{"schema": "robot-apis.episode.v1", "session": {"id": "s_efcd0ebe069448a98db38e5eaf16c00d", "owner": "so101", "robot_id": "so101", "mode": "manual", "lease_seconds": 3600, "record": true, "scene": "pick_place", "lease_epoch": "[redacted for publication]", "status": "closed", "created_at": 1792579636.8897276, "expires_at": 1792583236.889728, "backend": "mujoco", "model_sha256": "d75253eb568e8a7214db9c631ab7bed4217f608a26f7276ebe9a7636cac82580", "target": "simulation", "final_state": {"session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 18000, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579781.7162302, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.91734596286115e-17, -1.0451198737601937e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.99999999999803, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437196e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3654769790414005e-14, "shoulder_lift": 1.2853277486390491e-14, "elbow_flex": 4.3650135746649854e-15, "wrist_flex": -5.0672400938620926e-14, "wrist_roll": -9.38563138485894e-20, "gripper": 1.1397030233520813e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317023e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}}, "capabilities": {"robot_id": "so101", "backend": "mujoco", "target": "simulation", "mujoco_version": "3.3.7", "model_sha256": "d75253eb568e8a7214db9c631ab7bed4217f608a26f7276ebe9a7636cac82580", "scene": "empty", "scene_sha256": "763b0ac73be2eb591bf4d71b9508cfe3e2f3a06420f397825a7a85c1db1a00d8", "supported_scenes": ["empty", "pick_place"], "timestep_seconds": 0.002, "joints": [{"name": "shoulder_pan", "unit": "rad", "min": -1.91986, "max": 1.91986, "max_command_speed": 1.5, "home": 0.0}, {"name": "shoulder_lift", "unit": "rad", "min": -1.7453292519943224, "max": 1.7453292519943366, "max_command_speed": 1.5, "home": 0.0}, {"name": "elbow_flex", "unit": "rad", "min": -1.69, "max": 1.69, "max_command_speed": 1.5, "home": 0.0}, {"name": "wrist_flex", "unit": "rad", "min": -1.65806, "max": 1.65806, "max_command_speed": 1.5, "home": 0.0}, {"name": "wrist_roll", "unit": "rad", "min": -2.7438472969992493, "max": 2.841206309382605, "max_command_speed": 1.5, "home": 0.0}, {"name": "gripper", "unit": "rad", "min": -0.17453, "max": 1.7453291995659765, "max_command_speed": 1.5, "home": 0.0}], "gripper": {"name": "gripper", "opening_unit": "normalized_0_closed_1_open", "contact_completion": false}, "commands": ["joint_position", "gripper", "home", "cartesian_pose", "trajectory", "action_chunk"], "cameras": ["overview", "side"], "cartesian_frame": "world", "quaternion_order": "wxyz", "tcp_site": "gripperframe", "collision_free_planning": false, "physical_hardware": false}}
{"cursor": 1, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579637.410081, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456e-06, 0.100125123], "quaternion_wxyz": [0.9997186370071134, 0.0, 0.0, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06009437157362647}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06009437157362647}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06009437157362647}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06009437157362647}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -4.0266859291371304e-11}, "simulation_time": 0.002, "positions": {"shoulder_pan": -0.001259560320851216, "shoulder_lift": -0.9725073074363123, "elbow_flex": 0.1279786539494912, "wrist_flex": 1.6318422078251722, "wrist_roll": -9.655494652175866e-10, "gripper": 0.9999999558224877}, "velocities": {"shoulder_pan": 1.2365743919577362e-06, "shoulder_lift": 0.00018318184387396615, "elbow_flex": 0.012338274745605766, "wrist_flex": 0.0015689125860349205, "wrist_roll": -4.827747330056767e-07, "gripper": -2.2088756164674173e-05}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": 0.0, "elbow_flex": 0.0, "wrist_flex": 0.0, "wrist_roll": 0.0, "gripper": 0.0}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18446313713447027, 0.00017217220649498865, 0.18907406889740838], "quaternion_wxyz": [0.9232501714393787, 0.02223449647395008, 0.3834555102654821, -0.008753270859855888], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 2, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 51, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579637.6967142, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456000172e-06, 0.10006651222130232], "quaternion_wxyz": [0.9997186370071134, 5.65001676948899e-18, -1.3405711936353094e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897849}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897849}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -5.861081896453568e-05}, "simulation_time": 0.10200000000000008, "positions": {"shoulder_pan": -0.001259563064848558, "shoulder_lift": -0.9724932006386955, "elbow_flex": 0.12824722753173282, "wrist_flex": 1.6319254884497443, "wrist_roll": -7.930538673164957e-08, "gripper": 0.9999964742876003}, "velocities": {"shoulder_pan": 2.0398619109548492e-08, "shoulder_lift": 3.140772003564496e-05, "elbow_flex": 0.00023211994948502758, "wrist_flex": -4.0050127324928966e-05, "wrist_roll": -3.6547903315231927e-09, "gripper": -1.4276336889541502e-07}, "actuator_forces": {"shoulder_pan": 2.414785558180199e-07, "shoulder_lift": -0.014477853980338296, "elbow_flex": -0.2929215699386134, "wrist_flex": -0.08622912087639634, "wrist_roll": 7.918011223149073e-05, "gripper": 0.0035201343983999323}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498115098774, 0.00017215609396026407, 0.18900682234280003], "quaternion_wxyz": [0.9231746760271486, 0.02223258061708756, 0.38363723956695117, -0.008757757631013758], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 3, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579638.081289, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560011926e-06, 0.10005808091090009], "quaternion_wxyz": [0.9997186370071134, 2.4779548701853918e-17, -8.959001499698192e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061315760141395025}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131576014139503}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131576014139499}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131576014139499}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.704212936677056e-05}, "simulation_time": 0.20200000000000015, "positions": {"shoulder_pan": -0.001259562900895316, "shoulder_lift": -0.9724924642164129, "elbow_flex": 0.12825363911139182, "wrist_flex": 1.6319246651665058, "wrist_roll": -7.870674932237455e-08, "gripper": 0.9999965015678138}, "velocities": {"shoulder_pan": 2.5392659251123866e-09, "shoulder_lift": 7.456112852556395e-07, "elbow_flex": 1.8750074221489432e-06, "wrist_flex": 3.241657452586362e-07, "wrist_roll": 8.0892558569908e-11, "gripper": 1.9809335553964295e-09}, "actuator_forces": {"shoulder_pan": 1.0467125344248984e-07, "shoulder_lift": -0.015183200842784572, "elbow_flex": -0.299130542565905, "wrist_flex": -0.08544307552870123, "wrist_roll": 7.856646110466954e-05, "gripper": 0.0034921979097362055}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18444987919814043, 0.0001721561454717435, 0.18900550431912908], "quaternion_wxyz": [0.9231733783199346, 0.02223254682224628, 0.38364036252565825, -0.00875783445475882], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 4, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579638.3879466, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456003224e-06, 0.1000570197326013], "quaternion_wxyz": [0.9997186370071134, 3.0317032783150914e-17, -1.0287690219715084e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131291024984744}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131291024984745}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312910249847426}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131291024984743}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.810330766555961e-05}, "simulation_time": 0.3020000000000002, "positions": {"shoulder_pan": -0.0012595627990044825, "shoulder_lift": -0.9724924441152305, "elbow_flex": 0.12825365010972495, "wrist_flex": 1.6319246729808972, "wrist_roll": -7.87114946457795e-08, "gripper": 0.9999965013174678}, "velocities": {"shoulder_pan": 1.7852232819415632e-10, "shoulder_lift": 1.9960544618523856e-08, "elbow_flex": -2.7937450556917723e-08, "wrist_flex": -2.054258501180651e-09, "wrist_roll": -1.387673977493627e-12, "gripper": -5.5120318175025345e-11}, "actuator_forces": {"shoulder_pan": 4.830756239471157e-09, "shoulder_lift": -0.015202595012397069, "elbow_flex": -0.29913926472477215, "wrist_flex": -0.08545060616006595, "wrist_roll": 7.857139054686184e-05, "gripper": 0.0034924549790957826}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18444987954676112, 0.0001721561304227341, 0.1890054980830317], "quaternion_wxyz": [0.923173369721992, 0.022232546622472642, 0.38364038321413785, -0.008757835013948306], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 5, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579638.8250215, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456005246e-06, 0.10005688621062614], "quaternion_wxyz": [0.9997186370071134, 2.7171251901826077e-17, -1.1850244337588108e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255161815877}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312551618158774}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255161815875}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255161815874}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.823682964071653e-05}, "simulation_time": 0.4020000000000003, "positions": {"shoulder_pan": -0.001259562794147725, "shoulder_lift": -0.972492443643025, "elbow_flex": 0.12825364960413763, "wrist_flex": 1.6319246729161616, "wrist_roll": -7.871146164127845e-08, "gripper": 0.9999965013192079}, "velocities": {"shoulder_pan": 5.426828036450707e-12, "shoulder_lift": 3.446674853680103e-10, "elbow_flex": 6.749761867864306e-11, "wrist_flex": 5.9441944900745464e-12, "wrist_roll": 2.0421834365339977e-14, "gripper": 8.547856517094684e-13}, "actuator_forces": {"shoulder_pan": 1.4238743517580588e-10, "shoulder_lift": -0.01520304762982505, "elbow_flex": -0.2991387876537317, "wrist_flex": -0.08545054297087518, "wrist_roll": 7.857135521162897e-05, "gripper": 0.0034924531389606273}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18444987959988496, 0.00017215612973173693, 0.1890054981395406], "quaternion_wxyz": [0.9231733697447972, 0.02223254662404696, 0.3836403831591446, -0.008757835014992537], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 6, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579639.1378686, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456007151e-06, 0.1000568694109532], "quaternion_wxyz": [0.9997186370071134, 2.5524948784137425e-17, -5.487372742761479e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455334}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455334}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312506494553325}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455333}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825362931366097e-05}, "simulation_time": 0.5020000000000003, "positions": {"shoulder_pan": -0.0012595627940042299, "shoulder_lift": -0.9724924436351096, "elbow_flex": 0.12825364960707034, "wrist_flex": 1.6319246729165542, "wrist_roll": -7.871146179513006e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.5644724477342902e-13, "shoulder_lift": 5.839768007830453e-12, "elbow_flex": 1.8437309729390856e-12, "wrist_flex": -3.7840045029046954e-15, "wrist_roll": -2.61078228116071e-16, "gripper": -1.4174622156768933e-14}, "actuator_forces": {"shoulder_pan": 4.0760728126088e-12, "shoulder_lift": -0.015203055202618998, "elbow_flex": -0.2991387905437364, "wrist_flex": -0.08545054336264002, "wrist_roll": 7.857135539425091e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18444987960041592, 0.0001721561297099849, 0.18900549813791764], "quaternion_wxyz": [0.9231733697424831, 0.02223254662401677, 0.38364038316471044, -0.00875783501520058], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 7, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579639.536001, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456009105e-06, 0.10005686729723616], "quaternion_wxyz": [0.9997186370071134, 2.7566712406306655e-17, -7.682999117468244e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250081713726}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250081713726}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500817137225}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250081713723}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82557430306957e-05}, "simulation_time": 0.6020000000000004, "positions": {"shoulder_pan": -0.0012595627940001162, "shoulder_lift": -0.9724924436349724, "elbow_flex": 0.12825364960709432, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179587113e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 4.359805802498293e-15, "shoulder_lift": 1.0760792182201318e-13, "elbow_flex": -1.3588595425768275e-14, "wrist_flex": -3.756841266584054e-14, "wrist_roll": 9.956539700296e-19, "gripper": -4.9540875601606946e-15}, "actuator_forces": {"shoulder_pan": 1.1191048088221578e-13, "shoulder_lift": -0.015203055333927296, "elbow_flex": -0.29913879056567794, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539466517e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18444987960042653, 0.000172156129709431, 0.1890054981378954], "quaternion_wxyz": [0.9231733697424497, 0.022232546624016847, 0.3836403831647908, -0.00875783501520435], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 8, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579639.7853189, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456010974e-06, 0.10005686703129066], "quaternion_wxyz": [0.9997186370071134, 2.4798925259115126e-17, -2.9185534707443454e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500102811314}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500102811314}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125001028113}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500102811286}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825600897619744e-05}, "simulation_time": 0.7020000000000005, "positions": {"shoulder_pan": -0.0012595627940000028, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590073e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.1885952503986532e-16, "shoulder_lift": 1.2661629962967624e-14, "elbow_flex": -2.734565723803557e-15, "wrist_flex": -3.7706845849320446e-14, "wrist_roll": -1.0218250512311547e-19, "gripper": -4.9581661684767e-15}, "actuator_forces": {"shoulder_pan": 2.6645352591003757e-15, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469629e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579640.2541072, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456012908e-06, 0.10005686699782973], "quaternion_wxyz": [0.9997186370071134, 2.7321857680273373e-17, 3.475202237461761e-20, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293553}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293552}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293552}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293551}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604243712591e-05}, "simulation_time": 0.8020000000000006, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179591214e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 5.792693797962577e-18, "shoulder_lift": 1.2639846790519349e-14, "elbow_flex": -2.7315428296573623e-15, "wrist_flex": -3.7707267399408857e-14, "wrist_roll": -3.398757248585225e-20, "gripper": -4.958155768370351e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539470824e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 10, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579640.584304, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456015003e-06, 0.10005686699361971], "quaternion_wxyz": [0.9997186370071134, 2.5412027500077772e-17, 4.950296305980743e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162753}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162753}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500001627517}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162752}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604664714713e-05}, "simulation_time": 0.9020000000000007, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179591041e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": -5.1455193303013836e-18, "shoulder_lift": 1.2633617517966907e-14, "elbow_flex": -2.7313597356638895e-15, "wrist_flex": -3.770722936113154e-14, "wrist_roll": -1.672583108254562e-19, "gripper": -4.958152220482541e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539470584e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 11, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579641.0704484, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456016952e-06, 0.10005686699309001], "quaternion_wxyz": [0.9997186370071134, 2.637473419601567e-17, 2.01753922344359e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000204724}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000204724}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000020469}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000204675}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604717684841e-05}, "simulation_time": 1.0020000000000007, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590587e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.4598454418506804e-17, "shoulder_lift": 1.2621184057517716e-14, "elbow_flex": -2.724497960917372e-15, "wrist_flex": -3.770832125146883e-14, "wrist_roll": 3.242090934143168e-20, "gripper": -4.958145187322717e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539470148e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 12, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579641.3820145, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456018865e-06, 0.10005686699302337], "quaternion_wxyz": [0.9997186370071134, 2.3373787609369485e-17, 4.365422756850557e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000002547}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000025465}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000025444}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000002544}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604724348955e-05}, "simulation_time": 1.1020000000000008, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590483e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 2.330776233977483e-17, "shoulder_lift": 1.262040406126769e-14, "elbow_flex": -2.725590896911767e-15, "wrist_flex": -3.770816998891987e-14, "wrist_roll": 1.4341606322529617e-19, "gripper": -4.958151487436767e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539470095e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 13, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579641.813549, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456020763e-06, 0.10005686699301497], "quaternion_wxyz": [0.9997186370071134, 2.6713594228427247e-17, 4.934302341533381e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000339}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003385}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000338}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000335}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725188561e-05}, "simulation_time": 1.2020000000000008, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.87114617959055e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.4692181262313166e-17, "shoulder_lift": 1.2619616010936571e-14, "elbow_flex": -2.7271586817095166e-15, "wrist_flex": -3.770797881668793e-14, "wrist_roll": 7.132257543036476e-20, "gripper": -4.958156290852299e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539470106e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 14, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579642.148303, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456022664e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6749654110991573e-17, 8.972620241734843e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000165}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000165}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000015}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000015}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.302000000000001, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590372e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.9549324857094867e-17, "shoulder_lift": 1.2619202666658405e-14, "elbow_flex": -2.727752451680107e-15, "wrist_flex": -3.7707882595814424e-14, "wrist_roll": 9.297721877925698e-20, "gripper": -4.958161801746404e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469964e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 15, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579642.537484, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745602468e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5087121901944144e-17, 1.3001608553203225e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.402000000000001, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590073e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.3350084858664436e-17, "shoulder_lift": 1.2618891605766824e-14, "elbow_flex": -2.7287076667566585e-15, "wrist_flex": -3.770774344313932e-14, "wrist_roll": -8.448376509618983e-20, "gripper": -4.9581675707086396e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469646e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 16, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579642.8560784, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456026364e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9666434505929695e-17, -1.0434266337292315e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.5020000000000011, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590318e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 1.8215447575440485e-17, "shoulder_lift": 1.26186986150559e-14, "elbow_flex": -2.728908442189173e-15, "wrist_flex": -3.770770882924698e-14, "wrist_roll": 7.666908222330564e-20, "gripper": -4.95816959654495e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469903e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 17, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579643.3494313, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456028287e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6208448291060216e-17, -1.4642502588622745e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.6020000000000012, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590114e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 3.157465816557097e-17, "shoulder_lift": 1.2623664665325247e-14, "elbow_flex": -2.7342561534301876e-15, "wrist_flex": -3.7706796726393926e-14, "wrist_roll": 2.061733322101334e-19, "gripper": -4.9581938512102975e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469744e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 18, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579643.6604776, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745603168e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.978371652321782e-17, 9.034449427645083e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.7020000000000013, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590073e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 7.506067054460903e-18, "shoulder_lift": 1.262091415867697e-14, "elbow_flex": -2.7314389659262993e-15, "wrist_flex": -3.77071609492126e-14, "wrist_roll": -1.5710584639882106e-19, "gripper": -4.958188107727194e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469659e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 19, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579644.0893042, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560333265e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.87330777592748e-17, 1.5311252026584783e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.8020000000000014, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590063e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 5.200468990891195e-18, "shoulder_lift": 1.262025603014427e-14, "elbow_flex": -2.730618106716992e-15, "wrist_flex": -3.7707229847489494e-14, "wrist_roll": -1.8508718308243936e-19, "gripper": -4.958187001370543e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.85713553946964e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 20, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579644.4020326, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456035228e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.888428150841655e-17, 3.2219157898745242e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 1.9020000000000015, "positions": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179589896e-08, "gripper": 0.9999965013191985}, "velocities": {"shoulder_pan": 3.0114904982560334e-17, "shoulder_lift": 1.2619269201000025e-14, "elbow_flex": -2.7299076145732517e-15, "wrist_flex": -3.770726766907678e-14, "wrist_roll": 1.267579449610469e-19, "gripper": -4.9581912013272585e-15}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.015203055335973659, "elbow_flex": -0.29913879056545056, "wrist_flex": -0.0854505433610484, "wrist_roll": 7.857135539469461e-05, "gripper": 0.00349245314964719}, "applied_targets": {"shoulder_pan": -0.001259562794, "shoulder_lift": -0.9725076738, "elbow_flex": 0.1279539774, "wrist_flex": 1.63183907, "wrist_roll": 7.937669061e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 21, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579644.9556875, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456039205e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 5.717136803419967e-17, 1.113270997035608e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.002000000000001, "positions": {"shoulder_pan": -0.0012595603213506178, "shoulder_lift": -0.972492076809142, "elbow_flex": 0.1282783314301238, "wrist_flex": 1.631927807204872, "wrist_roll": -7.967664253444195e-08, "gripper": 0.9999964571383412}, "velocities": {"shoulder_pan": 1.2363246913014347e-06, "shoulder_lift": 0.0001834129141890872, "elbow_flex": 0.012340911514846566, "wrist_flex": 0.0015671441598203624, "wrist_roll": -4.825903692701678e-07, "gripper": -2.209042864462043e-05}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": 0.0, "elbow_flex": 0.0, "wrist_flex": 0.0, "wrist_roll": 6.776263578034403e-20, "gripper": 0.0}, "applied_targets": {"shoulder_pan": -0.0012595627940000004, "shoulder_lift": -0.9724924436349703, "elbow_flex": 0.1282536496070941, "wrist_flex": 1.6319246729165524, "wrist_roll": -7.871146179590162e-08, "gripper": 0.9999965013191985}, "tcp": {"position_m": [0.1844498796004267, 0.00017215612970939, 0.18900549813789527], "quaternion_wxyz": [0.9231733697424493, 0.022232546624016816, 0.3836403831647917, -0.008757835015204557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 22, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579645.2866826, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456041782e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.06596763307152e-17, 1.1028365822760216e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.10199999999999, "positions": {"shoulder_pan": -0.0012595380416590709, "shoulder_lift": -0.9671090747246418, "elbow_flex": 0.13629092339622306, "wrist_flex": 1.6351528346327922, "wrist_roll": -1.4289778115737521e-07, "gripper": 0.9999935984251124}, "velocities": {"shoulder_pan": -2.6266014214036907e-07, "shoulder_lift": 0.055988855586213256, "elbow_flex": 0.07963959086218243, "wrist_flex": 0.032476171042845274, "wrist_roll": 2.1277361745667457e-07, "gripper": 8.54391641950556e-06}, "actuator_forces": {"shoulder_pan": -2.4394722482945497e-05, "shoulder_lift": 0.07410796973567813, "elbow_flex": -0.19822557842252309, "wrist_flex": -0.013999175831258981, "wrist_roll": 8.35731380978947e-05, "gripper": 0.0037650668072046756}, "applied_targets": {"shoulder_pan": -0.0012595629192817582, "shoulder_lift": -0.9669945711326783, "elbow_flex": 0.13615059258183856, "wrist_flex": 1.635162919414517, "wrist_roll": -5.90335963467346e-08, "gripper": 0.9999973759893989}, "tcp": {"position_m": [0.1843251143656881, 0.00017199581284615197, 0.18654997637103743], "quaternion_wxyz": [0.9200138423855834, 0.02215092712862116, 0.39115711909347056, -0.008942842319625787], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 23, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579645.7197225, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456043638e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9304963041687515e-17, -1.0022471047374512e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.201999999999979, "positions": {"shoulder_pan": -0.0012595606598765803, "shoulder_lift": -0.9615994320903922, "elbow_flex": 0.14419382527974745, "wrist_flex": 1.638388743618079, "wrist_roll": -1.212131717330626e-07, "gripper": 0.9999944934121311}, "velocities": {"shoulder_pan": -3.359829666076696e-08, "shoulder_lift": 0.05501811581395435, "elbow_flex": 0.07899327514862375, "wrist_flex": 0.03237003429568401, "wrist_roll": 2.103365973389592e-07, "gripper": 8.672429135039603e-06}, "actuator_forces": {"shoulder_pan": -2.358951690872857e-06, "shoulder_lift": 0.0621112505137944, "elbow_flex": -0.20407108003382746, "wrist_flex": -0.011376685465393166, "wrist_roll": 8.155707767577116e-05, "gripper": 0.0037441887291151943}, "applied_targets": {"shoulder_pan": -0.001259563044563516, "shoulder_lift": -0.9614966986303861, "elbow_flex": 0.144047535556583, "wrist_flex": 1.6384011659124815, "wrist_roll": -3.935573089756758e-08, "gripper": 0.9999982506595992}, "tcp": {"position_m": [0.18416634524033484, 0.00017179901941007678, 0.18406606350030608], "quaternion_wxyz": [0.9167254724783421, 0.022066040154884028, 0.3988033625798115, -0.00913104464331444], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 24, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579646.0667095, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456045789e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.172882712877177e-17, 2.545803268697754e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.301999999999968, "positions": {"shoulder_pan": -0.001259561522532748, "shoulder_lift": -0.9560980555693859, "elbow_flex": 0.15209267497574125, "wrist_flex": 1.641625637928198, "wrist_roll": -1.0017754502314114e-07, "gripper": 0.9999953606109853}, "velocities": {"shoulder_pan": -1.920372450723322e-09, "shoulder_lift": 0.05501484378182854, "elbow_flex": 0.07898901843841308, "wrist_flex": 0.03236875838543168, "wrist_roll": 2.1050587335830336e-07, "gripper": 8.678670301354023e-06}, "actuator_forces": {"shoulder_pan": -1.6426285258663853e-06, "shoulder_lift": 0.05864140420533204, "elbow_flex": -0.20595463208681508, "wrist_flex": -0.010026837786199394, "wrist_roll": 8.020177415964303e-05, "gripper": 0.0037516430937785117}, "applied_targets": {"shoulder_pan": -0.001259563169845274, "shoulder_lift": -0.9559988261280941, "elbow_flex": 0.15194447853132748, "wrist_flex": 1.641639412410446, "wrist_roll": -1.967786544840056e-08, "gripper": 0.9999991253297996}, "tcp": {"position_m": [0.183964837992508, 0.00017154517687397998, 0.18159704608840987], "quaternion_wxyz": [0.9133765536165085, 0.021979705506366017, 0.40641521894149857, -0.00931845814585492], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 25, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579646.5188925, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456047613e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3142424679361864e-17, 9.074690263522126e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.401999999999957, "positions": {"shoulder_pan": -0.0012595616554259435, "shoulder_lift": -0.9505965518261508, "elbow_flex": 0.15999157982116968, "wrist_flex": 1.6448625041135296, "wrist_roll": -7.911627765819904e-08, "gripper": 0.9999962289754564}, "velocities": {"shoulder_pan": -1.1841354182780266e-09, "shoulder_lift": 0.05501476363875296, "elbow_flex": 0.07898873557885246, "wrist_flex": 0.03236855243969096, "wrist_roll": 2.1071277685056055e-07, "gripper": 8.688413483142479e-06}, "actuator_forces": {"shoulder_pan": -1.6359111973951457e-06, "shoulder_lift": 0.05501636203359794, "elbow_flex": -0.20791303264024918, "wrist_flex": -0.008648836716929509, "wrist_roll": 7.882068062698111e-05, "gripper": 0.0037579304926111945}, "applied_targets": {"shoulder_pan": -0.0012595632951270318, "shoulder_lift": -0.950500953625802, "elbow_flex": 0.15984142150607195, "wrist_flex": 1.6448776589084106, "wrist_roll": 7.66458938146735e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18372162541515585, 0.00017123868856907853, 0.17914145804118664], "quaternion_wxyz": [0.9099644022255989, 0.021891849384523047, 0.413999014784532, -0.009505228570139215], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 26, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579646.8624246, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456049559e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.133767617820587e-17, -5.183449847548678e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.501999999999946, "positions": {"shoulder_pan": -0.001259557516062585, "shoulder_lift": -0.9442922076108224, "elbow_flex": 0.16820204315200576, "wrist_flex": 1.647111724576413, "wrist_roll": -7.215108089943152e-08, "gripper": 0.9999964702137333}, "velocities": {"shoulder_pan": -9.017727459275956e-08, "shoulder_lift": 0.06325681410980365, "elbow_flex": 0.08218759910706798, "wrist_flex": 0.02233078001051565, "wrist_roll": 1.2330396132960417e-08, "gripper": -1.420310419649045e-07}, "actuator_forces": {"shoulder_pan": -5.724971299692072e-06, "shoulder_lift": 0.05654139338855657, "elbow_flex": -0.2075657968302096, "wrist_flex": -0.01291011436410372, "wrist_roll": 7.201352034081552e-05, "gripper": 0.003523590167333168}, "applied_targets": {"shoulder_pan": -0.001259563344180711, "shoulder_lift": -0.944189095315171, "elbow_flex": 0.16805451590267023, "wrist_flex": 1.6471151698152144, "wrist_roll": 7.775037671603506e-19, "gripper": 1.0}, "tcp": {"position_m": [0.183598276711137, 0.0001710826400273139, 0.17664583378576137], "quaternion_wxyz": [0.9064631567723197, 0.021801814178578852, 0.42161033822400346, -0.00969273003464208], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 27, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579647.3248012, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456051341e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3164556134411465e-17, -1.1045344298584385e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.601999999999935, "positions": {"shoulder_pan": -0.00125956146851849, "shoulder_lift": -0.9379756032050937, "elbow_flex": 0.17641778934488633, "wrist_flex": 1.6493480530829596, "wrist_roll": -7.076497185319403e-08, "gripper": 0.9999964636019643}, "velocities": {"shoulder_pan": -5.211913145395007e-09, "shoulder_lift": 0.06315893332139198, "elbow_flex": 0.08215190850411051, "wrist_flex": 0.022360509503100586, "wrist_roll": 1.4468706535366924e-08, "gripper": -3.8121744990019964e-08}, "actuator_forces": {"shoulder_pan": -1.917307134835511e-06, "shoulder_lift": 0.0517949133716229, "elbow_flex": -0.21025914270811086, "wrist_flex": -0.011806034565097434, "wrist_roll": 7.062838945174597e-05, "gripper": 0.0035301322889154108}, "applied_targets": {"shoulder_pan": -0.0012595633932343906, "shoulder_lift": -0.9378772370045398, "elbow_flex": 0.17626761029926868, "wrist_flex": 1.6493526807220178, "wrist_roll": 7.798826248225649e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1834368514452227, 0.0001708799007281297, 0.17415931177038851], "quaternion_wxyz": [0.9028966017623055, 0.021710206464081748, 0.4291955105833694, -0.009879633416677537], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 28, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579647.639719, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456052917e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.1830892504863652e-17, -2.790870046195793e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.701999999999924, "positions": {"shoulder_pan": -0.0012595616248580444, "shoulder_lift": -0.9316597909055219, "elbow_flex": 0.18463289209662279, "wrist_flex": 1.6515841046897128, "wrist_roll": -6.93095638638938e-08, "gripper": 0.9999964602387879}, "velocities": {"shoulder_pan": -4.902897906418561e-10, "shoulder_lift": 0.06315793569210136, "elbow_flex": 0.08215077492620464, "wrist_flex": 0.022360430126459583, "wrist_roll": 1.4645512000358747e-08, "gripper": -2.8969728409739906e-08}, "actuator_forces": {"shoulder_pan": -1.8137936994566672e-06, "shoulder_lift": 0.047850860184098565, "elbow_flex": -0.2122611965213821, "wrist_flex": -0.010348984383426796, "wrist_roll": 6.917544555324408e-05, "gripper": 0.003533482251100395}, "applied_targets": {"shoulder_pan": -0.0012595634422880699, "shoulder_lift": -0.9315653786939085, "elbow_flex": 0.18448070469586714, "wrist_flex": 1.6515901916288214, "wrist_roll": 7.822614824847792e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18323198400511165, 0.0001706218699017701, 0.1716851615114155], "quaternion_wxyz": [0.8992669927926003, 0.021617084086497915, 0.43674964975430514, -0.010065822809976276], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 29, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579648.0954638, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456054781e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5065489722108596e-17, -1.002559506003538e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.801999999999913, "positions": {"shoulder_pan": -0.0012595616647999616, "shoulder_lift": -0.9253440240530534, "elbow_flex": 0.1928479359952665, "wrist_flex": 1.6538201367856502, "wrist_roll": -6.783512685100158e-08, "gripper": 0.9999964578493691}, "velocities": {"shoulder_pan": -3.7615242906924744e-10, "shoulder_lift": 0.0631573687354373, "elbow_flex": 0.08215008635794356, "wrist_flex": 0.022360217696025083, "wrist_roll": 1.4838578469854282e-08, "gripper": -1.901351135918871e-08}, "actuator_forces": {"shoulder_pan": -1.8230140701458453e-06, "shoulder_lift": 0.04394966307233972, "elbow_flex": -0.2142067458228496, "wrist_flex": -0.008872649998693305, "wrist_roll": 6.770349092470598e-05, "gripper": 0.003535860113288436}, "applied_targets": {"shoulder_pan": -0.0012595634913417494, "shoulder_lift": -0.9252535203832772, "elbow_flex": 0.1926937990924656, "wrist_flex": 1.6538277025356247, "wrist_roll": 7.846403401469934e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18298397954214507, 0.0001703094869761562, 0.16922384454947373], "quaternion_wxyz": [0.8955742089946886, 0.021522443144338786, 0.44427303699752935, -0.01025130341117557], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 30, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579648.4470708, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456057538e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.024587957497478e-17, -1.3029282625354517e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 2.901999999999902, "positions": {"shoulder_pan": -0.001259554925880997, "shoulder_lift": -0.9182144907616143, "elbow_flex": 0.20125929490807198, "wrist_flex": 1.654892281242181, "wrist_roll": -6.634564255662441e-08, "gripper": 0.9999964567246485}, "velocities": {"shoulder_pan": -5.435211749223207e-08, "shoulder_lift": 0.0715109497196395, "elbow_flex": 0.08417275403987241, "wrist_flex": 0.010502356051834921, "wrist_roll": 1.4533222042189718e-08, "gripper": -3.17994155038908e-08}, "actuator_forces": {"shoulder_pan": -4.3348253520036906e-06, "shoulder_lift": 0.04516575989737248, "elbow_flex": -0.21461364178125564, "wrist_flex": -0.014153161061585706, "wrist_roll": 6.621682909075314e-05, "gripper": 0.0035369793383779324}, "applied_targets": {"shoulder_pan": -0.0012595593290693173, "shoulder_lift": -0.9181166874022986, "elbow_flex": 0.20110617841867076, "wrist_flex": 1.6548857769017191, "wrist_roll": 7.785480346851938e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1828770450087858, 0.0001701737982558285, 0.16674992428367874], "quaternion_wxyz": [0.8918525518446391, 0.02142716290861865, 0.4516979362313385, -0.010434407613376329], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 31, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579648.9342039, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456059281e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.7987428591285517e-17, 1.6806324182372187e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.001999999999891, "positions": {"shoulder_pan": -0.001259554814939422, "shoulder_lift": -0.9110727504369801, "elbow_flex": 0.20967419586130365, "wrist_flex": 1.6559490590811914, "wrist_roll": -6.484946723285114e-08, "gripper": 0.9999964562017949}, "velocities": {"shoulder_pan": 3.681681423563629e-08, "shoulder_lift": 0.07141086336278792, "elbow_flex": 0.08414412696659013, "wrist_flex": 0.010565550088707671, "wrist_roll": 1.5079007095112428e-08, "gripper": 1.0921029998145512e-09}, "actuator_forces": {"shoulder_pan": -3.778694717126996e-07, "shoulder_lift": 0.040273266125154805, "elbow_flex": -0.2171717338958672, "wrist_flex": -0.012960040455936905, "wrist_roll": 6.472296485532207e-05, "gripper": 0.003537490341045668}, "applied_targets": {"shoulder_pan": -0.0012595551667968854, "shoulder_lift": -0.9109798544213191, "elbow_flex": 0.2095185577448761, "wrist_flex": 1.6559438512678122, "wrist_roll": 7.724557292233868e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18273218736093724, 0.0001699913404718329, 0.16428448359318598], "quaternion_wxyz": [0.8880698991590236, 0.021330416557533316, 0.4590905704857967, -0.010616761662061908], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 32, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579649.2256026, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560583105e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 6.226190196498878e-18, 1.290493642651425e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.10199999999988, "positions": {"shoulder_pan": -0.0012595507572629103, "shoulder_lift": -0.9039317070790578, "elbow_flex": 0.21808853202624595, "wrist_flex": 1.6570056051937059, "wrist_roll": -6.333343206141946e-08, "gripper": 0.999996456777842}, "velocities": {"shoulder_pan": 4.1663701626572535e-08, "shoulder_lift": 0.07141020840836783, "elbow_flex": 0.08414306307024502, "wrist_flex": 0.010565393357759268, "wrist_roll": 1.5245817098193232e-08, "gripper": 1.0519752757616142e-08}, "actuator_forces": {"shoulder_pan": -2.773875884543031e-07, "shoulder_lift": 0.036072686773650275, "elbow_flex": -0.21912258448747934, "wrist_flex": -0.01143393475922494, "wrist_roll": 6.320950921670705e-05, "gripper": 0.003536908021715135}, "applied_targets": {"shoulder_pan": -0.0012595510045244533, "shoulder_lift": -0.9038430214403398, "elbow_flex": 0.21793093707108144, "wrist_flex": 1.6570019256339055, "wrist_roll": 7.663634237615797e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18254323960409852, 0.0001697527565710787, 0.1618297004818322], "quaternion_wxyz": [0.8842263457324265, 0.021232208972765523, 0.4664508099247343, -0.010798367255046753], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 33, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579649.7306368, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745605971e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.859750839564267e-17, 8.665020322555378e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.201999999999869, "positions": {"shoulder_pan": -0.0012595465820330837, "shoulder_lift": -0.8967907172986026, "elbow_flex": 0.22650279953341304, "wrist_flex": 1.65806213460926, "wrist_roll": -6.179999507893822e-08, "gripper": 0.9999964583283919}, "velocities": {"shoulder_pan": 4.177592723653333e-08, "shoulder_lift": 0.07140956731443314, "elbow_flex": 0.0841422792366361, "wrist_flex": 0.010565200910319733, "wrist_roll": 1.5418673103730506e-08, "gripper": 2.0296093976421993e-08}, "actuator_forces": {"shoulder_pan": -2.904425466798699e-07, "shoulder_lift": 0.03192372917078501, "elbow_flex": -0.22100685298451594, "wrist_flex": -0.009891593942256804, "wrist_roll": 6.16786744705154e-05, "gripper": 0.003535353057827706}, "applied_targets": {"shoulder_pan": -0.0012595468422520212, "shoulder_lift": -0.8967061884593603, "elbow_flex": 0.22634331639728678, "wrist_flex": 1.6580599999999988, "wrist_roll": 7.602711182997727e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1823104576544866, 0.00016945894459198668, 0.1593861078255125], "quaternion_wxyz": [0.8803218237520345, 0.02113253750736964, 0.4737788081712808, -0.010979226393140543], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 34, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579650.018981, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560616055e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.794722399196125e-17, 2.4031080173737423e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.301999999999858, "positions": {"shoulder_pan": -0.0012595390286942027, "shoulder_lift": -0.8885957752035655, "elbow_flex": 0.23484671016996095, "wrist_flex": 1.6581050018237058, "wrist_roll": -6.025158635401413e-08, "gripper": 0.9999964609093156}, "velocities": {"shoulder_pan": -1.1963895689782753e-07, "shoulder_lift": 0.08220166624683908, "elbow_flex": 0.08347018252715811, "wrist_flex": -0.00019651932513603602, "wrist_roll": 1.379108358423293e-08, "gripper": -2.7731960276454736e-08}, "actuator_forces": {"shoulder_pan": -5.944069498831084e-06, "shoulder_lift": 0.034186327237989644, "elbow_flex": -0.22279106929536852, "wrist_flex": -0.044726297193392384, "wrist_roll": 6.013492371132752e-05, "gripper": 0.003532819722977365}, "applied_targets": {"shoulder_pan": -0.001259545103122496, "shoulder_lift": -0.8885010854787986, "elbow_flex": 0.2346848632502764, "wrist_flex": 1.65806, "wrist_roll": 7.5407728224335e-19, "gripper": 1.0}, "tcp": {"position_m": [0.182216840022392, 0.00016933988719425633, 0.15692868529640075], "quaternion_wxyz": [0.8763634943091886, 0.021031585584240488, 0.48106150808551423, -0.011159018258406723], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 35, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579650.4958444, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456063738e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.835744548557158e-17, 3.4841532289724927e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.401999999999847, "positions": {"shoulder_pan": -0.0012595418013675618, "shoulder_lift": -0.8803855769306812, "elbow_flex": 0.24319079241944647, "wrist_flex": 1.6581009786122223, "wrist_roll": -5.868563912835661e-08, "gripper": 0.9999964644871612}, "velocities": {"shoulder_pan": 1.4044026716900447e-08, "shoulder_lift": 0.08209634666628593, "elbow_flex": 0.08343426520097867, "wrist_flex": -8.612196557471943e-06, "wrist_roll": 1.5755874155872325e-08, "gripper": 4.1327446619214714e-08}, "actuator_forces": {"shoulder_pan": -1.5698944773046009e-06, "shoulder_lift": 0.029128465786243396, "elbow_flex": -0.2253789385846119, "wrist_flex": -0.040899436034578684, "wrist_roll": 5.856959244948522e-05, "gripper": 0.003529189672576649}, "applied_targets": {"shoulder_pan": -0.0012595433639929707, "shoulder_lift": -0.8802959824982355, "elbow_flex": 0.24302641010326592, "wrist_flex": 1.65806, "wrist_roll": 7.478834461869272e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18208894200434225, 0.00016917921774969316, 0.1544809375354132], "quaternion_wxyz": [0.8723529335262035, 0.020929389368070525, 0.48829681233997113, -0.011337684398924325], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 36, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579650.8330112, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456065901e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.500262931672499e-17, -5.472895583517563e-20, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.501999999999836, "positions": {"shoulder_pan": -0.0012595401162744841, "shoulder_lift": -0.8721759797434512, "elbow_flex": 0.2515341753626069, "wrist_flex": 1.6581000417197402, "wrist_roll": -5.710737554876797e-08, "gripper": 0.9999964689622947}, "velocities": {"shoulder_pan": 1.752610497678713e-08, "shoulder_lift": 0.08209571899195396, "elbow_flex": 0.08343349076007746, "wrist_flex": -9.686777846390419e-06, "wrist_roll": 1.585242927720688e-08, "gripper": 4.9294699144840886e-08}, "actuator_forces": {"shoulder_pan": -1.5187517019565888e-06, "shoulder_lift": 0.024644507044058628, "elbow_flex": -0.22720946773094397, "wrist_flex": -0.03996333904910898, "wrist_roll": 5.6994088668816244e-05, "gripper": 0.003524716773995351}, "applied_targets": {"shoulder_pan": -0.0012595416248634454, "shoulder_lift": -0.8720908795176724, "elbow_flex": 0.25136795695625547, "wrist_flex": 1.65806, "wrist_roll": 7.416896101305045e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18191540267423148, 0.00016896038501284318, 0.1520420341143665], "quaternion_wxyz": [0.8682821701716956, 0.020825749245711497, 0.49549949764779394, -0.011515596426963067], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 37, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579651.2706428, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456067799e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.836750535282755e-17, 2.830767954382071e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.601999999999825, "positions": {"shoulder_pan": -0.001259538358994706, "shoulder_lift": -0.8639664427201369, "elbow_flex": 0.25987748000676886, "wrist_flex": 1.658099067045291, "wrist_roll": -5.551415394295883e-08, "gripper": 0.999996474386536}, "velocities": {"shoulder_pan": 1.758470459557227e-08, "shoulder_lift": 0.0820950074809841, "elbow_flex": 0.08343260099310632, "wrist_flex": -9.79851680837801e-06, "wrist_roll": 1.6007635128801616e-08, "gripper": 5.8982068572569755e-08}, "actuator_forces": {"shoulder_pan": -1.5369388155495045e-06, "shoulder_lift": 0.020218847845512755, "elbow_flex": -0.22896350109090235, "wrist_flex": -0.038990314047850916, "wrist_roll": 5.5403588495318535e-05, "gripper": 0.0035192950738291984}, "applied_targets": {"shoulder_pan": -0.00125953988573392, "shoulder_lift": -0.8638857765371092, "elbow_flex": 0.25970950380924496, "wrist_flex": 1.65806, "wrist_roll": 7.354957740740817e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18169690907371813, 0.00016868491978717223, 0.14961282410483714], "quaternion_wxyz": [0.8641519809522148, 0.02072068389035222, 0.5026681683028816, -0.011692717840795386], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 38, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579651.589189, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745606978e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.757869609770637e-17, -2.3713424870034508e-20, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.701999999999814, "positions": {"shoulder_pan": -0.001259530697442506, "shoulder_lift": -0.8534100090714162, "elbow_flex": 0.2669548660139008, "wrist_flex": 1.658097993771104, "wrist_roll": -5.381611013445688e-08, "gripper": 0.9999964814513306}, "velocities": {"shoulder_pan": -1.685529019048356e-07, "shoulder_lift": 0.10607556525780443, "elbow_flex": 0.07060607112139308, "wrist_flex": -8.152233242860294e-06, "wrist_roll": 1.6492325085565446e-08, "gripper": 3.765030225763184e-08}, "actuator_forces": {"shoulder_pan": -8.875136045638499e-06, "shoulder_lift": 0.02957040914020581, "elbow_flex": -0.23717451664407463, "wrist_flex": -0.03792000204680335, "wrist_roll": 5.370810250438963e-05, "gripper": 0.003512242925580722}, "applied_targets": {"shoulder_pan": -0.0012595397313269992, "shoulder_lift": -0.8533023347061888, "elbow_flex": 0.26676905129441114, "wrist_flex": 1.65806, "wrist_roll": 7.280721279336691e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18158389963727983, 0.00016854141975951027, 0.14715774511512306], "quaternion_wxyz": [0.8596926694290553, 0.0206073426879005, 0.5102574940823345, -0.011880289984027664], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 39, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579652.0136075, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560717885e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.934075411164594e-17, -1.1029368614939182e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.801999999999803, "positions": {"shoulder_pan": -0.0012595370051597808, "shoulder_lift": -0.8428209609165205, "elbow_flex": 0.2740171554564675, "wrist_flex": 1.6580969750028336, "wrist_roll": -5.208815380610277e-08, "gripper": 0.9999964891991109}, "velocities": {"shoulder_pan": -5.943436316710248e-09, "shoulder_lift": 0.10588543245518595, "elbow_flex": 0.07061118941873407, "wrist_flex": -1.0698226392489499e-05, "wrist_roll": 1.7415934118588177e-08, "gripper": 8.513950251412508e-08}, "actuator_forces": {"shoulder_pan": -2.5618027854612535e-06, "shoulder_lift": 0.024105315188649, "elbow_flex": -0.24009203479420194, "wrist_flex": -0.036901338071857026, "wrist_roll": 5.198264792091006e-05, "gripper": 0.003504490126033488}, "applied_targets": {"shoulder_pan": -0.0012595395769200784, "shoulder_lift": -0.8427188928752642, "elbow_flex": 0.2738285987795751, "wrist_flex": 1.65806, "wrist_roll": 7.206484817932542e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18142780242914228, 0.0001683457426526229, 0.14471032845599618], "quaternion_wxyz": [0.8551562820306683, 0.02049213544246176, 0.5178244726769211, -0.01206736033108446], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 40, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 1951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579652.3028536, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456073701e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.100334068109468e-17, -1.4532087805935852e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 3.901999999999792, "positions": {"shoulder_pan": -0.001259537014981671, "shoulder_lift": -0.8322324357954679, "elbow_flex": 0.2810782500786646, "wrist_flex": 1.6580959011441427, "wrist_roll": -5.033975335982421e-08, "gripper": 0.999996498219084}, "velocities": {"shoulder_pan": 1.6046849697581015e-09, "shoulder_lift": 0.10588498555746235, "elbow_flex": 0.07061061058304613, "wrist_flex": -1.078845239628018e-05, "wrist_roll": 1.756038897452106e-08, "gripper": 9.550916375597198e-08}, "actuator_forces": {"shoulder_pan": -2.4043710376009386e-06, "shoulder_lift": 0.019033241551596802, "elbow_flex": -0.24163318168240266, "wrist_flex": -0.035829321265737235, "wrist_roll": 5.023725810910881e-05, "gripper": 0.0034954781755232034}, "applied_targets": {"shoulder_pan": -0.0012595394225131575, "shoulder_lift": -0.8321354510443396, "elbow_flex": 0.280888146264739, "wrist_flex": 1.65806, "wrist_roll": 7.132248356528394e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18122377179412044, 0.0001680887481199386, 0.14227356581472694], "quaternion_wxyz": [0.8505538533120707, 0.020375348122183067, 0.5253502072448202, -0.012253471047536808], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 41, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579652.7953186, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560756154e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.8129796721322424e-17, 3.485622204217802e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.001999999999781, "positions": {"shoulder_pan": -0.0012595368409863072, "shoulder_lift": -0.8216439741119708, "elbow_flex": 0.28813925904508697, "wrist_flex": 1.658094816773657, "wrist_roll": -4.8575796090980364e-08, "gripper": 0.9999965083259953}, "velocities": {"shoulder_pan": 1.7781613239647539e-09, "shoulder_lift": 0.10588423026409506, "elbow_flex": 0.07060957265762567, "wrist_flex": -1.0896254817341785e-05, "wrist_roll": 1.7714669714753556e-08, "gripper": 1.0640452420255326e-07}, "actuator_forces": {"shoulder_pan": -2.4241055556206703e-06, "shoulder_lift": 0.014022837341713057, "elbow_flex": -0.24309133448718967, "wrist_flex": -0.03474680164526944, "wrist_roll": 4.8476326961425655e-05, "gripper": 0.0034853812587698485}, "applied_targets": {"shoulder_pan": -0.0012595392681062367, "shoulder_lift": -0.821552009213415, "elbow_flex": 0.287947693749903, "wrist_flex": 1.65806, "wrist_roll": 7.058011895124245e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18097202307935825, 0.00016777162250983902, 0.13984805863533473], "quaternion_wxyz": [0.8458852363551014, 0.020256975349711378, 0.5328349673666152, -0.012438626032345976], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 42, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579653.0794613, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456077191e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7399698415202407e-17, 2.4739302153616406e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.10199999999977, "positions": {"shoulder_pan": -0.0012595286780385608, "shoulder_lift": -0.8082758455471588, "elbow_flex": 0.29356647215017057, "wrist_flex": 1.6580936191896938, "wrist_roll": -4.669746439944364e-08, "gripper": 0.9999965205076864}, "velocities": {"shoulder_pan": -2.1012589027682208e-07, "shoulder_lift": 0.1342800020019102, "elbow_flex": 0.05404340778163225, "wrist_flex": -8.774948633434924e-06, "wrist_roll": 1.808215547208262e-08, "gripper": 8.449280358475663e-08}, "actuator_forces": {"shoulder_pan": -1.0320871093760786e-05, "shoulder_lift": 0.02516741386511967, "elbow_flex": -0.2530408237114443, "wrist_flex": -0.03355271532882398, "wrist_roll": 4.660089402690253e-05, "gripper": 0.003473220743217098}, "applied_targets": {"shoulder_pan": -0.0012595391877429805, "shoulder_lift": -0.8081518071080136, "elbow_flex": 0.2933525494881062, "wrist_flex": 1.65806, "wrist_roll": 7.02230313485096e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1808529268540902, 0.00016762038203885733, 0.13740911320530746], "quaternion_wxyz": [0.8408475152688373, 0.020129347948207147, 0.5407500670275761, -0.01263449354244407], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 43, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579653.556912, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456079232e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.2141722883367296e-17, 7.592670826756709e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.201999999999759, "positions": {"shoulder_pan": -0.001259536267888682, "shoulder_lift": -0.7948693820773616, "elbow_flex": 0.29897384658788806, "wrist_flex": 1.6580924937051056, "wrist_roll": -4.478976333670972e-08, "gripper": 0.9999965334890449}, "velocities": {"shoulder_pan": -7.879749908636151e-09, "shoulder_lift": 0.13406011432021941, "elbow_flex": 0.054060490205202316, "wrist_flex": -1.1870141074882546e-05, "wrist_roll": 1.9228841345178336e-08, "gripper": 1.3844903862652714e-07}, "actuator_forces": {"shoulder_pan": -2.827245558778557e-06, "shoulder_lift": 0.019090547863697793, "elbow_flex": -0.2557698749074575, "wrist_flex": -0.032427156818812364, "wrist_roll": 4.469591683456381e-05, "gripper": 0.0034602399305185827}, "applied_targets": {"shoulder_pan": -0.0012595391073797245, "shoulder_lift": -0.794751605002606, "elbow_flex": 0.2987574052263058, "wrist_flex": 1.65806, "wrist_roll": 6.98659437457776e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18068963427943324, 0.00016741582929667964, 0.13497846673656394], "quaternion_wxyz": [0.835724033526045, 0.019999647038042277, 0.5486353553646592, -0.012829682350134926], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 44, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579653.876119, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745608141e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.530104128280021e-17, -1.1469387587019518e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.301999999999748, "positions": {"shoulder_pan": -0.0012595363767807705, "shoulder_lift": -0.7814633669915454, "elbow_flex": 0.3043798827333452, "wrist_flex": 1.6580913030706, "wrist_roll": -4.286065140939844e-08, "gripper": 0.9999965478975256}, "velocities": {"shoulder_pan": 9.106703356357462e-10, "shoulder_lift": 0.13405986871158126, "elbow_flex": 0.05405996912749036, "wrist_flex": -1.1954686797643504e-05, "wrist_roll": 1.9364869129048768e-08, "gripper": 1.5003599905045106e-07}, "actuator_forces": {"shoulder_pan": -2.6461278610501182e-06, "shoulder_lift": 0.013289779283581993, "elbow_flex": -0.2569447213636522, "wrist_flex": -0.031238575538964142, "wrist_roll": 4.277014318338533e-05, "gripper": 0.003445848180035682}, "applied_targets": {"shoulder_pan": -0.0012595390270164683, "shoulder_lift": -0.7813514028971984, "elbow_flex": 0.3041622609645053, "wrist_flex": 1.65806, "wrist_roll": 6.950885614304559e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1804764116625404, 0.00016714727021245943, 0.1325588487098694], "quaternion_wxyz": [0.8305272338855051, 0.01986819454273437, 0.556471159578169, -0.013023715976297453], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 45, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579654.3411138, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456083478e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.974360990147436e-17, 5.788052165935196e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.401999999999737, "positions": {"shoulder_pan": -0.0012595362697855631, "shoulder_lift": -0.7680574190077898, "elbow_flex": 0.3097858188376986, "wrist_flex": 1.6580901021629426, "wrist_roll": -4.091652652414853e-08, "gripper": 0.9999965635236436}, "velocities": {"shoulder_pan": 1.115454298924746e-09, "shoulder_lift": 0.13405907688150018, "elbow_flex": 0.054058764662665196, "wrist_flex": -1.2060653345103618e-05, "wrist_roll": 1.951341146220081e-08, "gripper": 1.6223023718333883e-07}, "actuator_forces": {"shoulder_pan": -2.672921834978581e-06, "shoulder_lift": 0.0075546665897263665, "elbow_flex": -0.25802231807301723, "wrist_flex": -0.030039727492976454, "wrist_roll": 4.082936925944465e-05, "gripper": 0.003430240925126782}, "applied_targets": {"shoulder_pan": -0.0012595389466532121, "shoulder_lift": -0.7679512007917908, "elbow_flex": 0.30956711670270487, "wrist_flex": 1.65806, "wrist_roll": 6.9151768540313585e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18021348256416625, 0.00016681607084536026, 0.13015095057275308], "quaternion_wxyz": [0.8252570139187202, 0.019734985792938687, 0.5642576653527273, -0.013216595794644547], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 46, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579654.654949, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456085249e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.822638204977171e-17, 2.1314870993157937e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.501999999999726, "positions": {"shoulder_pan": -0.0012595280682933072, "shoulder_lift": -0.751792355317576, "elbow_flex": 0.31344978440011895, "wrist_flex": 1.658088785507764, "wrist_roll": -3.885766728847594e-08, "gripper": 0.9999965815951677}, "velocities": {"shoulder_pan": -2.2559326885198147e-07, "shoulder_lift": 0.16326263512658015, "elbow_flex": 0.036389925308722294, "wrist_flex": -9.818609198392911e-06, "wrist_roll": 1.9789208985754904e-08, "gripper": 1.4442592738234554e-07}, "actuator_forces": {"shoulder_pan": -1.0852244366255093e-05, "shoulder_lift": 0.01833852140896397, "elbow_flex": -0.26820318209144034, "wrist_flex": -0.028726862169378364, "wrist_roll": 3.877375958025864e-05, "gripper": 0.0034121987777098184}, "applied_targets": {"shoulder_pan": -0.0012595391173397402, "shoulder_lift": -0.7516538172691263, "elbow_flex": 0.3132076810419723, "wrist_flex": 1.65806, "wrist_roll": 6.981412997504303e-19, "gripper": 1.0}, "tcp": {"position_m": [0.18008617793393206, 0.00016665448718255005, 0.1277311618518208], "quaternion_wxyz": [0.8196008159809995, 0.019592131889925986, 0.5724426345976512, -0.013419422721810391], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 47, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579655.0791094, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745608722e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9182161427028645e-17, 1.4314699065375621e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.601999999999715, "positions": {"shoulder_pan": -0.0012595361268489882, "shoulder_lift": -0.7354880416764654, "elbow_flex": 0.3170924081867576, "wrist_flex": 1.6580875457432391, "wrist_roll": -3.67712264690578e-08, "gripper": 0.9999966006337818}, "velocities": {"shoulder_pan": -1.04024806741149e-08, "shoulder_lift": 0.16303932737053956, "elbow_flex": 0.03641293855857386, "wrist_flex": -1.303536763444876e-05, "wrist_roll": 2.101747135891511e-08, "gripper": 1.996299257794762e-07}, "actuator_forces": {"shoulder_pan": -3.146328294123535e-06, "shoulder_lift": 0.011610066178491252, "elbow_flex": -0.27047872437896103, "wrist_flex": -0.027487146223165837, "wrist_roll": 3.669033904778112e-05, "gripper": 0.003393169797391238}, "applied_targets": {"shoulder_pan": -0.001259539288026268, "shoulder_lift": -0.735356433746454, "elbow_flex": 0.316848245381235, "wrist_flex": 1.65806, "wrist_roll": 7.047649140977516e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17991355726530806, 0.00016643824770829358, 0.12531901639305726], "quaternion_wxyz": [0.8138514018285344, 0.01944702886415712, 0.5805877781440583, -0.013621331793586475], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 48, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579655.37867, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456088947e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7516394209555383e-17, -1.6268829456259694e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.701999999999704, "positions": {"shoulder_pan": -0.0012595364798949939, "shoulder_lift": -0.7191840935324388, "elbow_flex": 0.3207336910699061, "wrist_flex": 1.6580862389862363, "wrist_roll": -3.466403953358385e-08, "gripper": 0.9999966212221805}, "velocities": {"shoulder_pan": -1.484631189485976e-09, "shoulder_lift": 0.1630391735879596, "elbow_flex": 0.03641235458129695, "wrist_flex": -1.3112504501011182e-05, "wrist_roll": 2.11390231710672e-08, "gripper": 2.1244222494526792e-07}, "actuator_forces": {"shoulder_pan": -2.9723668952819082e-06, "shoulder_lift": 0.005058670009134403, "elbow_flex": -0.27119255838334766, "wrist_flex": -0.026182654385365822, "wrist_roll": 3.458681729506709e-05, "gripper": 0.0033726082697285165}, "applied_targets": {"shoulder_pan": -0.001259539458712796, "shoulder_lift": -0.7190590502237817, "elbow_flex": 0.3204888097204977, "wrist_flex": 1.65806, "wrist_roll": 7.11388528445073e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1796897968462407, 0.00016615644882529454, 0.12291719869435218], "quaternion_wxyz": [0.808021682460189, 0.01930001010794423, 0.5886742955672101, -0.013821867547031583], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 49, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579655.8209429, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456090633e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6647645604107507e-17, -1.6227317889802512e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.801999999999693, "positions": {"shoulder_pan": -0.0012595366119986212, "shoulder_lift": -0.7028802172647886, "elbow_flex": 0.32437485690573664, "wrist_flex": 1.658084922661948, "wrist_roll": -3.254322378283701e-08, "gripper": 0.9999966431509605}, "velocities": {"shoulder_pan": -1.274526751589816e-09, "shoulder_lift": 0.1630383424254425, "elbow_flex": 0.03641098157846068, "wrist_flex": -1.3211145535892585e-05, "wrist_roll": 2.1273099897753717e-08, "gripper": 2.2584683383238732e-07}, "actuator_forces": {"shoulder_pan": -3.0110931823479348e-06, "shoulder_lift": -0.001421948649863225, "elbow_flex": -0.2717920127915363, "wrist_flex": -0.02486860047747541, "wrist_roll": 3.246967756837378e-05, "gripper": 0.0033507086798181263}, "applied_targets": {"shoulder_pan": -0.0012595396293993242, "shoulder_lift": -0.7027616667011095, "elbow_flex": 0.32412937405976044, "wrist_flex": 1.65806, "wrist_roll": 7.180121427923943e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17941510042620648, 0.0001658104603563324, 0.12052649715840591], "quaternion_wxyz": [0.8021116723731306, 0.019151073718221567, 0.5967021972644314, -0.014021026995839151], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 50, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579656.1492891, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456092171e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.476140955688755e-17, -2.037281070009822e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 4.901999999999682, "positions": {"shoulder_pan": -0.0012595280849340754, "shoulder_lift": -0.6836191592496125, "elbow_flex": 0.32607316296696726, "wrist_flex": 1.6580834924037162, "wrist_roll": -3.031595789358458e-08, "gripper": 0.9999966677132964}, "velocities": {"shoulder_pan": -2.3431054047076385e-07, "shoulder_lift": 0.1932753188650212, "elbow_flex": 0.01667545328454601, "wrist_flex": -1.0983818005540613e-05, "wrist_roll": 2.155726788245725e-08, "gripper": 2.1995493165933108e-07}, "actuator_forces": {"shoulder_pan": -1.1343542798858408e-05, "shoulder_lift": 0.00883333167996625, "elbow_flex": -0.2830396209947139, "wrist_flex": -0.023442326774329558, "wrist_roll": 3.0245861297204933e-05, "gripper": 0.0033261877196082423}, "applied_targets": {"shoulder_pan": -0.001259539616959659, "shoulder_lift": -0.6834680114016577, "elbow_flex": 0.32580173642066246, "wrist_flex": 1.65806, "wrist_roll": 7.227025002536698e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1792909429724267, 0.00016565279868296855, 0.11813310873714356], "quaternion_wxyz": [0.7958215380777479, 0.01899267440587937, 0.6050660332328651, -0.014228607743727192], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 51, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579656.586649, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560942485e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4624512350266387e-17, -5.668815104980603e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.001999999999671, "positions": {"shoulder_pan": -0.0012595362967382589, "shoulder_lift": -0.664318067872123, "elbow_flex": 0.3277466862769551, "wrist_flex": 1.65808214621759, "wrist_roll": -2.8064446814295927e-08, "gripper": 0.9999966935785156}, "velocities": {"shoulder_pan": -8.658503307327861e-09, "shoulder_lift": 0.19300896677930424, "elbow_flex": 0.01672504807217638, "wrist_flex": -1.4119199115006164e-05, "wrist_roll": 2.265812307586427e-08, "gripper": 2.6730151439136247e-07}, "actuator_forces": {"shoulder_pan": -3.2935444720383344e-06, "shoulder_lift": 0.0016787441343240062, "elbow_flex": -0.28439051014765937, "wrist_flex": -0.022096435726552954, "wrist_roll": 2.7997853230428794e-05, "gripper": 0.0033003406749685382}, "applied_targets": {"shoulder_pan": -0.0012595396045199938, "shoulder_lift": -0.6641743561021967, "elbow_flex": 0.3274740987815585, "wrist_flex": 1.65806, "wrist_roll": 7.273928577149393e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17912185827424054, 0.00016544102927050253, 0.11574537440728286], "quaternion_wxyz": [0.7894329116363535, 0.01883190463936661, 0.6133780797088325, -0.014434982705477502], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 52, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579656.9583578, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456096295e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.16581256522602e-17, -1.3046757152982948e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.10199999999966, "positions": {"shoulder_pan": -0.0012595364539327676, "shoulder_lift": -0.6450170630735078, "elbow_flex": 0.32941920948632236, "wrist_flex": 1.6580807318071666, "wrist_roll": -2.5794428187643563e-08, "gripper": 0.9999967209808414}, "velocities": {"shoulder_pan": 5.233835386280585e-10, "shoulder_lift": 0.1930096927315771, "elbow_flex": 0.016724672463129715, "wrist_flex": -1.418208176384932e-05, "wrist_roll": 2.27555028283192e-08, "gripper": 2.8108218976487184e-07}, "actuator_forces": {"shoulder_pan": -3.1328912897254924e-06, "shoulder_lift": -0.005657669568904566, "elbow_flex": -0.28454817648162134, "wrist_flex": -0.02068449167381914, "wrist_roll": 2.573180510410066e-05, "gripper": 0.003272976815765105}, "applied_targets": {"shoulder_pan": -0.0012595395920803284, "shoulder_lift": -0.6448807008027356, "elbow_flex": 0.32914646114245444, "wrist_flex": 1.65806, "wrist_roll": 7.320832151762088e-19, "gripper": 1.0}, "tcp": {"position_m": [0.178901350228325, 0.00016516329789529043, 0.11336535248034539], "quaternion_wxyz": [0.7829579645551096, 0.018669078906365075, 0.6216220465177237, -0.014639758045273553], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 53, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579657.4368382, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174560985065e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9144671535480405e-17, -3.75943632583295e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.201999999999649, "positions": {"shoulder_pan": -0.001259536384838268, "shoulder_lift": -0.625716138865736, "elbow_flex": 0.33109159797398446, "wrist_flex": 1.6580793092405393, "wrist_roll": -2.3513232564651067e-08, "gripper": 0.9999967498234492}, "velocities": {"shoulder_pan": 7.391796427311168e-10, "shoulder_lift": 0.1930087995699671, "elbow_flex": 0.016723133881909595, "wrist_flex": -1.426651322405202e-05, "wrist_roll": 2.2864451019804067e-08, "gripper": 2.954543511488683e-07}, "actuator_forces": {"shoulder_pan": -3.189658271951501e-06, "shoulder_lift": -0.012913017732671506, "elbow_flex": -0.2845731612135296, "wrist_flex": -0.01926439492285681, "wrist_roll": 2.3454589376369645e-05, "gripper": 0.003244174988822124}, "applied_targets": {"shoulder_pan": -0.0012595395796406632, "shoulder_lift": -0.6255870455032746, "elbow_flex": 0.3308188235033504, "wrist_flex": 1.65806, "wrist_roll": 7.367735726374782e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17862956686365022, 0.00016482094903727844, 0.11099396450929926], "quaternion_wxyz": [0.7763969948550768, 0.018504202198448973, 0.6297975774474882, -0.014842921622083702], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 54, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579657.815463, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456100586e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.648476179522577e-17, -9.652180826739846e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.301999999999638, "positions": {"shoulder_pan": -0.0012595286290322265, "shoulder_lift": -0.603738832839963, "elbow_flex": 0.33096144952156675, "wrist_flex": 1.658077771575951, "wrist_roll": -2.1134208753828277e-08, "gripper": 0.9999967816774994}, "velocities": {"shoulder_pan": -1.887100715599234e-07, "shoulder_lift": 0.2205137218857237, "elbow_flex": -0.0024307417290978317, "wrist_flex": -1.1212840797555195e-05, "wrist_roll": 2.2478258739976196e-08, "gripper": 2.286636115755432e-07}, "actuator_forces": {"shoulder_pan": -1.1006579985428644e-05, "shoulder_lift": -0.004408794498885982, "elbow_flex": -0.3995785403068908, "wrist_flex": -0.017732493690118645, "wrist_roll": 2.108055133425129e-05, "gripper": 0.003212462774627056}, "applied_targets": {"shoulder_pan": -0.0012595397975589317, "shoulder_lift": -0.6035809928906375, "elbow_flex": 0.3305593275493819, "wrist_flex": 1.65806, "wrist_roll": 7.287289335254269e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17849134104099795, 0.0001646456936263832, 0.10861113451092486], "quaternion_wxyz": [0.7694772494406509, 0.018330429627541448, 0.6382336370533287, -0.015052656795362102], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 55, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579658.249471, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561024545e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4496309458497552e-17, -1.80604680717273e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.401999999999627, "positions": {"shoulder_pan": -0.0012595363630333292, "shoulder_lift": -0.5817240369960996, "elbow_flex": 0.3307021642589928, "wrist_flex": 1.65807634378382, "wrist_roll": -1.8755710593490667e-08, "gripper": 