint_targets_rad":[0.22928040591677998,1.8685806972917347,-1.3138409151938413,-0.02898754923741997,1.0228900961450889,0.11704860228611327],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.159999999997591,"joint_targets_rad":[0.22907521730917896,1.8688449667172808,-1.3142661811795529,-0.028566986405706946,1.0234461596179207,0.11780813117826072],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.17999999999758,"joint_targets_rad":[0.2288716072670145,1.8691147335364275,-1.314699854083961,-0.0281497486185123,1.0240134987975997,0.11856965605019998],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.19999999999757,"joint_targets_rad":[0.22866965823506,1.8693879064610135,-1.315138660045828,-0.027736101145747646,1.0245877403426462,0.11933371693369572],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.219999999997558,"joint_targets_rad":[0.22846944055788876,1.869662855349189,-1.3155800509126663,-0.027326261856096917,1.025165484399824,0.12010086213352235],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.239999999997547,"joint_targets_rad":[0.2282710095119235,1.8699385988163357,-1.3160224957809408,-0.026920388465109787,1.0257446896454927,0.12087157872616588],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.259999999997536,"joint_targets_rad":[0.228074405930061,1.8702147735125587,-1.3164654310729753,-0.026518582587657595,1.0263246039069505,0.12164626575987117],"gripper_position_m":0.035,"phase":"release"},{"t_seconds":14.279999999997525,"joint_targets_rad":[0.2364852853442618,1.8145066288106824,-1.294520020179827,-0.04201232418308773,0.9871677915190008,0.11518928589729774],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.299999999997514,"joint_targets_rad":[0.23646659578172308,1.8138930957505173,-1.293995216765103,-0.04201417340172854,0.987392088608827,0.11583552656637078],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.319999999997503,"joint_targets_rad":[0.2366110960598196,1.8097729821706905,-1.2904691176782204,-0.04250545109551289,0.9868485012605743,0.11651987748274512],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.339999999997492,"joint_targets_rad":[0.23681885077190928,1.8022772449039188,-1.2860427580205775,-0.04310563344527712,0.9870928084553229,0.11728241398981494],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.35999999999748,"joint_targets_rad":[0.23706827454508622,1.7931566014525764,-1.282170820202601,-0.04377025142206359,0.987667521156554,0.11814418339994455],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.37999999999747,"joint_targets_rad":[0.237350214306956,1.783241083767446,-1.279096586815523,-0.04449126869267047,0.988281721342551,0.11911443228359184],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.399999999997458,"joint_targets_rad":[0.23766473647295175,1.7729015602226537,-1.27674480041403,-0.04526513289774045,0.9888589555024317,0.12018582829621938],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.419999999997447,"joint_targets_rad":[0.23801682547178155,1.7623450627256607,-1.275006440418128,-0.04608930041195373,0.9893929951530511,0.12134786413442303],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.439999999997436,"joint_targets_rad":[0.23841186452434826,1.7517004204159594,-1.2737862074991684,-0.04696204433619564,0.9898940627651553,0.12259199533170023],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.459999999997425,"joint_targets_rad":[0.2388543771764598,1.7410542175890134,-1.2730131453925162,-0.047882642514142884,0.9903745461776945,0.12391242041939754],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.479999999997414,"joint_targets_rad":[0.2393481783946421,1.730465259591962,-1.272635353652039,-0.04885126680679221,0.9908453618974691,0.12530576602257076],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.499999999997403,"joint_targets_rad":[0.2398964441548192,1.719973639188335,-1.2726144712645624,-0.04986873345851515,0.9913157546887602,0.12677046091151611],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.519999999997392,"joint_targets_rad":[0.24050180035131088,1.7096074488004085,-1.2729230174084794,-0.050936354815968254,0.991793838655164,0.12830623239971575],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.53999999999738,"joint_targets_rad":[0.24116626877167038,1.6993847571355762,-1.2735365930390143,-0.05205565352912725,0.9922859748776096,0.12991369767889283],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.55999999999737,"joint_targets_rad":[0.24189017095998833,1.6892967425562215,-1.2743754196394201,-0.05322614670660468,0.9927942364368881,0.13159161518155052],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.579999999997359,"joint_targets_rad":[0.2426732556459975,1.6793347523606457,-1.2753358726757744,-0.0544495831457794,0.9933258418427524,0.13333380163017938],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.599999999997348,"joint_targets_rad":[0.24351614294927176,1.669525433929873,-1.2763783834757785,-0.05573405042557657,0.993896240994356,0.13513209639540763],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.619999999997336,"joint_targets_rad":[0.24441756694854241,1.6599025989943061,-1.2774970362345635,-0.05708354310726565,0.9945153367875305,0.13698061701463082],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.639999999997325,"joint_targets_rad":[0.24537489380025918,1.6504940685621197,-1.2786936173160128,-0.05849981907420915,0.9951884215761052,0.13887460487465597],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.659999999997314,"joint_targets_rad":[0.2463853769130162,1.6413216852727537,-1.2799708490544814,-0.059985661065523055,0.9959176943497977,0.14082783474373045],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.679999999997303,"joint_targets_rad":[0.2474463280978019,1.6324116222197826,-1.2813540895455322,-0.06154548002217734,0.996706514985735,0.14286442576994512],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.699999999997292,"joint_targets_rad":[0.24855474142796277,1.6238018871755378,-1.2829262752182045,-0.06318397482031965,0.9975615285488278,0.14500540669047762],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.719999999997281,"joint_targets_rad":[0.24970673144256683,1.6155105118455497,-1.2847662440969743,-0.0649051836106551,0.9984833648631721,0.14726959776144044],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.73999999999727,"joint_targets_rad":[0.250897140957782,1.607527691448432,-1.2869055743564266,-0.06671130655336707,0.9994696091405324,0.14967598102391091],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.759999999997259,"joint_targets_rad":[0.25211969746082163,1.5998388713463505,-1.2893574717266734,-0.06860367746779333,1.0005242380745298,0.15222925075280358],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.779999999997248,"joint_targets_rad":[0.2533668991927376,1.592429611607482,-1.2921267384503548,-0.07058251772507544,1.001654637206668,0.15493001524624161],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.799999999997237,"joint_targets_rad":[0.25462947481737974,1.5852855243496968,-1.2952122446985663,-0.07264668618023971,1.002869910933359,0.15777578150484117],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.819999999997226,"joint_targets_rad":[0.2558956330412362,1.578390545859108,-1.2986062263448166,-0.0747932857795417,1.0041799526936273,0.16076060784225232],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.839999999997215,"joint_targets_rad":[0.2571500841949321,1.5717235150271793,-1.3022918930496241,-0.07701717136742924,1.0055948600965048,0.1638743095382047],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.859999999997203,"joint_targets_rad":[0.2583726331017881,1.5652558816113833,-1.3062429205230974,-0.07931023555177909,1.0071246510256917,0.16710015195071348],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.879999999997192,"joint_targets_rad":[0.2595361154822426,1.5589464149821506,-1.3104167763570789,-0.08166038810838855,1.0087772451899095,0.17041432182208094],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.899999999997181,"joint_targets_rad":[0.2606030211693554,1.5527336938318759,-1.314744475995243,-0.08404977529775039,1.0105556552002601,0.173781877170972],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.91999999999717,"joint_targets_rad":[0.2615198782520978,1.546523577513377,-1.3191122073955845,-0.08645191926398857,1.012452334184276,0.17715087572515942],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.939999999997159,"joint_targets_rad":[0.26220720752421145,1.540166729979711,-1.323326088164594,-0.08882680680689378,1.0144366664161928,0.1804422958634626],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.959999999997148,"joint_targets_rad":[0.2625399592363657,1.5334153340355354,-1.3270391912025081,-0.09111170590298039,1.0164258510220354,0.18353091815181194],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.979999999997137,"joint_targets_rad":[0.2634792359502672,1.5276913833881614,-1.3228503147214177,-0.09414538120272761,1.009761622065494,0.18829593106480935],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":14.999999999997126,"joint_targets_rad":[0.26503969308890135,1.5229325089806245,-1.3148540893028278,-0.0978407421463423,0.9988216163487145,0.1945466753925922],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":15.019999999997115,"joint_targets_rad":[0.26667927158418936,1.518636632411945,-1.3076908116320514,-0.1016552104434597,0.9892034846274655,0.20048473165130348],"gripper_position_m":0.035,"phase":"retreat"},{"t_seconds":15.039999999997104,"joint_targets_rad":[0.2683321781296729,1.514979900190017,-1.3016123827396835,-0.10543649410943859,0.9811881438051865,0.20425791172478322],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.059999999997093,"joint_targets_rad":[0.26994002795190025,1.5119734269393164,-1.2966111164900904,-0.10906811900361031,0.9747076863949197,0.2081477799740519],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.079999999997082,"joint_targets_rad":[0.2714501179773395,1.5097126122288598,-1.2928283088353087,-0.11242983985627292,0.9698980801767608,0.21202658867738503],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.09999999999707,"joint_targets_rad":[0.2728355534234485,1.5082364783499909,-1.290315861797318,-0.11545683224807837,0.9667882594566439,0.21586167677171944],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.11999999999706,"joint_targets_rad":[0.2740921358081976,1.5074876302408142,-1.2889771386592255,-0.1181415541345545,0.9652273703641183,0.21964560921045437],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.139999999997048,"joint_targets_rad":[0.27523209084148187,1.5073144594146701,-1.2885680440711305,-0.12052442127638564,0.9648830404594898,0.22337979479978445],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.159999999997037,"joint_targets_rad":[0.2762768920889207,1.5075477802027284,-1.288819173902418,-0.12266675878195703,0.9653989462950509,0.22707664614098153],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.179999999997026,"joint_targets_rad":[0.27725183329569386,1.508025740240216,-1.2894724615443887,-0.12463629404388421,0.9664384946449849,0.23075853612552577],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.199999999997015,"joint_targets_rad":[0.27819063865699145,1.5085392739745673,-1.2901887031878305,-0.12652468160411715,0.9675598814760944,0.23444727511369265],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.219999999997004,"joint_targets_rad":[0.2791165435935758,1.5089299411091626,-1.2907079924369762,-0.12840117025400524,0.9684211853050387,0.2381235108742686],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.239999999996993,"joint_targets_rad":[0.280042168961965,1.5091253291335462,-1.2909096699183231,-0.13030494270823212,0.9688613871480697,0.24179561215111295],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.259999999996982,"joint_targets_rad":[0.28097112203630703,1.509120076192345,-1.290783102469258,-0.13224711512779116,0.9688652209227226,0.24547730497085493],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.27999999999697,"joint_targets_rad":[0.28190042875389154,1.5089524359147797,-1.2903900193221292,-0.1342177004458238,0.9685142778475155,0.2491766347214961],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.29999999999696,"joint_targets_rad":[0.2828233752986398,1.5086818458985847,-1.289827760274959,-0.13619442720853603,0.9679379123270246,0.2528969969294198],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.319999999996949,"joint_targets_rad":[0.283731950100073,1.508367451258337,-1.2891938231394817,-0.13815124257269898,0.967265517642563,0.2566318455495653],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.339999999996937,"joint_targets_rad":[0.28462093633630786,1.5080444003968143,-1.2885464170575172,-0.14007127905367922,0.9665741100792096,0.26037542936237773],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.359999999996926,"joint_targets_rad":[0.28548670554344047,1.507735719453607,-1.2879238786463316,-0.14194263626757622,0.9659142044150516,0.26412423785477335],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.379999999996915,"joint_targets_rad":[0.28632727981375505,1.5074530649538103,-1.2873458182998156,-0.1437586290102046,0.9653114490738285,0.2678744471484044],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.399999999996904,"joint_targets_rad":[0.287142522016979,1.5071964540186613,-1.2868125746678973,-0.14551849286413202,0.9647660137812891,0.27162303574864455],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.419999999996893,"joint_targets_rad":[0.287933612642231,1.5069586764881109,-1.286312440091918,-0.14722566261882286,0.9642622138629326,0.27536854228977004],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.439999999996882,"joint_targets_rad":[0.2887024148553364,1.5067296495181608,-1.2858288407386198,-0.14888571131713332,0.9637780112947915,0.27911075787602474],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.459999999996871,"joint_targets_rad":[0.2894509329714583,1.5064996515269486,-1.2853457019844832,-0.15050460761622325,0.9632920907993359,0.28285028268499973],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.47999999999686,"joint_targets_rad":[0.29018093611366447,1.506261176708844,-1.2848505548742286,-0.1520875309231262,0.9627879448940886,0.2865880847510923],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.499999999996849,"joint_targets_rad":[0.290893764264781,1.5060095649300995,-1.2843356211220212,-0.15363828572172145,0.9622552895606761,0.2903251522986936],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.519999999996838,"joint_targets_rad":[0.2915902887063364,1.5057427621155035,-1.2837974505784322,-0.1551592124331674,0.9616895696759363,0.2940622770839888],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.539999999996827,"joint_targets_rad":[0.29227097794017587,1.5054606097984422,-1.2832357645414363,-0.15665142766905538,0.961090417948646,0.29763436112580643],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.559999999996815,"joint_targets_rad":[0.2929348354331706,1.505165342716132,-1.2826543758485134,-0.1581125309937161,0.9604626613904458,0.30106697122731985],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.579999999996804,"joint_targets_rad":[0.2935804432139348,1.5048601118796974,-1.2820586627932027,-0.1595390224705509,0.9598131332891493,0.30446185563890094],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.599999999996793,"joint_targets_rad":[0.2942072155677024,1.5045468304616925,-1.2814519176988648,-0.16092930681259615,0.9591460294375098,0.30780973706330367],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.619999999996782,"joint_targets_rad":[0.2948149144866798,1.5042263379846044,-1.280835648077559,-0.16228269567379985,0.9584632147100802,0.31110713377591215],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.639999999996771,"joint_targets_rad":[0.295403418952438,1.5038988948148964,-1.2802103887697756,-0.16359886223546422,0.9577652709463667,0.3143512976864467],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.65999999999676,"joint_targets_rad":[0.2959727100658759,1.5035643324333707,-1.2795759476415027,-0.16487778667802871,0.9570518255822061,0.3175400927489116],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.679999999996749,"joint_targets_rad":[0.29652283764272613,1.5032222370566077,-1.2789317112749532,-0.16611965112131116,0.956321956466364,0.3206717770801575],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.699999999996738,"joint_targets_rad":[0.2970538869371929,1.5028721144649757,-1.2782769214511747,-0.16732473512856452,0.955574557120461,0.32374477706159416],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.719999999996727,"joint_targets_rad":[0.29756595144486697,1.5025135102811047,-1.277610878393347,-0.16849333114361928,0.9548086045356391,0.3267575000642423],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.739999999996716,"joint_targets_rad":[0.29805911963977216,1.5021460526765222,-1.2769330146516975,-0.16962570434772006,0.9540232560677968,0.3297082481158008],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.759999999996705,"joint_targets_rad":[0.29853355915022844,1.5017689083304935,-1.2762419899603334,-0.17072237470199603,0.953216655771917,0.33259582247830166],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.779999999996694,"joint_targets_rad":[0.2989896037647771,1.5013805814315342,-1.2755353423221716,-0.17178435693784078,0.9523854799082875,0.3354204300521325],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.799999999996682,"joint_targets_rad":[0.29942775116940806,1.5009790603712707,-1.2748097174067847,-0.17281314615848042,0.951525238376101,0.338183569856762],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.819999999996671,"joint_targets_rad":[0.29984862585440036,1.5005618838312251,-1.274060971125205,-0.1738106355499555,0.9506303984592834,0.3408876391915168],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.83999999999666,"joint_targets_rad":[0.30025284140067876,1.50012710168146,-1.2732857739858234,-0.17477863042375683,0.9496965134207185,0.34353507088456525],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.85999999999665,"joint_targets_rad":[0.30064085124706463,1.4996739049892545,-1.2724826925353165,-0.17571836762773546,0.9487216546661118,0.3461271330911069],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.879999999996638,"joint_targets_rad":[0.301012914182738,1.499202537947435,-1.2716520722809554,-0.17663042430909065,0.9477062558490477,0.34866361785519084],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.899999999996627,"joint_targets_rad":[0.30136909815206675,1.4987140929269944,-1.2707957056335368,-0.17751475524071728,0.9466526664375823,0.35114277222121487],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.919999999996616,"joint_targets_rad":[0.3017093174356193,1.4982102249063958,-1.2699163531894564,-0.1783708318077694,0.9455645120011387,0.35356156152665447],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.939999999996605,"joint_targets_rad":[0.3020333844606524,1.497692873425369,-1.2690172713829184,-0.17919781656085426,0.9444460659172972,0.35591606922605157],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.959999999996594,"joint_targets_rad":[0.3023410641029824,1.4971640371087636,-1.2681018255844643,-0.1799947336332824,0.9433017376481349,0.35820191841034255],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.979999999996583,"joint_targets_rad":[0.30263213346350404,1.4966256241764928,-1.26717322728252,-0.1807606356248081,0.9421357315152087,0.3604146490090874],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":15.999999999996572,"joint_targets_rad":[0.30290648682083177,1.4960794402129962,-1.2662344846546207,-0.1814948456442861,0.9409520091694787,0.3625499325726263],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.019999999996596,"joint_targets_rad":[0.30316412040007,1.4955271969260524,-1.2652884142696745,-0.18219692797376003,0.9397543016177431,0.3646036768755298],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.03999999999662,"joint_targets_rad":[0.3034050385919,1.4949703982983689,-1.2643374770233329,-0.1828665032727865,0.938545860537248,0.3665723902977474],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.059999999996645,"joint_targets_rad":[0.3036292435768812,1.494410317131538,-1.2633837440445308,-0.18350322914471118,0.9373294089003581,0.3684533678886099],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.07999999999667,"joint_targets_rad":[0.30383676691129363,1.4938480741937856,-1.2624290188466858,-0.18410685608732041,0.936107315956169,0.3702446662222534],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.099999999996694,"joint_targets_rad":[0.3040276691018341,1.4932846883222959,-1.261474921164234,-0.1846772145185414,0.9348817107329357,0.3719450949255788],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.11999999999672,"joint_targets_rad":[0.30420212399474716,1.4927206744825514,-1.2605221676116196,-0.18521455321935743,0.9336535320801711,0.3735551407100404],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.139999999996743,"joint_targets_rad":[0.30436040303074274,1.4921563343096178,-1.25957104928778,-0.18571945259241113,0.9324231743986306,0.3750766064336861],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.159999999996767,"joint_targets_rad":[0.3045027331446468,1.4915921496320066,-1.2586221285711865,-0.18619240628244524,0.9311913965388301,0.3765118204772214],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.17999999999679,"joint_targets_rad":[0.30462918790460064,1.4910284133856984,-1.2576757170402906,-0.18663355105721546,0.929958562268151,0.3778639704229331],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.199999999996816,"joint_targets_rad":[0.30468748186557176,1.4908972918843697,-1.2574379804200466,-0.1868167905562016,0.9296590523338505,0.3782707484906314],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.21999999999684,"joint_targets_rad":[0.30472285378695774,1.490906496905952,-1.257430718509646,-0.18691344918289146,0.929662599667008,0.3783755665926618],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.239999999996865,"joint_targets_rad":[0.304753735466948,1.4909159316755196,-1.2574231443032018,-0.18700088113616167,0.9296634903669231,0.3784695769136679],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.25999999999689,"joint_targets_rad":[0.30478086852699365,1.4909259279514422,-1.2574153027570178,-0.18708069277002565,0.9296617686923672,0.37855453747979606],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.279999999996914,"joint_targets_rad":[0.3048051936779624,1.4909364376781857,-1.257406994058346,-0.18715453097505313,0.929657480972403,0.37863240328375586],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.29999999999694,"joint_targets_rad":[0.30482730335711034,1.4909473905389539,-1.2573981597808654,-0.18722335017866523,0.9296508127917941,0.3787043630975248],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.319999999996963,"joint_targets_rad":[0.3048477891067043,1.4909586688402199,-1.2573889328380066,-0.18728815250936934,0.9296422733926163