0.999996814355686}, "velocities": {"shoulder_pan": -1.0797954722278426e-08, "shoulder_lift": 0.22013711938055652, "elbow_flex": -0.0026015429140219077, "wrist_flex": -1.4982923265192453e-05, "wrist_roll": 2.3937397587622518e-08, "gripper": 3.3834116871005295e-07}, "actuator_forces": {"shoulder_pan": -3.6362221631502933e-06, "shoulder_lift": -0.012875162091290804, "elbow_flex": -0.3997084210143953, "wrist_flex": -0.01630369198983317, "wrist_roll": 1.8704741438152925e-05, "gripper": 0.0031797261692645407}, "applied_targets": {"shoulder_pan": -0.0012595400154772004, "shoulder_lift": -0.5815749402779908, "elbow_flex": 0.3302998315954066, "wrist_flex": 1.65806, "wrist_roll": 7.206842944133308e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17832024476014807, 0.00016443130255338183, 0.1062461533531869], "quaternion_wxyz": [0.7624896750009788, 0.018155066245264456, 0.6465655610553055, -0.01525989330792964], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 56, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579658.585282, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456105997e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7158485470589977e-17, -1.1121593324186704e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.501999999999616, "positions": {"shoulder_pan": -0.0012595367139248905, "shoulder_lift": -0.559709986638271, "elbow_flex": 0.33044218169424633, "wrist_flex": 1.6580748437090775, "wrist_roll": -1.6359342417020142e-08, "gripper": 0.999996848813214}, "velocities": {"shoulder_pan": -1.5312782161911059e-09, "shoulder_lift": 0.22014030267691864, "elbow_flex": -0.0026003811624413812, "wrist_flex": -1.5028441251938912e-05, "wrist_roll": 2.4001379174645908e-08, "gripper": 3.518363388584032e-07}, "actuator_forces": {"shoulder_pan": -3.512026698127002e-06, "shoulder_lift": -0.020858422826222522, "elbow_flex": -0.3992206569566292, "wrist_flex": -0.014806251482468724, "wrist_roll": 1.6312596650777615e-05, "gripper": 0.0031453200339228715}, "applied_targets": {"shoulder_pan": -0.001259540233395469, "shoulder_lift": -0.5595688876653441, "elbow_flex": 0.33004033564143137, "wrist_flex": 1.65806, "wrist_roll": 7.126396553012347e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17809811215923663, 0.00016415155083585143, 0.10388513901160663], "quaternion_wxyz": [0.7554127418285698, 0.017977578764968787, 0.6548199909615527, -0.015465302515750526], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 57, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579659.0570967, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456107759e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9262239332986054e-17, -2.230882000470507e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.601999999999605, "positions": {"shoulder_pan": -0.0012595368522547372, "shoulder_lift": -0.5376960073460432, "elbow_flex": 0.3301820585494314, "wrist_flex": 1.6580733376249783, "wrist_roll": -1.3955418100508899e-08, "gripper": 0.9999968847564539}, "velocities": {"shoulder_pan": -1.33935892618396e-09, "shoulder_lift": 0.2201393073779659, "elbow_flex": -0.0026020381893688393, "wrist_flex": -1.509084392064662e-05, "wrist_roll": 2.4073680644609366e-08, "gripper": 3.6668758665509373e-07}, "actuator_forces": {"shoulder_pan": -3.591668729319153e-06, "shoulder_lift": -0.028770338550771157, "elbow_flex": -0.3985934296920277, "wrist_flex": -0.013302802094358412, "wrist_roll": 1.39128975335179e-05, "gripper": 0.003109429864366575}, "applied_targets": {"shoulder_pan": -0.0012595404513137376, "shoulder_lift": -0.5375628350526974, "elbow_flex": 0.3297808396874561, "wrist_flex": 1.65806, "wrist_roll": 7.045950161891386e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17782489356833558, 0.00016380742209542944, 0.10152890295234221], "quaternion_wxyz": [0.7482465166497613, 0.01779796645463684, 0.6629968845299977, -0.01566888046717712], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 58, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579659.373089, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456109824e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.2870787839695658e-17, 1.111213690482029e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.701999999999594, "positions": {"shoulder_pan": -0.0012595322081192205, "shoulder_lift": -0.5137101579272687, "elbow_flex": 0.32833684435895266, "wrist_flex": 1.6580717635464572, "wrist_roll": -1.15058964309965e-08, "gripper": 0.9999969230780748}, "velocities": {"shoulder_pan": -1.8744912810662436e-07, "shoulder_lift": 0.24026159346523807, "elbow_flex": -0.01870997109194663, "wrist_flex": -1.3001544315364291e-05, "wrist_roll": 2.3635688855615923e-08, "gripper": 3.6193720447847334e-07}, "actuator_forces": {"shoulder_pan": -9.80834033414979e-06, "shoulder_lift": -0.025493799305422726, "elbow_flex": -0.4064877334343464, "wrist_flex": -0.011732909962347549, "wrist_roll": 1.1467832620100945e-05, "gripper": 0.0030711704706618548}, "applied_targets": {"shoulder_pan": -0.001259542171633353, "shoulder_lift": -0.5135588469112481, "elbow_flex": 0.3279157276742106, "wrist_flex": 1.65806, "wrist_roll": 7.1993857009032725e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17766762888703078, 0.00016360862553492568, 0.09918577329179308], "quaternion_wxyz": [0.7408647095448078, 0.017613068645384772, 0.6712356328820737, -0.015874101970906506], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 59, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579659.8345284, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456111566e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.066436134215984e-17, -6.217296500372509e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.801999999999583, "positions": {"shoulder_pan": -0.001259539347929167, "shoulder_lift": -0.48969770849410116, "elbow_flex": 0.3264714942553831, "wrist_flex": 1.658070263254071, "wrist_roll": -9.051284849020403e-09, "gripper": 0.9999969625513988}, "velocities": {"shoulder_pan": -2.2213092044805354e-08, "shoulder_lift": 0.24012402956215267, "elbow_flex": -0.018662168678022985, "wrist_flex": -1.5491306425156975e-05, "wrist_roll": 2.4641077470467027e-08, "gripper": 4.0387865375169253e-07}, "actuator_forces": {"shoulder_pan": -4.5183208001731145e-06, "shoulder_lift": -0.03379042692523626, "elbow_flex": -0.4064227796147293, "wrist_flex": -0.010233611455987557, "wrist_roll": 9.01707385946726e-06, "gripper": 0.00303174623365976}, "applied_targets": {"shoulder_pan": -0.001259543891952968, "shoulder_lift": -0.4895548587697909, "elbow_flex": 0.32605061566095883, "wrist_flex": 1.65806, "wrist_roll": 7.352821239916085e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17746543601296147, 0.000163354973268016, 0.09684172068300634], "quaternion_wxyz": [0.7333871756749594, 0.01742588460376444, 0.679397602860703, -0.01607751001903015], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 60, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 2951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579660.1167808, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456113626e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.2088952978995434e-17, -1.3359506412783773e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 5.901999999999572, "positions": {"shoulder_pan": -0.0012595411195317659, "shoulder_lift": -0.4656853290274078, "elbow_flex": 0.3246052256903624, "wrist_flex": 1.6580687135540857, "wrist_roll": -6.586703960530455e-09, "gripper": 0.9999970036550035}, "velocities": {"shoulder_pan": -1.6308484567255614e-08, "shoulder_lift": 0.24012330121501602, "elbow_flex": -0.018663393671372222, "wrist_flex": -1.5512511725020566e-05, "wrist_roll": 2.4662337323954237e-08, "gripper": 4.1824751734692164e-07}, "actuator_forces": {"shoulder_pan": -4.472728279525384e-06, "shoulder_lift": -0.04216595049899752, "elbow_flex": -0.40526562874458705, "wrist_flex": -0.00868665112261624, "wrist_roll": 6.556865499628388e-06, "gripper": 0.0029907050743531727}, "applied_targets": {"shoulder_pan": -0.0012595456122725833, "shoulder_lift": -0.4655508706283336, "elbow_flex": 0.32418550364770704, "wrist_flex": 1.65806, "wrist_roll": 7.506256778928898e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17721272138464544, 0.0001630368964040648, 0.09449780920477108], "quaternion_wxyz": [0.7258201416533104, 0.01723657639708165, 0.687475831273383, -0.016278937909037602], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 61, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_27305577ca0f445abc5b255634e87a52", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579660.6102958, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456115745e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5685417401229275e-17, 3.028249671214124e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.001999999999561, "positions": {"shoulder_pan": -0.0012595427389636817, "shoulder_lift": -0.44167305377665894, "elbow_flex": 0.32273880060614296, "wrist_flex": 1.6580671604981023, "wrist_roll": -4.1189938756880295e-09, "gripper": 0.9999970462263128}, "velocities": {"shoulder_pan": -1.6164700410574644e-08, "shoulder_lift": 0.24012220640007698, "elbow_flex": -0.01866507385248688, "wrist_flex": -1.554665423191631e-05, "wrist_roll": 2.4689215042781536e-08, "gripper": 4.3284872414468047e-07}, "actuator_forces": {"shoulder_pan": -4.5735780462852205e-06, "shoulder_lift": -0.050437524960443625, "elbow_flex": -0.40395367875640886, "wrist_flex": -0.007136334123742927, "wrist_roll": 4.093527496393186e-06, "gripper": 0.0029481988084398836}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.44154688248687635, "elbow_flex": 0.32232039163445525, "wrist_flex": 1.65806, "wrist_roll": 7.65969231794171e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690927926394534, 0.0001626549025272587, 0.09215501203758167], "quaternion_wxyz": [0.7181642175490022, 0.017045157427353155, 0.6954696849146551, -0.016478367795871633], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 62, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579660.9535522, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561176156e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.2379505329250305e-17, 1.0109528915407026e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.10199999999955, "positions": {"shoulder_pan": -0.0012596002447395522, "shoulder_lift": -0.4413277756579421, "elbow_flex": 0.32266403339128963, "wrist_flex": 1.6580667748952393, "wrist_roll": -3.5134747981018068e-09, "gripper": 0.9999970580626975}, "velocities": {"shoulder_pan": 2.118394561668366e-06, "shoulder_lift": 7.393485642663843e-05, "elbow_flex": -9.169477964119082e-05, "wrist_flex": -1.3231248578336255e-05, "wrist_roll": 1.2390967395976358e-08, "gripper": -2.791939173828992e-07}, "actuator_forces": {"shoulder_pan": 5.0854141568912326e-05, "shoulder_lift": -0.2184286104230182, "elbow_flex": -0.3429437975502765, "wrist_flex": -0.0067491349145711865, "wrist_roll": 3.492843098929163e-06, "gripper": 0.0029370130091592728}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690460292644855, 0.00016265753672794407, 0.09208074389227226], "quaternion_wxyz": [0.7179162208320241, 0.017038937007903442, 0.6957256844772429, -0.016484733864285953], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 63, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579661.3784673, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745611923e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.2841215783161754e-17, -2.6494743486975917e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.201999999999539, "positions": {"shoulder_pan": -0.0012595489799291852, "shoulder_lift": -0.4413009883804744, "elbow_flex": 0.322661912259845, "wrist_flex": 1.6580666374961195, "wrist_roll": -3.50280580883596e-09, "gripper": 0.9999970575525509}, "velocities": {"shoulder_pan": 5.007866164130941e-08, "shoulder_lift": 5.440867369382305e-05, "elbow_flex": -2.078206753594139e-07, "wrist_flex": 7.439537122933566e-08, "wrist_roll": -6.598990987042925e-11, "gripper": 2.5270689474425947e-09}, "actuator_forces": {"shoulder_pan": 1.5989240425007267e-06, "shoulder_lift": -0.24550760061697474, "elbow_flex": -0.3409123217801948, "wrist_flex": -0.006625780428294092, "wrist_roll": 3.496691521426771e-06, "gripper": 0.0029372062627999185}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690428985903978, 0.00016264949287295123, 0.09207815555926846], "quaternion_wxyz": [0.7179077472729758, 0.017038744483585798, 0.6957344272726191, -0.016484971929146428], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 64, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579661.6961162, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456122145e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.8344397747576835e-17, 1.227032490557713e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.301999999999528, "positions": {"shoulder_pan": -0.001259547414679294, "shoulder_lift": -0.44129963118970456, "elbow_flex": 0.3226619253131784, "wrist_flex": 1.6580666353910356, "wrist_roll": -3.4992102326914145e-09, "gripper": 0.9999970574951093}, "velocities": {"shoulder_pan": 2.6548449391213084e-09, "shoulder_lift": 1.131709612344758e-06, "elbow_flex": 4.029269032949414e-08, "wrist_flex": -1.1208884188538568e-08, "wrist_roll": 7.253185136151551e-12, "gripper": -1.7980178326218125e-10}, "actuator_forces": {"shoulder_pan": 7.953729963539047e-08, "shoulder_lift": -0.2468122779340547, "elbow_flex": -0.3409257867127735, "wrist_flex": -0.006623569683824826, "wrist_roll": 3.492974248109012e-06, "gripper": 0.0029372674105161423}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425253752745, 0.0001626492166291841, 0.09207799631459918], "quaternion_wxyz": [0.7179072343910907, 0.017038732240798708, 0.6957349564726681, -0.016484985730521907], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 65, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579662.1523397, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561241275e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4478315499900435e-17, 5.75795005820149e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.401999999999517, "positions": {"shoulder_pan": -0.0012595473357366338, "shoulder_lift": -0.44129960458959305, "elbow_flex": 0.32266192627751583, "wrist_flex": 1.6580666351109028, "wrist_roll": -3.4990843696792956e-09, "gripper": 0.9999970574915873}, "velocities": {"shoulder_pan": 1.0931527287712291e-10, "shoulder_lift": 2.011058408313639e-08, "elbow_flex": 6.17369798559556e-10, "wrist_flex": -1.808485851548894e-10, "wrist_roll": 3.509466960477657e-14, "gripper": -1.7822851336987994e-12}, "actuator_forces": {"shoulder_pan": 3.0380935545082366e-09, "shoulder_lift": -0.2468377619294415, "elbow_flex": -0.3409267120129016, "wrist_flex": -0.006623300225555795, "wrist_roll": 3.4928559672935203e-06, "gripper": 0.0029372707493848793}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425173459703, 0.0001626492040142589, 0.09207799307418939], "quaternion_wxyz": [0.717907224106089, 0.017038732012926588, 0.6957349670840333, -0.016484986025464603], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 66, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579662.418336, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745612602e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4921176729813867e-17, 2.6547125248188073e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.501999999999506, "positions": {"shoulder_pan": -0.0012595473326945574, "shoulder_lift": -0.44129960412189845, "elbow_flex": 0.3226619262909273, "wrist_flex": 1.6580666351070792, "wrist_roll": -3.4990834342582613e-09, "gripper": 0.9999970574915396}, "velocities": {"shoulder_pan": 3.6819442374268385e-12, "shoulder_lift": 3.4670224421208914e-10, "elbow_flex": 9.098702106080403e-12, "wrist_flex": -2.5237331036213155e-12, "wrist_roll": 4.77117211003697e-16, "gripper": -4.2778234459816815e-14}, "actuator_forces": {"shoulder_pan": 9.87536719065929e-11, "shoulder_lift": -0.24683820971768, "elbow_flex": -0.34092672480045394, "wrist_flex": -0.006623296585985372, "wrist_roll": 3.4928550659688943e-06, "gripper": 0.0029372707954280486}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172080324, 0.00016264920354775177, 0.09207799301765668], "quaternion_wxyz": [0.7179072239259875, 0.01703873200955713, 0.6957349672698195, -0.016484986031268984], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 67, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579662.809967, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561280925e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.659626776831562e-17, -1.3741609939679981e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.601999999999495, "positions": {"shoulder_pan": -0.0012595473325952705, "shoulder_lift": -0.44129960411385544, "elbow_flex": 0.3226619262911441, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432107445e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.1241787997896911e-13, "shoulder_lift": 5.933591264043029e-12, "elbow_flex": 1.7630069744128812e-13, "wrist_flex": -4.89177832421914e-14, "wrist_roll": -1.9773550074180736e-17, "gripper": -1.5855843420568815e-14}, "actuator_forces": {"shoulder_pan": 2.9616309404900676e-12, "shoulder_lift": -0.24683821741723477, "elbow_flex": -0.3409267250083303, "wrist_flex": -0.0066232965268682165, "wrist_roll": 3.4928550643804598e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056745, 0.00016264920353279704, 0.09207799301668648], "quaternion_wxyz": [0.7179072239228931, 0.017038732009516954, 0.6957349672730108, -0.016484986031386754], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 68, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579663.0938387, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456129973e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5481522181433373e-17, -1.6444123828699233e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.701999999999484, "positions": {"shoulder_pan": -0.0012595473325922866, "shoulder_lift": -0.4412996041137179, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327109766e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 3.261697399603138e-15, "shoulder_lift": 1.0124880483937365e-13, "elbow_flex": 6.6140205560157145e-15, "wrist_flex": -3.316993166870427e-14, "wrist_roll": -9.005161523935136e-19, "gripper": -1.619601942373188e-14}, "actuator_forces": {"shoulder_pan": 8.482103908136196e-14, "shoulder_lift": -0.24683821754888413, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649661564e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1769042517205632, 0.0001626492035322477, 0.09207799301666987], "quaternion_wxyz": [0.7179072239228397, 0.017038732009516645, 0.6957349672730657, -0.016484986031389426], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 69, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579663.4994798, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456132205e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.668197482207511e-17, -6.735553879024779e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.801999999999473, "positions": {"shoulder_pan": -0.0012595473325922007, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432736887e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 9.48072383418349e-17, "shoulder_lift": 6.456861847242198e-15, "elbow_flex": 6.9546822554677164e-15, "wrist_flex": -3.3383296996012054e-14, "wrist_roll": -3.007137660498588e-20, "gripper": -1.620204346898479e-14}, "actuator_forces": {"shoulder_pan": 2.220446049250313e-15, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064991248e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 70, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579663.7858357, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456134108e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7133564662296124e-17, -1.0638925256822642e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 6.901999999999462, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432741944e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 2.2207407973152974e-17, "shoulder_lift": 6.412431563533699e-15, "elbow_flex": 6.960480153524421e-15, "wrist_flex": -3.339616631091741e-14, "wrist_roll": -1.5781274126370553e-20, "gripper": -1.62020854417905e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064996244e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 71, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579664.2109144, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456135842e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.986864114714443e-17, 3.5413302403789865e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.001999999999451, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327392562e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.947245394063352e-17, "shoulder_lift": 6.403793944190995e-15, "elbow_flex": 6.9582870622237565e-15, "wrist_flex": -3.3374118252565864e-14, "wrist_roll": 2.1658365181925117e-20, "gripper": -1.620204622074357e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064993566e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 72, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579664.534361, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456137764e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6874747364639994e-17, 1.1549525099123843e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.10199999999944, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327381006e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8827394249020263e-17, "shoulder_lift": 6.40321081742893e-15, "elbow_flex": 6.95753160375939e-15, "wrist_flex": -3.337114016319377e-14, "wrist_roll": 5.7950112741285664e-21, "gripper": -1.6202041839562802e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649924263e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 73, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579664.9223967, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456139582e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.8788093295179817e-17, -1.8231793574161725e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.201999999999429, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432737858e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8704494952082245e-17, "shoulder_lift": 6.403445312967818e-15, "elbow_flex": 6.956874101065322e-15, "wrist_flex": -3.3362142351632624e-14, "wrist_roll": 2.330682896581136e-21, "gripper": -1.6202021745199627e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064992193e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 74, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579665.2226539, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745614159e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.1076294235937036e-17, -1.0940479313035482e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.301999999999418, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327378554e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.858669476440536e-17, "shoulder_lift": 6.4015958060019595e-15, "elbow_flex": 6.959116691253817e-15, "wrist_flex": -3.34041963896821e-14, "wrist_roll": -1.8918922607026176e-21, "gripper": -1.6202113731277888e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649921853e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 75, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579665.7063954, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456143797e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.053702281323872e-17, 5.470586097535008e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.401999999999407, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327378488e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8640440972747248e-17, "shoulder_lift": 6.402856709093393e-15, "elbow_flex": 6.957509611509126e-15, "wrist_flex": -3.3374502669127494e-14, "wrist_roll": 1.3516915019157685e-21, "gripper": -1.6202049894426896e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649921798e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 76, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579665.995326, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561456905e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3815515851265566e-17, 4.9931059089760925e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.501999999999396, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432737842e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8629980934985996e-17, "shoulder_lift": 6.402658491195604e-15, "elbow_flex": 6.957757362598547e-15, "wrist_flex": -3.337911031419674e-14, "wrist_roll": 6.502267021286367e-22, "gripper": -1.620206001860112e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649921717e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 77, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579666.4415233, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745614792e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.9000419226077367e-17, 1.1220117696112688e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.601999999999385, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.499083432737826e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8608056404079715e-17, "shoulder_lift": 6.402207943794148e-15, "elbow_flex": 6.958316978366526e-15, "wrist_flex": -3.338969054066132e-14, "wrist_roll": -1.1120798268508311e-21, "gripper": -1.620208217973816e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064992162e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 78, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579666.7288291, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456149878e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.2583876738821842e-17, -4.9109762566918076e-20, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.701999999999374, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327378153e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8628953085935273e-17, "shoulder_lift": 6.40264734278469e-15, "elbow_flex": 6.957765891254627e-15, "wrist_flex": -3.337957299776371e-14, "wrist_roll": -2.858025551536428e-22, "gripper": -1.6202060152895955e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.492855064992146e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 79, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579667.1332457, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456151711e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.8267871744421194e-17, -1.0292792360399778e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.801999999999363, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327378277e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8595025533009656e-17, "shoulder_lift": 6.401937481570964e-15, "elbow_flex": 6.958659658288787e-15, "wrist_flex": -3.339581011847917e-14, "wrist_roll": -1.67266803761157e-21, "gripper": -1.6202096040504317e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649921522e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 80, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 3951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579667.4700513, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.7999174561533764e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7043264185420524e-17, -1.5613151576422063e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 7.901999999999352, "positions": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.6580666351070177, "wrist_roll": -3.4990834327378273e-09, "gripper": 0.9999970574915391}, "velocities": {"shoulder_pan": 1.8640180458887233e-17, "shoulder_lift": 6.402875535066651e-15, "elbow_flex": 6.957479734645156e-15, "wrist_flex": -3.337399069797636e-14, "wrist_roll": 7.583078189798955e-22, "gripper": -1.6202048804773508e-14}, "actuator_forces": {"shoulder_pan": 4.440892098500626e-16, "shoulder_lift": -0.2468382175509305, "elbow_flex": -0.34092672501213883, "wrist_flex": -0.00662329652709559, "wrist_roll": 3.4928550649921544e-06, "gripper": 0.002937270795882796}, "applied_targets": {"shoulder_pan": -0.0012595473325921985, "shoulder_lift": -0.4415468824867707, "elbow_flex": 0.32232039163444703, "wrist_flex": 1.65806, "wrist_roll": 7.659692317942385e-19, "gripper": 1.0}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 81, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579667.9611423, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456155242e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3477120805224212e-17, -9.767095353705348e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.001999999999342, "positions": {"shoulder_pan": -0.0012595463045638505, "shoulder_lift": -0.44128322053187746, "elbow_flex": 0.3226894886822511, "wrist_flex": 1.658066697896676, "wrist_roll": -3.583268401098397e-09, "gripper": 0.9999970184948228}, "velocities": {"shoulder_pan": 5.140141742220432e-07, "shoulder_lift": 0.008191790919156563, "elbow_flex": 0.013781195551521411, "wrist_flex": 3.139482920583196e-05, "wrist_roll": -4.209248418027699e-08, "gripper": -1.9498358164775492e-05}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": 0.0, "elbow_flex": 0.0, "wrist_flex": -0.00662329652709559, "wrist_roll": 7.623296525288703e-21, "gripper": 0.0}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.9999970574915391}, "tcp": {"position_m": [0.17690425172056315, 0.00016264920353224768, 0.09207799301666966], "quaternion_wxyz": [0.7179072239228391, 0.017038732009516534, 0.6957349672730663, -0.016484986031389478], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 82, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579668.2924645, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456157019e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7617026375340706e-17, 1.839020162736131e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.101999999999375, "positions": {"shoulder_pan": -0.0012595511744068768, "shoulder_lift": -0.4410534117757758, "elbow_flex": 0.32299541960022465, "wrist_flex": 1.6580665964589751, "wrist_roll": -6.831083234874228e-09, "gripper": 0.9420910159487146}, "velocities": {"shoulder_pan": 1.8758374362222338e-07, "shoulder_lift": -1.3264977745928038e-05, "elbow_flex": 0.0002967708172694456, "wrist_flex": -3.630314048613999e-06, "wrist_roll": 3.3265112055519865e-09, "gripper": -0.5879854848189062}, "actuator_forces": {"shoulder_pan": 3.678790458039316e-06, "shoulder_lift": -0.2457235397988029, "elbow_flex": -0.3331525356774705, "wrist_flex": -0.006582234816050914, "wrist_roll": 3.3243969655492087e-06, "gripper": -0.3840101157132949}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.9412707046169425}, "tcp": {"position_m": [0.17685216884695953, 0.00016258421104814333, 0.0920080813186759], "quaternion_wxyz": [0.717705754588901, 0.01703369609093169, 0.6959427973973278, -0.016490172171314346], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 83, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579668.7251606, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456158954e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5820905566952512e-17, 2.520121816044431e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.201999999999408, "positions": {"shoulder_pan": -0.0012595467601927228, "shoulder_lift": -0.4410525153914733, "elbow_flex": 0.3230032181884839, "wrist_flex": 1.6580664640684333, "wrist_roll": -6.587456715198706e-09, "gripper": 0.883378919659742}, "velocities": {"shoulder_pan": 1.8304238560177546e-09, "shoulder_lift": 1.4471548908425017e-06, "elbow_flex": 7.720823061491112e-07, "wrist_flex": -7.165227961070718e-07, "wrist_roll": 1.9886007542842353e-09, "gripper": -0.5872750878673434}, "actuator_forces": {"shoulder_pan": -5.733222183668119e-07, "shoulder_lift": -0.24665050864985005, "elbow_flex": -0.3406859555632309, "wrist_flex": -0.006452047831544405, "wrist_roll": 3.0814299773262627e-06, "gripper": -0.40169700488968374}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.8825443517423459}, "tcp": {"position_m": [0.1768510087817622, 0.00016258208743369902, 0.09200689387564397], "quaternion_wxyz": [0.7177025813792279, 0.01703361835621127, 0.6959460697510274, -0.016490255467554647], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 84, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579669.0372484, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456160942e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.747630888759962e-17, 1.752140014195154e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.301999999999442, "positions": {"shoulder_pan": -0.001259546745650635, "shoulder_lift": -0.4410525793286873, "elbow_flex": 0.3230030925272316, "wrist_flex": 1.658066383611499, "wrist_roll": -6.376945323966437e-09, "gripper": 0.8246526721406907}, "velocities": {"shoulder_pan": -2.82282709080647e-10, "shoulder_lift": -1.3363136029798687e-06, "elbow_flex": -1.432529790352433e-06, "wrist_flex": -8.544774208622e-07, "wrist_roll": 2.1850728819293895e-09, "gripper": -0.587262055428362}, "actuator_forces": {"shoulder_pan": -5.856994067521271e-07, "shoulder_lift": -0.2465841187815272, "elbow_flex": -0.3405579042823774, "wrist_flex": -0.006371624327130121, "wrist_roll": 2.871141331914158e-06, "gripper": -0.40180839887159436}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.8238179988677494}, "tcp": {"position_m": [0.1768510397721004, 0.00016258212221709428, 0.09200691572228357], "quaternion_wxyz": [0.7177026717825514, 0.01703362054687877, 0.6959459765246057, -0.01649025307461138], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 85, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579669.4715095, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456163153e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.0388060383700826e-17, 1.5529242297620576e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.401999999999475, "positions": {"shoulder_pan": -0.0012595467787424634, "shoulder_lift": -0.4410527224389305, "elbow_flex": 0.32300294747010627, "wrist_flex": 1.658066295379481, "wrist_roll": -6.151990757185487e-09, "gripper": 0.7659264676261882}, "velocities": {"shoulder_pan": -3.5709365646457017e-10, "shoulder_lift": -1.4879717070563243e-06, "elbow_flex": -1.4871770242904163e-06, "wrist_flex": -9.079143033262485e-07, "wrist_roll": 2.3103547731152746e-09, "gripper": -0.5872620004173827}, "actuator_forces": {"shoulder_pan": -5.526032704761263e-07, "shoulder_lift": -0.24644113734137818, "elbow_flex": -0.3404130734777482, "wrist_flex": -0.006283509584136482, "wrist_roll": 2.6464947140481357e-06, "gripper": -0.4019564708123653}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.7650916459931528}, "tcp": {"position_m": [0.17685107738338565, 0.00016258217236142262, 0.09200694972069348], "quaternion_wxyz": [0.7177028025766407, 0.017033623723848933, 0.6959458416457324, -0.016490249618559803], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 86, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579669.7963529, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745616509e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.1445457023591704e-17, -7.240999590310467e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.501999999999509, "positions": {"shoulder_pan": -0.001259546815672262, "shoulder_lift": -0.4410528755989088, "elbow_flex": 0.32300279450265884, "wrist_flex": 1.6580662020279875, "wrist_roll": -5.914878002293692e-09, "gripper": 0.7072002717033947}, "velocities": {"shoulder_pan": -3.7921142447650057e-10, "shoulder_lift": -1.5720579016100151e-06, "elbow_flex": -1.5696132842840132e-06, "wrist_flex": -9.576067990398865e-07, "wrist_roll": 2.428188824738282e-09, "gripper": -0.5872619203035071}, "actuator_forces": {"shoulder_pan": -5.157222691121177e-07, "shoulder_lift": -0.2462881876733718, "elbow_flex": -0.340260317474133, "wrist_flex": -0.006190287587060084, "wrist_roll": 2.409717021048713e-06, "gripper": -0.4021132025335419}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.7063652931185562}, "tcp": {"position_m": [0.17685111714899815, 0.00016258222566720745, 0.09200698582369553], "quaternion_wxyz": [0.7177029414319298, 0.017033627096560214, 0.6959456984538515, -0.016490245949397835], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 87, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579670.2204595, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456167469e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6134143316890038e-17, 5.80582063306056e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.601999999999542, "positions": {"shoulder_pan": -0.001259546854491167, "shoulder_lift": -0.4410530368074175, "elbow_flex": 0.3230026335723776, "wrist_flex": 1.6580661038713544, "wrist_roll": -5.666404469830096e-09, "gripper": 0.6484740835371247}, "velocities": {"shoulder_pan": -3.965293059714035e-10, "shoulder_lift": -1.6496247795596584e-06, "elbow_flex": -1.6465280846238593e-06, "wrist_flex": -1.00403365082543e-06, "wrist_roll": 2.537666710522664e-09, "gripper": -0.5872618454657235}, "actuator_forces": {"shoulder_pan": -4.769596406717369e-07, "shoulder_lift": -0.24612720883050088, "elbow_flex": -0.34009961684648715, "wrist_flex": -0.0060922713848867716, "wrist_roll": 2.161604886254172e-06, "gripper": -0.4022776729632369}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.6476389402439597}, "tcp": {"position_m": [0.17685115898294276, 0.00016258228175042777, 0.09200702381926362], "quaternion_wxyz": [0.7177030875413022, 0.01703363064583682, 0.6959455477812555, -0.01649024208890677], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 88, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579670.527413, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456169307e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.8225705051360146e-17, 5.190110746045036e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.701999999999575, "positions": {"shoulder_pan": -0.0012595468949623365, "shoulder_lift": -0.44105320548323923, "elbow_flex": 0.32300246523821646, "wrist_flex": 1.6580660012472852, "wrist_roll": -5.407425872559341e-09, "gripper": 0.5897479025606165}, "velocities": {"shoulder_pan": -4.1234314194114497e-10, "shoulder_lift": -1.7214854748991494e-06, "elbow_flex": -1.717763606085927e-06, "wrist_flex": -1.046999024144066e-06, "wrist_roll": 2.63840448190583e-09, "gripper": -0.587261776432414}, "actuator_forces": {"shoulder_pan": -4.365488164292941e-07, "shoulder_lift": -0.24595878014821437, "elbow_flex": -0.339931529676619, "wrist_flex": -0.005989798232803878, "wrist_roll": 1.903012785981208e-06, "gripper": -0.40244931610573076}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.5889125873693631}, "tcp": {"position_m": [0.17685120273983448, 0.00016258234040097613, 0.09200706357286896], "quaternion_wxyz": [0.7177032403901809, 0.01703363435920899, 0.6959453901585824, -0.016490238050714125], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 89, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579670.9784844, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456171581e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6610088836124662e-17, 2.776237591262797e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.801999999999609, "positions": {"shoulder_pan": -0.0012595469369424878, "shoulder_lift": -0.4410533810443882, "elbow_flex": 0.3230022900805826, "wrist_flex": 1.6580658945095907, "wrist_roll": -5.138834207113682e-09, "gripper": 0.531021728181216}, "velocities": {"shoulder_pan": -4.267309305526424e-10, "shoulder_lift": -1.7874106218994227e-06, "elbow_flex": -1.7830767376900366e-06, "wrist_flex": -1.086354696297639e-06, "wrist_roll": 2.730054468484154e-09, "gripper": -0.58726171344066}, "actuator_forces": {"shoulder_pan": -3.946327420401019e-07, "shoulder_lift": -0.24578348274167183, "elbow_flex": -0.33975663551728985, "wrist_flex": -0.005883221421299822, "wrist_roll": 1.6348313861516813e-06, "gripper": -0.40262754018760916}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.5301862344947665}, "tcp": {"position_m": [0.17685124826879356, 0.00016258240141601158, 0.09200710494739867], "quaternion_wxyz": [0.7177033994514036, 0.017033638223870336, 0.6959452261294493, -0.01649023384874847], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 90, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579671.2504723, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456173283e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.475530940288423e-17, 1.878769358366722e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 8.901999999999642, "positions": {"shoulder_pan": -0.0012595469802867646, "shoulder_lift": -0.4410535628855698, "elbow_flex": 0.3230021087033725, "wrist_flex": 1.6580657840262656, "wrist_roll": -4.861554657365135e-09, "gripper": 0.4722955597835209}, "velocities": {"shoulder_pan": -4.396473015440817e-10, "shoulder_lift": -1.8471732685792211e-06, "elbow_flex": -1.8422423245570314e-06, "wrist_flex": -1.1219650049415708e-06, "wrist_roll": 2.8123001865610956e-09, "gripper": -0.5872616567075508}, "actuator_forces": {"shoulder_pan": -3.5135604892211347e-07, "shoulder_lift": -0.24560192099585265, "elbow_flex": -0.33957553735649526, "wrist_flex": -0.005772908390554221, "wrist_roll": 1.357984458021597e-06, "gripper": -0.40281173074140497}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.47145988162016994}, "tcp": {"position_m": [0.17685129541284786, 0.00016258246458529716, 0.09200714780020651], "quaternion_wxyz": [0.7177035641765657, 0.017033642226496584, 0.6959450562593814, -0.016490229497496105], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 91, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579671.6699686, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456175238e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.387107691903911e-17, 9.40912783210445e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 9.001999999999676, "positions": {"shoulder_pan": -0.001259547024845721, "shoulder_lift": -0.44105375037984745, "elbow_flex": 0.32300192173192255, "wrist_flex": 1.6580656701782168, "wrist_roll": -4.5765424165091245e-09, "gripper": 0.4135693967315081}, "velocities": {"shoulder_pan": -4.5104784045186075e-10, "shoulder_lift": -1.900567390838889e-06, "elbow_flex": -1.8950563864423376e-06, "wrist_flex": -1.1537071628928763e-06, "wrist_roll": 2.88485746111012e-09, "gripper": -0.5872616064286813}, "actuator_forces": {"shoulder_pan": -3.06867949051437e-07, "shoulder_lift": -0.24541472088384353, "elbow_flex": -0.33938885956860076, "wrist_flex": -0.005659239460555909, "wrist_roll": 1.0734257050783333e-06, "gripper": -0.4030012527311442}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.41273352874557345}, "tcp": {"position_m": [0.17685134400945798, 0.0001625825296910028, 0.09200719198355137], "quaternion_wxyz": [0.7177037339977409, 0.01703364635328733, 0.6959448811340344, -0.016490225011958792], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 92, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579671.9715018, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.79991745617704e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3171850462529954e-17, -2.1153402802696717e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 9.101999999999709, "positions": {"shoulder_pan": -0.0012595470704657259, "shoulder_lift": -0.44105394288079575, "elbow_flex": 0.32300172981085534, "wrist_flex": 1.6580655533579542, "wrist_roll": -4.284779404854627e-09, "gripper": 0.3548432383707264}, "velocities": {"shoulder_pan": -4.60893266732242e-10, "shoulder_lift": -1.9474089350849003e-06, "elbow_flex": -1.9413368680266454e-06, "wrist_flex": -1.1814717433922334e-06, "wrist_roll": 2.947475414257249e-09, "gripper": -0.5872615627773804}, "actuator_forces": {"shoulder_pan": -2.6132182973093165e-07, "shoulder_lift": -0.24522252781684983, "elbow_flex": -0.33919724576378485, "wrist_flex": -0.00554260652324956, "wrist_roll": 7.82135485940708e-07, "gripper": -0.40319545274223856}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.35400717587097685}, "tcp": {"position_m": [0.17685139389107624, 0.00016258259650849376, 0.09200723734510437], "quaternion_wxyz": [0.7177039083294339, 0.017033650590014278, 0.6959447013571847, -0.016490220407601196], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 93, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579672.3812068, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456178982e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.334736623127021e-17, -1.781809292136667e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 9.201999999999742, "positions": {"shoulder_pan": -0.001259547116989491, "shoulder_lift": -0.44105413972473084, "elbow_flex": 0.3230015336018557, "wrist_flex": 1.6580654339682332, "wrist_roll": -3.987270894544108e-09, "gripper": 0.29611708403055215}, "velocities": {"shoulder_pan": -4.691496233862323e-10, "shoulder_lift": -1.987536416087746e-06, "elbow_flex": -1.9809242222644805e-06, "wrist_flex": -1.205163001275575e-06, "wrist_roll": 2.9999373399176666e-09, "gripper": -0.5872615259041053}, "actuator_forces": {"shoulder_pan": -2.1487472467995872e-07, "shoulder_lift": -0.24502600441724098, "elbow_flex": -0.3390013565674508, "wrist_flex": -0.005423411688525448, "wrist_roll": 4.851174444382476e-07, "gripper": -0.40339366123265563}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.29528082299638025}, "tcp": {"position_m": [0.17685144488572568, 0.00016258266480764048, 0.09200728372847541], "quaternion_wxyz": [0.7177040865706011, 0.01703365492207007, 0.695944517548642, -0.016490215700296792], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 94, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579672.6747656, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456180683e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3941764779614206e-17, -1.5876353117131198e-18, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 9.301999999999776, "positions": {"shoulder_pan": -0.0012595471642566115, "shoulder_lift": -0.4410543402329968, "elbow_flex": 0.32300133378139045, "wrist_flex": 1.6580653124206706, "wrist_roll": -3.6850420527031573e-09, "gripper": 0.23739093302650188}, "velocities": {"shoulder_pan": -4.757884495034666e-10, "shoulder_lift": -2.0208115078410797e-06, "elbow_flex": -2.0136819825631375e-06, "wrist_flex": -1.224699273625085e-06, "wrist_roll": 3.042061462288623e-09, "gripper": -0.5872614959359945}, "actuator_forces": {"shoulder_pan": -1.6768677379985775e-07, "shoulder_lift": -0.24482582823600296, "elbow_flex": -0.33880186734381823, "wrist_flex": -0.0053020659011053795, "wrist_roll": 1.833950583503505e-07, "gripper": -0.4035951948429499}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.23655447012178366}, "tcp": {"position_m": [0.176851496817592, 0.00016258273435281254, 0.09200733097375113], "quaternion_wxyz": [0.7177042681067206, 0.0170336593345191, 0.6959443303421174, -0.016490210906275133], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 95, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579673.1878827, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18460905, 5.799917456182725e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.095537370952107e-17, -4.529621193255557e-19, -0.023720177500168773], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725294032e-05}, "simulation_time": 9.40199999999981, "positions": {"shoulder_pan": -0.0012595472121041207, "shoulder_lift": -0.4410545437143057, "elbow_flex": 0.3230011310383762, "wrist_flex": 1.6580651891343208, "wrist_roll": -3.3791344148334997e-09, "gripper": 0.17866478466259136}, "velocities": {"shoulder_pan": -4.807868546931588e-10, "shoulder_lift": -2.047119497765562e-06, "elbow_flex": -2.03949722585631e-06, "wrist_flex": -1.2400131588120245e-06, "wrist_roll": 3.073701574773583e-09, "gripper": -0.5872614729763446}, "actuator_forces": {"shoulder_pan": -1.1992067139310336e-07, "shoulder_lift": -0.24462268941579168, "elbow_flex": -0.3385994658675031, "wrist_flex": -0.005178987520139344, "wrist_roll": -1.2199188139913923e-07, "gripper": -0.4037993587502626}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.17782811724718717}, "tcp": {"position_m": [0.17685154950762996, 0.00016258280490421463, 0.09200737891804686], "quaternion_wxyz": [0.7177044523119124, 0.01703366381214845, 0.6959441403830354, -0.016490206042064113], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 96, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579673.551623, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18422142723012758, 2.4158135890468188e-05, 0.10010083538756027], "quaternion_wxyz": [0.9996727433310252, -0.00022552343055198696, -0.009577836752881316, -0.023719621062303804], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.31747125587562286}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.31714853727886344}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.24953670023621258}], "left_finger_force_n": 0, "right_finger_force_n": 0.24953670023621258, "bilateral_contact": false, "supported": true, "lift_m": -2.4287652706581064e-05}, "simulation_time": 9.501999999999843, "positions": {"shoulder_pan": -0.001258871610817337, "shoulder_lift": -0.44107438118835884, "elbow_flex": 0.3229579619492131, "wrist_flex": 1.658047947906298, "wrist_roll": 5.931321214079324e-09, "gripper": 0.1199427741512164}, "velocities": {"shoulder_pan": 2.240192114234289e-05, "shoulder_lift": -0.0007289157839769733, "elbow_flex": -0.0013032656758344557, "wrist_flex": -0.0005214057400106893, "wrist_roll": 2.8360994814820504e-07, "gripper": -0.587351689106211}, "actuator_forces": {"shoulder_pan": -0.000692655049810531, "shoulder_lift": -0.22425590392913364, "elbow_flex": -0.2944037100934338, "wrist_flex": 0.01247939192035119, "wrist_roll": -9.64595315119137e-06, "gripper": -0.407892686375277}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.11910176437259057}, "tcp": {"position_m": [0.17686019593777919, 0.00016250656061770567, 0.09201459711597475], "quaternion_wxyz": [0.7177305963950648, 0.017034533748510064, 0.695917167192511, -0.016489756368906587], "frame": "world"}, "contact_count": 3, "warning_count": 0}
{"cursor": 97, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579674.0117295, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1827686122302699, 9.235474387415345e-05, 0.10051559504083331], "quaternion_wxyz": [0.9987003611723396, -0.0010487205077694172, -0.04510891016501525, -0.02369968361093598], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2872985984867081}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2858275174890879}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.20922265428901637}], "left_finger_force_n": 0, "right_finger_force_n": 0.20922265428901637, "bilateral_contact": false, "supported": true, "lift_m": 0.0003904720005664525}, "simulation_time": 9.601999999999876, "positions": {"shoulder_pan": -0.001258685463332516, "shoulder_lift": -0.4410821994092191, "elbow_flex": 0.3229581271900216, "wrist_flex": 1.6580502251579787, "wrist_roll": 8.863393114421177e-09, "gripper": 0.06121439885175875}, "velocities": {"shoulder_pan": -4.207779880766534e-06, "shoulder_lift": 0.00014197226623425174, "elbow_flex": 0.0002021277260843112, "wrist_flex": 6.733830487465694e-05, "wrist_roll": -1.8379930082244286e-08, "gripper": -0.58707579740813}, "actuator_forces": {"shoulder_pan": -0.0008489203250161559, "shoulder_lift": -0.21738535150683447, "elbow_flex": -0.2963521483849263, "wrist_flex": 0.009449523498915369, "wrist_roll": -1.2187009711581283e-05, "gripper": -0.4056410890935709}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.06037541149799397}, "tcp": {"position_m": [0.17686064934525592, 0.0001624740647337627, 0.09201600025724378], "quaternion_wxyz": [0.7177345282588016, 0.017034714090981444, 0.6959131080404591, -0.016489739792422735], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 98, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579674.340534, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18165766936715944, 0.00014344419370366794, 0.10103318397006908], "quaternion_wxyz": [0.9968847762989834, -0.001761158223770524, -0.07519483445711157, -0.023735584593674513], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.22953855010339239}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.23523543974100827}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.191942398693985}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.8996547412115485}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 7.917530072666973}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.2451880230910084}], "left_finger_force_n": 10.091597139905534, "right_finger_force_n": 9.162718095757981, "bilateral_contact": true, "supported": true, "lift_m": 0.0009080609298022235}, "simulation_time": 9.70199999999991, "positions": {"shoulder_pan": -0.0012623730865842136, "shoulder_lift": -0.4410510936650826, "elbow_flex": 0.3230633182490686, "wrist_flex": 1.6581126802478021, "wrist_roll": 5.8620048384987896e-08, "gripper": 0.003044940620594869}, "velocities": {"shoulder_pan": -5.146868138486174e-05, "shoulder_lift": 0.00011938435463708898, "elbow_flex": 0.00045062592193124664, "wrist_flex": 0.0006895230555073118, "wrist_roll": 8.994753439445951e-07, "gripper": -0.581099963888323}, "actuator_forces": {"shoulder_pan": 0.00285592966355952, "shoulder_lift": -0.24823620515633138, "elbow_flex": -0.40101421354825106, "wrist_flex": -0.05304111151099278, "wrist_roll": -6.259324888487992e-05, "gripper": -0.9672432704241227}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": 0.0016490586233973703}, "tcp": {"position_m": [0.17683564237734772, 0.0001629380603516095, 0.09199918464948038], "quaternion_wxyz": [0.717665990153403, 0.017031732735434214, 0.6959838503971192, -0.016490198408866296], "frame": "world"}, "contact_count": 6, "warning_count": 0}
{"cursor": 99, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579674.7301712, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18081240103775773, 0.0001817882687258697, 0.10166574486932203], "quaternion_wxyz": [0.9948519890982207, -0.0023223831168854682, -0.09842296582906856, -0.02402178430885183], "contacts": [{"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 16.31374172325614}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 12.458094815376686}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.4531682649455595}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.393674160116287}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 13.2001175622026}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 5.021113327797011}], "left_finger_force_n": 28.771836538632826, "right_finger_force_n": 27.068073315061458, "bilateral_contact": true, "supported": false, "lift_m": 0.0015406218290551776}, "simulation_time": 9.801999999999943, "positions": {"shoulder_pan": -0.001259992270557002, "shoulder_lift": -0.44103029177380887, "elbow_flex": 0.323034190708277, "wrist_flex": 1.6580652592434653, "wrist_roll": -5.680446090438916e-10, "gripper": -0.054113512292828875}, "velocities": {"shoulder_pan": 1.720195720343454e-05, "shoulder_lift": 8.379671617517129e-05, "elbow_flex": -0.00011148596654299223, "wrist_flex": -0.00011363318626805252, "wrist_roll": -1.03594599858587e-07, "gripper": -0.5603643653214171}, "actuator_forces": {"shoulder_pan": 0.0004283404203357932, "shoulder_lift": -0.26891123505197356, "elbow_flex": -0.3714871330901701, "wrist_flex": -0.005122338069895704, "wrist_roll": -2.794817381119058e-06, "gripper": -2.545985047444674}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.05707729425119923}, "tcp": {"position_m": [0.17684630617091823, 0.00016264234808836537, 0.09200045062137298], "quaternion_wxyz": [0.7176843947459589, 0.017032994455590728, 0.6959648327496216, -0.01649054922654859], "frame": "world"}, "contact_count": 6, "warning_count": 0}
{"cursor": 100, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 4951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579675.0538461, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17876859849261534, 0.0002790110500305309, 0.10214506940402572], "quaternion_wxyz": [0.995729920299629, -0.0020838120458415207, -0.08900452368133624, -0.024408570456103423], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.9829680079817145}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.887899465988905}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 19.19305549679815}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 19.55343968844899}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.153198640044343}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.092908796120886}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 16.203541649147702}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 7.850741548542757}], "left_finger_force_n": 44.617362659217754, "right_finger_force_n": 40.300390633855685, "bilateral_contact": true, "supported": false, "lift_m": 0.002019946363758865}, "simulation_time": 9.901999999999976, "positions": {"shoulder_pan": -0.00125956578769141, "shoulder_lift": -0.4410286249563636, "elbow_flex": 0.32303269485351765, "wrist_flex": 1.6580644483951494, "wrist_roll": 2.090146463105019e-10, "gripper": -0.10392537424180869}, "velocities": {"shoulder_pan": 6.248969534131051e-07, "shoulder_lift": -4.341376136979751e-06, "elbow_flex": -8.499390439367379e-06, "wrist_flex": -5.8713360690762705e-06, "wrist_roll": 1.1815160547175714e-08, "gripper": -0.35158471536858865}, "actuator_forces": {"shoulder_pan": 1.7846136180388328e-05, "shoulder_lift": -0.27049308561112184, "elbow_flex": -0.3701004906242247, "wrist_flex": -0.004435628306509898, "wrist_roll": -3.710731535774895e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.11580364712579572}, "tcp": {"position_m": [0.17684665995315962, 0.0001625793543280467, 0.09200047102063577], "quaternion_wxyz": [0.7176846989523761, 0.017033161903230808, 0.6959645112354987, -0.016490706047592264], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 101, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579675.4815333, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17701711480537546, 0.0003624700223509097, 0.10236211144235392], "quaternion_wxyz": [0.9959776208411075, -0.0020285083323624145, -0.0861075570737266, -0.024697217503736695], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.852951511269302}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.76789971773847}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3320261935095525}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2855320674261907}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 26.148313655272183}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.86240651384635}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.778171435338004}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 16.632071783855856}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 8.069359058195872}], "left_finger_force_n": 44.3867231452157, "right_finger_force_n": 44.34200879123608, "bilateral_contact": true, "supported": false, "lift_m": 0.0022369884020870673}, "simulation_time": 10.00200000000001, "positions": {"shoulder_pan": -0.0012595663860139354, "shoulder_lift": -0.4410289769315449, "elbow_flex": 0.32303264962008565, "wrist_flex": 1.6580642916599395, "wrist_roll": 1.1567310639534477e-09, "gripper": -0.1392999265034206}, "velocities": {"shoulder_pan": 6.20083773242729e-08, "shoulder_lift": -6.905157749194271e-06, "elbow_flex": -1.0689464409244209e-05, "wrist_flex": -3.932922676734013e-06, "wrist_roll": 1.1291210461571334e-08, "gripper": -0.27579558279439287}, "actuator_forces": {"shoulder_pan": 1.908562334640429e-05, "shoulder_lift": -0.2701404847893514, "elbow_flex": -0.3700579317456345, "wrist_flex": -0.0042830651909753215, "wrist_roll": -4.658313571318136e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768466997381667, 0.00016257932414868897, 0.09200051318795649], "quaternion_wxyz": [0.7176848897532203, 0.017033166515177993, 0.695964314486751, -0.016490700996634407], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 102, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579675.811455, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17633225422741702, 0.00039476572837547776, 0.10251831350914965], "quaternion_wxyz": [0.996752176075063, -0.0018042515652771079, -0.0765538590102185, -0.024926909887899064], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.41833445596108}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.322344974866224}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.25623210843093}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.09132155091999}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 27.302364133435653}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.430272965971092}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.335205229709072}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 18.740800330570156}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 10.84604736614858}], "left_finger_force_n": 50.390597223613874, "right_finger_force_n": 50.3523258923989, "bilateral_contact": true, "supported": false, "lift_m": 0.002393190468882797}, "simulation_time": 10.102000000000043, "positions": {"shoulder_pan": -0.0012595532388861175, "shoulder_lift": -0.4410294114345895, "elbow_flex": 0.323031919379807, "wrist_flex": 1.6580639595040478, "wrist_roll": 1.466779343478233e-09, "gripper": -0.15745330366801116}, "velocities": {"shoulder_pan": 7.51149931093815e-08, "shoulder_lift": -2.3081240049489655e-06, "elbow_flex": -3.2637762283088593e-06, "wrist_flex": -1.565638107236624e-06, "wrist_roll": 2.2864463334285177e-09, "gripper": -0.12285948731044288}, "actuator_forces": {"shoulder_pan": 5.839235461158054e-06, "shoulder_lift": -0.26970993455148573, "elbow_flex": -0.3693319979156513, "wrist_flex": -0.003951280613136987, "wrist_roll": -4.958722802295842e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684686743709485, 0.00016257772194397908, 0.09200065704131168], "quaternion_wxyz": [0.7176854205399806, 0.017033184232627875, 0.695963766915323, -0.016490691928537075], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 103, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_9f6c42d3c7544993bae5bdbf0efc1eaf", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579676.2392101, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17644913860730166, 0.0003880048287990669, 0.10257322640370606], "quaternion_wxyz": [0.9981137266499827, -0.0013091003823361316, -0.056042197937589376, -0.02503092046644701], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.100577679220497}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.998818994641782}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.485799659734337}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.313379014445801}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 23.44633991291251}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.886998135726994}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.786216595108609}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 24.646108323236216}], "left_finger_force_n": 46.34491526095493, "right_finger_force_n": 46.319323054071816, "bilateral_contact": true, "supported": false, "lift_m": 0.0024481033634392024}, "simulation_time": 10.202000000000076, "positions": {"shoulder_pan": -0.001259541126728319, "shoulder_lift": -0.44102955694996915, "elbow_flex": 0.32303152284015024, "wrist_flex": 1.6580637638387021, "wrist_roll": 1.487598096427128e-09, "gripper": -0.1661623195836518}, "velocities": {"shoulder_pan": 3.5917068516656347e-07, "shoulder_lift": 2.922041647674866e-07, "elbow_flex": -4.987369684228529e-06, "wrist_flex": -3.0346114927985343e-06, "wrist_roll": -1.2037688362440457e-09, "gripper": -0.09502981053430985}, "actuator_forces": {"shoulder_pan": -6.5979801286975e-06, "shoulder_lift": -0.26956640487128425, "elbow_flex": -0.36893165785562587, "wrist_flex": -0.0037528655948335654, "wrist_roll": -4.976521324805834e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469562505986, 0.0001625762403744297, 0.09200072391853094], "quaternion_wxyz": [0.7176856767380313, 0.01703319464565773, 0.6959635025245079, -0.0164906894657648], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 104, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579676.5695724, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17635019284681291, 0.00039225124722324685, 0.10255371142049763], "quaternion_wxyz": [0.9988646970563941, -0.0009363264657664271, -0.040458227658432426, -0.02513109790528865], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.987511428032662}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.878049500672659}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.551173966409181}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.441712039049175}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 22.16036598136046}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.119972211250245}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.01156139870809}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 26.86748648902027}], "left_finger_force_n": 47.01881291552414, "right_finger_force_n": 46.999020098978605, "bilateral_contact": true, "supported": false, "lift_m": 0.002428588380230773}, "simulation_time": 10.30200000000011, "positions": {"shoulder_pan": -0.001259543520278432, "shoulder_lift": -0.44102954088620944, "elbow_flex": 0.3230316761368819, "wrist_flex": 1.6580637967081184, "wrist_roll": 1.6232895157520047e-09, "gripper": -0.17149549022794924}, "velocities": {"shoulder_pan": -5.23434366965538e-08, "shoulder_lift": 7.720670336054767e-08, "elbow_flex": 6.87370107075806e-07, "wrist_flex": 2.459185613542108e-06, "wrist_roll": -5.336989650009789e-09, "gripper": -0.005090513329178515}, "actuator_forces": {"shoulder_pan": -3.785862451755051e-06, "shoulder_lift": -0.2695826398367558, "elbow_flex": -0.3690918590858132, "wrist_flex": -0.0037918298000931827, "wrist_roll": -5.108258076883754e-06, "gripper": -3.025708673583523}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684693271832935, 0.00016257642634766732, 0.0920007037072927], "quaternion_wxyz": [0.7176856140051342, 0.017033192479161813, 0.6959635672446991, -0.016490690466870454], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 105, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579677.0017934, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17630004622663342, 0.0003945545031873637, 0.10251412632954479], "quaternion_wxyz": [0.9991790724594035, -0.0007226270727180012, -0.031714339181757485, -0.025196421562260533], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.944610937407816}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.830869486394543}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.913838760734054}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.800097309720782}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.514993287600152}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.718323471632527}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.605674229823377}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.66479218523202}], "left_finger_force_n": 47.00440978185735, "right_finger_force_n": 46.988789886687925, "bilateral_contact": true, "supported": false, "lift_m": 0.0023890032892779356}, "simulation_time": 10.402000000000143, "positions": {"shoulder_pan": -0.0012595474498876358, "shoulder_lift": -0.4410295533663094, "elbow_flex": 0.32303171570393235, "wrist_flex": 1.658063869392534, "wrist_roll": 1.5530243257158986e-09, "gripper": -0.17164277411160384}, "velocities": {"shoulder_pan": -1.0908398227388925e-08, "shoulder_lift": -1.9548239125541552e-07, "elbow_flex": -1.1633970901030763e-07, "wrist_flex": -9.731744895362765e-09, "wrist_roll": 2.349461910312716e-10, "gripper": -0.0007797497176049692}, "actuator_forces": {"shoulder_pan": 1.2704024565657335e-07, "shoulder_lift": -0.26956991250978035, "elbow_flex": -0.3691311246564055, "wrist_flex": -0.003862520352413412, "wrist_roll": -5.043292074971118e-06, "gripper": -2.8814869266579706}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684691494219726, 0.0001625769583706248, 0.09200069985801759], "quaternion_wxyz": [0.717685576852671, 0.01703319018269236, 0.695963605623719, -0.016490690012287177], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 106, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579677.3041744, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1762727919191596, 0.0003957647053924499, 0.1024951184597341], "quaternion_wxyz": [0.9992943491400691, -0.0006258748448058125, -0.027807325987055608, -0.02524212112431458], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.928438816957004}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.811682679062825}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.076206840085591}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.959450702191414}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.242989473602414}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.552988124963024}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.437353144987178}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.014752655732178}], "left_finger_force_n": 47.018768511899246, "right_finger_force_n": 47.00509392568238, "bilateral_contact": true, "supported": false, "lift_m": 0.0023699954194672385}, "simulation_time": 10.502000000000177, "positions": {"shoulder_pan": -0.001259547637055015, "shoulder_lift": -0.44102956924371145, "elbow_flex": 0.32303169885865907, "wrist_flex": 1.6580638621526993, "wrist_roll": 1.5698634692154408e-09, "gripper": -0.17169640203403266}, "velocities": {"shoulder_pan": 1.5889251659687926e-09, "shoulder_lift": -1.1541153261110883e-07, "elbow_flex": -1.477736983130338e-07, "wrist_flex": -7.201426246341796e-08, "wrist_roll": 1.1287677426995497e-10, "gripper": -0.00034534703399778584}, "actuator_forces": {"shoulder_pan": 3.0282923146884855e-07, "shoulder_lift": -0.26955411851935196, "elbow_flex": -0.36911425871318215, "wrist_flex": -0.0038552228834305424, "wrist_roll": -5.060011800439988e-06, "gripper": -2.828284494542771}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684691879265607, 0.00016257699236638402, 0.09200070374997105], "quaternion_wxyz": [0.7176855907508557, 0.017033190450062977, 0.6959635912956272, -0.016490689572594263], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 107, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579677.7557435, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17626032292499866, 0.00039627490040663516, 0.10248531270132472], "quaternion_wxyz": [0.9993408188519484, -0.000581715163163742, -0.026053877931224687, -0.025274192935306916], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921340138515452}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.802514733597745}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.149372005545606}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.030546600627897}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.121551155325328}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.479191808905485}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.361507432168608}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.171830257952458}], "left_finger_force_n": 47.02532463361203, "right_finger_force_n": 47.01252949902655, "bilateral_contact": true, "supported": false, "lift_m": 0.00236018966105786}, "simulation_time": 10.60200000000021, "positions": {"shoulder_pan": -0.0012595474817484048, "shoulder_lift": -0.44102957724158875, "elbow_flex": 0.32303168836154794, "wrist_flex": 1.6580638569603285, "wrist_roll": 1.5777114313316143e-09, "gripper": -0.17171967641459324}, "velocities": {"shoulder_pan": 1.2235367373448103e-09, "shoulder_lift": -5.293918830721812e-08, "elbow_flex": -7.056454116597045e-08, "wrist_flex": -3.534621573440348e-08, "wrist_roll": 5.26307774739999e-11, "gripper": -0.00015132993957540962}, "actuator_forces": {"shoulder_pan": 1.4794647285043538e-07, "shoulder_lift": -0.26954618306899647, "elbow_flex": -0.36910383901755495, "wrist_flex": -0.0038500674693295878, "wrist_roll": -5.067799065733075e-06, "gripper": -2.8052032519887575}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469213054619, 0.00016257697393343514, 0.09200070599663325], "quaternion_wxyz": [0.7176855991148751, 0.017033190710585892, 0.6959635826680187, -0.01649068941053814], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 108, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579678.0179837, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625476470856785, 0.00039647101848053976, 0.10247956116201842], "quaternion_wxyz": [0.9993604928503786, -0.0005614399331133927, -0.02526610287837974, -0.025296524670204105], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9183867641149535}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.798145012307959}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.182491459729707}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.062249707922712}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.067063359738455}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.446281739630592}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.327194616561613}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.242460261102995}], "left_finger_force_n": 47.02833630381379, "right_finger_force_n": 47.015936617295196, "bilateral_contact": true, "supported": false, "lift_m": 0.0023544381217515675}, "simulation_time": 10.702000000000243, "positions": {"shoulder_pan": -0.0012595473960392272, "shoulder_lift": -0.4410295808459202, "elbow_flex": 0.3230316835367008, "wrist_flex": 1.6580638545328994, "wrist_roll": 1.5813477584893594e-09, "gripper": -0.17172995432364382}, "velocities": {"shoulder_pan": 5.678707544384815e-10, "shoulder_lift": -2.3588132320849855e-08, "elbow_flex": -3.169853065638265e-08, "wrist_flex": -1.6003252818406554e-08, "wrist_roll": 2.427134481270057e-11, "gripper": -6.728418843748213e-05}, "actuator_forces": {"shoulder_pan": 6.289139897752705e-08, "shoulder_lift": -0.2695426079966978, "elbow_flex": -0.3690990529627811, "wrist_flex": -0.0038476593674658943, "wrist_roll": -5.07140688712824e-06, "gripper": -2.795009181615285}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692246694161, 0.0001625769633573715, 0.09200070702243512], "quaternion_wxyz": [0.7176856029529081, 0.017033190835488682, 0.69596357870877, -0.01649068934169176], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 109, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579678.397051, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625233023510906, 0.000396534877309484, 0.10247561374249096], "quaternion_wxyz": [0.9993689951688675, -0.0005520844826288849, -0.024912072009626873, -0.025311960929197116], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.917224398403881}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.796015338725794}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.19754250979339}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.076333450115306}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04258639833686}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.431654633524143}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.311609491216762}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274216027576408}], "left_finger_force_n": 47.02970209537523, "right_finger_force_n": 47.01748015231731, "bilateral_contact": true, "supported": false, "lift_m": 0.002350490702224109}, "simulation_time": 10.802000000000277, "positions": {"shoulder_pan": -0.0012595473578185892, "shoulder_lift": -0.44102958244570306, "elbow_flex": 0.32303168138155164, "wrist_flex": 1.6580638534439656, "wrist_roll": 1.5830239897029778e-09, "gripper": -0.17173453805938965}, "velocities": {"shoulder_pan": 2.4505755095482164e-10, "shoulder_lift": -1.0415539140024367e-08, "elbow_flex": -1.4078651118953205e-08, "wrist_flex": -7.114563470992169e-09, "wrist_roll": 1.1183591215722723e-11, "gripper": -3.009584913816846e-05}, "actuator_forces": {"shoulder_pan": 2.4989872393632595e-08, "shoulder_lift": -0.26954102132015123, "elbow_flex": -0.3690969153676633, "wrist_flex": -0.003846579288619978, "wrist_roll": -5.0730699640537795e-06, "gripper": -2.790462580734811}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692298639368, 0.00016257695863415694, 0.09200070747960638], "quaternion_wxyz": [0.7176856046657416, 