,0.3787716668000394],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.339999999996987,"joint_targets_rad":[0.3048676396333768,1.4909699084349268,-1.2573794532905282,-0.18735061410276727,0.9296326773575989,0.3788363870498547],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.35999999999701,"joint_targets_rad":[0.3048869156807634,1.4909806362312765,-1.2573699302434638,-0.18741065147530767,0.929622714849284,0.37889860932992125],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.379999999997036,"joint_targets_rad":[0.30490555353306065,1.4909907204328086,-1.2573605001125547,-0.1874680998094036,0.9296126897473844,0.378958203554336],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.39999999999706,"joint_targets_rad":[0.3049235385404328,1.4910001581220569,-1.2573512143412522,-0.18752297855744646,0.9296027100921814,0.3790151960232842],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.419999999997085,"joint_targets_rad":[0.3049408799823543,1.4910089802206026,-1.2573420906564834,-0.18757537919001743,0.9295928178535129,0.37906967947117204],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.43999999999711,"joint_targets_rad":[0.30495759505491704,1.4910172246977222,-1.2573331358688846,-0.18762541181414297,0.9295830342901183,0.37912176414965937],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.459999999997134,"joint_targets_rad":[0.3049737031521844,1.4910249293770494,-1.257324353305232,-0.18767318780027167,0.9295733736855142,0.37917156140658587],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.47999999999716,"joint_targets_rad":[0.3049892240687953,1.4910321301237288,-1.257315745012031,-0.18771881484073835,0.9295638473467559,0.37921917894515983],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.499999999997183,"joint_targets_rad":[0.3050041774454605,1.4910388604865557,-1.2573073123889027,-0.18776239574508938,0.9295544647966474,0.3792647196520979],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.519999999997207,"joint_targets_rad":[0.30501858258741016,1.4910451517276229,-1.2572990563733637,-0.1878040282996084,0.9295452341743606,0.37930828145301015],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.53999999999723,"joint_targets_rad":[0.305032458394949,1.4910510329492748,-1.257290977501514,-0.18784380541776463,0.929536162412536,0.379349957451976],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.559999999997256,"joint_targets_rad":[0.30504582332990304,1.49105653123933,-1.2572830759361633,-0.18788181536272835,0.9295272553493965,0.3793898361433131],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.57999999999728,"joint_targets_rad":[0.3050586953956361,1.4910616718133407,-1.257275351487664,-0.18791814198071646,0.9295185178200004,0.37942800163565177],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.599999999997305,"joint_targets_rad":[0.30507109212382105,1.4910664781485325,-1.2572678036340326,-0.18795286492833266,0.9295099537388342,0.37946453387157814],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.61999999999733,"joint_targets_rad":[0.30508303056566083,1.4910709721084985,-1.257260431541787,-0.18798605988964665,0.9295015661770931,0.3794995088384104],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.639999999997354,"joint_targets_rad":[0.30509452728656716,1.4910751740588757,-1.2572532340875213,-0.18801779878222255,0.9294933574355368,0.37953299876912044],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.65999999999738,"joint_targets_rad":[0.3051055983637201,1.4910791029745514,-1.257246209879913,-0.18804814995233995,0.9294853291131687,0.3795650723334496],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.679999999997403,"joint_targets_rad":[0.30511625938607945,1.4910827765389956,-1.257239357281834,-0.1880771783598528,0.9294774821718282,0.37959579481951],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.699999999997427,"joint_targets_rad":[0.30512652545651153,1.4910862112362924,-1.2572326744322713,-0.18810494575323278,0.929469816996782,0.37962522830627154],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.71999999999745,"joint_targets_rad":[0.30513641119570584,1.4910894224364077,-1.257226159267808,-0.18813151083529847,0.9294623334533911,0.3796534318273251],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.739999999997476,"joint_targets_rad":[0.3051459307476225,1.4910924244742005,-1.2572198095434917,-0.1881569294201353,0.929455030939991,0.3796804615263148],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.7599999999975,"joint_targets_rad":[0.3051550977862377,1.4910952307226373,-1.2572136228529225,-0.1881812545816795,0.9294479084370907,0.3797063708044394],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.779999999997525,"joint_targets_rad":[0.3051639255233642,1.4910978536606496,-1.2572075966474794,-0.1882045367944119,0.9294409645530572,0.3797312104603828],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.79999999999755,"joint_targets_rad":[0.30517242671737227,1.491100304936023,-1.257201728254586,-0.1882268240665814,0.9294341975664219,0.37975502882304085],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.819999999997574,"joint_targets_rad":[0.3051806136826434,1.4911025954236974,-1.257196014894974,-0.18824816206637804,0.9294276054649827,0.3797778718774038],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.839999999997598,"joint_targets_rad":[0.30518849829961336,1.4911047352798164,-1.2571904536989222,-0.1882685942414116,0.9294211859818574,0.37979978338391646],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.859999999997623,"joint_targets_rad":[0.3051960920252762,1.491106733991839,-1.2571850417214498,-0.18828816193187914,0.9294149366286583,0.37982080499164755],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.879999999997647,"joint_targets_rad":[0.3052034059040451,1.4911086004250118,-1.257179775956473,-0.18830690447774964,0.9294088547259486,0.37984097634557784],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.89999999999767,"joint_targets_rad":[0.30521045057886514,1.4911103428654728,-1.2571746533499337,-0.18832485932028886,0.9294029374311462,0.3798603351883045],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.919999999997696,"joint_targets_rad":[0.30521723630250125,1.4911119690602328,-1.2571696708119386,-0.18834206209823953,0.9293971817640262,0.37987891745644087],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.93999999999772,"joint_targets_rad":[0.3052237729489207,1.4911134862542668,-1.2571648252279168,-0.1883585467389314,0.9293915846299883,0.3798967573719895],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.959999999997745,"joint_targets_rad":[0.305230070024715,1.4911149012249414,-1.2571601134688573,-0.18837434554461058,0.929386142841224,0.37991388752894584],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.97999999999777,"joint_targets_rad":[0.3052361366804985,1.4911162203139532,-1.2571555324006414,-0.1883894892742314,0.9293808531359352,0.37993033897537537],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":16.999999999997794,"joint_targets_rad":[0.30524198172224426,1.4911174494569883,-1.2571510788925333,-0.18840400722096448,0.9293757121957361,0.3799461412912052],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.019999999997818,"joint_targets_rad":[0.30524761362251096,1.4911185942112521,-1.2571467498248619,-0.1884179272856518,0.9293707166613759,0.3799613226619532],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.039999999997843,"joint_targets_rad":[0.3052530405315288,1.4911196597810392,-1.2571425420959434,-0.18843127604642032,0.9293658631468965,0.37997590994860114],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.059999999997867,"joint_targets_rad":[0.30525827028812247,1.491120651041479,-1.2571384526282818,-0.18844407882467196,0.9293611482523435,0.379989928753828],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.07999999999789,"joint_targets_rad":[0.3052633104304318,1.4911215725606,-1.2571344783741105,-0.18845635974763214,0.9293565685751591,0.3800034034847799],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.099999999997916,"joint_targets_rad":[0.3052681682064297,1.491122428619827,-1.257130616320295,-0.18846814180765395,0.9293521207203287,0.38001635741257267],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.11999999999794,"joint_targets_rad":[0.30527285058420695,1.4911232232330411,-1.2571268634926613,-0.18847944691844298,0.9293478013094091,0.38002881272869393],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.139999999997965,"joint_targets_rad":[0.3052773642620139,1.4911239601642894,-1.257123216959784,-0.18849029596837125,0.9293436069885195,0.380040790598466],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.15999999999799,"joint_targets_rad":[0.30528171567805784,1.4911246429442566,-1.2571196738362587,-0.18850070887104162,0.9293395344353667,0.3800523112117406],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.179999999998014,"joint_targets_rad":[0.30528591102003727,1.4911252748855885,-1.2571162312855364,-0.18851070461323974,0.9293355803654184,0.38006339383095267],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.199999999998038,"joint_targets_rad":[0.30528995623441374,1.4911258590971432,-1.2571128865223091,-0.18852030130041914,0.9293317415372644,0.38007405683668793],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.219999999998063,"joint_targets_rad":[0.3052938570354176,1.4911263984972545,-1.2571096368145165,-0.18852951619985278,0.9293280147572546,0.3800843177708952],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.239999999998087,"joint_targets_rad":[0.30529761891378443,1.4911268958260797,-1.2571064794849913,-0.18853836578157196,0.9293243968834765,0.38009419337786365],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.25999999999811,"joint_targets_rad":[0.30530124714522416,1.491127353657092,-1.2571034119127793,-0.1885468657572088,0.9293208848291299,0.38010369964308854],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.279999999998136,"joint_targets_rad":[0.3053047467986204,1.4911277744077884,-1.2571004315341605,-0.18855503111685937,0.9293174755653537,0.38011285183013477],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.29999999999816,"joint_targets_rad":[0.30530812274396535,1.491128160349663,-1.2570975358433971,-0.18856287616406966,0.9293141661235548,0.3801216645156143],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.319999999998185,"joint_targets_rad":[0.3053113796600309,1.4911285136174983,-1.257094722393245,-0.18857041454904286,0.9293109535972961,0.38013015162236247],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.33999999999821,"joint_targets_rad":[0.3053145220417806,1.4911288362180295,-1.257091988795237,-0.18857765930016104,0.9293078351437769,0.380138326450923],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.359999999998234,"joint_targets_rad":[0.3053175542075269,1.4911291300380216,-1.2570893327197667,-0.18858462285391495,0.9293048079849443,0.3801462017094256],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.379999999998258,"joint_targets_rad":[0.30532048030583553,1.4911293968517985,-1.2570867518960014,-0.1885913170833212,0.9293018694082906,0.380153789541941],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.399999999998283,"joint_targets_rad":[0.3053233043221895,1.4911296383282753,-1.2570842441116306,-0.18859775332490936,0.9292990167673469,0.38016110155539934],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.419999999998307,"joint_targets_rad":[0.30532603008540693,1.491129856037514,-1.2570818072124739,-0.18860394240435133,0.9292962474819212,0.3801681488451413],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.43999999999833,"joint_targets_rad":[0.305328661273831,1.4911300514568469,-1.257079439101968,-0.18860989466080721,0.9292935590381072,0.3801749420191807],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.459999999998356,"joint_targets_rad":[0.3053312014212869,1.49113022597659,-1.2570771377405334,-0.1886156199700541,0.9292909489880797,0.38018149122124373],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.47999999999838,"joint_targets_rad":[0.30533365392282114,1.4911303809053884,-1.2570749011448608,-0.18862112776645695,0.9292884149497166,0.38018780615264763],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.499999999998405,"joint_targets_rad":[0.3053360220402223,1.4911305174752012,-1.2570727273870972,-0.18862642706384883,0.9292859546060521,0.38019389609308685],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.51999999999843,"joint_targets_rad":[0.30533830890733493,1.4911306368459665,-1.2570706145939725,-0.1886315264753745,0.929283565704602,0.38019976992037574],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.539999999998454,"joint_targets_rad":[0.30534051753516733,1.4911307401099636,-1.2570685609458583,-0.188636434232346,0.9292812460565526,0.380205436129208],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.559999999998478,"joint_targets_rad":[0.30534265081680684,1.4911308282958855,-1.2570665646757742,-0.18864115820217026,0.9292789935358602,0.3802109028489843],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.579999999998503,"joint_targets_rad":[0.30534471153214315,1.4911309023726624,-1.2570646240683565,-0.18864570590539428,0.9292768060782468,0.38021617786075607],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.599999999998527,"joint_targets_rad":[0.30534670235240496,1.491130963253026,-1.2570627374587875,-0.18865008453190263,0.9292746816801272,0.38022126861332795],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.61999999999855,"joint_targets_rad":[0.3053486258445249,1.4911310117968528,-1.2570609032316917,-0.18865430095632998,0.929272618397471,0.3802261822385715],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.639999999998576,"joint_targets_rad":[0.30535048447532687,1.4911310488142973,-1.2570591198200252,-0.18865836175271272,0.9292706143446097,0.38023092556598104],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.6599999999986,"joint_targets_rad":[0.3053522806155525,1.4911310750687212,-1.2570573857039324,-0.1886622732084271,0.9292686676930008,0.38023550513652105],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.679999999998625,"joint_targets_rad":[0.3053540165437229,1.491131091279446,-1.2570556994096052,-0.1886660413374451,0.9292667766699587,0.3802399272157906],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.69999999999865,"joint_targets_rad":[0.3053556944498517,1.4911310981243244,-1.2570540595081277,-0.18866967189295095,0.9292649395573596,0.38024419780655283],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.719999999998674,"joint_targets_rad":[0.3053573164390059,1.491131096242158,-1.257052464614324,-0.18867317037933937,0.9292631546903283,0.38024832266065],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.739999999998698,"joint_targets_rad":[0.30535888453472443,1.4911310862349634,-1.2570509133856098,-0.1886765420636368,0.92926142045591,0.380252307290345],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.759999999998723,"joint_targets_rad":[0.3053604006823021,1.4911310686700963,-1.25704940452084,-0.18867979198637372,0.9292597352917384,0.3802561569791147],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.779999999998747,"joint_targets_rad":[0.3053618667519355,1.4911310440822498,-1.2570479367591785,-0.18868292497192457,0.9292580976847,0.38025987679192047],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.79999999999877,"joint_targets_rad":[0.3053632845417473,1.4911310129753284,-1.2570465088789693,-0.18868594563835978,0.9292565061696045,0.3802634715849893],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.819999999998796,"joint_targets_rad":[0.30536465578068406,1.4911309758242048,-1.257045119696621,-0.18868885840682306,0.9292549593278567,0.38026694601512684],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.83999999999882,"joint_targets_rad":[0.30536598213129834,1.4911309330763733,-1.2570437680655093,-0.18869166751045485,0.9292534557861465,0.3802703045485817],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.859999999998845,"joint_targets_rad":[0.3053672651924172,1.4911308851535077,-1.2570424528749005,-0.18869437700289876,0.9292519942151463,0.3802735514694928],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.87999999999887,"joint_targets_rad":[0.30536850650170094,1.4911308324529196,-1.2570411730488817,-0.18869699076639493,0.9292505733282249,0.3802766908879344],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.899999999998894,"joint_targets_rad":[0.30536970753810017,1.4911307753489318,-1.257039927545322,-0.18869951251949713,0.9292491918801838,0.38027972674758087],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.919999999998918,"joint_targets_rad":[0.30537086972420735,1.4911307141941703,-1.2570387153548468,-0.18870194582441424,0.9292478486660114,0.3802826628330078],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.939999999998943,"joint_targets_rad":[0.3053719944285186,1.4911306493207828,-1.2570375354998393,-0.18870429409401565,0.9292465425196589,0.38028550277665557],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.959999999998967,"joint_targets_rad":[0.30537308296759763,1.491130581041582,-1.2570363870334558,-0.18870656059849758,0.9292452723128385,0.38028825006546035],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.97999999999899,"joint_targets_rad":[0.30537413660815366,1.4911305096511225,-1.2570352690386732,-0.18870874847174168,0.9292440369538498,0.38029090804718046],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":17.999999999999016,"joint_targets_rad":[0.3053751565690336,1.4911304354267159,-1.2570341806273508,-0.18871086071736973,0.9292428353864304,0.3802934799364229],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.01999999999904,"joint_targets_rad":[0.30537614402313196,1.4911303586293894,-1.257033120939322,-0.18871290021452064,0.9292416665886274,0.38029596882039823],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.039999999999065,"joint_targets_rad":[0.30537710009922314,1.4911302795047852,-1.257032089141504,-0.18871486972335433,0.9292405295717059,0.38029837766439867],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.05999999999909,"joint_targets_rad":[0.3053780258837199,1.491130198284009,-1.2570310844270345,-0.18871677189029942,0.9292394233790755,0.38030070931703375],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.079999999999114,"joint_targets_rad":[0.30537892242235304,1.4911301151844327,-1.2570301060144293,-0.1887186092530555,0.9292383470852461,0.3803029665152156],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.099999999999138,"joint_targets_rad":[0.30537979072179344,1.4911300304104491,-1.2570291531467659,-0.18872038424536808,0.92923729979482,0.38030515188892416],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.119999999999163,"joint_targets_rad":[0.3053806317511957,1.4911299441541863,-1.2570282250908862,-0.188722099201576,0.9292362806414927,0.38030726796574843],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.139999999999187,"joint_targets_rad":[0.305381446443686,1.4911298565961766,-1.2570273211366259,-0.1887237563609538,0.9292352887871035,0.38030931717522254],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.15999999999921,"joint_targets_rad":[0.3053822356977875,1.4911297679059934,-1.257026440596066,-0.1887253578718544,0.9292343234206988,0.38031130185296735],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.179999999999236,"joint_targets_rad":[0.30538300037878485,1.4911296782428514,-1.2570255828028016,-0.18872690579565565,0.9292333837576243,0.38031322424464065],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.19999999999926,"joint_targets_rad":[0.3053837413200342,1.4911295877561717,-1.2570247471112421,-0.18872840211053224,0.9292324690386495,0.380315086509709],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.219999999999285,"joint_targets_rad":[0.30538445932422126,1.4911294965861148,-1.2570239328959234,-0.18872984871505208,0.9292315785291139,0.3803168907250545],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.23999999999931,"joint_targets_rad":[0.305385155164563,1.4911294048640868,-1.2570231395508469,-0.18873124743160824,0.9292307115181018,0.3803186388884131],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.259999999999334,"joint_targets_rad":[0.30538582958596805,1.4911293127132186,-1.2570223664888385,-0.18873260000969533,0.9292298673176403,0.3803203329216639],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.279999999999358,"joint_targets_rad":[0.3053864833061393,1.4911292202488138,-1.2570216131409264,-0.18873390812903826,0.929229045261925,0.3803219746739699],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.299999999999383,"joint_targets_rad":[0.3053871170166409,1.4911291275787755,-1.257020878955738,-0.18873517340257673,0.929228244706569,0.3803235659247777],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.319999999999407,"joint_targets_rad":[0.30538773138391573,1.4911290348040147,-1.2570201633989238,-0.18873639737931366,0.9292274650278758,0.3803251083866851],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.33999999999943,"joint_targets_rad":[0.3053883270502632,1.4911289420188225,-1.2570194659525866,-0.1887375815470418,0.9292267056221393,0.38032660370818455],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.359999999999456,"joint_targets_rad":[0.3053889046347783,1.4911288493112393,-1.2570187861147422,-0.18873872733493954,0.9292259659049598,0.3803280534762801],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.37999999999948,"joint_targets_rad":[0.3053894647342512,1.4911287567633913,-1.2570181233987883,-0.1887398361160548,0.9292252453105878,0.3803294592189959],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.399999999999505,"joint_targets_rad":[0.3053900079240287,1.4911286644518147,-1.2570174773329996,-0.18874090920967418,0.9292245432912921,0.3803308224077669],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.41999999999953,"joint_targets_rad":[0.3053905347588434,1.491128572447763,-1.257016847460034,-0.1887419478835916,0.9292238593167411,0.38033214445973096],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.439999999999554,"joint_targets_rad":[0.30539104577360826,1.491128480817494,-1.2570162333364572,-0.18874295335627087,0.9292231928734123,0.38033342673992243],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.459999999999578,"joint_targets_rad":[0.3053915414841778,1.4911283896225451,-1.2570156345322796,-0.18874392679891136,0.9292225434640186,0.3803346705633608],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.479999999999603,"joint_targets_rad":[0.30539202238807955,1.4911282989199914,-1.2570150506305162,-0.18874486933742737,0.9292219106069528,0.38033587719706197],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.499999999999627,"joint_targets_rad":[0.30539248896521676,1.4911282087626938,-1.2570144812267574,-0.18874578205433484,0.9292212938357571,0.3803370478619521],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.51999999999965,"joint_targets_rad":[0.30539294167853975,1.491128119199531,-1.2570139259287527,-0.18874666599055484,0.9292206926986033,0.3803381837347039],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.539999999999676,"joint_targets_rad":[0.30539338097469293,1.491128030275614,-1.2570133843560094,-0.1887475221471403,0.9292201067577985,0.38033928594949257],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.5599999999997,"joint_targets_rad":[0.3053938072846353,1.4911279420325054,-1.2570128561394092,-0.18874835148692656,0.9292195355892985,0.3803403555996787],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.579999999999725,"joint_targets_rad":[0.30539422102423464,1.4911278545084108,-1.2570123409208336,-0.18874915493610483,0.9292189787822491,0.38034139373941556],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.59999999999975,"joint_targets_rad":[0.3053946225948382,1.4911277677383643,-1.2570118383528022,-0.18874993338573184,0.9292184359385373,0.3803424013851917],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.619999999999774,"joint_targets_rad":[0.3053950123838258,1.4911276817544128,-1.2570113480981306,-0.18875068769317674,0.9292179066723631,0.3803433795173111],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.639999999999798,"joint_targets_rad":[0.3053953907651198,1.4911275965857766,-1.257010869829574,-0.18875141868347514,0.9292173906097949,0.380344329081276],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.659999999999823,"joint_targets_rad":[0.3053957580997195,1.4911275122590157,-1.2570104032295404,-0.1887521271506979,0.9292168873884276,0.38034525098920496],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.679999999999847,"joint_targets_rad":[0.30539611473615863,1.491127428798179,-1.2570099479897432,-0.18875281385916054,0.9292163966569333,0.38034614612106304],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.69999999999987,"joint_targets_rad":[0.3053964610109775,1.491127346224942,-1.2570095038109028,-0.18875347954464833,0.9292159180747047,0.3803470153259237],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.719999999999896,"joint_targets_rad":[0.30539679724918795,1.4911272645587546,-1.2570090704024874,-0.18875412491559834,0.9292154513115323,0.3803478594231963],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.73999999999992,"joint_targets_rad":[0.3053971237646755,1.4911271838169562,-1.2570086474823818,-0.18875475065415617,0.9292149960471925,0.3803486792037059],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.759999999999945,"joint_targets_rad":[0.30539744086063014,1.4911271040149088,-1.2570082347766542,-0.18875535741726815,0.9292145519711595,0.38034947543082814],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.77999999999997,"joint_targets_rad":[0.305397748829937,1.4911270251661055,-1.257007832019276,-0.1887559458376812,0.9292141187822661,0.3803502488415241],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.799999999999994,"joint_targets_rad":[0.3053980479555572,1.491126947282286,-1.2570074389518742,-0.1887565165249158,0.9292136961883881,0.38035100014734624],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.820000000000018,"joint_targets_rad":[0.30539833851089104,1.4911268703735348,-1.2570070553234833,-0.18875707006618506,0.9292132839061484,0.3803517300353979],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.840000000000042,"joint_targets_rad":[0.3053986207601325,1.4911267944483853,-1.257006680890313,-0.18875760702729216,0.9292128816606257,0.3803524391692614],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.860000000000067,"joint_targets_rad":[0.3053988949586049,1.4911267195139108,-1.2570063154155178,-0.1887581279534768,0.9292124891850744,0.3803531281898839],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.88000000000009,"joint_targets_rad":[0.305399161353081,1.4911266455758103,-1.257005958668973,-0.1887586333702225,0.9292121062206478,0.3803537977164158],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.900000000000116,"joint_targets_rad":[0.305399420182101,1.4911265726384983,-1.25700561042707,-0.1887591237840465,0.9292117325161485,0.3803544483470415],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.92000000000014,"joint_targets_rad":[0.3053996716762683,1.491126500705181,-1.2570052704725083,-0.18875959968324085,0.9292113678277708,0.3803550806597513],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.940000000000165,"joint_targets_rad":[0.305399916058535,1.4911264297779327,-1.2570049385940945,-0.18876006153858726,0.9292110119188592,0.38035569521309337],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.96000000000019,"joint_targets_rad":[0.30540015354448247,1.4911263598577655,-1.2570046145865525,-0.18876050980404316,0.9292106645596735,0.3803562925468937],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":18.980000000000214,"joint_targets_rad":[0.3054003843425837,1.4911262909446998,-1.2570042982503415,-0.18876094491739823,0.9292103255271676,0.3803568731829473],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.000000000000238,"joint_targets_rad":[0.30540060865445945,1.491126223037829,-1.2570039893914728,-0.18876136730090262,0.9292099946047645,0.38035743762568],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.020000000000262,"joint_targets_rad":[0.3054008266751246,1.4911261561353766,-1.2570036878213446,-0.18876177736186986,0.9292096715821585,0.38035798636278734],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.040000000000287,"joint_targets_rad":[0.3054010385932205,1.4911260902347565,-1.2570033933565634,-0.18876217549325194,0.9292093562550956,0.3803585198658392],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.06000000000031,"joint_targets_rad":[0.3054012445912469,1.4911260253326286,-1.2570031058187963,-0.18876256207419648,0.9292090484251927,0.38035903859087394],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.080000000000336,"joint_targets_rad":[0.3054014448457772,1.49112596142495,-1.2570028250346108,-0.18876293747057746,0.9292087478997471,0.3803595429789616],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.10000000000036,"joint_targets_rad":[0.3054016395276696,1.4911258985070213,-1.2570025508353224,-0.1887633020355012,0.9292084544915493,0.380360033456741],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.120000000000385,"joint_targets_rad":[0.30540182880226546,1.4911258365735356,-1.2570022830568512,-0.18876365610979107,0.9292081680187088,0.3803605104369369],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.14000000000041,"joint_targets_rad":[0.30540201282958823,1.4911257756186245,-1.257002021539583,-0.18876400002246513,0.9292078883044896,0.38036097431887],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.160000000000434,"joint_targets_rad":[0.30540219176452704,1.4911257156358952,-1.2570017661282338,-0.18876433409117419,0.9292076151771413,0.38036142548892676],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.180000000000458,"joint_targets_rad":[0.3054023657570155,1.4911256566184719,-1.2570015166717168,-0.18876465862263514,0.9292073484697444,0.3803618643210217],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.200000000000482,"joint_targets_rad":[0.3054025349522106,1.491125598559035,-1.2570012730230198,-0.18876497391305008,0.9292070880200595,0.3803622911770515],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.220000000000507,"joint_targets_rad":[0.30540269949064874,1.4911255414498534,-1.2570010350390797,-0.18876528024848965,0.9292068336703757,0.380362706407302],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.24000000000053,"joint_targets_rad":[0.3054028595084165,1.491125485282819,-1.2570008025806663,-0.1887655779052843,0.9292065852673749,0.380363110350877],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.260000000000556,"joint_targets_rad":[0.3054030151372957,1.4911254300494798,-1.2570005755122673,-0.18876586715037863,0.9292063426619886,0.38036350333607416],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.28000000000058,"joint_targets_rad":[0.30540316650491967,1.4911253757410665,-1.2570003537019772,-0.1887661482416923,0.9292061057092712,0.3803638856807818],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.300000000000605,"joint_targets_rad":[0.30540331373490864,1.4911253223485235,-1.257000137021394,-0.18876642142844435,0.9292058742682705,0.38036425769282595],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.32000000000063,"joint_targets_rad":[0.3054034569470114,1.4911252698625337,-1.2569999253455097,-0.18876668695148033,0.9292056482019014,0.3803646196703303],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.340000000000654,"joint_targets_rad":[0.3054035962572377,1.4911252182735466,-1.2569997185526187,-0.1887669450435825,0.929205427376833,0.3803649719020503],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.360000000000678,"joint_targets_rad":[0.3054037317779826,1.4911251675717974,-1.2569995165242156,-0.18876719592976313,0.9292052116633679,0.38036531466769596],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.380000000000702,"joint_targets_rad":[0.3054038636181535,1.4911251177473333,-1.2569993191449005,-0.18876743982755387,0.9292050009353361,0.3803656482382479],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.400000000000727,"joint_targets_rad":[0.3054039918832842,1.4911250687900337,-1.2569991263022955,-0.188767676947275,0.9292047950699834,0.3803659728762513],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.42000000000075,"joint_targets_rad":[0.30540411667565037,1.4911250206896287,-1.2569989378869508,-0.18876790749229966,0.9292045939478708,0.3803662888361063],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.440000000000776,"joint_targets_rad":[0.3054042380943793,1.4911249734357186,-1.2569987537922616,-0.18876813165930467,0.9292043974527732,0.3803665963643483],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.4600000000008,"joint_targets_rad":[0.30540435623555534,1.4911249270177946,-1.256998573914389,-0.1887683496385186,0.9292042054715808,0.3803668956999136],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.480000000000825,"joint_targets_rad":[0.30540447119232256,1.4911248814252487,-1.2569983981521782,-0.18876856161394784,0.9292040178942129,0.3803671870743967],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.50000000000085,"joint_targets_rad":[0.3054045830549801,1.491124836647398,-1.2569982264070836,-0.1887687677636021,0.9292038346135169,0.38036747071229654],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.520000000000874,"joint_targets_rad":[0.3054046919110811,1.4911247926734916,-1.2569980585830918,-0.18876896825971387,0.9292036555251901,0.3803677468312616],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.540000000000898,"joint_targets_rad":[0.3054047978455174,1.4911247494927296,-1.256997894586652,-0.18876916326893553,0.9292034805276892,0.3803680156423078],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.560000000000922,"joint_targets_rad":[0.3054049009406151,1.4911247070942732,-1.2569977343266059,-0.18876935295254965,0.9292033095221521,0.3803682773500544],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.580000000000947,"joint_targets_rad":[0.3054050012762108,1.491124665467259,-1.256997577714121,-0.1887695374666475,0.9292031424123178,0.3803685321529227],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.60000000000097,"joint_targets_rad":[0.30540509892974255,1.4911246246008105,-1.2569974246626245,-0.18876971696232586,0.9292029791044518,0.38036878024335735],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.620000000000996,"joint_targets_rad":[0.30540519397631954,1.4911245844840464,-1.2569972750877392,-0.18876989158585097,0.929202819507268,0.38036902180800775],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.64000000000102,"joint_targets_rad":[0.3054052864888029,1.4911245451060908,-1.2569971289072221,-0.18877006147883366,0.9292026635318605,0.38036925702792995],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.660000000001045,"joint_targets_rad":[0.3054053765378787,1.49112450645609,-1.2569969860409111,-0.18877022677839542,0.9292025110916364,0.3803694860787687],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.68000000000107,"joint_targets_rad":[0.3054054641921274,1.4911244685232077,-1.2569968464106571,-0.18877038761731815,0.9292023621022448,0.3803697091309313],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.700000000001094,"joint_targets_rad":[0.3054055495180909,1.4911244312966472,-1.256996709940277,-0.18877054412420016,0.9292022164815136,0.3803699263497604],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.720000000001118,"joint_targets_rad":[0.3054056325803415,1.4911243947656496,-1.2569965765554962,-0.18877069642360184,0.9292020741493888,0.38037013789570007],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.740000000001142,"joint_targets_rad":[0.30540571344154094,1.491124358919505,-1.2569964461838956,-0.18877084463617844,0.9292019350278709,0.38037034392445085],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.760000000001167,"joint_targets_rad":[0.3054057921625072,1.491124323747558,-1.2569963187548623,-0.1887709888788255,0.9292017990409593,0.3803705445871293],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.78000000000119,"joint_targets_rad":[0.3054058688022672,1.491124289239215,-1.2569961941995407,-0.18877112926479775,0.929201666114593,0.38037074003040877],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.800000000001216,"joint_targets_rad":[0.3054059434181181,1.4911242553839485,-1.2569960724507816,-0.18877126590383764,0.929201536176597,0.3803709303966657],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.82000000000124,"joint_targets_rad":[0.30540601606568013,1.4911242221713028,-1.2569959534431023,-0.1887713989022966,0.9292014091566302,0.38037111582411615],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.840000000001265,"joint_targets_rad":[0.30540608679895176,1.4911241895909002,-1.2569958371126349,-0.18877152836324904,0.9292012849861304,0.3803712964469493],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.86000000000129,"joint_targets_rad":[0.3054061556703577,1.4911241576324439,-1.2569957233970868,-0.18877165438660248,0.9292011635982678,0.38037147239545477],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.880000000001314,"joint_targets_rad":[0.3054062227308017,1.4911241262857229,-1.2569956122356978,-0.18877177706920278,0.9292010449278956,0.3803716437961434],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.900000000001338,"joint_targets_rad":[0.3054062880297123,1.4911240955406153,-1.2569955035691989,-0.1887718965049443,0.9292009289115041,0.3803718107718742],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.920000000001362,"joint_targets_rad":[0.30540635161509005,1.4911240653870925,-1.2569953973397703,-0.18877201278485997,0.9292008154871718,0.38037197344196033],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.940000000001387,"joint_targets_rad":[0.3054064135335509,1.4911240358152227,-1.256995293491009,-0.18877212599722165,0.9292007045945266,0.3803721319222858],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.96000000000141,"joint_targets_rad":[0.3054064738303706,1.4911240068151725,-1.256995191967883,-0.18877223622763348,0.9292005961746985,0.38037228632541237],"gripper_position_m":0.035,"phase":"verify"},{"t_seconds":19.980000000001436,"joint_targets_rad":[0.3054065325495242,1.4911239783772097,-1.2569950927167035,-0.18877234355911438,0.9292004901702823,0.38037243676067856],"gripper_position_m":0.035,"phase":"verify"}],"arm_tape":[[-0.0032225383951653974,1.5379477743301546,-1.312697610169742,-0.0002013559372516494,0.046133687260650556,-0.00022964299217863895],[-0.0032911536439814014,1.5368883699923779,-1.3112938316713023,-0.00016246792718440945,0.046258016778752284,-0.0002649432036534702],[-0.0034427030857386346,1.5318662450144371,-1.3047354761847227,7.506399782289892e-05,0.04695087488550965,-0.0004889084823938521],[-0.003608173131030272,1.5252872690548724,-1.2965664805679573,0.0007122200236167778,0.04866382261535046,-0.0011417544192522066],[-0.0037757373723611583,1.5183937675030632,-1.2883496825775533,0.0016196485399883609,0.05096250894318423,-0.0020626818617353456],[-0.003946648183355772,1.5114263315763772,-1.280218844230977,0.002620342941816456,0.05334364074334193,-0.0030518244905690765],[-0.004122074542493312,1.5044545635649358,-1.2722071259600618,0.0036830781570615966,0.055711708805866435,-0.004070925100865065],[-0.004302597477710414,1.497502717432372,-1.2643152999531158,0.004800262028035592,0.05804865282690373,-0.0051111805382658216],[-0.0044885427399441544,1.490582808819236,-1.2565377201461891,0.005969994367585433,0.06035509226998102,-0.006170858692213806],[-0.004680148958593232,1.483702753527218,-1.2488679535385152,0.007191563836830552,0.06263525107163406,-0.007249698787598205],[-0.004877627085943908,1.476868550836081,-1.2413000537932846,0.008464420961220668,0.06489349636839696,-0.008347636470951384],[-0.0050811780226642095,1.4700849769940025,-1.2338287660746885,0.00978794341585402,0.06713361023896772,-0.009464521242801463],[-0.005290993793155987,1.4633559898887096,-1.2264496644552199,0.011161342512781069,0.06935858853610388,-0.010600024213883492],[-0.005507254590013253,1.4566849448360835,-1.2191591596894495,0.01258360862653288,0.07157055818461686,-0.011753589319728497],[-0.005730137141239667,1.4500743510159264,-1.2119538272957353,0.014053679459358004,0.07377122839498491,-0.012924593581247576],[-0.005959813277017625,1.4435261510820225,-1.2048305610134349,0.015570496254065851,0.07596209030958256,-0.014112425527813402],[-0.006196447101091232,1.4370418780945386,-1.1977865670770997,0.017132924249677883,0.07814434867519648,-0.015316452848594361],[-0.006440749237790868,1.4306228750268493,-1.1908191254986966,0.01876339794350846,0.08031957523924932,-0.01653571028445219],[-0.006693393875053683,1.4242702609135671,-1.1839259312861763,0.020481871758531008,0.08248891929830135,-0.01777008163675863],[-0.006954861803482898,1.417984864366361,-1.1771049887368321,0.022299152456574673,0.0846530885250546,-0.01901948556349465],[-0.007226670098140054,1.411767263238997,-1.1703544765037701,0.024223771924048294,0.08681279827185576,-0.020283749270630504],[-0.007512517521167569,1.4056178337359226,-1.1636727922579835,0.02625631567113925,0.08896839774843729,-0.021563484522601054],[-0.00781706469355187,1.3995367863000485,-1.1570583407206374,0.02839468221082616,0.09111999265655604,-0.02285856255017916],[-0.008147033665881891,1.393524216836159,-1.1505096499158145,0.03063678044979607,0.09326803253203221,-0.02416899864512795],[-0.008507738573628156,1.3875802036681981,-1.1440252202007328,0.03298036468445593,0.09541246679278,-0.02549460047324532],[-0.008902671632567255,1.3817051095697006,-1.137603785572939,0.03542310037953249,0.0975529372551362,-0.026835036607239935],[-0.009334259245398508,1.3758991776367167,-1.1312440169056774,0.037962679154549775,0.09968909936321221,-0.028189992603970596],[-0.009804309869017383,1.370162504188597,-1.1249445552325894,0.040596842685298284,0.1018206914222145,-0.02955920728837462],[-0.010314248098816484,1.3644951073742866,-1.1187040596135507,0.043323367190635884,0.10394746839982248,-0.030942453690882367],[-0.01086525114857249,1.358896958599037,-1.1125212154991018,0.046140056501203966,0.10606916924357498,-0.03233953004510187],[-0.011458353593651882,1.353367996468632,-1.106394732241633,0.04904474090421995,0.10818550906550817,-0.033750258100925995],[-0.012094465033611508,1.3479081354900737,-1.1003233404051886,0.0520352777138323,0.11029617883754853,-0.03517448080933671],[-0.012774426608154824,1.342517270784512,-1.094305786098548,0.05510955114791265,0.11240084662506016,-0.0366120614048612],[-0.013498973639053443,1.3371952792580803,-1.0883408321439534,0.05826495537908845,0.1144991445744506,-0.03806287138567201],[-0.014268806215695632,1.3319421455530907,-1.0824274537518215,0.06149933951819578,0.11659055607284526,-0.03952675028745354],[-0.01508454363179905,1.3267577943416806,-1.0765645979154643,0.06481061839483646,0.11867447816526475,-0.04100353849400624],[-0.015946775403771644,1.3216420546356984,-1.070751107845967,0.06819675483234279,0.12075037359179944,-0.04249311635536512],[-0.01685601242837796,1.3165947276056698,-1.064985794694642,0.07165575119162822,0.12281775887548704,-0.04399539310212655],[-0.017812733845235802,1.3116156080653971,-1.0592674515592049,0.07518563749238948,0.12487616218913627,-0.04551028976716382],[-0.018817335175710076,1.3067044912242805,-1.0535948618865165,0.07878447002264186,0.12692511140271934,-0.04703772668080432],[-0.019870184013776743,1.3018611720177313,-1.0479667974034066,0.08245032426648932,0.1289641278237759,-0.0485776355060927],[-0.0209715615836774,1.2970854457218361,-1.0423820222363789,0.08618129579809382,0.1309927253696986,-0.05012994857275951],[-0.02212173600013894,1.292377090953464,-1.0368393849405246,0.08997486303105046,0.13301034796173902,-0.051699569263353395],[-0.023320872772154763,1.2877358700127493,-1.0313377205688592,0.09382821986398981,0.13501646086952404,-0.0532922874523345],[-0.02456910478943713,1.2831615411783697,-1.0258758436749544,0.09773861020242375,0.13701073789922216,-0.05491242982321575],[-0.025866456100070823,1.2786538789194353,-1.0204525242292153,0.10170330562152716,0.13899274280783364,-0.05656355633512129],[-0.027212913479998654,1.2742126728583494,-1.0150664857599885,0.10571973258766151,0.14096202189874854,-0.058247084062758414],[-0.02860835148764517,1.2698380575819015,-1.0097166604026186,0.10978514272598384,0.14291797884642027,-0.059965537758258275],[-0.030052622361857035,1.2655300204636757,-1.0044018627835345,0.11389653487214799,0.14486003813481618,-0.06172278514915226],[-0.03154557045071664,1.261288447007581,-0.9991211948451034,0.11804997095528101,0.14678762464877404,-0.06353578100427502],[-0.03308680024031474,1.257113081640795,-0.9938734261467761,0.12223998501888259,0.14870031596752786,-0.06541327031399422],[-0.03467556859602432,1.2530037460669574,-0.9886571895370404,0.1264635494294073,0.15059788554341386,-0.06735368130263679],[-0.03631121392844801,1.2489602855017101,-0.9834711887395046,0.1307177909471796,0.15248006142271503,-0.06935487929319235],[-0.037993087456056694,1.2449825335792402,-0.9783141638059741,0.13499985774569492,0.15434651012077302,-0.07141472468318627],[-0.03972053434048749,1.2410703046136837,-0.9731848752292509,0.13930691578662835,0.15619685389317334,-0.0735310782942793],[-0.04149284050497743,1.2372233940511215,-0.968082102004342,0.14363615283491876,0.15803068501526288,-0.07570180335501173],[-0.04330923490535933,1.233441578925658,-0.9630046364571193,0.1479847761627932,0.1598475723314513,-0.07792476417961483],[-0.045168878473821006,1.2297246196506948,-0.957951282659661,0.15235001213698876,0.16164706590556982,-0.08019782517194027],[-0.047070858215761686,1.2260722612568717,-0.9529208551565743,0.15672910521350797,0.16342870040443772,-0.08251884940277013],[-0.04901419038731967,1.2224842343191777,-0.9479121773174798,0.16111931589853973,0.16519199698749526,-0.08488569663170933],[-0.05099782489149246,1.2189602558628316,-0.9429240799862094,0.16551791844559138,0.1669364642888274,-0.08729622111251487],[-