0.01703319089122122, 0.6959635769418404, -0.016490689310959428], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 110, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579678.6990693, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625130199230743, 0.00039654594259424966, 0.102472473505401], "quaternion_wxyz": [0.999372682644578, -0.0005477622049667587, -0.02475294726829703, -0.02532257376098167], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916814069201835}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.794945384562947}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2044199123361645}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.082551227697277}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03158634145687}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.425191004954169}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.304492571774809}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28849130941606}], "left_finger_force_n": 47.030316935255094, "right_finger_force_n": 47.01817488614503, "bilateral_contact": true, "supported": false, "lift_m": 0.0023473504651341376}, "simulation_time": 10.90200000000031, "positions": {"shoulder_pan": -0.0012595473416132051, "shoulder_lift": -0.4410295831472138, "elbow_flex": 0.3230316804296361, "wrist_flex": 1.6580638529635243, "wrist_roll": 1.5837948674034777e-09, "gripper": -0.17173659117896692}, "velocities": {"shoulder_pan": 1.0151243910210617e-10, "shoulder_lift": -4.5128331690272255e-09, "elbow_flex": -6.162432736468345e-09, "wrist_flex": -3.102061640443015e-09, "wrist_roll": 5.120236537144316e-12, "gripper": -1.349832594540154e-05}, "actuator_forces": {"shoulder_pan": 8.925315597707595e-09, "shoulder_lift": -0.2695403256546456, "elbow_flex": -0.3690959713103439, "wrist_flex": -0.003846102826173592, "wrist_roll": -5.073834760356195e-06, "gripper": -2.788426042642868}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469232156903, 0.00016257695664063674, 0.09200070768104095], "quaternion_wxyz": [0.7176856054205455, 0.017033190915548533, 0.6959635761632091, -0.016490689297177178], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 111, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579679.1054401, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625090647860367, 0.0003965378759843157, 0.10246969533574084], "quaternion_wxyz": [0.9993742685597946, -0.0005457865821081394, -0.024681419428203597, -0.025329843911711867], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916705783818597}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7943877515055116}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.207587540403177}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.085269508090091}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02664182150232}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.422360906107807}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.301217440142633}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29490792403972}], "left_finger_force_n": 47.030592405319695, "right_finger_force_n": 47.01848627029016, "bilateral_contact": true, "supported": false, "lift_m": 0.0023445722954739817}, "simulation_time": 11.002000000000344, "positions": {"shoulder_pan": -0.0012595473350577588, "shoulder_lift": -0.4410295834458947, "elbow_flex": 0.3230316800182291, "wrist_flex": 1.6580638527573393, "wrist_roll": 1.5841445095325397e-09, "gripper": -0.17173751260656359}, "velocities": {"shoulder_pan": 3.955013519252428e-11, "shoulder_lift": -1.8633314936536806e-09, "elbow_flex": -2.605758436074474e-09, "wrist_flex": -1.2955516296621476e-09, "wrist_roll": 2.2814576180876996e-12, "gripper": -6.061658814418371e-06}, "actuator_forces": {"shoulder_pan": 2.4299651180115234e-09, "shoulder_lift": -0.26954002956841805, "elbow_flex": -0.3690955634048123, "wrist_flex": -0.0038458984142835106, "wrist_roll": -5.074181577366e-06, "gripper": -2.7875120461468725}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692331451216, 0.00016257695584044545, 0.09200070776767434], "quaternion_wxyz": [0.7176856057449063, 0.017033190925853862, 0.6959635758286168, -0.016490689291101816], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 112, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579679.4456987, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625079565958518, 0.00039652435310031384, 0.10246707976334896], "quaternion_wxyz": [0.9993749367286567, -0.0005449228089386782, -0.024649263142520146, -0.025334812496982148], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916708853866634}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.794084928313507}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.209063283950572}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.086439358397444}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02441887806287}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.42113985752055}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.299693435673783}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.297792019938093}], "left_finger_force_n": 47.03071530259103, "right_finger_force_n": 47.018625313132425, "bilateral_contact": true, "supported": false, "lift_m": 0.0023419567230821003}, "simulation_time": 11.102000000000377, "positions": {"shoulder_pan": -0.0012595473326164849, "shoulder_lift": -0.4410295835636629, "elbow_flex": 0.32303167984972914, "wrist_flex": 1.6580638526745937, "wrist_roll": 1.5842956246819898e-09, "gripper": -0.17173792651130695}, "velocities": {"shoulder_pan": 1.360112093682431e-11, "shoulder_lift": -6.72770088746237e-10, "elbow_flex": -1.0068932994580555e-09, "wrist_flex": -4.826391343472178e-10, "wrist_roll": 9.311745776117499e-13, "gripper": -2.723680946162428e-06}, "actuator_forces": {"shoulder_pan": 1.337041588556076e-11, "shoulder_lift": -0.26953991293675017, "elbow_flex": -0.36909539644960887, "wrist_flex": -0.0038458164488019975, "wrist_roll": -5.0743313771864434e-06, "gripper": -2.787101477231687}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469233546708, 0.0001625769555457478, 0.09200070780273018], "quaternion_wxyz": [0.7176856058758, 0.017033190929938376, 0.6959635756935977, -0.01649068928857391], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 113, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579679.8530464, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625081295425002, 0.0003965105199416943, 0.10246453724835013], "quaternion_wxyz": [0.9993752074823081, -0.0005445974950365429, -0.024634803456009744, -0.02533820321067717], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916745396088142}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793913328620414}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.209761963428597}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.086929895960868}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02341926290654}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.42062565789899}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298973092833021}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.299088366249023}], "left_finger_force_n": 47.030769847004564, "right_finger_force_n": 47.018687116981035, "bilateral_contact": true, "supported": false, "lift_m": 0.002339414208083271}, "simulation_time": 11.20200000000041, "positions": {"shoulder_pan": -0.001259547331865138, "shoulder_lift": -0.44102958360011363, "elbow_flex": 0.3230316797904448, "wrist_flex": 1.6580638526473916, "wrist_roll": 1.5843514240537499e-09, "gripper": -0.17173811251854335}, "velocities": {"shoulder_pan": 3.2617348871913955e-12, "shoulder_lift": -1.3747346676218158e-10, "elbow_flex": -2.87883433243904e-10, "wrist_flex": -1.168781648181123e-10, "wrist_roll": 2.746394284450325e-13, "gripper": -1.2242019083405524e-06}, "actuator_forces": {"shoulder_pan": -7.284990388711776e-10, "shoulder_lift": -0.26953987696771264, "elbow_flex": -0.36909533783057213, "wrist_flex": -0.0038457895800547703, "wrist_roll": -5.0743865693911056e-06, "gripper": -2.786916968594994}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692336844726, 0.00016257695545611532, 0.09200070781459882], "quaternion_wxyz": [0.7176856059197, 0.017033190931283776, 0.695963575648315, -0.01649068928770108], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 114, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579680.131367, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625088791312735, 0.0003964980054077492, 0.10246202756669621], "quaternion_wxyz": [0.9993753092278775, -0.0005445404880147919, -0.02462829808502867, -0.025340515282350217], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916785714369941}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793812061518793}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210100088254582}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.087126435403434}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.022969572345016}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420418036334425}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298625245467298}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.299671124940748}], "left_finger_force_n": 47.03079387189177, "right_finger_force_n": 47.01871440674247, "bilateral_contact": true, "supported": false, "lift_m": 0.002336904526429359}, "simulation_time": 11.302000000000444, "positions": {"shoulder_pan": -0.0012595473317633748, "shoulder_lift": -0.4410295835999964, "elbow_flex": 0.3230316797802805, "wrist_flex": 1.6580638526451814, "wrist_roll": 1.5843603003771592e-09, "gripper": -0.17173819613048988}, "velocities": {"shoulder_pan": -4.768101661130049e-13, "shoulder_lift": 1.0329458625146014e-10, "elbow_flex": 3.554037320556885e-11, "wrist_flex": 4.771939756831016e-11, "wrist_roll": -5.389293901735981e-14, "gripper": -5.503524913700508e-07}, "actuator_forces": {"shoulder_pan": -8.271088258737791e-10, "shoulder_lift": -0.26953987727210915, "elbow_flex": -0.3690953279362361, "wrist_flex": -0.003845787501859377, "wrist_roll": -5.074395176377824e-06, "gripper": -2.78683403013261}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692337035665, 0.0001625769554433428, 0.09200070781603965], "quaternion_wxyz": [0.7176856059244713, 0.017033190931437674, 0.6959635756433927, -0.016490689287614223], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 115, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579680.5846627, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625098883554655, 0.000396487075309214, 0.10245953264236694], "quaternion_wxyz": [0.9993753414206041, -0.0005446219351136684, -0.02462536805912662, -0.025342091376822248], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9168200692885655}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7937501242612335}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210268483890039}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.087198538862707}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02276711130607}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420340644481138}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298452486089307}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.299933201015747}], "left_finger_force_n": 47.030804327608614, "right_finger_force_n": 47.018726331586194, "bilateral_contact": true, "supported": false, "lift_m": 0.0023344096021000876}, "simulation_time": 11.402000000000477, "positions": {"shoulder_pan": -0.0012595473318782995, "shoulder_lift": -0.4410295835834292, "elbow_flex": 0.32303167979221364, "wrist_flex": 1.6580638526542184, "wrist_roll": 1.5843453286592896e-09, "gripper": -0.1717382337226707}, "velocities": {"shoulder_pan": -1.5366302431602974e-12, "shoulder_lift": 2.1162318349423028e-10, "elbow_flex": 1.8105636070816182e-10, "wrist_flex": 1.2179348400169654e-10, "wrist_roll": -2.2420086056854106e-13, "gripper": -2.474725250802708e-07}, "actuator_forces": {"shoulder_pan": -7.115215083786097e-10, "shoulder_lift": -0.26953989389420485, "elbow_flex": -0.36909533996140453, "wrist_flex": -0.0038457965806628636, "wrist_roll": -5.0743801002407135e-06, "gripper": -2.7867967406837977}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692336692698, 0.000162576955454681, 0.09200070781278934], "quaternion_wxyz": [0.7176856059116387, 0.017033190931082846, 0.6959635756566277, -0.016490689287909175], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 116, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579680.8712184, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1762511014541452, 0.00039647753163278587, 0.1024570443510922], "quaternion_wxyz": [0.999375346684704, -0.0005447777501479015, -0.02462404509817468, -0.025343165923681348], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916846535891503}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7937111111349475}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.21035537796864}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0872199532120845}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02267580927321}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420316640854372}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298363631506401}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.300051180897523}], "left_finger_force_n": 47.03080878748038, "right_finger_force_n": 47.0187314532583, "bilateral_contact": true, "supported": false, "lift_m": 0.0023319213108253384}, "simulation_time": 11.50200000000051, "positions": {"shoulder_pan": -0.0012595473320392743, "shoulder_lift": -0.44102958355945965, "elbow_flex": 0.3230316798140901, "wrist_flex": 1.6580638526683176, "wrist_roll": 1.5843177680838288e-09, "gripper": -0.17173825062879738}, "velocities": {"shoulder_pan": -1.5901807749717357e-12, "shoulder_lift": 2.6037917257819987e-10, "elbow_flex": 2.465480757965332e-10, "wrist_flex": 1.5514423232729976e-10, "wrist_roll": -3.1612403439013015e-13, "gripper": -1.1131775185013653e-07}, "actuator_forces": {"shoulder_pan": -5.507632128143314e-10, "shoulder_lift": -0.2695399178590492, "elbow_flex": -0.36909536184987246, "wrist_flex": -0.003845810680559225, "wrist_roll": -5.074352518180739e-06, "gripper": -2.7867799706572782}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692336109456, 0.0001625769554697704, 0.09200070780742815], "quaternion_wxyz": [0.7176856058908834, 0.0170331909305178, 0.6959635756780331, -0.01649068928839509], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 117, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579681.3084, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625121934576113, 0.00039646906936809155, 0.10245455904119914], "quaternion_wxyz": [0.9993753427862143, -0.000544975241463587, -0.02462344448785572, -0.02534389895963847], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916865916341091}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7936859684438815}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210402095960225}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0872221480630175}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.022634494146367}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420313134520507}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298316029568053}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.300104423454773}], "left_finger_force_n": 47.03081062295458, "right_finger_force_n": 47.01873358754333, "bilateral_contact": true, "supported": false, "lift_m": 0.002329436000932286}, "simulation_time": 11.602000000000544, "positions": {"shoulder_pan": -0.001259547332185981, "shoulder_lift": -0.4410295835321577, "elbow_flex": 0.32303167984044245, "wrist_flex": 1.658063852684697, "wrist_roll": 1.5842832781352708e-09, "gripper": -0.17173825823538139}, "velocities": {"shoulder_pan": -1.3264731340423052e-12, "shoulder_lift": 2.823323760896256e-10, "elbow_flex": 2.760312812200329e-10, "wrist_flex": 1.70163733352354e-10, "wrist_roll": -3.679059080642176e-13, "gripper": -5.010463924346678e-08}, "actuator_forces": {"shoulder_pan": -4.045035417732379e-10, "shoulder_lift": -0.26953994512950885, "elbow_flex": -0.369095388178323, "wrist_flex": -0.00384582704236891, "wrist_roll": -5.074318050016167e-06, "gripper": -2.7867724252718347}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17684692335418034, 0.00016257695548166842, 0.09200070780111684], "quaternion_wxyz": [0.7176856058665607, 0.017033190929871114, 0.6959635757031167, -0.016490689288980155], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 118, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579681.5978384, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625133961737693, 0.0003964614045073967, 0.10245207507131783], "quaternion_wxyz": [0.9993753367679218, -0.0005451970736448507, -0.024623168561504018, -0.025344399581467295], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916879704740113}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793669484845554}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210428347253667}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.087218127359108}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.022615662716966}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420316462004674}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298289375743563}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.300128589336676}], "left_finger_force_n": 47.03081132691541, "right_finger_force_n": 47.018734427084915, "bilateral_contact": true, "supported": false, "lift_m": 0.0023269520310509745}, "simulation_time": 11.702000000000577, "positions": {"shoulder_pan": -0.0012595473323024826, "shoulder_lift": -0.44102958350335486, "elbow_flex": 0.3230316798688103, "wrist_flex": 1.6580638527021032, "wrist_roll": 1.5842448087032652e-09, "gripper": -0.17173826166079187}, "velocities": {"shoulder_pan": -1.0121770742512836e-12, "shoulder_lift": 2.92228005510368e-10, "elbow_flex": 2.893170872566888e-10, "wrist_flex": 1.7693000783891199e-10, "wrist_roll": -3.9829244019367015e-13, "gripper": -2.2580390850818013e-08}, "actuator_forces": {"shoulder_pan": -2.88440826778924e-10, "shoulder_lift": -0.2695399738887545, "elbow_flex": -0.3690954165060134, "wrist_flex": -0.0038458444230400346, "wrist_roll": -5.0742796258681715e-06, "gripper": -2.786769027387976}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.176846923346779, 0.00016257695548881838, 0.09200070779437758], "quaternion_wxyz": [0.7176856058406317, 0.017033190929196074, 0.6959635757298567, -0.016490689289618714], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 119, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579681.981021, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1762514609650731, 0.00039645430949621264, 0.10244959170368431], "quaternion_wxyz": [0.9993753311553447, -0.0005454336594736119, -0.024623038573888253, -0.02534474209098399], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916889343284906}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793658541657989}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210443761963188}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.087212960336274}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02260694776367}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.42032124356272}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29827377320659}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.300139700569673}], "left_finger_force_n": 47.030811555006025, "right_finger_force_n": 47.01873471733899, "bilateral_contact": true, "supported": false, "lift_m": 0.002324468663417456}, "simulation_time": 11.80200000000061, "positions": {"shoulder_pan": -0.001259547332389225, "shoulder_lift": -0.4410295834738752, "elbow_flex": 0.32303167989808684, "wrist_flex": 1.6580638527199723, "wrist_roll": 1.58420396114656e-09, "gripper": -0.17173826320600433}, "velocities": {"shoulder_pan": -7.377519747128416e-13, "shoulder_lift": 2.9668950416762035e-10, "elbow_flex": 2.9530578855433686e-10, "wrist_flex": 1.7998703250433267e-10, "wrist_roll": -4.1681469624787765e-13, "gripper": -1.0201844678041461e-08}, "actuator_forces": {"shoulder_pan": -2.0205748185730954e-10, "shoulder_lift": -0.2695400033193778, "elbow_flex": -0.3690954457350699, "wrist_flex": -0.003845862262551236, "wrist_roll": -5.07423883694581e-06, "gripper": -2.7867674945632928}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469233391579, 0.0001625769554915743, 0.09200070778744532], "quaternion_wxyz": [0.717685605813978, 0.01703319092851412, 0.6959635757573428, -0.016490689290287547], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 120, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 5951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579682.2853775, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625158280055025, 0.00039644761413067407, 0.10244710860669741], "quaternion_wxyz": [0.9993753266486571, -0.000545679469272805, -0.02462297418201275, -0.02534497706134081], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.916896004113665}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793651209353543}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210453192842388}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.087208398082264}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02260278706225}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420325578979709}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298264249860285}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.300144954078437}], "left_finger_force_n": 47.03081159145411, "right_finger_force_n": 47.01873478291843, "bilateral_contact": true, "supported": false, "lift_m": 0.002321985566430554}, "simulation_time": 11.902000000000644, "positions": {"shoulder_pan": -0.0012595473324515862, "shoulder_lift": -0.4410295834440902, "elbow_flex": 0.32303167992777304, "wrist_flex": 1.6580638527380505, "wrist_roll": 1.584161641926205e-09, "gripper": -0.17173826390553273}, "velocities": {"shoulder_pan": -5.238542560606377e-13, "shoulder_lift": 2.987075988048248e-10, "elbow_flex": 2.9800871037279927e-10, "wrist_flex": 1.8137294751382603e-10, "wrist_roll": -4.284662885718265e-13, "gripper": -4.633239036381663e-09}, "actuator_forces": {"shoulder_pan": -1.399678151159378e-10, "shoulder_lift": -0.26954003305297647, "elbow_flex": -0.36909547537055687, "wrist_flex": -0.0038458803096546035, "wrist_roll": -5.074196584202247e-06, "gripper": -2.7867668006153963}, "applied_targets": {"shoulder_pan": -0.001259547332592199, "shoulder_lift": -0.44129960411371577, "elbow_flex": 0.3226619262911481, "wrist_flex": 1.65806, "wrist_roll": -3.499083432737843e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1768469233314379, 0.00016257695549080434, 0.09200070778042607], "quaternion_wxyz": [0.7176856057869976, 0.017033190927833047, 0.6959635757851661, -0.01649068929097418], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 121, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579682.7481072, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625170485796943, 0.00039644119572896123, 0.1024446256313202], "quaternion_wxyz": [0.999375323266878, -0.0005459311879137655, -0.024622939273259162, -0.025345138900951605], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.913064934172923}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.78981851616264}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.206175055968777}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.082928637958493}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.018977761471856}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.424502754292076}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.302439817509851}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.303606011195324}], "left_finger_force_n": 47.01096490573469, "right_finger_force_n": 47.030548582997255, "bilateral_contact": true, "supported": false, "lift_m": 0.0023195025910533462}, "simulation_time": 12.002000000000677, "positions": {"shoulder_pan": -0.0012595461321531676, "shoulder_lift": -0.44101153172523844, "elbow_flex": 0.323061103852248, "wrist_flex": 1.6580638478886733, "wrist_roll": 1.5273404330856698e-09, "gripper": -0.17173826242428003}, "velocities": {"shoulder_pan": 6.001708026040617e-07, "shoulder_lift": 0.009025844763856115, "elbow_flex": 0.014711947601065383, "wrist_flex": -2.433593116262482e-06, "wrist_roll": -2.8389412283177037e-08, "gripper": 8.980109121512144e-07}, "actuator_forces": {"shoulder_pan": 1.007416372544867e-12, "shoulder_lift": -8.182041710824706e-10, "elbow_flex": -8.17180989542976e-10, "wrist_flex": -0.003845898451118046, "wrist_roll": 1.1903039218557747e-12, "gripper": -2.7867664841109843}, "applied_targets": {"shoulder_pan": -0.0012595473324947728, "shoulder_lift": -0.44102958341476617, "elbow_flex": 0.3230316799570459, "wrist_flex": 1.65806, "wrist_roll": 1.5841192576520238e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.176846923323673, 0.00016257695548751005, 0.09200070777336745], "quaternion_wxyz": [0.717685605759869, 0.017033190927155065, 0.6959635758131414, -0.01649068929167137], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 122, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579683.058014, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17732503948344538, 0.00039848461085394626, 0.10503979006197876], "quaternion_wxyz": [0.9990148722014928, -0.00022996440003975415, -0.036422376440427166, -0.025350399031234726], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.919852025072334}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.796572374740633}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.20822367585303}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.084944025521329}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.027099216914372}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.422840325404733}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.300744475416478}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29357471708042}], "left_finger_force_n": 47.036691318101695, "right_finger_force_n": 47.01715951790163, "bilateral_contact": true, "supported": false, "lift_m": 0.004914667021711908}, "simulation_time": 12.10200000000071, "positions": {"shoulder_pan": -0.0012595733895425592, "shoulder_lift": -0.458175218333051, "elbow_flex": 0.3170570010062553, "wrist_flex": 1.6572593264563658, "wrist_roll": 9.25691932375098e-09, "gripper": -0.17173762631942627}, "velocities": {"shoulder_pan": 7.273712865384574e-07, "shoulder_lift": -0.17855472181131918, "elbow_flex": -0.06578305034113126, "wrist_flex": -0.008647123043163722, "wrist_roll": 4.94521456506904e-08, "gripper": 6.725708574352413e-07}, "actuator_forces": {"shoulder_pan": 2.4732894051249232e-05, "shoulder_lift": -0.44009553715284255, "elbow_flex": -0.480991067386185, "wrist_flex": -0.06710795370668166, "wrist_roll": -7.74185109671707e-06, "gripper": -2.7874050410455027}, "applied_targets": {"shoulder_pan": -0.0012595478478636334, "shoulder_lift": -0.4587455197611479, "elbow_flex": 0.31652908987024303, "wrist_flex": 1.6571859690024076, "wrist_roll": 1.5313152824233976e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17816345237438425, 0.00016423896034770846, 0.09458867058490679], "quaternion_wxyz": [0.7257853018466514, 0.017235687713070665, 0.6875126133966754, -0.01627983761884166], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 123, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579683.5030665, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17843802258548197, 0.00040014443493879967, 0.10783940199258849], "quaternion_wxyz": [0.9984805501087961, 0.00010531215664290162, -0.04892712524835407, -0.025351851583629712], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9194765436235475}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.796193158789161}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.210153579439571}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.086870194605185}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02621872502625}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.420892964248358}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.298793415618206}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.2954696298196}], "left_finger_force_n": 47.03891220148371, "right_finger_force_n": 47.015156009686166, "bilateral_contact": true, "supported": false, "lift_m": 0.007714278952321629}, "simulation_time": 12.202000000000744, "positions": {"shoulder_pan": -0.0012595436299825016, "shoulder_lift": -0.475912979275163, "elbow_flex": 0.3105392118227133, "wrist_flex": 1.656387542473999, "wrist_roll": 1.337283053886245e-08, "gripper": -0.17173810626601127}, "velocities": {"shoulder_pan": 3.2842762986117506e-08, "shoulder_lift": -0.17723181186595577, "elbow_flex": -0.0650194775992125, "wrist_flex": -0.008703444905556183, "wrist_roll": 4.086075549909468e-08, "gripper": -5.985401858675788e-06}, "actuator_forces": {"shoulder_pan": -4.750049877433327e-06, "shoulder_lift": -0.4172675291511041, "elbow_flex": -0.46399335346791304, "wrist_flex": -0.0690707688090697, "wrist_roll": -1.1903367597877518e-05, "gripper": -2.786919691423236}, "applied_targets": {"shoulder_pan": -0.001259548363232494, "shoulder_lift": -0.47646145610752966, "elbow_flex": 0.3100264997834401, "wrist_flex": 1.6563119380048152, "wrist_roll": 1.4785113071947714e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.17953968848773616, 0.00016596801824223369, 0.09741765084784496], "quaternion_wxyz": [0.7343665711615197, 0.01745038502825495, 0.6783388424205958, -0.016051108569926944], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 124, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579683.7865708, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17947787339139912, 0.00040164959289434795, 0.1106765189125863], "quaternion_wxyz": [0.9977896167119685, 0.0004394549355409695, -0.061425553243671244, -0.025349340619670525], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.919937320043494}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.796648235603216}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.211776861761125}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.088487777320849}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02587693521048}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.419282451655986}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.297177258150759}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29637668016394}], "left_finger_force_n": 47.042727129939166, "right_finger_force_n": 47.01283638997069, "bilateral_contact": true, "supported": false, "lift_m": 0.010551395872319444}, "simulation_time": 12.302000000000778, "positions": {"shoulder_pan": -0.001259543165250957, "shoulder_lift": -0.49363418598528086, "elbow_flex": 0.30403886559778176, "wrist_flex": 1.655517389626489, "wrist_roll": 1.746457771252316e-08, "gripper": -0.17173861612648994}, "velocities": {"shoulder_pan": -4.28462221573369e-09, "shoulder_lift": -0.17721509272851838, "elbow_flex": -0.06500678100445231, "wrist_flex": -0.008701895291254223, "wrist_roll": 4.0895162549347257e-08, "gripper": -4.287968688417758e-06}, "actuator_forces": {"shoulder_pan": -5.700394220875538e-06, "shoulder_lift": -0.4120651007094125, "elbow_flex": -0.46628854869993575, "wrist_flex": -0.07294915301145011, "wrist_roll": -1.6040361253058536e-05, "gripper": -2.786411983373114}, "applied_targets": {"shoulder_pan": -0.0012595488786013547, "shoulder_lift": -0.49417739245391135, "elbow_flex": 0.30352390969663723, "wrist_flex": 1.6554379070072227, "wrist_roll": 1.4257073319661452e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18084051808443355, 0.0001676063619580011, 0.10029088113905617], "quaternion_wxyz": [0.7428186321799409, 0.017661984488399538, 0.6690726830764847, -0.015820200728394036], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 125, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579684.1798346, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18044539733832166, 0.0004030535347536237, 0.11355435486572653], "quaternion_wxyz": [0.9969412946095123, 0.0007732620053483038, -0.07392696332313957, -0.02534287398857288], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.920496362495573}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797200567593476}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.212920798439229}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.089625003537132}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.026263302869545}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.418171447590817}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.296059608061386}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29630217942075}], "left_finger_force_n": 47.04650603493496, "right_finger_force_n": 47.010533235072955, "bilateral_contact": true, "supported": false, "lift_m": 0.013429231825459673}, "simulation_time": 12.402000000000811, "positions": {"shoulder_pan": -0.0012595436822741399, "shoulder_lift": -0.5113558851146599, "elbow_flex": 0.29753799376386547, "wrist_flex": 1.6546471893399632, "wrist_roll": 2.1549734422397317e-08, "gripper": -0.17173898785081504}, "velocities": {"shoulder_pan": -5.4351079394317255e-09, "shoulder_lift": -0.177217877923502, "elbow_flex": -0.06500979685922101, "wrist_flex": -0.008702055801699537, "wrist_roll": 4.080389248251102e-08, "gripper": -3.2895398552200645e-06}, "actuator_forces": {"shoulder_pan": -5.69754368551223e-06, "shoulder_lift": -0.4063099722168886, "elbow_flex": -0.4680009999083836, "wrist_flex": -0.07677285694876446, "wrist_roll": -2.0170895020802868e-05, "gripper": -2.7860416945929387}, "applied_targets": {"shoulder_pan": -0.0012595493939702154, "shoulder_lift": -0.5118933288002931, "elbow_flex": 0.2970213196098343, "wrist_flex": 1.6545638760096304, "wrist_roll": 1.372903356737519e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18206776507327183, 0.0001691521747674926, 0.10321127705773257], "quaternion_wxyz": [0.7511541027541154, 0.017870811815317203, 0.6597008411986277, -0.015586793209116025], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 126, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579684.5224624, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18133916799888253, 0.0004043597639641797, 0.1164709669617262], "quaternion_wxyz": [0.9959358384888455, 0.001106828716460834, -0.08642249700862968, -0.025332440753039157], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921081739050284}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7977786203568575}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.213834835842685}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0905317171492594}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.027025769142153}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.417299589045575}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.295180496051968}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.295736994274478}], "left_finger_force_n": 47.05025268154124, "right_finger_force_n": 47.00821707937202, "bilateral_contact": true, "supported": false, "lift_m": 0.016345843921459338}, "simulation_time": 12.502000000000844, "positions": {"shoulder_pan": -0.0012595442298122, "shoulder_lift": -0.5290777634025946, "elbow_flex": 0.2910369022187389, "wrist_flex": 1.6537769772510078, "wrist_roll": 2.5624277760250945e-08, "gripper": -0.17173929044360448}, "velocities": {"shoulder_pan": -5.501956860138574e-09, "shoulder_lift": -0.17721966915508716, "elbow_flex": -0.06501200807590662, "wrist_flex": -0.008702188592978789, "wrist_roll": 4.068503722537442e-08, "gripper": -2.8321866503978122e-06}, "actuator_forces": {"shoulder_pan": -5.665378036701085e-06, "shoulder_lift": -0.4003772891802555, "elbow_flex": -0.46949524947331156, "wrist_flex": -0.08058487188804975, "wrist_roll": -2.429080973508308e-05, "gripper": -2.785739996616911}, "applied_targets": {"shoulder_pan": -0.001259549909339076, "shoulder_lift": -0.5296092651466748, "elbow_flex": 0.2905187295230314, "wrist_flex": 1.6536898450120379, "wrist_roll": 1.3200993815088928e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18321994600230954, 0.0001706034445733936, 0.10617690583699525], "quaternion_wxyz": [0.7593714691763714, 0.018076829447990533, 0.650224998780161, -0.015350928290063086], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 127, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579684.9888673, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18215793260633342, 0.0004055680341449819, 0.1194244751384699], "quaternion_wxyz": [0.9947734902969418, 0.0014401754269869223, -0.0989071586031416, -0.025318034564942825], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921676878861983}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.798366064799133}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.214641883235781}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.091331069172932}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.027958440119935}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.416539128732428}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.294412414264649}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.294949589183236}], "left_finger_force_n": 47.05397433618976, "right_finger_force_n": 47.00590113218031, "bilateral_contact": true, "supported": false, "lift_m": 0.01929935209820305}, "simulation_time": 12.602000000000878, "positions": {"shoulder_pan": -0.001259544781963595, "shoulder_lift": -0.5467998221982933, "elbow_flex": 0.28453558727452477, "wrist_flex": 1.652906750520991, "wrist_roll": 2.9685599599651393e-08, "gripper": -0.1717395619495097}, "velocities": {"shoulder_pan": -5.539471954873574e-09, "shoulder_lift": -0.1772214682488668, "elbow_flex": -0.06501424739655487, "wrist_flex": -0.008702346828759021, "wrist_roll": 4.053991169373608e-08, "gripper": -2.629434802004763e-06}, "actuator_forces": {"shoulder_pan": -5.628633138021755e-06, "shoulder_lift": -0.39426441578245885, "elbow_flex": -0.4707664781255403, "wrist_flex": -0.08438225296208657, "wrist_roll": -2.8397507241191517e-05, "gripper": -2.785469132092828}, "applied_targets": {"shoulder_pan": -0.0012595504247079367, "shoulder_lift": -0.5473252014930565, "elbow_flex": 0.2840161394362285, "wrist_flex": 1.6528158140144453, "wrist_roll": 1.2672954062802666e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18429567133764954, 0.00017195841713047322, 0.10918586197041902], "quaternion_wxyz": [0.7674694333359466, 0.018280004860127465, 0.6406466407781521, -0.015112642951631469], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 128, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579685.3453493, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1829004997109596, 0.0004066773944235363, 0.12241297058008646], "quaternion_wxyz": [0.9934544828201634, 0.001773282477837858, -0.11137761717611153, -0.025299652684313428], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.922274874738886}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7989561475385685}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2153976231041055}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092078895903788}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02896637775102}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415832146126624}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293697594507758}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29406306434283}], "left_finger_force_n": 47.05767391903637, "right_finger_force_n": 47.00359280497721, "bilateral_contact": true, "supported": false, "lift_m": 0.022287847539819605}, "simulation_time": 12.702000000000911, "positions": {"shoulder_pan": -0.0012595453377144087, "shoulder_lift": -0.5645220601474683, "elbow_flex": 0.27803404796680564, "wrist_flex": 1.6520365067463707, "wrist_roll": 3.3731065860822336e-08, "gripper": -0.17173981976791625}, "velocities": {"shoulder_pan": -5.574685272448455e-09, "shoulder_lift": -0.17722325251913787, "elbow_flex": -0.06501649512612456, "wrist_flex": -0.008702528999875106, "wrist_roll": 4.036846127294606e-08, "gripper": -2.5409135023382954e-06}, "actuator_forces": {"shoulder_pan": -5.588297144365484e-06, "shoulder_lift": -0.38797271835312586, "elbow_flex": -0.4718137361590493, "wrist_flex": -0.08816260216599403, "wrist_roll": -3.248835805237809e-05, "gripper": -2.78521184170674}, "applied_targets": {"shoulder_pan": -0.0012595509400767973, "shoulder_lift": -0.5650411378394382, "elbow_flex": 0.2775135493494256, "wrist_flex": 1.651941783016853, "wrist_roll": 1.2144914310516404e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1852935993096881, 0.00017321540217127282, 0.11223620037063894], "quaternion_wxyz": [0.7754467151024339, 0.018480305943484758, 0.6309672691206639, -0.014871974565987987], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 129, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579685.7891595, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1835657311289999, 0.00040768666309186645, 0.12543451342734838], "quaternion_wxyz": [0.9919790485015602, 0.002106112167918813, -0.12383129649716795, -0.025277294817768282], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.922872445716738}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.799545688133898}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.216126856101271}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092800098518431}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03000642619104}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415152789167395}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29301028427825}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29313320069584}], "left_finger_force_n": 47.061351514661375, "right_finger_force_n": 47.00129627414149, "bilateral_contact": true, "supported": false, "lift_m": 0.02530939038708152}, "simulation_time": 12.802000000000945, "positions": {"shoulder_pan": -0.0012595458969494719, "shoulder_lift": -0.582244475729018, "elbow_flex": 0.2715322835039741, "wrist_flex": 1.651166243538622, "wrist_roll": 3.7758047115091745e-08, "gripper": -0.1717400716538602}, "velocities": {"shoulder_pan": -5.609250587032226e-09, "shoulder_lift": -0.17722502101516785, "elbow_flex": -0.06501875013081661, "wrist_flex": -0.008702734992914678, "wrist_roll": 4.017074985430911e-08, "gripper": -2.502911178412354e-06}, "actuator_forces": {"shoulder_pan": -5.544483608677098e-06, "shoulder_lift": -0.38150371626409196, "elbow_flex": -0.47263623444513314, "wrist_flex": -0.09192353532716879, "wrist_roll": -3.656073746540983e-05, "gripper": -2.7849604338217944}, "applied_targets": {"shoulder_pan": -0.001259551455445658, "shoulder_lift": -0.58275707418582, "elbow_flex": 0.2710109592626227, "wrist_flex": 1.6510677520192605, "wrist_roll": 1.1616874558230142e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18621243714718327, 0.00017437277127434835, 0.11532593772960802], "quaternion_wxyz": [0.7833020530609457, 0.0186777010349806, 0.6211884019022987, -0.014628960886652822], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 130, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579686.0878608, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18415253974984955, 0.00040859459214786847, 0.12848713226339067], "quaternion_wxyz": [0.9903474288762332, 0.0024386187140641264, -0.1362659611055358, -0.025250962377402934], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.923467904992935}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.800133066948694}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.216840473524203}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0935056354799615}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.031058815737108}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.414489657737175}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29233914997975}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29218540645135}], "left_finger_force_n": 47.065005896682905, "right_finger_force_n": 46.99901421416827, "bilateral_contact": true, "supported": false, "lift_m": 0.02836200922312382}, "simulation_time": 12.902000000000978, "positions": {"shoulder_pan": -0.0012595464596217801, "shoulder_lift": -0.5999670673050889, "elbow_flex": 0.2650302932268449, "wrist_flex": 1.6502959585224095, "wrist_roll": 4.1763921787374684e-08, "gripper": -0.1717403210082382}, "velocities": {"shoulder_pan": -5.643465090557099e-09, "shoulder_lift": -0.17722677255155103, "elbow_flex": -0.06502101107002808, "wrist_flex": -0.008702964672120447, "wrist_roll": 3.9946870960930746e-08, "gripper": -2.486759246452929e-06}, "actuator_forces": {"shoulder_pan": -5.497239213392291e-06, "shoulder_lift": -0.37485904531729375, "elbow_flex": -0.47323331595032414, "wrist_flex": -0.0956626814372612, "wrist_roll": -4.061202863871235e-05, "gripper": -2.7847115359155055}, "applied_targets": {"shoulder_pan": -0.0012595519708145186, "shoulder_lift": -0.6004730105322017, "elbow_flex": 0.2645083691758198, "wrist_flex": 1.650193721021668, "wrist_roll": 1.108883480594388e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18705094213038623, 0.00017542895906643807, 0.1184530537654228], "quaternion_wxyz": [0.791034204776749, 0.01887215892361545, 0.6113115730868642, -0.014383640041418858], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 131, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579686.5106297, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18465988910975048, 0.0004093999394265728, 0.13156882452341606], "quaternion_wxyz": [0.9885598811550557, 0.002770752732447145, -0.1486795302255964, -0.025220658038491734], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.924060284505063}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.800717361683847}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.217543118167749}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.094200195346532}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.032114295516084}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.41383785038064}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.291679335480802}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.291231430641854}], "left_finger_force_n": 47.06863525521928, "right_finger_force_n": 46.9967486165033, "bilateral_contact": true, "supported": false, "lift_m": 0.031443701483149206}, "simulation_time": 13.002000000001011, "positions": {"shoulder_pan": -0.0012595470257027114, "shoulder_lift": -0.6176898331194702, "elbow_flex": 0.2585280766103254, "wrist_flex": 1.6494256493364436, "wrist_roll": 4.5746079079692744e-08, "gripper": -0.17174056927388678}, "velocities": {"shoulder_pan": -5.6774384263339624e-09, "shoulder_lift": -0.17722850594798847, "elbow_flex": -0.06502327660336756, "wrist_flex": -0.008703217891862059, "wrist_roll": 3.9696945368026254e-08, "gripper": -2.4795702332525304e-06}, "actuator_forces": {"shoulder_pan": -5.446592443281162e-06, "shoulder_lift": -0.36804045946473707, "elbow_flex": -0.4736044575014944, "wrist_flex": -0.09937768351528575, "wrist_roll": -4.463962550886728e-05, "gripper": -2.7844637177536242}, "applied_targets": {"shoulder_pan": -0.0012595524861833793, "shoulder_lift": -0.6181889468785835, "elbow_flex": 0.2580057790890169, "wrist_flex": 1.6493196900240756, "wrist_roll": 1.0560795053657618e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18780792260170132, 0.00017638246448731525, 0.12161549247443984], "quaternion_wxyz": [0.798641946997385, 0.019063648855550834, 0.601338332275639, -0.014136050526601315], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 132, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579686.8414266, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18508679368610256, 0.0004101015016513361, 0.13467755735514023], "quaternion_wxyz": [0.9866166822199574, 0.0031024632546982475, -0.16106999432999464, -0.025186385480517073], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.924648942671427}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.801297962531479}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.218236628542098}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09488564840215}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.033168344782887}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.413195386649056}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29102889180138}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29027688085475}], "left_finger_force_n": 47.07223752693004, "right_finger_force_n": 46.99450115930519, "bilateral_contact": true, "supported": false, "lift_m": 0.03455243431487337}, "simulation_time": 13.102000000001045, "positions": {"shoulder_pan": -0.0012595475951704728, "shoulder_lift": -0.6354127712981885, "elbow_flex": 0.25202563326341865, "wrist_flex": 1.6485553136346207, "wrist_roll": 4.9701921500666447e-08, "gripper": -0.17174081701349028}, "velocities": {"shoulder_pan": -5.711208693552293e-09, "shoulder_lift": -0.17723022002918914, "elbow_flex": -0.06502554538903246, "wrist_flex": -0.008703494494104742, "wrist_roll": 3.9421117439671066e-08, "gripper": -2.4755515044228193e-06}, "actuator_forces": {"shoulder_pan": -5.392565021633544e-06, "shoulder_lift": -0.3610498302077758, "elbow_flex": -0.47374926978312715, "wrist_flex": -0.10306619975040121, "wrist_roll": -4.8640935312863646e-05, "gripper": -2.7842164221634675}, "applied_targets": {"shoulder_pan": -0.00125955300155224, "shoulder_lift": -0.6359048832249652, "elbow_flex": 0.251503189002214, "wrist_flex": 1.648445659026483, "wrist_roll": 1.0032755301371354e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.18848223894548358, 0.0001772318520226209, 0.12481116341098558], "quaternion_wxyz": [0.8061240758534779, 0.0192521405391473, 0.5912702444712267, -0.013886231201165358], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 133, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579687.2247398, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1854323194913591, 0.0004106981299665793, 0.13781126870232843], "quaternion_wxyz": [0.9845181308743075, 0.0034336986365844564, -0.1734353778311675, -0.02514814923595416], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.925233387637969}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.801874400141987}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.21892158649529}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.095562598999308}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.034218571051664}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.412561598140806}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.290387172828211}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.289324602304106}], "left_finger_force_n": 47.07581054432622, "right_finger_force_n": 46.99227337327312, "bilateral_contact": true, "supported": false, "lift_m": 0.037686145662061576}, "simulation_time": 13.202000000001078, "positions": {"shoulder_pan": -0.0012595481680052422, "shoulder_lift": -0.6531358798499844, "elbow_flex": 0.2455229629294067, "wrist_flex": 1.6476849490873493, "wrist_roll": 5.362886708198182e-08, "gripper": -0.17174106439414533}, "velocities": {"shoulder_pan": -5.7447819766800045e-09, "shoulder_lift": -0.17723191362463042, "elbow_flex": -0.06502781608324718, "wrist_flex": -0.008703794306855969, "wrist_roll": 3.911955251420751e-08, "gripper": -2.472099807193721e-06}, "actuator_forces": {"shoulder_pan": -5.335176729515112e-06, "shoulder_lift": -0.3538891461214462, "elbow_flex": -0.4736674975212338, "wrist_flex": -0.10672590482204214, "wrist_roll": -5.261338079864824e-05, "gripper": -2.7839694843727614}, "applied_targets": {"shoulder_pan": -0.0012595535169211006, "shoulder_lift": -0.6536208195713469, "elbow_flex": 0.2450005989154111, "wrist_flex": 1.6475716280288908, "wrist_roll": 9.504715549085092e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.1890728045359755, 0.00017797575289725005, 0.1280379429932354], "quaternion_wxyz": [0.8134794070565908, 0.019437604149931502, 0.5811088898389302, -0.013634221280791474], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 134, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579687.5051036, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18569558478202905, 0.00041118873753955986, 0.140967868504798], "quaternion_wxyz": [0.9822645490467834, 0.0037644069695373624, -0.18577372249498517, -0.02510595460130413], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.925813197495798}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8024462689067695}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.21959801251187}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.096231083922842}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.035263540864385}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.411936404709252}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.289754114558445}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.288376196433575}], "left_finger_force_n": 47.079352103701666, "right_finger_force_n": 46.990066715701275, "bilateral_contact": true, "supported": false, "lift_m": 0.04084274546453115}, "simulation_time": 13.302000000001112, "positions": {"shoulder_pan": -0.0012595487441869663, "shoulder_lift": -0.6708591566667972, "elbow_flex": 0.23902006548605043, "wrist_flex": 1.646814553382954, "wrist_roll": 5.752435138659361e-08, "gripper": -0.17174131140520543}, "velocities": {"shoulder_pan": -5.778149769874322e-09, "shoulder_lift": -0.17723358556883453, "elbow_flex": -0.06503008734033329, "wrist_flex": -0.008704117143924064, "wrist_roll": 3.8792435263936833e-08, "gripper": -2.4680459371919428e-06}, "actuator_forces": {"shoulder_pan": -5.274447590686293e-06, "shoulder_lift": -0.34656051237095653, "elbow_flex": -0.4733590196825901, "wrist_flex": -0.11035449130667985, "wrist_roll": -5.655440222849975e-05, "gripper": -2.783722915919469}, "applied_targets": {"shoulder_pan": -0.0012595540322899613, "shoulder_lift": -0.6713367559177287, "elbow_flex": 0.23849800882860822, "wrist_flex": 1.6466975970312983, "wrist_roll": 8.976675796798831e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18957858665272898, 0.0001786128662280464, 0.13129367583451557], "quaternion_wxyz": [0.820706776094217, 0.019620010335490302, 0.5708558634655396, -0.013380060331880614], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 135, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579687.916884, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18587576080077295, 0.00041157230354931467, 0.14414523996450726], "quaternion_wxyz": [0.9798562824058907, 0.004094536269140433, -0.19808308016158807, -0.025059807583961105], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.926387984226655}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803013192923531}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.220265678066314}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.096890886763191}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.036302254477384}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.411319988675226}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.289129911312518}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28743270329258}], "left_finger_force_n": 47.082859996457074, "right_finger_force_n": 46.987882603280326, "bilateral_contact": true, "supported": false, "lift_m": 0.044020116924240404}, "simulation_time": 13.402000000001145, "positions": {"shoulder_pan": -0.0012595493236943563, "shoulder_lift": -0.6885825995242978, "elbow_flex": 0.2325169409457525, "wrist_flex": 1.6459441242291046, "wrist_roll": 6.138582938549663e-08, "gripper": -0.1717415579562483}, "velocities": {"shoulder_pan": -5.811296873231728e-09, "shoulder_lift": -0.17723523470187305, "elbow_flex": -0.06503235781326484, "wrist_flex": -0.008704462804868378, "wrist_roll": 3.843996869639922e-08, "gripper": -2.46286575991461e-06}, "actuator_forces": {"shoulder_pan": -5.210398867028232e-06, "shoulder_lift": -0.33906615017792774, "elbow_flex": -0.47282384963730806, "wrist_flex": -0.1139496711002721, "wrist_roll": -6.0461459251708625e-05, "gripper": -2.783476807473164}, "applied_targets": {"shoulder_pan": -0.001259554547658822, "shoulder_lift": -0.6890526922641104, "elbow_flex": 0.23199541874180532, "wrist_flex": 1.6458235660337057, "wrist_roll": 8.448636044512569e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.1899986073628506, 0.0001791419601352366, 0.13457617609924394], "quaternion_wxyz": [0.8278050384219195, 0.019799330220302308, 0.5605127751154955, -0.013123788265495826], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 136, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579688.232546, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1859720725149228, 0.0004118478755122954, 0.1473412408537481], "quaternion_wxyz": [0.9772937006549632, 0.0044240345636497955, -0.21036150964574152, -0.025009714869822335], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.926957377402377}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803574811040167}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.220924245956649}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.097541679594438}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.037333909963575}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.410712648031309}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.288514870269989}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.286494908058874}], "left_finger_force_n": 47.086332023957205, "right_finger_force_n": 46.98572242636017, "bilateral_contact": true, "supported": false, "lift_m": 0.047216117813481256}, "simulation_time": 13.502000000001178, "positions": {"shoulder_pan": -0.0012595499065044362, "shoulder_lift": -0.7063062060824802, "elbow_flex": 0.22601358945565986, "wrist_flex": 1.6450736593542523, "wrist_roll": 6.52107772557065e-08, "gripper": -0.17174180392116103}, "velocities": {"shoulder_pan": -5.844205147106649e-09, "shoulder_lift": -0.17723685987011445, "elbow_flex": -0.06503462615432294, "wrist_flex": -0.008704831074822823, "wrist_roll": 3.806237348181748e-08, "gripper": -2.456325627792581e-06}, "actuator_forces": {"shoulder_pan": -5.143053506406758e-06, "shoulder_lift": -0.3314083962309269, "elbow_flex": -0.4720621352602734, "wrist_flex": -0.11750917685435525, "wrist_roll": -6.433203269883063e-05, "gripper": -2.7832312851042786}, "applied_targets": {"shoulder_pan": -0.0012595550630276826, "shoulder_lift": -0.7067686286104922, "elbow_flex": 0.22549282865500242, "wrist_flex": 1.6449495350361134, "wrist_roll": 7.920596292226307e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19033194436942005, 0.00017956187281059806, 0.13788322888269314], "quaternion_wxyz": [0.8347730696525937, 0.01997553541049409, 0.5500812489844373, -0.012865445331243085], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 137, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579688.6321929, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18598379933486686, 0.00041201457082639005, 0.1505537048538217], "quaternion_wxyz": [0.9745771976578467, 0.004752849937785702, -0.22260707551371445, -0.02495568380306313], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.927521016830689}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.804130770401428}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22157333338879}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.098183086959528}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.038357797394266}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.410114730168713}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.287909346088652}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.285563478627733}], "left_finger_force_n": 47.0897660049747, "right_finger_force_n": 46.9835875548851, "bilateral_contact": true, "supported": false, "lift_m": 0.050428581813554835}, "simulation_time": 13.602000000001212, "positions": {"shoulder_pan": -0.0012595504925923344, "shoulder_lift": -0.7240299738863237, "elbow_flex": 0.21951001129769465, "wrist_flex": 1.6442031565090605, "wrist_roll": 6.899669412652933e-08, "gripper": -0.17174204915800972}, "velocities": {"shoulder_pan": -5.8768551200034966e-09, "shoulder_lift": -0.17723845992691634, "elbow_flex": -0.06503689101583439, "wrist_flex": -0.008705221724695948, "wrist_roll": 3.765988758972823e-08, "gripper": -2.4483229943895146e-06}, "actuator_forces": {"shoulder_pan": -5.072436350728182e-06, "shoulder_lift": -0.3235897020234688, "elbow_flex": -0.4710741589618692, "wrist_flex": -0.12103076340417829, "wrist_roll": -6.816362632460275e-05, "gripper": -2.782986490574217}, "applied_targets": {"shoulder_pan": -0.0012595555783965432, "shoulder_lift": -0.7244845649568739, "elbow_flex": 0.21899023856819952, "wrist_flex": 1.6440755040385209, "wrist_roll": 7.392556539940045e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19057773182544605, 0.00017987151354341283, 0.14121259161374833], "quaternion_wxyz": [0.8416097657428202, 0.020148597998533427, 0.5395629234501594, -0.012605072111089551], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 138, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579688.9854848, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1859102758046601, 0.00041207157793276086, 0.1537804429183498], "quaternion_wxyz": [0.9717071914757531, 0.005080930556561254, -0.23481784770245592, -0.024897722373131474], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.928078549268686}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8046807237696125}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.222212540385543}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.098814714886472}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03937325148259}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40952660184218}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28731371147079}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.284639027278835}], "left_finger_force_n": 47.093159779792906, "right_finger_force_n": 46.981479340591804, "bilateral_contact": true, "supported": false, "lift_m": 0.05365531987808295}, "simulation_time": 13.702000000001245, "positions": {"shoulder_pan": -0.0012595510819312027, "shoulder_lift": -0.7417539003665277, "elbow_flex": 0.21300620688850905, "wrist_flex": 1.643332613467825, "wrist_roll": 7.27411037912437e-08, "gripper": -0.17174229351802392}, "velocities": {"shoulder_pan": -5.9092267311221515e-09, "shoulder_lift": -0.17724003373325503, "elbow_flex": -0.06503915105098554, "wrist_flex": -0.008705634511226825, "wrist_roll": 3.7232765944754776e-08, "gripper": -2.4388147659392095e-06}, "actuator_forces": {"shoulder_pan": -4.998574215209217e-06, "shoulder_lift": -0.3156126331202813, "elbow_flex": -0.4698603376419328, "wrist_flex": -0.12451220918433137, "wrist_roll": -7.195376851627463e-05, "gripper": -2.7827425724223644}, "applied_targets": {"shoulder_pan": -0.0012595560937654039, "shoulder_lift": -0.7422005013032555, "elbow_flex": 0.21248764848139662, "wrist_flex": 1.6432014730409286, "wrist_roll": 6.864516787653783e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19073516111274247, 0.00018006986370127414, 0.14456199547980494], "quaternion_wxyz": [0.8483140431762747, 0.020318490567848093, 0.5289594508209866, -0.012342709513121377], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 139, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579689.4310708, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18575089226117616, 0.0004120181572769603, 0.15701924465806047], "quaternion_wxyz": [0.9686841243573213, 0.00540822468024595, -0.24699190151668213, -0.024835839206119315], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.928629626993998}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.805224328506016}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22284146264055}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.099436164152565}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.040379630501302}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40894863545765}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.286728343857177}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28372213821419}], "left_finger_force_n": 47.09651121279443, "right_finger_force_n": 46.97939911752902, "bilateral_contact": true, "supported": false, "lift_m": 0.056894121617793614}, "simulation_time": 13.802000000001279, "positions": {"shoulder_pan": -0.0012595516744921716, "shoulder_lift": -0.759477982840315, "elbow_flex": 0.20650217677936097, "wrist_flex": 1.642462028029884, "wrist_roll": 7.644155638978167e-08, "gripper": -0.17174253684968785}, "velocities": {"shoulder_pan": -5.941299773922469e-09, "shoulder_lift": -0.1772415801585822, "elbow_flex": -0.06504140491458198, "wrist_flex": -0.008706069177174572, "wrist_roll": 3.678128017958954e-08, "gripper": -2.427785123933346e-06}, "actuator_forces": {"shoulder_pan": -4.921495932341813e-06, "shoulder_lift": -0.30747986835331176, "elbow_flex": -0.46842122256543917, "wrist_flex": -0.12795131763937206, "wrist_roll": -7.570001397316371e-05, "gripper": -2.7824996819074954}, "applied_targets": {"shoulder_pan": -0.0012595566091342645, "shoulder_lift": -0.7599164376496372, "elbow_flex": 0.20598505839459372, "wrist_flex": 1.642327442043336, "wrist_roll": 6.336477035367522e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19080348158513036, 0.00018015597766630911, 0.14792914687293962], "quaternion_wxyz": [0.8548848391441495, 0.02048518619737532, 0.5182724970816103, -0.012078398765242925], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 140, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 6951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579689.7617579, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1855050954598829, 0.0004118536421519561, 0.16026787974512757], "quaternion_wxyz": [0.9655084627033651, 0.0057346806754211685, -0.25912731779538617, -0.024770043558812627], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.929173907233231}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.805761246277348}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.223459697401982}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.100047036446098}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.041376307004985}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40838120271897}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.286153619349145}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.282813379765294}], "left_finger_force_n": 47.09981819436364, "right_finger_force_n": 46.97734820183341, "bilateral_contact": true, "supported": false, "lift_m": 0.06014275670486072}, "simulation_time": 13.902000000001312, "positions": {"shoulder_pan": -0.0012595522702443511, "shoulder_lift": -0.7772022185123144, "elbow_flex": 0.199997921655911, "wrist_flex": 1.6415913980210115, "wrist_roll": 8.009563006672383e-08, "gripper": -0.17174277900063367}, "velocities": {"shoulder_pan": -5.973053930805082e-09, "shoulder_lift": -0.17724309808153063, "elbow_flex": -0.06504365126385908, "wrist_flex": -0.008706525451402498, "wrist_roll": 3.6305718390509734e-08, "gripper": -2.415231038612548e-06}, "actuator_forces": {"shoulder_pan": -4.841232352559288e-06, "shoulder_lift": -0.29919419894326893, "elbow_flex": -0.46675749915897313, "wrist_flex": -0.13134591861125955, "wrist_roll": -7.93999453614824e-05, "gripper": -2.782257971128871}, "applied_targets": {"shoulder_pan": -0.0012595571245031252, "shoulder_lift": -0.777632373996019, "elbow_flex": 0.19948246830779082, "wrist_flex": 1.6414534110457435, "wrist_roll": 5.80843728308126e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19078200127538675, 0.000180128983725913, 0.15131172885646987], "quaternion_wxyz": [0.8613211117225497, 0.020648658466039426, 0.5075037416364028, -0.011812181408814524], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 141, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579690.2591481, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18517238916610707, 0.0004115774394609936, 0.16352409933571654], "quaternion_wxyz": [0.9621806970171707, 0.006060247024336629, -0.2712221831541566, -0.024700345314404456], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9297110519864455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.806291143068639}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.224066846234841}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.100646937317034}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.042362663859503}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407824671599366}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.285589909866609}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.281913309705406}], "left_finger_force_n": 47.103078642466464, "right_finger_force_n": 46.97532789117138, "bilateral_contact": true, "supported": false, "lift_m": 0.06339897629544969}, "simulation_time": 14.002000000001345, "positions": {"shoulder_pan": -0.0012595528691548244, "shoulder_lift": -0.7949266044755113, "elbow_flex": 0.19349344233793872, "wrist_flex": 1.6407207212947938, "wrist_roll": 8.370093260637716e-08, "gripper": -0.17174301981854576}, "velocities": {"shoulder_pan": -6.004469081174435e-09, "shoulder_lift": -0.1772445863905148, "elbow_flex": -0.06504588875924985, "wrist_flex": -0.008707003049054448, "wrist_roll": 3.58063849043271e-08, "gripper": -2.401155750392434e-06}, "actuator_forces": {"shoulder_pan": -4.757816348455179e-06, "shoulder_lift": -0.29075852754681364, "elbow_flex": -0.46486998672705226, "wrist_flex": -0.13469386971587483, "wrist_roll": -8.305117494633822e-05, "gripper": -2.7820175921288524}, "applied_targets": {"shoulder_pan": -0.0012595576398719858, "shoulder_lift": -0.7953483103424008, "elbow_flex": 0.19297987822098792, "wrist_flex": 1.6405793800481512, "wrist_roll": 5.280397530794998e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.1906700875653905, 0.00017998808491691124, 0.15470740265100016], "quaternion_wxyz": [0.8676218400468224, 0.02080888145715471, 0.49665487705025035, -0.011544099292233542], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 142, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579690.5531387, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1847523347110193, 0.00041118903041736753, 0.1667856375096417], "quaternion_wxyz": [0.9587013418457259, 0.006384872333543966, -0.28327459026125246, -0.024626754979238538], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.930240728041083}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.806813689325379}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.224662516390897}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.101235477675194}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04333809264842}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407279404817738}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.285037581751405}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.281022477474036}], "left_finger_force_n": 47.106290504080974, "right_finger_force_n": 46.97333946404318, "bilateral_contact": true, "supported": false, "lift_m": 0.06666051446937485}, "simulation_time": 14.102000000001379, "positions": {"shoulder_pan": -0.0012595534711886667, "shoulder_lift": -0.8126511377122758, "elbow_flex": 0.18698873977897904, "wrist_flex": 1.6398499957339936, "wrist_roll": 8.72551030429669e-08, "gripper": -0.1717432591516197}, "velocities": {"shoulder_pan": -6.035525145369963e-09, "shoulder_lift": -0.17724604398468202, "elbow_flex": -0.06504811606526398, "wrist_flex": -0.008707501671701168, "wrist_roll": 3.528360004398638e-08, "gripper": -2.385565863701824e-06}, "actuator_forces": {"shoulder_pan": -4.671282797685805e-06, "shoulder_lift": -0.2821758672314445, "elbow_flex": -0.4627596380885848, "wrist_flex": -0.13799305770248793, "wrist_roll": -8.665134619892624e-05, "gripper": -2.7817786964370157}, "applied_targets": {"shoulder_pan": -0.0012595581552408465, "shoulder_lift": -0.8130642466887825, "elbow_flex": 0.18647728813418502, "wrist_flex": 1.6397053490505586, "wrist_roll": 4.752357778508736e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.1904671678189279, 0.00017973255982284703, 0.15811380913903977], "quaternion_wxyz": [0.8737860244827751, 0.020965829762756332, 0.4857276087869294, -0.01127419456445654], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 143, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579691.0026, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18424455151173708, 0.00041068797118925024, 0.17005021272615728], "quaternion_wxyz": [0.9550709357145618, 0.0067085053422344275, -0.29528263812857847, -0.024549283680191443], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.930762607073765}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807328560142321}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2252463215554235}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.101812274623979}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.044301993146547}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.406745759000797}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28449699501554}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.280141425006274}], "left_finger_force_n": 47.109451756542036, "right_finger_force_n": 46.97138417902261, "bilateral_contact": true, "supported": false, "lift_m": 0.06992508968589042}, "simulation_time": 14.202000000001412, "positions": {"shoulder_pan": -0.00125955407630895, "shoulder_lift": -0.8303758150954613, "elbow_flex": 0.1804838150658789, "wrist_flex": 1.6389792192518922, "wrist_roll": 9.075581324733375e-08, "gripper": -0.17174349684882223}, "velocities": {"shoulder_pan": -6.066202180049472e-09, "shoulder_lift": -0.1772474697744748, "elbow_flex": -0.06505033185121581, "wrist_flex": -0.008708021007772154, "wrist_roll": 3.473769984745226e-08, "gripper": -2.3684700124029525e-06}, "actuator_forces": {"shoulder_pan": -4.581668577419151e-06, "shoulder_lift": -0.2734493403789884, "elbow_flex": -0.46042753913368983, "wrist_flex": -0.14124139979526262, "wrist_roll": -9.019813538012812e-05, "gripper": -2.7815414348114302}, "applied_targets": {"shoulder_pan": -0.0012595586706097071, "shoulder_lift": -0.8307801830351642, "elbow_flex": 0.17997469804738211, "wrist_flex": 1.6388313180529661, "wrist_roll": 4.2243180262224724e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.19017272997665338, 0.0001793617633235831, 0.1615285703872603], "quaternion_wxyz": [0.8798126867947491, 0.021119478487854528, 0.47472365494506463, -0.011002509668465638], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 144, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579691.3411622, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18364871755503118, 0.0004100738934929216, 0.1733155292949405], "quaternion_wxyz": [0.9512900410574812, 0.00703109493046382, -0.3072444324090105, -0.024467943162436476], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.931276365795981}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807835435468533}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22581788231881}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.102376951991362}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.045253773272588}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.406224084159792}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.283968502876764}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.279270686949292}], "left_finger_force_n": 47.11256040884727, "right_finger_force_n": 46.96946327398585, "bilateral_contact": true, "supported": false, "lift_m": 0.07319040625467366}, "simulation_time": 14.302000000001446, "positions": {"shoulder_pan": -0.0012595546844767636, "shoulder_lift": -0.848100633389576, "elbow_flex": 0.173978669418273, "wrist_flex": 1.6381083897936144, "wrist_roll": 9.420076948696396e-08, "gripper": -0.17174373276006025}, "velocities": {"shoulder_pan": -6.09648044768755e-09, "shoulder_lift": -0.17724886268244938, "elbow_flex": -0.06505253479203729, "wrist_flex": -0.008708560732267818, "wrist_roll": 3.416903586441011e-08, "gripper": -2.3498782684392007e-06}, "actuator_forces": {"shoulder_pan": -4.489012542796544e-06, "shoulder_lift": -0.2645821775138302, "elbow_flex": -0.45787490829980015, "wrist_flex": -0.1444368450145248, "wrist_roll": -9.368925309765708e-05, "gripper": -2.7813059570707424}, "applied_targets": {"shoulder_pan": -0.0012595591859785678, "shoulder_lift": -0.8484961193815459, "elbow_flex": 