0.05302063046987459,1.2155000301392629,-0.9379554029200434,0.16992220149170167,0.16866160099011707,-0.08974827073467906],[-0.05508141552517115,1.212103248458997,-0.9330049917014123,0.17432946330000332,0.170366895005173,-0.09223968365219332],[-0.0571789299112268,1.2087695842065929,-0.9280717555402602,0.17873704711127342,0.17205210707780247,-0.09476832095429732],[-0.05931184288820027,1.205498697165675,-0.9231545348071214,0.18314227540612044,0.17371674473669968,-0.097332007352779],[-0.06147874261515873,1.2022902455265672,-0.9182521900587928,0.18754247795033016,0.17536029390755753,-0.09992855180280105],[-0.06367816674048685,1.199143876419334,-0.9133635946785422,0.19193498809412318,0.17698224341434915,-0.10255574572841028],[-0.06590858766642534,1.1960592214984813,-0.9084876683540359,0.1963171643244902,0.178582253000297,-0.10521138218957606],[-0.06816840524908782,1.1930358969251595,-0.90362328816312,0.2006863507550421,0.18015981572916434,-0.10789322101743207],[-0.07045594978675387,1.1900735126641835,-0.898769349145508,0.20503989314833723,0.18171441136246336,-0.11059899991064435],[-0.07276948226620646,1.187171900501714,-0.8939248619446707,0.20937512577843326,0.183245476365611,-0.11332641482860872],[-0.07510719687483716,1.1843308823843983,-0.8890887989127191,0.21368938290804634,0.18475242992619206,-0.11607313885203097],[-0.07746724608397891,1.1815501257097287,-0.8842600577034337,0.2179800014656469,0.18623473277965702,-0.11883683459651398],[-0.07984770579679712,1.1788292302628138,-0.8794375232337651,0.22224431203297274,0.1876917804886602,-0.12161513709528111],[-0.08224659922035127,1.176167755409801,-0.874620112380605,0.22647964440431256,0.18912301437030576,-0.1244056547539516],[-0.08466189024981798,1.1735652275284292,-0.8698067664865569,0.23068332718546766,0.19052790524267763,-0.1272059677074972],[-0.08709148414618552,1.1710211456715967,-0.8649964424606732,0.23485268326875025,0.19190591913553764,-0.13001362378919062],[-0.0895332248212049,1.1685349855072769,-0.8601881148464615,0.23898503031373727,0.19325651807166352,-0.13282613764934997],[-0.09198489974965646,1.1661062005721625,-0.8553807752545936,0.2430776788806001,0.19457916062914304,-0.13564098896902416],[-0.09444424287876549,1.1637342230238694,-0.8505734325956219,0.2471279313179295,0.19587330492577276,-0.1384556212916923],[-0.09690899000915808,1.1614184609649547,-0.8457652246585936,0.2511331205907696,0.19713894626872347,-0.14126748339259895],[-0.09937676721500056,1.159158290119465,-0.8409551568435094,0.2550905455275836,0.19837562684902565,-0.14407396659360272],[-0.10184515589440929,1.1569530859559851,-0.8361422731245126,0.2589974903993626,0.19958286396337455,-0.14687241782239427],[-0.10431169244265744,1.1548022070080264,-0.8313256427335483,0.26285122619572726,0.20076016469340704,-0.14966013942119444],[-0.10677386824038744,1.1527049899730648,-0.8265043572096356,0.2666490109937366,0.20190703517889624,-0.15243438959058703],[-0.10922913035140468,1.1506607478722068,-0.8216775295645312,0.2703880890112891,0.20302298529581095,-0.15519238189346118],[-0.11167493948354164,1.1486687697085347,-0.8168444034338864,0.27406572292993814,0.20410804178990888,-0.15793132226342105],[-0.11410867690543684,1.1467283050452082,-0.8120041420594882,0.2776791567596738,0.20516201766571102,-0.16064837245454183],[-0.11652766600344362,1.1448385922357964,-0.8071558907179909,0.28122560580087574,0.2061845326054799,-0.16334063593897152],[-0.1189291992259605,1.1429988560354023,-0.8022988318084138,0.28470226302118606,0.20717519194532097,-0.16600516013333566],[-0.12131057234557772,1.1412082976558091,-0.7974322443129431,0.28810631888579313,0.20813390751232716,-0.16863895970856874],[-0.12366907406018215,1.1394660815227122,-0.7925554614798266,0.29143496631640853,0.20906087768013595,-0.17123902799780497],[-0.12600190313738935,1.1377713342471085,-0.7876677076670812,0.29468536324507777,0.20995590078832974,-0.17380229368171904],[-0.12830632371773837,1.1361231706778736,-0.7827684002290283,0.2978546877869957,0.21081951799562143,-0.1763256855945508],[-0.13057959315791895,1.1345206777466506,-0.7778569875223798,0.30094011616532634,0.2116524685571832,-0.17880611238831123],[-0.13281884042290243,1.1329628958335807,-0.7729327097802686,0.3039387724766431,0.2124547389001032,-0.18124039975404926],[-0.13502122759252005,1.1314488754290846,-0.7679949427546924,0.30684773830511697,0.21322651609458623,-0.18362531007856545],[-0.1371839274130112,1.1299776301708002,-0.7630432079860191,0.3096634594467598,0.2139684424574344,-0.18595751059243296],[-0.13930404552620687,1.128548302992256,-0.7580769198227417,0.312382941204359,0.2146806233769793,-0.18823363228320156],[-0.1413788058159201,1.127160000328319,-0.7530957179038793,0.31500317739636546,0.2153640100767393,-0.1904502838185371],[-0.14340531003140086,1.1258116282805826,-0.7480989658558591,0.3175211217520868,0.21601891918314364,-0.19260400490327756],[-0.145380764791101,1.124502059206882,-0.7430862676365602,0.3199337063449247,0.21664633557462348,-0.1946913030549792],[-0.1473022874848192,1.1232300545448444,-0.7380570760149497,0.3222378219238656,0.21724681492456346,-0.19670860922339098],[-0.1491670988299649,1.1219943553063991,-0.7330110702530481,0.32443032951384787,0.21782152870217864,-0.19865231373678563],[-0.15097233641701865,1.1207935896749792,-0.7279477748827998,0.32650804675115436,0.21837124552370232,-0.20051872912872315],[-0.15271523349605648,1.1196263605847954,-0.7228669109121472,0.32846774452074046,0.21889722959386715,-0.20230411182771432],[-0.15439298570815913,1.1184911585551374,-0.7177681149675285,0.3303061540469052,0.21940059997247485,-0.20400464981859717],[-0.15600281833639895,1.1173864084068845,-0.7126510790772206,0.3320199384026441,0.21988255563339063,-0.20561644655964065],[-0.1575420081496006,1.116310448425963,-0.7075155734350396,0.33360570787126526,0.22034456235641844,-0.20713553683844926],[-0.1590079383247382,1.1152614996431292,-0.7023614972465716,0.3350601083947201,0.22078894985922812,-0.2085579930123516],[-0.16039769615993663,1.1142376742557403,-0.6971886300814224,0.33637963350545763,0.22121762119937807,-0.20987960815187898],[-0.1617082902437423,1.1132369723082063,-0.6919967880085915,0.3375605164139612,0.22163249347105402,-0.211096491235445],[-0.16293705719321855,1.1122572391076682,-0.6867857400311196,0.33859939329501043,0.22203543109207788,-0.2122046742832062],[-0.16408147178514665,1.1112961684697555,-0.6815552986816301,0.33949272524348006,0.22242829622589355,-0.21319999606107898],[-0.16513911840997558,1.1103512517892389,-0.6763053319736771,0.3402368844755257,0.22281324231963553,-0.21407818983878973],[-0.16610763080955845,1.1094197479755006,-0.6710356868983162,0.3408281164215921,0.22319238789112922,-0.21483485013830883],[-0.16698469201961472,1.1084986595258006,-0.6657462051388774,0.3412624869203292,0.22356774524341422,-0.21546537560318887],[-0.16776814799718445,1.1075846912367626,-0.6604368774586566,0.34153598968279664,0.22394209014137414,-0.21596509653275203],[-0.16845574302687036,1.1066741607702495,-0.6551074331533582,0.34164428301799216,0.2243171261904156,-0.21632896881432154],[-0.1690460450035164,1.105762955234411,-0.6497572640656093,0.34159081040066164,0.22469449009955508,-0.21655426816389037],[-0.1695391859544729,1.1048464155842277,-0.6443849249274997,0.3413987713541046,0.22507571044090496,-0.21664236067535486],[-0.1699376536474146,1.1039195509237782,-0.6389897933984812,0.34111259850043585,0.22546379836366193,-0.21662928022487027],[-0.1702412062843767,1.1029765976269383,-0.633573495120165,0.3407358813568203,0.22586310305171214,-0.21654499363738755],[-0.17045009662940194,1.102010668442386,-0.6281366427762107,0.3402673743066374,0.2262776729639234,-0.21640253586926322],[-0.17056533688152503,1.1010138982663056,-0.6226793175829752,0.33970591649902504,0.22671153891353932,-0.2162035514666114],[-0.17058865575318802,1.0999772722516772,-0.6172016533806551,0.3390497890514705,0.22716935074738995,-0.21594765280996603],[-0.17052247686647273,1.0988902619666563,-0.6117038497564055,0.33829680311770965,0.22765666237642845,-0.21563385235225974],[-0.17037294273052106,1.0977399940646513,-0.6061855985211667,0.33740341398287566,0.22817613482072382,-0.2152133623046729],[-0.17014161766059815,1.0965111203582318,-0.6006465080586539,0.33623409735695675,0.22872223747895287,-0.21453212192760288],[-0.16980835064595237,1.0951863580599699,-0.5950888938858687,0.33467482729606074,0.22929526323366503,-0.21346474929108605],[-0.16933705334203916,1.093744326897352,-0.5895171140576617,0.33259109122711583,0.22989952645118278,-0.21186584633032243],[-0.16867045240295442,1.0921580577499732,-0.5839386219310206,0.32978318711400606,0.23054088750175963,-0.2095174486851858],[-0.16928344137494444,1.0930989723557012,-0.5862341784556006,0.32407980949958787,0.23654315851042057,-0.20480401871619006],[-0.17042280838353213,1.0947676636195778,-0.5907186257871372,0.31835685273244585,0.24456617800939473,-0.20050383971381686],[-0.17176188221269173,1.0965636067920175,-0.5955884196762316,0.31361533888447607,0.2533824445538749,-0.19787286412358449],[-0.1731002289909848,1.0982883691644467,-0.6002564803405847,0.31027041915578324,0.2618825810406669,-0.19709920487407762],[-0.17410960183728008,1.0996991342882645,-0.6040423114917455,0.3075190129171957,0.2687302398598761,-0.1968423873894872],[-0.1748586153886073,1.100931967417907,-0.6073117656791875,0.3046436941871501,0.274561935684489,-0.19632101671133517],[-0.17541772592794094,1.102001784534848,-0.6101113545108026,0.3020425653943354,0.2794984850752374,-0.19601447736121547],[-0.17579511380014945,1.1028676006746856,-0.6123511791695839,0.2999166027235576,0.2834030872863319,-0.19611611618829833],[-0.17601083676343088,1.1035172805874207,-0.6140194990341085,0.2982876226869622,0.2862741228386292,-0.19661187791345927],[-0.17609752093364966,1.1039672672035072,-0.6151746375275287,0.2970960917166007,0.28823087961162597,-0.1974137060899508],[-0.17609525589072553,1.1042557522144925,-0.6159236561560927,0.2962505173350823,0.28947454563931835,-0.1984158041142614],[-0.17604790382659682,1.1044388062079242,-0.616412070353661,0.2956354136689022,0.29026897230668874,-0.19950669956581246],[-0.17599463054243009,1.1045780101909877,-0.6167939098667841,0.2951220562134179,0.290887283617726,-0.2005731624234],[-0.17595465134463747,1.104728031726221,-0.617203393458844,0.29452181571541614,0.2915579662521686,-0.20143293556929123],[-0.1759371477295186,1.1049265605365188,-0.6177322754587735,0.2937060272048963,0.2924351453050409,-0.20198915170298729],[-0.17595557574936185,1.1051962352271523,-0.6184349449764759,0.29267554314690497,0.2936148954924541,-0.20229568977710657],[-0.176018834621008,1.1055452231532585,-0.6193302019559465,0.2914816462685517,0.29513279141785775,-0.2024466053850138],[-0.17612939336791475,1.1059706533604738,-0.6204097532087455,0.2901879855750847,0.296976520581759,-0.2025309472567655],[-0.17628536071265608,1.1064660625681588,-0.6216566072704578,0.28884016601980667,0.2991169219263897,-0.2026038682380781],[-0.1764785562774497,1.1070195833403658,-0.6230406933511546,0.28746538766771385,0.3015000190092597,-0.20269065970757114],[-0.17669906866145585,1.107615533947472,-0.6245226780864033,0.28609547655391915,0.30405584041876,-0.20281665093120754],[-0.17693722063577547,1.1082370207820373,-0.6260604199186399,0.2847643324814836,0.30671000216428246,-0.20300564567736176],[-0.17718437884763688,1.1088681620345529,-0.6276145585176841,0.28350045580176814,0.3093932825076368,-0.20327309691374534],[-0.17743362151762807,1.1094956600014494,-0.6291524450078181,0.2823236790104196,0.3120484370957433,-0.2036245578518858],[-0.17767989775250073,1.1101095671270134,-0.6306500107829628,0.2812438889395998,0.31463336716877555,-0.20405597719348745],[-0.17792007869320917,1.1107036562470411,-0.6320925665649475,0.28026168336159046,0.3171224472482424,-0.20455579218930167],[-0.17815270597129826,1.1112753565477491,-0.6334744868829051,0.2793693665340158,0.31950584129386117,-0.20510678453448708],[-0.17837755120456572,1.1118254888891481,-0.6347983954215408,0.27855155776035334,0.32178788137802455,-0.20568696179489443],[-0.1785953045392757,1.1123573963747597,-0.6360729143390884,0.2777890098560643,0.3239831862790129,-0.20627402368718653],[-0.17880764731709026,1.112876100258631,-0.6373105013763318,0.2770637606144945,0.3261131204489888,-0.20685087107069408],[-0.17901678746380728,1.1133874561955803,-0.6385253824963247,0.2763601277014103,0.3282021435240443,-0.20740544201302963],[-0.17922494160848962,1.1138973414789592,-0.6397316338595335,0.27566496756493275,0.3302744129797346,-0.20793018168291247],[-0.17943350544975123,1.1144110228152315,-0.6409417823606737,0.27496540140732206,0.33235112050101157,-0.20841974833672963],[-0.17964320491414149,1.1149326239720527,-0.6421655537551436,0.27425104500357994,0.33444851950778826,-0.2088710892245243],[-0.17985465389264846,1.1154649013499303,-0.6434093404142504,0.27351735310385167,0.3365773367623238,-0.20928624258296338],[-0.18006826335042098,1.116009245209292,-0.6446762601303186,0.2727643880260924,0.33874283461648236,-0.2096704996204194],[-0.18028401756541151,1.1165657767531219,-0.6459664545938186,0.27199470184902597,0.3409452085675215,-0.21003018790419442],[-0.18050147097573,1.1171335629612562,-0.6472776379225067,0.27121215629516526,0.3431804971378719,-0.21037162196971693],[-0.18071983224913152,1.1177109262879443,-0.6486058485598305,0.27042100397745594,0.34544186081110806,-0.21070048366247182],[-0.18093807552667854,1.118295769493839,-0.6499462200977741,0.2696251736642188,0.34772089901794984,-0.2110214075942844],[-0.18115515990042644,1.1188858846800138,-0.6512936882954671,0.26882824627620944,0.3500089045769707,-0.2113380811007835],[-0.18137015257884986,1.1194792258176194,-0.6526436119562503,0.2680331803523128,0.35229793078442195,-0.21165328795415203],[-0.18158231010827153,1.120074099865143,-0.6539921970813041,0.26724215069218193,0.35458151332226895,-0.21196889803219357],[-0.18179115124479828,1.1206692896767612,-0.6553367568885454,0.26645663326330693,0.356855118710793,-0.21228609491115796],[-0.18199644382973723,1.1212640990748193,-0.6566757972939632,0.26567733356176754,0.359116268486373,-0.21260539112927476],[-0.18219814154868175,1.1218583313340527,-0.6580089549899578,0.26490409828253486,0.361364402338726,-0.21292660943433664],[-0.18239638808038372,1.1224522068935114,-0.6593367904410197,0.2641363091056726,0.3636005349088202,-0.21324911967553017],[-0.18259144380739195,1.1230462648208481,-0.6606605597050994,0.263372963432507,0.3658268494370341,-0.21357202197102088],[-0.18278360536295657,1.123641232762097,-0.6619819204420907,0.26261276809829154,0.36804618339204787,-0.21389421065093],[-0.1829731524735135,1.1242379120178578,-0.6633026764619756,0.2618543127636521,0.37026159313270374,-0.21421465490194477],[-0.18316033995190753,1.124837075816821,-0.6646245489554143,0.2610963308092737,0.3724759797504634,-0.21453250329015486],[-0.1833453933690437,1.125439385044941,-0.6659489909643175,0.26033790017033787,0.37469178848971696,-0.21484717935408482],[-0.18352849072073069,1.126045336087188,-0.6672770797735892,0.2595784965646259,0.3769108314678015,-0.21515852049657677],[-0.18370972805116664,1.1266552450102933,-0.668609491083832,0.2588178197179795,0.37913423325767004,-0.21546652967635146],[-0.1838891311587133,1.127269236408703,-0.6699464800505682,0.25805584386800073,0.3813624092474743,-0.21577144273763596],[-0.18406665870918226,1.1278872773110413,-0.6712879611202892,0.2572926863453968,0.38359519761588956,-0.21607355993253438],[-0.1842422265649648,1.128509202625878,-0.6726335664714262,0.2565286225078552,0.38583196658835794,-0.21637329220084703],[-0.1844156873139235,1.1291347677352597,-0.6739827663896744,0.2557638131643775,0.3880718000561392,-0.21667085675601327],[-0.1845868924358361,1.1297636796079225,-0.6753349331773633,0.2549985091660741,0.39031362886877624,-0.21696656191844607],[-0.18475567243081834,1.1303956510835813,-0.6766894606346284,0.25423278422731493,0.39255641237175287,-0.21726043167440315],[-0.18492187850744518,1.1310304171610868,-0.6780457955666811,0.25346670964605394,0.39479920812703506,-0.21755250735277842],[-0.18508538083150122,1.131667769258485,-0.6794035102227391,0.25270025791000283,0.39704128587406395,-0.21784273144370683],[-0.18524604670976036,1.1323075631735207,-0.6807623196968883,0.25193319327072927,0.39928214494783304,-0.2181308179560076],[-0.18540380280713173,1.132949717295479,-0.6821220699814514,0.2511653856299301,0.4015215214584887,-0.21841666636761445],[-0.18555854601955252,1.1335942181400525,-0.6834827563374615,0.25039638751706056,0.4037593774112356,-0.2186998005338419],[-0.18571022421562117,1.1342410941281953,-0.6848444580882191,0.2496258963122436,0.4059958314635683,-0.2189799782156181],[-0.18585880441641148,1.134890415208954,-0.6862073392927408,0.24885360729311234,0.40823114491670853,-0.21925697511945008],[-0.18600422271653003,1.1355422715696883,-0.6875716079949924,0.2480790447416854,0.410465635082683,-0.21953035994338038],[-0.18614646123312464,1.1361967543111557,-0.6889374679375838,0.24730197356611527,0.4126996320872812,-0.21980007110011635],[-0.18628543529420277,1.1368539556436519,-0.6903051300454819,0.24652188051469917,0.41493344850369407,-0.22006570867358444],[-0.1864210901833294,1.1375139451265344,-0.6916747526579139,0.24573845729044935,0.4171673251506103,-0.22032709645978457],[-0.1865533808648439,1.1381767730902073,-0.6930464510651992,0.2449514897175494,0.4194014373968178,-0.22058411876865922],[-0.1866820773088964,1.138842460538457,-0.6944202964169713,0.24415999779985575,0.42163581068909445,-0.2208354728443548],[-0.1868069425737911,1.139510984792019,-0.6957962722098834,0.24336312941153704,0.42387033270500885,-0.22108016309031944],[-0.18692782062782315,1.1401823036878047,-0.6971743155602621,0.24256047765005148,0.42610485523241076,-0.2213179045830591],[-0.18704459715921895,1.1408563690239706,-0.6985543476833771,0.2417518398249775,0.4283392236580945,-0.22154868169989575],[-0.18715716836154733,1.1415331277781786,-0.6999362794609753,0.24093706593430622,0.43057327218818053,-0.22177252485333246],[-0.18726543584491698,1.1422125265061858,-0.7013200210738262,0.24011602415223393,0.4328068368940644,-0.22198946804229958],[-0.18736927860725258,1.142894517133589,-0.7027054975513362,0.23928848462116553,0.43503976997262195,-0.22219948359904942],[-0.1874685314920651,1.1435790605685134,-0.7040926588031675,0.23845403573408164,0.43727194776398987,-0.22240242942812993],[-0.18756309741182542,1.1442661266978025,-0.7054814645160224,0.23761250396739805,0.43950328809267075,-0.22259828826244815],[-0.18765289276494038,1.1449556973263135,-0.706871897116053,0.23676374329136776,0.44173375031636364,-0.22278705971790957],[-0.1877378418067779,1.1456477639030862,-0.7082639575792555,0.2359076190949757,0.44396332641758424,-0.22296874722627572],[-0.18781779808507362,1.1463423290292407,-0.709657678630085,0.23504372238060678,0.44619203334143026,-0.22314320152991954],[-0.18789265000334804,1.147039400954156,-0.7110530994116203,0.2341717687548313,0.4484199114021041,-0.22331034017233725],[-0.1879623312996097,1.1477389925372399,-0.7124502618944157,0.23329163469027986,0.4506470220434827,-0.22347017445822887],[-0.18802675928628557,1.1484411203743055,-0.713849217193357,0.23240313496438003,0.45287343540445857,-0.223622687149933],[-0.18808578734288955,1.1491458034650543,-0.7152500290757334,0.23150585837601328,0.45509921905872514,-0.22376773532122438],[-0.18813935506631121,1.149853056586133,-0.7166527408824821,0.23059971477393643,0.45732443955787994,-0.22390535120339283],[-0.18818736114984405,1.1505628966590795,-0.71805740508404,0.2296844694100865,0.45954916354177505,-0.22403549549309537],[-0.18822969522855404,1.1512753373652242,-0.7194640683221387,0.2287598662234016,0.4617734456875822,-0.22415811116123432],[-0.18826628235168158,1.1519903895458987,-0.7208727664278151,0.22782578227323477,0.46399733656426984,-0.22427321417550974],[-0.18829699999321825,1.1527080655062967,-0.7222835439037861,0.22688193038599613,0.4662208841386166,-0.22438073329326783],[-0.18832176106550783,1.1534283739438294,-0.7236964329480076,0.22592815626227042,0.46844412995207213,-0.2244806621559577],[-0.1883404675790634,1.1541513250632778,-0.7251114696750736,0.22496426842800546,0.4706671183577241,-0.2245729742064474],[-0.18835299896072613,1.154876931173431,-0.7265286967597031,0.22398999885602608,0.47288989676280774,-0.22465759927238046],[-0.1883592543188425,1.1556052045684269,-0.7279481536973654,0.22300515139640234,0.47511251499635254,-0.22473450211499585],[-0.18835912622093792,1.1563361612240686,-0.729369887421423,0.2220095058893191,0.47733503283513445,-0.2248036338204314],[-0.18835250341766457,1.15706981984901,-0.7307939500168881,0.221002829720014,0.47955751740357266,-0.22486493630265983],[-0.18833927714437532,1.1578062021461755,-0.7322203983358933,0.21998489912612482,0.48178004472225966,-0.22491835492679113],[-0.1883193378051582,1.1585453334222335,-0.7336492955343934,0.2189554872812064,0.4840027009574847,-0.22496383264884526],[-0.1882925886616969,1.1592872409353097,-0.7350807060356385,0.21791441234645847,0.4862255791383911,-0.2250013357313459],[-0.18825895488540817,1.1600319537144317,-0.7365146939785183,0.21686156658593359,0.48844877963996974,-0.22503087188659196],[-0.1882183855295886,1.1607795018844647,-0.7379513216513958,0.21579692190858346,0.4906724082099682,-0.2250524933473676],[-0.18817086043406564,1.1615299147983542,-0.7393906450434338,0.2147205529662541,0.4928965711305635,-0.22506630878569273],[-0.1881164097555546,1.1622832235825642,-0.7408327162025874,0.2136326945688965,0.49512138499914243,-0.22507252197713593],[-0.1880550959560345,1.1630394591439257,-0.7422775818064865,0.21253368202217826,0.4973469682212224,-0.22507139464319026],[-0.18798699797097984,1.163798651559993,-0.7437252840969159,0.21142389829489477,0.49957343707025775,-0.22506321278308947],[-0.18791221184761975,1.164560830479506,-0.7451758615954015,0.21030377419860008,0.5018009068602401,-0.22504828523657625],[-0.18783085112115733,1.1653260255126914,-0.7466293498378944,0.20917378795045444,0.5040294930652487,-0.22502694372794219],[-0.18774304715528553,1.166094266794482,-0.7480857824239245,0.20803446437292764,0.5062593128914998,-0.2249995418563747],[-0.18764894923020223,1.1668655853661878,-0.749545191750597,0.20688637361396903,0.5084904862703012,-0.22496645408540838],[-0.18754872477911302,1.1676400134781493,-0.7510076095781543,0.20573013058727282,0.5107231366354792,-0.2249280758306246],[-0.18744255936642323,1.1684175848257021,-0.752473067494229,0.2045663936250472,0.5129573914443941,-0.22488482219843067],[-0.1873306567324963,1.1691983345284664,-0.7539415968993557,0.20339586383402133,0.5151933819892887,-0.22483712839702538],[-0.18721323852977526,1.1699822991861406,-0.7554132291630428,0.20221928320319857,0.5174312433528458,-0.22478544741906115],[-0.18709054424390034,1.1707695164665868,-0.7568879949155356,0.20103743421377393,0.5196711131241992,-0.22473025182033662],[-0.18696283074197229,1.171560025174157,-0.758365924251759,0.19985113725346892,0.5219131313628459,-0.22467202961826