0.1734721079605792, "wrist_flex": 1.6379572870553738, "wrist_roll": 3.6962782739362104e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18978632311271518, 0.0001788751272963299, 0.1649492911854492], "quaternion_wxyz": [0.8857008703104963, 0.02126980325461183, 0.463644745991696, -0.0107290873346786], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 145, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579691.7567508, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18296456984417375, 0.00040934650513601705, 0.17657927886134664], "quaternion_wxyz": [0.9473592441418233, 0.007352590127341754, -0.3191580856962866, -0.024382745787435357], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.931781686120981}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808334000314406}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.226376826524046}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10292914071747}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.046192849249916}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40571472331458}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.283452451422324}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27841079059709}], "left_finger_force_n": 47.11561450292682, "right_finger_force_n": 46.967577965333994, "bilateral_contact": true, "supported": false, "lift_m": 0.07645415582107978}, "simulation_time": 14.402000000001479, "positions": {"shoulder_pan": -0.0012595552956512328, "shoulder_lift": -0.8658255892520287, "elbow_flex": 0.16747330418798068, "wrist_flex": 1.6372375053374355, "wrist_roll": 9.758771396091508e-08, "gripper": -0.1717439667363088}, "velocities": {"shoulder_pan": -6.126340398405567e-09, "shoulder_lift": -0.17725022164392398, "elbow_flex": -0.06505472356911142, "wrist_flex": -0.008709120507429743, "wrist_roll": 3.357797483027611e-08, "gripper": -2.329801879008336e-06}, "actuator_forces": {"shoulder_pan": -4.393355511167485e-06, "shoulder_lift": -0.25557771606042934, "elbow_flex": -0.4551030959688944, "wrist_flex": -0.14757737548188743, "wrist_roll": -9.712244583805678e-05, "gripper": -2.7810724119664485}, "applied_targets": {"shoulder_pan": -0.0012595597013474284, "shoulder_lift": -0.8662120557279276, "elbow_flex": 0.1669695178737763, "wrist_flex": 1.6370832560577813, "wrist_roll": 3.1682385216499485e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18930755795258397, 0.00017827216126852126, 0.1683735606011989], "quaternion_wxyz": [0.8914496400828291, 0.02141678020644675, 0.4524926244934984, -0.010453970574302933], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 146, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579692.0558798, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18219190480849634, 0.0004085055905112532, 0.17983914190500824], "quaternion_wxyz": [0.9432791549895677, 0.007672940119210743, -0.3310217178256629, -0.02429370453103726], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932278255338522}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808823944953961}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.226922789558342}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.103468479173779}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.047118645860145}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.405218012186326}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.282949179328995}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27756225570506}], "left_finger_force_n": 47.11861211488475, "right_finger_force_n": 46.96572944722038, "bilateral_contact": true, "supported": false, "lift_m": 0.07971401886474139}, "simulation_time": 14.502000000001512, "positions": {"shoulder_pan": -0.0012595559097895326, "shoulder_lift": -0.8835506792344442, "elbow_flex": 0.1609677208583224, "wrist_flex": 1.6363665638960654, "wrist_roll": 1.0091442630603586e-07, "gripper": -0.17174419862972123}, "velocities": {"shoulder_pan": -6.15576263482233e-09, "shoulder_lift": -0.17725154560771156, "elbow_flex": -0.06505689687102073, "wrist_flex": -0.008709699982649631, "wrist_roll": 3.2964898411107055e-08, "gripper": -2.308253124589124e-06}, "actuator_forces": {"shoulder_pan": -4.294740244548123e-06, "shoulder_lift": -0.24643939902853162, "elbow_flex": -0.45211358378486466, "wrist_flex": -0.15066100770127377, "wrist_roll": -0.00010049549746994645, "gripper": -2.7808409470730737}, "applied_targets": {"shoulder_pan": -0.001259560216716289, "shoulder_lift": -0.8839279920743094, "elbow_flex": 0.16046692778697344, "wrist_flex": 1.636209225060189, "wrist_roll": 2.6401987693636865e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18873610735164553, 0.00017755245302051383, 0.17179895354936162], "quaternion_wxyz": [0.8970580830479986, 0.021560386012055684, 0.4412690448456829, -0.010177202672637123], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 147, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579692.5732315, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18133057867525948, 0.0004075510110407922, 0.18309278925084882], "quaternion_wxyz": [0.9390504072944003, 0.007992094257826661, -0.34283345617455463, -0.024200832981624648], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932765766296724}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809304965125099}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227455414620765}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.103994613449139}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04803059673215}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404734278927114}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.282459017610897}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27672559425722}], "left_finger_force_n": 47.121551356223875, "right_finger_force_n": 46.96391889079523, "bilateral_contact": true, "supported": false, "lift_m": 0.08296766621058196}, "simulation_time": 14.602000000001546, "positions": {"shoulder_pan": -0.0012595565268469153, "shoulder_lift": -0.9012758997840512, "elbow_flex": 0.1544619210433575, "wrist_flex": 1.635495563517914, "wrist_roll": 1.0417872507549711e-07, "gripper": -0.1717444282937295}, "velocities": {"shoulder_pan": -6.184727999114031e-09, "shoulder_lift": -0.1772528335369, "elbow_flex": -0.06505905339438002, "wrist_flex": -0.00871029879481361, "wrist_roll": 3.2330202921182923e-08, "gripper": -2.285245267891863e-06}, "actuator_forces": {"shoulder_pan": -4.193211425862486e-06, "shoulder_lift": -0.23717077362812233, "elbow_flex": -0.4489079838920418, "wrist_flex": -0.15368579382266034, "wrist_roll": -0.00010380623071980767, "gripper": -2.780611708688099}, "applied_targets": {"shoulder_pan": -0.0012595607320851497, "shoulder_lift": -0.9016439284206912, "elbow_flex": 0.15396433770017054, "wrist_flex": 1.6353351940625964, "wrist_roll": 2.1121590170774245e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18807170673414034, 0.00017671566913877773, 0.17522303237528342], "quaternion_wxyz": [0.9025253081807563, 0.02170059786935545, 0.42997577299861667, -0.00989882718231776], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 148, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579692.842075, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1803805078034565, 0.0004064827055710195, 0.1863378835915668], "quaternion_wxyz": [0.9346736583348265, 0.008310002068539978, -0.3545914359627489, -0.024104145338252687], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9332439175812794}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809776762221474}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227974352974599}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.104507197614795}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04892814464791}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404263843867941}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.281982289380025}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.275901310207917}], "left_finger_force_n": 47.124430375040056, "right_finger_force_n": 46.96214744345588, "bilateral_contact": true, "supported": false, "lift_m": 0.08621276055129995}, "simulation_time": 14.70200000000158, "positions": {"shoulder_pan": -0.0012595571467767257, "shoulder_lift": -0.9190012472451403, "elbow_flex": 0.14795590648704246, "wrist_flex": 1.6346245022883314, "wrist_roll": 1.0737846918582884e-07, "gripper": -0.1717446555831406}, "velocities": {"shoulder_pan": -6.213217594647352e-09, "shoulder_lift": -0.177254084409478, "elbow_flex": -0.0650611918445743, "wrist_flex": -0.008710916568478345, "wrist_roll": 3.167429899166601e-08, "gripper": -2.260792523456662e-06}, "actuator_forces": {"shoulder_pan": -4.088815641178911e-06, "shoulder_lift": -0.22777548981275686, "elbow_flex": -0.4454880380939983, "wrist_flex": -0.15664982287921703, "wrist_roll": -0.00010705250861615331, "gripper": -2.7803848417356107}, "applied_targets": {"shoulder_pan": -0.0012595612474540104, "shoulder_lift": -0.9193598647670729, "elbow_flex": 0.14746174761336764, "wrist_flex": 1.6344611630650039, "wrist_roll": 1.5841192647911626e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.18731415449206187, 0.00017576155551828353, 0.17864334845082375], "quaternion_wxyz": [0.9078504466460698, 0.021837393509349635, 0.4186145861822043, -0.009618887916514806], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 149, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579693.2482388, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17934166897919948, 0.0004053006907175354, 0.18957208102064046], "quaternion_wxyz": [0.9301495888833553, 0.008626613258474865, -0.3662938005519949, -0.024003656408750195], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933712413696489}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810239043481963}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.228479264194212}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105005893979685}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.049810741847168}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.4038070192788}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.281519309614687}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.275089899223296}], "left_finger_force_n": 47.127247357199515, "right_finger_force_n": 46.960416228116785, "bilateral_contact": true, "supported": false, "lift_m": 0.08944695798037361}, "simulation_time": 14.802000000001613, "positions": {"shoulder_pan": -0.0012595577695304321, "shoulder_lift": -0.9367267178605938, "elbow_flex": 0.14144967906231118, "wrist_flex": 1.6337533783308298, "wrist_roll": 1.1051155933573084e-07, "gripper": -0.17174488035423033}, "velocities": {"shoulder_pan": -6.241212706180501e-09, "shoulder_lift": -0.17725529721912242, "elbow_flex": -0.06506331093663331, "wrist_flex": -0.00871155291616037, "wrist_roll": 3.099761128700238e-08, "gripper": -2.2349100354016385e-06}, "actuator_forces": {"shoulder_pan": -3.981601348845842e-06, "shoulder_lift": -0.21825729875274646, "elbow_flex": -0.44185561693535647, "wrist_flex": -0.15955122200671212, "wrist_roll": -0.0001102322359056205, "gripper": -2.7801604896729657}, "applied_targets": {"shoulder_pan": -0.001259561762822871, "shoulder_lift": -0.9370758011134546, "elbow_flex": 0.14095915752656474, "wrist_flex": 1.6335871320674116, "wrist_roll": 1.0560795125049006e-10, "gripper": -0.17453}, "tcp": {"position_m": [0.186463312343645, 0.00017468993781503468, 0.18205744378215097], "quaternion_wxyz": [0.9130326519474438, 0.021970751199909138, 0.4071872726280641, -0.009337428942074474], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 150, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579693.5458205, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1782140996723611, 0.0004040050611600948, 0.1927930325748887], "quaternion_wxyz": [0.925478903111754, 0.008941877724705082, -0.37793870174485755, -0.023899381607766033], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934170965241957}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810691522172788}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.228969816403708}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105490373334539}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.050677850334903}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403364109137554}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.281070384933756}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274291848418322}], "left_finger_force_n": 47.130000527487894, "right_finger_force_n": 46.95872634248963, "bilateral_contact": true, "supported": false, "lift_m": 0.09266790953462184}, "simulation_time": 14.902000000001646, "positions": {"shoulder_pan": -0.001259558395057642, "shoulder_lift": -0.9544523077734826, "elbow_flex": 0.1349432407700759, "wrist_flex": 1.6328821898082762, "wrist_roll": 1.1357593939026478e-07, "gripper": -0.1717451024648357}, "velocities": {"shoulder_pan": -6.2686948907629445e-09, "shoulder_lift": -0.1772564709757229, "elbow_flex": -0.06506540939586139, "wrist_flex": -0.008712207438503941, "wrist_roll": 3.030057815016465e-08, "gripper": -2.207613860453117e-06}, "actuator_forces": {"shoulder_pan": -3.871618865503024e-06, "shoulder_lift": -0.20862005124024563, "elbow_flex": -0.43801271870353276, "wrist_flex": -0.16238815763608727, "wrist_roll": -0.00011334336043444576, "gripper": -2.779938794398362}, "applied_targets": {"shoulder_pan": -0.0012595622781917317, "shoulder_lift": -0.9547917374598364, "elbow_flex": 0.13445656743976184, "wrist_flex": 1.632713101069819, "wrist_roll": 5.2803976021863866e-11, "gripper": -0.17453}, "tcp": {"position_m": [0.18551910565110552, 0.0001735007218455221, 0.18546285262829837], "quaternion_wxyz": [0.9180711000718079, 0.02210064974947355, 0.39569563128953755, -0.009054494572612985], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 151, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6ab0d05b679346b79509d9f96bae32ef", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579693.9776208, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.176997898254167, 0.00040259598988716763, 0.1959983857856161], "quaternion_wxyz": [0.920662328492408, 0.009255745562420713, -0.3895243000827138, -0.02379133695473663], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934619289088201}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.811133917767012}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229445686512621}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105960315191428}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051528942174834}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402935408905698}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280635813376271}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273507636104334}], "left_finger_force_n": 47.1326881507341, "right_finger_force_n": 46.9570788583863, "bilateral_contact": true, "supported": false, "lift_m": 0.09587326274534924}, "simulation_time": 15.00200000000168, "positions": {"shoulder_pan": -0.0012595590233061315, "shoulder_lift": -0.9721780130287186, "elbow_flex": 0.12843659373815663, "wrist_flex": 1.6320109349240672, "wrist_roll": 1.165695977341903e-07, "gripper": -0.1717453217744458}, "velocities": {"shoulder_pan": -6.295643356304246e-09, "shoulder_lift": -0.17725760469834306, "elbow_flex": -0.06506748595656843, "wrist_flex": -0.008712879724075372, "wrist_roll": 2.9583651280786932e-08, "gripper": -2.1789209661406427e-06}, "actuator_forces": {"shoulder_pan": -3.7589203305543606e-06, "shoulder_lift": -0.1988676958455926, "elbow_flex": -0.43396146829034876, "wrist_flex": -0.16515883665238107, "wrist_roll": -0.00011638387449917858, "gripper": -2.7797198961602305}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18448152369731496, 0.0001721938939362698, 0.18885710312944826], "quaternion_wxyz": [0.9229649896309406, 0.02222706851066888, 0.3841414715595817, -0.008770129361560273], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 152, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579694.3472464, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17698048083053536, 0.00040206728147994264, 0.19610375800205476], "quaternion_wxyz": [0.9205008903149284, 0.00926447618069003, -0.38990563141358947, -0.023788211418540317], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932167841349134}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808698657138293}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.232324309197892}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10885512498705}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04922519108985}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.399813064906985}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.277529501050198}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27794393760628}], "left_finger_force_n": 47.13127112376222, "right_finger_force_n": 46.955286503563464, "bilateral_contact": true, "supported": false, "lift_m": 0.0959786349617879}, "simulation_time": 15.102000000001713, "positions": {"shoulder_pan": -0.0012594843955100181, "shoulder_lift": -0.9724680395287942, "elbow_flex": 0.12827250982138605, "wrist_flex": 1.6319465285233627, "wrist_roll": 1.1750573131675938e-07, "gripper": -0.17174614987509362}, "velocities": {"shoulder_pan": -2.8250605526893056e-06, "shoulder_lift": 0.0006324978082105938, "elbow_flex": 0.0007344841681190435, "wrist_flex": 9.483957978154731e-05, "wrist_roll": 2.4910069317466463e-09, "gripper": -1.6052223195661933e-06}, "actuator_forces": {"shoulder_pan": -7.577302009398323e-05, "shoulder_lift": -0.04037188019333371, "elbow_flex": -0.3185052341452064, "wrist_flex": -0.1073697085207641, "wrist_roll": -0.00011729898844000227, "gripper": -2.7788924335921763}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444874318650634, 0.00017214090937399845, 0.18899717265314667], "quaternion_wxyz": [0.9231614414862657, 0.022232163655988825, 0.3836690915150539, -0.008758542583467048], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 153, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579694.7001333, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17698233175931052, 0.00040191679272479454, 0.19609867620675298], "quaternion_wxyz": [0.9204900993006775, 0.009263231689375123, -0.3899310937923488, -0.023788899133868488], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933173862191182}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809694428612269}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.23105237476446}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.107572941185547}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.050374582561904}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.401171233098086}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.278877518293406}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.275872870383235}], "left_finger_force_n": 47.13186818931536, "right_finger_force_n": 46.95592162177473, "bilateral_contact": true, "supported": false, "lift_m": 0.09597355316648612}, "simulation_time": 15.202000000001746, "positions": {"shoulder_pan": -0.0012595611355872836, "shoulder_lift": -0.9724671062040243, "elbow_flex": 0.12829739477848764, "wrist_flex": 1.6319474427982772, "wrist_roll": 1.1750294618445804e-07, "gripper": -0.1717458933769421}, "velocities": {"shoulder_pan": -6.377029869578411e-08, "shoulder_lift": -1.7758261185647364e-05, "elbow_flex": 1.0918220716621891e-05, "wrist_flex": -8.709635901366501e-07, "wrist_roll": -3.5939006666526995e-10, "gripper": 3.322742184527728e-06}, "actuator_forces": {"shoulder_pan": -1.593940277988537e-06, "shoulder_lift": -0.040478897013940696, "elbow_flex": -0.3428184833399399, "wrist_flex": -0.10817889114377977, "wrist_roll": -0.0001172934913907554, "gripper": -2.779153421542901}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844484014025537, 0.00017215245741970125, 0.18899172948410417], "quaternion_wxyz": [0.923155750122788, 0.022232000681208924, 0.3836827880613809, -0.008758841612240605], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 154, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579695.0124035, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769836109130765, 0.00040181600705082346, 0.1960976876790649], "quaternion_wxyz": [0.9204821502136703, 0.009262765863750296, -0.3899498491005061, -0.023789230611027414], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933291792658889}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809805809576213}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2302386171802535}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106752634097577}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051717672739265}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402021145628467}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279720944212038}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27411179308992}], "left_finger_force_n": 47.1318065262522, "right_finger_force_n": 46.95585388293043, "bilateral_contact": true, "supported": false, "lift_m": 0.09597256463879805}, "simulation_time": 15.30200000000178, "positions": {"shoulder_pan": -0.0012595627361428345, "shoulder_lift": -0.9724675610021026, "elbow_flex": 0.12829749565002124, "wrist_flex": 1.631947434529286, "wrist_roll": 1.1748156287483928e-07, "gripper": -0.17174564485073449}, "velocities": {"shoulder_pan": -1.8625192678692962e-09, "shoulder_lift": -3.870537225053129e-07, "elbow_flex": -1.3054661203087025e-07, "wrist_flex": 1.4482129251654708e-08, "wrist_roll": -1.7228303410833042e-10, "gripper": 1.7067203860629978e-06}, "actuator_forces": {"shoulder_pan": -5.5607533244739216e-08, "shoulder_lift": -0.04004103068700715, "elbow_flex": -0.34290670862718287, "wrist_flex": -0.10817158200666199, "wrist_roll": -0.000117272318595211, "gripper": -2.7794003240625784}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836541256643, 0.00017215266335137179, 0.18899176329127], "quaternion_wxyz": [0.9231558223743894, 0.022232002228740104, 0.38368261424721495, -0.008758836543071798], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 155, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579695.4898005, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769848766308157, 0.0004017210057715073, 0.19609655724650019], "quaternion_wxyz": [0.9204785969242979, 0.009262524086308715, -0.3899582307836684, -0.023789419831052084], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933336738704294}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809846283046144}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229867709621694}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106377253963544}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05234247835805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402410037956004}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280105406912275}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273299101136647}], "left_finger_force_n": 47.13177046369373, "right_finger_force_n": 46.95581454600493, "bilateral_contact": true, "supported": false, "lift_m": 0.09597143420623333}, "simulation_time": 15.402000000001813, "positions": {"shoulder_pan": -0.0012595627903669861, "shoulder_lift": -0.9724675699089717, "elbow_flex": 0.12829749328264242, "wrist_flex": 1.631947435031614, "wrist_roll": 1.1746466488469853e-07, "gripper": -0.17174552776653285}, "velocities": {"shoulder_pan": -7.982085786680013e-11, "shoulder_lift": -3.944242002435302e-09, "elbow_flex": 3.198122631372994e-09, "wrist_flex": 3.2287747746313104e-09, "wrist_roll": -1.6632959640861976e-10, "gripper": 7.726603716426243e-07}, "actuator_forces": {"shoulder_pan": -3.1156288660127984e-09, "shoulder_lift": -0.040032507603314116, "elbow_flex": -0.3429044734577218, "wrist_flex": -0.10817207211971436, "wrist_roll": -0.00011725545535278343, "gripper": -2.7795164743955354}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483646874344, 0.0001721526709865445, 0.18899176485683333], "quaternion_wxyz": [0.9231558246347773, 0.022232002283912554, 0.3836826088090242, -0.008758836385813288], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 156, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579695.830824, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769861284156945, 0.00040162816287289785, 0.19609538301735446], "quaternion_wxyz": [0.9204770086014693, 0.00926238309012011, -0.38996197609433003, -0.023789537536235212], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9333567659055655}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809863186652806}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229702578075482}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106208998822723}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052622106742003}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402584251367426}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28027652672359}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272935498917274}], "left_finger_force_n": 47.13175363619858, "right_finger_force_n": 46.95579627700829, "bilateral_contact": true, "supported": false, "lift_m": 0.09597025997708761}, "simulation_time": 15.502000000001846, "positions": {"shoulder_pan": -0.0012595627929595926, "shoulder_lift": -0.972467569759256, "elbow_flex": 0.12829749361239937, "wrist_flex": 1.6319474353515355, "wrist_roll": 1.1744821306712266e-07, "gripper": -0.1717454749827032}, "velocities": {"shoulder_pan": -6.561190733865478e-12, "shoulder_lift": 3.0106463985453365e-09, "elbow_flex": 3.186203105497119e-09, "wrist_flex": 3.150215209533778e-09, "wrist_roll": -1.6317818372785288e-10, "gripper": 3.4733234518904675e-07}, "actuator_forces": {"shoulder_pan": -5.944680303571204e-10, "shoulder_lift": -0.040032663767306076, "elbow_flex": -0.3429048027821153, "wrist_flex": -0.10817239142193102, "wrist_roll": -0.00011723903526895683, "gripper": -2.7795688332161888}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836465469275, 0.00017215267147416475, 0.18899176474356053], "quaternion_wxyz": [0.9231558244838942, 0.022232002287086373, 0.3836826091716235, -0.008758836396629584], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 157, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579696.2753897, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769873739887808, 0.00040153628423577264, 0.19609419012899978], "quaternion_wxyz": [0.9204763036942712, 0.009262285524357037, -0.38996363732843764, -0.023789618865604722], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933365817276068}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809870003134878}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229630144606068}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106134330464875}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052745555885117}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402661484691901}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280351546620283}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272774821740313}], "left_finger_force_n": 47.13174585136701, "right_finger_force_n": 46.9557878530525, "bilateral_contact": true, "supported": false, "lift_m": 0.09596906708873293}, "simulation_time": 15.60200000000188, "positions": {"shoulder_pan": -0.0012595627933120346, "shoulder_lift": -0.9724675694512178, "elbow_flex": 0.12829749392627962, "wrist_flex": 1.6319474356631727, "wrist_roll": 1.1743197772703714e-07, "gripper": -0.17174545128007368}, "velocities": {"shoulder_pan": -1.988399486514519e-12, "shoulder_lift": 3.087095148043241e-09, "elbow_flex": 3.1073038410394595e-09, "wrist_flex": 3.0921955806452016e-09, "wrist_roll": -1.617418545833501e-10, "gripper": 1.5578201311416499e-07}, "actuator_forces": {"shoulder_pan": -2.4655766317494e-10, "shoulder_lift": -0.040032971340110635, "elbow_flex": -0.3429051160402281, "wrist_flex": -0.10817270245888722, "wrist_roll": -0.00011722282994449293, "gripper": -2.7795923445239623}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836463561753, 0.00017215267163110307, 0.18899176461438003], "quaternion_wxyz": [0.923155824304611, 0.0222320022898804, 0.38368260960251543, -0.008758836410182214], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 158, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579696.593629, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17698861678234393, 0.000401444849994005, 0.19609298887838214], "quaternion_wxyz": [0.9204759960509263, 0.009262206128575052, -0.3899643615887258, -0.02378968100633414], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933369859812936}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809872402232856}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229599307225976}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106101849645896}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052798736634053}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40269500664057}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280383440911288}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272705430512016}], "left_finger_force_n": 47.13174215555172, "right_finger_force_n": 46.955783878063876, "bilateral_contact": true, "supported": false, "lift_m": 0.09596786583811528}, "simulation_time": 15.702000000001913, "positions": {"shoulder_pan": -0.0012595627934457905, "shoulder_lift": -0.972467569143608, "elbow_flex": 0.12829749423514258, "wrist_flex": 1.6319474359709438, "wrist_roll": 1.1741584155795874e-07, "gripper": -0.17174544066225642}, "velocities": {"shoulder_pan": -8.788779461133796e-13, "shoulder_lift": 3.0672258782785104e-09, "elbow_flex": 3.0748525266168754e-09, "wrist_flex": 3.067053542548112e-09, "wrist_roll": -1.6107859167936821e-10, "gripper": 6.964816989941591e-08}, "actuator_forces": {"shoulder_pan": -1.1391376730784941e-10, "shoulder_lift": -0.040033278387227256, "elbow_flex": -0.3429054243281797, "wrist_flex": -0.10817300966255061, "wrist_roll": -0.0001172067230129803, "gripper": -2.779602876379869}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483646170632, 0.0001721526717550218, 0.18899176448662966], "quaternion_wxyz": [0.9231558241271074, 0.02223200229271717, 0.38368261002912313, -0.008758836423714306], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 159, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579697.0551035, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769898583263772, 0.00040135362374395283, 0.1960917838685177], "quaternion_wxyz": [0.9204758670551132, 0.009262133977726943, -0.3899646646382465, -0.023789732594061523], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933371586714271}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098728820763625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229587105726702}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106088401088792}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052820324837125}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40270881244624}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28039601163408}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272677081451985}], "left_finger_force_n": 47.131740300443255, "right_finger_force_n": 46.955781905532305, "bilateral_contact": true, "supported": false, "lift_m": 0.09596666082825084}, "simulation_time": 15.802000000001946, "positions": {"shoulder_pan": -0.0012595627935063768, "shoulder_lift": -0.9724675688374528, "elbow_flex": 0.12829749454178604, "wrist_flex": 1.631947436276999, "wrist_roll": 1.1739975145803868e-07, "gripper": -0.17174543592752328}, "velocities": {"shoulder_pan": -4.046282990961197e-13, "shoulder_lift": 3.0573541463384024e-09, "elbow_flex": 3.0602334866815904e-09, "wrist_flex": 3.0557694739260945e-09, "wrist_roll": -1.607680814958439e-10, "gripper": 3.092454490171606e-08}, "actuator_forces": {"shoulder_pan": -5.380473844240896e-11, "shoulder_lift": -0.04003358398983892, "elbow_flex": -0.3429057304144152, "wrist_flex": -0.10817331516432205, "wrist_roll": -0.00011719066179435771, "gripper": -2.779607572535838}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836459864047, 0.00017215267186797306, 0.1889917643596695], "quaternion_wxyz": [0.9231558239506539, 0.022232002295573837, 0.38368261045320323, -0.008758836437209438], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 160, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 7951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579697.36387, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1769910993082762, 0.00040126249656198505, 0.1960905771681188], "quaternion_wxyz": [0.9204758184065439, 0.009262064455811144, -0.3899647783421598, -0.0237897781278072], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933372228464716}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809872543684711}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229583238004745}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106083553224738}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052827710413357}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402713710918004}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28039993937562}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272667183854143}], "left_finger_force_n": 47.13173927379226, "right_finger_force_n": 46.95578083414777, "bilateral_contact": true, "supported": false, "lift_m": 0.09596545412785196}, "simulation_time": 15.90200000000198, "positions": {"shoulder_pan": -0.0012595627935344518, "shoulder_lift": -0.9724675685319737, "elbow_flex": 0.12829749484743092, "wrist_flex": 1.6319474365822837, "wrist_roll": 1.1738368308463958e-07, "gripper": -0.17174543383762644}, "velocities": {"shoulder_pan": -1.8896020297380073e-13, "shoulder_lift": 3.0529024367892895e-09, "elbow_flex": 3.0536614596868173e-09, "wrist_flex": 3.0507012713014052e-09, "wrist_roll": -1.606201908897085e-10, "gripper": 1.3515970733583193e-08}, "actuator_forces": {"shoulder_pan": -2.5947466397724384e-11, "shoulder_lift": -0.04003388892181192, "elbow_flex": -0.34290603551012566, "wrist_flex": -0.10817361990166319, "wrist_roll": -0.00011717462213725739, "gripper": -2.779609645158672}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836458027508, 0.00017215267197588863, 0.18899176423306716], "quaternion_wxyz": [0.9231558237746772, 0.022232002298439017, 0.3836826108761368, -0.008758836450687636], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 161, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579697.7911437, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699234003724804, 0.0004011714176448873, 0.19608936970738708], "quaternion_wxyz": [0.9204758059021443, 0.00926199568865157, -0.38996480693349383, -0.023789820049445555], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933372352329958}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.80987186772172}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229583086753051}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106082602144815}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052828711244416}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40271457530015}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280400011609938}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27266558156672}], "left_finger_force_n": 47.13173862019396, "right_finger_force_n": 46.95578016847681, "bilateral_contact": true, "supported": false, "lift_m": 0.09596424666712022}, "simulation_time": 16.00200000000201, "positions": {"shoulder_pan": -0.0012595627935476572, "shoulder_lift": -0.9724675682267986, "elbow_flex": 0.1282974951526268, "wrist_flex": 1.6319474368872224, "wrist_roll": 1.1736762515971899e-07, "gripper": -0.17174543293673386}, "velocities": {"shoulder_pan": -8.97590781707704e-14, "shoulder_lift": 3.0509001398947016e-09, "elbow_flex": 3.0507052840975498e-09, "wrist_flex": 3.048411422016262e-09, "wrist_roll": -1.6054815064850397e-10, "gripper": 5.689874069631112e-09}, "actuator_forces": {"shoulder_pan": -1.2842837904258886e-11, "shoulder_lift": -0.04003419355206006, "elbow_flex": -0.34290634016049637, "wrist_flex": -0.10817392429567008, "wrist_roll": -0.0001171585928511624, "gripper": -2.7796105383544045}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836456193547, 0.00017215267208163792, 0.18899176410662583], "quaternion_wxyz": [0.9231558235989147, 0.022232002301307712, 0.38368261129855447, -0.008758836464157925], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 162, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579698.0564177, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699358065239648, 0.0004010803629075908, 0.19608816190460696], "quaternion_wxyz": [0.9204758096625189, 0.009261926970355154, -0.3899647972681533, -0.02378985974182007], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933372222945628}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809871060581573}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229584585837665}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10608342347361}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052826841882087}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402713605919402}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28039837098156}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27266770870099}], "left_finger_force_n": 47.131738134720564, "right_finger_force_n": 46.955779685601954, "bilateral_contact": true, "supported": false, "lift_m": 0.0959630388643401}, "simulation_time": 16.102000000001954, "positions": {"shoulder_pan": -0.0012595627935539902, "shoulder_lift": -0.9724675679217606, "elbow_flex": 0.1282974954576208, "wrist_flex": 1.6319474371920046, "wrist_roll": 1.1735157238548759e-07, "gripper": -0.17174543257036065}, "velocities": {"shoulder_pan": -4.3613736817403527e-14, "shoulder_lift": 3.0500011064471677e-09, "elbow_flex": 3.049376108362658e-09, "wrist_flex": 3.0473942511621282e-09, "wrist_roll": -1.6051208233480667e-10, "gripper": 2.171655732988919e-09}, "actuator_forces": {"shoulder_pan": -6.5567551388312495e-12, "shoulder_lift": -0.04003449804633874, "elbow_flex": -0.34290664461055087, "wrist_flex": -0.10817422853483549, "wrist_roll": -0.00011714256867870264, "gripper": -2.7796109013362695}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836454360752, 0.0001721526721863301, 0.18899176398025685], "quaternion_wxyz": [0.9231558234232489, 0.02223200230417797, 0.3836826117207398, -0.008758836477624736], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 163, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579698.483119, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699482121629698, 0.000400989320677201, 0.1960869539478648], "quaternion_wxyz": [0.920475820745626, 0.009261858076496422, -0.3899647704085776, -0.023789898020421963], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9333719658206645}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809870208462258}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229586812950575}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1060850555921675}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05282368228586}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402711798419837}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280395974201111}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272671512557967}], "left_finger_force_n": 47.13173772511153, "right_finger_force_n": 46.95577928517891, "bilateral_contact": true, "supported": false, "lift_m": 0.09596183090759794}, "simulation_time": 16.2020000000019, "positions": {"shoulder_pan": -0.0012595627935571064, "shoulder_lift": -0.9724675676167838, "elbow_flex": 0.12829749576252394, "wrist_flex": 1.6319474374967171, "wrist_roll": 1.173355222266984e-07, "gripper": -0.17174543244427912}, "velocities": {"shoulder_pan": -2.1828123788437928e-14, "shoulder_lift": 3.049592697204044e-09, "elbow_flex": 3.04877878646045e-09, "wrist_flex": 3.046924765159609e-09, "wrist_roll": -1.6049345033617317e-10, "gripper": 5.900661644693747e-10}, "actuator_forces": {"shoulder_pan": -3.4627856138058632e-12, "shoulder_lift": -0.040034802480022336, "elbow_flex": -0.3429069489704517, "wrist_flex": -0.10817453270442456, "wrist_roll": -0.00011712654710354139, "gripper": -2.7796110259619695}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483645252848, 0.00017215267229051564, 0.18899176385392052], "quaternion_wxyz": [0.9231558232476261, 0.022232002307048665, 0.3836826121428214, -0.008758836491090036], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 164, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579698.8179865, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699606175709537, 0.0004008982851323239, 0.19608574592173236], "quaternion_wxyz": [0.9204758351280458, 0.00926178896935622, -0.3899647358221712, -0.023789935383641256], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933371641825422}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809869345635849}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22958935790807}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1060870617184975}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05281994271318}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402709604799163}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280393246923428}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272676070287737}], "left_finger_force_n": 47.13173734980102, "right_finger_force_n": 46.955778922010325, "bilateral_contact": true, "supported": false, "lift_m": 0.09596062288146551}, "simulation_time": 16.302000000001843, "positions": {"shoulder_pan": -0.0012595627935586904, "shoulder_lift": -0.972467567311835, "elbow_flex": 0.12829749606738627, "wrist_flex": 1.6319474378013978, "wrist_roll": 1.1731947343856572e-07, "gripper": -0.1717454324262182}, "velocities": {"shoulder_pan": -1.132252702591918e-14, "shoulder_lift": 3.0494118341084363e-09, "elbow_flex": 3.0485085033285378e-09, "wrist_flex": 3.0467177149600197e-09, "wrist_roll": -1.604835180192705e-10, "gripper": -1.2091599057938983e-10}, "actuator_forces": {"shoulder_pan": -1.8898216325169415e-12, "shoulder_lift": -0.04003510688573897, "elbow_flex": -0.3429072532899653, "wrist_flex": -0.10817483684263607, "wrist_roll": -0.0001171105268898812, "gripper": -2.7796110434371997}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836450696428, 0.00017215267239452993, 0.1889917637275988], "quaternion_wxyz": [0.9231558230720232, 0.022232002309919594, 0.38368261256485564, -0.008758836504554444], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 165, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579699.235235, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699730228744912, 0.00040080725326622287, 0.19608453786423466], "quaternion_wxyz": [0.9204758509986696, 0.009261719674928203, -0.38996469776413395, -0.023789972145127587], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933371281347127}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809868484463649}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2295920393318855}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106089242448407}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052815942448365}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402707231246074}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280390377484382}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27268096698529}], "left_finger_force_n": 47.131736990039435, "right_finger_force_n": 46.95577857571575, "bilateral_contact": true, "supported": false, "lift_m": 0.0959594148239678}, "simulation_time": 16.402000000001788, "positions": {"shoulder_pan": -0.0012595627935595268, "shoulder_lift": -0.9724675670068987, "elbow_flex": 0.12829749637223017, "wrist_flex": 1.6319474381060652, "wrist_roll": 1.1730342539069043e-07, "gripper": -0.17174543245671578}, "velocities": {"shoulder_pan": -6.107378920146144e-15, "shoulder_lift": 3.0493345389163237e-09, "elbow_flex": 3.0483878432906063e-09, "wrist_flex": 3.046621194197778e-09, "wrist_roll": -1.6047807875189362e-10, "gripper": -4.405183852837305e-10}, "actuator_forces": {"shoulder_pan": -1.0589307208874743e-12, "shoulder_lift": -0.04003541127929111, "elbow_flex": -0.3429075575911469, "wrist_flex": -0.10817514096743253, "wrist_roll": -0.00011709450741170677, "gripper": -2.779611012745079}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.184448364488645, 0.00017215267249837227, 0.1889917636012836], "quaternion_wxyz": [0.9231558228964288, 0.022232002312790426, 0.383682612986869, -0.008758836518018733], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 166, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579699.5212433, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699854281304897, 0.000400716223462486, 0.19608332979246718], "quaternion_wxyz": [0.9204758675417047, 0.009261650234100246, -0.3899646581467786, -0.023790008506799045], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933370900102724}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098676284329756}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2295947777384875}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106091506068739}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05281182501472}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402704772486876}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280387448498079}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272686016109162}], "left_finger_force_n": 47.13173663735765, "right_finger_force_n": 46.955778237094115, "bilateral_contact": true, "supported": false, "lift_m": 0.09595820675220032}, "simulation_time": 16.502000000001733, "positions": {"shoulder_pan": -0.0012595627935599871, "shoulder_lift": -0.9724675667019684, "elbow_flex": 0.12829749667706586, "wrist_flex": 1.6319474384107238, "wrist_roll": 1.1728737775144503e-07, "gripper": -0.17174543250904117}, "velocities": {"shoulder_pan": -3.435905763007867e-15, "shoulder_lift": 3.0493076220234958e-09, "elbow_flex": 3.0483326702135293e-09, "wrist_flex": 3.0466149668816247e-09, "wrist_roll": -1.6047505502341352e-10, "gripper": -5.84179565251607e-10}, "actuator_forces": {"shoulder_pan": -6.015188347419098e-13, "shoulder_lift": -0.04003571566681785, "elbow_flex": -0.34290786188417144, "wrist_flex": -0.10817544508381616, "wrist_roll": -0.00011707848833957598, "gripper": -2.779610960400987}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483644703262, 0.0001721526726021225, 0.18899176347497162], "quaternion_wxyz": [0.923155822720839, 0.022232002315661144, 0.3836826134088718, -0.008758836531482938], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 167, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579699.9034739, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17699978333645208, 0.00040062519481450605, 0.1960821217141143], "quaternion_wxyz": [0.9204758843893251, 0.009261580685109108, -0.38996461782935277, -0.023790044600846424], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93337050655493}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809866777703355}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229597538793198}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106093809941621}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05280765492602}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40270227248823}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280384495707724}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272691133784686}], "left_finger_force_n": 47.131736287919125, "right_finger_force_n": 46.95577790198064, "bilateral_contact": true, "supported": false, "lift_m": 0.09595699867384744}, "simulation_time": 16.602000000001677, "positions": {"shoulder_pan": -0.0012595627935602512, "shoulder_lift": -0.9724675663970401, "elbow_flex": 0.12829749698189769, "wrist_flex": 1.6319474387153805, "wrist_roll": 1.172713303388758e-07, "gripper": -0.171745432571178}, "velocities": {"shoulder_pan": -2.010209171011584e-15, "shoulder_lift": 3.049294447109634e-09, "elbow_flex": 3.0483095686354243e-09, "wrist_flex": 3.046617209310522e-09, "wrist_roll": -1.604733915703583e-10, "gripper": -6.487507013272635e-10}, "actuator_forces": {"shoulder_pan": -3.390621117205228e-13, "shoulder_lift": -0.04003602005229823, "elbow_flex": -0.3429081661733875, "wrist_flex": -0.1081757491983808, "wrist_roll": -0.0001170624694926803, "gripper": -2.7796108983244494}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836445200757, 0.0001721526727058986, 0.188991763348661], "quaternion_wxyz": [0.9231558225452504, 0.022232002318532257, 0.38368261383087066, -0.008758836544946816], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 168, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579700.2102823, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1770010238588069, 0.0004005341667924668, 0.19608091363262986], "quaternion_wxyz": [0.9204759013754327, 0.00926151105864349, -0.3899645771978437, -0.023790080514854674], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933370105458663}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098659313896945}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229600308010941}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106096133941973}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052803461178733}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40269975195534}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280381534232664}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272696282296465}], "left_finger_force_n": 47.131735939980004, "right_finger_force_n": 46.95577756848447, "bilateral_contact": true, "supported": false, "lift_m": 0.095955790592363}, "simulation_time": 16.70200000000162, "positions": {"shoulder_pan": -0.0012595627935604093, "shoulder_lift": -0.9724675660921118, "elbow_flex": 0.12829749728672776, "wrist_flex": 1.6319474390200368, "wrist_roll": 1.1725528304902322e-07, "gripper": -0.17174543263772457}, "velocities": {"shoulder_pan": -1.2334137840549937e-15, "shoulder_lift": 3.049261707970125e-09, "elbow_flex": 3.0483012227669576e-09, "wrist_flex": 3.0466024243402136e-09, "wrist_roll": -1.60472520521252e-10, "gripper": -6.777729683264064e-10}, "actuator_forces": {"shoulder_pan": -1.8185453143360064e-13, "shoulder_lift": -0.0400363244377786, "elbow_flex": -0.3429084704608698, "wrist_flex": -0.1081760533124907, "wrist_roll": -0.00011704645076767775, "gripper": -2.7796108318737254}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483644336891, 0.00017215267280963506, 0.18899176322235056], "quaternion_wxyz": [0.9231558223696625, 0.022232002321402922, 0.38368261425286887, -0.008758836558410983], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 169, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579700.683777, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17700226438062874, 0.00040044313907508207, 0.19607970554956555], "quaternion_wxyz": [0.9204759184248575, 0.009261441377677712, -0.3899645364255673, -0.023790116307341753], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933369699597113}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809865088443064}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2296030795260355}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1060984683719886}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052799256804548}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402697220834979}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280378570224356}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272701444683012}], "left_finger_force_n": 47.13173559274275, "right_finger_force_n": 46.955777235742346, "bilateral_contact": true, "supported": false, "lift_m": 0.0959545825092987}, "simulation_time": 16.802000000001566, "positions": {"shoulder_pan": -0.0012595627935605062, "shoulder_lift": -0.9724675657871854, "elbow_flex": 0.12829749759155734, "wrist_flex": 1.631947439324693, "wrist_roll": 1.172392358198405e-07, "gripper": -0.17174543270625298}, "velocities": {"shoulder_pan": -7.740975120360972e-16, "shoulder_lift": 3.0492557381223094e-09, "elbow_flex": 3.0482904568035806e-09, "wrist_flex": 3.046567847290497e-09, "wrist_roll": -1.6047213116668438e-10, "gripper": -6.908129634150267e-10}, "actuator_forces": {"shoulder_pan": -8.526512829121202e-14, "shoulder_lift": -0.04003662882143999, "elbow_flex": -0.34290877474784054, "wrist_flex": -0.10817635742637322, "wrist_roll": -0.00011703043210286347, "gripper": -2.779610763457157}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.18444836441537055, 0.0001721526729133938, 0.18899176309604054], "quaternion_wxyz": [0.9231558221940752, 0.022232002324273727, 0.3836826146748657, -0.008758836571874989], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 170, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579700.9885998, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17700350490214842, 0.0004003521114614234, 0.19607849746561812], "quaternion_wxyz": [0.9204759355034646, 0.009261371658782344, -0.3899644955903004, -0.02379015201763572], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933369290661186}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809864247949624}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2296058511411205}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1061008084295585}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052795047659405}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402694684033351}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280375606009278}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.272706613315897}], "left_finger_force_n": 47.13173524584089, "right_finger_force_n": 46.955776903358526, "bilateral_contact": true, "supported": false, "lift_m": 0.09595337442535126}, "simulation_time": 16.90200000000151, "positions": {"shoulder_pan": -0.001259562793560569, "shoulder_lift": -0.9724675654822591, "elbow_flex": 0.12829749789638634, "wrist_flex": 1.6319474396293494, "wrist_roll": 1.1722318861345698e-07, "gripper": -0.17174543277567178}, "velocities": {"shoulder_pan": -5.01509136621481e-16, "shoulder_lift": 3.0492547590659176e-09, "elbow_flex": 3.0482903970308937e-09, "wrist_flex": 3.046532016709505e-09, "wrist_roll": -1.6047204084914456e-10, "gripper": -6.96672663617243e-10}, "actuator_forces": {"shoulder_pan": -2.3092638912203256e-14, "shoulder_lift": -0.04003693320510138, "elbow_flex": -0.34290907903424284, "wrist_flex": -0.10817666154025574, "wrist_roll": -0.00011701441346059848, "gripper": -2.779610694157384}, "applied_targets": {"shoulder_pan": -0.0012595627935605923, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483643970518, 0.0001721526730170934, 0.1889917629697307], "quaternion_wxyz": [0.9231558220184878, 0.022232002327144427, 0.38368261509686213, -0.008758836585339142], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 171, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579701.5137713, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17700474542346925, 0.0004002610838227452, 0.19607728938110014], "quaternion_wxyz": [0.9204759525956795, 0.009261301913648422, -0.3899644547269139, -0.023790187672262826], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.929044886425159}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.805548462719751}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.225030606200607}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.101534182495198}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.048589611092655}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407063743230719}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.284753201448268}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.276723097258245}], "left_finger_force_n": 47.10974774893337, "right_finger_force_n": 46.96854004193723, "bilateral_contact": true, "supported": false, "lift_m": 0.09595216634083328}, "simulation_time": 17.002000000001456, "positions": {"shoulder_pan": -0.0012595598898763963, "shoulder_lift": -0.9724670007254682, "elbow_flex": 0.12832577426616, "wrist_flex": 1.6319525165859305, "wrist_roll": 1.1845032173712463e-07, "gripper": -0.1717454295281608}, "velocities": {"shoulder_pan": 1.4518421056534632e-06, "shoulder_lift": 0.00028222898151325694, "elbow_flex": 0.014138035520678743, "wrist_flex": 0.0025383290094451033, "wrist_roll": 6.214296936191987e-07, "gripper": 1.6579655666549901e-06}, "actuator_forces": {"shoulder_pan": 8.881784197001252e-16, "shoulder_lift": -8.327560863108374e-09, "elbow_flex": -8.324889222421916e-09, "wrist_flex": -8.320057531818748e-09, "wrist_roll": 4.3824942463812754e-10, "gripper": -2.7796106244608154}, "applied_targets": {"shoulder_pan": -0.0012595627935606075, "shoulder_lift": -0.9724675651834312, "elbow_flex": 0.12829749819511863, "wrist_flex": 1.6319474399279117, "wrist_roll": 1.1720746234988624e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.1844483643787333, 0.00017215267312081854, 0.1889917628434209], "quaternion_wxyz": [0.9231558218429006, 0.022232002330015252, 0.38368261551885824, -0.008758836598803174], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 172, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579701.7883923, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17696001194618738, -0.0032057033101969327, 0.19599817228276747], "quaternion_wxyz": [0.9201765086395384, 0.0041510985109892784, -0.389844073353709, -0.03577093513022222], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9375094974780325}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808258680640678}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.232512855471915}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.103262038634559}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051146221370992}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.405555269056956}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.277545591052744}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.2739151277811}], "left_finger_force_n": 47.13268929359618, "right_finger_force_n": 46.9570159878908, "bilateral_contact": true, "supported": false, "lift_m": 0.09587304924250062}, "simulation_time": 17.1020000000014, "positions": {"shoulder_pan": 0.025004634744981716, "shoulder_lift": -0.9724298809531045, "elbow_flex": 0.12862338580772922, "wrist_flex": 1.6320543940372652, "wrist_roll": 2.2025750442706892e-07, "gripper": -0.17174548698554257}, "velocities": {"shoulder_pan": 0.26814649490251613, "shoulder_lift": 6.17208328584628e-05, "elbow_flex": 0.00028925749501125785, "wrist_flex": -0.00013007719276229897, "wrist_roll": 4.445875393819947e-07, "gripper": 3.0946278132813233e-06}, "actuator_forces": {"shoulder_pan": 0.20333511666425963, "shoulder_lift": -0.03901424634659634, "elbow_flex": -0.3370061348911406, "wrist_flex": -0.11024821816158692, "wrist_roll": -0.00010691194018707763, "gripper": -2.779559109282843}, "applied_targets": {"shoulder_pan": 0.025407103873091284, "shoulder_lift": -0.9724689021375182, "elbow_flex": 0.12828604750038214, "wrist_flex": 1.6319438275993892, "wrist_roll": 1.1330054693825199e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.18439000860578814, -0.003573453665594346, 0.18891339138496227], "quaternion_wxyz": [0.9228765100206437, 0.02716611301554411, 0.3835818664871257, -0.020637375269055604], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 173, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579702.3095336, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17682982216596727, -0.006886648158292742, 0.19599477632537102], "quaternion_wxyz": [0.9196183783196997, -0.0010580890929111947, -0.3898668314754133, -0.04800804536156957], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.936436942564815}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808990822474223}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.231524694942073}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.104078574851482}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05153054817746}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404756048202156}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.278533737234387}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273557398165988}], "left_finger_force_n": 47.13256158301005, "right_finger_force_n": 46.956847183602534, "bilateral_contact": true, "supported": false, "lift_m": 0.09586965328510416}, "simulation_time": 17.202000000001345, "positions": {"shoulder_pan": 0.051665081526852036, "shoulder_lift": -0.9724293900576791, "elbow_flex": 0.12862210914596608, "wrist_flex": 1.6320494704629445, "wrist_roll": 2.1868641148555148e-07, "gripper": -0.17174539118823343}, "velocities": {"shoulder_pan": 0.2666670300838612, "shoulder_lift": -1.1601264352867031e-05, "elbow_flex": -0.00011234425805780098, "wrist_flex": -3.526961295445461e-05, "wrist_roll": -4.715809141442283e-08, "gripper": 5.31152856537922e-08}, "actuator_forces": {"shoulder_pan": 0.21209265669229893, "shoulder_lift": -0.04076816178394438, "elbow_flex": -0.34681238435010187, "wrist_flex": -0.1090350056419993, "wrist_roll": -0.00010906330047551052, "gripper": -2.7796522683406977}, "applied_targets": {"shoulder_pan": 0.05207377053974318, "shoulder_lift": -0.9724702390916052, "elbow_flex": 0.12827459680564568, "wrist_flex": 1.6319402152708666, "wrist_roll": 1.0939363152661774e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.18424366042699084, -0.007452741561773695, 0.1889139544605525], "quaternion_wxyz": [0.9225203256689711, 0.03227731185858327, 0.3831833353290773, -0.03293866106694028], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 174, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579702.6012714, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.176601440554286, -0.010563774190153493, 0.19599356302135745], "quaternion_wxyz": [0.9188948079469136, -0.006264374254217661, -0.38982476051076237, -0.06024737036698238], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.935827192050017}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809562963657554}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.23095986609341}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.104695637700946}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05151368241758}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404147831640078}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.27909606318349}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273599942854982}], "left_finger_force_n": 47.1325593419195, "right_finger_force_n": 46.95684383767855, "bilateral_contact": true, "supported": false, "lift_m": 0.0958684399810906}, "simulation_time": 17.30200000000129, "positions": {"shoulder_pan": 0.07833182759788783, "shoulder_lift": -0.9724306829401098, "elbow_flex": 0.1286106607077954, "wrist_flex": 1.6320458741481767, "wrist_roll": 2.1478253076008143e-07, "gripper": -0.17174539379469533}, "velocities": {"shoulder_pan": 0.2666665845144473, "shoulder_lift": -1.334245416120469e-05, "elbow_flex": -0.00011455859271548009, "wrist_flex": -3.610299266154578e-05, "wrist_roll": -3.865033292882405e-08, "gripper": -4.9129081041139734e-08}, "actuator_forces": {"shoulder_pan": 0.21199962302132747, "shoulder_lift": -0.0408105241241401, "elbow_flex": -0.346811859247083, "wrist_flex": -0.1090501818980556, "wrist_roll": -0.00010907290870545771, "gripper": -2.7796495698610215}, "applied_targets": {"shoulder_pan": 0.07874043720639506, "shoulder_lift": -0.9724715760456921, "elbow_flex": 0.1282631461109092, "wrist_flex": 1.631936602942344, "wrist_roll": 1.0548671611498349e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.183993739852245, -0.011327238725412362, 0.1889166887176152], "quaternion_wxyz": [0.9220022928194807, 0.03738320290818043, 0.38271138892189255, -0.04523561611630699], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 175, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579703.0148041, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17627510179610525, -0.014233631654400012, 0.19599237459079508], "quaternion_wxyz": [0.9180077842382871, -0.01146705325278522, -0.389713551945244, -0.0724814610630223], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.935422552958143}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809962366446785}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.230580457635836}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10512027112448}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051482833509827}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403729405606382}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279473958169813}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273646766399754}], "left_finger_force_n": 47.13256848167507, "right_finger_force_n": 46.95685013017595, "bilateral_contact": true, "supported": false, "lift_m": 0.09586725155052822}, "simulation_time": 17.402000000001234, "positions": {"shoulder_pan": 0.1049984938572431, "shoulder_lift": -0.9724320202682687, "elbow_flex": 0.12859920839222524, "wrist_flex": 1.6320422644351271, "wrist_roll": 2.1090687471514228e-07, "gripper": -0.17174539779731693}, "velocities": {"shoulder_pan": 0.2666666674404749, "shoulder_lift": -1.3382023963733595e-05, "elbow_flex": -0.00011451569702145157, "wrist_flex": -3.6095688833235724e-05, "wrist_roll": -3.877722075208841e-08, "gripper": -2.9754361986014364e-08}, "actuator_forces": {"shoulder_pan": 0.2120000224972216, "shoulder_lift": -0.04081011270886847, "elbow_flex": -0.34681028430270544, "wrist_flex": -0.1090527994574586, "wrist_roll": -0.0001091039888668398, "gripper": -2.7796455878381607}, "applied_targets": {"shoulder_pan": 0.10540710387304696, "shoulder_lift": -0.9724729129997791, "elbow_flex": 0.1282516954161727, "wrist_flex": 1.6319329906138216, "wrist_roll": 1.0157980070334924e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.1836405985820302, -0.015193695866403841, 0.18891943172496], "quaternion_wxyz": [0.9213203674883517, 0.0424822303694213, 0.3821713800707303, -0.05752457569423245], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 176, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579703.298723, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17585101731104436, -0.017893614513349095, 0.19599118786318737], "quaternion_wxyz": [0.9169574663499698, -0.016666077462526505, -0.3895331486651541, -0.08470639207326676], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93514772734517}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810234391512224}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2303225538628615}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105409218029917}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051461333620328}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403444607456734}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279730759531665}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273678653872288}], "left_finger_force_n": 47.1325752243705, "right_finger_force_n": 46.95685402086069, "bilateral_contact": true, "supported": false, "lift_m": 0.09586606482292051}, "simulation_time": 17.50200000000118, "positions": {"shoulder_pan": 0.131665160525619, "shoulder_lift": -0.9724333585230934, "elbow_flex": 0.12858775681369924, "wrist_flex": 1.6320386548639232, "wrist_roll": 2.0702787466443883e-07, "gripper": -0.1717453999662837}, "velocities": {"shoulder_pan": 0.26666666668128164, "shoulder_lift": -1.3382692627135487e-05, "elbow_flex": -0.00011451582839574416, "wrist_flex": -3.6095716499997936e-05, "wrist_roll": -3.8801331855365635e-08, "gripper": -1.5573396792006782e-08}, "actuator_forces": {"shoulder_pan": 0.21200002158215625, "shoulder_lift": -0.04080881363779554, "elbow_flex": -0.34680940199248766, "wrist_flex": -0.10905555184444893, "wrist_roll": -0.00010913183670270396, "gripper": -2.779643433689074}, "applied_targets": {"shoulder_pan": 0.13207377053969888, "shoulder_lift": -0.9724742499538661, "elbow_flex": 0.12824024472143622, "wrist_flex": 1.631929378285299, "wrist_roll": 9.767288529171498e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.18318448786139113, -0.019049375507665674, 0.1889221746875838], "quaternion_wxyz": [0.9204746547307919, 0.04757350398971157, 0.3815634390485554, -0.06980339316830929], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 177, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579703.7842913, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17532948127358616, -0.021541114137067115, 0.19599000147088969], "quaternion_wxyz": [0.9157440551469866, -0.021861102975004428, -0.3892835338548134, -0.09691876964333312], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934960427742475}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810419086821074}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.230148457836237}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105607116914836}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05144483915501}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403249396646522}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279903971529219}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27370252570576}], "left_finger_force_n": 47.13257992846963, "right_finger_force_n": 46.9568558938815, "bilateral_contact": true, "supported": false, "lift_m": 0.09586487843062283}, "simulation_time": 17.602000000001123, "positions": {"shoulder_pan": 0.1583318271937302, "shoulder_lift": -0.9724346967932104, "elbow_flex": 0.12857630523079647, "wrist_flex": 1.6320350452924608, "wrist_roll": 2.0314682805862797e-07, "gripper": -0.17174540114220838}, "velocities": {"shoulder_pan": 0.26666666667828054, "shoulder_lift": -1.3382703588038646e-05, "elbow_flex": -0.000114515828543941, "wrist_flex": -3.609571359847024e-05, "wrist_roll": -3.881817390540628e-08, "gripper": -8.945354174893985e-09}, "actuator_forces": {"shoulder_pan": 0.21200002012258778, "shoulder_lift": -0.04080749993988775, "elbow_flex": -0.3468085154063374, "wrist_flex": -0.1090583039995181, "wrist_roll": -0.00010915764672892927, "gripper": -2.7796422650152692}, "applied_targets": {"shoulder_pan": 0.15874043720635075, "shoulder_lift": -0.9724755869079531, "elbow_flex": 0.12822879402669976, "wrist_flex": 1.6319257659567765, "wrist_roll": 9.376596988008073e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.18262573142770966, -0.02289153583309296, 0.1889249176677022], "quaternion_wxyz": [0.9194653037851889, 0.0526561186850244, 0.38088767663268863, -0.08206988540013208], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 178, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579704.0964563, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17471085816948975, -0.025173532522739808, 0.19598881513831767], "quaternion_wxyz": [0.9143677798361566, -0.027051601052089244, -0.38896473019612493, -0.10911559348449736], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934832521529742}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810544295374685}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.230032065794616}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105743839639558}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051430563461498}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403114340423897}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280019599523}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273722501681686}], "left_finger_force_n": 47.1325832858001, "right_finger_force_n": 46.95685644162858, "bilateral_contact": true, "supported": false, "lift_m": 0.09586369209805082}, "simulation_time": 17.702000000001068, "positions": {"shoulder_pan": 0.18499849386135403, "shoulder_lift": -0.9724360350635995, "elbow_flex": 0.12856485364796366, "wrist_flex": 1.632031435721145, "wrist_roll": 1.9926439109249316e-07, "gripper": -0.17174540186519135}, "velocities": {"shoulder_pan": 0.2666666666745029, "shoulder_lift": -1.3382704121060685e-05, "elbow_flex": -0.00011451582825602699, "wrist_flex": -3.609571284487857e-05, "wrist_roll": -3.8829601182089445e-08, "gripper": -5.969206097237949e-09}, "actuator_forces": {"shoulder_pan": 0.21200001915531175, "shoulder_lift": -0.04080618598015917, "elbow_flex": -0.3468076288910993, "wrist_flex": -0.10906105629896956, "wrist_roll": -0.00010918207296603577, "gripper": -2.7796415456373893}, "applied_targets": {"shoulder_pan": 0.18540710387300266, "shoulder_lift": -0.9724769238620401, "elbow_flex": 0.12821734333196327, "wrist_flex": 1.631922153628254, "wrist_roll": 8.985905446844648e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1819647259021171, -0.026717444697593296, 0.1889276606624789], "quaternion_wxyz": [0.9182924929642505, 0.057729171058539114, 0.3801442156529816, -0.09432187169461334], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 179, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579704.5125678, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1739955817454076, -0.02878828341158901, 0.1959876287895512], "quaternion_wxyz": [0.912828898254777, -0.032236917621448105, -0.3885767842543598, -0.12129413172853509], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934744956026174}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810629020325336}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229955241478973}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105839305778133}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051417233294472}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403019833385562}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280095728509309}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27374055882268}], "left_finger_force_n": 47.13258575690309, "right_finger_force_n": 46.95685612071755, "bilateral_contact": true, "supported": false, "lift_m": 0.09586250574928434}, "simulation_time": 17.802000000001012, "positions": {"shoulder_pan": 0.21166516052866494, "shoulder_lift": -0.9724373733340347, "elbow_flex": 0.12855340206513172, "wrist_flex": 1.632027826149881, "wrist_roll": 1.9538101040286253e-07, "gripper": -0.171745402385624}, "velocities": {"shoulder_pan": 0.26666666667192995, "shoulder_lift": -1.3382704577960152e-05, "elbow_flex": -0.00011451582841223021, "wrist_flex": -3.609571247374164e-05, "wrist_roll": -3.8837357954175875e-08, "gripper": -4.643264714933093e-09}, "actuator_forces": {"shoulder_pan": 0.21200001849939554, "shoulder_lift": -0.04080487197484217, "elbow_flex": -0.346806742376387, "wrist_flex": -0.1090638086495801, "wrist_roll": -0.00010920555993360996, "gripper": -2.7796410271643026}, "applied_targets": {"shoulder_pan": 0.21207377053965454, "shoulder_lift": -0.9724782608161271, "elbow_flex": 0.1282058926372268, "wrist_flex": 1.6319185412997315, "wrist_roll": 8.595213905681224e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.18120194061398384, -0.030524381493251533, 0.188930403671908], "quaternion_wxyz": [0.9169564296442948, 0.06279175944864954, 0.3793331909621259, -0.10655717392001997], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 180, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 8951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579704.794505, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17318415457836372, -0.03238279374550253, 0.19598644241159854], "quaternion_wxyz": [0.911127696623294, -0.03741631365675382, -0.388119758960963, -0.13345183633938248], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934684800262914}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8106862038557505}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229905470254241}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105906873847078}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051404291080274}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402952737672493}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280144845332211}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273757641360966}], "left_finger_force_n": 47.132587639300255, "right_finger_force_n": 46.95685522436567, "bilateral_contact": true, "supported": false, "lift_m": 0.09586131937133169}, "simulation_time": 17.902000000000957, "positions": {"shoulder_pan": 0.23833182719576315, "shoulder_lift": -0.9724387116045144, "elbow_flex": 0.12854195048227737, "wrist_flex": 1.632024216578647, "wrist_roll": 1.9149698917535027e-07, "gripper": -0.17174540281603876}, "velocities": {"shoulder_pan": 