505],[-0.18683037195689534,1.172353864522269,-0.7598470454931998,0.19866124997037735,0.5241574384475834,-0.22461128684741835],[-0.18669345837312198,1.1731510742484172,-0.7613313854958996,0.19746866445132685,0.526404175194441,-0.2245485428627989],[-0.1865523964814285,1.1739516938131649,-0.762818968325915,0.19627430598153472,0.5286534805259315,-0.2244843326428792],[-0.1864075081353335,1.1747557625669203,-0.7643098156887007,0.1950791298322471,0.530905491759165,-0.22441920172883553],[-0.18625912982521128,1.1755633189847623,-0.7658039457096398,0.1938841194907908,0.533160342411979,-0.22435370829011766],[-0.18610761195361672,1.1763744009222605,-0.7673013735427188,0.19269028322849951,0.5354181627718597,-0.22428841804118163],[-0.18595331787105696,1.177189044932652,-0.7688021103401681,0.19149865158878226,0.5376790779523136,-0.22422390565106265],[-0.18579662230826438,1.178007286046652,-0.7703061630773019,0.19031027175466486,0.5399432070542859,-0.2241607468759168],[-0.18563790977703126,1.1788291585489306,-0.7718135361867979,0.18912620146072798,0.5422106651953722,-0.22409951605084918],[-0.18547757730443112,1.179654703457105,-0.7733242448692852,0.18794751109312152,0.5444815845682568,-0.2240407939839759],[-0.18531603274285002,1.1804839592643166,-0.7748382985909735,0.1867752873203989,0.5467560886010893,-0.2239851704731231],[-0.18515368748538297,1.1813169591372634,-0.7763556970220747,0.18561061251155284,0.5490342835384064,-0.2239332212778347],[-0.1849909628518798,1.1821537340407864,-0.7778764349819335,0.18445458190893357,0.5513162680063681,-0.22388553155979135],[-0.18482828287311232,1.1829943103554386,-0.7794004991165299,0.1833082831937372,0.5536021258119423,-0.22384267399499705],[-0.1846660746474329,1.1838387107899828,-0.7809278695833742,0.18217279691704147,0.555891928723616,-0.22380521157978955],[-0.18450476576916353,1.184686954107895,-0.7824585199525083,0.18104918907277756,0.5581857356719034,-0.22377369141023584],[-0.18434478725284303,1.1855390575283147,-0.7839924211876901,0.17993851851058879,0.5604835998158071,-0.22374865729229929],[-0.18418656749731055,1.1863950351816874,-0.785529539664427,0.17884182020278916,0.5627855638728569,-0.2237306326104541],[-0.18403052931092814,1.1872548975340689,-0.7870698365636991,0.17776009730573047,0.5650916584987435,-0.22372011285057827],[-0.18387709521575601,1.188118654689419,-0.7886132731082036,0.17669433549454722,0.567401911982975,-0.22371758671948658],[-0.18372667995976472,1.188986314058962,-0.7901598073449037,0.17564548304500435,0.5697163433687045,-0.2237235154925865],[-0.1835796877639459,1.1898578795789447,-0.7917093931292489,0.1746144441475568,0.5720349603392485,-0.22373832665864724],[-0.18343651758674281,1.1907333548527468,-0.7932619850281726,0.17360209347677574,0.5743577684003984,-0.2237624353091954],[-0.18329755433028777,1.1916127399303196,-0.7948175337049909,0.1726092535389527,0.576684761610767,-0.22379621973694702],[-0.18316316893545978,1.1924960316778437,-0.7963759865752644,0.17163669594028647,0.5790159238708187,-0.22384002468119715],[-0.18303372061206163,1.1933832255171455,-0.7979372905709827,0.17068514810954816,0.5813512340078999,-0.22389417294943564],[-0.18290954966139794,1.1942743128134268,-0.799501388421864,0.1697552754069076,0.5836906584172591,-0.2239589463237062],[-0.1827909774199844,1.195169281152489,-0.8010682191545307,0.1688476822097657,0.5860341520994807,-0.22403458831863982],[-0.18267830868359888,1.196068116284572,-0.8026377211624605,0.16796291919808592,0.588381664266451,-0.22412131627068263],[-0.18257182293462992,1.1969707986258862,-0.8042098271628032,0.16710146176616655,0.5907331286101956,-0.2242192969196192],[-0.18247176592673403,1.1978773085371326,-0.8057844742644847,0.16626368625166008,0.5930884768178177,-0.22432864624409732],[-0.18237821252791936,1.1987876322897146,-0.8073616299533238,0.1654494956047591,0.5954476436415979,-0.2244491998163127],[-0.1822909930345,1.1997017589936825,-0.8089412949075687,0.16465813448866032,0.5978105540038601,-0.22458039498487403],[-0.18220984542150837,1.200619682020252,-0.8105234875260486,0.163888611664761,0.6001771389009777,-0.22472152945998838],[-0.18213445805331832,1.2015413973959754,-0.8121082361317434,0.16313981984283638,0.6025473345303705,-0.2248718308698499],[-0.18206451905726212,1.2024669057173218,-0.8136955765285191,0.16241066955911404,0.6049210909411836,-0.22503055275490322],[-0.1819997050598593,1.2033962106956615,-0.815285550777258,0.1617000594884467,0.6072983672084217,-0.2251969567531975],[-0.18193964533485818,1.20432931697716,-0.816878207552835,0.1610067830278002,0.6096791231203533,-0.22537025317074588],[-0.18188398287697224,1.2052662266430183,-0.8184735892231761,0.16032969403751068,0.6120633147108153,-0.22554970137648275],[-0.18183232342783123,1.2062069409286906,-0.8200717406268277,0.15966757024878134,0.6144508949491393,-0.22573452914793665],[-0.18178422236926245,1.2071514587031498,-0.8216727079724829,0.1590190813558808,0.6168418090299516,-0.22592390903959053],[-0.18173923142493784,1.208099776305018,-0.8232765332787616,0.15838291300608012,0.6192359973731665,-0.2261170340777492],[-0.181696883261572,1.2090518887342185,-0.8248832581730788,0.15775772534959884,0.6216333975611317,-0.2263130927274635],[-0.18165668508542063,1.2100077911324576,-0.8264929271137725,0.15714213621704426,0.624033947667969,-0.2265112597100532],[-0.18161769956128995,1.210967495119907,-0.828105661788375,0.15653363321064473,0.6264375987835614,-0.22671003349793475],[-0.18157948383878128,1.2119310021183198,-0.8297215104948711,0.1559310217158661,0.6288443121917912,-0.22690871433192122],[-0.18154196746436624,1.2128983059765135,-0.8313404670499989,0.15533408343741378,0.6312540566402337,-0.2271072224362302],[-0.18150511694187846,1.2138693894621313,-0.8329625029541795,0.15474270330326584,0.6336667764832319,-0.22730555265743546],[-0.18146890432243956,1.2148442233301386,-0.83458756946313,0.1541567883305614,0.6360823874807549,-0.22750371628486746],[-0.18143330197327467,1.215822768980295,-0.8362156026846963,0.15357625182689005,0.6385007832729754,-0.22770172611176753],[-0.18139828128860072,1.2168049818265576,-0.8378465293894516,0.15300100767885183,0.6409218438185398,-0.2278995905398432],[-0.18136381522946377,1.2177908159794242,-0.8394802745088336,0.15243097429951455,0.643345447228385,-0.22809731898718155],[-0.18132987691457286,1.2187802265927343,-0.8411167651560456,0.1518660695027742,0.6457714754090875,-0.22829491702988883],[-0.18129644126550132,1.2197731728926917,-0.8427559354057659,0.15130621326844926,0.6481998215349128,-0.2284923901319253],[-0.18126348652869773,1.2207696200550981,-0.8443977291497786,0.15075133082674602,0.6506303945943068,-0.22868974793515887],[-0.18123098886378,1.2217695379900948,-0.8460420986260756,0.1502013393052582,0.6530631158380972,-0.22888698946870276],[-0.18119892924178532,1.2227729034139094,-0.8476890070045217,0.14965616490530048,0.6554979241905179,-0.22908412257930025],[-0.18116729166489187,1.223779698555299,-0.8493384263871632,0.14911573900860717,0.6579347727750665,-0.22928115995371862],[-0.18113605796634652,1.2247899084949538,-0.8509903339782772,0.14857998622345164,0.6603736219486341,-0.22947810532092974],[-0.1811052144829727,1.2258035220025065,-0.8526447126967539,0.14804884133928464,0.6628144417374815,-0.22967497223633143],[-0.1810747496083141,1.2268205296671033,-0.8543015483583483,0.1475222439259114,0.6652572070495159,-0.22987177817210286],[-0.1810446510419368,1.2278409215231558,-0.8559608261134934,0.14700013245160026,0.6677018917441351,-0.23006853735978428],[-0.1810149090947894,1.2288646877076768,-0.857622531155538,0.14648245240020283,0.6701484704465304,-0.2302652697447876],[-0.1809855165077526,1.229891817623134,-0.8592866473816041,0.14596915608013017,0.6725969165238549,-0.23046200081171542],[-0.1809564635933738,1.2309222980947714,-0.8609531549509494,0.14546019112393951,0.6750471973714565,-0.23065874841104275],[-0.18092774447713714,1.2319561152474878,-0.862622032661137,0.1449555153094537,0.6774992793699449,-0.23085553928285138],[-0.18089935423073902,1.232993253732778,-0.8642932570111952,0.1444550895418076,0.6799531258530214,-0.2310524015262379],[-0.18087128903956912,1.2340336969302272,-0.8659668025236215,0.14395887808312108,0.6824086976265873,-0.23124936463831866],[-0.18084354437028805,1.2350774270850988,-0.8676426421604925,0.1434668438745397,0.6848659531784056,-0.23144645452932167],[-0.18081611884953416,1.2361244266673976,-0.8693207490932962,0.1429789575217017,0.6873248521603876,-0.2316437035945165],[-0.18078901151008075,1.2371746777404231,-0.8710010959813056,0.14249519065221342,0.6897853537019726,-0.23184114363612315],[-0.18076222249389742,1.238228162655628,-0.872683656006455,0.14201551733312967,0.692247418081936,-0.23203880733722743],[-0.1807357541511526,1.2392848648320782,-0.8743684039808857,0.14153991639814456,0.6947110085916989,-0.2322367312593296],[-0.18070960831724625,1.2403447674297763,-0.8760553145277089,0.14106836531168282,0.6971760882470005,-0.23243494886395508],[-0.1806837897184418,1.241407855170158,-0.8777443645965627,0.14060084773028028,0.6996426242223726,-0.23263349919533802],[-0.18065830308996852,1.2424741127924077,-0.8794355313137174,0.14013734708832631,0.7021105840502667,-0.23283241978562938],[-0.1806331548932112,1.243543525876203,-0.881128793097807,0.13967785043491937,0.7045799376225599,-0.23303175092567108],[-0.18060835354104302,1.2446160809144948,-0.8828241297338355,0.139222348910248,0.7070506573367411,-0.23323153646948722],[-0.18058390723042428,1.2456917639668386,-0.8845215204818007,0.13877083304582138,0.7095227148466997,-0.2334318184256637],[-0.18055982647273378,1.246770561876012,-0.8862209457184235,0.13832329835370208,0.7119960840076247,-0.23363264332024977],[-0.1805361223428328,1.2478524612037718,-0.8879223854429508,0.13787974150977036,0.7144707383088764,-0.2338340580728929],[-0.18051280718494872,1.248937448503434,-0.8896258196337935,0.1374401619178458,0.7169466515416812,-0.23403611165045454],[-0.18048989535901888,1.2500255107291176,-0.8913312287991763,0.13700456327867172,0.7194237987600347,-0.23423885713248252],[-0.18046740099696254,1.2511166338547777,-0.8930385920618737,0.13657294876954315,0.7219021530044646,-0.23444234619244994],[-0.17546427725615374,1.279007142190005,-0.875214244411481,0.12961131633103845,0.6788817407541857,-0.21870639583958604],[-0.1751267951258532,1.2806477670394,-0.8760847197711424,0.1287924561636504,0.6801168807163595,-0.2186630928515837],[-0.1745408085953048,1.2852166654452404,-0.8762192244484266,0.12793318823468935,0.6802527678034437,-0.21843552002994554],[-0.17391621088080583,1.291772494917763,-0.8761357399132602,0.12700697577293255,0.6801599226109736,-0.21815726671473037],[-0.17330807013790736,1.2992681794008545,-0.8757436303734097,0.12602468859595886,0.6800247010776221,-0.21784972297898633],[-0.1727107449072854,1.3072650186583028,-0.8750696260997691,0.12499495571029046,0.6798797068735379,-0.21752422963590373],[-0.17211502331650413,1.3155802932611507,-0.8742101721181407,0.12392832756145444,0.6797376578959792,-0.21718676433393488],[-0.1715158225474981,1.3241234722847675,-0.8732471148738328,0.12283351709943609,0.6796007303870877,-0.21684015280072994],[-0.1709109542522361,1.3328431270135694,-0.8722373411374559,0.12171595920469656,0.6794681572679341,-0.2164856502726046],[-0.17029972506667504,1.3417075453732648,-0.871218063053167,0.12057877498986118,0.6793388975692539,-0.21612378768608206],[-0.1696821267410271,1.3506962096829642,-0.8702130046516752,0.1194236426651477,0.6792122255469324,-0.2157547632786072],[-0.16905845954510207,1.3597952955212056,-0.8692369925128016,0.11825136220090574,0.6790877498651386,-0.215378621504844],[-0.16842919073445803,1.3689944101222293,-0.8682988008175889,0.11706218335723284,0.6789652993822411,-0.21499533826573763],[-0.1677948704738112,1.3782858682237085,-0.8674036012102392,0.11585603799733851,0.6788449208563794,-0.21460487519262736],[-0.16715613569409543,1.3876636087587426,-0.8665540628570974,0.11463265329268378,0.6787267602252803,-0.21420719465116053],[-0.16651372251440105,1.3971223445840488,-0.865751033417169,0.11339161934728675,0.6786110253956276,-0.2138022791046411],[-0.16586848282953212,1.4066570464040007,-0.8649939973303993,0.11213243850555296,0.6784979734373622,-0.21339015150123808],[-0.1652214083198668,1.4162625981271726,-0.8642813458340625,0.1108545605231302,0.6783879034415871,-0.21297089636843394],[-0.16457366308935698,1.425933535930656,-0.8636105072510505,0.10955740806360821,0.6782811555183889,-0.2125446840085052],[-0.16392662577665823,1.4356638227813088,-0.8629779742485243,0.10824039806482766,0.678178116759428,-0.21211180105236943],[-0.1632819448263862,1.4454466247109303,-0.8623792488969759,0.1069029615929004,0.6780792352193541,-0.21167269037784703],[-0.16264161192023702,1.4552740595315563,-0.8618087125358634,0.10554456532131812,0.6779850443313458,-0.2112280049550938],[-0.16200806049765287,1.4651368861658542,-0.8612594146665202,0.1041647389244697,0.6778962021306674,-0.21077868301026623],[-0.1613843020992657,1.4750240931448926,-0.8607227615627616,0.10276311122850434,0.6778135536557544,-0.21032605487808154],[-0.16077411966986319,1.4849223240579081,-0.8601880657552711,0.10133946164740297,0.6777382306102901,-0.209871998978541],[-0.1601823500027518,1.4948150380985543,-0.8596418868515902,0.09989379674432684,0.6776718142677283,-0.20941917667322327],[-0.15961531232892506,1.5046812267485883,-0.8590670391222334,0.09842646786404126,0.6776166118974863,-0.2089713987311834],[-0.15908148816505313,1.5144933493870152,-0.858441032061947,0.09693836105833242,0.6775761461858285,-0.20853422270332125],[-0.15859266215140788,1.5242138048469283,-0.8577334801651534,0.09543121804541256,0.6775560751107372,-0.2081159809655853],[-0.1581659975414429,1.5337884225954819,-0.8569014767514352,0.09390826875148195,0.6775660566287695,-0.20772970045993144],[-0.1578281099288962,1.543133200488428,-0.8558805190511714,0.09237533395442557,0.6776239319473761,-0.20739694718073962],[-0.15710976263647053,1.549814459850908,-0.8645299570581643,0.08897711555402824,0.6898480006346934,-0.20439462687534032],[-0.15620823798150504,1.5559721648812797,-0.8740395964767339,0.0851533032062366,0.70323712435859,-0.2010727023252671],[-0.15519585965028482,1.56164705054158,-0.8829058895685727,0.08126855857534476,0.7158518607146879,-0.19795071562277045],[-0.1541399697383233,1.5669687639231706,-0.8912810966749152,0.07750122051442443,0.727874228605986,-0.1952598128586531],[-0.15309240467119004,1.5717508067301107,-0.8988215655475279,0.07404302753648584,0.7387386202707422,-0.19315868910107292],[-0.1520765695117347,1.575758282954071,-0.9051332734321941,0.0709852154959305,0.7476501864384697,-0.19166317108879324],[-0.15110541880895417,1.5788618283667664,-0.9100110410094162,0.06834151711634129,0.7525094314393135,-0.1906965571160739],[-0.15018250436971953,1.5809852028903255,-0.9133511085260235,0.06607957891818286,0.7571170810570957,-0.1901410212930359],[-0.14930800607420064,1.5821995156306463,-0.9152793771109055,0.06413701702644277,0.7611491160490709,-0.1898656769658334],[-0.14848044727259457,1.5827243530005557,-0.9161434772177005,0.062436443850482595,0.7632885521524609,-0.18974683820543825],[-0.1476936923914654,1.5827928022013442,-0.9163074773536363,0.06090164082336748,0.763410174388566,-0.1896859891401509],[-0.14693972099066394,1.582605927283762,-0.916082138565226,0.05946839543581163,0.7629868071319812,-0.18961464790994487],[-0.14621308144745568,1.582370378333453,-0.9157813560551264,0.05808656856533573,0.7624713055478411,-0.18948794525930318],[-0.14550988251497438,1.5823150661009622,-0.9157493328131258,0.05671052710452973,0.7623566957355118,-0.18926821258679283],[-0.14482277915263853,1.5825343418310756,-0.9161261822177791,0.05531399997649858,0.7628399554911497,-0.18894285487463622],[-0.14414813888304018,1.5830576415901638,-0.9169546066958385,0.05389330634423108,0.7639791987415503,-0.1885270917921169],[-0.1434858065187955,1.583864784689168,-0.9182034568699807,0.05245949925280054,0.7657277254808054,-0.18805032205402378],[-0.14283805216358703,1.5849340688028646,-0.919839755312833,0.05102608616689924,0.7680367626557018,-0.18753794727170478],[-0.1422059246992995,1.5862180458705888,-0.9217923698943414,0.04960444470236357,0.7708024786975969,-0.18700610803156667],[-0.14158923692844835,1.587654346058959,-0.9239682491236996,0.04820360849262228,0.7738896277429029,-0.1864639631839317],[-0.14098747244696405,1.5891789290324188,-0.9262720341804849,0.04683143666441027,0.777160020312239,-0.18591801029791166],[-0.14040031768882122,1.5907346327470968,-0.9286186691474598,0.04549463249945997,0.7804906984902381,-0.18537336518838735],[-0.13982774296567524,1.592275672155285,-0.930940040622572,0.044198424676878546,0.7837834669231114,-0.184834069275471],[-0.1392699201380222,1.5937694244303595,-0.9331876384834128,0.04294632294789465,0.786968664709799,-0.18430300462981103],[-0.13872709128947056,1.5951964986574259,-0.935332668425232,0.04174006388763234,0.7900052367685428,-0.1837817691917618],[-0.13819944757990246,1.5965494154423376,-0.9373640783499307,0.04057976047429923,0.7928777773785867,-0.18327069448627217],[-0.13768704772869952,1.5978304989771785,-0.939285404526917,0.03946416841180872,0.7955918712342241,-0.18276897455030064],[-0.13718978194868,1.5990495343160385,-0.9411112471865397,0.038391039281462036,0.79816892128967,-0.18227490730193857],[-0.13670737095925667,1.6002209587158391,-0.9428630668916956,0.037357516923792175,0.8006400391032485,-0.18178625829349734],[-0.13623939447746364,1.6013611776696728,-0.9445651873751085,0.03636050907645838,0.8030402762886205,-0.18130062291053056],[-0.13578533930507203,1.6024863290707194,-0.9462414834492683,0.035396999809238994,0.8054038787619131,-0.18081574306470968],[-0.1353446472939258,1.6036105914458476,-0.9479128918731314,0.034464269969421216,0.8077607486917858,-0.1803297237120011],[-0.13491675820316415,1.6047450973004542,-0.9495958272187661,0.033560029346582254,0.810134217815796,-0.1798411565674063],[-0.134501145458344,1.6058974324420459,-0.951301465991352,0.03268247474093813,0.8125400674224518,-0.1793491722856471],[-0.13409733374948843,1.6070716340888012,-0.9530357643971236,0.031830268246046074,0.8149865931255288,-0.17885339175012313],[-0.13370491147739288,1.6082685789811528,-0.9548000444593976,0.03100248268517211,0.8174754743302188,-0.17835385735067863],[-0.13332353028742328,1.609486623473556,-0.9565919440946845,0.030198512077843097,0.8200031538236028,-0.1778509235299945],[-0.1329528919566481,1.6107223683204404,-0.9584065439465939,0.029417960889735084,0.8225624601841813,-0.17734513872068144],[-0.13259256892786922,1.6119714262832139,-0.9602374987524837,0.028660220244836783,0.8251442200773953,-0.17683705284781953],[-0.13224178366750522,1.613229114979451,-0.9620780559030857,0.027923980143224225,0.8277387018415214,-0.17632690171735346],[-0.1318997407882434,1.6144910474100294,-0.9639219010445023,0.027207848163176625,0.8303368363194306,-0.1758147307288846],[-0.13156574181561395,1.6157535401963676,-0.9657637445274728,0.026510560567949495,0.8329310517003533,-0.17530055543130002],[-0.13123917852107594,1.617013843218301,-0.9675996514803824,0.025830965786294426,0.8355157340389394,-0.17478440889315663],[-0.13091953581576488,1.6182702147239996,-0.9694271468132702,0.0251680337263614,0.8380873667764884,-0.1742663526528918],[-0.13060633492575474,1.619521865516767,-0.9712451326238779,0.024520755003379757,0.840644400927223,-0.1737464341779207],[-0.13029909531608252,1.6207688136071858,-0.9730536759926911,0.023888080207266918,0.8431869435964066,-0.17322463981845362],[-0.12999731068735332,1.6220116854324595,-0.9748537200700294,0.023268888601267024,0.8457163405210135,-0.17270086868010187],[-0.1297004149270362,1.6232514963822393,-0.9766467667749156,0.02266193777543074,0.8482347204758859,-0.17217491401182894],[-0.1294076556791473,1.624489434654926,-0.9784345681896841,0.02206563482107145,0.8507445506910004,-0.1716463829529919],[-0.12911804417926,1.625726680732411,-0.980218867719743,0.021477953132966687,0.8532482687659985,-0.17111466058016636],[-0.1288314869543466,1.6269643382473793,-0.9820012684300158,0.020898606266415293,0.8557481446464474,-0.1705797667271892],[-0.1285480103803492,1.628203279921733,-0.9837830364072035,0.020327566934316893,0.8582459696072514,-0.1700420276542415],[-0.1282676628941599,1.629444101920687,-0.9855650398578546,0.019764868260361,0.8607429680612747,-0.16950184602282262],[-0.12799049690436964,1.6306871215967795,-0.9873477477810453,0.019210560467752477,0.8632397973759683,-0.16895959362172444],[-0.127716558654453,1.6319324040951526,-0.9891312693888478,0.018664685894249796,0.8657366055113734,-0.16841556197834556],[-0.12744588889609484,1.6331798114289615,-0.990915424910476,0.018127277143277193,0.8682331329942675,-0.1678699596778754],[-0.12717851924987933,1.6344290593980322,-0.992699827362465,0.01759834814468388,0.8707288296122669,-0.16732291692133483],[-0.12691447660513366,1.635679778761357,-0.9944839697729626,0.017077901617166946,0.8732229784654788,-0.16677450820878786],[-0.12665378255425386,1.6369315690049608,-0.996267301730427,0.01656592741993939,0.8757148041807054,-0.16622476708284586],[-0.1263964543476843,1.6381840432216843,-0.9980492930280018,0.016062404116373663,0.8782035625063976,-0.16567369818244387],[-0.12614250705357044,1.639436860779831,-0.9998294797551937,0.015567303326050455,0.8806886048767059,-0.16512129123264369],[-0.12589195436384354,1.6406897468887012,-1.0016074917690179,0.015080591510528799,0.8831694164910951,-0.16456752718496978],[-0.1256448077109656,1.6419424996140013,-1.003383062402692,0.014602228729736494,0.885645629271801,-0.16401237964646276],[-0.12540107722548968,1.643194987936745,-1.0051560254612861,0.01413217104411267,0.8881170170287861,-0.16345581775743756],[-0.12516077244670346,1.6444471423037421,-1.006926301652258,0.013670372562360466,0.8905834758686805,-0.162897809506046],[-0.12492390287464031,1.6456989408320897,-1.0086938789662343,0.01321678701335085,0.8930449962388681,-0.16233832228736142],[-0.12469047676372721,1.6469503930410045,-1.0104587896911106,0.012771365970860964,0.8955016303628792,-0.16177732117059468],[-0.12446050296963855,1.6482015252032212,-1.0122210896895083,0.012334062825696183,0.8979534630953153,-0.16121477286274194],[-0.12423398968764399,1.6494523662409832,-1.01398083859631,0.011904830667826343,0.9004005841141959,-0.1606506437457547],[-0.1240109449400803,1.650702937574758,-1.0157380855683271,0.011483623411952483,0.9028430680479658,-0.1600849009240801],[-0.12379137687407571,1.6519532459816375,-1.0174928592911707,0.011070396494018713,0.905280960628623,-0.15951751381969986],[-0.12357529443921886,1.6532032799991625,-1.0192451629740413,0.010665108096153135,0.9077142718658235,-0.1589484549372696],[-0.1233627057396601,1.6544530084255937,-1.020994972341467,0.010267715980347111,0.9101429733664118,-0.15837769697800258],[-0.1231536198370129,1.6557023824964014,-1.022742238669244,0.009878180825754623,0.9125670027723298,-0.15780521634209863],[-0.12294804467950939,1.6569513379828695,-1.0244868918049648,0.009496462193466703,0.9149862680557341,-0.15723098890989695],[-0.12274598898555397,1.6581997998331774,-1.0262288466173826,0.009122521981956792,0.9174006566535412,-0.15665499335563832],[-0.1225474603679661,1.6594476854228901,-1.0279680075877802,0.00875632080069981,0.9198100418860317,-0.1560772073808191],[-0.12235246717600984,1.6606949091181384,-1.0297042751202572,0.008397821363153372,0.9222142918146554,-0.15549761091242792],[-0.12216101624219697,1.6619413845042887,-1.0314375486954457,0.00804698420035331,0.9246132735864001,-0.15491618148683975],[-0.12197311499624736,1.6631870275846607,-1.0331677312552885,0.00770377159368779,0.9270068595579941,-0.15433289801034034],[-0.12178876979645481,1.664431757550419,-1.0348947303017677,0.0073681444392346765,0.929394928756786,-0.1537477375314376],[-0.1216079867071487,1.66567549783608,-1.036618459330036,0.007040063713722086,0.9317773688488797,-0.15316067663109656],[-0.12143077101347409,1.666918174610949,-1.0383388356897063,0.0067194903925978456,0.9341540731008672,-0.15257170172590798],[-0.12125713208459307,1.6681597032285567,-1.0400557611697172,0.006406403530229437,0.9365249132426925,-0.15198093874139246],[-0.12108708716846645,1.6693999896129073,-1.0417691240147224,0.006100804691234028,0.9388897423412689,-0.15138862537028988],[-0.12092065888811113,1.6706389376991442,-1.0434788097113334,0.005802706147547201,0.9412484098851474,-0.150795013580223],[-0.12075786831878889,1.6718764530282506,-1.0451847063336288,0.005512114234659646,0.9436007692011055,-0.15020030815326982],[-0.12059873236384183,1.6731124405480517,-1.0468867014990983,0.005229025689351042,0.9459466731832625,-0.1496046769412944],[-0.12044326663413601,1.6743468030829267,-1.048584680141212,0.0049534342259914006,0.948285971228946,-0.14900827191467175],[-0.12029148315068952,1.6755794382136189,-1.0502785202378,0.004685327175864407,0.9506185032935945,-0.14841123476183976],[-0.1201433944492208,1.6768102382740546,-1.0519680927285253,0.0044246932847658085,0.9529440998512765,-0.14781370737601765],[-0.11999901120349046,1.6780390886629895,-1.053653259274691,0.004171518295191238,0.955262578804981,-0.1472158262158699],[-0.11985834176791053,1.6792658707314243,-1.0553338763976008,0.003925782187294491,0.9575737513284236,-0.1466176954472078],[-0.11972138760196636,1.6804904768639588,-1.0570098169192421,0.003687442166470309,0.9598774518703076,-0.14601926447564467],[-0.11958814231188686,1.6817128015134482,-1.0586809571924614,0.0034564376648663605,0.9621735202418397,-0.14542041403489084],[-0.11945859526062685,1.6829327361481894,-1.0603471698617581,0.0032327007451910658,0.9644617915052982,-0.14482100999948055],[-0.11933273406418693,1.6841501683009388,-1.0620083224885217,0.0030161613311202352,0.9667420940868454,-0.1442209155707058],[-0.11921054531692869,1.6853649811962965,-1.063664277029288,0.0028067486463644953,0.9690142490741837,-0.14361999397175237],[-0.11909201473343949,1.6865770537237426,-1.0653148898001568,0.0026043914879523324,0.9712780701831412,-0.1430181088872366],[-0.11897712717777505,1.6877862606253204,-1.0669600117360711,0.0024090182738840584,0.973533364128328,-0.14241512444112459],[-0.11886586666554108,1.6889924727910892,-1.0685994887972807,0.002220557036974561,0.9757799311932004,-0.14181090506176378],[-0.11875821635849389,1.690195557582259,-1.0702331624137098,0.0020389354040507377,0.9780175658486614,-0.1412053153166825],[-0.11865415831001676,1.6913953790571807,-1.0718608698013057,0.001864080137293742,0.9802460571908257,-0.14059821933470196],[-0.11855367421174813,1.6925917984429912,-1.0734824445968705,0.0016959184379208465,0.9824651898200143,-0.13998948188444532],[-0.11845674460831748,1.6937846739754447,-1.0750977166605342,0.0015343765462630466,0.984674743563345,-0.13937896697449823],[-0.11836334915020054,1.6949738610813911,-1.076706512326493,0.0013793801815435705,0.986874493819987,-0.1387665381281331],[-0.11827346659431795,1.6961592123543965,-1.0783086543778309,0.0012308545324122263,0.9890642115249523,-0.13815205830138066],[-0.11818707478190087,1.6973405774628891,-1.0799039619311486,0.0010887242082065268,0.9912436629890284,-0.13753538977115992],[-0.11810415061986748,1.69851780301015,-1.0814922502565967,0.0009529131974030059,0.9934126096507114,-0.13691639404674621],[-0.11802467006110273,1.6996907323636172,-1.0830733305569609,0.0008233448249383439,0.995570807772852,-0.1362949317958456],[-0.11794860808151131,1.7008592054693674,-1.0846470097272372,0.0006999417045931615,0.9977180081134915,-0.13567086277912987],[-0.1178759386531332,1.7020230586647127,-1.0862130901121394,0.0005826256851806642,0.9998539555948199,-0.13504404578988272],[-0.11780663471300803,1.703182124498424,-1.0877713692743054,0.00047131778997779473,1.001978388987605,-0.1344143385966439],[-0.11774066812757067,1.7043362315645376,-1.0893216397812027,0.000365938149057817,1.0040910406219066,-0.1337815978875163],[-0.11767800965242105,1.7054852043526432,-1.0908636890145447,0.00026640592424309086,1.006191636129085,-0.13314567921551124],[-0.11761862888731853,1.7066288631150106,-1.0923972990026785,0.00017263922646038867,1.008279894215568,-0.13250643694496497],[-0.11756249422625975,1.7077670237492597,-1.0939222462741365,8.455502529313395e-05,1.010355526465697,-0.1318637241996221],[-0.11750957280249662,1.7088994976942042,-1.0954383017291671,2.069050499848169e-06,1.0124182371691859,-0.1312173928134537],[-0.11745983042854705,1.7100260918363397,-1.0969452305257739,-7.490431435325717e-05,1.0144677231683132,-0.13056729328595515],[-0.11741323153298887,1.7111466084252518,-1.0984427919779554,-0.00014645214312102592,1.0165036737216129,-0.12991327474642114],[-0.1173697390912536,1.7122608445272416,-1.0999307387309807,-0.0002126630702220778,1.018525769482527,-0.12925518490700333],[-0.11732931444008687,1.713368600559969,-1.1014088279371743,-0.00027362757599403917,1.0205336978317494,-0.1285928663229856],[-0.11729191699223743,1.7144696968126052,-1.1028768435770056,-0.000329438534507032,1.022527182756152,-0.12792614963445526],[-0.11725750465396388,1.7155639382357817,-1.1043345496693324,-0.00038019053411013706,1.024505921264723,-0.12725486687036497],[-0.11722603370324314,1.7166511151781036,-1.105781691273396,-0.00042598007477206794,1.0264695848252023,-0.12657885151833373],[-0.11719745864425195,1.7177310043995049,-1.1072179958450243,-0.00046690580168729716,1.0284178212796802,-0.12589793858216622],[-0.11717173204757306,1.7188033709207642,-1.1086431756954758,-0.000503068762894169,1.0303502582460118,-0.1252119642730423],[-0.11714880438580358,1.7198679701700479,-1.1100569308403312,-0.0005345726765869638,1.0322665070310895,-0.12452076549413205],[-0.11712862386917884,1.720924550054858,-1.1114589517478553,-0.0005615242008618594,1.0341661663884825,-0.12382417925225125],[-0.11711113628268792,1.7219728527223923,-1.1128489216744757,-0.000584033203069123,1.036048825698307,-0.12312204210471558],[-0.1170962848238899,1.72301261589338,-1.1142265184364268,-0.0006022130293327722,1.037914067368172,-0.12241418971870376],[-0.1170840099391911,1.7240435737517215,-1.115591415595073,-0.000616180777056737,1.039761468429034,-0.12170045659021692],[-0.11707424915563733,1.7250654574407436,-1.1169432831236372,-0.0006260575745534548,1.0415906014219896,-0.12098067594344528],[-0.11706693690512039,1.7260779952576941,-1.1182817876767317,-0.0006319688723016168,1.0434010347440394,-0.12025467981090632],[-0.1170620043381534,1.7270809126553528,-1.119606592606546,-0.0006340447501842618,1.0451923326503247,-0.11952229928068332],[-0.11705937912482928,1.72807393215912,-1.1209173578685965,-0.0006324202444442929,1.0469640551079427,-0.11878336488924784],[-0.11705898524113405,1.7290567732955604,-1.1222137399434131,-0.0006272356973401239,1.0487157576731316,-0.11803770713582616],[-0.11706074273934532,1.7300291526097247,-1.1234953918757546,-0.0006186371316739816,1.0504469915292616,-0.11728515709591629],[-0.11707009882108019,1.7306547357315683,-1.1243024125466934,-0.0005962166713887529,1.0515297893466409,-0.11681740053878772],[-0.1170885023874929,1.7306840232659855,-1.1242976231927218,-0.0005569799870488946,1.0515057124856235,-0.11685694918736467],[-0.11710417040799234,1.730707690940886,-1.1242929601958096,-0.0005231767350134734,1.051485508975763,-0.11689049749472286],[-0.11711779530669103,1.7307271465014888,-1.1242873506844282,-0.0004933588969469488,1.0514669373943755,-0.1169196209810029],[-0.11713010152313968,1.7307439202451498,-1.1242805053719347,-0.0004661339375959559,1.0514486373759393,-0.11694587176732872],[-0.11714144934158384,1.7307588133626832,-1.1242726877235407,-0.000440857368898338,1.0514303842491137,-0.11697000161272303],[-0.11715215356351119,1.7307725573520292,-1.1242642298458931,-0.0004170045094013822,1.051412071454585,-0.11699263075794117],[-0.11716231984552897,1.7307854156873395,-1.1242555019904192,-0.00039442801058467344,1.0513939273255608,-0.11701395695311287],[-0.11717193988717532,1.7307974782277928,-1.1242469498061753,-0.0003731427054492817,1.0513764496039304,-0.11703399319898117],[-0.11718108522152547,1.7308089676943748,-1.124238765889526,-0.000353001292803242,1.0513597652045943,-0.11705290808182023],[-0.11718978182498811,1.7308199365275085,-1.1242309831968176,-0.00033393640203260427,1.0513438900001568,-0.1170707706154142],[-0.1171980459337445,1.7308304047604017,-1.1242236021475642,-0.00031589745502324346,1.051328813935961,-0.11708763021509196],[-0.11720589576322836,1.730840394656327,-1.1242166104224085,-0.00029883093967909526,1.0513145087605482,-0.11710353946271926],[-0.11721335010739728,1.7308499296086677,-1.1242099922788849,-0.00028268372760382034,1.05130094102048,-0.11711855078615052],[-0.11722042739303888,1.730859032500487,-1.1242037314766942,-0.00026740495262919894,1.051288076835166,-0.11713271446220919],[-0.1172271453768598,1.7308677251516378,-1.1241978120836746,-0.000252946502478408,1.0512758832710933,-0.11714607807434452],[-0.11723352107789847,1.730876028211731,-1.1241922186804745,-0.00023926302568927038,1.0512643286785301,-0.11715868648722585],[-0.1172395707792143,1.7308839611860858,-1.1241869364046086,-0.00022631180599299135,1.051253382743099,-0.11717058196446836],[-0.11724531004817168,1.7308915424947027,-1.1241819509524955,-0.0002140526095125685,1.0512430164628987,-0.11718180431683688],[-0.11725075376131869,1.7308987895363785,-1.1241772485702888,-0.00020244753302278815,1.0512332021070212,-0.11719239105055375],[-0.1172559161301171,1.730905718750837,-1.1241728160414985,-0.00019146086002806787,1.0512239131699472,-0.11720237750834198],[-0.11726081072650965,1.7309123456772555,-1.1241686406734512,-0.0001810589258793267,1.0512151243255474,-0.11721179700180145],[-0.1172654505080351,1.7309186850090192,-1.1241647102832226,-0.00017120999170130578,1.0512068113817177,-0.11722068093526142],[-0.11726984784237247,1.7309247506448466,-1.1241610131832402,-0.0001618841266310067,1.0511989512359505,-0.11722905892157535],[-0.11727401453127186,1.7309305557365302,-1.1241575381667008,-0.00015305309779828875,1.0511915218319738,-0.11723695889039312],[-0.11727796183382574,1.7309361127335274,-1.1241542744928614,-0.0001446902675013201,1.0511845021175157,-0.11724440718942862],[-0.11728170048906907,1.7309414334246154,-1.124151211872306,-0.00013677049708895085,1.0511778720032499,-0.11725142867919995],[-0.11728524073788221,1.730946528976833,-1.1241483404522252,-0.0001292700570652255,1.0511716123229369,-0.11725804682168998],[-0.1172885923441955,1.7309514099718806,-1.1241456508017784,-0.00012216654299434173,1.051165704794804,-0.11726428376335395],[-0.11729176461548695,1.7309560864401803,-1.1241431338975933,-0.00011543879679854564,1.0511601319841495,-0.11727016041284624],[-0.11729476642257364,1.7309605678927418,-1.124140781109421,-0.00010906683307969116,1.0511548772671957,-0.11727569651383844],[-0.11729760621869853,1.730964863350999,-1.1241385841860116,-0.00010303177011813006,1.0511499247961769,-0.11728091071324936],[-0.11730029340563888,1.7309689808961812,-1.1241365337111284,-9.731660235819807e-05,1.0511452571784101,-0.11728581924140738],[-0.11730283645722071,1.7309729284217859,-1.1241346210082934,-9.190474442292664e-05,1.0511408582922022,-0.11729043782235965],[-0.11730524071690118,1.7309767143763484,-1.1241328411512344,-8.677896547079291e-05,1.0511367178161453,-0.11729478430900436],[-0.11730751231119488,1.7309803463659177,-1.1241311884263694,-8.19238251594346e-05,1.0511328244295521,-0.11729887456688987],[-0.11730965773709827,1.7309838313685322,-1.1241296565262069,-7.732510716448602e-05,1.0511291660677347,-0.11730272280925248],[-0.11731168339111123,1.7309871759426,-1.1241282391048473,-7.296943389020562e-05,1.0511257307442876,-0.11730634218914913],[-0.11731359540902453,1.7309903863107188,-1.1241269300207175,-6.88441447116057e-05,1.051122506910181,-0.11730974507453575],[-0.1173153996294543,1.730993468394772,-1.1241257234125255,-6.493724681844657e-05,1.0511194835617517,-0.1173129431646354],[-0.11731710159608837,1.730996427835341,-1.124124613710814,-6.123737930878268e-05,1.0511166502511313,-0.11731594754597813],[-0.11731870657059006,1.7309992700062191,-1.124123595628362,-5.7733779583289814e-05,1.0511139970648165,-0.11731876872772097],[-0.11732021954759941,1.7310020000273352,-1.1241226641452715,-5.4416251191766425e-05,1.0511115145945458,-0.11732141667035725],[-0.11732164526939814,1.731004622776992,-1.1241218144938265,-5.1275133360980726e-05,1.05110919390827,-0.11732390081233143],[-0.11732298823964969,1.7310071429036369,-1.1241210421444578,-4.8301272242260816e-05,1.051107026523209,-0.11732623009572392],[-0.11732425273616154,1.7310095648371655,-1.1241203427929451,-4.548599377471615e-05,1.0511050043811792,-0.11732841299116295],[-0.11732544282276869,1.7310118927997482,-1.1241197123486883,-4.282107804121501e-05,1.0511031198258922,-0.11733045752187204],[-0.11732656236043165,1.731014130816159,-1.1241191469238705,-4.0298735001990185e-05,1.0511013655819377,-0.11733237128676655],[-0.11732761501763125,1.7310162827236133,-1.124118642823369,-3.791158152939675e-05,1.05109973473519,-0.1173341614825321],[-0.11732860428014379,1.731018352181117,-1.124118196535295,-3.565261966854413e-05,1.05109822071446,-0.11733583492468187],[-0.11732953346024388,1.7310203426783453,-1.1241178047220972,-3.351521606307926e-05,1.0510968172742525,-0.11733739806758577],[-0.11733040570538751,1.7310222575440681,-1.124117464212166,-3.149308248897579e-05,1.051095518478526,-0.11733885702350838],[-0.1173312208302417,1.7310240536662769,-1.1241171816655777,-2.9589276427851703e-05,1.0510943422043921,-0.1173401619800685],[-0.11733194096572092,1.7310254529897713,-1.1241170195540777,-2.7874742912775983e-05,1.0510934396242628,-0.11734099018921183],[-0.11733252312427576,1.7310267053012083,-1.124117010637355,-2.637902460150375e-05,1.0510928164007882,-0.11734171006811765],[-0.1173330172977574,1.7310278743055638,-1.1241171054616943,-2.504974019175103e-05,1.051092380216389,-0.11734238036600102],[-0.11733345253597195,1.7310289737938267,-1.1241172595905613,-2.3838937127821467e-05,1.0510920587540578,-0.11734299262220427],[-0.1173338400519137,1.7310300159920062,-1.1241174529327658,-2.272347363035214e-05,1.0510918183582303,-0.11734355240247413],[-0.11733418778236422,1.731031009795655,-1.1241176724446837,-2.1688515059299288e-05,1.051091636905052,-0.11734406596551407],[-0.11733450150724936,1.7310319617988998,-1.1241179088740365,-2.0723501013559888e-05,1.051091498520351,-0.11734453847451234],[-0.11733477935399647,1.7310328743499708,-1.1241181617682994,-1.982826854920467e-05,1.0510914015823254,-0.11734497439402168],[-0.11733502911836843,1.7310337506531224,-1.1241184244106739,-1.8992674102213967e-05,1.0510913349539237,-0.11734537562164575],[-0.11733525667409637,1.7310345958610136,-1.1241186910485501,-1.820725139438269e-05,1.0510912885496662,-0.11734574557738055],[-0.11733546396160527,1.7310354124324474,-1.1241189599290795,-1.7467693535365466e-05,1.0510912590024115,-0.11734608677950549],[-0.11733564504951524,1.7310362005475342,-1.1241192398565472,-1.6780736047475856e-05,1.0510912598118138,-0.11734640551123318],[-0.11733580657024516,1.7310369707695936,-1.1241195286181318,-1.6140677976798937e-05,1.0510912852080092,-0.11734671444184078],[-0.12158290257279171,1.6737376457588287,-1.1132752825421521,0.00703100531507822,1.0371312928125667,-0.1294254608050795],[-0.12170279175779335,1.6729276081231728,-1.112687988426194,0.007239848909496333,1.0370294664947906,-0.12942549324791905],[-0.1219324659210329,1.668507015516649,-1.1103493757539247,0.007643470527688517,1.0369098825575622,-0.1295747901065506],[-0.12219227652247325,1.6599993065076344,-1.1072810582910082,0.008099794486451201,1.037171230347707,-0.12980972144014913],[-0.12245670458364745,1.6495773494910464,-1.1048125506746662,0.00860829831136121,1.037646180514727,-0.13010792939260235],[-0.122734802111856,1.6383208873644672,-1.1031241191536139,0.009167528863596905,1.0381105178846233,-0.13044313284637407],[-0.1230342557331435,1.6266736501292969,-1.1020872725500157,0.009770863289172342,1.0384955037059054,-0.13080357696511835],[-0.12336149071251382,1.614852533381713,-1.1015581678664472,0.010413242297337123,1.0388009735998958,-0.13118490319121803],[-0.12372396869712951,1.6029753935647248,-1.1014229517622478,0.011091599817411212,1.0390426281683842,-0.13158546584331055],[-0.12412709771027275,1.5911107423238007,-1.1015983445512967,0.011804185341967718,1.039235921141079,-0.1320046462255361],[-0.12457400094387783,1.5792939340636125,-1.1020074564906743,0.012550306982092689,1.0393906678229337,-0.13244188839387586],[-0.12506671673687147,1.5675366269547,-1.102545533539467,0.013329448647966606,1.0395141038875326,-0.13289586608317183],[-0.1256049003633184,1.555864583881064,-1.1031468543910417,0.014140439948928666,1.0396195011675748,-0.13336583044304245],[-0.12618675938010673,1.5443126272595866,-1.1037907896121717,0.014982350072093892,1.0397188361597005,-0.13385137425684074],[-0.12681021018661626,1.5329096230545234,-1.1044755251645588,0.015855052298807817,1.0398173817227363,-0.13435182190129955],[-0.12747290756980048,1.5216770758176321,-1.10520407862559,0.016758872464386933,1.0399164287071896,-0.13486606681026483],[-0.12817188023578713,1.510632932679213,-1.1059812734374475,0.0176941888641912,1.0400157834414445,-0.13539254158784553],[-0.12890320426859697,1.4997946580540067,-1.1068133304282033,0.01866123819249737,1.0401145643025835,-0.13592906401062982],[-0.1296616893396605,1.4891812584448234,-1.1077079446405058,0.019659963319273742,1.040211223072357,-0.13647265052389457],[-0.130440487244791,1.4788156099359901,-1.1086778423953683,0.02068985440536658,1.040304124779608,-0.13701939807594551],[-0.1312306095967976,1.4687269969882786,-1.1097552990439075,0.021750157817070247,1.0403924335491073,-0.1375647129733313],[-0.13202083410600263,1.4589442133107784,-1.1109897269760336,0.02284029729185342,1.0404742784958518,-0.13810296312582765],[-0.13279800278992915,1.4494871512765832,-1.1124367925763134,0.02396204888066085,1.0405453934245026,-0.13862692864823592],[-0.13354659072322136,1.4403627059658959,-1.1141292079629899,0.025119659196410286,1.0405959655525072,-0.13912622131619995],[-0.1342447060464234,1.4315795572075503,-1.116086962977102,0.026313869812943404,1.0406175702455789,-0.13958581282938035],[-0.13486132529007389,1.4231555638631017,-1.118328171148759,0.027540929987198384,1.0406025558451226,-0.1399833197094899],[-0.135351992211315,1.415120455491666,-1.1208734980165143,0.028791842127246486,1.04054080524108,-0.140284390499903],[-0.13565010242042938,1.407522177031495,-1.1237514818011645,0.03004961121207119,1.040415702249114,-0.14043393915716726],[-0.13628069051419836,1.4006873143654186,-1.1191569431646946,0.03156762513277643,1.0321506231486268,-0.14120267424452776],[-0.13730404274046348,1.39418074362258,-1.1102679514655203,0.0334087959357877,1.0196005475763996,-0.14255163992212758],[-0.13840542656551513,1.3880942364496034,-1.1019986137583058,0.035382379163978406,1.0080823380417425,-0.14398089996592348],[-0.0828336028914832,1.393064940202085,-1.0886195927629798,0.017164648200629826,0.9801201998969239,-0.08182059751876708],[-0.08256585547272981,1.3860992087352946,-1.085769042376746,0.017598305049651115,0.9769029675878199,-0.08204501939405054],[-0.07800385625088913,1.3807790765746135,-1.0818087503982177,0.01628842470660508,0.9720993250667438,-0.08033867967039529],[-0.06834076317708292,1.3770499257588757,-1.077764477017939,0.014242968411037416,0.9673334652258273,-0.07531434677286274],[-0.05647725996321651,1.374423982229442,-1.0737823202640602,0.012117848887020471,0.9630574389425524,-0.069027441880286],[-0.04376369359938659,1.3726657229484895,-1.07003650826521,0.009820714078647453,0.9592833613355909,-0.062084747625809046],[-0.030708857706733164,1.3716570352300117,-1.0666602474333127,0.0073696797419924975,0.9561095899001567,-0.05747054125285443],[-0.01751533135437444,1.3713439712456492,-1.0637696784915773,0.004789551733483402,0.9534440245035025,-0.05375908332556334],[-0.004285503442506139,1.3717007002406354,-1.0614609837746727,0.002094130011821519,0.9512589295814547,-0.050012965914925905],[0.008907426549397905,1.3727050704425496,-1.0597995606067365,-0.000692015459794899,0.9495326958067748,-0.04627917103421897],[0.022002218856792752,1.3742774219836207,-1.058781153699177,-0.0035369113711851783,0.948182755729425,-0.04255187885971033],[0.034952746294197576,1.3761459587933118,-1.0583164403298835,-0.006431479356997937,0.9470933429194314,-0.038823910510035156],[0.04771840876717215,1.3781917817619926,-1.0584483814329781,-0.009359936237324023,0.9463215439283008,-0.035104620303471584],[0.060264160032034386,1.3803776649560626,-1.0592042896811282,-0.012309488692652372,0.9458528298665752,-0.031395949436028484],[0.07254937300227475,1.3828236558069122,-1.0606725449411176,-0.015252633554810276,0.9457354858907694,-0.02770501815311198],[0.08453622403183733,1.3856178645689776,-1.0627871850745396,-0.018170379804764825,0.9458241909257393,-0.024020162113368493],[0.0961842221134401,1.3886873983308625,-1.0651968506212022,-0.021049596280079283,0.9457802784007118,-0.020312687091452952],[0.10742521206292566,1.392050721824843,-1.0677264768365196,-0.023837493493151066,0.9457043210449679,-0.016587794441889334],[0.11820161157378224,1.3958476490930054,-1.0705757465715178,-0.026475077998433922,0.9459829990949041,-0.0128786571774233],[0.128501528657269,1.4000961280261695,-1.0738385425194505,-0.028962228262127746,0.9465570260510746,-0.00919302293985777],[0.13831932209627706,1.4047634808396916,-1.0775517561081054,-0.031312735037646554,0.9473089967820966,-0.005524325213664014],[0.14765076080256737,1.4098002341748501,-1.0817166740512063,-0.03354263869452077,0.9481485950980411,-0.001865684757453405],[0.15649632524670706,1.415159471634285,-1.0863270437285035,-0.03566667041440369,0.9490256140098764,0.0017875655966913956],[0.16486009527768844,1.4207990587328176,-1.0913703114095485,-0.03769677981860353,0.9499113490519867,0.005438434485687524],[0.1727480609910998,1.4266810201354962,-1.0968281477121506,-0.03964265592666864,0.9507890599366032,0.009089020311707871],[0.18017024048272368,1.4327735036439704,-1.1026823268087007,-0.04151341736862561,0.9516502871454