0.2666666666701824, "shoulder_lift": -1.3382704998245253e-05, "elbow_flex": -0.00011451582867595192, "wrist_flex": -3.6095712227060985e-05, "wrist_roll": -3.8842622016068656e-08, "gripper": -4.055951265918569e-09}, "actuator_forces": {"shoulder_pan": 0.21200001805519264, "shoulder_lift": -0.04080355792473256, "elbow_flex": -0.34680585583913626, "wrist_flex": -0.10906656103043133, "wrist_roll": -0.00010922840938737095, "gripper": -2.779640597973554}, "applied_targets": {"shoulder_pan": 0.23874043720630644, "shoulder_lift": -0.972479597770214, "elbow_flex": 0.12819444194249033, "wrist_flex": 1.6319149289712087, "wrist_roll": 8.204522364517799e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.18033791726866502, -0.03430963908421368, 0.18893314669599576], "quaternion_wxyz": [0.9154573502244644, 0.0678429840897996, 0.3784547494209941, -0.1187736168956967], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 181, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579705.2496276, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17227714767509225, -0.03595450524078288, 0.1959852560124014], "quaternion_wxyz": [0.9092644889938551, -0.04258899269667116, -0.3875937308011772, -0.1455862857533345], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934643272253287}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810724654603066}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2298741603299534}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105955542679733}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051391497801987}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402904207650968}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28017552606675}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273774209886305}], "left_finger_force_n": 47.13258912766803, "right_finger_force_n": 46.956853943604024, "bilateral_contact": true, "supported": false, "lift_m": 0.09586013297213455}, "simulation_time": 18.0020000000009, "positions": {"shoulder_pan": 0.26499849386271684, "shoulder_lift": -0.972440049875033, "elbow_flex": 0.12853049889939588, "wrist_flex": 1.632020607007435, "wrist_roll": 1.8761253334360903e-07, "gripper": -0.1717454032067161}, "velocities": {"shoulder_pan": 0.2666666666689907, "shoulder_lift": -1.3382705358042914e-05, "elbow_flex": -0.00011451582894478224, "wrist_flex": -3.609571201579865e-05, "wrist_roll": -3.884619267132307e-08, "gripper": -3.7979702216474936e-09}, "actuator_forces": {"shoulder_pan": 0.21200001775491728, "shoulder_lift": -0.04080224383631048, "elbow_flex": -0.34680496927482807, "wrist_flex": -0.10906931343333781, "wrist_roll": -0.00010925082629028142, "gripper": -2.7796402081928875}, "applied_targets": {"shoulder_pan": 0.26540710387295835, "shoulder_lift": -0.972480934724301, "elbow_flex": 0.12818299124775384, "wrist_flex": 1.6319113166426862, "wrist_roll": 7.813830823354373e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.17937326956282468, -0.03807052573175998, 0.18893588973474268], "quaternion_wxyz": [0.9137955200848656, 0.07288194727239139, 0.37750904987212947, -0.13096902877877617], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 182, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579705.549047, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17127520004759197, -0.039500876033880465, 0.19598406960486323], "quaternion_wxyz": [0.9072396168459903, -0.0477541196385741, -0.38699878889855244, -0.15769514600563864], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9346144055170456}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810750365659568}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229855432792629}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10599139293515}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051378754015538}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402868268251328}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280193640373277}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273790495920885}], "left_finger_force_n": 47.132590350919926, "right_finger_force_n": 46.95685240454549, "bilateral_contact": true, "supported": false, "lift_m": 0.09585894656459637}, "simulation_time": 18.102000000000846, "positions": {"shoulder_pan": 0.29166516052957236, "shoulder_lift": -0.9724413881455842, "elbow_flex": 0.12851904731648864, "wrist_flex": 1.632016997436244, "wrist_roll": 1.837277828245299e-07, "gripper": -0.17174540358003146}, "velocities": {"shoulder_pan": 0.26666666666818734, "shoulder_lift": -1.3382705654899138e-05, "elbow_flex": -0.00011451582918810915, "wrist_flex": -3.6095711801424415e-05, "wrist_roll": -3.8848612652077735e-08, "gripper": -3.6861440542960455e-09}, "actuator_forces": {"shoulder_pan": 0.21200001755221365, "shoulder_lift": -0.04080092971526028, "elbow_flex": -0.34680408268482665, "wrist_flex": -0.10907206585670792, "wrist_roll": -0.00010927294990001442, "gripper": -2.779639835629382}, "applied_targets": {"shoulder_pan": 0.2920737705396102, "shoulder_lift": -0.972482271678388, "elbow_flex": 0.12817154055301735, "wrist_flex": 1.6319077043141637, "wrist_roll": 7.423139282190949e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.17830868274854095, -0.04180436700843472, 0.1889386327881473], "quaternion_wxyz": [0.9119712335395949, 0.07790775350231165, 0.3764962631110203, -0.14314124145028828], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 183, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579705.989124, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17017901825247359, -0.043019382371371914, 0.19598288320112275], "quaternion_wxyz": [0.9050534489047051, -0.052910833593353336, -0.3863350347817655, -0.16977614442061087], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934594145435914}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810767413552795}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229845273791863}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106018541908746}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05136602046555}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402840874611002}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280203196455215}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273806620173758}], "left_finger_force_n": 47.13259139515487, "right_finger_force_n": 46.95685069123998, "bilateral_contact": true, "supported": false, "lift_m": 0.0958577601608559}, "simulation_time": 18.20200000000079, "positions": {"shoulder_pan": 0.31833182719636116, "shoulder_lift": -0.9724427264161623, "elbow_flex": 0.12850759573355863, "wrist_flex": 1.6320133878650747, "wrist_roll": 1.7984283269846636e-07, "gripper": -0.17174540394588622}, "velocities": {"shoulder_pan": 0.26666666666763067, "shoulder_lift": -1.3382705895495309e-05, "elbow_flex": -0.00011451582940238596, "wrist_flex": -3.609571157793237e-05, "wrist_roll": -3.885025064111773e-08, "gripper": -3.6387243522721148e-09}, "actuator_forces": {"shoulder_pan": 0.21200001741595997, "shoulder_lift": -0.0407996155672663, "elbow_flex": -0.3468031960721163, "wrist_flex": -0.10907481830213328, "wrist_roll": -0.00010929487484905319, "gripper": -2.7796394704629677}, "applied_targets": {"shoulder_pan": 0.3187404372062621, "shoulder_lift": -0.972483608632475, "elbow_flex": 0.1281600898582809, "wrist_flex": 1.6319040919856411, "wrist_roll": 7.032447741027523e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.17714491314652767, -0.04550850769987962, 0.18894137585620752], "quaternion_wxyz": [0.909984813784618, 0.08291950966006725, 0.37541657185525396, -0.15528809090061202], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 184, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579706.3182218, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16898937588852145, -0.046507520325116465, 0.19598169681094169], "quaternion_wxyz": [0.9027063811265372, -0.05805825669350462, -0.38560258235759376, -0.18182705184405099], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934579736182406}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810778570721227}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229840946780327}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106039781319146}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051353283212272}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402819284547418}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280206927310445}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273822648213915}], "left_finger_force_n": 47.13259231821538, "right_finger_force_n": 46.95684886007178, "bilateral_contact": true, "supported": false, "lift_m": 0.09585657377067483}, "simulation_time": 18.302000000000735, "positions": {"shoulder_pan": 0.34499849386310455, "shoulder_lift": -0.9724440646867625, "elbow_flex": 0.12849614415060867, "wrist_flex": 1.6320097782939285, "wrist_roll": 1.7595774758446457e-07, "gripper": -0.17174540430862414}, "velocities": {"shoulder_pan": 0.2666666666672651, "shoulder_lift": -1.3382706098691793e-05, "elbow_flex": -0.00011451582958955898, "wrist_flex": -3.6095711344641014e-05, "wrist_roll": -3.885135714203648e-08, "gripper": -3.6193663907855585e-09}, "actuator_forces": {"shoulder_pan": 0.21200001732489682, "shoulder_lift": -0.04079830139733076, "elbow_flex": -0.34680230943951074, "wrist_flex": -0.10907757077052338, "wrist_roll": -0.00010931666545208843, "gripper": -2.7796391083859078}, "applied_targets": {"shoulder_pan": 0.345407103872914, "shoulder_lift": -0.972484945586562, "elbow_flex": 0.1281486391635444, "wrist_flex": 1.6319004796571186, "wrist_roll": 6.641756199864098e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1758827876088162, -0.04918031369301751, 0.18894411893892155], "quaternion_wxyz": [0.9078366128405126, 0.0879163251594903, 0.3742701707115605, -0.16740741761419892], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 185, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579706.7602768, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16770711304971325, -0.049962807519229505, 0.1959805104416317], "quaternion_wxyz": [0.9001988367802846, -0.06319550014311667, -0.3848015579202579, -0.19384567068476494], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934569304486206}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810785722500832}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22984058780273}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106057005817356}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051340538510114}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.4028016372194}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280206694611834}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27383861720479}], "left_finger_force_n": 47.132593159117235, "right_finger_force_n": 46.95684694903603, "bilateral_contact": true, "supported": false, "lift_m": 0.09585538740136484}, "simulation_time": 18.40200000000068, "positions": {"shoulder_pan": 0.3716651605298171, "shoulder_lift": -0.9724454029573815, "elbow_flex": 0.12848469256764108, "wrist_flex": 1.6320061687228062, "wrist_roll": 1.7207257140191987e-07, "gripper": -0.1717454046701241}, "velocities": {"shoulder_pan": 0.26666666666700756, "shoulder_lift": -1.338270627387277e-05, "elbow_flex": -0.0001145158297555854, "wrist_flex": -3.6095711109036726e-05, "wrist_roll": -3.8852102416259025e-08, "gripper": -3.612020353500825e-09}, "actuator_forces": {"shoulder_pan": 0.2120000172645291, "shoulder_lift": -0.04079698720863689, "elbow_flex": -0.3468014227893548, "wrist_flex": -0.10908032326301509, "wrist_roll": -0.00010933836542167393, "gripper": -2.779638747535188}, "applied_targets": {"shoulder_pan": 0.3720737705395659, "shoulder_lift": -0.972486282540649, "elbow_flex": 0.12813718846880792, "wrist_flex": 1.631896867328596, "wrist_roll": 6.251064658700673e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1745232029312816, -0.052817173849243504, 0.18894686203628758], "quaternion_wxyz": [0.9055270114900876, 0.09289731210599357, 0.37305726614073975, -0.1794970669534999], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 186, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579707.0463514, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16633313573241737, -0.053382784859386176, 0.19597932409846455], "quaternion_wxyz": [0.8975312665645786, -0.06832166838824998, -0.38393210014700385, -0.20582982690644963], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934561576903408}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810790150884937}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2298429280429914}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10607150202452}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051327786389805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40278666905119}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280203765682122}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273854549077466}], "left_finger_force_n": 47.13259394424566, "right_finger_force_n": 46.95684498381078, "bilateral_contact": true, "supported": false, "lift_m": 0.0958542010581977}, "simulation_time": 18.502000000000624, "positions": {"shoulder_pan": 0.3983318271965088, "shoulder_lift": -0.9724467412280169, "elbow_flex": 0.12847324098465773, "wrist_flex": 1.6320025591517084, "wrist_roll": 1.681873340027545e-07, "gripper": -0.1717454050311808}, "velocities": {"shoulder_pan": 0.2666666666668407, "shoulder_lift": -1.3382706428032792e-05, "elbow_flex": -0.00011451582990658841, "wrist_flex": -3.609571085802404e-05, "wrist_roll": -3.8852602138578894e-08, "gripper": -3.609661656938062e-09}, "actuator_forces": {"shoulder_pan": 0.21200001722490924, "shoulder_lift": -0.04079567300345843, "elbow_flex": -0.346800536123439, "wrist_flex": -0.10908307577960841, "wrist_roll": -0.00010936000446915754, "gripper": -2.7796383871231285}, "applied_targets": {"shoulder_pan": 0.39874043720621777, "shoulder_lift": -0.9724876194947358, "elbow_flex": 0.12812573777407144, "wrist_flex": 1.6318932550000735, "wrist_roll": 5.8603731175372484e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.17306712521642886, -0.05641650186129323, 0.18894960514830458], "quaternion_wxyz": [0.9030564192108859, 0.09786158545433778, 0.37177807642048616, -0.1915548895420301], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 187, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579707.457252, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16486841519630635, -0.05676501825760581, 0.19597813778515816], "quaternion_wxyz": [0.8947041487250973, -0.07343586200672801, -0.38299436007246696, -0.21777736470558567], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934555687710585}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.81079272756651}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22984710415729}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106084144013215}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051315028030036}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40277352166518}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28019900287643}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27387045724471}], "left_finger_force_n": 47.132594691477635, "right_finger_force_n": 46.956842981786316, "bilateral_contact": true, "supported": false, "lift_m": 0.0958530147448913}, "simulation_time": 18.60200000000057, "positions": {"shoulder_pan": 0.424998493863186, "shoulder_lift": -0.972448079498667, "elbow_flex": 0.1284617894016599, "wrist_flex": 1.6319989495806357, "wrist_roll": 1.64302055677426e-07, "gripper": -0.1717454053921173}, "velocities": {"shoulder_pan": 0.26666666666673017, "shoulder_lift": -1.3382706567758024e-05, "elbow_flex": -0.00011451583004688642, "wrist_flex": -3.609571059804949e-05, "wrist_roll": -3.8852934987909676e-08, "gripper": -3.6092625275773996e-09}, "actuator_forces": {"shoulder_pan": 0.2120000171997276, "shoulder_lift": -0.04079435878361437, "elbow_flex": -0.34679964944308495, "wrist_flex": -0.10908582832166758, "wrist_roll": -0.00010938160278946312, "gripper": -2.7796380268294456}, "applied_targets": {"shoulder_pan": 0.4254071038728697, "shoulder_lift": -0.9724889564488228, "elbow_flex": 0.12811428707933498, "wrist_flex": 1.631889642671551, "wrist_roll": 5.4696815763738236e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.17151558918689208, -0.0599757380924653, 0.18895234827497115], "quaternion_wxyz": [0.9004252741025869, 0.10280826316588997, 0.3704328316061125, -0.20357874164649764], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 188, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579707.7778678, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.163313987278991, -0.06010710034746925, 0.19597695150429895], "quaternion_wxyz": [0.891717989150977, -0.07853717972573057, -0.38198850104686966, -0.22968614301527093], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934551048345538}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810794045236042}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229852528856769}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106095525747271}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05130226475461}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402761611780472}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280192992823512}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273886350152186}], "left_finger_force_n": 47.13259541294023, "right_finger_force_n": 46.95684095475617, "bilateral_contact": true, "supported": false, "lift_m": 0.09585182846403209}, "simulation_time": 18.702000000000513, "positions": {"shoulder_pan": 0.4516651605298537, "shoulder_lift": -0.9724494177693307, "elbow_flex": 0.12845033781864842, "wrist_flex": 1.63199534000959, "wrist_roll": 1.6041675021661766e-07, "gripper": -0.1717454057530555}, "velocities": {"shoulder_pan": 0.2666666666666498, "shoulder_lift": -1.3382706700696423e-05, "elbow_flex": -0.00011451583017874119, "wrist_flex": -3.6095710337047455e-05, "wrist_roll": -3.885315440438302e-08, "gripper": -3.6095529222206387e-09}, "actuator_forces": {"shoulder_pan": 0.21200001718398198, "shoulder_lift": -0.04079304455035526, "elbow_flex": -0.3467987627491169, "wrist_flex": -0.10908858088987472, "wrist_roll": -0.00010940317410831205, "gripper": -2.7796376665335174}, "applied_targets": {"shoulder_pan": 0.4520737705395216, "shoulder_lift": -0.9724902934029098, "elbow_flex": 0.1281028363845985, "wrist_flex": 1.6318860303430285, "wrist_roll": 5.078990035210399e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.16986969745013625, -0.06349235139689235, 0.1889550914162864], "quaternion_wxyz": [0.8976340428093225, 0.10773646636534119, 0.3690217734891819, -0.21556648555793456], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 189, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579708.1731708, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1616709516646416, -0.06340665218594722, 0.19597576525767121], "quaternion_wxyz": [0.8885733214413566, -0.08362471984550511, -0.3809146986847698, -0.2415540332499712], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93454725866639}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810794506874212}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2298588027101625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106106050917983}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05128949769595}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402750542974129}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280186134510956}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273902233238513}], "left_finger_force_n": 47.1325961168647, "right_finger_force_n": 46.9568389107236, "bilateral_contact": true, "supported": false, "lift_m": 0.09585064221740436}, "simulation_time": 18.802000000000458, "positions": {"shoulder_pan": 0.4783318271965148, "shoulder_lift": -0.9724507560400072, "elbow_flex": 0.12843888623562405, "wrist_flex": 1.6319917304385698, "wrist_roll": 1.5653142699330344e-07, "gripper": -0.17174540611403447}, "velocities": {"shoulder_pan": 0.26666666666658695, "shoulder_lift": -1.3382706824974405e-05, "elbow_flex": -0.00011451583030570837, "wrist_flex": -3.609571007857654e-05, "wrist_roll": -3.885329672848968e-08, "gripper": -3.6100250122791763e-09}, "actuator_forces": {"shoulder_pan": 0.21200001717488703, "shoulder_lift": -0.040791730304135854, "elbow_flex": -0.3467978760423023, "wrist_flex": -0.10909133348422984, "wrist_roll": -0.00010942472775452684, "gripper": -2.779637306196747}, "applied_targets": {"shoulder_pan": 0.4787404372061735, "shoulder_lift": -0.9724916303569968, "elbow_flex": 0.128091385689862, "wrist_flex": 1.631882418014506, "wrist_roll": 4.6882984940469726e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.16813061971488244, -0.06696384091956495, 0.1889578345722493], "quaternion_wxyz": [0.8946832204369145, 0.1126453194968538, 0.36754515555405337, -0.22751598997175873], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 190, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579708.4507165, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1599404711070229, -0.06666132493886233, 0.1959745790464988], "quaternion_wxyz": [0.8852707069398271, -0.08869758125878663, -0.3797731408095129, -0.25337891789329653], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9345440466271455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810794386470706}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229865654084977}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106115993928537}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051276727731373}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402740045787233}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280178699272179}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273918110065324}], "left_finger_force_n": 47.132596808842735, "right_finger_force_n": 46.956836855124735, "bilateral_contact": true, "supported": false, "lift_m": 0.09584945600623193}, "simulation_time": 18.902000000000402, "positions": {"shoulder_pan": 0.5049984938631713, "shoulder_lift": -0.9724520943106959, "elbow_flex": 0.12842743465258719, "wrist_flex": 1.631988120867576, "wrist_roll": 1.5264609237711772e-07, "gripper": -0.17174540647506095}, "velocities": {"shoulder_pan": 0.2666666666665503, "shoulder_lift": -1.338270694323831e-05, "elbow_flex": -0.00011451583042870654, "wrist_flex": -3.609570980204159e-05, "wrist_roll": -3.885338665725658e-08, "gripper": -3.6104874241257793e-09}, "actuator_forces": {"shoulder_pan": 0.21200001717016903, "shoulder_lift": -0.040790416046093014, "elbow_flex": -0.3467969893229821, "wrist_flex": -0.10909408610427818, "wrist_roll": -0.00010944627006775047, "gripper": -2.779636945812541}, "applied_targets": {"shoulder_pan": 0.5054071038728253, "shoulder_lift": -0.9724929673110838, "elbow_flex": 0.12807993499512554, "wrist_flex": 1.6318788056859834, "wrist_roll": 4.297606952883548e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.16629959195981261, -0.07038773787482838, 0.18896057774285924], "quaternion_wxyz": [0.8915733304650536, 0.11753395047961583, 0.36600324293234937, -0.23942513036669888], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 191, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579708.899777, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15812377060746843, -0.06986880154758371, 0.19597339287161858], "quaternion_wxyz": [0.8818107347383377, -0.09375486419502216, -0.37856402739659767, -0.2651586896582384], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934541227269825}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810793870311966}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229872898272969}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106125541315113}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.0512639555029}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402729937046038}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280170871612967}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27393398299303}], "left_finger_force_n": 47.13259749267277, "right_finger_force_n": 46.956834791652035, "bilateral_contact": true, "supported": false, "lift_m": 0.09584826983135172}, "simulation_time": 19.002000000000347, "positions": {"shoulder_pan": 0.5316651605298249, "shoulder_lift": -0.9724534325813964, "elbow_flex": 0.12841598306953814, "wrist_flex": 1.6319845112966092, "wrist_roll": 1.4876075069645318e-07, "gripper": -0.17174540683613068}, "velocities": {"shoulder_pan": 0.26666666666654465, "shoulder_lift": -1.3382707057225912e-05, "elbow_flex": -0.00011451583054880746, "wrist_flex": -3.6095709540569914e-05, "wrist_roll": -3.8853441014121874e-08, "gripper": -3.610886312706407e-09}, "actuator_forces": {"shoulder_pan": 0.21200001716840688, "shoulder_lift": -0.04078910177599937, "elbow_flex": -0.3467961025915258, "wrist_flex": -0.10909683875229348, "wrist_roll": -0.0001094678053559316, "gripper": -2.7796365853852194}, "applied_targets": {"shoulder_pan": 0.5320737705394772, "shoulder_lift": -0.9724943042651708, "elbow_flex": 0.12806848430038906, "wrist_flex": 1.631875193357461, "wrist_roll": 3.906915411720123e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.16437791555514783, -0.07376160730208826, 0.18896332092811507], "quaternion_wxyz": [0.8883049246544337, 0.12240149086276889, 0.36439631235535924, -0.2512917893825176], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 192, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579709.1989267, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15622213654838102, -0.07302679837495074, 0.19597220673360136], "quaternion_wxyz": [0.8781940216537437, -0.09879567077727987, -0.3772875705176095, -0.2768912510358748], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93453867484453}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810793085053848}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229880409680124}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106134819889443}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05125118146892}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402720092225703}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280162776990476}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273949853599213}], "left_finger_force_n": 47.132598170936866, "right_finger_force_n": 46.95683272281539, "bilateral_contact": true, "supported": false, "lift_m": 0.0958470836933345}, "simulation_time": 19.10200000000029, "positions": {"shoulder_pan": 0.5583318271964764, "shoulder_lift": -0.9724547708521083, "elbow_flex": 0.1284045314864771, "wrist_flex": 1.6319809017256686, "wrist_roll": 1.4487540489141047e-07, "gripper": -0.17174540719723672}, "velocities": {"shoulder_pan": 0.2666666666664977, "shoulder_lift": -1.3382707172552145e-05, "elbow_flex": -0.00011451583066813098, "wrist_flex": -3.609570927114123e-05, "wrist_roll": -3.885347118932499e-08, "gripper": -3.611217033908222e-09}, "actuator_forces": {"shoulder_pan": 0.21200001716886163, "shoulder_lift": -0.040787787494423355, "elbow_flex": -0.3467952158480756, "wrist_flex": -0.10909959142600201, "wrist_roll": -0.00010948933654538026, "gripper": -2.779636224921717}, "applied_targets": {"shoulder_pan": 0.5587404372061291, "shoulder_lift": -0.9724956412192577, "elbow_flex": 0.12805703360565257, "wrist_flex": 1.6318715810289384, "wrist_roll": 3.516223870556698e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1623669563377209, -0.07708304979747536, 0.18896606412801634], "quaternion_wxyz": [0.8848785829488592, 0.12724707597968696, 0.36272465210437216, -0.2631138571964626], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 193, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579709.6694767, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15423691578289273, -0.07613306682870202, 0.1959710206328358], "quaternion_wxyz": [0.8744212121807553, -0.10381910545161883, -0.3759439942853115, -0.2885745141074855], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934536303855612}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810792116808983}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229888102910325}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106143915863697}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05123840595081}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402710426668845}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280154500707729}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273965722943494}], "left_finger_force_n": 47.132598845389424, "right_finger_force_n": 46.95683065032007, "bilateral_contact": true, "supported": false, "lift_m": 0.09584589759256895}, "simulation_time": 19.202000000000236, "positions": {"shoulder_pan": 0.5849984938631265, "shoulder_lift": -0.9724561091228316, "elbow_flex": 0.1283930799034042, "wrist_flex": 1.6319772921547555, "wrist_roll": 1.4099005695914103e-07, "gripper": -0.1717454075583726}, "velocities": {"shoulder_pan": 0.26666666666649186, "shoulder_lift": -1.3382707286111267e-05, "elbow_flex": -0.00011451583078637123, "wrist_flex": -3.6095709001845954e-05, "wrist_roll": -3.885348494426999e-08, "gripper": -3.611486954482996e-09}, "actuator_forces": {"shoulder_pan": 0.21200001717068062, "shoulder_lift": -0.04078647320170603, "elbow_flex": -0.34679432909283037, "wrist_flex": -0.109102344126768, "wrist_roll": -0.00010951086562379335, "gripper": -2.7796358644284567}, "applied_targets": {"shoulder_pan": 0.5854071038727809, "shoulder_lift": -0.9724969781733447, "elbow_flex": 0.12804558291091608, "wrist_flex": 1.6318679687004158, "wrist_roll": 3.125532329393273e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1602681436402027, -0.08034970322023928, 0.18896880734256227], "quaternion_wxyz": [0.881294913372339, 0.13206984510157405, 0.36098856195896895, -0.2748892318983833], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 194, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579709.9993527, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1521695146813533, -0.07918539496087483, 0.19596983456958642], "quaternion_wxyz": [0.870492978424914, -0.10882427532957858, -0.3745335347998959, -0.3002064005350474], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934534056175723}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810791024124942}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2298959199011525}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106152887850372}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051225629171515}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402700882820312}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280146100764128}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273981591741475}], "left_finger_force_n": 47.1325995172237, "right_finger_force_n": 46.956828575325915, "bilateral_contact": true, "supported": false, "lift_m": 0.09584471152931956}, "simulation_time": 19.30200000000018, "positions": {"shoulder_pan": 0.6116651605297756, "shoulder_lift": -0.9724574473935663, "elbow_flex": 0.12838162832031963, "wrist_flex": 1.631973682583869, "wrist_roll": 1.371047082548779e-07, "gripper": -0.17174540791953305}, "velocities": {"shoulder_pan": 0.2666666666664841, "shoulder_lift": -1.3382707398196828e-05, "elbow_flex": -0.00011451583090392522, "wrist_flex": -3.6095708741658975e-05, "wrist_roll": -3.885348756883645e-08, "gripper": -3.61171132268162e-09}, "actuator_forces": {"shoulder_pan": 0.21200001717363648, "shoulder_lift": -0.040785158897506335, "elbow_flex": -0.3467934423258896, "wrist_flex": -0.10910509685459147, "wrist_roll": -0.00010953239394000615, "gripper": -2.7796355039106686}, "applied_targets": {"shoulder_pan": 0.6120737705394329, "shoulder_lift": -0.9724983151274317, "elbow_flex": 0.12803413221617962, "wrist_flex": 1.6318643563718933, "wrist_roll": 2.7348407882298484e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.15808296927517154, -0.08355924437265615, 0.1889715505717522], "quaternion_wxyz": [0.8775545519211897, 0.13686894159035787, 0.359188353143264, -0.28661581986443946], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 195, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579710.4294932, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15002139813534587, -0.08218160904178436, 0.19596864854403306], "quaternion_wxyz": [0.8664100200188158, -0.11381029047144299, -0.37305644009609057, -0.31178484167231985], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934531892284746}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810789846807787}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229903821175284}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106161775698325}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.0512128512839}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402691421550067}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280137616594072}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27399746047638}], "left_finger_force_n": 47.13260018725004, "right_finger_force_n": 46.956826498620515, "bilateral_contact": true, "supported": false, "lift_m": 0.09584352550376621}, "simulation_time": 19.402000000000125, "positions": {"shoulder_pan": 0.6383318271964242, "shoulder_lift": -0.9724587856643121, "elbow_flex": 0.1283701767372233, "wrist_flex": 1.6319700730130093, "wrist_roll": 1.3321935969816762e-07, "gripper": -0.17174540828071425}, "velocities": {"shoulder_pan": 0.26666666666647626, "shoulder_lift": -1.3382707510053223e-05, "elbow_flex": -0.00011451583101963787, "wrist_flex": -3.6095708461894814e-05, "wrist_roll": -3.885348263556652e-08, "gripper": -3.611902983521292e-09}, "actuator_forces": {"shoulder_pan": 0.2120000171768197, "shoulder_lift": -0.0407838445823927, "elbow_flex": -0.3467925555472817, "wrist_flex": -0.10910784960901765, "wrist_roll": -0.00010955392240921336, "gripper": -2.779635143372275}, "applied_targets": {"shoulder_pan": 0.6387404372060848, "shoulder_lift": -0.9724996520815187, "elbow_flex": 0.12802268152144314, "wrist_flex": 1.6318607440433708, "wrist_roll": 2.3441492470664236e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.15581298647474828, -0.08670939065225736, 0.1889742938155854], "quaternion_wxyz": [0.873658162451165, 0.14164351305084794, 0.35732434827011783, -0.2982915361293434], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 196, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579710.7130318, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14779408851995426, -0.08511957510728593, 0.19596746255629832], "quaternion_wxyz": [0.8621730640242762, -0.11877626412905103, -0.37151297009067696, -0.32330777875724054], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93452978531353}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810788611921482}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22991177989209}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106170606500044}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051200072393165}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402682016254529}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28012907500919}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27401332947662}], "left_finger_force_n": 47.13260085602031, "right_finger_force_n": 46.95682442074034, "bilateral_contact": true, "supported": false, "lift_m": 0.09584233951603147}, "simulation_time": 19.50200000000007, "positions": {"shoulder_pan": 0.6649984938630723, "shoulder_lift": -0.972460123935069, "elbow_flex": 0.1283587251541154, "wrist_flex": 1.6319664634421769, "wrist_roll": 1.2933401191209683e-07, "gripper": -0.17174540864191326}, "velocities": {"shoulder_pan": 0.26666666666647304, "shoulder_lift": -1.3382707621430588e-05, "elbow_flex": -0.00011451583113514157, "wrist_flex": -3.609570820046519e-05, "wrist_roll": -3.885347258638661e-08, "gripper": -3.6120714122636486e-09}, "actuator_forces": {"shoulder_pan": 0.21200001718057138, "shoulder_lift": -0.04078253025591039, "elbow_flex": -0.34679166875704937, "wrist_flex": -0.1091106023905013, "wrist_roll": -0.00010957545165153072, "gripper": -2.7796347828160606}, "applied_targets": {"shoulder_pan": 0.6654071038727366, "shoulder_lift": -0.9725009890356057, "elbow_flex": 0.12801123082670665, "wrist_flex": 1.6318571317148483, "wrist_roll": 1.9534577059029974e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.15345980878654947, -0.08979790167520138, 0.18897703707406133], "quaternion_wxyz": [0.8696064365596327, 0.146392711482135, 0.35539688128332453, -0.30991430475706033], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 197, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579711.199043, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14548916461503586, -0.0879972004781044, 0.19596627660646504], "quaternion_wxyz": [0.8577828648226632, -0.12372131296092824, -0.369903396529977, -0.334773163158929], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934527716993647}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810787337866183}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229919777802405}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106179398674942}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051187292571612}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402672648846474}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28012049423875}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274029198963888}], "left_finger_force_n": 47.13260152390879, "right_finger_force_n": 46.95682234204911, "bilateral_contact": true, "supported": false, "lift_m": 0.09584115356619818}, "simulation_time": 19.602000000000015, "positions": {"shoulder_pan": 0.69166516052972, "shoulder_lift": -0.9724614622058371, "elbow_flex": 0.1283472735709959, "wrist_flex": 1.6319628538713706, "wrist_roll": 1.2544866531854967e-07, "gripper": -0.17174540900312818}, "velocities": {"shoulder_pan": 0.26666666666646316, "shoulder_lift": -1.338270773086409e-05, "elbow_flex": -0.0001145158312516076, "wrist_flex": -3.60957079270459e-05, "wrist_roll": -3.885345908388656e-08, "gripper": -3.6122215910478844e-09}, "actuator_forces": {"shoulder_pan": 0.21200001718489148, "shoulder_lift": -0.040781215918514135, "elbow_flex": -0.34679078195524937, "wrist_flex": -0.10911335519858767, "wrist_roll": -0.00010959698208690972, "gripper": -2.779634422243987}, "applied_targets": {"shoulder_pan": 0.6920737705393886, "shoulder_lift": -0.9725023259896926, "elbow_flex": 0.1279997801319702, "wrist_flex": 1.6318535193863257, "wrist_roll": 1.5627661647395726e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1510251089267453, -0.09282258086963852, 0.18897978034717922], "quaternion_wxyz": [0.8654000934628167, 0.1511156934282037, 0.3534062973977893, -0.32148205920991296], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 198, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579711.5564816, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14310826048627795, -0.09081243525006748, 0.19596509069459012], "quaternion_wxyz": [0.8532402039951157, -0.12864455722839369, -0.36822800293688673, -0.346178956661142], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93452567490515}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810786037152508}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229927802499078}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106188164746434}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051174511867238}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402663307028455}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280111886676453}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274045069089706}], "left_finger_force_n": 47.132602191170406, "right_finger_force_n": 46.956820262794615, "bilateral_contact": true, "supported": false, "lift_m": 0.09583996765432326}, "simulation_time": 19.70199999999996, "positions": {"shoulder_pan": 0.7183318271963675, "shoulder_lift": -0.9724628004766162, "elbow_flex": 0.12833582198786483, "wrist_flex": 1.6319592443005924, "wrist_roll": 1.2156332020183597e-07, "gripper": -0.1717454093643576}, "velocities": {"shoulder_pan": 0.2666666666664682, "shoulder_lift": -1.3382707840063573e-05, "elbow_flex": -0.00011451583136814881, "wrist_flex": -3.6095707657694304e-05, "wrist_roll": -3.8853443250401795e-08, "gripper": -3.6123616592923376e-09}, "actuator_forces": {"shoulder_pan": 0.21200001718932526, "shoulder_lift": -0.04077990156997657, "elbow_flex": -0.3467898951419386, "wrist_flex": -0.10911610803418625, "wrist_roll": -0.00010961851399822523, "gripper": -2.7796340616574753}, "applied_targets": {"shoulder_pan": 0.7187404372060404, "shoulder_lift": -0.9725036629437795, "elbow_flex": 0.1279883294372337, "wrist_flex": 1.631849907057803, "wrist_roll": 1.1720746235761478e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1485106175910356, -0.09578127703793056, 0.18898252363493837], "quaternion_wxyz": [0.8610398798681317, 0.1558116201277281, 0.35135295303770225, -0.3329927427160112], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 199, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579711.9840896, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14065306432684066, -0.09356327375412739, 0.1959639048207119], "quaternion_wxyz": [0.8485458901940119, -0.13354512097852517, -0.36648708455711276, -0.3575231317698353], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934523650603446}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810784718285802}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229935845546293}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106196913228649}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051161730314554}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402653982440048}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280103260749064}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27406093995646}], "left_finger_force_n": 47.132602857978746, "right_finger_force_n": 46.95681818314557, "bilateral_contact": true, "supported": false, "lift_m": 0.09583878178044505}, "simulation_time": 19.801999999999904, "positions": {"shoulder_pan": 0.7449984938630148, "shoulder_lift": -0.9724641387474062, "elbow_flex": 0.1283243704047222, "wrist_flex": 1.6319556347298405, "wrist_roll": 1.1767797675369801e-07, "gripper": -0.17174540972560048}, "velocities": {"shoulder_pan": 0.26666666666649813, "shoulder_lift": -1.3382707950879848e-05, "elbow_flex": -0.00011451583148383801, "wrist_flex": -3.609570739093136e-05, "wrist_roll": -3.8853425857629915e-08, "gripper": -3.612493432749347e-09}, "actuator_forces": {"shoulder_pan": 0.21200001719387274, "shoulder_lift": -0.040778587210525075, "elbow_flex": -0.34678900831703174, "wrist_flex": -0.10911886089616019, "wrist_roll": -0.00010964004757634402, "gripper": -2.7796337010574916}, "applied_targets": {"shoulder_pan": 0.7454071038726924, "shoulder_lift": -0.9725049998978665, "elbow_flex": 0.12797687874249722, "wrist_flex": 1.6318462947292804, "wrist_roll": 7.81383082412723e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.14591812222439096, -0.09867188588661807, 0.18898526693733814], "quaternion_wxyz": [0.8565265698416267, 0.16047965766302943, 0.34923721577272143, -0.3444443086349532], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 200, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 9951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579712.3402529, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13812531726041735, -0.09624775598509676, 0.19596271898485676], "quaternion_wxyz": [0.8437007590067432, -0.1384221322179623, -0.3646809483042991, -0.3688036720364316], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934521638347299}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810783387049001}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2299439012087845}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106205649910487}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051148947935594}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402644669396732}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280094622185565}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274076811633748}], "left_finger_force_n": 47.13260352445116, "right_finger_force_n": 46.95681610321604, "bilateral_contact": true, "supported": false, "lift_m": 0.0958375959445899}, "simulation_time": 19.90199999999985, "positions": {"shoulder_pan": 0.7716651605296622, "shoulder_lift": -0.9724654770182073, "elbow_flex": 0.128312918821568, "wrist_flex": 1.631952025159116, "wrist_roll": 1.1379263510237861e-07, "gripper": -0.1717454100868563}, "velocities": {"shoulder_pan": 0.26666666666647465, "shoulder_lift": -1.3382708062709895e-05, "elbow_flex": -0.00011451583159877205, "wrist_flex": -3.60957071165634e-05, "wrist_roll": -3.8853407390223014e-08, "gripper": -3.612619224710542e-09}, "actuator_forces": {"shoulder_pan": 0.21200001719819284, "shoulder_lift": -0.04077727284015964, "elbow_flex": -0.3467881214805857, "wrist_flex": -0.10912161378541896, "wrist_roll": -0.00010966158294887208, "gripper": -2.779633340444633}, "applied_targets": {"shoulder_pan": 0.7720737705393442, "shoulder_lift": -0.9725063368519535, "elbow_flex": 0.12796542804776076, "wrist_flex": 1.631842682400758, "wrist_roll": 3.906915412492981e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.14324946575043174, -0.10149235152304506, 0.18898801025437806], "quaternion_wxyz": [0.851860964670567, 0.16511897710816628, 0.3470594642521777, -0.3558347208217238], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 201, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2ab0885eac27459381bbafcb4ceacfff", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579712.812182, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1355268121065657, -0.09886396899805404, 0.19596153318704254], "quaternion_wxyz": [0.8387056728125536, -0.143274723080248, -0.362809912703847, -0.38001857239107156], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.934519634233317}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810782047373766}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2299519655870315}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106214378727479}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.051136164745966}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402635364033896}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280085974881157}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.274092684168643}], "left_finger_force_n": 47.13260419066756, "right_finger_force_n": 46.956814023083695, "bilateral_contact": true, "supported": false, "lift_m": 0.09583641014677569}, "simulation_time": 20.001999999999793, "positions": {"shoulder_pan": 0.7983318271963094, "shoulder_lift": -0.9724668152890195, "elbow_flex": 0.12830146723840224, "wrist_flex": 1.631948415588418, "wrist_roll": 1.0990729533311716e-07, "gripper": -0.17174541044812447}, "velocities": {"shoulder_pan": 0.266666666666477, "shoulder_lift": -1.3382708170809847e-05, "elbow_flex": -0.0001145158317134633, "wrist_flex": -3.6095706852996056e-05, "wrist_roll": -3.8853388278278456e-08, "gripper": -3.612741959686115e-09}, "actuator_forces": {"shoulder_pan": 0.212000017202854, "shoulder_lift": -0.040775958458652894, "elbow_flex": -0.34678723463265726, "wrist_flex": -0.10912436670150782, "wrist_roll": -0.00010968312020061956, "gripper": -2.7796329798193824}, "applied_targets": {"shoulder_pan": 0.7987404372059961, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302427, "wrist_flex": 1.6318390700722354, "wrist_roll": 8.587325898382504e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14050654526134973, -0.10424066791757738, 0.18899075358605721], "quaternion_wxyz": [0.847043892721174, 0.16972875467613233, 0.34482008813731196, -0.367161953988734], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 202, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579713.1181786, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1354749822892337, -0.09891821730926495, 0.1959615214884726], "quaternion_wxyz": [0.8385903340031291, -0.1433560429187932, -0.36277407443235815, -0.38027656724406617], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.930525521297441}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.812478795787791}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227049403556095}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.109002678046447}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05263111084418}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.39982530946847}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.282912134823253}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27298817605057}], "left_finger_force_n": 47.13168750953196, "right_finger_force_n": 46.95572562034229, "bilateral_contact": true, "supported": false, "lift_m": 0.09583639844820574}, "simulation_time": 20.101999999999737, "positions": {"shoulder_pan": 0.7987127663509049, "shoulder_lift": -0.9724675827228667, "elbow_flex": 0.12829753462253501, "wrist_flex": 1.6319474616670169, "wrist_roll": 1.1820053260730502e-07, "gripper": -0.1717453904350809}, "velocities": {"shoulder_pan": 0.00020570952859066228, "shoulder_lift": 2.1768339342242076e-06, "elbow_flex": -1.1052880477072104e-06, "wrist_flex": -4.547969521991517e-08, "wrist_roll": -9.385103811510295e-07, "gripper": -1.1368487239694083e-06}, "actuator_forces": {"shoulder_pan": 0.027713815656738916, "shoulder_lift": -0.040021790879450236, "elbow_flex": -0.34294442392443614, "wrist_flex": -0.10819848054961767, "wrist_roll": -0.00011686465844247047, "gripper": -2.7796520380019274}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404113267875003, -0.10433362563797707, 0.18899175559957854], "quaternion_wxyz": [0.8468771214091125, 0.1698852432907024, 0.3447399441554672, -0.3675493385241756], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 203, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579713.527787, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547307718470902, -0.09892189707808167, 0.19596036574371206], "quaternion_wxyz": [0.8385748898853784, -0.14334929980840674, -0.3627759443571654, -0.380311380968189], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9314568256204465}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.811661867336286}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227992085081477}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.108197126797317}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052425565850886}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40061362158101}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.281969001672874}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273193156699385}], "left_finger_force_n": 47.13173347068641, "right_finger_force_n": 46.95577577995327, "bilateral_contact": true, "supported": false, "lift_m": 0.0958352427034452}, "simulation_time": 20.201999999999682, "positions": {"shoulder_pan": 0.7987389331964727, "shoulder_lift": -0.9724675366356041, "elbow_flex": 0.12829752742713996, "wrist_flex": 1.6319474697448975, "wrist_roll": 1.180995531640646e-07, "gripper": -0.17174543292479663}, "velocities": {"shoulder_pan": 5.4926969511056115e-05, "shoulder_lift": 3.43621697278428e-08, "elbow_flex": 2.2466095776131364e-08, "wrist_flex": 4.741147141609686e-09, "wrist_roll": 4.229103856854374e-09, "gripper": -8.691210829935738e-08}, "actuator_forces": {"shoulder_pan": 0.0014503813395094767, "shoulder_lift": -0.04006575644405075, "elbow_flex": -0.3429385752677234, "wrist_flex": -0.10820672699105671, "wrist_roll": -0.00011789764183005927, "gripper": -2.7796104718029824}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404085671963781, -0.10433631617819901, 0.18899175076375027], "quaternion_wxyz": [0.8468722480868646, 0.1698898150420145, 0.34473771634709705, -0.3675605434388712], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 204, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579713.8408976, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547367779430486, -0.09892304783640889, 0.1959591592867146], "quaternion_wxyz": [0.8385674560005211, -0.1433418055052635, -0.3627786813454507, -0.3803279859444474], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932047657136296}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.811072004809589}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2285934068347295}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.107617754508022}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052395321314446}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.401181818063199}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.281367841798911}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27321880262843}], "left_finger_force_n": 47.131726144603086, "right_finger_force_n": 46.95576846249054, "bilateral_contact": true, "supported": false, "lift_m": 0.09583403624644773}, "simulation_time": 20.301999999999627, "positions": {"shoulder_pan": 0.7987403969998442, "shoulder_lift": -0.972467535214308, "elbow_flex": 0.12829752822218918, "wrist_flex": 1.631947469951508, "wrist_roll": 1.1780240208308075e-07, "gripper": -0.1717454371832443}, "velocities": {"shoulder_pan": 1.529912846062999e-06, "shoulder_lift": 5.494495058604474e-09, "elbow_flex": 3.4867542619807983e-09, "wrist_flex": 2.9196579749111476e-09, "wrist_roll": -8.650754265690634e-10, "gripper": -2.121923010880473e-08}, "actuator_forces": {"shoulder_pan": 3.8694317254339694e-05, "shoulder_lift": -0.04006714946035572, "elbow_flex": -0.3429393512695782, "wrist_flex": -0.108206929587368, "wrist_roll": -0.0001175919240861449, "gripper": -2.7796062780957698}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040840337665816, -0.10433647575765764, 0.18899175041062213], "quaternion_wxyz": [0.846871958960589, 0.16989008632741145, 0.34473758395718457, -0.36756120837390066], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 205, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579714.260771, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547443555078836, -0.09892404013772113, 0.19595795004424724], "quaternion_wxyz": [0.8385625621097675, -0.14333658416567874, -0.3627806314173526, -0.38033888380764297], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932447708837159}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810667654381542}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2290000667760035}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.107220012320386}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052382751065853}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.401571930875015}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280961276802199}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273227562745415}], "left_finger_force_n": 47.13171819338095, "right_finger_force_n": 46.95576077042263, "bilateral_contact": true, "supported": false, "lift_m": 0.09583282700398038}, "simulation_time": 20.40199999999957, "positions": {"shoulder_pan": 0.7987404361968191, "shoulder_lift": -0.9724675348332115, "elbow_flex": 0.1282975285386728, "wrist_flex": 1.6319474702545227, "wrist_roll": 1.1776479625533504e-07, "gripper": -0.17174543854762137}, "velocities": {"shoulder_pan": 3.884512059266275e-08, "shoulder_lift": 3.1603989419333306e-09, "elbow_flex": 3.060534932504616e-09, "wrist_flex": 3.0448291922555053e-09, "wrist_roll": -2.466804537319538e-10, "gripper": -8.892399197199561e-09}, "actuator_forces": {"shoulder_pan": 9.711789061839227e-07, "shoulder_lift": -0.040067527799919844, "elbow_flex": -0.34293966678929166, "wrist_flex": -0.10820723219990214, "wrist_roll": -0.00011755499036805743, "gripper": -2.7796049261075666}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839896739654, -0.10433648003281024, 0.18899175027279605], "quaternion_wxyz": [0.8468719510234172, 0.16989009379042389, 0.3447375807967121, -0.367561226176132], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 206, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579714.59346, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547520896536336, -0.09892501734439654, 0.19595674111483757], "quaternion_wxyz": [0.8385592314312076, -0.14333306518835842, -0.36278194714331596, -0.380346298302109], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93271948448187}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810392343309292}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229276617030879}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1069494758583005}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052374506234003}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.401837245556727}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280684758200445}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273233186190634}], "left_finger_force_n": 47.13171242691435, "right_finger_force_n": 46.95575518994781, "bilateral_contact": true, "supported": false, "lift_m": 0.09583161807457072}, "simulation_time": 20.501999999999516, "positions": {"shoulder_pan": 0.7987404371861125, "shoulder_lift": -0.9724675345253381, "elbow_flex": 0.12829752884363024, "wrist_flex": 1.6319474705589307, "wrist_roll": 1.1774213780795747e-07, "gripper": -0.1717454391911083}, "velocities": {"shoulder_pan": 9.572664116435629e-10, "shoulder_lift": 3.0510199908738988e-09, "elbow_flex": 3.046142145003851e-09, "wrist_flex": 3.044123104924628e-09, "wrist_roll": -2.12948722326757e-10, "gripper": -4.657489853494121e-09}, "actuator_forces": {"shoulder_pan": 1.938406057888642e-08, "shoulder_lift": -0.04006783502472899, "elbow_flex": -0.34293997119048925, "wrist_flex": -0.10820753606503786, "wrist_roll": -0.00011753239921116067, "gripper": -2.7796042870803035}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083988437998, -0.10433648012792666, 0.18899175014611824], "quaternion_wxyz": [0.846871950659584, 0.16989009414435297, 0.34473758109389285, -0.3675612265720983], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 207, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579715.0844014, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547599063590665, -0.09892598684372873, 0.1959555324950214], "quaternion_wxyz": [0.8385569625842567, -0.14333070435329728, -0.36278282115348737, -0.3803513564678977], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9329041548671295}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810204916778435}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229465213721954}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106765975633259}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05236809985748}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40201714583974}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280496134650603}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27323797237374}], "left_finger_force_n": 47.131708360858255, "right_finger_force_n": 46.95575125286408, "bilateral_contact": true, "supported": false, "lift_m": 0.09583040945475454}, "simulation_time": 20.60199999999946, "positions": {"shoulder_pan": 0.7987404372093616, "shoulder_lift": -0.9724675342204797, "elbow_flex": 0.12829752914825648, "wrist_flex": 1.6319474708633839, "wrist_roll": 1.1772177062221808e-07, "gripper": -0.17174543954695046}, "velocities": {"shoulder_pan": 1.074794967787373e-11, "shoulder_lift": 3.0480051802444734e-09, "elbow_flex": 3.0465860850234913e-09, "wrist_flex": 3.0449201462776913e-09, "wrist_roll": -1.9595456236265856e-10, "gripper": -2.7316375225033906e-09}, "actuator_forces": {"shoulder_pan": -2.9295961212483235e-09, "shoulder_lift": -0.040068139337336106, "elbow_flex": -0.3429402752747279, "wrist_flex": -0.10820783997701255, "wrist_roll": -0.0001175120811771129, "gripper": -2.7796039333644558}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.140408398828529, -0.10433648011725974, 0.18899175001987706], "quaternion_wxyz": [0.8468719504877087, 0.16989009431742508, 0.34473758147832273, -0.3675612265275494], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 208, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579715.4004264, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547677785626064, -0.09892695116357621, 0.1959543240619204], "quaternion_wxyz": [0.8385554170827605, -0.14332912947748636, -0.362783391313328, -0.3803548134460566], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933029593663024}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810077234415484}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229594187998224}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106641828750684}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052362629933842}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402138788181048}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280367086444398}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273242583334927}], "left_finger_force_n": 47.13170547476126, "right_finger_force_n": 46.955748457960375, "bilateral_contact": true, "supported": false, "lift_m": 0.09582920102165354}, "simulation_time": 20.701999999999405, "positions": {"shoulder_pan": 0.7987404372088467, "shoulder_lift": -0.9724675339156601, "elbow_flex": 0.12829752945294945, "wrist_flex": 1.6319474711679083, "wrist_roll": 1.1770279153791669e-07, "gripper": -0.17174543976663148}, "velocities": {"shoulder_pan": -8.764735825289946e-12, "shoulder_lift": 3.048398254133062e-09, "elbow_flex": 3.0472146980350148e-09, "wrist_flex": 3.0455124695317994e-09, "wrist_roll": -1.8458616407509398e-10, "gripper": -1.7888096441176852e-09}, "actuator_forces": {"shoulder_pan": -2.3964048523339443e-09, "shoulder_lift": -0.04006844361481399, "elbow_flex": -0.34294057942581446, "wrist_flex": -0.10820814395970046, "wrist_roll": -0.00011749314446801457, "gripper": -2.779603714803045}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839881591424, -0.1043364801039893, 0.1889917498936205], "quaternion_wxyz": [0.8468719503206438, 0.16989009448550538, 0.3447375818652253, -0.3675612264719059], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 209, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579715.8290248, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1354775688452768, -0.0989279119598313, 0.19595311574089797], "quaternion_wxyz": [0.8385543640563593, -0.1433280882777266, -0.3627837533421667, -0.3803571820587297], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933114753085208}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809990163712067}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229682701302828}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1065581119296874}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05235766707942}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402220741925381}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280278463913403}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273247240599733}], "left_finger_force_n": 47.13170339710921, "right_finger_force_n": 46.95574644643852, "bilateral_contact": true, "supported": false, "lift_m": 0.09582799270063111}, "simulation_time": 20.80199999999935, "positions": {"shoulder_pan": 0.7987404372080869, "shoulder_lift": -0.9724675336108038, "elbow_flex": 0.1282975297576922, "wrist_flex": 1.6319474714724798, "wrist_roll": 1.176847516891168e-07, "gripper": -0.1717454399184454}, "velocities": {"shoulder_pan": -6.365860236039759e-12, "shoulder_lift": 3.0486989364144043e-09, "elbow_flex": 3.047601315202952e-09, "wrist_flex": 3.045877878296829e-09, "wrist_roll": -1.7686069973000818e-10, "gripper": -1.3090912961111167e-09}, "actuator_forces": {"shoulder_pan": -1.6395915736211464e-09, "shoulder_lift": -0.040068747928671655, "elbow_flex": -0.34294088362644004, "wrist_flex": -0.10820844798922735, "wrist_roll": -0.00011747514256838904, "gripper": -2.779603563629081}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839880332157, -0.1043364800906919, 0.18899174976734495], "quaternion_wxyz": [0.846871950153688, 0.16989009465315863, 0.3447375822523838, -0.36756122641596795], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 210, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579716.1759574, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547836239493447, -0.0989288703587276, 0.195951907489133], "quaternion_wxyz": [0.838553646166156, -0.14332740960905305, -0.36278397317097366, -0.3803588108174789], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933172522877975}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809930700773766}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229743739372307}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1065019172680985}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052352991329567}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402275676140762}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280217291132145}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273252003056207}], "left_finger_force_n": 47.131701871621715, "right_finger_force_n": 46.955744970329114, "bilateral_contact": true, "supported": false, "lift_m": 0.09582678444886614}, "simulation_time": 20.901999999999294, "positions": {"shoulder_pan": 0.7987404372075599, "shoulder_lift": -0.9724675333059233, "elbow_flex": 0.12829753006246533, "wrist_flex": 1.6319474717770803, "wrist_roll": 1.1766735033141457e-07, "gripper": -0.17174544003512074}, "velocities": {"shoulder_pan": -4.341864645980396e-12, "shoulder_lift": 3.0488885691827756e-09, "elbow_flex": 3.047838320931364e-09, "wrist_flex": 3.0460928783739414e-09, "wrist_roll": -1.7160830253780637e-10, "gripper": -1.0553312812116743e-09}, "actuator_forces": {"shoulder_pan": -1.1151541912113316e-09, "shoulder_lift": -0.04006905226663093, "elbow_flex": -0.3429411878572495, "wrist_flex": -0.10820875204785807, "wrist_roll": -0.00011745777615445193, "gripper": -2.779603447356436}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083987906994, -0.10433648007742032, 0.18899174964105742], "quaternion_wxyz": [0.8468719499867288, 0.16989009482059464, 0.344737582639677, -0.3675612263600131], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 211, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579716.6145697, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547915768474195, -0.09892982712696718, 0.19595069928129033], "quaternion_wxyz": [0.8385531562704743, -0.1433269772829177, -0.362784096007237, -0.38035993660739026], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933211668839889}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.80989000644598}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22978611243672}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106464450042812}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052348484885027}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402312223983527}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280174765356453}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27325687013627}], "left_finger_force_n": 47.13170072265043, "right_finger_force_n": 46.95574385947625, "bilateral_contact": true, "supported": false, "lift_m": 0.09582557624102347}, "simulation_time": 21.00199999999924, "positions": {"shoulder_pan": 0.7987404372072011, "shoulder_lift": -0.9724675330010277, "elbow_flex": 0.12829753036725727, "wrist_flex": 1.6319474720816987, "wrist_roll": 1.1765038306737762e-07, "gripper": -0.17174544013285206}, "velocities": {"shoulder_pan": -2.9493398762815305e-12, "shoulder_lift": 3.0490079253232177e-09, "elbow_flex": 3.047987902563298e-09, "wrist_flex": 3.04623075019701e-09, "wrist_roll": -1.6803740216263695e-10, "gripper": -9.153751469627524e-10}, "actuator_forces": {"shoulder_pan": -7.580638339277357e-10, "shoulder_lift": -0.040069356619596874, "elbow_flex": -0.3429414921067604, "wrist_flex": -0.10820905612399656, "wrist_roll": -0.00011744084179072865, "gripper": -2.7796033499062958}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083987780561, -0.10433648006416729, 0.18899174951476233], "quaternion_wxyz": [0.8468719498197658, 0.16989009498788374, 0.3447375830270586, -0.36756122630405086], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 212, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579716.8889852, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13547995415722178, -0.09893078278628084, 0.19594949110184803], "quaternion_wxyz": [0.8385528214487674, -0.14332671238068864, -0.3627841527587016, -0.380360720455733], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933238151761955}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098620720030105}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229815802125189}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106439722366243}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052344081904142}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402336263861395}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280144910415336}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27326182323107}], "left_finger_force_n": 47.13169983016054, "right_finger_force_n": 46.9557429975078, "bilateral_contact": true, "supported": false, "lift_m": 0.09582436806158118}, "simulation_time": 21.101999999999183, "positions": {"shoulder_pan": 0.7987404372069573, "shoulder_lift": -0.9724675326961227, "elbow_flex": 0.1282975306720612, "wrist_flex": 1.6319474723863294, "wrist_roll": 1.1763371091819649e-07, "gripper": -0.1717454402199296}, "velocities": {"shoulder_pan": -2.0053743191005394e-12, "shoulder_lift": 3.0490901020649024e-09, "elbow_flex": 3.048083217097632e-09, "wrist_flex": 3.0463068697416797e-09, "wrist_roll": -1.656098380074238e-10, "gripper": -8.348844290195552e-10}, "actuator_forces": {"shoulder_pan": -5.152287485543638e-10, "shoulder_lift": -0.040069660981885136, "elbow_flex": -0.34294179636823685, "wrist_flex": -0.1082093602126406, "wrist_roll": -0.00011742420115253923, "gripper": -2.7796032630452316}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839876539823, -0.1043364800509269, 0.1889917493884627], "quaternion_wxyz": [0.8468719496528004, 0.16989009515507256, 0.34473758341449917, -0.3675612262480841], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 213, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579717.3153005, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548075143351632, -0.09893173769158693, 0.19594828294101405], "quaternion_wxyz": [0.8385525920887833, -0.14332656128078253, -0.3627841645164461, -0.38036127183075885], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933256024791803}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098428125804995}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229836871539349}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106423659328048}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05233974402897}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402351796416298}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280123667084512}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273266841497712}], "left_finger_force_n": 47.13169911226867, "right_finger_force_n": 46.95574230499852, "bilateral_contact": true, "supported": false, "lift_m": 0.09582315990074719}, "simulation_time": 21.201999999999128, "positions": {"shoulder_pan": 0.7987404372067914, "shoulder_lift": -0.9724675323912111, "elbow_flex": 0.1282975309768729, "wrist_flex": 1.6319474726909664, "wrist_roll": 1.176172393884188e-07, "gripper": -0.17174544030076586}, "velocities": {"shoulder_pan": -1.3636154508663554e-12, "shoulder_lift": 3.0491399549641396e-09, "elbow_flex": 3.048145363563704e-09, "wrist_flex": 3.046398016962418e-09, "wrist_roll": -1.639596254774159e-10, "gripper": -7.867615164359228e-10}, "actuator_forces": {"shoulder_pan": -3.50269147020299e-10, "shoulder_lift": -0.04006996535088092, "elbow_flex": -0.342942100637444, "wrist_flex": -0.10820966430719636, "wrist_roll": -0.00011740776018920413, "gripper": -2.7796031823895078}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083987527309, -0.10433648003769543, 0.18899174926215995], "quaternion_wxyz": [0.8468719494858344, 0.16989009532219312, 0.34473758380197944, -0.3675612261921148], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 214, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579717.6514406, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548154925611933, -0.09893269208427473, 0.19594707479246923], "quaternion_wxyz": [0.838552434444134, -0.14332648754180558, -0.36278414565484096, -0.3803616651533566], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933268043840787}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809829451097811}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229852081462522}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106413488719546}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052335448061537}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402361543437198}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280108277291847}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273271907083494}], "left_finger_force_n": 47.1316985131822, "right_finger_force_n": 46.95574172781254, "bilateral_contact": true, "supported": false, "lift_m": 0.09582195175220237}, "simulation_time": 21.301999999999072, "positions": {"shoulder_pan": 0.7987404372066789, "shoulder_lift": -0.9724675320862941, "elbow_flex": 0.12829753128168972, "wrist_flex": 1.6319474729956103, "wrist_roll": 1.1760090423056739e-07, "gripper": -0.17174544037780992}, "velocities": {"shoulder_pan": -9.292236450713924e-13, "shoulder_lift": 3.049154993398828e-09, "elbow_flex": 3.0481861120032518e-09, "wrist_flex": 3.0464004821503948e-09, "wrist_roll": -1.6283793886304795e-10, "gripper": -7.570134910493089e-10}, "actuator_forces": {"shoulder_pan": -2.382876118645072e-10, "shoulder_lift": -0.04007026972499261, "elbow_flex": -0.34294240491171024, "wrist_flex": -0.10820996840902808, "wrist_roll": -0.00011739145495561893, "gripper": -2.7796031055052026}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839874005673, -0.10433648002446974, 0.18899174913585493], "quaternion_wxyz": [0.846871949318867, 0.16989009548926803, 0.3447375841894875, -0.36756122613614317], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 215, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579718.1067984, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548234744998924, -0.09893364612849652, 0.1959458666520663], "quaternion_wxyz": [0.8385523255639542, -0.1433264663944781, -0.362784105962529, -0.38036195101919307], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93327608272621}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098200995200795}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229863308172652}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10640732496652}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05233117952866}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402367356252588}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280096866637047}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27327700619315}], "left_finger_force_n": 47.13169799491412, "right_finger_force_n": 46.95574122908279, "bilateral_contact": true, "supported": false, "lift_m": 0.09582074361179943}, "simulation_time": 21.401999999999017, "positions": {"shoulder_pan": 0.7987404372066021, "shoulder_lift": -0.9724675317813762, "elbow_flex": 0.1282975315865099, "wrist_flex": 1.6319474733002555, "wrist_roll": 1.1758466176327439e-07, "gripper": -0.17174544045247864}, "velocities": {"shoulder_pan": -6.303267909481637e-13, "shoulder_lift": 3.0492016480154724e-09, "elbow_flex": 3.048214235462148e-09, "wrist_flex": 3.0464521289384735e-09, "wrist_roll": -1.6207558622767825e-10, "gripper": -7.381267218086943e-10}, "actuator_forces": {"shoulder_pan": -1.6189005691558123e-10, "shoulder_lift": -0.04007057410012749, "elbow_flex": -0.3429427091893018, "wrist_flex": -0.10821027251199666, "wrist_roll": -0.00011737524197604881, "gripper": -2.7796030309837363}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083987273782, -0.10433648001124825, 0.18899174900954901], "quaternion_wxyz": [0.8468719491519, 0.1698900956563107, 0.34473758457701253, -0.36756122608017067], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 216, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579718.3997478, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1354831458961329, -0.09893459993587027, 0.19594465851705106], "quaternion_wxyz": [0.838552249840983, -0.14332648100145506, -0.3627840521017585, -0.380362163826786], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.93328141548763}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098134742230885}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22987182699859}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106403885734047}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052326929170334}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402370493929178}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280088161083228}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273282128704658}], "left_finger_force_n": 47.13169753161369, "right_finger_force_n": 46.95574078371706, "bilateral_contact": true, "supported": false, "lift_m": 0.0958195354767842}, "simulation_time": 21.50199999999896, "positions": {"shoulder_pan": 0.7987404372065501, "shoulder_lift": -0.972467531476455, "elbow_flex": 0.1282975318913323, "wrist_flex": 1.6319474736049029, "wrist_roll": 1.1756848228847324e-07, "gripper": -0.17174544052562388}, "velocities": {"shoulder_pan": -4.3028297840629943e-13, "shoulder_lift": 3.0492003826694068e-09, "elbow_flex": 3.048231421698333e-09, "wrist_flex": 3.0465065746695126e-09, "wrist_roll": -1.6155754113207244e-10, "gripper": -7.258887223955843e-10}, "actuator_forces": {"shoulder_pan": -1.1004885891452432e-10, "shoulder_lift": -0.04007087847855928, "elbow_flex": -0.3429430134691387, "wrist_flex": -0.10821057661746636, "wrist_roll": -0.0001173590916922315, "gripper": -2.7796029579779713}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839871469663, -0.10433647999802945, 0.18899174888324188], "quaternion_wxyz": [0.8468719489849322, 0.16989009582333145, 0.34473758496455015, -0.3675612260241968], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 217, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579718.84579, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548394451365534, -0.09893555358228798, 0.19594345038557942], "quaternion_wxyz": [0.8385521966625339, -0.14332651991653847, -0.36278398860531186, -0.38036232696295624], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933284908355287}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809808702495146}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229878504874686}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106402299014544}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052322690954473}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402371812661524}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28008129458124}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27328726740024}], "left_finger_force_n": 47.13169710569414, "right_finger_force_n": 46.955740374643, "bilateral_contact": true, "supported": false, "lift_m": 0.09581832734531257}, "simulation_time": 21.601999999998906, "positions": {"shoulder_pan": 0.7987404372065147, "shoulder_lift": -0.9724675311715327, "elbow_flex": 0.12829753219615633, "wrist_flex": 1.6319474739095534, "wrist_roll": 1.1755234561492016e-07, "gripper": -0.17174544059777455}, "velocities": {"shoulder_pan": -2.9079794409798965e-13, "shoulder_lift": 3.0492001292187293e-09, "elbow_flex": 3.0482413387799946e-09, "wrist_flex": 3.046505465262329e-09, "wrist_roll": -1.6120559200310422e-10, "gripper": -7.178385727176256e-10}, "actuator_forces": {"shoulder_pan": -7.480593922082335e-11, "shoulder_lift": -0.04007118285812794, "elbow_flex": -0.3429433177505956, "wrist_flex": -0.10821088072566454, "wrist_roll": -0.00011734298400794037, "gripper": -2.779602885961822}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1404083987020129, -0.10433647998481238, 0.18899174875693406], "quaternion_wxyz": [0.8468719488179639, 0.16989009599033858, 0.3447375853520969, -0.36756122596822244], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 218, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579719.12432, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548474324756013, -0.09893650711934844, 0.195942242256409], "quaternion_wxyz": [0.838552158812473, -0.1433265753581553, -0.3627839185564171, -0.3803624563280351], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933287150282394}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809805190991896}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229883931155629}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.106401971865131}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.05231846089779}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402371894644153}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28007567838118}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27329241722177}], "left_finger_force_n": 47.13169670519284, "right_finger_force_n": 46.9557399902471, "bilateral_contact": true, "supported": false, "lift_m": 0.09581711921614214}, "simulation_time": 21.70199999999885, "positions": {"shoulder_pan": 0.7987404372064904, "shoulder_lift": -0.9724675308666101, "elbow_flex": 0.12829753250098133, "wrist_flex": 1.6319474742142046, "wrist_roll": 1.1753623801546018e-07, "gripper": -0.17174544066926753}, "velocities": {"shoulder_pan": -1.9858014158649084e-13, "shoulder_lift": 3.049207101318627e-09, "elbow_flex": 3.0482499178595235e-09, "wrist_flex": 3.0465066212640485e-09, "wrist_roll": -1.6096655444491559e-10, "gripper": -7.124863438709444e-10}, "actuator_forces": {"shoulder_pan": -5.0590642786119133e-11, "shoulder_lift": -0.04007148723803766, "elbow_flex": -0.34294362203299045, "wrist_flex": -0.10821118483454484, "wrist_roll": -0.00011732690526066849, "gripper": -2.7796028146001674}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839868932775, -0.10433647997159663, 0.1889917486306258], "quaternion_wxyz": [0.8468719486509958, 0.1698900961573352, 0.3447375857396491, -0.3675612259122478], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 219, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579719.5296447, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548554206045788, -0.09893746058213268, 0.19594103412869981], "quaternion_wxyz": [0.8385521313843048, -0.14332664203594192, -0.3627838440519836, -0.38036256273246294], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933288541699048}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809802536305526}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229888506509413}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1064025011158884}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052314236345865}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40237113574119}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280070912228146}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27329757466309}], "left_finger_force_n": 47.13169632197574, "right_finger_force_n": 46.95573962263242, "bilateral_contact": true, "supported": false, "lift_m": 0.09581591108843296}, "simulation_time": 21.801999999998795, "positions": {"shoulder_pan": 0.7987404372064741, "shoulder_lift": -0.9724675305616873, "elbow_flex": 0.12829753280580694, "wrist_flex": 1.6319474745188567, "wrist_roll": 1.175201501573362e-07, "gripper": -0.17174544074032158}, "velocities": {"shoulder_pan": -1.332458268702447e-13, "shoulder_lift": 3.0492203252911192e-09, "elbow_flex": 3.0482552477054363e-09, "wrist_flex": 3.046507549296907e-09, "wrist_roll": -1.608043035008237e-10, "gripper": -7.089047825759804e-10}, "actuator_forces": {"shoulder_pan": -3.444711182964966e-11, "shoulder_lift": -0.04007179161806107, "elbow_flex": -0.34294392631601056, "wrist_flex": -0.10821148894410726, "wrist_roll": -0.00011731084616157288, "gripper": -2.779602743675298}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839867664157, -0.10433647995838169, 0.18899174850431755], "quaternion_wxyz": [0.8468719484840275, 0.16989009632432506, 0.3447375861272045, -0.36756122585627293], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 220, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 10951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579719.8489058, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548634092692818, -0.09893841399449119, 0.19593982600188248], "quaternion_wxyz": [0.8385521110420074, -0.1433267163531351, -0.3627837665179714, -0.38036265352615345], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9332893548570915}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8098004641626995}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229892503334135}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1064036126397445}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.052310015516603}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402369805112741}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280066724005112}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.273302737309674}], "left_finger_force_n": 47.13169595051028, "right_finger_force_n": 46.95573926642753, "bilateral_contact": true, "supported": false, "lift_m": 0.09581470296161562}, "simulation_time": 21.90199999999874, "positions": {"shoulder_pan": 0.798740437206463, "shoulder_lift": -0.9724675302567646, "elbow_flex": 0.12829753311063288, "wrist_flex": 1.6319474748235088, "wrist_roll": 1.1750407569579046e-07, "gripper": -0.17174544081108123}, "velocities": {"shoulder_pan": -9.618713765819572e-14, "shoulder_lift": 3.049244226545662e-09, "elbow_flex": 3.048262786674853e-09, "wrist_flex": 3.0465070657372604e-09, "wrist_roll": -1.6069423937472604e-10, "gripper": -7.064910051315196e-10}, "actuator_forces": {"shoulder_pan": -2.3419488570652902e-11, "shoulder_lift": -0.04007209599808448, "elbow_flex": -0.34294423059940016, "wrist_flex": -0.10821179305412443, "wrist_roll": -0.00011729480039575928, "gripper": -2.779602673043428}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839866395471, -0.10433647994516734, 0.18899174837800908], "quaternion_wxyz": [0.8468719483170593, 0.16989009649131018, 0.34473758651476266, -0.3675612258002979], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 221, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579720.3079324, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13548713982968866, -0.09893936737263888, 0.19593861787557051], "quaternion_wxyz": [0.8385520955173765, -0.143326795864373, -0.36278368692401286, -0.38036273370624873], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.928971207603845}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.805488844136693}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.225293354844029}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.101810991376878}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.048123826631407}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.406768186869494}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.284471570311013}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.277296363597706}], "left_finger_force_n": 47.10968822459285, "right_finger_force_n": 46.96853612077821, "bilateral_contact": true, "supported": false, "lift_m": 0.09581349483530366}, "simulation_time": 22.001999999998684, "positions": {"shoulder_pan": 0.7987404401103592, "shoulder_lift": -0.9724669652638184, "elbow_flex": 0.12832581146947433, "wrist_flex": 1.6319525539939654, "wrist_roll": 1.18733533753273e-07, "gripper": -0.1717454376433641}, "velocities": {"shoulder_pan": 1.4519513319244526e-06, "shoulder_lift": 0.0002823470605405394, "elbow_flex": 0.014139030055725204, "wrist_flex": 0.0025394359484809613, "wrist_roll": 6.226010985744529e-07, "gripper": 1.6184341539476312e-06}, "actuator_forces": {"shoulder_pan": 2.2737367544323206e-13, "shoulder_lift": -8.327560863108374e-09, "elbow_flex": -8.324803957293625e-09, "wrist_flex": -8.320057531818748e-09, "wrist_roll": 4.386556383699416e-10, "gripper": -2.779602602609316}, "applied_targets": {"shoulder_pan": 0.7987404372064565, "shoulder_lift": -0.9724675299579395, "elbow_flex": 0.12829753340936287, "wrist_flex": 1.6319474751220684, "wrist_roll": 1.174883315561241e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.14040839865126745, -0.10433647993195347, 0.18899174825170034], "quaternion_wxyz": [0.8468719481500907, 0.16989009665829288, 0.34473758690232253, -0.367561225744323], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 222, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579720.608712, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13599479156081837, -0.0994616097344213, 0.19336193841735638], "quaternion_wxyz": [0.841893997801853, -0.14013479130004575, -0.35462028336824486, -0.3818654100024396], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932483857637489}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8090062667892655}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.232310696986816}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10883310613859}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.046772048849334}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.399827081787242}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.27753519201832}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.280248368559533}], "left_finger_force_n": 47.12940597640149, "right_finger_force_n": 46.9576106423651, "bilateral_contact": true, "supported": false, "lift_m": 0.09323681537708953}, "simulation_time": 22.10199999999863, "positions": {"shoulder_pan": 0.798740485274883, "shoulder_lift": -0.9610853851215565, "elbow_flex": 0.135250120666183, "wrist_flex": 1.6328605889792653, "wrist_roll": 2.3132789749589013e-07, "gripper": -0.17174602615193088}, "velocities": {"shoulder_pan": -6.755275177077841e-07, "shoulder_lift": 0.1171194074554364, "elbow_flex": 0.0683541321187917, "wrist_flex": 0.008660649331513554, "wrist_roll": -6.436968584422236e-08, "gripper": -6.527855710613343e-07}, "actuator_forces": {"shoulder_pan": -4.627645898835908e-05, "shoulder_lift": 0.08763622328626752, "elbow_flex": -0.24387893332686872, "wrist_flex": -0.049027526301642865, "wrist_roll": -0.00011751938073518681, "gripper": -2.7790165694842983}, "applied_targets": {"shoulder_pan": 0.798740437949948, "shoulder_lift": -0.9609128572542429, "elbow_flex": 0.13505503041992659, "wrist_flex": 1.632817892617999, "wrist_roll": 1.1357205383761639e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.14081054896637404, -0.10474951886228362, 0.18629903404005524], "quaternion_wxyz": [0.8434187384803193, 0.17318618923992293, 0.3527764755329888, -0.3663333642290064], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 223, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579721.002093, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13647903196813704, -0.09995900726754495, 0.19076381873365872], "quaternion_wxyz": [0.8451823971510297, -0.13690809711202437, -0.3463670030267209, -0.3833442156932745], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.933017000542503}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809535031656073}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.230729629316702}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.107247660430274}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.047703797225807}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.401439805770156}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279143580003405}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.278393301609565}], "left_finger_force_n": 47.12823311917136, "right_finger_force_n": 46.95897668738313, "bilateral_contact": true, "supported": false, "lift_m": 0.09063869569339186}, "simulation_time": 22.201999999998574, "positions": {"shoulder_pan": 0.7987404422615104, "shoulder_lift": -0.9495110206851269, "elbow_flex": 0.14201974816694263, "wrist_flex": 1.6337287303390293, "wrist_roll": 2.2414039752518227e-07, "gripper": -0.1717456082491823}, "velocities": {"shoulder_pan": -4.946761527157655e-08, "shoulder_lift": 0.11563082215367886, "elbow_flex": 0.06761968046292342, "wrist_flex": 0.008685012179954063, "wrist_roll": -6.258971701536174e-08, "gripper": 5.009715934933044e-06}, "actuator_forces": {"shoulder_pan": -3.5322195799381007e-06, "shoulder_lift": 0.06758557613886751, "elbow_flex": -0.25655559236255954, "wrist_flex": -0.04673040020293229, "wrist_roll": -0.00011423454803079985, "gripper": -2.7794392939932493}, "applied_targets": {"shoulder_pan": 0.7987404386934396, "shoulder_lift": -0.9493581845505462, "elbow_flex": 0.1418125274304903, "wrist_flex": 1.6336883101139295, "wrist_roll": 1.0965577611910868e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.14119677996674068, -0.10514618690721714, 0.18356659689303353], "quaternion_wxyz": [0.8398230395309128, 0.1765288604944963, 0.3609352310275238, -0.3650487401549027], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 224, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579721.2936575, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1369235708322772, -0.10041555716607774, 0.18816543051127171], "quaternion_wxyz": [0.8483959809167017, -0.13366556409336963, -0.3380761998570754, -0.3847885908264295], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932796272808626}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8093133409006}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.229543323378008}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10606039146998}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.048337440072753}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.402625821858441}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280328642317565}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27728748162928}], "left_finger_force_n": 47.126050768629966, "right_finger_force_n": 46.960241945805286, "bilateral_contact": true, "supported": false, "lift_m": 0.08804030747100486}, "simulation_time": 22.301999999998518, "positions": {"shoulder_pan": 0.7987404415656839, "shoulder_lift": -0.9379500040409559, "elbow_flex": 0.14877985813127978, "wrist_flex": 1.6345969435380625, "wrist_roll": 2.1787667508406894e-07, "gripper": -0.17174519315668182}, "velocities": {"shoulder_pan": 6.107223197493805e-09, "shoulder_lift": 0.11561146938293654, "elbow_flex": 0.0676018673162295, "wrist_flex": 0.008682025206995977, "wrist_roll": -6.290251291726715e-08, "gripper": 3.3946327016566072e-06}, "actuator_forces": {"shoulder_pan": -2.128835490111669e-06, "shoulder_lift": 0.06130810617469251, "elbow_flex": -0.2591176425275421, "wrist_flex": -0.044525358738155774, "wrist_roll": -0.00011189139333654846, "gripper": -2.77985245148696}, "applied_targets": {"shoulder_pan": 0.7987404394369311, "shoulder_lift": -0.9378035118468496, "elbow_flex": 0.14857002444105405, "wrist_flex": 1.63455872760986, "wrist_roll": 1.0573949840060097e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.14154217102515446, -0.10550091952735728, 0.1808374756920949], "quaternion_wxyz": [0.8361550384815489, 0.17985056098726718, 0.36904922262931983, -0.3637323172487962], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 225, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579721.7492285, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13732970144222326, -0.10083264774462686, 0.18556454819178786], "quaternion_wxyz": [0.8515355060245298, -0.13040651419911098, -0.32974487104713457, -0.3861990976842054], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932482386975259}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.809000607577641}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.228785947512898}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.105304168115278}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04828321093374}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403363462875358}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28106742477784}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.277099922586316}], "left_finger_force_n": 47.123856321114815, "right_finger_force_n": 46.961530810239516, "bilateral_contact": true, "supported": false, "lift_m": 0.085439425151521}, "simulation_time": 22.401999999998463, "positions": {"shoulder_pan": 0.7987404423140573, "shoulder_lift": -0.9263887892467949, "elbow_flex": 0.1555400687324449, "wrist_flex": 1.6354651339889081, "wrist_roll": 2.1156581192878037e-07, "gripper": -0.1717449058512687}, "velocities": {"shoulder_pan": 7.79752821029804e-09, "shoulder_lift": 0.1156117516936709, "elbow_flex": 0.06760151567119757, "wrist_flex": 0.008681722639000407, "wrist_roll": -6.330174615560247e-08, "gripper": 2.4836983312987456e-06}, "actuator_forces": {"shoulder_pan": -2.1355564285840956e-06, "shoulder_lift": 0.05477719193481789, "elbow_flex": -0.26182637265259245, "wrist_flex": -0.04230208868648333, "wrist_roll": -0.00010950077202222523, "gripper": -2.780138538763822}, "applied_targets": {"shoulder_pan": 0.7987404401804226, "shoulder_lift": -0.9262488391431529, "elbow_flex": 0.15532752145161777, "wrist_flex": 1.6354291451057907, "wrist_roll": 1.0182322068209327e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.1418474841582216, -0.10581449056021394, 0.1781088198838356], "quaternion_wxyz": [0.832410023832356, 0.1831557388785173, 0.3771293228018775, -0.3623823966782569], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 226, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579722.0492554, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13769750375136258, -0.10121036797025429, 0.18296243394244463], "quaternion_wxyz": [0.85459838137781, -0.12713360604411572, -0.3213790556609645, -0.3875747093698372], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932137251621738}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808657999315619}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.22822620025269}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1047469479465715}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04787575504977}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.403894395595872}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.2816008603233}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.277368624738948}], "left_finger_force_n": 47.121644154186384, "right_finger_force_n": 46.96286388065812, "bilateral_contact": true, "supported": false, "lift_m": 0.08283731090217777}, "simulation_time": 22.501999999998407, "positions": {"shoulder_pan": 0.7987404430954068, "shoulder_lift": -0.9148276587534347, "elbow_flex": 0.16230015641606083, "wrist_flex": 1.636333287548175, "wrist_roll": 2.0521562151648814e-07, "gripper": -0.17174468129434417}, "velocities": {"shoulder_pan": 7.819612095126289e-09, "shoulder_lift": 0.11561088815783263, "elbow_flex": 0.06760027320462593, "wrist_flex": 0.008681358168084167, "wrist_roll": -6.36933274152628e-08, "gripper": 2.071453662041491e-06}, "actuator_forces": {"shoulder_pan": -2.1733717403549235e-06, "shoulder_lift": 0.04833151662626278, "elbow_flex": -0.2644115326964709, "wrist_flex": -0.040041914154244296, "wrist_roll": -0.00010707090375427415, "gripper": -2.7803623745632535}, "applied_targets": {"shoulder_pan": 0.798740440923914, "shoulder_lift": -0.9146941664394563, "elbow_flex": 0.16208501846218148, "wrist_flex": 1.6362995626017212, "wrist_roll": 9.790694296358556e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14211281137081078, -0.10608699418026467, 0.1753818434684416], "quaternion_wxyz": [0.8285884260426755, 0.18644401451925913, 0.38517460421541677, -0.36099913288754654], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 227, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579722.466645, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13802705894751996, -0.10154880309894375, 0.18036021381746173], "quaternion_wxyz": [0.8575833281359606, -0.12384819396484448, -0.31298186640658743, -0.3889149154449405], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.931775718382426}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.808299913441273}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227751096361376}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.104275291420224}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04730366644373}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404336248453289}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28204612744215}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27784756583133}], "left_finger_force_n": 47.11940568604903, "right_finger_force_n": 46.96422994172677, "bilateral_contact": true, "supported": false, "lift_m": 0.08023509077719487}, "simulation_time": 22.601999999998352, "positions": {"shoulder_pan": 0.7987404438770829, "shoulder_lift": -0.9032666136456894, "elbow_flex": 0.16906012073250776, "wrist_flex": 1.6372014051914316, "wrist_roll": 1.988266073962387e-07, "gripper": -0.17174448450425964}, "velocities": {"shoulder_pan": 7.813091185987206e-09, "shoulder_lift": 0.11561002921356908, "elbow_flex": 0.0675990367293551, "wrist_flex": 0.00868100322056756, "wrist_roll": -6.407795662614041e-08, "gripper": 1.8931770495757675e-06}, "actuator_forces": {"shoulder_pan": -2.211483661085367e-06, "shoulder_lift": 0.041971086188027584, "elbow_flex": -0.26687353854546814, "wrist_flex": -0.037745893996770974, "wrist_roll": -0.00010460228586480608, "gripper": -2.780558674969825}, "applied_targets": {"shoulder_pan": 0.7987404416674057, "shoulder_lift": -0.9031394937357597, "elbow_flex": 0.1688425154727452, "wrist_flex": 1.6371699800976518, "wrist_roll": 9.399066524507785e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14233826769829347, -0.10631854852647704, 0.1726576919028336], "quaternion_wxyz": [0.8246906007764018, 0.1897150850146723, 0.39318432556490146, -0.359582654808329], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 228, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579722.8093898, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13831845943946955, -0.10184804879862845, 0.17775899503205117], "quaternion_wxyz": [0.8604896342433287, -0.12055105683724365, -0.3045551377272942, -0.3902194256301374], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.931403964639765}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807932237593736}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.227309395629247}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1038376685832185}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.046653545516705}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40474244496036}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28245636268611}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27842428236461}], "left_finger_force_n": 47.11713681196267, "right_finger_force_n": 46.96562309001108, "bilateral_contact": true, "supported": false, "lift_m": 0.07763387199178431}, "simulation_time": 22.701999999998296, "positions": {"shoulder_pan": 0.7987404446579347, "shoulder_lift": -0.891705655059743, "elbow_flex": 0.17581996103901676, "wrist_flex": 1.6380694877764974, "wrist_roll": 1.9239954499950514e-07, "gripper": -0.17174429946963538}, "velocities": {"shoulder_pan": 7.803941132361202e-09, "shoulder_lift": 0.11560915786465803, "elbow_flex": 0.06759779308969818, "wrist_flex": 0.008680656843948042, "wrist_roll": -6.445432997492423e-08, "gripper": 1.8202856233635118e-06}, "actuator_forces": {"shoulder_pan": -2.2487708974949783e-06, "shoulder_lift": 0.03569703218727227, "elbow_flex": -0.2692117502857059, "wrist_flex": -0.03541488436871987, "wrist_roll": -0.00010209569344499778, "gripper": -2.7807433229105243}, "applied_targets": {"shoulder_pan": 0.7987404424108971, "shoulder_lift": -0.891584821032063, "elbow_flex": 0.17560001248330892, "wrist_flex": 1.6380403975935824, "wrist_roll": 9.007438752657015e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14252398377493972, -0.10650928776595223, 0.16993750506183042], "quaternion_wxyz": [0.8207169099388057, 0.19296864976222616, 0.40115775053057623, -0.3581330941684792], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 229, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579723.2417812, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13857181114115855, -0.10210821416626242, 0.1751598746233821], "quaternion_wxyz": [0.8633168420649784, -0.11724271326891017, -0.29610012572822214, -0.3914880482671577], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.931024838741099}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807557631301215}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.226878141092121}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.103410933652236}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.045964570532444}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.405136988672313}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.282855382604414}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.27904797691217}], "left_finger_force_n": 47.114836115319115, "right_finger_force_n": 46.967040348188895, "bilateral_contact": true, "supported": false, "lift_m": 0.07503475158311523}, "simulation_time": 22.80199999999824, "positions": {"shoulder_pan": 0.7987404454378286, "shoulder_lift": -0.8801447842330273, "elbow_flex": 0.18257967662802294, "wrist_flex": 1.6389375361654772, "wrist_roll": 1.8593529202852172e-07, "gripper": -0.17174411901021347}, "velocities": {"shoulder_pan": 7.794054427343434e-09, "shoulder_lift": 0.11560827434585584, "elbow_flex": 0.06759654259491081, "wrist_flex": 0.008680319145139838, "wrist_roll": -6.482187633146385e-08, "gripper": 1.7944464505492224e-06}, "actuator_forces": {"shoulder_pan": -2.2851013454783242e-06, "shoulder_lift": 0.029510590170502837, "elbow_flex": -0.27142546145779534, "wrist_flex": -0.03304974589104859, "wrist_roll": -9.955198311142816e-05, "gripper": -2.780923440454643}, "applied_targets": {"shoulder_pan": 0.7987404431543886, "shoulder_lift": -0.8800301483283665, "elbow_flex": 0.18235750949387267, "wrist_flex": 1.638910815089513, "wrist_roll": 8.615810980806244e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14267010567780875, -0.1066593619264889, 0.16722241742509386], "quaternion_wxyz": [0.8166677224570471, 0.19620440975547904, 0.40909414609440575, -0.3566505857567206], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 230, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579723.5238035, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13878723414859684, -0.10232942266811736, 0.17256394234067765], "quaternion_wxyz": [0.8660646100414906, -0.11392356493140962, -0.28761782651543, -0.39272063665860424], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.930639717753078}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807177346483185}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.226447112557571}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.102984741287678}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.045254512602448}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.405530617122077}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.283253800784554}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.279695665213914}], "left_finger_force_n": 47.11250343068396, "right_finger_force_n": 46.96848008312055, "bilateral_contact": true, "supported": false, "lift_m": 0.0724388193004108}, "simulation_time": 22.901999999998186, "positions": {"shoulder_pan": 0.7987404462167133, "shoulder_lift": -0.8685840023621652, "elbow_flex": 0.1893392668364429, "wrist_flex": 1.6398055512321632, "wrist_roll": 1.7943474891762825e-07, "gripper": -0.1717439399327715}, "velocities": {"shoulder_pan": 7.783799160242837e-09, "shoulder_lift": 0.11560737904645446, "elbow_flex": 0.06759528567744102, "wrist_flex": 0.008679990241768585, "wrist_roll": -6.518027409968549e-08, "gripper": 1.789403195371358e-06}, "actuator_forces": {"shoulder_pan": -2.3204238459584303e-06, "shoulder_lift": 0.023412954340528813, "elbow_flex": -0.2735140104799143, "wrist_flex": -0.030651350887865192, "wrist_roll": -9.697205394080184e-05, "gripper": -2.7811021946987466}, "applied_targets": {"shoulder_pan": 0.7987404438978801, "shoulder_lift": -0.8684754756246699, "elbow_flex": 0.18911500650443638, "wrist_flex": 1.6397812325854435, "wrist_roll": 8.224183208955473e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14277679483853936, -0.10676893680578203, 0.16451355760608488], "quaternion_wxyz": [0.8125434141802544, 0.19942206766626247, 0.4169927827419411, -0.3551352673857392], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 231, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579723.937097, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13896486299330113, -0.10251181250765491, 0.1699722817046432], "quaternion_wxyz": [0.868732651784747, -0.11059396130256605, -0.2791091200944716, -0.39391706554367106], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.930249313802299}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.806792011178656}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2260118126229544}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10255450999931}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.044531515304538}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.405928094799448}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28365629843619}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.280356870818324}], "left_finger_force_n": 47.11013916290776, "right_finger_force_n": 46.96994126405396, "bilateral_contact": true, "supported": false, "lift_m": 0.06984715866437635}, "simulation_time": 23.00199999999813, "positions": {"shoulder_pan": 0.7987404469945607, "shoulder_lift": -0.8570233106057453, "elbow_flex": 0.19609873104386824, "wrist_flex": 1.640673533862096, "wrist_roll": 1.7289884183509076e-07, "gripper": -0.17174376083770548}, "velocities": {"shoulder_pan": 7.773329341836705e-09, "shoulder_lift": 0.11560647234912255, "elbow_flex": 0.06759402276683817, "wrist_flex": 0.008679670251297837, "wrist_roll": -6.552931341484098e-08, "gripper": 1.7933478765437952e-06}, "actuator_forces": {"shoulder_pan": -2.354710886720568e-06, "shoulder_lift": 0.01740528094239835, "elbow_flex": -0.27547677836332696, "wrist_flex": -0.028220583409165556, "wrist_roll": -9.435683061102399e-05, "gripper": -2.781280973562332}, "applied_targets": {"shoulder_pan": 0.7987404446413717, "shoulder_lift": -0.8569208029209732, "elbow_flex": 0.1958725035150001, "wrist_flex": 1.6406516500813741, "wrist_roll": 7.832555437104702e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14284422794539567, -0.1068381938708048, 0.16181204793209025], "quaternion_wxyz": [0.8083443678431131, 0.2026213278709338, 0.42485293452695844, -0.3535872798786301], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 232, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579724.235479, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13910484671476314, -0.1026555367485514, 0.16738597025596968], "quaternion_wxyz": [0.8713207093158881, -0.10725422884690017, -0.2705748352925875, -0.3950772208291745], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.929854036860315}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.806401978177245}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.225570314048775}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.102118255365705}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.043799394982095}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.406331495159598}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.284064892381656}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.281026739683256}], "left_finger_force_n": 47.10774397943413, "right_finger_force_n": 46.97142312722451, "bilateral_contact": true, "supported": false, "lift_m": 0.06726084721570283}, "simulation_time": 23.101999999998075, "positions": {"shoulder_pan": 0.7987404477713536, "shoulder_lift": -0.8454627100838623, "elbow_flex": 0.2028580686730669, "wrist_flex": 1.6415414849524947, "wrist_roll": 1.6632851498968128e-07, "gripper": -0.17174358113203947}, "velocities": {"shoulder_pan": 7.762722156890366e-09, "shoulder_lift": 0.11560555464062054, "elbow_flex": 0.06759275429654765, "wrist_flex": 0.008679359289620537, "wrist_roll": -6.586883589893409e-08, "gripper": 1.8009697642305412e-06}, "actuator_forces": {"shoulder_pan": -2.3879450736785657e-06, "shoulder_lift": 0.01148868779341683, "elbow_flex": -0.27731318922153037, "wrist_flex": -0.025758339162848642, "wrist_roll": -9.170725576838537e-05, "gripper": -2.7814603648311618}, "applied_targets": {"shoulder_pan": 0.7987404453848632, "shoulder_lift": -0.8453661302172766, "elbow_flex": 0.20263000052556385, "wrist_flex": 1.6415220675773048, "wrist_roll": 7.440927665253932e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14287259683983253, -0.10686733015157447, 0.159119004026691], "quaternion_wxyz": [0.8040709730278556, 0.20580189647726466, 0.43267387913770267, -0.35200676705474104], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 233, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579724.6176164, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13920734884479447, -0.10276076332073082, 0.16480607944507666], "quaternion_wxyz": [0.8738285413141147, -0.10390468415022595, -0.262015779023223, -0.396200995126645], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.929454159081604}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.806007480283035}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.225121843750287}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.101675164951718}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.043060023742935}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40674167748158}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.284480402927477}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28170294457286}], "left_finger_force_n": 47.10531867180958, "right_finger_force_n": 46.97292502498192, "bilateral_contact": true, "supported": false, "lift_m": 0.06468095640480981}, "simulation_time": 23.20199999999802, "positions": {"shoulder_pan": 0.79874044854708, "shoulder_lift": -0.8339022018777908, "elbow_flex": 0.20961727919028575, "wrist_flex": 1.6424094054120413, "wrist_roll": 1.5972472701745475e-07, "gripper": -0.171743400585644}, "velocities": {"shoulder_pan": 7.752007850827366e-09, "shoulder_lift": 0.1156046263104188, "elbow_flex": 0.06759148070250788, "wrist_flex": 0.008679057470037978, "wrist_roll": -6.61987080342986e-08, "gripper": 1.8098792802534143e-06}, "actuator_forces": {"shoulder_pan": -2.4201149244618136e-06, "shoulder_lift": 0.005664253957206711, "elbow_flex": -0.27902271057172356, "wrist_flex": -0.023265525297119893, "wrist_roll": -8.902428644162567e-05, "gripper": -2.781640596364781}, "applied_targets": {"shoulder_pan": 0.7987404461283547, "shoulder_lift": -0.83381145751358, "elbow_flex": 0.20938749753612756, "wrist_flex": 1.6423924850732352, "wrist_roll": 7.049299893403161e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14286210840756644, -0.10685655812927584, 0.15643553439559976], "quaternion_wxyz": [0.7997236261257228, 0.20896348135106638, 0.4404548979625436, -0.3503938757152764], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 234, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579724.8924546, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13927254734722594, -0.10282767496855737, 0.1622336743633969], "quaternion_wxyz": [0.8762559179615225, -0.10054563981829764, -0.25343274945496586, -0.3972882858260921], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9290498895729495}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.80560869916103}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.224666147126947}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1012249567150265}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.04231440070183}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407158951718229}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28490311284821}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.282384293449685}], "left_finger_force_n": 47.10286409327778, "right_finger_force_n": 46.974446358016124, "bilateral_contact": true, "supported": false, "lift_m": 0.062108551323130035}, "simulation_time": 23.301999999997964, "positions": {"shoulder_pan": 0.7987404493217304, "shoulder_lift": -0.8223417870297266, "elbow_flex": 0.21637636210545924, "wrist_flex": 1.6432772961605941, "wrist_roll": 1.5308844917637297e-07, "gripper": -0.17174321913171303}, "velocities": {"shoulder_pan": 7.741203128653912e-09, "shoulder_lift": 0.11560368775055999, "elbow_flex": 0.06759020242241612, "wrist_flex": 0.008678764902831286, "wrist_roll": -6.651880937760972e-08, "gripper": 1.8190001932456074e-06}, "actuator_forces": {"shoulder_pan": -2.4512104346285923e-06, "shoulder_lift": -6.698051311104791e-05, "elbow_flex": -0.2806048535420871, "wrist_flex": -0.02074306011286353, "wrist_roll": -8.630889224887979e-05, "gripper": -2.78182173401251}, "applied_targets": {"shoulder_pan": 0.7987404468718462, "shoulder_lift": -0.8222567848098833, "elbow_flex": 0.21614499454669128, "wrist_flex": 1.6432629025691659, "wrist_roll": 6.65767212155239e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14281298446419893, -0.10680610561879034, 0.15376274001597928], "quaternion_wxyz": [0.7953027302978719, 0.21210579214259112, 0.4481952761551369, -0.34874875562865404], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 235, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579725.31846, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.139300634533689, -0.10285646916901865, 0.1596698134056662], "quaternion_wxyz": [0.8786026186854275, -0.09717740711415626, -0.24482654191554307, -0.398338994274168], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9286414086008214}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8052057956294085}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2242032028965975}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.100767589925183}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.041563133499277}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407583378017726}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.285333063030487}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28307010392178}], "left_finger_force_n": 47.100381130551284, "right_finger_force_n": 46.97598654496999, "bilateral_contact": true, "supported": false, "lift_m": 0.05954469036539933}, "simulation_time": 23.40199999999791, "positions": {"shoulder_pan": 0.7987404500952965, "shoulder_lift": -0.8107814665425622, "elbow_flex": 0.2231353169723683, "wrist_flex": 1.644145158128876, "wrist_roll": 1.464206643440164e-07, "gripper": -0.17174303677705505}, "velocities": {"shoulder_pan": 7.730322305340515e-09, "shoulder_lift": 0.11560273935495262, "elbow_flex": 0.0675889198954184, "wrist_flex": 0.00867848169495442, "wrist_roll": -6.682902725710124e-08, "gripper": 1.8278468395274579e-06}, "actuator_forces": {"shoulder_pan": -2.481223305039748e-06, "shoulder_lift": -0.005704014799448487, "elbow_flex": -0.28205917303031924, "wrist_flex": -0.018191872756460725, "wrist_roll": -8.356205440129034e-05, "gripper": -2.7820037705999994}, "applied_targets": {"shoulder_pan": 0.7987404476153378, "shoulder_lift": -0.8107021121061867, "elbow_flex": 0.222902491557255, "wrist_flex": 1.6441333200650965, "wrist_roll": 6.26604434970162e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1427254616354411, -0.10671621564568132, 0.1511017139293751], "quaternion_wxyz": [0.7908086954357105, 0.2152285403127226, 0.4558943026991309, -0.3470715595156098], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 236, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579725.6281154, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13929181696536685, -0.10284735803300911, 0.15711554790323162], "quaternion_wxyz": [0.8808684311732713, -0.09380029712661388, -0.236197951516678, -0.3993530254306641], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.928228883363934}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.804798922820631}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.223733095298534}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.10030313475523}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.040806654702713}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.40801490181573}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.285770184978817}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.283759922088336}], "left_finger_force_n": 47.09787069094104, "right_finger_force_n": 46.977545008882885, "bilateral_contact": true, "supported": false, "lift_m": 0.05699042486296477}, "simulation_time": 23.501999999997853, "positions": {"shoulder_pan": 0.7987404508677709, "shoulder_lift": -0.7992212413796904, "elbow_flex": 0.22989414338876785, "wrist_flex": 1.6450129922581394, "wrist_roll": 1.3972236637239826e-07, "gripper": -0.1717428535617501}, "velocities": {"shoulder_pan": 7.719369800179139e-09, "shoulder_lift": 0.11560178151960135, "elbow_flex": 0.06758763356179927, "wrist_flex": 0.008678207950177694, "wrist_roll": -6.71292544944258e-08, "gripper": 1.8361991588177944e-06}, "actuator_forces": {"shoulder_pan": -2.51014660079818e-06, "shoulder_lift": -0.011245887514633068, "elbow_flex": -0.28338526783065277, "wrist_flex": -0.015612902880548063, "wrist_roll": -8.078476506083782e-05, "gripper": -2.782186665947364}, "applied_targets": {"shoulder_pan": 0.7987404483588293, "shoulder_lift": -0.79914743940249, "elbow_flex": 0.22965998856781872, "wrist_flex": 1.645003737561027, "wrist_roll": 5.8744165778508494e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14259979123199515, -0.10658714631769095, 0.14845354083840095], "quaternion_wxyz": [0.7862419381206583, 0.21833143915896452, 0.4635512704724279, -0.34536244303404445], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 237, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579726.0703974, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1392463153454183, -0.10280056819589058, 0.15457192174631082], "quaternion_wxyz": [0.8830531509464478, -0.0904146212778392, -0.2275477742987821, -0.4003302877305256], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.927812475340785}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.804388231775982}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2232559569030155}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.099831713338214}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.040045319020162}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.408453414875865}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28621436011983}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28445339620489}], "left_finger_force_n": 47.09533369637816, "right_finger_force_n": 46.97912117120058, "bilateral_contact": true, "supported": false, "lift_m": 0.054446798706043964}, "simulation_time": 23.601999999997798, "positions": {"shoulder_pan": 0.7987404516391464, "shoulder_lift": -0.7876611124648226, "elbow_flex": 0.2366528409964923, "wrist_flex": 1.6458807994998246, "wrist_roll": 1.3299455960161232e-07, "gripper": -0.17174266954100106}, "velocities": {"shoulder_pan": 7.708353016626023e-09, "shoulder_lift": 0.1156008146421151, "elbow_flex": 0.06758634386280456, "wrist_flex": 0.008677943768543934, "wrist_roll": -6.741938832569446e-08, "gripper": 1.8439566367291675e-06}, "actuator_forces": {"shoulder_pan": -2.5379729322594358e-06, "shoulder_lift": -0.016691676883624496, "elbow_flex": -0.2845827807391288, "wrist_flex": -0.013007100305458152, "wrist_roll": -7.797802685558658e-05, "gripper": -2.7823703648718663}, "applied_targets": {"shoulder_pan": 0.7987404491023208, "shoulder_lift": -0.7875927666987934, "elbow_flex": 0.23641748557838244, "wrist_flex": 1.6458741550569576, "wrist_roll": 5.4827888060000793e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1424362391191461, -0.10641917069080542, 0.14581929670731378], "quaternion_wxyz": [0.7816028815833339, 0.22141420384122726, 0.4711654763110148, -0.34362156476361966], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 238, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579726.3927844, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1391643644043255, -0.10271634070025391, 0.15203997100327626], "quaternion_wxyz": [0.8851565811796063, -0.08702069153400889, -0.21887680770743048, -0.4012706930329907], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.927392343756195}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803973873731302}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2227719430668795}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.099353473041986}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.039279446937854}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.408898782951074}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.286665446294178}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.285150219950182}], "left_finger_force_n": 47.09277108053422, "right_finger_force_n": 46.98071444919543, "bilateral_contact": true, "supported": false, "lift_m": 0.05191484796300941}, "simulation_time": 23.701999999997742, "positions": {"shoulder_pan": 0.7987404524094183, "shoulder_lift": -0.7761010806818274, "elbow_flex": 0.2434114094815422, "wrist_flex": 1.6467485808152096, "wrist_roll": 1.262382584450724e-07, "gripper": -0.17174248477696125}, "velocities": {"shoulder_pan": 7.697259791202012e-09, "shoulder_lift": 0.11559983912164254, "elbow_flex": 0.06758505124046728, "wrist_flex": 0.008677689246794412, "wrist_roll": -6.76993299143033e-08, "gripper": 1.8510726356925982e-06}, "actuator_forces": {"shoulder_pan": -2.564697297202656e-06, "shoulder_lift": -0.022040500904154214, "elbow_flex": -0.2856513986399136, "wrist_flex": -0.01037542466906416, "wrist_roll": -7.514285246611494e-05, "gripper": -2.7825548052945805}, "applied_targets": {"shoulder_pan": 0.7987404498458124, "shoulder_lift": -0.7760380939950968, "elbow_flex": 0.24317498258894615, "wrist_flex": 1.6467445725528882, "wrist_roll": 5.0911610341493086e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14223508558112355, -0.10621257662994774, 0.14320004836662154], "quaternion_wxyz": [0.7768919556621733, 0.22447655140741685, 0.47873622107234903, -0.34184908619009624], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 239, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579726.7874959, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13904621277925122, -0.10259493087227553, 0.14952072354064208], "quaternion_wxyz": [0.8871785326277555, -0.08361882048280654, -0.21018585076805288, -0.4021741566068568], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92696864724065}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803556000978445}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.222281220553637}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.098868574291435}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.038509344267645}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.409350858377042}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.2871232895598}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.285850106984473}], "left_finger_force_n": 47.09018378733181, "right_finger_force_n": 46.982324254921316, "bilateral_contact": true, "supported": false, "lift_m": 0.049395600500375225}, "simulation_time": 23.801999999997687, "positions": {"shoulder_pan": 0.798740453178577, "shoulder_lift": -0.7645411468745833, "elbow_flex": 0.2501698485741542, "wrist_flex": 1.647616337175059, "wrist_roll": 1.1945448700664534e-07, "gripper": -0.171742299335047}, "velocities": {"shoulder_pan": 7.686153867390086e-09, "shoulder_lift": 0.11559885535875301, "elbow_flex": 0.067583756137451, "wrist_flex": 0.008677444477988157, "wrist_roll": -6.796898418065884e-08, "gripper": 1.857524868234438e-06}, "actuator_forces": {"shoulder_pan": -2.5903107143676607e-06, "shoulder_lift": -0.02729151749383618, "elbow_flex": -0.28659085257487504, "wrist_flex": -0.00771884507798859, "wrist_roll": -7.228026424339292e-05, "gripper": -2.782739921898383}, "applied_targets": {"shoulder_pan": 0.7987404505893039, "shoulder_lift": -0.7644834212914001, "elbow_flex": 0.2499324795995099, "wrist_flex": 1.6476149900488186, "wrist_roll": 4.699533262298538e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14199662518029238, -0.1059676666643597, 0.1405968531218592], "quaternion_wxyz": [0.772109596761484, 0.22751820081881474, 0.48626280969831165, -0.340045171689425], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 240, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 11951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579727.0536153, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1388921228879408, -0.10243660819235138, 0.1470151986454653], "quaternion_wxyz": [0.8891188236006248, -0.08020932135140814, -0.20147570412430174, -0.403040597130122], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.926541544633894}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803134767129036}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.221783962476229}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.098377184971371}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.037735310870985}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.409809485852191}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.287587729437197}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28655277957578}], "left_finger_force_n": 47.087572770081515, "right_finger_force_n": 46.98394999486517, "bilateral_contact": true, "supported": false, "lift_m": 0.04689007560519845}, "simulation_time": 23.90199999999763, "positions": {"shoulder_pan": 0.7987404539466216, "shoulder_lift": -0.7529813118468466, "elbow_flex": 0.2569281580488555, "wrist_flex": 1.648484069559264, "wrist_roll": 1.1264427871099373e-07, "gripper": -0.17174211328226655}, "velocities": {"shoulder_pan": 7.674960607972888e-09, "shoulder_lift": 0.11559786375532691, "elbow_flex": 0.06758245899684666, "wrist_flex": 0.008677209551711343, "wrist_roll": -6.822825970464968e-08, "gripper": 1.863302138663331e-06}, "actuator_forces": {"shoulder_pan": -2.6148119331992348e-06, "shoulder_lift": -0.03244392462238466, "elbow_flex": -0.28740091779803834, "wrist_flex": -0.005038339743805409, "wrist_roll": -6.939129383997927e-05, "gripper": -2.782925647785703}, "applied_targets": {"shoulder_pan": 0.7987404513327954, "shoulder_lift": -0.7529287485877035, "elbow_flex": 0.25668997661007364, "wrist_flex": 1.6484854075447493, "wrist_roll": 4.307905490447767e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14172116661123316, -0.10568475783773743, 0.1380107583666719], "quaternion_wxyz": [0.7672562478089399, 0.2305388729752655, 0.4937445512777132, -0.338209988511591], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 241, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579727.5056615, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1387023707974496, -0.1022416561603545, 0.1445244066510014], "quaternion_wxyz": [0.8909772799576677, -0.0767925079979742, -0.192747170014763, -0.4038699366948691], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.926111195374726}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.802710327138535}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.221280346052995}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0978794778168055}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03695764451115}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.41027450512493}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.288058601234486}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28725796354701}], "left_finger_force_n": 47.084938990894216, "right_finger_force_n": 46.98559106990643, "bilateral_contact": true, "supported": false, "lift_m": 0.04439928361073456}, "simulation_time": 24.001999999997576, "positions": {"shoulder_pan": 0.7987404547135446, "shoulder_lift": -0.7414215763621351, "elbow_flex": 0.2636863377245021, "wrist_flex": 1.649351778956484, "wrist_roll": 1.0580867594089957e-07, "gripper": -0.17174192668645447}, "velocities": {"shoulder_pan": 7.663718467490311e-09, "shoulder_lift": 0.11559686471421142, "elbow_flex": 0.06758116026213265, "wrist_flex": 0.008676984553743173, "wrist_roll": -6.847706867031542e-08, "gripper": 1.8683983611951296e-06}, "actuator_forces": {"shoulder_pan": -2.6381935640529264e-06, "shoulder_lift": -0.037496960426892656, "elbow_flex": -0.2880814138137566, "wrist_flex": -0.002334895629928724, "wrist_roll": -6.647698184790359e-05, "gripper": -2.783111915238038}, "applied_targets": {"shoulder_pan": 0.7987404520762869, "shoulder_lift": -0.7413740758840068, "elbow_flex": 0.26344747362063736, "wrist_flex": 1.64935582504068, "wrist_roll": 3.9162777185969964e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14140903254977805, -0.10536418155318185, 0.13544280120034108], "quaternion_wxyz": [0.762332358212521, 0.23353829074014648, 0.5011807591083515, -0.33634370676420267], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 242, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579727.7777252, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13847724608785442, -0.10201037215571292, 0.14204934856605841], "quaternion_wxyz": [0.8927537351119125, -0.07336869489143333, -0.18400105222175733, -0.4046621008136842], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92567775968473}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.802282837242601}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.220770551607843}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0973756291657155}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03617664251876}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.41074575227257}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.288535737081343}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.287965386068667}], "left_finger_force_n": 47.08228342021965, "right_finger_force_n": 46.98724687542258, "bilateral_contact": true, "supported": false, "lift_m": 0.04192422552579156}, "simulation_time": 24.10199999999752, "positions": {"shoulder_pan": 0.7987404554793416, "shoulder_lift": -0.7298619411436248, "elbow_flex": 0.2704443874643025, "wrist_flex": 1.6502194663637788, "wrist_roll": 9.894872967485938e-08, "gripper": -0.17174173961591507}, "velocities": {"shoulder_pan": 7.652440751244914e-09, "shoulder_lift": 0.11559585863934287, "elbow_flex": 0.0675798603768434, "wrist_flex": 0.008676769566355234, "wrist_roll": -6.871532691300891e-08, "gripper": 1.8728098999390482e-06}, "actuator_forces": {"shoulder_pan": -2.660450832081551e-06, "shoulder_lift": -0.04244990331517329, "elbow_flex": -0.2886322043996188, "wrist_flex": 0.0003904919180968136, "wrist_roll": -6.353837743694075e-05, "gripper": -2.7832986560698885}, "applied_targets": {"shoulder_pan": 0.7987404528197785, "shoulder_lift": -0.7298194031803102, "elbow_flex": 0.2702049706312011, "wrist_flex": 1.6502262425366105, "wrist_roll": 3.524649946746226e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14106055949706436, -0.10500628341303599, 0.1328940080498851], "quaternion_wxyz": [0.7573383838169091, 0.23651617896514096, 0.5085707507586195, -0.33444649939584575], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 243, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579728.1744418, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1382170517110547, -0.10174306729242577, 0.13959101570832327], "quaternion_wxyz": [0.894448030037455, -0.06993819708614066, -0.17523815600747758, -0.4054170184261587], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92524139864481}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.801852454866269}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.220254762114998}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0968658183364575}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.035392602476414}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.411223060334791}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.289018966396663}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.28867477472663}], "left_finger_force_n": 47.07960703643895, "right_finger_force_n": 46.98891680145808, "bilateral_contact": true, "supported": false, "lift_m": 0.03946589266805642}, "simulation_time": 24.201999999997465, "positions": {"shoulder_pan": 0.7987404562440086, "shoulder_lift": -0.7183024068740632, "elbow_flex": 0.27720230717582517, "wrist_flex": 1.6510871327862444, "wrist_roll": 9.206549912654167e-08, "gripper": -0.17174155213924677}, "velocities": {"shoulder_pan": 7.641120484566149e-09, "shoulder_lift": 0.11559484593529626, "elbow_flex": 0.06757855978461197, "wrist_flex": 0.008676564668105891, "wrist_roll": -6.894295382282909e-08, "gripper": 1.8765343478683866e-06}, "actuator_forces": {"shoulder_pan": -2.6815804403668153e-06, "shoulder_lift": -0.047302072052275435, "elbow_flex": -0.28905319761457804, "wrist_flex": 0.0031368195352570183, "wrist_roll": -6.057653799475679e-05, "gripper": -2.783485801803124}, "applied_targets": {"shoulder_pan": 0.79874045356327, "shoulder_lift": -0.7182647304766137, "elbow_flex": 0.2769624676417648, "wrist_flex": 1.651096660032541, "wrist_roll": 3.133022174895455e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1406760976186749, -0.10461142305367449, 0.13036539429686822], "quaternion_wxyz": [0.7522747868593372, 0.2394722645147994, 0.5159138481286557, -0.33251854217919113], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 244, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579728.44722, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13792210384474451, -0.10144006626911034, 0.1371503893418524], "quaternion_wxyz": [0.8960600132782646, -0.06650133019433095, -0.16645928804437182, -0.40613462190498273], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.924802274216737}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8014193385321935}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.219733162980045}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.096350227295501}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.034605822457053}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.411706259647948}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.289508116110733}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.289385857167428}], "left_finger_force_n": 47.07691082548153, "right_finger_force_n": 46.99060023292611, "bilateral_contact": true, "supported": false, "lift_m": 0.037025266301585535}, "simulation_time": 24.30199999999741, "positions": {"shoulder_pan": 0.7987404570075418, "shoulder_lift": -0.706742974195697, "elbow_flex": 0.28396009681099155, "wrist_flex": 1.6519547792366418, "wrist_roll": 8.516005138302748e-08, "gripper": -0.17174136432525053}, "velocities": {"shoulder_pan": 7.629763678929723e-09, "shoulder_lift": 0.11559382700747053, "elbow_flex": 0.067577258928856, "wrist_flex": 0.008676369933851298, "wrist_roll": -6.915987245814655e-08, "gripper": 1.8795699929391795e-06}, "actuator_forces": {"shoulder_pan": -2.7015780688088853e-06, "shoulder_lift": -0.05205282583233384, "elbow_flex": -0.28934434579133494, "wrist_flex": 0.005903076208824132, "wrist_roll": -5.759252876577254e-05, "gripper": -2.7836732837579916}, "applied_targets": {"shoulder_pan": 0.7987404543067614, "shoulder_lift": -0.706710057772917, "elbow_flex": 0.2837199646523285, "wrist_flex": 1.6519670775284716, "wrist_roll": 2.7413944030446843e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.14025601057893197, -0.10417997397531532, 0.12785796390904502], "quaternion_wxyz": [0.747142035924904, 0.2424062762908903, 0.5232093775110372, -0.33056001369386173], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 245, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579728.925937, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13759273174162287, -0.10110170721415394, 0.1347284403188845], "quaternion_wxyz": [0.8975895409572426, -0.06305841035764165, -0.15766525634288073, -0.4068148470614944], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.924360549230501}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.800983647771545}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.219205941919582}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.095829040460627}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03381660106683}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.412195178039168}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29000301078353}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.290098360999533}], "left_finger_force_n": 47.07419578044909, "right_finger_force_n": 46.99229654982223, "bilateral_contact": true, "supported": false, "lift_m": 0.03460331727861765}, "simulation_time": 24.401999999997354, "positions": {"shoulder_pan": 0.7987404577699375, "shoulder_lift": -0.6951836437102129, "elbow_flex": 0.2907177563660535, "wrist_flex": 1.652822406735023, "wrist_roll": 7.823346104313652e-08, "gripper": -0.1717411762428742}, "velocities": {"shoulder_pan": 7.618375419359479e-09, "shoulder_lift": 0.1155928022616621, "elbow_flex": 0.06757595825272525, "wrist_flex": 0.008676185434598613, "wrist_roll": -6.936600947387205e-08, "gripper": 1.8819155736642218e-06}, "actuator_forces": {"shoulder_pan": -2.7204404204894672e-06, "shoulder_lift": -0.05670156433802731, "elbow_flex": -0.2895056455140548, "wrist_flex": 0.008688243649203287, "wrist_roll": -5.4587422490059835e-05, "gripper": -2.783861033108394}, "applied_targets": {"shoulder_pan": 0.7987404550502529, "shoulder_lift": -0.6951553850692204, "elbow_flex": 0.29047746166289223, "wrist_flex": 1.6528374950244022, "wrist_roll": 2.3497666311939135e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1398006753704164, -0.1037123233669283, 0.12537270907697123], "quaternion_wxyz": [0.741940605901359, 0.24531794525654085, 0.5304566696510035, -0.32857109530906525], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 246, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579729.2038286, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1372292775739102, -0.10072834152604102, 0.132326128726113], "quaternion_wxyz": [0.8990364767850627, -0.05960975421827586, -0.14885687017798369, -0.40745763315067773], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.923916387354174}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.800545543042826}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.218673288880187}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.095302444568839}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03302523739792}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.41268964095499}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29050347268284}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.290812013809862}], "left_finger_force_n": 47.07146290124395, "right_finger_force_n": 46.99400512744769, "bilateral_contact": true, "supported": false, "lift_m": 0.032201005685846135}, "simulation_time": 24.5019999999973, "positions": {"shoulder_pan": 0.7987404585311929, "shoulder_lift": -0.6836244159786949, "elbow_flex": 0.29747528588155614, "wrist_flex": 1.6536900163083568, "wrist_roll": 7.128680985247232e-08, "gripper": -0.1717409879611737}, "velocities": {"shoulder_pan": 7.606960052029643e-09, "shoulder_lift": 0.11559177210406911, "elbow_flex": 0.06757465819892292, "wrist_flex": 0.008676011237768939, "wrist_roll": -6.956129518975118e-08, "gripper": 1.8835701665294278e-06}, "actuator_forces": {"shoulder_pan": -2.7381640848034294e-06, "shoulder_lift": -0.06124772778184706, "elbow_flex": -0.289537137580794, "wrist_flex": 0.011491296666008566, "wrist_roll": -5.156229903910369e-05, "gripper": -2.784048980920602}, "applied_targets": {"shoulder_pan": 0.7987404557937445, "shoulder_lift": -0.6836007123655237, "elbow_flex": 0.29723495867345595, "wrist_flex": 1.6537079125203327, "wrist_roll": 1.9581388593431428e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.13931048213878175, -0.10320887192631108, 0.12291060985570287], "quaternion_wxyz": [0.7366709779333596, 0.24820700446016533, 0.5376550598062171, -0.3265519711659877], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 247, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579729.605737, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13683209627323614, -0.10032033370892365, 0.12994440353555414], "quaternion_wxyz": [0.9004006920685523, -0.05615567889002631, -0.14003494001517744, -0.40806292287564944], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.923469953052322}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.800105185656703}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.218135395972541}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.094770628576923}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03223203093992}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.413189471556274}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.291009321845896}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.291526543235708}], "left_finger_force_n": 47.06871319419841, "right_finger_force_n": 46.995725336637875, "bilateral_contact": true, "supported": false, "lift_m": 0.029819280495287287}, "simulation_time": 24.601999999997243, "positions": {"shoulder_pan": 0.7987404592913055, "shoulder_lift": -0.6720652915215966, "elbow_flex": 0.30423268544228405, "wrist_flex": 1.6545576089901495, "wrist_roll": 6.4321186340355e-08, "gripper": -0.17174079954928212}, "velocities": {"shoulder_pan": 7.595517533257581e-09, "shoulder_lift": 0.11559073694111881, "elbow_flex": 0.06757335920954524, "wrist_flex": 0.008675847406795507, "wrist_roll": -6.974566355094153e-08, "gripper": 1.88453314189246e-06}, "actuator_forces": {"shoulder_pan": -2.7547472427613684e-06, "shoulder_lift": -0.06569079693576896, "elbow_flex": -0.28943890695018126, "wrist_flex": 0.014311203546412798, "wrist_roll": -4.851824505337172e-05, "gripper": -2.784237058184175}, "applied_targets": {"shoulder_pan": 0.798740456537236, "shoulder_lift": -0.6720460396618271, "elbow_flex": 0.30399245568401967, "wrist_flex": 1.6545783300162633, "wrist_roll": 1.566511087492372e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.1387858340029389, -0.10267003367541028, 0.1204726338117086], "quaternion_wxyz": [0.7313336393762115, 0.251073189059178, 0.5448038878060499, -0.324502828159959], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 248, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579729.8933883, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1364015553659613, -0.09987806120350146, 0.12758420226013142], "quaternion_wxyz": [0.9016820657185102, -0.052696501929264825, -0.13120027743620283, -0.40863066239170376], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.923021411536105}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.799662737702837}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.217592457408959}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.094233783575691}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.031437281477682}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.413694490799108}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.291520376137273}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.292241677054857}], "left_finger_force_n": 47.065947671701274, "right_finger_force_n": 46.997456543991234, "bilateral_contact": true, "supported": false, "lift_m": 0.02745907921986457}, "simulation_time": 24.701999999997188, "positions": {"shoulder_pan": 0.7987404600502729, "shoulder_lift": -0.6605062708187253, "elbow_flex": 0.3109899551771948, "wrist_flex": 1.6554251858200661, "wrist_roll": 5.7337685453188186e-08, "gripper": -0.17174061107638158}, "velocities": {"shoulder_pan": 7.58405673404714e-09, "shoulder_lift": 0.11558969717923968, "elbow_flex": 0.0675720617259249, "wrist_flex": 0.008675694001390816, "wrist_roll": -6.991905219268653e-08, "gripper": 1.8848041494372753e-06}, "actuator_forces": {"shoulder_pan": -2.7701872795660165e-06, "shoulder_lift": -0.07003029314478226, "elbow_flex": -0.28921108267422824, "wrist_flex": 0.01714692643122362, "wrist_roll": -4.545635357627549e-05, "gripper": -2.784425195839816}, "applied_targets": {"shoulder_pan": 0.7987404572807275, "shoulder_lift": -0.6604913669581305, "elbow_flex": 0.3107499526945834, "wrist_flex": 1.655448747512194, "wrist_roll": 1.1748833156416014e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.13822714687068394, -0.10209623577096269, 0.11805973567511743], "quaternion_wxyz": [0.7259290837490957, 0.25391623634349203, 0.5519024981103957, -0.3224238559223838], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 249, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579730.2797506, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13593803480400377, -0.09940191421328332, 0.12524645061410514], "quaternion_wxyz": [0.9028804842569155, -0.04923254130593747, -0.1223536950646654, -0.40916080130992527], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92257092871013}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.799218361982491}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.217044669440999}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09369210271336}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.030641288976046}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.414204517506423}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29203645130636}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.292957143288323}], "left_finger_force_n": 47.063167351823026, "right_finger_force_n": 46.999198112101105, "bilateral_contact": true, "supported": false, "lift_m": 0.02512132757383828}, "simulation_time": 24.801999999997133, "positions": {"shoulder_pan": 0.7987404608080934, "shoulder_lift": -0.648947354309244, "elbow_flex": 0.31774709525933503, "wrist_flex": 1.6562927478435472, "wrist_roll": 5.033740818870987e-08, "gripper": -0.17174042261167632}, "velocities": {"shoulder_pan": 7.572581032421485e-09, "shoulder_lift": 0.1155886532248422, "elbow_flex": 0.0675707661885005, "wrist_flex": 0.00867555107739952, "wrist_roll": -7.008140239423221e-08, "gripper": 1.8843830820775172e-06}, "actuator_forces": {"shoulder_pan": -2.7844822625411325e-06, "shoulder_lift": -0.07426577832609382, "elbow_flex": -0.28885383781533847, "wrist_flex": 0.0199974216998271, "wrist_roll": -4.237772368911218e-05, "gripper": -2.784613324806429}, "applied_targets": {"shoulder_pan": 0.798740458024219, "shoulder_lift": -0.6489366942544339, "elbow_flex": 0.3175074497051471, "wrist_flex": 1.6563191650081244, "wrist_roll": 7.832555437908306e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1376348492498467, -0.1014879183105362, 0.11567285699741867], "quaternion_wxyz": [0.7204578106877849, 0.25673588575879913, 0.5589502398680012, -0.3203152468024467], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 250, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579730.5831985, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1354419267912348, -0.09889229552629716, 0.12293206217846454], "quaternion_wxyz": [0.903995841823483, -0.045764115374576156, -0.11349600649161104, -0.4096532927004142], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.922118671115292}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.798772221941911}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.216492230295626}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.093145781122243}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029844353465773}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.414719368436593}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.292557361046596}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.2936726703073}], "left_finger_force_n": 47.060373257940846, "right_finger_force_n": 47.000949399790485, "bilateral_contact": true, "supported": false, "lift_m": 0.022806939138197688}, "simulation_time": 24.901999999997077, "positions": {"shoulder_pan": 0.7987404615647656, "shoulder_lift": -0.6373885423916864, "elbow_flex": 0.3245041059057432, "wrist_flex": 1.6571602961114238, "wrist_roll": 4.3321461227640964e-08, "gripper": -0.17174023422436765}, "velocities": {"shoulder_pan": 7.561091793435958e-09, "shoulder_lift": 0.11558760548412857, "elbow_flex": 0.06756947303668158, "wrist_flex": 0.008675418686932319, "wrist_roll": -7.023265912944333e-08, "gripper": 1.8832701038376128e-06}, "actuator_forces": {"shoulder_pan": -2.7976309411315015e-06, "shoulder_lift": -0.07839685495389404, "elbow_flex": -0.2883673893483092, "wrist_flex": 0.022861640353312396, "wrist_roll": -3.9283460143319115e-05, "gripper": -2.784801376005902}, "applied_targets": {"shoulder_pan": 0.7987404587677106, "shoulder_lift": -0.6373820215507372, "elbow_flex": 