726,0.012740646273826706],[0.18713854362211138,1.4390484991194032,-1.1089142699351142,-0.0433163166992297,0.9524920413435801,0.016394216842889074],[0.19366422677336606,1.4454801922260618,-1.115503522135712,-0.045056827134350844,0.953314111929872,0.020050352499512474],[0.1997607851576877,1.4520469617137834,-1.122431092416979,-0.04674057611251509,0.9541182322101746,0.023709466439251453],[0.20544272680808015,1.4587307081704037,-1.1296801542764465,-0.048372130581836884,0.9549070805539195,0.02737165770487813],[0.21072311403366542,1.4655153541336368,-1.1372349706110605,-0.04995487168064161,0.9556834399470622,0.03103684845041393],[0.21561547581877505,1.4723866644605466,-1.1450810677422392,-0.05149236990539452,0.9564505211998617,0.0347051233600653],[0.2201335065322347,1.4793314665263528,-1.153204233818412,-0.05298754156807949,0.9572118976499862,0.038376621879254585],[0.22429056273600462,1.486338672767505,-1.1615929232864264,-0.054442617663754536,0.9579718547783619,0.042051120901835284],[0.22809764941821675,1.4933980169856653,-1.1702369980153913,-0.05585878959329637,0.9587345797262634,0.04572832672394253],[0.2315659918592412,1.500500235138621,-1.1791282065140987,-0.057237896197134305,0.9595048202383969,0.04940815460822147],[0.23470605775600867,1.507636647760994,-1.1882598940741502,-0.05858103085762277,0.960287853218156,0.05309045593592521],[0.23752693770179995,1.5147983882383973,-1.1976260514042816,-0.05988848775729547,0.9610895617466794,0.05677514602370484],[0.24003530949324553,1.521976357218026,-1.2072218104272956,-0.06115967169121264,0.9619167778677074,0.06046197063629519],[0.24223589550204827,1.5291613433471198,-1.2170445836597716,-0.06239354258420009,0.9627778123289185,0.06415062353932165],[0.24413133006555832,1.5363431774808012,-1.227093930015692,-0.06358818189425672,0.963682944987409,0.06784088093105277],[0.24572076522521585,1.5435095979018607,-1.2373714910315716,-0.06473996536303728,0.964645310945585,0.07148271480051659],[0.24699798073352286,1.5506448761935774,-1.2478816576757719,-0.06584250961923849,0.965682874085086,0.07402868846430091],[0.24794448302113054,1.557731660013158,-1.2586396374854252,-0.06687761855409485,0.9668288126042697,0.07644749673776235],[0.2485330576381404,1.5647364503154217,-1.269658046329688,-0.0678282522884898,0.968125720316092,0.0786622646568056],[0.24883463021502925,1.5688101760502524,-1.2763756665748742,-0.06877973194357428,0.9678801808278557,0.08086333341121163],[0.24929210334766988,1.5669307263702783,-1.273463258518115,-0.07001679639818427,0.9638235026388271,0.08380100827940926],[0.24984658003192678,1.564912350754156,-1.270224264091477,-0.0714333257144666,0.9593901453713675,0.08734824047849216],[0.25048345617927653,1.5628877243663968,-1.2669071843537842,-0.07300444340021513,0.9549101281116072,0.09126038424524752],[0.2447854452504985,1.598332709912013,-1.2564167707855112,-0.056793756960719706,0.973860495640097,0.06503766086661922],[0.24497866229715615,1.5990275198029855,-1.2573370517458842,-0.05731528385755715,0.973251550166989,0.06691924153091472],[0.24495282269420737,1.6024816801247552,-1.2580207512447528,-0.05724107350197896,0.9730042607560982,0.06777476032351071],[0.24485742558400034,1.6082714506560336,-1.2583094673469837,-0.05705006619608234,0.9727276371006623,0.06852476932540288],[0.24472998512868582,1.6155648518554027,-1.2583945734860529,-0.05681892284326065,0.9724522867235296,0.06930067036223415],[0.24458266309990812,1.6238183314402421,-1.2584224794339705,-0.05656103999910809,0.9721706064480974,0.07010889432546252],[0.2444201445049955,1.6326594683558007,-1.2584106025675352,-0.056280296983722396,0.9718645197620953,0.07094461343679466],[0.24424430135017416,1.6418598669606166,-1.2583438483567668,-0.055978145577723286,0.9715251584749048,0.07180389298119252],[0.24405595287017764,1.6512935947927951,-1.2582296886070192,-0.055655399877473935,0.9711524549479268,0.07268373728349486],[0.24385537181987607,1.6608898169488577,-1.2580852966872744,-0.05531251558761089,0.9707468158888124,0.07358209065901801],[0.24364245314290384,1.670606417144589,-1.2579267778981966,-0.054949659844496804,0.97030718292893,0.07449759106329931],[0.24341680626296272,1.6804174530482254,-1.2577673447495612,-0.05456680204980174,0.9698318347746085,0.07542923845696412],[0.24317778448016555,1.6903061128110513,-1.257616287717802,-0.054163752525024346,0.9693184900571022,0.07637622027722939],[0.24292449430710056,1.7002616589480006,-1.2574803519456952,-0.05374020009442793,0.9687647983256118,0.0773377398223628],[0.24265576675882794,1.7102773566259073,-1.2573640181887302,-0.05329571648423498,0.9681682361330826,0.07831291962879638],[0.2423701206151364,1.720350049823445,-1.2572715531165042,-0.05282977805034331,0.9675265567640866,0.07930064282344036],[0.24206569403704947,1.7304796811859717,-1.25720830095793,-0.05234177522905097,0.9668378465665409,0.08029940386777348],[0.2417401161880653,1.7406690076684677,-1.2571810248819861,-0.051830986020719894,0.9661005603645395,0.08130714734526226],[0.24139032496385662,1.7509242111302332,-1.2571995655267394,-0.05129655197497172,0.965313989097081,0.08232100258053072],[0.2410122789200078,1.761255829399527,-1.2572787106644765,-0.050737427957102864,0.9644788112570784,0.08333691024934012],[0.240600474214472,1.771680232764967,-1.257440159996153,-0.050152266153137094,0.9635978542765832,0.08434907354807007],[0.24014715551168703,1.782222768244005,-1.2577171332222121,-0.04953923875720778,0.9626778851862198,0.08534901210366615],[0.23964091918787006,1.7929228710512637,-1.2581617832777179,-0.04889569452843077,0.9617327500651346,0.08632393533786534],[0.23906029197471412,1.8038447680554204,-1.2588616611699928,-0.04821707800640755,0.960791331282278,0.08725897418042465],[0.23837198997885095,1.8150978496830437,-1.2599733799670862,-0.04749737919015374,0.9599126074738348,0.08813963401068418],[0.23753611802399494,1.8268749286191737,-1.261794125693933,-0.046729922499927724,0.9592180923398403,0.08894594169552629],[0.23657571380833636,1.838928838903338,-1.2655134450972125,-0.04587111117678098,0.9601672535413245,0.08963510278889941],[0.23622655368937662,1.8453166031947068,-1.2757546016627226,-0.0446747502809514,0.9732893527117682,0.09034951137634739],[0.23587529604467872,1.8513573150978004,-1.2855150038658871,-0.04349217103349556,0.9859689886423701,0.09116699531014628],[0.23553688208800524,1.856623781267592,-1.294093774552445,-0.04238731627766245,0.9972466058191665,0.092064177388368],[0.23527249710959258,1.860637106990075,-1.3006786250775322,-0.041523040211363854,1.0059675982511984,0.09323440793963059],[0.23501272889485375,1.863330824332907,-1.3051208309537123,-0.040773064090458846,1.011856487868784,0.09444381281499556],[0.2348198170584047,1.8650211510671324,-1.3079025119383807,-0.04024896182634325,1.0155235270554428,0.09591285321265555],[0.23461842653069825,1.8659090500511364,-1.3093616185513715,-0.03978013140114006,1.0174106420371969,0.09724730190225837],[0.23441265105582132,1.8661266769156115,-1.3097298816565428,-0.03935382121500774,1.0178343199343332,0.09833525982518991],[0.234209219350949,1.8658231510621615,-1.3092601976126519,-0.03896642718829382,1.017144485893496,0.09927052500155649],[0.23401171708875695,1.8651750631910196,-1.3082416927660967,-0.03861163843768263,1.0157341308770338,0.10012770153457815],[0.23380698681909995,1.8644973473696882,-1.3071779529787264,-0.038242394262898216,1.01427681532848,0.10092959679919848],[0.23359198531459685,1.8640194300241786,-1.3064327632040467,-0.037838434872121185,1.0132564947072624,0.10170244409068098],[0.2333640628605231,1.8638318020335622,-1.3061482342214235,-0.037390185193151924,1.012858297210718,0.10245077890310483],[0.23312746831973125,1.8639128436672492,-1.3062889701503138,-0.036908951650531756,1.0130311899929432,0.1031854137036454],[0.23289906325824294,1.864140918546766,-1.3066615203447771,-0.036437225830652946,1.0135153474032785,0.10393398539138173],[0.23267939374243035,1.8643750415819764,-1.3070430432116869,-0.035983740433696246,1.0140121234677426,0.10469681480984673],[0.23246100560601207,1.864620176325921,-1.307441670135189,-0.03553275659517631,1.014531856559692,0.10546481583864756],[0.23224191210619724,1.8648870934796693,-1.3078744385268803,-0.03507951399042432,1.0150971832808675,0.10623179304702923],[0.23202234617289108,1.8651727439557038,-1.3083364983310124,-0.03462465735123553,1.015701577816079,0.1069956116798617],[0.2318027261774485,1.8654677671283544,-1.30881306388239,-0.03416955675150107,1.0163252498961177,0.10775523604017496],[0.23158588652567114,1.8657611639014868,-1.3092867311093825,-0.03372078612493599,1.016945030836833,0.10851932282667442],[0.23137236777940812,1.8660455681432044,-1.3097459298949796,-0.033279976858730104,1.0175454996035092,0.10929644574787548],[0.231161456340869,1.866321411804522,-1.3101914001172192,-0.03284561406315356,1.0181276618947952,0.11008809536671169],[0.23095244487060948,1.8665912111837595,-1.3106271335917252,-0.03241594230976382,1.018696867998816,0.11088908311843901],[0.2307450719424982,1.8668572046892677,-1.311056658578805,-0.031990132038357426,1.0192578515226265,0.11169387980414783],[0.2305386270388817,1.8671200937076677,-1.311481099042072,-0.03156655217237134,1.0198121116989969,0.11249774011193239],[0.23032750640295088,1.86736670457195,-1.31187986471429,-0.031133432361390764,1.0203320291791897,0.11326810009635985],[0.23011559431668335,1.8676024105833164,-1.312261340736892,-0.03069900748768411,1.0208289888128672,0.11402472554413254],[0.2299047212426648,1.8678367303797117,-1.3126404517668748,-0.03026692429978072,1.0213229809437143,0.11477915957344109],[0.22969520936568114,1.8680761799739858,-1.3130274163916515,-0.029837655818439418,1.0218276283385144,0.1155342405125269],[0.22948709305432524,1.868324002328833,-1.3134273128600462,-0.029411174535873295,1.0223496684752935,0.11629066590313189],[0.22928040591677998,1.8685806972917347,-1.3138409151938413,-0.02898754923741997,1.0228900961450889,0.11704860228611327],[0.22907521730917896,1.8688449667172808,-1.3142661811795529,-0.028566986405706946,1.0234461596179207,0.11780813117826072],[0.2288716072670145,1.8691147335364275,-1.314699854083961,-0.0281497486185123,1.0240134987975997,0.11856965605019998],[0.22866965823506,1.8693879064610135,-1.315138660045828,-0.027736101145747646,1.0245877403426462,0.11933371693369572],[0.22846944055788876,1.869662855349189,-1.3155800509126663,-0.027326261856096917,1.025165484399824,0.12010086213352235],[0.2282710095119235,1.8699385988163357,-1.3160224957809408,-0.026920388465109787,1.0257446896454927,0.12087157872616588],[0.228074405930061,1.8702147735125587,-1.3164654310729753,-0.026518582587657595,1.0263246039069505,0.12164626575987117],[0.2364852853442618,1.8145066288106824,-1.294520020179827,-0.04201232418308773,0.9871677915190008,0.11518928589729774],[0.23646659578172308,1.8138930957505173,-1.293995216765103,-0.04201417340172854,0.987392088608827,0.11583552656637078],[0.2366110960598196,1.8097729821706905,-1.2904691176782204,-0.04250545109551289,0.9868485012605743,0.11651987748274512],[0.23681885077190928,1.8022772449039188,-1.2860427580205775,-0.04310563344527712,0.9870928084553229,0.11728241398981494],[0.23706827454508622,1.7931566014525764,-1.282170820202601,-0.04377025142206359,0.987667521156554,0.11814418339994455],[0.237350214306956,1.783241083767446,-1.279096586815523,-0.04449126869267047,0.988281721342551,0.11911443228359184],[0.23766473647295175,1.7729015602226537,-1.27674480041403,-0.04526513289774045,0.9888589555024317,0.12018582829621938],[0.23801682547178155,1.7623450627256607,-1.275006440418128,-0.04608930041195373,0.9893929951530511,0.12134786413442303],[0.23841186452434826,1.7517004204159594,-1.2737862074991684,-0.04696204433619564,0.9898940627651553,0.12259199533170023],[0.2388543771764598,1.7410542175890134,-1.2730131453925162,-0.047882642514142884,0.9903745461776945,0.12391242041939754],[0.2393481783946421,1.730465259591962,-1.272635353652039,-0.04885126680679221,0.9908453618974691,0.12530576602257076],[0.2398964441548192,1.719973639188335,-1.2726144712645624,-0.04986873345851515,0.9913157546887602,0.12677046091151611],[0.24050180035131088,1.7096074488004085,-1.2729230174084794,-0.050936354815968254,0.991793838655164,0.12830623239971575],[0.24116626877167038,1.6993847571355762,-1.2735365930390143,-0.05205565352912725,0.9922859748776096,0.12991369767889283],[0.24189017095998833,1.6892967425562215,-1.2743754196394201,-0.05322614670660468,0.9927942364368881,0.13159161518155052],[0.2426732556459975,1.6793347523606457,-1.2753358726757744,-0.0544495831457794,0.9933258418427524,0.13333380163017938],[0.24351614294927176,1.669525433929873,-1.2763783834757785,-0.05573405042557657,0.993896240994356,0.13513209639540763],[0.24441756694854241,1.6599025989943061,-1.2774970362345635,-0.05708354310726565,0.9945153367875305,0.13698061701463082],[0.24537489380025918,1.6504940685621197,-1.2786936173160128,-0.05849981907420915,0.9951884215761052,0.13887460487465597],[0.2463853769130162,1.6413216852727537,-1.2799708490544814,-0.059985661065523055,0.9959176943497977,0.14082783474373045],[0.2474463280978019,1.6324116222197826,-1.2813540895455322,-0.06154548002217734,0.996706514985735,0.14286442576994512],[0.24855474142796277,1.6238018871755378,-1.2829262752182045,-0.06318397482031965,0.9975615285488278,0.14500540669047762],[0.24970673144256683,1.6155105118455497,-1.2847662440969743,-0.0649051836106551,0.9984833648631721,0.14726959776144044],[0.250897140957782,1.607527691448432,-1.2869055743564266,-0.06671130655336707,0.9994696091405324,0.14967598102391091],[0.25211969746082163,1.5998388713463505,-1.2893574717266734,-0.06860367746779333,1.0005242380745298,0.15222925075280358],[0.2533668991927376,1.592429611607482,-1.2921267384503548,-0.07058251772507544,1.001654637206668,0.15493001524624161],[0.25462947481737974,1.5852855243496968,-1.2952122446985663,-0.07264668618023971,1.002869910933359,0.15777578150484117],[0.2558956330412362,1.578390545859108,-1.2986062263448166,-0.0747932857795417,1.0041799526936273,0.16076060784225232],[0.2571500841949321,1.5717235150271793,-1.3022918930496241,-0.07701717136742924,1.0055948600965048,0.1638743095382047],[0.2583726331017881,1.5652558816113833,-1.3062429205230974,-0.07931023555177909,1.0071246510256917,0.16710015195071348],[0.2595361154822426,1.5589464149821506,-1.3104167763570789,-0.08166038810838855,1.0087772451899095,0.17041432182208094],[0.2606030211693554,1.5527336938318759,-1.314744475995243,-0.08404977529775039,1.0105556552002601,0.173781877170972],[0.2615198782520978,1.546523577513377,-1.3191122073955845,-0.08645191926398857,1.012452334184276,0.17715087572515942],[0.26220720752421145,1.540166729979711,-1.323326088164594,-0.08882680680689378,1.0144366664161928,0.1804422958634626],[0.2625399592363657,1.5334153340355354,-1.3270391912025081,-0.09111170590298039,1.0164258510220354,0.18353091815181194],[0.2634792359502672,1.5276913833881614,-1.3228503147214177,-0.09414538120272761,1.009761622065494,0.18829593106480935],[0.26503969308890135,1.5229325089806245,-1.3148540893028278,-0.0978407421463423,0.9988216163487145,0.1945466753925922],[0.26667927158418936,1.518636632411945,-1.3076908116320514,-0.1016552104434597,0.9892034846274655,0.20048473165130348],[0.2683321781296729,1.514979900190017,-1.3016123827396835,-0.10543649410943859,0.9811881438051865,0.20425791172478322],[0.26994002795190025,1.5119734269393164,-1.2966111164900904,-0.10906811900361031,0.9747076863949197,0.2081477799740519],[0.2714501179773395,1.5097126122288598,-1.2928283088353087,-0.11242983985627292,0.9698980801767608,0.21202658867738503],[0.2728355534234485,1.5082364783499909,-1.290315861797318,-0.11545683224807837,0.9667882594566439,0.21586167677171944],[0.2740921358081976,1.5074876302408142,-1.2889771386592255,-0.1181415541345545,0.9652273703641183,0.21964560921045437],[0.27523209084148187,1.5073144594146701,-1.2885680440711305,-0.12052442127638564,0.9648830404594898,0.22337979479978445],[0.2762768920889207,1.5075477802027284,-1.288819173902418,-0.12266675878195703,0.9653989462950509,0.22707664614098153],[0.27725183329569386,1.508025740240216,-1.2894724615443887,-0.12463629404388421,0.9664384946449849,0.23075853612552577],[0.27819063865699145,1.5085392739745673,-1.2901887031878305,-0.12652468160411715,0.9675598814760944,0.23444727511369265],[0.2791165435935758,1.5089299411091626,-1.2907079924369762,-0.12840117025400524,0.9684211853050387,0.2381235108742686],[0.280042168961965,1.5091253291335462,-1.2909096699183231,-0.13030494270823212,0.9688613871480697,0.24179561215111295],[0.28097112203630703,1.509120076192345,-1.290783102469258,-0.13224711512779116,0.9688652209227226,0.24547730497085493],[0.28190042875389154,1.5089524359147797,-1.2903900193221292,-0.1342177004458238,0.9685142778475155,0.2491766347214961],[0.2828233752986398,1.5086818458985847,-1.289827760274959,-0.13619442720853603,0.9679379123270246,0.2528969969294198],[0.283731950100073,1.508367451258337,-1.2891938231394817,-0.13815124257269898,0.967265517642563,0.2566318455495653],[0.28462093633630786,1.5080444003968143,-1.2885464170575172,-0.14007127905367922,0.9665741100792096,0.26037542936237773],[0.28548670554344047,1.507735719453607,-1.2879238786463316,-0.14194263626757622,0.9659142044150516,0.26412423785477335],[0.28632727981375505,1.5074530649538103,-1.2873458182998156,-0.1437586290102046,0.9653114490738285,0.2678744471484044],[0.287142522016979,1.5071964540186613,-1.2868125746678973,-0.14551849286413202,0.9647660137812891,0.27162303574864455],[0.287933612642231,1.5069586764881109,-1.286312440091918,-0.14722566261882286,0.9642622138629326,0.27536854228977004],[0.2887024148553364,1.5067296495181608,-1.2858288407386198,-0.14888571131713332,0.9637780112947915,0.27911075787602474],[0.2894509329714583,1.5064996515269486,-1.2853457019844832,-0.15050460761622325,0.9632920907993359,0.28285028268499973],[0.29018093611366447,1.506261176708844,-1.2848505548742286,-0.1520875309231262,0.9627879448940886,0.2865880847510923],[0.290893764264781,1.5060095649300995,-1.2843356211220212,-0.15363828572172145,0.9622552895606761,0.2903251522986936],[0.2915902887063364,1.5057427621155035,-1.2837974505784322,-0.1551592124331674,0.9616895696759363,0.2940622770839888],[0.29227097794017587,1.5054606097984422,-1.2832357645414363,-0.15665142766905538,0.961090417948646,0.29763436112580643],[0.2929348354331706,1.505165342716132,-1.2826543758485134,-0.1581125309937161,0.9604626613904458,0.30106697122731985],[0.2935804432139348,1.5048601118796974,-1.2820586627932027,-0.1595390224705509,0.9598131332891493,0.30446185563890094],[0.2942072155677024,1.5045468304616925,-1.2814519176988648,-0.16092930681259615,0.9591460294375098,0.30780973706330367],[0.2948149144866798,1.5042263379846044,-1.280835648077559,-0.16228269567379985,0.9584632147100802,0.31110713377591215],[0.295403418952438,1.5038988948148964,-1.2802103887697756,-0.16359886223546422,0.9577652709463667,0.3143512976864467],[0.2959727100658759,1.5035643324333707,-1.2795759476415027,-0.16487778667802871,0.9570518255822061,0.3175400927489116],[0.29652283764272613,1.5032222370566077,-1.2789317112749532,-0.16611965112131116,0.956321956466364,0.3206717770801575],[0.2970538869371929,1.5028721144649757,-1.2782769214511747,-0.16732473512856452,0.955574557120461,0.32374477706159416],[0.29756595144486697,1.5025135102811047,-1.277610878393347,-0.16849333114361928,0.9548086045356391,0.3267575000642423],[0.29805911963977216,1.5021460526765222,-1.2769330146516975,-0.16962570434772006,0.9540232560677968,0.3297082481158008],[0.29853355915022844,1.5017689083304935,-1.2762419899603334,-0.17072237470199603,0.953216655771917,0.33259582247830166],[0.2989896037647771,1.5013805814315342,-1.2755353423221716,-0.17178435693784078,0.9523854799082875,0.3354204300521325],[0.29942775116940806,1.5009790603712707,-1.2748097174067847,-0.17281314615848042,0.951525238376101,0.338183569856762],[0.29984862585440036,1.5005618838312251,-1.274060971125205,-0.1738106355499555,0.9506303984592834,0.3408876391915168],[0.30025284140067876,1.50012710168146,-1.2732857739858234,-0.17477863042375683,0.9496965134207185,0.34353507088456525],[0.30064085124706463,1.4996739049892545,-1.2724826925353165,-0.17571836762773546,0.9487216546661118,0.3461271330911069],[0.301012914182738,1.499202537947435,-1.2716520722809554,-0.17663042430909065,0.9477062558490477,0.34866361785519084],[0.30136909815206675,1.4987140929269944,-1.2707957056335368,-0.17751475524071728,0.9466526664375823,0.35114277222121487],[0.3017093174356193,1.4982102249063958,-1.2699163531894564,-0.1783708318077694,0.9455645120011387,0.35356156152665447],[0.3020333844606524,1.497692873425369,-1.2690172713829184,-0.17919781656085426,0.9444460659172972,0.35591606922605157],[0.3023410641029824,1.4971640371087636,-1.2681018255844643,-0.1799947336332824,0.9433017376481349,0.35820191841034255],[0.30263213346350404,1.4966256241764928,-1.26717322728252,-0.1807606356248081,0.9421357315152087,0.3604146490090874],[0.30290648682083177,1.4960794402129962,-1.2662344846546207,-0.1814948456442861,0.9409520091694787,0.3625499325726263],[0.30316412040007,1.4955271969260524,-1.2652884142696745,-0.18219692797376003,0.9397543016177431,0.3646036768755298],[0.3034050385919,1.4949703982983689,-1.2643374770233329,-0.1828665032727865,0.938545860537248,0.3665723902977474],[0.3036292435768812,1.494410317131538,-1.2633837440445308,-0.18350322914471118,0.9373294089003581,0.3684533678886099],[0.30383676691129363,1.4938480741937856,-1.2624290188466858,-0.18410685608732041,0.936107315956169,0.3702446662222534],[0.3040276691018341,1.4932846883222959,-1.261474921164234,-0.1846772145185414,0.9348817107329357,0.3719450949255788],[0.30420212399474716,1.4927206744825514,-1.2605221676116196,-0.18521455321935743,0.9336535320801711,0.3735551407100404],[0.30436040303074274,1.4921563343096178,-1.25957104928778,-0.18571945259241113,0.9324231743986306,0.3750766064336861],[0.3045027331446468,1.4915921496320066,-1.2586221285711865,-0.18619240628244524,0.9311913965388301,0.3765118204772214],[0.30462918790460064,1.4910284133856984,-1.2576757170402906,-0.18663355105721546,0.929958562268151,0.3778639704229331],[0.30468748186557176,1.4908972918843697,-1.2574379804200466,-0.1868167905562016,0.9296590523338505,0.3782707484906314],[0.30472285378695774,1.490906496905952,-1.257430718509646,-0.18691344918289146,0.929662599667008,0.3783755665926618],[0.304753735466948,1.4909159316755196,-1.2574231443032018,-0.18700088113616167,0.9296634903669231,0.3784695769136679],[0.30478086852699365,1.4909259279514422,-1.2574153027570178,-0.18708069277002565,0.9296617686923672,0.37855453747979606],[0.3048051936779624,1.4909364376781857,-1.257406994058346,-0.18715453097505313,0.929657480972403,0.37863240328375586],[0.30482730335711034,1.4909473905389539,-1.2573981597808654,-0.18722335017866523,0.9296508127917941,0.3787043630975248],[0.3048477891067043,1.4909586688402199,-1.2573889328380066,-0.18728815250936934,0.9296422733926163,0.3787716668000394],[0.3048676396333768,1.4909699084349268,-1.2573794