0.3242649467157108, "wrist_flex": 1.657189582504055, "wrist_roll": 3.916277719400599e-09, "gripper": -0.17453}, "tcp": {"position_m": [0.1370093820550374, -0.10084553413404926, 0.1133129258147319], "quaternion_wxyz": [0.7149203258968619, 0.25953187892963264, 0.5659464669743137, -0.31817719584858906], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 251, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_2736c7c230314a42a39d396a1914bda5", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579731.0043488, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13491363560551564, -0.09834962033232252, 0.120641938071404], "quaternion_wxyz": [0.90502804018157, -0.04229154284533233, -0.10462802620109507, -0.410108093095141], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921664805870208}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.798324481608553}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2159353401097555}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092595015848102}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029046774924794}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415238858349708}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293082917056601}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.294387986941267}], "left_finger_force_n": 47.05756641836141, "right_finger_force_n": 47.00270976234758, "bilateral_contact": true, "supported": false, "lift_m": 0.020516815031137142}, "simulation_time": 25.00199999999702, "positions": {"shoulder_pan": 0.7987404623202885, "shoulder_lift": -0.6258298354239858, "elbow_flex": 0.3312609873773364, "wrist_flex": 1.6580278316795307, "wrist_roll": 3.629095656569187e-08, "gripper": -0.17174004598362794}, "velocities": {"shoulder_pan": 7.5495922083629e-09, "shoulder_lift": 0.11558655436289073, "elbow_flex": 0.06756818270861778, "wrist_flex": 0.008675296878119859, "wrist_roll": -7.037277106397254e-08, "gripper": 1.8814656237987337e-06}, "actuator_forces": {"shoulder_pan": -2.8096325195292593e-06, "shoulder_lift": -0.08242316602991195, "elbow_flex": -0.28775199804783824, "wrist_flex": 0.025738528400779614, "wrist_roll": -3.61746729931817e-05, "gripper": -2.7849892803893397}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488470405, "elbow_flex": 0.33102244372627454, "wrist_flex": 1.6580599999999857, "wrist_roll": 8.928918404142402e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13635119841007068, -0.10016954862085163, 0.11098085631676177], "quaternion_wxyz": [0.7093171411014384, 0.2623039596822104, 0.5728905381288444, -0.3160099007897668], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 252, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579731.3140721, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488459464323674, -0.0983189039483023, 0.12056572969325059], "quaternion_wxyz": [0.9050631301560371, -0.042167215181150755, -0.10431403908057038, -0.41012344196195416], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.922408537519497}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.799060412634196}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2129621797848165}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.089614054899516}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03352249640665}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.418323445859496}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.296159778848715}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.288287111629124}], "left_finger_force_n": 47.05756768124468, "right_finger_force_n": 47.002770336337335, "bilateral_contact": true, "supported": false, "lift_m": 0.020440606652983737}, "simulation_time": 25.101999999996966, "positions": {"shoulder_pan": 0.798740429787542, "shoulder_lift": -0.6255910308403612, "elbow_flex": 0.3314166226978158, "wrist_flex": 1.6580826595973135, "wrist_roll": 3.4279356520418445e-08, "gripper": -0.17173928078325237}, "velocities": {"shoulder_pan": 8.574887160264709e-07, "shoulder_lift": -0.0008422804723074504, "elbow_flex": -0.00033299139705676777, "wrist_flex": -0.00014471705900341936, "wrist_roll": -1.4945591335840054e-09, "gripper": 3.4031645465387636e-06}, "actuator_forces": {"shoulder_pan": 2.8956508572264283e-05, "shoulder_lift": -0.23525082195101277, "elbow_flex": -0.39326370598598714, "wrist_flex": -0.02247554597238377, "wrist_roll": -3.421678354028511e-05, "gripper": -2.7857555817712125}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631834127276113, -0.10013579591208342, 0.11088297438344921], "quaternion_wxyz": [0.7090715990835134, 0.2624241486380021, 0.5731918150324652, -0.315914825173743], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 253, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579731.8271513, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488512725437704, -0.09831938142237949, 0.12056836303467271], "quaternion_wxyz": [0.9050652570763861, -0.04215840843191986, -0.10429672325785307, -0.41012405751115966], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921314325691224}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797974205177199}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2142487401074495}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0909086195934234}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.032427172454433}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.416954223394836}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.294798483892864}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.290339050283613}], "left_finger_force_n": 47.05687306302373, "right_finger_force_n": 47.002091757571314, "bilateral_contact": true, "supported": false, "lift_m": 0.02044323999440585}, "simulation_time": 25.20199999999691, "positions": {"shoulder_pan": 0.7987404590215991, "shoulder_lift": -0.6256221801080363, "elbow_flex": 0.3314035130774572, "wrist_flex": 1.658080176933892, "wrist_roll": 3.4274045426370635e-08, "gripper": -0.17173949292647647}, "velocities": {"shoulder_pan": 2.924304734480376e-08, "shoulder_lift": -3.917996817947041e-05, "elbow_flex": -7.139320017182356e-06, "wrist_flex": 7.220309462730329e-07, "wrist_roll": 1.577311415836801e-10, "gripper": -3.4696323291966002e-06}, "actuator_forces": {"shoulder_pan": 4.595490281644743e-07, "shoulder_lift": -0.20476636023124684, "elbow_flex": -0.3803832259345654, "wrist_flex": -0.020141584608154517, "wrist_roll": -3.421317958642545e-05, "gripper": -2.7855373568608854}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198616691698, -0.10013736361887388, 0.11088872517182621], "quaternion_wxyz": [0.7090860825192364, 0.26241706825821676, 0.5731740416074058, -0.315920445510759], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 254, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579732.1371467, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488535140750177, -0.09831963548327902, 0.12056598620608437], "quaternion_wxyz": [0.9050674664582447, -0.04215013183611316, -0.10427773161415803, -0.4101248617609734], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9211783265053715}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797843198670951}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215106775862292}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.091771648027871}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03102459381453}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.416059054689356}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293908259924486}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.292185163368593}], "left_finger_force_n": 47.05692454288101, "right_finger_force_n": 47.002152477982435, "bilateral_contact": true, "supported": false, "lift_m": 0.020440863165817516}, "simulation_time": 25.301999999996855, "positions": {"shoulder_pan": 0.7987404595280269, "shoulder_lift": -0.6256231364196273, "elbow_flex": 0.33140342756930824, "wrist_flex": 1.6580801995422012, "wrist_roll": 3.427728791029156e-08, "gripper": -0.17173975364205332}, "velocities": {"shoulder_pan": -3.6407790486247654e-10, "shoulder_lift": -7.71754758180647e-07, "elbow_flex": 4.8353116492920044e-08, "wrist_flex": 1.119070704845177e-08, "wrist_roll": -9.194471478944514e-12, "gripper": -1.7993670998735394e-06}, "actuator_forces": {"shoulder_pan": -1.652517767070094e-08, "shoulder_lift": -0.20384818587706377, "elbow_flex": -0.38030573762995346, "wrist_flex": -0.020163598954241024, "wrist_roll": -3.421626819853279e-05, "gripper": -2.7852783212973975}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198709879005, -0.10013737330300468, 0.11088885278733572], "quaternion_wxyz": [0.7090864083975243, 0.26241690891674874, 0.5731736417373026, -0.31592057191337813], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 255, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579732.5684628, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488565943534334, -0.09831998642757754, 0.12056356875403139], "quaternion_wxyz": [0.9050684916740475, -0.042146439706674324, -0.10426884508927683, -0.41012523811960705], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9211298621058015}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797797985862229}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215503059884659}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092171183641088}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.030358622119696}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415644906548158}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293497332150531}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293051212102608}], "left_finger_force_n": 47.05696071361347, "right_finger_force_n": 47.0021934508013, "bilateral_contact": true, "supported": false, "lift_m": 0.020438445713764533}, "simulation_time": 25.4019999999968, "positions": {"shoulder_pan": 0.7987404595112306, "shoulder_lift": -0.6256231544008026, "elbow_flex": 0.3314034285343514, "wrist_flex": 1.6580801997492916, "wrist_roll": 3.4276148974533623e-08, "gripper": -0.17173987739504537}, "velocities": {"shoulder_pan": -3.082230556228608e-11, "shoulder_lift": -1.243457808675909e-08, "elbow_flex": 5.400700933722394e-10, "wrist_flex": 6.208832726026362e-10, "wrist_roll": -1.251092411497369e-11, "gripper": -8.181959548766321e-07}, "actuator_forces": {"shoulder_pan": 6.821210263296962e-13, "shoulder_lift": -0.203830967666363, "elbow_flex": -0.3803066553755343, "wrist_flex": -0.020163794187965323, "wrist_roll": -3.4215128327961833e-05, "gripper": -2.785155549852419}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987095840012, -0.10013737326919533, 0.1108888547521667], "quaternion_wxyz": [0.7090864137529366, 0.26241690629290976, 0.5731736351742368, -0.31592057397992934], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 256, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579732.8671966, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488599495371068, -0.09832036922627128, 0.1205611796203681], "quaternion_wxyz": [0.9050689523097055, -0.04214491638804609, -0.10426476953492515, -0.4101254142594506], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921108246737389}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7977785130588595}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215682016158047}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092352282479517}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.030056527039516}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415457201805545}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293311749398852}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293443521577153}], "left_finger_force_n": 47.05697758547333, "right_finger_force_n": 47.00221247278155, "bilateral_contact": true, "supported": false, "lift_m": 0.02043605658010124}, "simulation_time": 25.501999999996745, "positions": {"shoulder_pan": 0.7987404595106983, "shoulder_lift": -0.625623154600307, "elbow_flex": 0.33140342862519045, "wrist_flex": 1.6580801998163326, "wrist_roll": 3.42748343840361e-08, "gripper": -0.1717399333323898}, "velocities": {"shoulder_pan": 2.7828671887209616e-12, "shoulder_lift": 9.64928712273381e-10, "elbow_flex": 1.1280782969962768e-09, "wrist_flex": 7.112190889163671e-10, "wrist_roll": -1.3604732545542674e-11, "gripper": -3.684569135524548e-07}, "actuator_forces": {"shoulder_pan": 5.010178938391618e-10, "shoulder_lift": -0.20383078143220246, "elbow_flex": -0.38030674650076435, "wrist_flex": -0.02016386117793445, "wrist_roll": -3.4213815222805954e-05, "gripper": -2.785100062087281}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987094493486, -0.10013737325523092, 0.11088885476156288], "quaternion_wxyz": [0.7090864137733698, 0.2624169062831669, 0.5731736351489516, -0.3159205739880338], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 257, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579733.3489172, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1348863422026361, -0.09832076565554188, 0.12055880380909922], "quaternion_wxyz": [0.9050691569213234, -0.04214437026065087, -0.10426286349838058, -0.41012550340130716], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921098189306453}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797769875078199}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215762872098945}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092434557870691}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029919634078407}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415371914981723}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293227868394943}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293621202823946}], "left_finger_force_n": 47.05698512843269, "right_finger_force_n": 47.00222098620061, "bilateral_contact": true, "supported": false, "lift_m": 0.02043368076883237}, "simulation_time": 25.60199999999669, "positions": {"shoulder_pan": 0.7987404595109527, "shoulder_lift": -0.6256231544819288, "elbow_flex": 0.33140342874495765, "wrist_flex": 1.6580801998904318, "wrist_roll": 3.427344637002296e-08, "gripper": -0.17173995850829799}, "velocities": {"shoulder_pan": 1.911351501118383e-12, "shoulder_lift": 1.2645043549406088e-09, "elbow_flex": 1.2440234683866853e-09, "wrist_flex": 7.634842281392236e-10, "wrist_roll": -1.408329990408933e-11, "gripper": -1.6580863360388345e-07}, "actuator_forces": {"shoulder_pan": 2.473825588822365e-10, "shoulder_lift": -0.2038308998753564, "elbow_flex": -0.3803068661476914, "wrist_flex": -0.020163935185564696, "wrist_roll": -3.421242930691986e-05, "gripper": -2.785075088763847}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987092686765, -0.10013737323671057, 0.11088885472859636], "quaternion_wxyz": [0.7090864136816434, 0.26241690632850706, 0.5731736352609283, -0.31592057395309486], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 258, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579733.691481, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1348866946893239, -0.09832116818743646, 0.12055643399248449], "quaternion_wxyz": [0.9050692454089728, -0.04214426311169726, -0.10426193303427962, -0.4101255556796718], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921093369308395}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.79776599672381}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215799680258154}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092472307673566}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02985708696443}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415332768007673}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293189654022369}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293702317655395}], "left_finger_force_n": 47.05698844092836, "right_finger_force_n": 47.00222473968544, "bilateral_contact": true, "supported": false, "lift_m": 0.020431310952217632}, "simulation_time": 25.701999999996634, "positions": {"shoulder_pan": 0.7987404595110861, "shoulder_lift": -0.625623154353251, "elbow_flex": 0.3314034288720504, "wrist_flex": 1.6580801999681678, "wrist_roll": 3.42720255098484e-08, "gripper": -0.17173996984195844}, "velocities": {"shoulder_pan": 8.883219067552305e-13, "shoulder_lift": 1.3018160275054206e-09, "elbow_flex": 1.2906881418918826e-09, "wrist_flex": 7.875745147647196e-10, "wrist_roll": -1.43015599780743e-11, "gripper": -7.469667414145228e-08}, "actuator_forces": {"shoulder_pan": 1.1516476661199704e-10, "shoulder_lift": -0.20383102835398859, "elbow_flex": -0.38030699305056714, "wrist_flex": -0.02016401280206992, "wrist_roll": -3.421101080621611e-05, "gripper": -2.785063846215678}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198709077736, -0.10013737321711111, 0.11088885469321515], "quaternion_wxyz": [0.7090864135834702, 0.26241690637698617, 0.5731736353808401, -0.3159205739156212], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 259, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579734.1266232, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488704952470043, -0.09832157346715807, 0.12055406687056336], "quaternion_wxyz": [0.9050692810065142, -0.04214435303389303, -0.10426144119027175, -0.41012559291835904], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92109095339335}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797764203818493}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215816739674658}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092489990099803}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02982796187586}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415314413048801}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293171916090738}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293740021529626}], "left_finger_force_n": 47.05698984886216, "right_finger_force_n": 47.00222635066916, "bilateral_contact": true, "supported": false, "lift_m": 0.020428943830296503}, "simulation_time": 25.80199999999658, "positions": {"shoulder_pan": 0.7987404595111474, "shoulder_lift": -0.6256231542221982, "elbow_flex": 0.3314034290023234, "wrist_flex": 1.658080200047548, "wrist_roll": 3.42705895689964e-08, "gripper": -0.17173997495302082}, "velocities": {"shoulder_pan": 4.087915561166064e-13, "shoulder_lift": 1.3169299535694726e-09, "elbow_flex": 1.3116002347315822e-09, "wrist_flex": 7.983941127740386e-10, "wrist_roll": -1.4402516598662162e-11, "gripper": -3.3742391624746694e-08}, "actuator_forces": {"shoulder_pan": 5.434230843093246e-11, "shoulder_lift": -0.20383115918525618, "elbow_flex": -0.3803071231080253, "wrist_flex": -0.020164092049526516, "wrist_roll": -3.4209577342937676e-05, "gripper": -2.785058776137504}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987088823821, -0.1001373731970436, 0.11088885465703446], "quaternion_wxyz": [0.7090864134831545, 0.26241690642650245, 0.5731736355033987, -0.3159205738772929], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 260, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 12951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579734.4276383, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488740541244054, -0.09832197998615849, 0.12055170096003134], "quaternion_wxyz": [0.9050692923592772, -0.042144531368077214, -0.10426114656985067, -0.4101256244371749], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921089653163077}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7977633127623385}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215824957382595}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092498616981856}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02981385960464}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415305438706499}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293163346993426}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293758212107807}], "left_finger_force_n": 47.05699039989451, "right_finger_force_n": 47.00222699780773, "bilateral_contact": true, "supported": false, "lift_m": 0.020426577919764488}, "simulation_time": 25.901999999996523, "positions": {"shoulder_pan": 0.7987404595111758, "shoulder_lift": -0.6256231540901159, "elbow_flex": 0.33140342913402476, "wrist_flex": 1.6580802001276673, "wrist_roll": 3.426914660689277e-08, "gripper": -0.1717399772671072}, "velocities": {"shoulder_pan": 1.8829512702293964e-13, "shoulder_lift": 1.323691209446293e-09, "elbow_flex": 1.3209980097924284e-09, "wrist_flex": 8.032525132151253e-10, "wrist_roll": -1.44499519341467e-11, "gripper": -1.533415411802198e-08}, "actuator_forces": {"shoulder_pan": 2.603428583825007e-11, "shoulder_lift": -0.20383129103765896, "elbow_flex": -0.3803072545822488, "wrist_flex": -0.02016417202980847, "wrist_roll": -3.420813691251162e-05, "gripper": -2.785056480502618}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987086850483, -0.10013737317676591, 0.11088885462049919], "quaternion_wxyz": [0.7090864133818884, 0.26241690647647886, 0.5731736356271313, -0.3159205738385849], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 261, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579734.817966, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488776177062842, -0.09832238706505299, 0.12054933559406353], "quaternion_wxyz": [0.9050692924938234, -0.042144749327373686, -0.10426094064568368, -0.41012565409218393], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921088878329456}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797762802979503}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215829224773202}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092503149423248}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02980650976513}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415300704484073}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293158875276632}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293767631462913}], "left_finger_force_n": 47.05699056527054, "right_finger_force_n": 47.00222721122362, "bilateral_contact": true, "supported": false, "lift_m": 0.020424212553796672}, "simulation_time": 26.001999999996467, "positions": {"shoulder_pan": 0.7987404595111891, "shoulder_lift": -0.625623153957572, "elbow_flex": 0.33140342926636795, "wrist_flex": 1.6580802002081187, "wrist_roll": 3.4267700311531396e-08, "gripper": -0.1717399783240039}, "velocities": {"shoulder_pan": 8.983392295296371e-14, "shoulder_lift": 1.326732969917636e-09, "elbow_flex": 1.3252251470774742e-09, "wrist_flex": 8.054437019227754e-10, "wrist_roll": -1.4472800117506189e-11, "gripper": -7.060001485647278e-09}, "actuator_forces": {"shoulder_pan": 1.2960299500264227e-11, "shoulder_lift": -0.203831423348106, "elbow_flex": -0.38030738669317543, "wrist_flex": -0.02016425233978225, "wrist_roll": -3.4206693173873495e-05, "gripper": -2.7850554319294076}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198708486825, -0.10013737315639383, 0.11088885458380475], "quaternion_wxyz": [0.7090864132801953, 0.26241690652666216, 0.5731736357513917, -0.3159205737997066], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 262, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579735.144921, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488811833825495, -0.09832279439761403, 0.12054697047287756], "quaternion_wxyz": [0.9050692873679997, -0.04214498501959433, -0.1042607746210569, -0.4101256833902237], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92108835591419}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797762448195424}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215831732811228}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092505825092465}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02980219495794}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415297892217941}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293156229031995}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.2937731081115}], "left_finger_force_n": 47.05699055697125, "right_finger_force_n": 47.00222722936144, "bilateral_contact": true, "supported": false, "lift_m": 0.020421847432610704}, "simulation_time": 26.101999999996412, "positions": {"shoulder_pan": 0.798740459511195, "shoulder_lift": -0.6256231538248201, "elbow_flex": 0.3314034293989999, "wrist_flex": 1.6580802002887194, "wrist_roll": 3.4266252385792655e-08, "gripper": -0.1717399788158187}, "velocities": {"shoulder_pan": 5.228995482786436e-14, "shoulder_lift": 1.3280982013180255e-09, "elbow_flex": 1.3271249795310656e-09, "wrist_flex": 8.064244078191582e-10, "wrist_roll": -1.448422308302653e-11, "gripper": -3.3409436873480084e-09}, "actuator_forces": {"shoulder_pan": 7.16227077646181e-12, "shoulder_lift": -0.2038315558645536, "elbow_flex": -0.38030751909053606, "wrist_flex": -0.020164332797548923, "wrist_roll": -3.4205247816630506e-05, "gripper": -2.7850549438856262}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987082882022, -0.10013737313597909, 0.11088885454703865], "quaternion_wxyz": [0.7090864131783104, 0.2624169065769381, 0.5731736358758891, -0.3159205737607512], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 263, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579735.5824943, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488847499841305, -0.09832320184565704, 0.12054460546170145], "quaternion_wxyz": [0.9050692797295323, -0.04214522862956969, -0.10426062655225783, -0.4101257128546793], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921087958012082}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797762151946369}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215833461101179}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092507655035465}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029799244289947}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415295954775887}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293154392266867}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293776812461182}], "left_finger_force_n": 47.056990470385045, "right_finger_force_n": 47.00222715950394, "bilateral_contact": true, "supported": false, "lift_m": 0.020419482421434598}, "simulation_time": 26.201999999996357, "positions": {"shoulder_pan": 0.7987404595111979, "shoulder_lift": -0.6256231536919751, "elbow_flex": 0.33140342953176155, "wrist_flex": 1.6580802003693873, "wrist_roll": 3.426480362533953e-08, "gripper": -0.17173997905364205}, "velocities": {"shoulder_pan": 2.7827120642529688e-14, "shoulder_lift": 1.3287112370700055e-09, "elbow_flex": 1.3279786515494338e-09, "wrist_flex": 8.068662525888415e-10, "wrist_roll": -1.4490263520391616e-11, "gripper": -1.6693224077595864e-09}, "actuator_forces": {"shoulder_pan": 4.206412995699793e-12, "shoulder_lift": -0.20383168847365596, "elbow_flex": -0.38030765161653335, "wrist_flex": -0.020164413322163455, "wrist_roll": -3.420380163033303e-05, "gripper": -2.7850547077871113}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987080893992, -0.10013737311554523, 0.11088885451024028], "quaternion_wxyz": [0.7090864130763394, 0.262416906627256, 0.5731736360004932, -0.3159205737217614], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 264, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579735.9023364, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488883169885202, -0.09832360934672357, 0.12054224049994666], "quaternion_wxyz": [0.9050692708609067, -0.04214547576256696, -0.10426048656893554, -0.41012574261616647], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921087623592438}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797761874437633}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215834846422637}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092509097267833}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029796906738653}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415294417986612}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293152911842007}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293779720115648}], "left_finger_force_n": 47.056990348459195, "right_finger_force_n": 47.00222704994427, "bilateral_contact": true, "supported": false, "lift_m": 0.020417117459679807}, "simulation_time": 26.3019999999963, "positions": {"shoulder_pan": 0.798740459511199, "shoulder_lift": -0.625623153559088, "elbow_flex": 0.3314034296645816, "wrist_flex": 1.6580802004500852, "wrist_roll": 3.426335440803491e-08, "gripper": -0.17173997917730327}, "velocities": {"shoulder_pan": 2.73255282714782e-14, "shoulder_lift": 1.3289873551622429e-09, "elbow_flex": 1.3283619681805619e-09, "wrist_flex": 8.070594053599007e-10, "wrist_roll": -1.4493719732354843e-11, "gripper": -9.179782725293084e-10}, "actuator_forces": {"shoulder_pan": 3.069544618483633e-12, "shoulder_lift": -0.2038318211243677, "elbow_flex": -0.3803077842004541, "wrist_flex": -0.020164493877018685, "wrist_roll": -3.420235499000255e-05, "gripper": -2.7850545849310038}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198707890516, -0.10013737309510282, 0.11088885447342747], "quaternion_wxyz": [0.7090864129743293, 0.2624169066775926, 0.5731736361251454, -0.3159205736827563], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 265, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579736.3371665, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488918841629652, -0.09832401687251216, 0.12053987556037511], "quaternion_wxyz": [0.9050692613708238, -0.0421457244548086, -0.10426035022978468, -0.41012577266225814], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921087322816891}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797761600205457}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215836082695508}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0925103600840735}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029794844743503}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415293066337442}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29315158648132}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29378226961784}], "left_finger_force_n": 47.056990210545436, "right_finger_force_n": 47.002226922436606, "bilateral_contact": true, "supported": false, "lift_m": 0.020414752520108256}, "simulation_time": 26.401999999996246, "positions": {"shoulder_pan": 0.7987404595111997, "shoulder_lift": -0.6256231534261821, "elbow_flex": 0.3314034297974277, "wrist_flex": 1.6580802005307975, "wrist_roll": 3.426190491812477e-08, "gripper": -0.1717399792496525}, "velocities": {"shoulder_pan": 2.7337956444666335e-14, "shoulder_lift": 1.3291073610829422e-09, "elbow_flex": 1.328535119851569e-09, "wrist_flex": 8.071359632047145e-10, "wrist_roll": -1.4495887826841993e-11, "gripper": -5.802812899310355e-10}, "actuator_forces": {"shoulder_pan": 2.3874235921539366e-12, "shoulder_lift": -0.20383195379383778, "elbow_flex": -0.3803079168101817, "wrist_flex": -0.020164574445516337, "wrist_roll": -3.420090807854467e-05, "gripper": -2.7850545129734883}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198707691596, -0.10013737307465646, 0.11088885443660819], "quaternion_wxyz": [0.7090864128723018, 0.26241690672793777, 0.573173636249819, -0.31592057364374393], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 266, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579736.690562, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488954514043122, -0.0983244244101518, 0.12053751063074208], "quaternion_wxyz": [0.9050692515548013, -0.04214597383148326, -0.10426021553528939, -0.4101258029390044], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92108704063792}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797761323946744}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215837255448379}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0925115387572}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02979290658579}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415291801340988}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293150327348286}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293784658103597}], "left_finger_force_n": 47.056990065376034, "right_finger_force_n": 47.002226786792875, "bilateral_contact": true, "supported": false, "lift_m": 0.02041238759047523}, "simulation_time": 26.50199999999619, "positions": {"shoulder_pan": 0.7987404595112, "shoulder_lift": -0.6256231532932676, "elbow_flex": 0.33140342993028565, "wrist_flex": 1.6580802006115152, "wrist_roll": 3.426045524749207e-08, "gripper": -0.1717399792989395}, "velocities": {"shoulder_pan": 2.7219040544656717e-14, "shoulder_lift": 1.3291548545813138e-09, "elbow_flex": 1.3286111130552338e-09, "wrist_flex": 8.071884173316802e-10, "wrist_roll": -1.4497417255555749e-11, "gripper": -4.285037086826448e-10}, "actuator_forces": {"shoulder_pan": 2.0463630789890885e-12, "shoulder_lift": -0.20383208647183437, "elbow_flex": -0.3803080494317328, "wrist_flex": -0.020164655019243583, "wrist_roll": -3.4199460987170565e-05, "gripper": -2.7850544638923793}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.136319870749266, -0.10013737305420851, 0.11088885439978594], "quaternion_wxyz": [0.7090864127702664, 0.26241690677828666, 0.5731736363745025, -0.31592057360472886], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 267, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579737.1340153, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13488990186672065, -0.0983248319537567, 0.12053514570554306], "quaternion_wxyz": [0.9050692415605727, -0.04214622350473514, -0.10426008158452164, -0.4101258333892755], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921086769179897}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797761044397928}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215838402012561}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0925126772305935}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029791024076797}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415290577629229}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29314909562342}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293786974192287}], "left_finger_force_n": 47.05698991689778, "right_finger_force_n": 47.002226647444935, "bilateral_contact": true, "supported": false, "lift_m": 0.02041002266527621}, "simulation_time": 26.601999999996135, "positions": {"shoulder_pan": 0.7987404595112001, "shoulder_lift": -0.6256231531603498, "elbow_flex": 0.33140343006314876, "wrist_flex": 1.658080200692236, "wrist_roll": 3.425900544405284e-08, "gripper": -0.17173997933786142}, "velocities": {"shoulder_pan": 2.732905008363439e-14, "shoulder_lift": 1.3291866668202111e-09, "elbow_flex": 1.3286483133209549e-09, "wrist_flex": 8.071891196181415e-10, "wrist_roll": -1.4498591778698525e-11, "gripper": -3.6029142561241174e-10}, "actuator_forces": {"shoulder_pan": 1.9326762412674725e-12, "shoulder_lift": -0.20383221915312788, "elbow_flex": -0.38030818205834294, "wrist_flex": -0.020164735596381433, "wrist_roll": -3.419801376351141e-05, "gripper": -2.785054425092852}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987072937163, -0.10013737303375966, 0.11088885436296249], "quaternion_wxyz": [0.7090864126682278, 0.262416906828637, 0.5731736364991897, -0.31592057356571207], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 268, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579737.4969091, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1348902585931957, -0.09832523950061409, 0.12053278078230395], "quaternion_wxyz": [0.905069231464672, -0.04214647330386997, -0.10425994797104766, -0.41012586396503775], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921086504146829}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7977607617526905}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215839538411636}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092513796017498}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029789166571526}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415289374062331}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293147874613469}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293789257724434}], "left_finger_force_n": 47.05698976690018, "right_finger_force_n": 47.002226506400234, "bilateral_contact": true, "supported": false, "lift_m": 0.020407657742037094}, "simulation_time": 26.70199999999608, "positions": {"shoulder_pan": 0.7987404595112002, "shoulder_lift": -0.6256231530274298, "elbow_flex": 0.3314034301960147, "wrist_flex": 1.6580802007729578, "wrist_roll": 3.4257555533447654e-08, "gripper": -0.17173997937212518}, "velocities": {"shoulder_pan": 2.7405047182679832e-14, "shoulder_lift": 1.3291866063712739e-09, "elbow_flex": 1.3286495992883368e-09, "wrist_flex": 8.071885310222655e-10, "wrist_roll": -1.4499574502597013e-11, "gripper": -3.296375048934734e-10}, "actuator_forces": {"shoulder_pan": 1.8189894035458565e-12, "shoulder_lift": -0.20383235183658144, "elbow_flex": -0.38030831468779525, "wrist_flex": -0.020164816174656153, "wrist_roll": -3.4196566433010254e-05, "gripper": -2.785054390913956}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987070947688, -0.10013737301331047, 0.11088885432613835], "quaternion_wxyz": [0.709086412566187, 0.26241690687898855, 0.5731736366238794, -0.3159205735266948], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 269, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579737.9172165, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13489061531901894, -0.09832564704945887, 0.1205304158599124], "quaternion_wxyz": [0.9050692213083867, -0.042146723154636266, -0.10425981451117361, -0.41012589462950594], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921086243093658}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797760476615485}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215840671334014}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092514904855842}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.029787320298514}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415288180630172}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293146657328549}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29379152661217}], "left_finger_force_n": 47.05698961619751, "right_finger_force_n": 47.002226364570895, "bilateral_contact": true, "supported": false, "lift_m": 0.020405292819645537}, "simulation_time": 26.801999999996024, "positions": {"shoulder_pan": 0.7987404595112003, "shoulder_lift": -0.6256231528945092, "elbow_flex": 0.33140343032888064, "wrist_flex": 1.6580802008536801, "wrist_roll": 3.425610553050859e-08, "gripper": -0.1717399794042957}, "velocities": {"shoulder_pan": 2.6421087524769405e-14, "shoulder_lift": 1.3291866947105638e-09, "elbow_flex": 1.3286692094432778e-09, "wrist_flex": 8.071890709440273e-10, "wrist_roll": -1.4500454639930576e-11, "gripper": -3.15862836858262e-10}, "actuator_forces": {"shoulder_pan": 1.7053025658242404e-12, "shoulder_lift": -0.20383248452048974, "elbow_flex": -0.3803084473173044, "wrist_flex": -0.020164896753158246, "wrist_roll": -3.419511901042284e-05, "gripper": -2.785054358811408}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987068958212, -0.10013737299286124, 0.11088885428931401], "quaternion_wxyz": [0.7090864124641462, 0.2624169069293405, 0.5731736367485695, -0.3159205734876775], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 270, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579738.246254, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1348909720438463, -0.09832605459969204, 0.12052805093786843], "quaternion_wxyz": [0.905069211114958, -0.042146973025340984, -0.10425968112165113, -0.4101259253558129], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.921085984572194}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797760189610297}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215841803436466}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09251600847457}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02978547906977}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415286992487836}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.29314544097601}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293793788910534}], "left_finger_force_n": 47.0569894651633, "right_finger_force_n": 47.00222622237438, "bilateral_contact": true, "supported": false, "lift_m": 0.020402927897601578}, "simulation_time": 26.90199999999597, "positions": {"shoulder_pan": 0.7987404595112003, "shoulder_lift": -0.6256231527615884, "elbow_flex": 0.3314034304617476, "wrist_flex": 1.6580802009344022, "wrist_roll": 3.42546554437243e-08, "gripper": -0.17173997943552566}, "velocities": {"shoulder_pan": 2.7536699729279976e-14, "shoulder_lift": 1.3291875550889227e-09, "elbow_flex": 1.3286727709909161e-09, "wrist_flex": 8.071876428549273e-10, "wrist_roll": -1.4501272669008752e-11, "gripper": -3.0967547507537173e-10}, "actuator_forces": {"shoulder_pan": 1.7053025658242404e-12, "shoulder_lift": -0.20383261720462542, "elbow_flex": -0.38030857994772305, "wrist_flex": -0.020164977331887712, "wrist_roll": -3.4193671504185464e-05, "gripper": -2.785054327641859}, "applied_targets": {"shoulder_pan": 0.7987404595112021, "shoulder_lift": -0.6258273488468484, "elbow_flex": 0.33102244372638695, "wrist_flex": 1.65806, "wrist_roll": 8.277820914126255e-19, "gripper": -0.17453}, "tcp": {"position_m": [0.1363198706696873, -0.10013737297241185, 0.11088885425248958], "quaternion_wxyz": [0.7090864123621049, 0.2624169069796923, 0.57317363687326, -0.3159205734486598], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 271, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579738.7160058, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13489132876754534, -0.09832646215102352, 0.12052568601594756], "quaternion_wxyz": [0.9050692008980145, -0.042147222902880525, -0.10425954776459803, -0.4101259561248558], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9171091272517105}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793790493203957}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.211399631984539}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.088080997936786}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.026027888721615}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.419601184068123}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.297466724707323}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.297371618334363}], "left_finger_force_n": 47.036408139098604, "right_finger_force_n": 47.01443952710981, "bilateral_contact": true, "supported": false, "lift_m": 0.0204005629756807}, "simulation_time": 27.001999999995913, "positions": {"shoulder_pan": 0.798740461189071, "shoulder_lift": -0.6256115185328179, "elbow_flex": 0.33143458414048055, "wrist_flex": 1.658080254484113, "wrist_roll": 3.453363133216145e-08, "gripper": -0.171739977434086}, "velocities": {"shoulder_pan": 8.389353290227063e-07, "shoulder_lift": 0.005817049254088849, "elbow_flex": 0.015576774261610117, "wrist_flex": 2.6735301438104276e-05, "wrist_roll": 1.4019852494533143e-07, "gripper": 1.0158166944067965e-06}, "actuator_forces": {"shoulder_pan": -1.1368683772161603e-13, "shoulder_lift": -3.6300207284512e-09, "elbow_flex": -3.6285996429796796e-09, "wrist_flex": -0.020165057910389805, "wrist_roll": 3.9605007804126985e-11, "gripper": -2.7850542968913317}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": -0.17453}, "tcp": {"position_m": [0.13631987064979256, -0.10013737295196255, 0.11088885421566509], "quaternion_wxyz": [0.7090864122600637, 0.2624169070300444, 0.573173636997951, -0.3159205734096425], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 272, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579739.029599, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13611807519752697, -0.09970722042385313, 0.1201196214202174], "quaternion_wxyz": [0.9084574823561938, -0.02754402006027277, -0.0718252743493729, -0.41083751006280156], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.770674596258171}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.65310600432303}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.22442970157871048}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.19711046318150346}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.26756450201124}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.225798850069645}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 16.3027632887406}], "left_finger_force_n": 16.3386841174223, "right_finger_force_n": 16.3027632887406, "bilateral_contact": true, "supported": false, "lift_m": 0.019994498379950543}, "simulation_time": 27.101999999995858, "positions": {"shoulder_pan": 0.7987404972772989, "shoulder_lift": -0.6254127067526573, "elbow_flex": 0.33177030827391235, "wrist_flex": 1.6580799320016186, "wrist_roll": 6.299981048995216e-08, "gripper": -0.07919118708965052}, "velocities": {"shoulder_pan": -2.5671276880482763e-07, "shoulder_lift": -0.00022389871096412594, "elbow_flex": 0.0005934552712316331, "wrist_flex": 1.2775909502792917e-05, "wrist_roll": -6.76580972656131e-08, "gripper": 0.9575021555551237}, "actuator_forces": {"shoulder_pan": -3.7715102166657744e-05, "shoulder_lift": -0.20985663927433507, "elbow_flex": -0.36674481485641763, "wrist_flex": -0.01990393731352924, "wrist_roll": -2.864692806087878e-05, "gripper": -0.05171527044865343}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": -0.07853704002175436}, "tcp": {"position_m": [0.13629012329895746, -0.10010682901586401, 0.11081001983833769], "quaternion_wxyz": [0.7089169895459224, 0.26249978336472946, 0.5733813697628452, -0.31585498330008854], "frame": "world"}, "contact_count": 7, "warning_count": 0}
{"cursor": 273, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579739.4532578, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13661954429726447, -0.10026006003590177, 0.11955954051466691], "quaternion_wxyz": [0.9098649116716572, -0.01933803016836524, -0.0536418930390501, -0.4109676756256185], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9028595178210864}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8624476633426863}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 0.7985056488114625}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 2.8823419354744555}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}], "left_finger_force_n": 2.563812829975235, "right_finger_force_n": 2.8823419354744555, "bilateral_contact": true, "supported": false, "lift_m": 0.019434417474400056}, "simulation_time": 27.201999999995802, "positions": {"shoulder_pan": 0.798740409816426, "shoulder_lift": -0.6254178053628876, "elbow_flex": 0.3317863259508125, "wrist_flex": 1.6580815999635592, "wrist_roll": 5.809819977784747e-08, "gripper": 0.016206569845397714}, "velocities": {"shoulder_pan": -2.4637526039667726e-06, "shoulder_lift": -8.933046480124871e-06, "elbow_flex": 3.389656259215824e-05, "wrist_flex": 4.072947821334883e-05, "wrist_roll": -6.444088219704393e-08, "gripper": 0.9553159514642487}, "actuator_forces": {"shoulder_pan": 5.117622515626863e-05, "shoulder_lift": -0.20497692684136837, "elbow_flex": -0.3822405241357387, "wrist_flex": -0.02158750516764485, "wrist_roll": -2.3763715991138566e-05, "gripper": 0.544733277759704}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.01745591995649126}, "tcp": {"position_m": [0.13628862066622854, -0.10010526905415827, 0.11080797047544443], "quaternion_wxyz": [0.70891311475711, 0.2625016622374362, 0.5733861448078149, -0.3158534501796464], "frame": "world"}, "contact_count": 5, "warning_count": 0}
{"cursor": 274, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579739.734143, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14044746938082053, -0.1045729653275301, 0.09896962900590993], "quaternion_wxyz": [0.908254404711633, -0.030416171530264602, -0.0745289936633419, -0.41060226732799415], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.31100905687735314}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3047362350637012}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.001155494034356927}, "simulation_time": 27.301999999995747, "positions": {"shoulder_pan": 0.798740416147714, "shoulder_lift": -0.6254397227451137, "elbow_flex": 0.3317527133616363, "wrist_flex": 1.6580780117824738, "wrist_roll": 3.9556300768122514e-08, "gripper": 0.1121123710502835}, "velocities": {"shoulder_pan": 1.340463253559157e-06, "shoulder_lift": -0.0001590634329121283, "elbow_flex": -0.00021176799847037462, "wrist_flex": -3.296454160153926e-05, "wrist_roll": -8.573647601508639e-08, "gripper": 0.9598915554266395}, "actuator_forces": {"shoulder_pan": 4.21322013153258e-05, "shoulder_lift": -0.18295858223245887, "elbow_flex": -0.3484574087064516, "wrist_flex": -0.017947961206118634, "wrist_roll": -5.213485605660147e-06, "gripper": 0.6290659053351959}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.11344887993473687}, "tcp": {"position_m": [0.13629170733700682, -0.10010843874474117, 0.11081547057483503], "quaternion_wxyz": [0.7089302191308848, 0.2624933027869335, 0.5733651726776468, -0.31586007844514696], "frame": "world"}, "contact_count": 2, "warning_count": 0}
{"cursor": 275, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579740.1661437, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14251162945190504, -0.10676344347475082, 0.09988994845748234], "quaternion_wxyz": [0.9112214714888367, -0.0016004597014478569, -0.004371309485768045, -0.41189047097480036], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06048134184361587}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06115688437727695}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06044050789582393}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06128680141773454}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.00023517458278451975}, "simulation_time": 27.40199999999569, "positions": {"shoulder_pan": 0.7987404583064552, "shoulder_lift": -0.6254438602474758, "elbow_flex": 0.3317487313103952, "wrist_flex": 1.6580775079967807, "wrist_roll": 3.562601940822339e-08, "gripper": 0.2081051355936022}, "velocities": {"shoulder_pan": 5.318990147752827e-08, "shoulder_lift": -1.147859449241647e-06, "elbow_flex": 3.122831202065737e-06, "wrist_flex": 1.977117889846676e-06, "wrist_roll": -3.3158416975145025e-08, "gripper": 0.9599262923637122}, "actuator_forces": {"shoulder_pan": 1.1530023584782612e-06, "shoulder_lift": -0.1789714440193393, "elbow_flex": -0.34468814585244445, "wrist_flex": -0.0174782572901222, "wrist_roll": -1.3461075667027818e-06, "gripper": 0.6292013637167315}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.2094418399129825}, "tcp": {"position_m": [0.13629213300030302, -0.10010888483412034, 0.11081664455133464], "quaternion_wxyz": [0.7089329868095036, 0.2624919598010351, 0.5733617641073712, -0.3158611699985468], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 276, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579740.455839, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426276600002203, -0.1068772125085943, 0.10003614140723527], "quaternion_wxyz": [0.9112313100249227, -0.00019779235877793883, -0.0005408764888739512, -0.41189460783199117], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06121550768591257}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061292775120115245}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06121932762436677}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06129851258118083}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -8.898163303158735e-05}, "simulation_time": 27.501999999995636, "positions": {"shoulder_pan": 0.7987404598105435, "shoulder_lift": -0.6254436480869175, "elbow_flex": 0.3317490561218702, "wrist_flex": 1.658077701549348, "wrist_roll": 3.229557624446341e-08, "gripper": 0.3040977820649876}, "velocities": {"shoulder_pan": 3.1789191412897714e-09, "shoulder_lift": 3.031413552789672e-06, "elbow_flex": 3.079598129622008e-06, "wrist_flex": 1.8686300938523925e-06, "wrist_roll": -3.305841433881535e-08, "gripper": 0.9599265416073705}, "actuator_forces": {"shoulder_pan": -3.014142748725135e-07, "shoulder_lift": -0.1791872414556792, "elbow_flex": -0.3450125903485741, "wrist_flex": -0.017671418580448517, "wrist_roll": 1.9784971237406037e-06, "gripper": 0.6295143013067559}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.3054347998912281}, "tcp": {"position_m": [0.1362920850403213, -0.10010883586049872, 0.11081656789525815], "quaternion_wxyz": [0.7089327736940113, 0.26249206532792874, 0.573362023772675, -0.31586108927453516], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 277, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579740.8566937, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264203035822523, -0.10689129177873204, 0.10005426335527536], "quaternion_wxyz": [0.9112314605529696, -2.47310107285563e-05, -6.77050267036333e-05, -0.4118946711271087], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130042366533055}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130998968379307}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130099995806793}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131059480753041}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -7.085968499150053e-05}, "simulation_time": 27.60199999999558, "positions": {"shoulder_pan": 0.7987404600323935, "shoulder_lift": -0.6254433460234035, "elbow_flex": 0.3317493554805925, "wrist_flex": 1.6580778837123267, "wrist_roll": 2.9031884540692428e-08, "gripper": 0.4000904439105946}, "velocities": {"shoulder_pan": 1.9121524996731204e-09, "shoulder_lift": 2.9624497620471887e-06, "elbow_flex": 2.915203895782919e-06, "wrist_flex": 1.7756751644084201e-06, "wrist_roll": -3.218610376850156e-08, "gripper": 0.9599266977230451}, "actuator_forces": {"shoulder_pan": -5.216788849793375e-07, "shoulder_lift": -0.17948873688942513, "elbow_flex": -0.3453112927356301, "wrist_flex": -0.017853189019888305, "wrist_roll": 5.235753750320375e-06, "gripper": 0.6298117907052756}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.40142775986947377}, "tcp": {"position_m": [0.136292040070635, -0.10010878968246735, 0.11081648461230986], "quaternion_wxyz": [0.7089325426433563, 0.2624921793180152, 0.5733623058926266, -0.31586100101087955], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 278, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579741.1601791, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264382978987925, -0.1068930534761297, 0.10005653946924227], "quaternion_wxyz": [0.9112314629110281, -3.0961817739626876e-06, -8.485797901321452e-06, -0.4118946721182887], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061310984538203585}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312181641457804}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131105853728223}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312256092824584}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.858357102458579e-05}, "simulation_time": 27.701999999995525, "positions": {"shoulder_pan": 0.7987404602186461, "shoulder_lift": -0.6254430585128883, "elbow_flex": 0.33174963810714353, "wrist_flex": 1.6580780559887016, "wrist_roll": 2.587019490468264e-08, "gripper": 0.4960831228393645}, "velocities": {"shoulder_pan": 1.8266309727139452e-09, "shoulder_lift": 2.7861102040892324e-06, "elbow_flex": 2.7364880753603117e-06, "wrist_flex": 1.6693304211056112e-06, "wrist_roll": -3.102238716316038e-08, "gripper": 0.959926881496001}, "actuator_forces": {"shoulder_pan": -7.075318535498809e-07, "shoulder_lift": -0.17977560787699076, "elbow_flex": -0.34559328638289344, "wrist_flex": -0.018025081494670303, "wrist_roll": 8.39097668938583e-06, "gripper": 0.6300922063324492}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.4974207198477194}, "tcp": {"position_m": [0.13629199756691168, -0.10010874603064229, 0.11081640568989405], "quaternion_wxyz": [0.708932323638057, 0.262492287379849, 0.5733625732912139, -0.3158609173609757], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 279, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579741.6619878, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264405537450175, -0.10689327417069901, 0.10005682578533874], "quaternion_wxyz": [0.9112314629480631, -3.876833031729948e-07, -1.063732668927154e-06, -0.4118946721338501], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613123096366083}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131245964872712}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613123189788149}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131246899806787}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.829725492811523e-05}, "simulation_time": 27.80199999999547, "positions": {"shoulder_pan": 0.7987404603976529, "shoulder_lift": -0.6254427900666757, "elbow_flex": 0.33174990155194667, "wrist_flex": 1.6580782168377244, "wrist_roll": 2.2839545496339746e-08, "gripper": 0.5920758214371097}, "velocities": {"shoulder_pan": 1.7525983758437427e-09, "shoulder_lift": 2.5827436347835245e-06, "elbow_flex": 2.532440165339771e-06, "wrist_flex": 1.5476133435114186e-06, "wrist_roll": -2.9573039814631934e-08, "gripper": 0.9599270902991968}, "actuator_forces": {"shoulder_pan": -8.861663900461281e-07, "shoulder_lift": -0.18004342822905528, "elbow_flex": -0.3458561136971525, "wrist_flex": -0.018185555608170034, "wrist_roll": 1.1415182174971467e-05, "gripper": 0.6303529695147745}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.593413679825965}, "tcp": {"position_m": [0.13629195790568815, -0.10010870529822033, 0.11081633204722242], "quaternion_wxyz": [0.70893211921641, 0.2624923882700894, 0.5733628228561916, -0.31586083931056286], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 280, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 13951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579741.9634297, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440836588727, -0.10689330182189517, 0.1000568618083269], "quaternion_wxyz": [0.9112314629486447, -4.854381328847506e-08, -1.333463509805105e-07, -0.41189467213409453], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131247608463569}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312494886283396}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312477261616684}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312496063377124}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.826123193995337e-05}, "simulation_time": 27.901999999995414, "positions": {"shoulder_pan": 0.79874046056848, "shoulder_lift": -0.6254425431883015, "elbow_flex": 0.3317501433861032, "wrist_flex": 1.6580783647785502, "wrist_roll": 1.9967837728446662e-08, "gripper": 0.6880685421105127}, "velocities": {"shoulder_pan": 1.6631106852992583e-09, "shoulder_lift": 2.3555730020175336e-06, "elbow_flex": 2.3050737012904094e-06, "wrist_flex": 1.4116493109636856e-06, "wrist_roll": -2.785143568358188e-08, "gripper": 0.959927322208495}, "actuator_forces": {"shoulder_pan": -1.0566245691734366e-06, "shoulder_lift": -0.18028970153420687, "elbow_flex": -0.34609735159403954, "wrist_flex": -0.018333133971282223, "wrist_roll": 1.4280528150093483e-05, "gripper": 0.6305916792500739}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.6894066398042107}, "tcp": {"position_m": [0.1362919214524738, -0.10010866786073674, 0.11081626436665043], "quaternion_wxyz": [0.7089319312716561, 0.2624924810545757, 0.57336305227596, -0.31586076758288184], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 281, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579742.3608122, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264408720530838, -0.10689330528641695, 0.10005686634068268], "quaternion_wxyz": [0.9112314629486539, -6.078400203318729e-09, -1.6715954127574297e-08, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312496995453845}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249935199427}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249714369768}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249950023977}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825669958417102e-05}, "simulation_time": 28.00199999999536, "positions": {"shoulder_pan": 0.7987404607295713, "shoulder_lift": -0.6254423201514525, "elbow_flex": 0.33175036138289776, "wrist_flex": 1.6580784984492711, "wrist_roll": 1.7281509108226304e-08, "gripper": 0.7840612870629904}, "velocities": {"shoulder_pan": 1.5583342129579117e-09, "shoulder_lift": 2.1067128289927332e-06, "elbow_flex": 2.0564830402874855e-06, "wrist_flex": 1.2626900492748957e-06, "wrist_roll": -2.5873427441388895e-08, "gripper": 0.959927575088862}, "actuator_forces": {"shoulder_pan": -1.2173529739811784e-06, "shoulder_lift": -0.18051215970001522, "elbow_flex": -0.346314778849262, "wrist_flex": -0.018466458013108422, "wrist_roll": 1.696063567773926e-05, "gripper": 0.630806137601212}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.7853995997824563}, "tcp": {"position_m": [0.13629188854289348, -0.10010863406288226, 0.11081620327139755], "quaternion_wxyz": [0.708931761534422, 0.2624925648789551, 0.5733632594380162, -0.315860702838424], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 282, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579742.6910307, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264408764998013, -0.10689330572050001, 0.10005686691093822], "quaternion_wxyz": [0.9112314629486539, -7.6110108319602e-10, -2.0954710694636842e-09, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124996225292}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499917891554}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249964120027}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499936562716}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825612932863379e-05}, "simulation_time": 28.101999999995304, "positions": {"shoulder_pan": 0.7987404608794444, "shoulder_lift": -0.6254421230097807, "elbow_flex": 0.33175055353509125, "wrist_flex": 1.6580786166193595, "wrist_roll": 1.4805290185891497e-08, "gripper": 0.880054058274432}, "velocities": {"shoulder_pan": 1.4392084635331448e-09, "shoulder_lift": 1.8384546893192286e-06, "elbow_flex": 1.7889568785366913e-06, "wrist_flex": 1.102106917775483e-06, "wrist_roll": -2.365722780268792e-08, "gripper": 0.9599278466120333}, "actuator_forces": {"shoulder_pan": -1.3668725387105951e-06, "shoulder_lift": -0.18070875440287182, "elbow_flex": -0.3465063934676209, "wrist_flex": -0.01858430039715131, "wrist_roll": 1.943083148183283e-05, "gripper": 0.6309943699030782}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.8813925597607019}, "tcp": {"position_m": [0.13629185947994513, -0.10010860421583316, 0.11081614932398896], "quaternion_wxyz": [0.7089316115675317, 0.2624926389714482, 0.5733634424349918, -0.3158606456733139], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 283, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579743.1576655, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264408770573564, -0.10689330577488783, 0.10005686698268713], "quaternion_wxyz": [0.9112314629486539, -9.529999979744946e-11, -2.626833302084914e-10, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249995257695}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249998959684}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249995492854}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999194841}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605757972142e-05}, "simulation_time": 28.201999999995248, "positions": {"shoulder_pan": 0.7987404610167195, "shoulder_lift": -0.6254419535785193, "elbow_flex": 0.33175071807338874, "wrist_flex": 1.658078718200989, "wrist_roll": 1.2561976979488873e-08, "gripper": 0.9760468574829663}, "velocities": {"shoulder_pan": 1.3068295010655765e-09, "shoulder_lift": 1.5532683498657154e-06, "elbow_flex": 1.5049582678746302e-06, "wrist_flex": 9.313782889716357e-07, "wrist_roll": -2.1223241192778258e-08, "gripper": 0.9599281342782711}, "actuator_forces": {"shoulder_pan": -1.5038066294437158e-06, "shoulder_lift": -0.18087767544579947, "elbow_flex": -0.34667043110397344, "wrist_flex": -0.018685576313828278, "wrist_roll": 2.166837499465431e-05, "gripper": 0.6311546429482178}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 0.9773855197389475}, "tcp": {"position_m": [0.13629183453121238, -0.1001085785943926, 0.11081610302114117], "quaternion_wxyz": [0.7089314827517881, 0.2624927026498742, 0.573363599582001, -0.31586059661389543], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 284, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579743.4398975, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264408771272652, -0.10689330578170225, 0.1000568669917145], "quaternion_wxyz": [0.9112314629486539, -1.1932761189821304e-11, -3.2929387006104016e-11, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999404194}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499998681894}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999943381}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499998978046}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604855235923e-05}, "simulation_time": 28.301999999995193, "positions": {"shoulder_pan": 0.7987404611401321, "shoulder_lift": -0.6254418134177778, "elbow_flex": 0.33175085348273187, "wrist_flex": 1.6580788022590451, "wrist_roll": 1.0572221222451682e-08, "gripper": 1.0720396861689576}, "velocities": {"shoulder_pan": 1.1624169920952188e-09, "shoulder_lift": 1.253779504276407e-06, "elbow_flex": 1.2071019446354965e-06, "wrist_flex": 7.520757923223531e-07, "wrist_roll": -1.859387592026645e-08, "gripper": 0.9599284354389692}, "actuator_forces": {"shoulder_pan": -1.6268942317765323e-06, "shoulder_lift": -0.18101736741709828, "elbow_flex": -0.34680538130965033, "wrist_flex": -0.018769353462857907, "wrist_roll": 2.3652667599011564e-05, "gripper": 0.6312854809455075}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.073378479717193}, "tcp": {"position_m": [0.13629181392640144, -0.1001085574344599, 0.11081606478919036], "quaternion_wxyz": [0.7089313762732629, 0.2624927553279301, 0.5733637294321462, -0.31586055611188457], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 285, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579743.9083617, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877136031, -0.10689330578255606, 0.10005686699285032], "quaternion_wxyz": [0.9112314629486539, -1.494125201202152e-12, -4.127959082572044e-12, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999925163}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999998331}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999928892}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999870367}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604741653168e-05}, "simulation_time": 28.401999999995137, "positions": {"shoulder_pan": 0.7987404612485465, "shoulder_lift": -0.6254417038181741, "elbow_flex": 0.3317509585162502, "wrist_flex": 1.6580788680197243, "wrist_roll": 8.85434034764385e-09, "gripper": 1.1680325455413716}, "velocities": {"shoulder_pan": 1.007298594121696e-09, "shoulder_lift": 9.427455309246739e-07, "elbow_flex": 8.981302729384438e-07, "wrist_flex": 5.658499487313898e-07, "wrist_roll": -1.5793337943304442e-08, "gripper": 0.9599287473213174}, "actuator_forces": {"shoulder_pan": -1.7350022289974731e-06, "shoulder_lift": -0.18112654401511463, "elbow_flex": -0.34691000144187, "wrist_flex": -0.018834860626839145, "wrist_roll": 2.5365442155431902e-05, "gripper": 0.6313856791120998}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.1693714396954387}, "tcp": {"position_m": [0.13629179785522577, -0.10010854093086012, 0.1108160349801664], "quaternion_wxyz": [0.7089312931123748, 0.2624927965205871, 0.5733638307898388, -0.315860524540213], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 286, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579744.2130094, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137131, -0.10689330578266303, 0.1000568669929932], "quaternion_wxyz": [0.9112314629486539, -1.8708288956792995e-13, -5.17473038058291e-13, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999990586}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999978794}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999910605}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999998343}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604727365986e-05}, "simulation_time": 28.501999999995082, "positions": {"shoulder_pan": 0.7987404613409637, "shoulder_lift": -0.6254416257889484, "elbow_flex": 0.3317510322067457, "wrist_flex": 1.6580789148776502, "wrist_roll": 7.424148952238603e-09, "gripper": 1.2640254365266428}, "velocities": {"shoulder_pan": 8.429134293828736e-10, "shoulder_lift": 6.230301493981796e-07, "elbow_flex": 5.808879961903341e-07, "wrist_flex": 3.744150101427063e-07, "wrist_roll": -1.2847408141460974e-08, "gripper": 0.9599290670538588}, "actuator_forces": {"shoulder_pan": -1.8271344970344217e-06, "shoulder_lift": -0.18120419989486436, "elbow_flex": -0.3469833281089336, "wrist_flex": -0.01888149476280887, "wrist_roll": 2.679093107453209e-05, "gripper": 0.6314543147668701}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.2653643996736843}, "tcp": {"position_m": [0.13629178646566117, -0.10010852923555032, 0.11081601386855218], "quaternion_wxyz": [0.7089312340348658, 0.2624928258485568, 0.5733639027218048, -0.31586050218959266], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 287, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579744.595101, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14264408771372686, -0.10689330578267642, 0.10005686699301118], "quaternion_wxyz": [0.9112314629486539, -2.34247828915485e-14, -6.487034846785666e-14, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999998808}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999997154}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999998863}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999977}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725567425e-05}, "simulation_time": 28.601999999995027, "positions": {"shoulder_pan": 0.7987404614165334, "shoulder_lift": -0.625441580048667, "elbow_flex": 0.3317510738756015, "wrist_flex": 1.6580789424014477, "wrist_roll": 6.294813291235835e-09, "gripper": 1.3600183597601372}, "velocities": {"shoulder_pan": 6.707588933945404e-10, "shoulder_lift": 2.975770578639647e-07, "elbow_flex": 2.582960318336976e-07, "wrist_flex": 1.7953303040658947e-07, "wrist_roll": -9.783205119043855e-09, "gripper": 0.959929391692583}, "actuator_forces": {"shoulder_pan": -1.9024438415726763e-06, "shoulder_lift": -0.1812496199271436, "elbow_flex": -0.34702468604410797, "wrist_flex": -0.01890882655607129, "wrist_roll": 2.7916011390997312e-05, "gripper": 0.6314907558337381}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.36135735965193}, "tcp": {"position_m": [0.1362917798625817, -0.10010852245621991, 0.11081600164875426], "quaternion_wxyz": [0.708931199584745, 0.26249284304178455, 0.573363944565683, -0.3158604892658392], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 288, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579744.85716, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.1068933057826781, 0.10005686699301342], "quaternion_wxyz": [0.9112314629486539, -2.933493593098692e-15, -8.1353350958272e-15, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999998715}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999998875}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725343992e-05}, "simulation_time": 28.70199999999497, "positions": {"shoulder_pan": 0.7987404614745592, "shoulder_lift": -0.6254415670186024, "elbow_flex": 0.33175108313903345, "wrist_flex": 1.6580789503377054, "wrist_roll": 5.476730134606366e-09, "gripper": 1.4560113155803023}, "velocities": {"shoulder_pan": 4.924350531360842e-10, "shoulder_lift": -3.0617187503891885e-08, "elbow_flex": -6.667538086463443e-08, "wrist_flex": -1.700210737332412e-08, "wrist_roll": -6.6289357390293926e-09, "gripper": 0.95992971824862}, "actuator_forces": {"shoulder_pan": -1.960235636033758e-06, "shoulder_lift": -0.18126238578884113, "elbow_flex": -0.34703369432611453, "wrist_flex": -0.01891660436217535, "wrist_roll": 2.873032550816234e-05, "gripper": 0.6314946666627748}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.4573503196301756}, "tcp": {"position_m": [0.1362917781067954, -0.10010852065529993, 0.11081599843331384], "quaternion_wxyz": [0.708931190079283, 0.2624928479419334, 0.5733639559361194, -0.3158604858879755], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 289, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579745.3145132, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, -3.694210043197702e-16, -1.0186586480710757e-15, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 28.801999999994916, "positions": {"shoulder_pan": 0.7987404615145075, "shoulder_lift": -0.6254415868188502, "elbow_flex": 0.33175105991162945, "wrist_flex": 1.6580789386133103, "wrist_roll": 4.977431101212313e-09, "gripper": 1.552004304025543}, "velocities": {"shoulder_pan": 3.095759010804486e-10, "shoulder_lift": -3.5853073229308926e-07, "elbow_flex": -3.910340718550043e-07, "wrist_flex": -2.133813595583157e-07, "wrist_roll": -3.413635651681184e-09, "gripper": 0.9599300437149846}, "actuator_forces": {"shoulder_pan": -1.9999786218249938e-06, "shoulder_lift": -0.18124237981703573, "elbow_flex": -0.34701026989233696, "wrist_flex": -0.018904756527035715, "wrist_roll": 2.92263765036963e-05, "gripper": 0.6314660111240755}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.5533432796084212}, "tcp": {"position_m": [0.1362917812144832, -0.10010852384938748, 0.11081600425186865], "quaternion_wxyz": [0.7089312056060839, 0.2624928405038467, 0.5733639367283212, -0.31586049208713635], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 290, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579745.6529193, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, -4.8343184779849653e-17, -1.2585915851404494e-16, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000096}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 28.90199999999486, "positions": {"shoulder_pan": 0.7987404615360103, "shoulder_lift": -0.6254416392672192, "elbow_flex": 0.331751004407139, "wrist_flex": 1.6580789073361237, "wrist_roll": 4.801513347090402e-09, "gripper": 1.6479973248338646}, "velocities": {"shoulder_pan": 1.2385848015204397e-10, "shoulder_lift": -6.831442596448068e-07, "elbow_flex": -7.117934549992451e-07, "wrist_flex": -4.077970530862848e-07, "wrist_roll": -1.6690222759929007e-10, "gripper": 0.9599303650950034}, "actuator_forces": {"shoulder_pan": -2.0213069547025952e-06, "shoulder_lift": -0.18118978609743408, "elbow_flex": -0.34695462830683255, "wrist_flex": -0.018873392048590176, "wrist_roll": 2.9399597122113793e-05, "gripper": 0.6314050529499582}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.6493362395866669}, "tcp": {"position_m": [0.13629178915705, -0.10010853200909212, 0.1108160190508788], "quaternion_wxyz": [0.7089312460222785, 0.26249282079596276, 0.5733638871190243, -0.3158605078062788], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 291, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_cb0fe7832e6642e4ae6963d5e2c91b49", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579746.1457193, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, -3.659802588217188e-18, -2.8696264672697195e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.001999999994805, "positions": {"shoulder_pan": 0.7987404615388694, "shoulder_lift": -0.6254417238809024, "elbow_flex": 0.3317509171365099, "wrist_flex": 1.6580788567939895, "wrist_roll": 4.950597245285572e-09, "gripper": 1.7439903774452827}, "velocities": {"shoulder_pan": -6.299145147506978e-11, "shoulder_lift": -1.0014688238552843e-06, "elbow_flex": -1.0260000458685445e-06, "wrist_flex": -5.984596007353042e-07, "wrist_roll": 3.0813776880671153e-09, "gripper": 0.9599306794293753}, "actuator_forces": {"shoulder_pan": -2.0240237290636287e-06, "shoulder_lift": -0.18110508877543907, "elbow_flex": -0.34686728177979376, "wrist_flex": -0.018822799573854354, "wrist_roll": 2.924839181984855e-05, "gripper": 0.6313123533038834}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995649125}, "tcp": {"position_m": [0.13629180186138667, -0.10010854505930641, 0.11081604269411909], "quaternion_wxyz": [0.7089313109558353, 0.26249278899968703, 0.5733638075648717, -0.3158605329007074], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 292, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579746.4254336, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 3.591958603954211e-18, -1.363915546275234e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.10199999999475, "positions": {"shoulder_pan": 0.7987404589885503, "shoulder_lift": -0.6254416160508314, "elbow_flex": 0.33175096659282344, "wrist_flex": 1.6580788796657744, "wrist_roll": 5.004043577186461e-09, "gripper": 1.7453744791487478}, "velocities": {"shoulder_pan": 1.760213623344905e-08, "shoulder_lift": -5.77609580933052e-06, "elbow_flex": -3.340935230199582e-06, "wrist_flex": -1.7593831616819253e-06, "wrist_roll": -2.1131218716396792e-10, "gripper": 0.0010450449894644207}, "actuator_forces": {"shoulder_pan": 5.048772209192975e-07, "shoulder_lift": -0.18120791082549204, "elbow_flex": -0.34691378049024024, "wrist_flex": -0.018844118804736354, "wrist_roll": 2.919742910009111e-05, "gripper": -0.04744483060130733}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.13629179459861018, -0.10010853708293808, 0.11081602098661551], "quaternion_wxyz": [0.708931253548921, 0.2624928165153866, 0.5733638787960011, -0.3158605095788001], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 293, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579746.867623, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.9240307723771005e-17, -1.401185029613484e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.201999999994694, "positions": {"shoulder_pan": 0.798740459500515, "shoulder_lift": -0.625441776443988, "elbow_flex": 0.3317509052584447, "wrist_flex": 1.6580788508988493, "wrist_roll": 5.0035172618113794e-09, "gripper": 1.7453255006032666}, "velocities": {"shoulder_pan": 5.471317223704424e-10, "shoulder_lift": -1.5641609492541874e-07, "elbow_flex": 9.055935060640656e-09, "wrist_flex": 1.2722364996502073e-08, "wrist_roll": 1.0269822316323273e-12, "gripper": -1.4740660194110012e-05}, "actuator_forces": {"shoulder_pan": 1.0123926585947629e-08, "shoulder_lift": -0.18105318283176075, "elbow_flex": -0.34685616164699695, "wrist_flex": -0.018817351790175962, "wrist_roll": 2.9197651691646297e-05, "gripper": 0.003717538109412999}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.13629180416978606, -0.10010854702233923, 0.11081605092926362], "quaternion_wxyz": [0.7089313334314988, 0.2624927775636974, 0.5733637806945393, -0.3158605407353006], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 294, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579747.245593, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.825405983096655e-17, -1.6170739469195137e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.30199999999464, "positions": {"shoulder_pan": 0.7987404595111322, "shoulder_lift": -0.6254417795943304, "elbow_flex": 0.3317509061267468, "wrist_flex": 1.6580788515331732, "wrist_roll": 5.003549632184173e-09, "gripper": 1.7453258456789598}, "velocities": {"shoulder_pan": 3.2820386810980208e-12, "shoulder_lift": -1.5814082777968377e-09, "elbow_flex": 6.798455992037179e-10, "wrist_flex": 3.6252733777216586e-10, "wrist_roll": -5.008370024948496e-14, "gripper": 1.7789534183784265e-07}, "actuator_forces": {"shoulder_pan": 6.480149750132114e-11, "shoulder_lift": -0.1810501914736733, "elbow_flex": -0.34685702912400984, "wrist_flex": -0.018817977877915837, "wrist_roll": 2.9197620247690538e-05, "gripper": 0.003347649674878994}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040401398, -0.10010854689153106, 0.11081605115609133], "quaternion_wxyz": [0.7089313339929855, 0.26249277729154524, 0.5733637800024513, -0.31586054095755217], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 295, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579747.7032394, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.6847626688144973e-17, -1.436818239356758e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.401999999994583, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796336795, "elbow_flex": 0.33175090613021246, "wrist_flex": 1.6580788515340998, "wrist_roll": 5.0035478172239496e-09, "gripper": 1.7453258434352499}, "velocities": {"shoulder_pan": 2.404032572677397e-14, "shoulder_lift": -3.362157548437461e-11, "elbow_flex": -1.1993559503715033e-11, "wrist_flex": -6.584508147624306e-12, "wrist_roll": -2.5269516026380813e-16, "gripper": -1.980088727025441e-09}, "actuator_forces": {"shoulder_pan": -1.1368683772161603e-13, "shoulder_lift": -0.18105015367814303, "elbow_flex": -0.3468570317849071, "wrist_flex": -0.018817978361994392, "wrist_roll": 2.919762202360969e-05, "gripper": 0.003350159555566279}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.13629180403973692, -0.10010854689113229, 0.11081605115995007], "quaternion_wxyz": [0.708931334003538, 0.26249277728640086, 0.5733637799894903, -0.3158605409616696], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 296, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579748.0074651, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 3.0372026844714594e-17, -1.519377141537389e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.501999999994528, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344298, "elbow_flex": 0.3317509061300262, "wrist_flex": 1.658078851534018, "wrist_roll": 5.003547825240033e-09, "gripper": 1.745325843447754}, "velocities": {"shoulder_pan": 7.306082729182855e-17, "shoulder_lift": -5.000166689514084e-13, "elbow_flex": 5.319169265824697e-14, "wrist_flex": 8.891525861429636e-14, "wrist_roll": -1.2204022810827162e-18, "gripper": 2.0955966812960188e-11}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015296134752, "elbow_flex": -0.34685703161119363, "wrist_flex": -0.018817978287188453, "wrist_roll": 2.919762201513558e-05, "gripper": 0.003350144304931746}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.13629180403976743, -0.1001085468911635, 0.11081605116007365], "quaternion_wxyz": [0.708931334003868, 0.26249277728623965, 0.5733637799890862, -0.31586054096179744], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 297, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579748.4759295, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.620167740902567e-17, -1.1829770564529549e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.601999999994472, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015898e-09, "gripper": 1.7453258434477095}, "velocities": {"shoulder_pan": 1.9601784235895744e-18, "shoulder_lift": -1.6830535994990078e-14, "elbow_flex": 2.298833887994737e-15, "wrist_flex": 1.901856747241942e-14, "wrist_roll": -1.1285726980642532e-19, "gripper": -2.1408761435343636e-13}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.9197622015361142e-05, "gripper": 0.003350144377009201}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 298, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579748.7804656, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.210185863226005e-17, -1.603708326866953e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.701999999994417, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015334e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.296634564172313e-19, "shoulder_lift": -1.6115752870822777e-14, "elbow_flex": 2.322059314682779e-15, "wrist_flex": 1.905599082381727e-14, "wrist_roll": 4.501530614850591e-22, "gripper": 4.207518910905524e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.9197622015361542e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 299, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579749.2714999, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.930718472398373e-17, -1.3696324156295841e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.80199999999436, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.286417296091236e-19, "shoulder_lift": -1.611545910466078e-14, "elbow_flex": 2.3222501411402205e-15, "wrist_flex": 1.9056205509530233e-14, "wrist_roll": 7.83179530621597e-24, "gripper": 4.1227978282091626e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 300, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 14951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579749.5794258, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.1919453191052766e-17, -9.800609294047296e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 29.901999999994306, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.291427636686995e-19, "shoulder_lift": -1.6115572157531005e-14, "elbow_flex": 2.3221406366907575e-15, "wrist_flex": 1.9056243594823464e-14, "wrist_roll": -2.844574248694323e-24, "gripper": 4.1825556388304855e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 301, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579749.9904377, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.1438533804029196e-17, -7.743435485368512e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.00199999999425, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.285433788465683e-19, "shoulder_lift": -1.611541857190821e-14, "elbow_flex": 2.322285972040137e-15, "wrist_flex": 1.905628449719192e-14, "wrist_roll": 1.3924540339366202e-23, "gripper": 4.101823925920001e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 302, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579750.2570918, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.9758250526527187e-17, -7.673618202278719e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.101999999994195, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.290265245362712e-19, "shoulder_lift": -1.6115545049145355e-14, "elbow_flex": 2.3221668386959145e-15, "wrist_flex": 1.9056243277761753e-14, "wrist_roll": -1.3281172566155712e-25, "gripper": 4.164864838461899e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 303, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579750.6394868, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.8760341545861677e-17, -8.435117456670885e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.20199999999414, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.285572292323302e-19, "shoulder_lift": -1.6115399115754032e-14, "elbow_flex": 2.322300692058116e-15, "wrist_flex": 1.9056397049142805e-14, "wrist_roll": 1.8814436906957207e-23, "gripper": 4.086902405326206e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 304, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579750.9082005, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 3.2153324896066135e-17, -1.3655173624669988e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.301999999994084, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.290027689270456e-19, "shoulder_lift": -1.6115533808066432e-14, "elbow_flex": 2.3221767541574315e-15, "wrist_flex": 1.9056271261696914e-14, "wrist_roll": 1.8108945557374006e-24, "gripper": 4.152278929407152e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 305, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579751.3122895, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.661523807112547e-17, -1.0136904927227586e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000013}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000015}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.40199999999403, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.293228662601335e-19, "shoulder_lift": -1.611562819767613e-14, "elbow_flex": 2.3220893264550567e-15, "wrist_flex": 1.905618621014066e-14, "wrist_roll": -1.0030359677058007e-23, "gripper": 4.207421929341568e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 306, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579751.618236, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.6918062479822444e-17, -1.1341656293118609e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.501999999993973, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.286416333061961e-19, "shoulder_lift": -1.6115459086885126e-14, "elbow_flex": 2.3222501456164595e-15, "wrist_flex": 1.905620550952863e-14, "wrist_roll": 7.710579597258592e-24, "gripper": 4.1227978019017325e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 307, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579752.0154552, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.4794034114711402e-17, -7.439622399154434e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.601999999993918, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.291427636640186e-19, "shoulder_lift": -1.6115572157520554e-14, "elbow_flex": 2.3221406366993667e-15, "wrist_flex": 1.9056243594826323e-14, "wrist_roll": -2.844602350475172e-24, "gripper": 4.182555639362207e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 308, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579752.291723, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.298912358157646e-17, -1.121181993942193e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.701999999993863, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.285433788883574e-19, "shoulder_lift": -1.611541857191896e-14, "elbow_flex": 2.3222859720270626e-15, "wrist_flex": 1.905628449718808e-14, "wrist_roll": 1.392453961557465e-23, "gripper": 4.101823925196027e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 309, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579752.6910415, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.2036847712758588e-17, -1.454960980741317e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.801999999993807, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.290265245333613e-19, "shoulder_lift": -1.611554504913239e-14, "elbow_flex": 2.3221668387086124e-15, "wrist_flex": 1.9056243277765634e-14, "wrist_roll": -1.3280919649138064e-25, "gripper": 4.16486483918734e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443781460694}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 310, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579752.9720886, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3087980042510857e-17, -1.1353159671190105e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 30.901999999993752, "positions": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.658078851534019, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "velocities": {"shoulder_pan": 7.285572292516553e-19, "shoulder_lift": -1.6115399115751353e-14, "elbow_flex": 2.3223006920601625e-15, "wrist_flex": 1.9056397049143695e-14, "wrist_roll": 1.8814438087809882e-23, "gripper": 4.0869024054916595e-14}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": -0.18105015295043358, "elbow_flex": -0.34685703161210313, "wrist_flex": -0.01881797828832532, "wrist_roll": 2.919762201536154e-05, "gripper": 0.0033501443779186957}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6256231526313261, "elbow_flex": 0.3314034305919573, "wrist_flex": 1.65806, "wrist_roll": 3.425323428227079e-08, "gripper": 1.7453291995659765}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 311, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579753.4441886, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.933721570058565e-17, -1.2548857538888218e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.001999999993696, "positions": {"shoulder_pan": 0.7987404607613292, "shoulder_lift": -0.625431816969984, "elbow_flex": 0.33177966119670865, "wrist_flex": 1.6580789307036774, "wrist_roll": 4.6538649861221574e-09, "gripper": 1.7453258001530259}, "velocities": {"shoulder_pan": 6.250643850172347e-07, "shoulder_lift": 0.004981332228630356, "elbow_flex": 0.014377533340754318, "wrist_flex": 3.9584829190169624e-05, "wrist_roll": -1.7484141944659059e-07, "gripper": -2.164734101225641e-05}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": 0.0, "elbow_flex": 0.0, "wrist_flex": -0.01881797828832532, "wrist_roll": 0.0, "gripper": 0.0}, "applied_targets": {"shoulder_pan": 0.7987404595112004, "shoulder_lift": -0.6254417796344413, "elbow_flex": 0.33175090613002717, "wrist_flex": 1.65806, "wrist_roll": 5.003547825015338e-09, "gripper": 1.745325843447708}, "tcp": {"position_m": [0.1362918040397672, -0.10010854689116327, 0.11081605116007487], "quaternion_wxyz": [0.708931334003871, 0.2624927772862381, 0.5733637799890823, -0.31586054096179844], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 312, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579753.7336369, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.4678559981020776e-17, -8.038124812004777e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.10199999999364, "positions": {"shoulder_pan": 0.7987404371320475, "shoulder_lift": -0.6366151540321966, "elbow_flex": 0.32545861273296905, "wrist_flex": 1.6572814667839386, "wrist_roll": -2.6342461757469506e-08, "gripper": 1.7208564221512437}, "velocities": {"shoulder_pan": 5.238386869889383e-07, "shoulder_lift": -0.11669049631305148, "elbow_flex": -0.06874320270780979, "wrist_flex": -0.008757626433097979, "wrist_roll": -3.195795538806512e-08, "gripper": -0.24876614705064623}, "actuator_forces": {"shoulder_pan": 2.0928813910359167e-05, "shoulder_lift": -0.3104830923314239, "elbow_flex": -0.4509454565978217, "wrist_flex": -0.08897447061735875, "wrist_roll": 3.114844815038173e-05, "gripper": -0.19010660202434337}, "applied_targets": {"shoulder_pan": 0.7987404587677084, "shoulder_lift": -0.6370106427734882, "elbow_flex": 0.3249576751707975, "wrist_flex": 1.6571859690024084, "wrist_roll": 4.836762897541378e-09, "gripper": 1.7204816486661314}, "tcp": {"position_m": [0.13689463805427154, -0.10072768072267049, 0.1129822303385823], "quaternion_wxyz": [0.7141585900073927, 0.2599120773797107, 0.5668983575206618, -0.31788279694124927], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 313, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579754.1275687, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3521445191219695e-17, -8.115708741861549e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.201999999993586, "positions": {"shoulder_pan": 0.7987404607198971, "shoulder_lift": -0.648199862813928, "elbow_flex": 0.3186546461839006, "wrist_flex": 1.656408990578889, "wrist_roll": -2.908880286036994e-08, "gripper": 1.6960183471478503}, "velocities": {"shoulder_pan": 2.514775459238058e-08, "shoulder_lift": -0.115737089780065, "elbow_flex": -0.06793467780250233, "wrist_flex": -0.008718714867034575, "wrist_roll": -2.9276110536308224e-08, "gripper": -0.24844742968640676}, "actuator_forces": {"shoulder_pan": -2.709016371227335e-06, "shoulder_lift": -0.2939197486971352, "elbow_flex": -0.43940144370117196, "wrist_flex": -0.09047443919621401, "wrist_roll": 3.3720271387726876e-05, "gripper": -0.19771773143725113}, "applied_targets": {"shoulder_pan": 0.7987404580242163, "shoulder_lift": -0.648579505912535, "elbow_flex": 0.3181644442115678, "wrist_flex": 1.6563119380048168, "wrist_roll": 4.6699779700674184e-09, "gripper": 1.695637453884555}, "tcp": {"position_m": [0.13752889174637722, -0.10137909404153746, 0.1153488112687905], "quaternion_wxyz": [0.7197284746317829, 0.2571074447759747, 0.5598794430417438, -0.32003389493027506], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 314, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579754.4268, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.9148060690548925e-17, -1.031628935142246e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.30199999999353, "positions": {"shoulder_pan": 0.7987404607606207, "shoulder_lift": -0.6597729674051878, "elbow_flex": 0.31186144237633673, "wrist_flex": 1.6555370777996277, "wrist_roll": -3.20061901667073e-08, "gripper": 1.6711741281208103}, "velocities": {"shoulder_pan": -6.795393761891437e-09, "shoulder_lift": -0.11573327983102137, "elbow_flex": -0.06793410607805601, "wrist_flex": -0.00871925300949741, "wrist_roll": -2.901553694404896e-08, "gripper": -0.24844199905764683}, "actuator_forces": {"shoulder_pan": -3.469009016043856e-06, "shoulder_lift": -0.2897209162774743, "elbow_flex": -0.4394552685529334, "wrist_flex": -0.09258946879981522, "wrist_roll": 3.646572591487179e-05, "gripper": -0.19769553756827918}, "applied_targets": {"shoulder_pan": 0.7987404572807243, "shoulder_lift": -0.6601483690515819, "elbow_flex": 0.31137121325233813, "wrist_flex": 1.6554379070072252, "wrist_roll": 4.503193042593458e-09, "gripper": 1.6707932591029784}, "tcp": {"position_m": [0.13812877167699444, -0.10199519895465683, 0.11773921505047112], "quaternion_wxyz": [0.7252240545885307, 0.2542828610216583, 0.5528183558038502, -0.3221523905283633], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 315, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579754.8488472, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.6509773535480702e-17, -1.3159984625560181e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.401999999993475, "positions": {"shoulder_pan": 0.7987404600209776, "shoulder_lift": -0.6713463859350967, "elbow_flex": 0.30506794008046423, "wrist_flex": 1.6546651461767534, "wrist_roll": -3.489036575456722e-08, "gripper": 1.6463299272850205}, "velocities": {"shoulder_pan": -7.57409609860017e-09, "shoulder_lift": -0.11573462354607389, "elbow_flex": -0.06793558376640603, "wrist_flex": -0.008719376859502274, "wrist_roll": -2.866341341851175e-08, "gripper": -0.24844200669242664}, "actuator_forces": {"shoulder_pan": -3.4719834047791664e-06, "shoulder_lift": -0.28517217091359726, "elbow_flex": -0.43918296114929944, "wrist_flex": -0.0946850076559258, "wrist_roll": 3.917802632758823e-05, "gripper": -0.1976894670267484}, "applied_targets": {"shoulder_pan": 0.7987404565372324, "shoulder_lift": -0.6717172321906288, "elbow_flex": 0.3045779822931085, "wrist_flex": 1.6545638760096335, "wrist_roll": 4.3364081151194985e-09, "gripper": 1.6459490643214019}, "tcp": {"position_m": [0.13869491320212354, -0.10257665276497552, 0.1201560073265722], "quaternion_wxyz": [0.7306527053551564, 0.25143465727858244, 0.5457058890705395, -0.32424114469037446], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 316, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579755.1584487, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.2398776340004776e-17, -5.78662332250381e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.50199999999342, "positions": {"shoulder_pan": 0.7987404592616003, "shoulder_lift": -0.6829198943956407, "elbow_flex": 0.29827432277232646, "wrist_flex": 1.6537932018875188, "wrist_roll": -3.773578326610291e-08, "gripper": 1.6214857266485851}, "velocities": {"shoulder_pan": -7.604655696358722e-09, "shoulder_lift": -0.11573553670493482, "elbow_flex": -0.06793674701081327, "wrist_flex": -0.008719507735563454, "wrist_roll": -2.824186914301822e-08, "gripper": -0.24844200582724252}, "actuator_forces": {"shoulder_pan": -3.4561019219836453e-06, "shoulder_lift": -0.2805344507863765, "elbow_flex": -0.43879644834521514, "wrist_flex": -0.09676790599860396, "wrist_roll": 4.185158504821501e-05, "gripper": -0.1976836232452115}, "applied_targets": {"shoulder_pan": 0.7987404557937403, "shoulder_lift": -0.6832860953296758, "elbow_flex": 0.2977847513338788, "wrist_flex": 1.6536898450120416, "wrist_roll": 4.169623187645538e-09, "gripper": 1.6211048695398254}, "tcp": {"position_m": [0.13922686742806184, -0.10312299460428122, 0.12259818805363447], "quaternion_wxyz": [0.7360138076149139, 0.24856315480542066, 0.5385428449041113, -0.32629991920924356], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 317, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579755.6062415, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.6172899147823692e-17, -4.2400392714742324e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.601999999993364, "positions": {"shoulder_pan": 0.7987404585004608, "shoulder_lift": -0.6944934949246312, "elbow_flex": 0.29148058834396234, "wrist_flex": 1.652921244103154, "wrist_roll": -4.053553674164588e-08, "gripper": 1.596641526122701}, "velocities": {"shoulder_pan": -7.617556163768094e-09, "shoulder_lift": -0.11573645424550265, "elbow_flex": -0.06793791784471023, "wrist_flex": -0.008719646450570722, "wrist_roll": -2.775163348982698e-08, "gripper": -0.24844200471513317}, "actuator_forces": {"shoulder_pan": -3.438476369410637e-06, "shoulder_lift": -0.27580481908046295, "elbow_flex": -0.43829301531229703, "wrist_flex": -0.09883732743060136, "wrist_roll": 4.447951053336666e-05, "gripper": -0.1976778899791043}, "applied_targets": {"shoulder_pan": 0.7987404550502483, "shoulder_lift": -0.6948549584687227, "elbow_flex": 0.29099152037464915, "wrist_flex": 1.65281581401445, "wrist_roll": 4.002838260171579e-09, "gripper": 1.5962606747582488}, "tcp": {"position_m": [0.13972421285729608, -0.1036337915789873, 0.1250647961000097], "quaternion_wxyz": [0.7413068639320348, 0.245668617990307, 0.5313298830809342, -0.32832852292663217], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 318, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579755.9066453, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.1860807098439008e-17, -7.336607640021664e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.70199999999331, "positions": {"shoulder_pan": 0.7987404577380774, "shoulder_lift": -0.7060671868430722, "elbow_flex": 0.2846867369037074, "wrist_flex": 1.6520492720578241, "wrist_roll": -4.3282803281057024e-08, "gripper": 1.5717973257078068}, "velocities": {"shoulder_pan": -7.629852247422879e-09, "shoulder_lift": -0.11573736474206447, "elbow_flex": -0.06793908733950267, "wrist_flex": -0.008719792796727723, "wrist_roll": -2.7193661211726595e-08, "gripper": -0.2484420036049051}, "actuator_forces": {"shoulder_pan": -3.4196095839433838e-06, "shoulder_lift": -0.27098396571261674, "elbow_flex": -0.4376727796015416, "wrist_flex": -0.10089250767305202, "wrist_roll": 4.7054992694881104e-05, "gripper": -0.19767226750423106}, "applied_targets": {"shoulder_pan": 0.7987404543067562, "shoulder_lift": -0.7064238216077695, "elbow_flex": 0.28419828941541947, "wrist_flex": 1.6519417830168583, "wrist_roll": 3.836053332697618e-09, "gripper": 1.5714164799766723}, "tcp": {"position_m": [0.1401865407986685, -0.10410862394438955, 0.12755485684315795], "quaternion_wxyz": [0.7465313821367039, 0.24275131388477075, 0.5240676693410098, -0.33032676707127745], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 319, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579756.3398201, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.1432738085646824e-17, -8.336156568381558e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.801999999993253, "positions": {"shoulder_pan": 0.7987404569744677, "shoulder_lift": -0.7176409694460295, "elbow_flex": 0.2778927685917827, "wrist_flex": 1.6511772849907707, "wrist_roll": -4.5970865337995126e-08, "gripper": 1.5469531254039728}, "velocities": {"shoulder_pan": -7.642086362166255e-09, "shoulder_lift": -0.11573826801793767, "elbow_flex": -0.06794025524220589, "wrist_flex": -0.008719946724300048, "wrist_roll": -2.6569074093594125e-08, "gripper": -0.24844200249391168}, "actuator_forces": {"shoulder_pan": -3.399518732294382e-06, "shoulder_lift": -0.26607259453328425, "elbow_flex": -0.43693588140200745, "wrist_flex": -0.10293268735813399, "wrist_roll": 4.9571326760473826e-05, "gripper": -0.19766675589244187}, "applied_targets": {"shoulder_pan": 0.7987404535632642, "shoulder_lift": -0.7179926847468164, "elbow_flex": 0.2774050584561898, "wrist_flex": 1.6510677520192667, "wrist_roll": 3.669268405223659e-09, "gripper": 1.546572285195096}, "tcp": {"position_m": [0.14061345566817218, -0.10454708541733712, 0.13006738297292855], "quaternion_wxyz": [0.7516868763456086, 0.23981151167827322, 0.5167568740599096, -0.3322944656598919], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 320, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 15951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579756.6125295, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.01289301461224e-17, -7.47921859820346e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 31.901999999993198, "positions": {"shoulder_pan": 0.7987404562096372, "shoulder_lift": -0.7292148419926956, "elbow_flex": 0.271098683587888, "wrist_flex": 1.6503052821466893, "wrist_roll": -4.85931242977288e-08, "gripper": 1.5221089252112652}, "velocities": {"shoulder_pan": -7.65427049067412e-09, "shoulder_lift": -0.11573916370742807, "elbow_flex": -0.06794142115229894, "wrist_flex": -0.008720108177193047, "wrist_roll": -2.5879126374231104e-08, "gripper": -0.24844200138239417}, "actuator_forces": {"shoulder_pan": -3.3782092714318424e-06, "shoulder_lift": -0.26107144529817106, "elbow_flex": -0.4360825003860782, "wrist_flex": -0.10495711256794493, "wrist_roll": 5.202192677507275e-05, "gripper": -0.1976613552096751}, "applied_targets": {"shoulder_pan": 0.7987404528197721, "shoulder_lift": -0.7295615478858634, "elbow_flex": 0.2706118274969601, "wrist_flex": 1.650193721021675, "wrist_roll": 3.5024834777496984e-09, "gripper": 1.5217280904135195}, "tcp": {"position_m": [0.14100457517261783, -0.10494878336497274, 0.13260137485265858], "quaternion_wxyz": [0.7567728670152225, 0.23684948267066977, 0.5093981721795171, -0.3342314355179103], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 321, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579757.0441756, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.782361435067749e-17, -1.1455498521805754e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000012}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.001999999993146, "positions": {"shoulder_pan": 0.7987404554435914, "shoulder_lift": -0.7407888037059196, "elbow_flex": 0.2643044821116172, "wrist_flex": 1.6494332627760242, "wrist_roll": -5.1143113639370005e-08, "gripper": 1.497264725129736}, "velocities": {"shoulder_pan": -7.666394891401503e-09, "shoulder_lift": -0.11574005144777501, "elbow_flex": -0.06794258467118967, "wrist_flex": -0.008720277096601793, "wrist_roll": -2.5125202643035653e-08, "gripper": -0.24844200027037144}, "actuator_forces": {"shoulder_pan": -3.3556866583239753e-06, "shoulder_lift": -0.25598129404056635, "elbow_flex": -0.4351128560496136, "wrist_flex": -0.10696503512349409, "wrist_roll": 5.440033873821227e-05, "gripper": -0.19765606550754455}, "applied_targets": {"shoulder_pan": 0.7987404520762801, "shoulder_lift": -0.7411304110249102, "elbow_flex": 0.26381859653773043, "wrist_flex": 1.6493196900240834, "wrist_roll": 3.335698550275739e-09, "gripper": 1.496883895631943}, "tcp": {"position_m": [0.14135953048789188, -0.10531333898781589, 0.13515582088227535], "quaternion_wxyz": [0.7617888809876905, 0.23386550024801603, 0.5019922431475945, -0.3361374962971454], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 322, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579757.3239818, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.789530968285801e-17, -1.411634002439977e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.10199999999327, "positions": {"shoulder_pan": 0.7987404546763363, "shoulder_lift": -0.7523628537723684, "elbow_flex": 0.2575101644223873, "wrist_flex": 1.6485612261352431, "wrist_roll": -5.3614511833898974e-08, "gripper": 1.4724205251593845}, "velocities": {"shoulder_pan": -7.678455318856077e-09, "shoulder_lift": -0.11574093087782338, "elbow_flex": -0.06794374540088105, "wrist_flex": -0.00872045342093372, "wrist_roll": -2.4308815123095758e-08, "gripper": -0.24844199915841456}, "actuator_forces": {"shoulder_pan": -3.331957032060018e-06, "shoulder_lift": -0.25080295293219024, "elbow_flex": -0.4340272076521501, "wrist_flex": -0.10895571286232553, "wrist_roll": 5.670025347711808e-05, "gripper": -0.19765088682947862}, "applied_targets": {"shoulder_pan": 0.798740451332788, "shoulder_lift": -0.7526992741639776, "elbow_flex": 0.2570253655784887, "wrist_flex": 1.6484456590264902, "wrist_roll": 3.1689136228014824e-09, "gripper": 1.4720397008503223}, "tcp": {"position_m": [0.141677966432477, -0.10564038749797522, 0.13772969786683203], "quaternion_wxyz": [0.766734451536669, 0.23085983985788885, 0.4945397708562087, -0.3380124704933847], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 323, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579757.7513928, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.877557351855177e-17, -9.014543139823716e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.20199999999339, "positions": {"shoulder_pan": 0.7987404539078785, "shoulder_lift": -0.7639369913425974, "elbow_flex": 0.2507157308194158, "wrist_flex": 1.6476891714871174, "wrist_roll": -5.6001154958738695e-08, "gripper": 1.4475763253002862}, "velocities": {"shoulder_pan": -7.690447773701459e-09, "shoulder_lift": -0.11574180163713772, "elbow_flex": -0.06794490294371816, "wrist_flex": -0.008720637085728533, "wrist_roll": -2.343160071495804e-08, "gripper": -0.2484419980457787}, "actuator_forces": {"shoulder_pan": -3.307026986476558e-06, "shoulder_lift": -0.24553727014995275, "elbow_flex": -0.43282585415880703, "wrist_flex": -0.11092840991409503, "wrist_roll": 5.891551923667084e-05, "gripper": -0.19764581920708224}, "applied_targets": {"shoulder_pan": 0.7987404505892961, "shoulder_lift": -0.7642681373030451, "elbow_flex": 0.250232134619247, "wrist_flex": 1.647571628028897, "wrist_roll": 3.0021286953272264e-09, "gripper": 1.4471955060687018}, "tcp": {"position_m": [0.14195954163610347, -0.10592957829236223, 0.1403219713900828], "quaternion_wxyz": [0.7716091184125657, 0.2278327789845175, 0.4870414435797497, -0.33985618346372315], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 324, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579758.0850687, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.242800160567314e-17, -1.1994892035334656e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.30199999999351, "positions": {"shoulder_pan": 0.7987404531382255, "shoulder_lift": -0.7755112155312581, "elbow_flex": 0.24392118164161414, "wrist_flex": 1.6468170981009929, "wrist_roll": -5.829704900433843e-08, "gripper": 1.4227321255524628}, "velocities": {"shoulder_pan": -7.702365944644166e-09, "shoulder_lift": -0.11574266336744868, "elbow_flex": -0.06794605690313958, "wrist_flex": -0.0087208280240111, "wrist_roll": -2.2495317796484945e-08, "gripper": -0.24844199693289604}, "actuator_forces": {"shoulder_pan": -3.2809036838443717e-06, "shoulder_lift": -0.2401851297296389, "elbow_flex": -0.4315091341692039, "wrist_flex": -0.11288239697455538, "wrist_roll": 6.104015396174517e-05, "gripper": -0.1976408626610464}, "applied_targets": {"shoulder_pan": 0.7987404498458041, "shoulder_lift": -0.7758370004421126, "elbow_flex": 0.24343890366000526, "wrist_flex": 1.6466975970313036, "wrist_roll": 2.83534376785297e-09, "gripper": 1.4223513112870811}, "tcp": {"position_m": [0.14220392870346693, -0.10618057512083576, 0.14293159619301588], "quaternion_wxyz": [0.7764124278872698, 0.2247845971236727, 0.4794979539124133, -0.3416684634436599], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 325, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579758.5442464, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8636154981608304e-17, -8.91422195120247e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.401999999993635, "positions": {"shoulder_pan": 0.7987404523673846, "shoulder_lift": -0.7870855254172379, "elbow_flex": 0.23712651726751383, "wrist_flex": 1.6459450052530626, "wrist_roll": -6.04963818488845e-08, "gripper": 1.3978879259159258}, "velocities": {"shoulder_pan": -7.714205437074776e-09, "shoulder_lift": -0.1157435157119464, "elbow_flex": -0.06794720688342194, "wrist_flex": -0.008721026165917585, "wrist_roll": -2.15018427902276e-08, "gripper": -0.24844199582003856}, "actuator_forces": {"shoulder_pan": -3.2535948548684246e-06, "shoulder_lift": -0.23474745140640607, "elbow_flex": -0.4300774258316551, "wrist_flex": -0.11481695157522154, "wrist_roll": 6.306835724809786e-05, "gripper": -0.19763601720433144}, "applied_targets": {"shoulder_pan": 0.798740449102312, "shoulder_lift": -0.78740586358118, "elbow_flex": 0.2366456727007635, "wrist_flex": 1.6458235660337104, "wrist_roll": 2.668558840378714e-09, "gripper": 1.3975071165054604}, "tcp": {"position_m": [0.1424108143729375, -0.10639305624920432, 0.14555751655716923], "quaternion_wxyz": [0.7811439327982823, 0.2217155757573646, 0.47190999870527023, -0.3434491415639356], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 326, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579758.8520992, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.187332121454856e-17, -1.1838579039191313e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.50199999999376, "positions": {"shoulder_pan": 0.7987404515953641, "shoulder_lift": -0.7986599200438325, "elbow_flex": 0.23033173811516724, "wrist_flex": 1.6450728922266358, "wrist_roll": -6.259353487743504e-08, "gripper": 1.3730437263906774}, "velocities": {"shoulder_pan": -7.725956606402029e-09, "shoulder_lift": -0.11574435831556373, "elbow_flex": -0.06794835248988289, "wrist_flex": -0.008721231439038028, "wrist_roll": -2.0453166495297524e-08, "gripper": -0.24844199470720527}, "actuator_forces": {"shoulder_pan": -3.2251085713141947e-06, "shoulder_lift": -0.22922519044277578, "elbow_flex": -0.42853114674443304, "wrist_flex": -0.1167313583550822, "wrist_roll": 6.499452193813901e-05, "gripper": -0.1976312828378468}, "applied_targets": {"shoulder_pan": 0.79874044835882, "shoulder_lift": -0.7989747267202475, "elbow_flex": 0.22985244174152175, "wrist_flex": 1.6449495350361172, "wrist_roll": 2.5017739129044578e-09, "gripper": 1.3726629217238397}, "tcp": {"position_m": [0.14257989967019452, -0.10656671461701578, 0.14819866669261425], "quaternion_wxyz": [0.7858031925922833, 0.21862599832832832, 0.4642782790028697, -0.34519805186711305], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 327, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579759.3685453, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 3.02208114581171e-17, -1.2113621888227146e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.60199999999388, "positions": {"shoulder_pan": 0.7987404508221727, "shoulder_lift": -0.8102343984189316, "elbow_flex": 0.22353684464203535, "wrist_flex": 1.6442007583124043, "wrist_roll": -6.458309422306228e-08, "gripper": 1.3481995269767086}, "velocities": {"shoulder_pan": -7.737618913104101e-09, "shoulder_lift": -0.11574519082526626, "elbow_flex": -0.06794949332902939, "wrist_flex": -0.008721443768148297, "wrist_roll": -1.9351390196168904e-08, "gripper": -0.2484419935944379}, "actuator_forces": {"shoulder_pan": -3.195453473381349e-06, "shoulder_lift": -0.22361933744218732, "elbow_flex": -0.426870753843275, "wrist_flex": -0.11862490932344372, "wrist_roll": 6.681324533921445e-05, "gripper": -0.19762665955249759}, "applied_targets": {"shoulder_pan": 0.7987404476153279, "shoulder_lift": -0.810543589859315, "elbow_flex": 0.22305921078228003, "wrist_flex": 1.644075504038524, "wrist_roll": 2.3349889854302013e-09, "gripper": 1.3478187269422193}, "tcp": {"position_m": [0.1427109000567203, -0.10670125799006694, 0.15085397113046717], "quaternion_wxyz": [0.7903897733681223, 0.21551615021430137, 0.4566034999793906, -0.34691503132390406], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 328, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579759.6884065, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3792642658252612e-17, -9.031323647158172e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.701999999994, "positions": {"shoulder_pan": 0.7987404500478198, "shoulder_lift": -0.8218089595152188, "elbow_flex": 0.21674183734486135, "wrist_flex": 1.6433286028087075, "wrist_roll": -6.645986160785662e-08, "gripper": 1.3233553276740024}, "velocities": {"shoulder_pan": -7.749189374050515e-09, "shoulder_lift": -0.11574601288992921, "elbow_flex": -0.06795062900869417, "wrist_flex": -0.008721663075566623, "wrist_roll": -1.8198721559454955e-08, "gripper": -0.24844199248193855}, "actuator_forces": {"shoulder_pan": -3.1646391107642557e-06, "shoulder_lift": -0.21793091815050047, "elbow_flex": -0.4250967432753896, "wrist_flex": -0.12049690412504788, "wrist_roll": 6.85193400423182e-05, "gripper": -0.19762214733168548}, "applied_targets": {"shoulder_pan": 0.7987404468718359, "shoulder_lift": -0.8221124529983823, "elbow_flex": 0.2162659798230383, "wrist_flex": 1.6432014730409308, "wrist_roll": 2.1682040579559452e-09, "gripper": 1.3229745321605986}, "tcp": {"position_m": [0.14280354557308717, -0.10679640910756619, 0.153522345119788], "quaternion_wxyz": [0.7949032479192261, 0.21238631870209723, 0.44888637087434863, -0.34859991984923416], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 329, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579760.1242833, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.2088948379964624e-17, -6.868235451263989e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.80199999999412, "positions": {"shoulder_pan": 0.798740449272315, "shoulder_lift": -0.8333836022703828, "elbow_flex": 0.20994671675953075, "wrist_flex": 1.6424564250217926, "wrist_roll": -6.8218864762558e-08, "gripper": 1.2985111284825321}, "velocities": {"shoulder_pan": -7.760660588484635e-09, "shoulder_lift": -0.11574682416072941, "elbow_flex": -0.06795175913820554, "wrist_flex": -0.008721889280974282, "wrist_roll": -1.6997470314676837e-08, "gripper": -0.2484419913697463}, "actuator_forces": {"shoulder_pan": -3.132675033157284e-06, "shoulder_lift": -0.21216099324465176, "elbow_flex": -0.42320965025948, "wrist_flex": -0.12234665030177894, "wrist_roll": 7.010784432000776e-05, "gripper": -0.19761774614880778}, "applied_targets": {"shoulder_pan": 0.7987404461283438, "shoulder_lift": -0.8336813161374498, "elbow_flex": 0.20947274886379655, "wrist_flex": 1.6423274420433376, "wrist_roll": 2.0014191304816887e-09, "gripper": 1.2981303373789779}, "tcp": {"position_m": [0.14285758097697682, -0.10685190582388501, 0.1562026950287272], "quaternion_wxyz": [0.7993431957754166, 0.2092367929614745, 0.44112760492786446, -0.3502525603180464], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 330, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579760.4394238, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.706909648064844e-17, -8.881458901923605e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000165}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000186}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125000000001}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 32.901999999994246, "positions": {"shoulder_pan": 0.7987404484956686, "shoulder_lift": -0.8449583255873426, "elbow_flex": 0.20315148346091808, "wrist_flex": 1.641584224266074, "wrist_roll": -6.985536740451999e-08, "gripper": 1.2736669294022618}, "velocities": {"shoulder_pan": -7.772026304613358e-09, "shoulder_lift": -0.11574762429113213, "elbow_flex": -0.06795288332844199, "wrist_flex": -0.00872212230135637, "wrist_roll": -1.575004374473012e-08, "gripper": -0.2484419902579281}, "actuator_forces": {"shoulder_pan": -3.0995710176284774e-06, "shoulder_lift": -0.20631065810744076, "elbow_flex": -0.42121004893266445, "wrist_flex": -0.12417346354845904, "wrist_roll": 7.157403208330799e-05, "gripper": -0.19761345596725732}, "applied_targets": {"shoulder_pan": 0.7987404453848519, "shoulder_lift": -0.8452501792765172, "elbow_flex": 0.20267951790455482, "wrist_flex": 1.6414534110457444, "wrist_roll": 1.8346342030074327e-09, "gripper": 1.2732861425973572}, "tcp": {"position_m": [0.14287276587586833, -0.10686750124483564, 0.15889391874977754], "quaternion_wxyz": [0.8037092032441339, 0.20606786401880559, 0.43332791931549086, -0.3518727985808418], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 331, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579760.8896775, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.2578545280167154e-17, -8.16119189597546e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.00199999999437, "positions": {"shoulder_pan": 0.7987404477178909, "shoulder_lift": -0.8565331283344864, "elbow_flex": 0.19635613806271993, "wrist_flex": 1.640711999864388, "wrist_roll": -7.136487875438849e-08, "gripper": 1.2488227304331474}, "velocities": {"shoulder_pan": -7.783279535135753e-09, "shoulder_lift": -0.11574841293699945, "elbow_flex": -0.06795400119205879, "wrist_flex": -0.00872236205127317, "wrist_roll": -1.4458941977237922e-08, "gripper": -0.24844198914667892}, "actuator_forces": {"shoulder_pan": -3.0653380918010953e-06, "shoulder_lift": -0.20038104258946987, "elbow_flex": -0.4190985521837831, "wrist_flex": -0.12597666796932572, "wrist_roll": 7.291342237800652e-05, "gripper": -0.19760927674337836}, "applied_targets": {"shoulder_pan": 0.7987404446413598, "shoulder_lift": -0.8568190424155847, "elbow_flex": 0.19588628694531307, "wrist_flex": 1.6405793800481512, "wrist_roll": 1.6678492755331766e-09, "gripper": 1.2484419478157367}, "tcp": {"position_m": [0.14284887485433906, -0.10684296385841383, 0.16159490610898541], "quaternion_wxyz": [0.8080008634510623, 0.20287982473054667, 0.4254880350826163, -0.35346048347895304], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 332, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579761.2251062, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8043109497259895e-17, -1.1947433285980847e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.10199999999449, "positions": {"shoulder_pan": 0.7987404469389928, "shoulder_lift": -0.8681080093459214, "elbow_flex": 0.18956068121727448, "wrist_flex": 1.639839751148245, "wrist_roll": -7.274316257285412e-08, "gripper": 1.2239785315751368}, "velocities": {"shoulder_pan": -7.794407944102017e-09, "shoulder_lift": -0.1157491897567907, "elbow_flex": -0.06795511234357061, "wrist_flex": -0.008722608442814235, "wrist_roll": -1.312675309644093e-08, "gripper": -0.2484419880359119}, "actuator_forces": {"shoulder_pan": -3.0299869422378833e-06, "shoulder_lift": -0.19437331075891962, "elbow_flex": -0.4168758114731759, "wrist_flex": -0.12775559632973454, "wrist_roll": 7.412178840173103e-05, "gripper": -0.19760520842510232}, "applied_targets": {"shoulder_pan": 0.7987404438978678, "shoulder_lift": -0.8683879055546522, "elbow_flex": 0.18909305598607135, "wrist_flex": 1.639705349050558, "wrist_roll": 1.5010643480589201e-09, "gripper": 1.2235977530341162}, "tcp": {"position_m": [0.14278569759591714, -0.10677807765994701, 0.16430453927897534], "quaternion_wxyz": [0.8122177763801458, 0.19967296975650986, 0.4176086770784396, -0.3550154668595474], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 333, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579761.6431315, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.7592352865237864e-17, -1.0354762897721736e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.20199999999461, "positions": {"shoulder_pan": 0.7987404461589881, "shoulder_lift": -0.8796829674217388, "elbow_flex": 0.18276511361536782, "wrist_flex": 1.6389674774580796, "wrist_roll": -7.398624569975679e-08, "gripper": 1.1991343328281683}, "velocities": {"shoulder_pan": -7.80545468451224e-09, "shoulder_lift": -0.11574995441170148, "elbow_flex": -0.06795621639948721, "wrist_flex": -0.008722861385423178, "wrist_roll": -1.175614808938691e-08, "gripper": -0.248441986925752}, "actuator_forces": {"shoulder_pan": -2.993531211359368e-06, "shoulder_lift": -0.18828866063790883, "elbow_flex": -0.41454251663910213, "wrist_flex": -0.12950959030422382, "wrist_roll": 7.519516602415777e-05, "gripper": -0.19760125095149306}, "applied_targets": {"shoulder_pan": 0.7987404431543758, "shoulder_lift": -0.8799567686937195, "elbow_flex": 0.1822998250268296, "wrist_flex": 1.6388313180529646, "wrist_roll": 1.334279420584664e-09, "gripper": 1.1987535582524953}, "tcp": {"position_m": [0.14268303899943435, -0.10667264227159523, 0.16702169319564164], "quaternion_wxyz": [0.8163595489129989, 0.19644759553294136, 0.4096905738895265, -0.35653760359036635], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 334, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579761.9862976, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.291894224850565e-17, -1.100378295030758e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.301999999994734, "positions": {"shoulder_pan": 0.7987404453778864, "shoulder_lift": -0.8912580013282896, "elbow_flex": 0.17596943598602652, "wrist_flex": 1.6380951781434963, "wrist_roll": -7.509042607919621e-08, "gripper": 1.1742901341921743}, "velocities": {"shoulder_pan": -7.816348290268922e-09, "shoulder_lift": -0.11575070656573581, "elbow_flex": -0.06795731297845933, "wrist_flex": -0.008723120786321535, "wrist_roll": -1.0349875610696648e-08, "gripper": -0.24844198581642143}, "actuator_forces": {"shoulder_pan": -2.9559804488599184e-06, "shoulder_lift": -0.18212832392680411, "elbow_flex": -0.41209939569068865, "wrist_flex": -0.131238000723215, "wrist_roll": 7.612986179399755e-05, "gripper": -0.19759740425365635}, "applied_targets": {"shoulder_pan": 0.7987404424108837, "shoulder_lift": -0.8915256318327871, "elbow_flex": 0.17550659406758787, "wrist_flex": 1.6379572870553714, "wrist_roll": 1.167494493110408e-09, "gripper": 1.1739093634708748}, "tcp": {"position_m": [0.14254071928982265, -0.10652647305614187, 0.16974523597835406], "quaternion_wxyz": [0.8204257948676932, 0.19320400024540516, 0.40173445777295136, -0.3580267515741801], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 335, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579762.456856, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8251180744372485e-17, -1.061840942602147e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.40199999999486, "positions": {"shoulder_pan": 0.7987404445957011, "shoulder_lift": -0.902833109798475, "elbow_flex": 0.16917364909629728, "wrist_flex": 1.6372228525635117, "wrist_roll": -7.60522802537968e-08, "gripper": 1.1494459356670794}, "velocities": {"shoulder_pan": -7.827118925392193e-09, "shoulder_lift": -0.11575144588584341, "elbow_flex": -0.0679584017014072, "wrist_flex": -0.008723386550128488, "wrist_roll": -8.910756627556844e-09, "gripper": -0.24844198470779802}, "actuator_forces": {"shoulder_pan": -2.917348183473223e-06, "shoulder_lift": -0.17589356571329517, "elbow_flex": -0.4095472145879455, "wrist_flex": -0.13294018781402883, "wrist_roll": 7.692246041599551e-05, "gripper": -0.197593668257241}, "applied_targets": {"shoulder_pan": 0.7987404416673917, "shoulder_lift": -0.9030944949718545, "elbow_flex": 0.16871336310834611, "wrist_flex": 1.6370832560577782, "wrist_roll": 1.0007095656361515e-09, "gripper": 1.1490651686892541}, "tcp": {"position_m": [0.14235857412330508, -0.10633940122503124, 0.172474029353529], "quaternion_wxyz": [0.8244161350369283, 0.18994248380147788, 0.39374106458903135, -0.3594827717629792], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 336, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579762.7759583, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.0799359067004576e-17, -9.717859969485725e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.50199999999498, "positions": {"shoulder_pan": 0.7987404438124455, "shoulder_lift": -0.9144082915320477, "elbow_flex": 0.16237775375101288, "wrist_flex": 1.6363505000867946, "wrist_roll": -7.686867031495314e-08, "gripper": 1.1246017372528003}, "velocities": {"shoulder_pan": -7.837760913841526e-09, "shoulder_lift": -0.11575217204204628, "elbow_flex": -0.06795948219166757, "wrist_flex": -0.008723658579148549, "wrist_roll": -7.441678882889443e-09, "gripper": -0.24844198360009268}, "actuator_forces": {"shoulder_pan": -2.8776476028724574e-06, "shoulder_lift": -0.1695856841731711, "elbow_flex": -0.40688677700779863, "wrist_flex": -0.13461552144030975, "wrist_roll": 7.756983168474588e-05, "gripper": -0.1975900428788009}, "applied_targets": {"shoulder_pan": 0.7987404409238996, "shoulder_lift": -0.9146633581109219, "elbow_flex": 0.1619201321491044, "wrist_flex": 1.636209225060185, "wrist_roll": 8.33924638161895e-10, "gripper": 1.1242209739076334}, "tcp": {"position_m": [0.1421364546869297, -0.10611127394059411, 0.17520692908141194], "quaternion_wxyz": [0.8283301972255702, 0.18666334780325416, 0.3857111337336578, -0.3609055281718817], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 337, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579763.2547126, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.0035774248329203e-17, -6.7449619762184614e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.6019999999951, "positions": {"shoulder_pan": 0.7987404430281327, "shoulder_lift": -0.925983545195927, "elbow_flex": 0.15558175079254544, "wrist_flex": 1.6354781200919009, "wrist_roll": -7.75367502941548e-08, "gripper": 1.0997575389492478}, "velocities": {"shoulder_pan": -7.848261833163991e-09, "shoulder_lift": -0.1157528847076178, "elbow_flex": -0.06796055407508882, "wrist_flex": -0.008723936773493248, "wrist_roll": -5.945591259461614e-09, "gripper": -0.24844198249328453}, "actuator_forces": {"shoulder_pan": -2.8368917810439598e-06, "shoulder_lift": -0.16320601025438464, "elbow_flex": -0.4041189240979577, "wrist_flex": -0.13626338133872196, "wrist_roll": 7.806913686050859e-05, "gripper": -0.19758652802875076}, "applied_targets": {"shoulder_pan": 0.7987404401804076, "shoulder_lift": -0.9262322212499894, "elbow_flex": 0.15512690118986264, "wrist_flex": 1.6353351940625918, "wrist_roll": 6.671397106876394e-10, "gripper": 1.099376779126013}, "tcp": {"position_m": [0.14187422779240202, -0.10584195441241737, 0.177942785385916], "quaternion_wxyz": [0.8321676162875592, 0.1833668955196663, 0.3776454080702293, -0.3622948878927646], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 338, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579763.5502586, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.916181397451391e-17, -1.623979680958409e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.70199999999522, "positions": {"shoulder_pan": 0.798740442242777, "shoulder_lift": -0.9375588694245255, "elbow_flex": 0.148785641100546, "wrist_flex": 1.6346057119675064, "wrist_roll": -7.805397198337015e-08, "gripper": 1.0749133407563263}, "velocities": {"shoulder_pan": -7.858625146653909e-09, "shoulder_lift": -0.11575358355912291, "elbow_flex": -0.06796161698021641, "wrist_flex": -0.008724221030695372, "wrist_roll": -4.4254980080873124e-09, "gripper": -0.2484419813874246}, "actuator_forces": {"shoulder_pan": -2.79509470146877e-06, "shoulder_lift": -0.1567559073512257, "elbow_flex": -0.4012445342167439, "wrist_flex": -0.1378831573476873, "wrist_roll": 7.841783447499588e-05, "gripper": -0.1975831236122758}, "applied_targets": {"shoulder_pan": 0.7987404394369156, "shoulder_lift": -0.9378010843890568, "elbow_flex": 0.1483336702306209, "wrist_flex": 1.6344611630649986, "wrist_roll": 5.003547832133829e-10, "gripper": 1.0745325843443922}, "tcp": {"position_m": [0.14157177596416698, -0.10553132198780836, 0.1806804433873625], "quaternion_wxyz": [0.8359280341621774, 0.18005343185861852, 0.36954463386119596, -0.3636507211076106], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 339, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579764.0352573, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 3.266187760118084e-17, -1.53840618165957e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.801999999995346, "positions": {"shoulder_pan": 0.7987404414563923, "shoulder_lift": -0.94913426282009, "elbow_flex": 0.1419894255916714, "wrist_flex": 1.6337332751126352, "wrist_roll": -7.84180901730211e-08, "gripper": 1.0500691426739335}, "velocities": {"shoulder_pan": -7.868842244503862e-09, "shoulder_lift": -0.11575426827663514, "elbow_flex": -0.06796267053834704, "wrist_flex": -0.008724511246250139, "wrist_roll": -2.884452867606085e-09, "gripper": -0.24844198028270836}, "actuator_forces": {"shoulder_pan": -2.7522711434357916e-06, "shoulder_lift": -0.150236770964284, "elbow_flex": -0.39826452266018464, "wrist_flex": -0.13947424963748745, "wrist_roll": 7.861368555571518e-05, "gripper": -0.19757982952728526}, "applied_targets": {"shoulder_pan": 0.7987404386934236, "shoulder_lift": -0.9493699475281243, "elbow_flex": 0.1415404392713792, "wrist_flex": 1.6335871320674054, "wrist_roll": 3.335698557391264e-10, "gripper": 1.0496883895627716}, "tcp": {"position_m": [0.1412289975217005, -0.1051792722363119, 0.18341874353796495], "quaternion_wxyz": [0.8396110999096751, 0.1767232633389429, 0.36140956069921537, -0.36497290110157476], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 340, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 16951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579764.3907938, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.857660924072038e-17, -7.477425767312056e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 33.90199999999547, "positions": {"shoulder_pan": 0.7987404406689934, "shoulder_lift": -0.9607097239530518, "elbow_flex": 0.1351931052192981, "wrist_flex": 1.6328608089368832, "wrist_roll": -7.862716729705922e-08, "gripper": 1.0252249447019626}, "velocities": {"shoulder_pan": -7.878909532815545e-09, "shoulder_lift": -0.11575493854368665, "elbow_flex": -0.06796371438375846, "wrist_flex": -0.008724807313303396, "wrist_roll": -1.3255530972035511e-09, "gripper": -0.24844197917898755}, "actuator_forces": {"shoulder_pan": -2.708434976739227e-06, "shoulder_lift": -0.1436500283497253, "elbow_flex": -0.39517984137668805, "wrist_flex": -0.1410360689335448, "wrist_roll": 7.865475825838996e-05, "gripper": -0.19757664566645872}, "applied_targets": {"shoulder_pan": 0.7987404379499315, "shoulder_lift": -0.9609388106671917, "elbow_flex": 0.13474720831213743, "wrist_flex": 1.6327131010698122, "wrist_roll": 1.6678492826487075e-10, "gripper": 1.024844194781151}, "tcp": {"position_m": [0.140845806655967, -0.10478571702823569, 0.18615652205989633], "quaternion_wxyz": [0.8432164697462438, 0.1733766980621722, 0.353240941437932, -0.3662613042757634], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 341, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": "r_6cdadbf014ac4e81afef32216757e958", "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579764.817077, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3666811346261885e-17, -1.1538669765514805e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.00199999999559, "positions": {"shoulder_pan": 0.7987404398805956, "shoulder_lift": -0.9722852513623734, "elbow_flex": 0.1283966809732338, "wrist_flex": 1.6319883128606423, "wrist_roll": -7.867957747606132e-08, "gripper": 1.0003807468403545}, "velocities": {"shoulder_pan": -7.888818447720713e-09, "shoulder_lift": -0.11575559403806747, "elbow_flex": -0.06796474814834558, "wrist_flex": -0.008725109121947013, "wrist_roll": 2.48066608784106e-10, "gripper": -0.24844197804940862}, "actuator_forces": {"shoulder_pan": -2.6636017764758435e-06, "shoulder_lift": -0.13699713793755564, "elbow_flex": -0.3919914785397083, "wrist_flex": -0.1425680367210589, "wrist_roll": 7.853943189844877e-05, "gripper": -0.19757357144862908}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14042213350000504, -0.10435058460714511, 0.18889261138578375], "quaternion_wxyz": [0.8467438070783377, 0.17001404568413875, 0.34503953212238303, -0.3675158101597276], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 342, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579765.17364, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.4938241289472668e-17, -1.3443063893716117e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.10199999999571, "positions": {"shoulder_pan": 0.79874049283855, "shoulder_lift": -0.9725269704873015, "elbow_flex": 0.12824096079761507, "wrist_flex": 1.6319237872665968, "wrist_roll": -7.867286751102459e-08, "gripper": 1.0000095435216465}, "velocities": {"shoulder_pan": -1.6216385673347327e-06, "shoulder_lift": 0.0009011462505983512, "elbow_flex": 0.0003117254778102239, "wrist_flex": 9.005163692797156e-05, "wrist_roll": -2.4475749222109434e-09, "gripper": -6.513488118844489e-05}, "actuator_forces": {"shoulder_pan": -5.417724025846837e-05, "shoulder_lift": 0.018572620964846465, "elbow_flex": -0.2866673670715585, "wrist_flex": -0.08466376105229756, "wrist_roll": 7.853499346091076e-05, "gripper": -0.009691877349041533}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040783629486125, -0.10433591243285988, 0.1890123596187463], "quaternion_wxyz": [0.8468976913482835, 0.16986526077735714, 0.3446767703068191, -0.3675704253348571], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 343, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579765.6184196, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3147986227997578e-17, -7.99448479032664e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.201999999995834, "positions": {"shoulder_pan": 0.7987404380378822, "shoulder_lift": -0.9724935076613758, "elbow_flex": 0.12825355681451636, "wrist_flex": 1.6319246844010722, "wrist_roll": -7.871673127485195e-08, "gripper": 0.9999964009080476}, "velocities": {"shoulder_pan": -5.213335555746079e-08, "shoulder_lift": 4.24862446824328e-05, "elbow_flex": 7.252256138526961e-06, "wrist_flex": -8.783377024125127e-07, "wrist_roll": 1.522485823471024e-10, "gripper": -4.94529631136339e-07}, "actuator_forces": {"shoulder_pan": -7.775095127726672e-07, "shoulder_lift": -0.014181192426804046, "elbow_flex": -0.29905407652474025, "wrist_flex": -0.08546102522154797, "wrist_roll": 7.857648988858806e-05, "gripper": 0.003595219550447837}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040940010359548, -0.1043375064436366, 0.18900564975747683], "quaternion_wxyz": [0.8468887449077894, 0.16987391595364715, 0.34469790024667557, -0.3675672237735767], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 344, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579765.9409406, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3423676884077583e-17, -9.587935013993266e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.30199999999596, "positions": {"shoulder_pan": 0.7987404371721907, "shoulder_lift": -0.9724924643261923, "elbow_flex": 0.12825365017221393, "wrist_flex": 1.631924672950209, "wrist_roll": -7.871158151527554e-08, "gripper": 0.9999965020724066}, "velocities": {"shoulder_pan": 7.188621450109355e-10, "shoulder_lift": 8.614047877407941e-07, "elbow_flex": -3.56564322290937e-08, "wrist_flex": 5.169691254230826e-09, "wrist_roll": 5.387553277057119e-12, "gripper": 1.3588007339835737e-08}, "actuator_forces": {"shoulder_pan": 3.363913947396213e-08, "shoulder_lift": -0.015183234671667378, "elbow_flex": -0.29913936777681727, "wrist_flex": -0.0854505102922758, "wrist_roll": 7.857146965259381e-05, "gripper": 0.0034916697987910084}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040945713734027, -0.10433756481727294, 0.18900550059536175], "quaternion_wxyz": [0.8468885239240459, 0.16987412973050176, 0.3446984219180314, -0.3675671449154204], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 345, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579766.401153, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3378809234213833e-17, -8.838621706345778e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999988}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.40199999999608, "positions": {"shoulder_pan": 0.7987404372043486, "shoulder_lift": -0.9724924440112896, "elbow_flex": 0.1282536495438249, "wrist_flex": 1.6319246729910195, "wrist_roll": -7.87114632883856e-08, "gripper": 0.999996501313879}, "velocities": {"shoulder_pan": 6.826782473154764e-11, "shoulder_lift": 1.5556639144325893e-08, "elbow_flex": 4.973402575105668e-10, "wrist_flex": -1.2032407426391533e-10, "wrist_roll": 6.997445806914066e-14, "gripper": -2.044091685499545e-10}, "actuator_forces": {"shoulder_pan": 2.025444700848311e-09, "shoulder_lift": -0.015202700711824946, "elbow_flex": -0.29913877471027206, "wrist_flex": -0.08545054547130349, "wrist_roll": 7.857135681571084e-05, "gripper": 0.0034924588196645345}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040945824808282, -0.10433756596504326, 0.18900549818923215], "quaternion_wxyz": [0.8468885200503578, 0.16987413347756913, 0.3446984310363941, -0.36756714355775555], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 346, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579766.7117345, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3900140194579316e-17, -1.0331251770158371e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.5019999999962, "positions": {"shoulder_pan": 0.7987404372063635, "shoulder_lift": -0.9724924436475744, "elbow_flex": 0.12825364955982266, "wrist_flex": 1.631924672988793, "wrist_roll": -7.871146180313897e-08, "gripper": 0.9999965013192349}, "velocities": {"shoulder_pan": 2.692883328663471e-12, "shoulder_lift": 2.7511695873354505e-10, "elbow_flex": 1.3663720344935483e-11, "wrist_flex": -1.8174605525749368e-13, "wrist_roll": 6.109256715217542e-16, "gripper": 2.4711319126426516e-12}, "actuator_forces": {"shoulder_pan": 7.355538400588557e-11, "shoulder_lift": -0.015203049049318906, "elbow_flex": -0.29913879028406143, "wrist_flex": -0.085450543366278, "wrist_roll": 7.857135540127974e-05, "gripper": 0.003492453109629423}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582678107, -0.10433756598575264, 0.18900549814080342], "quaternion_wxyz": [0.8468885199759391, 0.16987413354954758, 0.34469843121079063, -0.3675671435324075], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 347, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579767.1342137, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8376488339732132e-17, -8.03911069354219e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.60199999999632, "positions": {"shoulder_pan": 0.7987404372064372, "shoulder_lift": -0.9724924436411432, "elbow_flex": 0.12825364956009966, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179411542e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 8.87445349930417e-14, "shoulder_lift": 4.866999357826571e-12, "elbow_flex": 1.321662225629631e-13, "wrist_flex": -4.500292182399056e-14, "wrist_roll": -6.037577855242757e-18, "gripper": -2.8277669609315782e-14}, "actuator_forces": {"shoulder_pan": 2.3874235921539366e-12, "shoulder_lift": -0.015203055208530714, "elbow_flex": -0.29913879054710435, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539291913e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040945826815213, -0.10433756598611979, 0.18900549813994233], "quaternion_wxyz": [0.8468885199746081, 0.16987413355083467, 0.34469843121388816, -0.36756714353197406], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 348, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579767.4211895, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.72602819422626e-17, -6.668464425661013e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.701999999996445, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410294, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179438168e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3668530027455041e-14, "shoulder_lift": 8.669577027198075e-14, "elbow_flex": 4.088171497294765e-15, "wrist_flex": -5.0546570356319183e-14, "wrist_roll": -3.8867979212185075e-19, "gripper": 1.1394592851934389e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055317442704, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539318059e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.14040945826815818, -0.10433756598612642, 0.1890054981399274], "quaternion_wxyz": [0.8468885199745848, 0.1698741335508571, 0.3446984312139425, -0.367567143531967], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 349, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579767.8263588, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.1282741479136844e-17, -9.085590023903867e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.80199999999657, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437159e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3662611253954754e-14, "shoulder_lift": 1.2905274437160475e-14, "elbow_flex": 4.3624244169212546e-15, "wrist_flex": -5.0671830755827366e-14, "wrist_roll": 4.683853404160356e-20, "gripper": 1.1397058363575309e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539316993e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 350, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579768.1294663, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8486522768544732e-17, -1.3667667390138519e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 34.90199999999669, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179436919e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3674206883250894e-14, "shoulder_lift": 1.2890945367660471e-14, "elbow_flex": 4.3625056205770004e-15, "wrist_flex": -5.067194421902946e-14, "wrist_roll": 1.247302840137734e-19, "gripper": 1.1397067272712091e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539316782e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 351, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579768.598912, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 1.8017096057751035e-17, -9.071255754734677e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.00199999999681, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437038e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3671375044999946e-14, "shoulder_lift": 1.2874213511985227e-14, "elbow_flex": 4.365284965484691e-15, "wrist_flex": -5.0672571732813825e-14, "wrist_roll": 1.1169080153334444e-19, "gripper": 1.139706629909633e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539316874e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 352, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579768.9411616, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.4392442780869576e-17, -1.1407628009103969e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.101999999996934, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437226e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3668747397794372e-14, "shoulder_lift": 1.2864195564784882e-14, "elbow_flex": 4.366296627663114e-15, "wrist_flex": -5.0672746781552624e-14, "wrist_roll": 1.3484486451507575e-19, "gripper": 1.1397053676131039e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317044e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 353, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579769.411071, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.3791352569778482e-17, -9.902214825362307e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.20199999999706, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437278e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3670886286352238e-14, "shoulder_lift": 1.2860445230577079e-14, "elbow_flex": 4.365804414808825e-15, "wrist_flex": -5.067266087810671e-14, "wrist_roll": 1.73683209374842e-19, "gripper": 1.1397053323331752e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317103e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 354, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579769.731716, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.015064108668655e-17, -4.349993162281596e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.30199999999718, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437329e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3669249356272296e-14, "shoulder_lift": 1.2856747501730393e-14, "elbow_flex": 4.36573737953955e-15, "wrist_flex": -5.0672602284871966e-14, "wrist_roll": 1.733235710522021e-19, "gripper": 1.139704268704267e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317148e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 355, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579770.2035067, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.6059391325306027e-17, -9.842920862521488e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.4019999999973, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437373e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3670656642697797e-14, "shoulder_lift": 1.2855724870059137e-14, "elbow_flex": 4.365593100087474e-15, "wrist_flex": -5.0672566148959114e-14, "wrist_roll": 1.9651374351266262e-19, "gripper": 1.1397040800547298e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317283e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 356, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579770.5180855, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 5.34350882157217e-17, -3.0646612881755895e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000011}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.50199999999742, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437415e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3647472419325025e-14, "shoulder_lift": 1.2855055798049936e-14, "elbow_flex": 4.3653123180090045e-15, "wrist_flex": -5.067252435484316e-14, "wrist_roll": -1.2632731553489486e-19, "gripper": 1.1397041791759419e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317191e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 357, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579770.9160373, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.502392200839221e-17, -1.3388779827251424e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.601999999997545, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437393e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.366583978948697e-14, "shoulder_lift": 1.2853949315110833e-14, "elbow_flex": 4.365290357581589e-15, "wrist_flex": -5.067247561365886e-14, "wrist_roll": 1.3463534832740972e-19, "gripper": 1.1397034313002925e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317275e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 358, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579771.296281, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.115559833083342e-17, -7.154614819527358e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.70199999999767, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437425e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3651059429390284e-14, "shoulder_lift": 1.2853763929541354e-14, "elbow_flex": 4.365165575381941e-15, "wrist_flex": -5.067245912318451e-14, "wrist_roll": -7.029719837405796e-20, "gripper": 1.1397035020785845e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317221e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 359, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579771.7296126, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.4832777870728776e-17, -1.0274585867709075e-17, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.80199999999779, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437213e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3662730857783622e-14, "shoulder_lift": 1.2853253482720068e-14, "elbow_flex": 4.365158390367707e-15, "wrist_flex": -5.067242974484399e-14, "wrist_roll": 2.9579064557931375e-20, "gripper": 1.1397030477156947e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317083e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 360, "session_id": "s_efcd0ebe069448a98db38e5eaf16c00d", "sequence": 17951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": -1, "teleop_active": false, "observed_at": 1792579772.4131043, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1426440877137286, -0.10689330578267822, 0.10005686699301362], "quaternion_wxyz": [0.9112314629486539, 2.692274780453386e-17, -9.74319946215001e-18, -0.41189467213409825], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000014}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000017}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604725323176e-05}, "simulation_time": 35.90199999999791, "positions": {"shoulder_pan": 0.798740437206439, "shoulder_lift": -0.9724924436410279, "elbow_flex": 0.12825364956010266, "wrist_flex": 1.6319246729887869, "wrist_roll": -7.871146179437216e-08, "gripper": 0.999996501319198}, "velocities": {"shoulder_pan": 1.3653298968933291e-14, "shoulder_lift": 1.285323120055979e-14, "elbow_flex": 4.365102484329673e-15, "wrist_flex": -5.0672424784411874e-14, "wrist_roll": -1.0828147110352777e-19, "gripper": 1.139703113788705e-14}, "actuator_forces": {"shoulder_pan": 5.684341886080801e-13, "shoulder_lift": -0.015203055318920633, "elbow_flex": -0.29913879054997494, "wrist_flex": -0.08545054335991153, "wrist_roll": 7.857135539317033e-05, "gripper": 0.0034924531501019374}, "applied_targets": {"shoulder_pan": 0.7987404372064395, "shoulder_lift": -0.9725076738060405, "elbow_flex": 0.12795397735302408, "wrist_flex": 1.6318390700722354, "wrist_roll": 7.937669061175573e-19, "gripper": 1.0}, "tcp": {"position_m": [0.1404094582681582, -0.10433756598612647, 0.18900549813992729], "quaternion_wxyz": [0.8468885199745846, 0.16987413355085715, 0.3446984312139432, -0.36756714353196684], "frame": "world"}, "contact_count": 4, "warning_count": 0}