532905282,-0.18735061410276727,0.9296326773575989,0.3788363870498547],[0.3048869156807634,1.4909806362312765,-1.2573699302434638,-0.18741065147530767,0.929622714849284,0.37889860932992125],[0.30490555353306065,1.4909907204328086,-1.2573605001125547,-0.1874680998094036,0.9296126897473844,0.378958203554336],[0.3049235385404328,1.4910001581220569,-1.2573512143412522,-0.18752297855744646,0.9296027100921814,0.3790151960232842],[0.3049408799823543,1.4910089802206026,-1.2573420906564834,-0.18757537919001743,0.9295928178535129,0.37906967947117204],[0.30495759505491704,1.4910172246977222,-1.2573331358688846,-0.18762541181414297,0.9295830342901183,0.37912176414965937],[0.3049737031521844,1.4910249293770494,-1.257324353305232,-0.18767318780027167,0.9295733736855142,0.37917156140658587],[0.3049892240687953,1.4910321301237288,-1.257315745012031,-0.18771881484073835,0.9295638473467559,0.37921917894515983],[0.3050041774454605,1.4910388604865557,-1.2573073123889027,-0.18776239574508938,0.9295544647966474,0.3792647196520979],[0.30501858258741016,1.4910451517276229,-1.2572990563733637,-0.1878040282996084,0.9295452341743606,0.37930828145301015],[0.305032458394949,1.4910510329492748,-1.257290977501514,-0.18784380541776463,0.929536162412536,0.379349957451976],[0.30504582332990304,1.49105653123933,-1.2572830759361633,-0.18788181536272835,0.9295272553493965,0.3793898361433131],[0.3050586953956361,1.4910616718133407,-1.257275351487664,-0.18791814198071646,0.9295185178200004,0.37942800163565177],[0.30507109212382105,1.4910664781485325,-1.2572678036340326,-0.18795286492833266,0.9295099537388342,0.37946453387157814],[0.30508303056566083,1.4910709721084985,-1.257260431541787,-0.18798605988964665,0.9295015661770931,0.3794995088384104],[0.30509452728656716,1.4910751740588757,-1.2572532340875213,-0.18801779878222255,0.9294933574355368,0.37953299876912044],[0.3051055983637201,1.4910791029745514,-1.257246209879913,-0.18804814995233995,0.9294853291131687,0.3795650723334496],[0.30511625938607945,1.4910827765389956,-1.257239357281834,-0.1880771783598528,0.9294774821718282,0.37959579481951],[0.30512652545651153,1.4910862112362924,-1.2572326744322713,-0.18810494575323278,0.929469816996782,0.37962522830627154],[0.30513641119570584,1.4910894224364077,-1.257226159267808,-0.18813151083529847,0.9294623334533911,0.3796534318273251],[0.3051459307476225,1.4910924244742005,-1.2572198095434917,-0.1881569294201353,0.929455030939991,0.3796804615263148],[0.3051550977862377,1.4910952307226373,-1.2572136228529225,-0.1881812545816795,0.9294479084370907,0.3797063708044394],[0.3051639255233642,1.4910978536606496,-1.2572075966474794,-0.1882045367944119,0.9294409645530572,0.3797312104603828],[0.30517242671737227,1.491100304936023,-1.257201728254586,-0.1882268240665814,0.9294341975664219,0.37975502882304085],[0.3051806136826434,1.4911025954236974,-1.257196014894974,-0.18824816206637804,0.9294276054649827,0.3797778718774038],[0.30518849829961336,1.4911047352798164,-1.2571904536989222,-0.1882685942414116,0.9294211859818574,0.37979978338391646],[0.3051960920252762,1.491106733991839,-1.2571850417214498,-0.18828816193187914,0.9294149366286583,0.37982080499164755],[0.3052034059040451,1.4911086004250118,-1.257179775956473,-0.18830690447774964,0.9294088547259486,0.37984097634557784],[0.30521045057886514,1.4911103428654728,-1.2571746533499337,-0.18832485932028886,0.9294029374311462,0.3798603351883045],[0.30521723630250125,1.4911119690602328,-1.2571696708119386,-0.18834206209823953,0.9293971817640262,0.37987891745644087],[0.3052237729489207,1.4911134862542668,-1.2571648252279168,-0.1883585467389314,0.9293915846299883,0.3798967573719895],[0.305230070024715,1.4911149012249414,-1.2571601134688573,-0.18837434554461058,0.929386142841224,0.37991388752894584],[0.3052361366804985,1.4911162203139532,-1.2571555324006414,-0.1883894892742314,0.9293808531359352,0.37993033897537537],[0.30524198172224426,1.4911174494569883,-1.2571510788925333,-0.18840400722096448,0.9293757121957361,0.3799461412912052],[0.30524761362251096,1.4911185942112521,-1.2571467498248619,-0.1884179272856518,0.9293707166613759,0.3799613226619532],[0.3052530405315288,1.4911196597810392,-1.2571425420959434,-0.18843127604642032,0.9293658631468965,0.37997590994860114],[0.30525827028812247,1.491120651041479,-1.2571384526282818,-0.18844407882467196,0.9293611482523435,0.379989928753828],[0.3052633104304318,1.4911215725606,-1.2571344783741105,-0.18845635974763214,0.9293565685751591,0.3800034034847799],[0.3052681682064297,1.491122428619827,-1.257130616320295,-0.18846814180765395,0.9293521207203287,0.38001635741257267],[0.30527285058420695,1.4911232232330411,-1.2571268634926613,-0.18847944691844298,0.9293478013094091,0.38002881272869393],[0.3052773642620139,1.4911239601642894,-1.257123216959784,-0.18849029596837125,0.9293436069885195,0.380040790598466],[0.30528171567805784,1.4911246429442566,-1.2571196738362587,-0.18850070887104162,0.9293395344353667,0.3800523112117406],[0.30528591102003727,1.4911252748855885,-1.2571162312855364,-0.18851070461323974,0.9293355803654184,0.38006339383095267],[0.30528995623441374,1.4911258590971432,-1.2571128865223091,-0.18852030130041914,0.9293317415372644,0.38007405683668793],[0.3052938570354176,1.4911263984972545,-1.2571096368145165,-0.18852951619985278,0.9293280147572546,0.3800843177708952],[0.30529761891378443,1.4911268958260797,-1.2571064794849913,-0.18853836578157196,0.9293243968834765,0.38009419337786365],[0.30530124714522416,1.491127353657092,-1.2571034119127793,-0.1885468657572088,0.9293208848291299,0.38010369964308854],[0.3053047467986204,1.4911277744077884,-1.2571004315341605,-0.18855503111685937,0.9293174755653537,0.38011285183013477],[0.30530812274396535,1.491128160349663,-1.2570975358433971,-0.18856287616406966,0.9293141661235548,0.3801216645156143],[0.3053113796600309,1.4911285136174983,-1.257094722393245,-0.18857041454904286,0.9293109535972961,0.38013015162236247],[0.3053145220417806,1.4911288362180295,-1.257091988795237,-0.18857765930016104,0.9293078351437769,0.380138326450923],[0.3053175542075269,1.4911291300380216,-1.2570893327197667,-0.18858462285391495,0.9293048079849443,0.3801462017094256],[0.30532048030583553,1.4911293968517985,-1.2570867518960014,-0.1885913170833212,0.9293018694082906,0.380153789541941],[0.3053233043221895,1.4911296383282753,-1.2570842441116306,-0.18859775332490936,0.9292990167673469,0.38016110155539934],[0.30532603008540693,1.491129856037514,-1.2570818072124739,-0.18860394240435133,0.9292962474819212,0.3801681488451413],[0.305328661273831,1.4911300514568469,-1.257079439101968,-0.18860989466080721,0.9292935590381072,0.3801749420191807],[0.3053312014212869,1.49113022597659,-1.2570771377405334,-0.1886156199700541,0.9292909489880797,0.38018149122124373],[0.30533365392282114,1.4911303809053884,-1.2570749011448608,-0.18862112776645695,0.9292884149497166,0.38018780615264763],[0.3053360220402223,1.4911305174752012,-1.2570727273870972,-0.18862642706384883,0.9292859546060521,0.38019389609308685],[0.30533830890733493,1.4911306368459665,-1.2570706145939725,-0.1886315264753745,0.929283565704602,0.38019976992037574],[0.30534051753516733,1.4911307401099636,-1.2570685609458583,-0.188636434232346,0.9292812460565526,0.380205436129208],[0.30534265081680684,1.4911308282958855,-1.2570665646757742,-0.18864115820217026,0.9292789935358602,0.3802109028489843],[0.30534471153214315,1.4911309023726624,-1.2570646240683565,-0.18864570590539428,0.9292768060782468,0.38021617786075607],[0.30534670235240496,1.491130963253026,-1.2570627374587875,-0.18865008453190263,0.9292746816801272,0.38022126861332795],[0.3053486258445249,1.4911310117968528,-1.2570609032316917,-0.18865430095632998,0.929272618397471,0.3802261822385715],[0.30535048447532687,1.4911310488142973,-1.2570591198200252,-0.18865836175271272,0.9292706143446097,0.38023092556598104],[0.3053522806155525,1.4911310750687212,-1.2570573857039324,-0.1886622732084271,0.9292686676930008,0.38023550513652105],[0.3053540165437229,1.491131091279446,-1.2570556994096052,-0.1886660413374451,0.9292667766699587,0.3802399272157906],[0.3053556944498517,1.4911310981243244,-1.2570540595081277,-0.18866967189295095,0.9292649395573596,0.38024419780655283],[0.3053573164390059,1.491131096242158,-1.257052464614324,-0.18867317037933937,0.9292631546903283,0.38024832266065],[0.30535888453472443,1.4911310862349634,-1.2570509133856098,-0.1886765420636368,0.92926142045591,0.380252307290345],[0.3053604006823021,1.4911310686700963,-1.25704940452084,-0.18867979198637372,0.9292597352917384,0.3802561569791147],[0.3053618667519355,1.4911310440822498,-1.2570479367591785,-0.18868292497192457,0.9292580976847,0.38025987679192047],[0.3053632845417473,1.4911310129753284,-1.2570465088789693,-0.18868594563835978,0.9292565061696045,0.3802634715849893],[0.30536465578068406,1.4911309758242048,-1.257045119696621,-0.18868885840682306,0.9292549593278567,0.38026694601512684],[0.30536598213129834,1.4911309330763733,-1.2570437680655093,-0.18869166751045485,0.9292534557861465,0.3802703045485817],[0.3053672651924172,1.4911308851535077,-1.2570424528749005,-0.18869437700289876,0.9292519942151463,0.3802735514694928],[0.30536850650170094,1.4911308324529196,-1.2570411730488817,-0.18869699076639493,0.9292505733282249,0.3802766908879344],[0.30536970753810017,1.4911307753489318,-1.257039927545322,-0.18869951251949713,0.9292491918801838,0.38027972674758087],[0.30537086972420735,1.4911307141941703,-1.2570387153548468,-0.18870194582441424,0.9292478486660114,0.3802826628330078],[0.3053719944285186,1.4911306493207828,-1.2570375354998393,-0.18870429409401565,0.9292465425196589,0.38028550277665557],[0.30537308296759763,1.491130581041582,-1.2570363870334558,-0.18870656059849758,0.9292452723128385,0.38028825006546035],[0.30537413660815366,1.4911305096511225,-1.2570352690386732,-0.18870874847174168,0.9292440369538498,0.38029090804718046],[0.3053751565690336,1.4911304354267159,-1.2570341806273508,-0.18871086071736973,0.9292428353864304,0.3802934799364229],[0.30537614402313196,1.4911303586293894,-1.257033120939322,-0.18871290021452064,0.9292416665886274,0.38029596882039823],[0.30537710009922314,1.4911302795047852,-1.257032089141504,-0.18871486972335433,0.9292405295717059,0.38029837766439867],[0.3053780258837199,1.491130198284009,-1.2570310844270345,-0.18871677189029942,0.9292394233790755,0.38030070931703375],[0.30537892242235304,1.4911301151844327,-1.2570301060144293,-0.1887186092530555,0.9292383470852461,0.3803029665152156],[0.30537979072179344,1.4911300304104491,-1.2570291531467659,-0.18872038424536808,0.92923729979482,0.38030515188892416],[0.3053806317511957,1.4911299441541863,-1.2570282250908862,-0.188722099201576,0.9292362806414927,0.38030726796574843],[0.305381446443686,1.4911298565961766,-1.2570273211366259,-0.1887237563609538,0.9292352887871035,0.38030931717522254],[0.3053822356977875,1.4911297679059934,-1.257026440596066,-0.1887253578718544,0.9292343234206988,0.38031130185296735],[0.30538300037878485,1.4911296782428514,-1.2570255828028016,-0.18872690579565565,0.9292333837576243,0.38031322424464065],[0.3053837413200342,1.4911295877561717,-1.2570247471112421,-0.18872840211053224,0.9292324690386495,0.380315086509709],[0.30538445932422126,1.4911294965861148,-1.2570239328959234,-0.18872984871505208,0.9292315785291139,0.3803168907250545],[0.305385155164563,1.4911294048640868,-1.2570231395508469,-0.18873124743160824,0.9292307115181018,0.3803186388884131],[0.30538582958596805,1.4911293127132186,-1.2570223664888385,-0.18873260000969533,0.9292298673176403,0.3803203329216639],[0.3053864833061393,1.4911292202488138,-1.2570216131409264,-0.18873390812903826,0.929229045261925,0.3803219746739699],[0.3053871170166409,1.4911291275787755,-1.257020878955738,-0.18873517340257673,0.929228244706569,0.3803235659247777],[0.30538773138391573,1.4911290348040147,-1.2570201633989238,-0.18873639737931366,0.9292274650278758,0.3803251083866851],[0.3053883270502632,1.4911289420188225,-1.2570194659525866,-0.1887375815470418,0.9292267056221393,0.38032660370818455],[0.3053889046347783,1.4911288493112393,-1.2570187861147422,-0.18873872733493954,0.9292259659049598,0.3803280534762801],[0.3053894647342512,1.4911287567633913,-1.2570181233987883,-0.1887398361160548,0.9292252453105878,0.3803294592189959],[0.3053900079240287,1.4911286644518147,-1.2570174773329996,-0.18874090920967418,0.9292245432912921,0.3803308224077669],[0.3053905347588434,1.491128572447763,-1.257016847460034,-0.1887419478835916,0.9292238593167411,0.38033214445973096],[0.30539104577360826,1.491128480817494,-1.2570162333364572,-0.18874295335627087,0.9292231928734123,0.38033342673992243],[0.3053915414841778,1.4911283896225451,-1.2570156345322796,-0.18874392679891136,0.9292225434640186,0.3803346705633608],[0.30539202238807955,1.4911282989199914,-1.2570150506305162,-0.18874486933742737,0.9292219106069528,0.38033587719706197],[0.30539248896521676,1.4911282087626938,-1.2570144812267574,-0.18874578205433484,0.9292212938357571,0.3803370478619521],[0.30539294167853975,1.491128119199531,-1.2570139259287527,-0.18874666599055484,0.9292206926986033,0.3803381837347039],[0.30539338097469293,1.491128030275614,-1.2570133843560094,-0.1887475221471403,0.9292201067577985,0.38033928594949257],[0.3053938072846353,1.4911279420325054,-1.2570128561394092,-0.18874835148692656,0.9292195355892985,0.3803403555996787],[0.30539422102423464,1.4911278545084108,-1.2570123409208336,-0.18874915493610483,0.9292189787822491,0.38034139373941556],[0.3053946225948382,1.4911277677383643,-1.2570118383528022,-0.18874993338573184,0.9292184359385373,0.3803424013851917],[0.3053950123838258,1.4911276817544128,-1.2570113480981306,-0.18875068769317674,0.9292179066723631,0.3803433795173111],[0.3053953907651198,1.4911275965857766,-1.257010869829574,-0.18875141868347514,0.9292173906097949,0.380344329081276],[0.3053957580997195,1.4911275122590157,-1.2570104032295404,-0.1887521271506979,0.9292168873884276,0.38034525098920496],[0.30539611473615863,1.491127428798179,-1.2570099479897432,-0.18875281385916054,0.9292163966569333,0.38034614612106304],[0.3053964610109775,1.491127346224942,-1.2570095038109028,-0.18875347954464833,0.9292159180747047,0.3803470153259237],[0.30539679724918795,1.4911272645587546,-1.2570090704024874,-0.18875412491559834,0.9292154513115323,0.3803478594231963],[0.3053971237646755,1.4911271838169562,-1.2570086474823818,-0.18875475065415617,0.9292149960471925,0.3803486792037059],[0.30539744086063014,1.4911271040149088,-1.2570082347766542,-0.18875535741726815,0.9292145519711595,0.38034947543082814],[0.305397748829937,1.4911270251661055,-1.257007832019276,-0.1887559458376812,0.9292141187822661,0.3803502488415241],[0.3053980479555572,1.491126947282286,-1.2570074389518742,-0.1887565165249158,0.9292136961883881,0.38035100014734624],[0.30539833851089104,1.4911268703735348,-1.2570070553234833,-0.18875707006618506,0.9292132839061484,0.3803517300353979],[0.3053986207601325,1.4911267944483853,-1.257006680890313,-0.18875760702729216,0.9292128816606257,0.3803524391692614],[0.3053988949586049,1.4911267195139108,-1.2570063154155178,-0.1887581279534768,0.9292124891850744,0.3803531281898839],[0.305399161353081,1.4911266455758103,-1.257005958668973,-0.1887586333702225,0.9292121062206478,0.3803537977164158],[0.305399420182101,1.4911265726384983,-1.25700561042707,-0.1887591237840465,0.9292117325161485,0.3803544483470415],[0.3053996716762683,1.491126500705181,-1.2570052704725083,-0.18875959968324085,0.9292113678277708,0.3803550806597513],[0.305399916058535,1.4911264297779327,-1.2570049385940945,-0.18876006153858726,0.9292110119188592,0.38035569521309337],[0.30540015354448247,1.4911263598577655,-1.2570046145865525,-0.18876050980404316,0.9292106645596735,0.3803562925468937],[0.3054003843425837,1.4911262909446998,-1.2570042982503415,-0.18876094491739823,0.9292103255271676,0.3803568731829473],[0.30540060865445945,1.491126223037829,-1.2570039893914728,-0.18876136730090262,0.9292099946047645,0.38035743762568],[0.3054008266751246,1.4911261561353766,-1.2570036878213446,-0.18876177736186986,0.9292096715821585,0.38035798636278734],[0.3054010385932205,1.4911260902347565,-1.2570033933565634,-0.18876217549325194,0.9292093562550956,0.3803585198658392],[0.3054012445912469,1.4911260253326286,-1.2570031058187963,-0.18876256207419648,0.9292090484251927,0.38035903859087394],[0.3054014448457772,1.49112596142495,-1.2570028250346108,-0.18876293747057746,0.9292087478997471,0.3803595429789616],[0.3054016395276696,1.4911258985070213,-1.2570025508353224,-0.1887633020355012,0.9292084544915493,0.380360033456741],[0.30540182880226546,1.4911258365735356,-1.2570022830568512,-0.18876365610979107,0.9292081680187088,0.3803605104369369],[0.30540201282958823,1.4911257756186245,-1.257002021539583,-0.18876400002246513,0.9292078883044896,0.38036097431887],[0.30540219176452704,1.4911257156358952,-1.2570017661282338,-0.18876433409117419,0.9292076151771413,0.38036142548892676],[0.3054023657570155,1.4911256566184719,-1.2570015166717168,-0.18876465862263514,0.9292073484697444,0.3803618643210217],[0.3054025349522106,1.491125598559035,-1.2570012730230198,-0.18876497391305008,0.9292070880200595,0.3803622911770515],[0.30540269949064874,1.4911255414498534,-1.2570010350390797,-0.18876528024848965,0.9292068336703757,0.380362706407302],[0.3054028595084165,1.491125485282819,-1.2570008025806663,-0.1887655779052843,0.9292065852673749,0.380363110350877],[0.3054030151372957,1.4911254300494798,-1.2570005755122673,-0.18876586715037863,0.9292063426619886,0.38036350333607416],[0.30540316650491967,1.4911253757410665,-1.2570003537019772,-0.1887661482416923,0.9292061057092712,0.3803638856807818],[0.30540331373490864,1.4911253223485235,-1.257000137021394,-0.18876642142844435,0.9292058742682705,0.38036425769282595],[0.3054034569470114,1.4911252698625337,-1.2569999253455097,-0.18876668695148033,0.9292056482019014,0.3803646196703303],[0.3054035962572377,1.4911252182735466,-1.2569997185526187,-0.1887669450435825,0.929205427376833,0.3803649719020503],[0.3054037317779826,1.4911251675717974,-1.2569995165242156,-0.18876719592976313,0.9292052116633679,0.38036531466769596],[0.3054038636181535,1.4911251177473333,-1.2569993191449005,-0.18876743982755387,0.9292050009353361,0.3803656482382479],[0.3054039918832842,1.4911250687900337,-1.2569991263022955,-0.188767676947275,0.9292047950699834,0.3803659728762513],[0.30540411667565037,1.4911250206896287,-1.2569989378869508,-0.18876790749229966,0.9292045939478708,0.3803662888361063],[0.3054042380943793,1.4911249734357186,-1.2569987537922616,-0.18876813165930467,0.9292043974527732,0.3803665963643483],[0.30540435623555534,1.4911249270177946,-1.256998573914389,-0.1887683496385186,0.9292042054715808,0.3803668956999136],[0.30540447119232256,1.4911248814252487,-1.2569983981521782,-0.18876856161394784,0.9292040178942129,0.3803671870743967],[0.3054045830549801,1.491124836647398,-1.2569982264070836,-0.1887687677636021,0.9292038346135169,0.38036747071229654],[0.3054046919110811,1.4911247926734916,-1.2569980585830918,-0.18876896825971387,0.9292036555251901,0.3803677468312616],[0.3054047978455174,1.4911247494927296,-1.256997894586652,-0.18876916326893553,0.9292034805276892,0.3803680156423078],[0.3054049009406151,1.4911247070942732,-1.2569977343266059,-0.18876935295254965,0.9292033095221521,0.3803682773500544],[0.3054050012762108,1.491124665467259,-1.256997577714121,-0.1887695374666475,0.9292031424123178,0.3803685321529227],[0.30540509892974255,1.4911246246008105,-1.2569974246626245,-0.18876971696232586,0.9292029791044518,0.38036878024335735],[0.30540519397631954,1.4911245844840464,-1.2569972750877392,-0.18876989158585097,0.929202819507268,0.38036902180800775],[0.3054052864888029,1.4911245451060908,-1.2569971289072221,-0.18877006147883366,0.9292026635318605,0.38036925702792995],[0.3054053765378787,1.49112450645609,-1.2569969860409111,-0.18877022677839542,0.9292025110916364,0.3803694860787687],[0.3054054641921274,1.4911244685232077,-1.2569968464106571,-0.18877038761731815,0.9292023621022448,0.3803697091309313],[0.3054055495180909,1.4911244312966472,-1.256996709940277,-0.18877054412420016,0.9292022164815136,0.3803699263497604],[0.3054056325803415,1.4911243947656496,-1.2569965765554962,-0.18877069642360184,0.9292020741493888,0.38037013789570007],[0.30540571344154094,1.491124358919505,-1.2569964461838956,-0.18877084463617844,0.9292019350278709,0.38037034392445085],[0.3054057921625072,1.491124323747558,-1.2569963187548623,-0.1887709888788255,0.9292017990409593,0.3803705445871293],[0.3054058688022672,1.491124289239215,-1.2569961941995407,-0.18877112926479775,0.929201666114593,0.38037074003040877],[0.3054059434181181,1.4911242553839485,-1.2569960724507816,-0.18877126590383764,0.929201536176597,0.3803709303966657],[0.30540601606568013,1.4911242221713028,-1.2569959534431023,-0.1887713989022966,0.9292014091566302,0.38037111582411615],[0.30540608679895176,1.4911241895909002,-1.2569958371126349,-0.18877152836324904,0.9292012849861304,0.3803712964469493],[0.3054061556703577,1.4911241576324439,-1.2569957233970868,-0.18877165438660248,0.9292011635982678,0.38037147239545477],[0.3054062227308017,1.4911241262857229,-1.2569956122356978,-0.18877177706920278,0.9292010449278956,0.3803716437961434],[0.3054062880297123,1.4911240955406153,-1.2569955035691989,-0.1887718965049443,0.9292009289115041,0.3803718107718742],[0.30540635161509005,1.4911240653870925,-1.2569953973397703,-0.18877201278485997,0.9292008154871718,0.38037197344196033],[0.3054064135335509,1.4911240358152227,-1.256995293491009,-0.18877212599722165,0.9292007045945266,0.3803721319222858],[0.3054064738303706,1.4911240068151725,-1.256995191967883,-0.18877223622763348,0.9292005961746985,0.38037228632541237],[0.3054065325495242,1.4911239783772097,-1.2569950927167035,-0.18877234355911438,0.9292004901702823,0.38037243676067856]],"metrics":{"valid":true,"success":true,"reason":"success","simulation_time":20.00000000000146,"steps":1000,"lift_seen":true,"grasp_seen":true,"max_object_lift_m":0.09784201534053309,"dwell_seconds":5.118000000000044,"lift_dwell_seconds":0.0,"max_pad_normal_force_n":1.032981541321838,"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":15.131999999997053,"target_distance_m":0.004643260001854684,"warnings":[],"physical_robot_ready":false,"contact_pair_native_ticks":{"1:90":17775,"88:90":2761,"89:90":2511,"86:90":2849,"85:90":2741}},"timing":{"setup_seconds":0.13691174983978271,"episode_wall_seconds":1.6257732089143246,"control_step_seconds":{"count":1000,"median":0.0012684789253398776,"p95":0.0025562080554664135,"max":0.004316791193559766},"control_boundaries":1000,"missed_control_boundaries":0,"simulated_seconds_per_wall_second":12.301838836031296,"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":"a3fbd8987a976d7313a25ed2fd6ee2c3cc6d9c0e482586fe01fa8c43d69eee18","initial_object_position_m":[0.3002700718224476,-0.03397109124017995,0.0798922445174838],"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-01--placement","scene_id":"nominal-01","attempt_wall_seconds":1.627111333888024}